Vehicle Researcher
6 years ago
commit
7834995df4
37 changed files with 947 additions and 107 deletions
@ -0,0 +1,3 @@ |
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.git |
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.DS_Store |
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boardesp/esp-open-sdk |
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@ -0,0 +1,64 @@ |
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FROM ubuntu:16.04 |
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ENV PYTHONUNBUFFERED 1 |
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|
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RUN apt-get update && apt-get install -y \ |
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autoconf \ |
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automake \ |
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bash \ |
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bison \ |
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bzip2 \ |
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curl \ |
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dfu-util \ |
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flex \ |
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g++ \ |
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gawk \ |
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gcc \ |
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git \ |
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gperf \ |
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help2man \ |
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iputils-ping \ |
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libexpat-dev \ |
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libstdc++-arm-none-eabi-newlib \ |
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libtool \ |
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libtool-bin \ |
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libusb-1.0-0 \ |
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make \ |
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ncurses-dev \ |
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network-manager \ |
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python-dev \ |
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python-serial \ |
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sed \ |
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texinfo \ |
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unrar-free \ |
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unzip \ |
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wget \ |
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build-essential \ |
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python-dev \ |
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python-pip \ |
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screen \ |
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vim \ |
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wget \ |
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wireless-tools |
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|
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RUN pip install --upgrade pip==18.0 |
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COPY requirements.txt /tmp/ |
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RUN pip install -r /tmp/requirements.txt |
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|
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RUN mkdir -p /home/batman |
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ENV HOME /home/batman |
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ENV PYTHONPATH /tmp:$PYTHONPATH |
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COPY ./boardesp/get_sdk_ci.sh /tmp/panda/boardesp/ |
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|
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RUN useradd --system -s /sbin/nologin pandauser |
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RUN mkdir -p /tmp/panda/boardesp/esp-open-sdk |
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RUN chown pandauser /tmp/panda/boardesp/esp-open-sdk |
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USER pandauser |
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RUN cd /tmp/panda/boardesp && ./get_sdk_ci.sh |
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USER root |
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|
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COPY ./xx/pandaextra /tmp/pandaextra |
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ADD ./panda.tar.gz /tmp/panda |
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@ -0,0 +1,55 @@ |
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pipeline { |
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agent any |
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environment { |
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AUTHOR = """${sh( |
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returnStdout: true, |
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script: "git --no-pager show -s --format='%an' ${GIT_COMMIT}" |
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).trim()}""" |
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|
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DOCKER_IMAGE_TAG = "panda:build-${env.BUILD_ID}" |
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DOCKER_NAME = "panda-test-${env.BUILD_ID}" |
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} |
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stages { |
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stage('Build Docker Image') { |
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steps { |
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timeout(time: 60, unit: 'MINUTES') { |
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script { |
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sh 'git clone --no-checkout --depth 1 git@github.com:commaai/xx.git || true' |
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sh 'cd xx && git fetch origin && git checkout origin/master -- pandaextra && cd ..' // Needed for certs for panda flashing |
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sh 'git archive -v -o panda.tar.gz --format=tar.gz HEAD' |
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dockerImage = docker.build("${env.DOCKER_IMAGE_TAG}") |
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} |
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} |
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} |
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} |
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stage('Test Dev Build') { |
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steps { |
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lock(resource: "Pandas", inversePrecedence: true, quantity:1){ |
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timeout(time: 60, unit: 'MINUTES') { |
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sh "docker run --name ${env.DOCKER_NAME} --privileged --volume /dev/bus/usb:/dev/bus/usb --volume /var/run/dbus:/var/run/dbus --net host ${env.DOCKER_IMAGE_TAG} bash -c 'cd /tmp/panda; ./run_automated_tests.sh '" |
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} |
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} |
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} |
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} |
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stage('Test EON Build') { |
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steps { |
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lock(resource: "Pandas", inversePrecedence: true, quantity:1){ |
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timeout(time: 60, unit: 'MINUTES') { |
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sh "docker cp ${env.DOCKER_NAME}:/tmp/panda/nosetests.xml test_results_dev.xml" |
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sh "touch EON && docker cp EON ${env.DOCKER_NAME}:/EON" |
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sh "docker start -a ${env.DOCKER_NAME}" |
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} |
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} |
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} |
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} |
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} |
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post { |
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always { |
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script { |
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sh "docker cp ${env.DOCKER_NAME}:/tmp/panda/nosetests.xml test_results_EON.xml" |
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sh "docker rm ${env.DOCKER_NAME}" |
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} |
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junit "test_results*.xml" |
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} |
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} |
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} |
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@ -1 +1 @@ |
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v1.2.0 |
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v1.2.1 |
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@ -0,0 +1,88 @@ |
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#ifdef PANDA |
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int relay_control = 0; // True if relay is controlled through l-line
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/* Conrol a relay connected to l-line pin */ |
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|
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// 160us cycles, 1 high, 25 low
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volatile int turn_on_relay = 0; |
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volatile int on_cycles = 25; |
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//5s timeout
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#define LLINE_TIMEOUT_CYCLES 31250 |
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volatile int timeout_cycles = LLINE_TIMEOUT_CYCLES; |
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|
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void TIM5_IRQHandler(void) { |
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if (TIM5->SR & TIM_SR_UIF) { |
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on_cycles--; |
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timeout_cycles--; |
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if (timeout_cycles == 0) { |
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turn_on_relay = 0; |
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} |
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if (on_cycles > 0) { |
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if (turn_on_relay) { |
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set_gpio_output(GPIOC, 10, 0); |
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} |
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} |
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else { |
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set_gpio_output(GPIOC, 10, 1); |
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on_cycles = 25; |
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} |
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} |
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TIM5->ARR = 160-1; |
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TIM5->SR = 0; |
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} |
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|
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void lline_relay_init (void) { |
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set_lline_output(0); |
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relay_control = 1; |
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set_gpio_output(GPIOC, 10, 1); |
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// setup
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TIM5->PSC = 48-1; // tick on 1 us
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TIM5->CR1 = TIM_CR1_CEN; // enable
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TIM5->ARR = 50-1; // 50 us
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TIM5->DIER = TIM_DIER_UIE; // update interrupt
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TIM5->CNT = 0; |
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NVIC_EnableIRQ(TIM5_IRQn); |
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#ifdef DEBUG |
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puts("INIT LLINE\n"); |
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puts(" SR "); |
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putui(TIM5->SR); |
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puts(" PSC "); |
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putui(TIM5->PSC); |
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puts(" CR1 "); |
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putui(TIM5->CR1); |
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puts(" ARR "); |
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putui(TIM5->ARR); |
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puts(" DIER "); |
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putui(TIM5->DIER); |
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puts(" SR "); |
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putui(TIM5->SR); |
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puts(" CNT "); |
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putui(TIM5->CNT); |
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puts("\n"); |
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#endif |
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} |
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void lline_relay_release (void) { |
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set_lline_output(0); |
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relay_control = 0; |
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puts("RELEASE LLINE\n"); |
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set_gpio_alternate(GPIOC, 10, GPIO_AF7_USART3); |
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NVIC_DisableIRQ(TIM5_IRQn); |
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} |
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void set_lline_output(int to_set) { |
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timeout_cycles = LLINE_TIMEOUT_CYCLES; |
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turn_on_relay = to_set; |
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} |
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int get_lline_status() { |
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return turn_on_relay; |
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} |
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#endif |
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@ -0,0 +1,157 @@ |
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#define POWER_SAVE_STATUS_DISABLED 0 |
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//Moving to enabled, but can wakeup not yet enabled
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#define POWER_SAVE_STATUS_SWITCHING 1 |
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#define POWER_SAVE_STATUS_ENABLED 2 |
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volatile int power_save_status = POWER_SAVE_STATUS_DISABLED; |
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void power_save_enable(void) { |
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power_save_status = POWER_SAVE_STATUS_SWITCHING; |
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puts("Saving power\n"); |
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//Turn off can transciever
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set_can_enable(CAN1, 0); |
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set_can_enable(CAN2, 0); |
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#ifdef PANDA |
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set_can_enable(CAN3, 0); |
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#endif |
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|
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//Turn off GMLAN
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set_gpio_output(GPIOB, 14, 0); |
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set_gpio_output(GPIOB, 15, 0); |
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#ifdef PANDA |
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//Turn off LIN K
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if (revision == PANDA_REV_C) { |
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set_gpio_output(GPIOB, 7, 0); // REV C
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} else { |
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set_gpio_output(GPIOB, 4, 0); // REV AB
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} |
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// LIN L
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set_gpio_output(GPIOA, 14, 0); |
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#endif |
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if (is_grey_panda) { |
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char* UBLOX_SLEEP_MSG = "\xb5\x62\x06\x04\x04\x00\x01\x00\x08\x00\x17\x78"; |
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int len = 12; |
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uart_ring *ur = get_ring_by_number(1); |
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for (int i = 0; i < len; i++) while (!putc(ur, UBLOX_SLEEP_MSG[i])); |
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} |
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//Setup timer for can enable
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TIM6->PSC = 48-1; // tick on 1 us
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TIM6->ARR = 12; // 12us
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// Enable, One-Pulse Mode, Only overflow interrupt
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TIM6->CR1 = TIM_CR1_CEN | TIM_CR1_OPM | TIM_CR1_URS; |
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TIM6->EGR = TIM_EGR_UG; |
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TIM6->CR1 |= TIM_CR1_CEN; |
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} |
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void power_save_enable_can_wake(void) { |
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// CAN Automatic Wake must be done a little while after the sleep
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// On some cars turning off the can transciver can trigger the wakeup
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power_save_status = POWER_SAVE_STATUS_ENABLED; |
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puts("Turning can off\n"); |
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CAN1->MCR |= CAN_MCR_SLEEP; |
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CAN1->MCR |= CAN_MCR_AWUM; |
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CAN2->MCR |= CAN_MCR_SLEEP; |
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CAN2->MCR |= CAN_MCR_AWUM; |
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#ifdef PANDA |
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CAN3->MCR |= CAN_MCR_SLEEP; |
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CAN3->MCR |= CAN_MCR_AWUM; |
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#endif |
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//set timer back
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TIM6->PSC = 48000-1; // tick on 1 ms
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TIM6->ARR = 10000; // 10s
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// Enable, One-Pulse Mode, Only overflow interrupt
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TIM6->CR1 = TIM_CR1_OPM | TIM_CR1_URS; |
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TIM6->EGR = TIM_EGR_UG; |
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} |
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void power_save_disable(void) { |
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power_save_status = POWER_SAVE_STATUS_DISABLED; |
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puts("not Saving power\n"); |
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TIM6->CR1 |= TIM_CR1_CEN; //Restart timer
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TIM6->CNT = 0; |
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//Turn on can
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set_can_enable(CAN1, 1); |
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set_can_enable(CAN2, 1); |
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#ifdef PANDA |
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set_can_enable(CAN3, 1); |
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#endif |
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//Turn on GMLAN
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set_gpio_output(GPIOB, 14, 1); |
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set_gpio_output(GPIOB, 15, 1); |
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#ifdef PANDA |
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//Turn on LIN K
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if (revision == PANDA_REV_C) { |
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set_gpio_output(GPIOB, 7, 1); // REV C
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} else { |
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set_gpio_output(GPIOB, 4, 1); // REV AB
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} |
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// LIN L
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set_gpio_output(GPIOA, 14, 1); |
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#endif |
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if (is_grey_panda) { |
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char* UBLOX_WAKE_MSG = "\xb5\x62\x06\x04\x04\x00\x01\x00\x09\x00\x18\x7a"; |
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int len = 12; |
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uart_ring *ur = get_ring_by_number(1); |
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for (int i = 0; i < len; i++) while (!putc(ur, UBLOX_WAKE_MSG[i])); |
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} |
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//set timer back
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TIM6->PSC = 48000-1; // tick on 1 ms
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TIM6->ARR = 10000; // 10s
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// Enable, One-Pulse Mode, Only overflow interrupt
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TIM6->CR1 = TIM_CR1_CEN | TIM_CR1_OPM | TIM_CR1_URS; |
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TIM6->EGR = TIM_EGR_UG; |
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TIM6->CR1 |= TIM_CR1_CEN; |
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} |
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// Reset timer when activity
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void power_save_reset_timer() { |
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TIM6->CNT = 0; |
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if (power_save_status != POWER_SAVE_STATUS_DISABLED){ |
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power_save_disable(); |
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} |
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} |
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void power_save_init(void) { |
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puts("Saving power init\n"); |
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TIM6->PSC = 48000-1; // tick on 1 ms
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TIM6->ARR = 10000; // 10s
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// Enable, One-Pulse Mode, Only overflow interrupt
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TIM6->CR1 = TIM_CR1_CEN | TIM_CR1_OPM | TIM_CR1_URS; |
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TIM6->EGR = TIM_EGR_UG; |
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NVIC_EnableIRQ(TIM6_DAC_IRQn); |
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puts("Saving power init done\n"); |
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TIM6->DIER = TIM_DIER_UIE; |
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TIM6->CR1 |= TIM_CR1_CEN; |
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} |
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void TIM6_DAC_IRQHandler(void) { |
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//Timeout switch to power saving mode.
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if (TIM6->SR & TIM_SR_UIF) { |
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TIM6->SR = 0; |
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#ifdef EON |
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if (power_save_status == POWER_SAVE_STATUS_DISABLED) { |
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power_save_enable(); |
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} else if (power_save_status == POWER_SAVE_STATUS_SWITCHING) { |
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power_save_enable_can_wake(); |
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} |
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#endif |
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} else { |
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TIM6->CR1 |= TIM_CR1_CEN; |
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} |
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} |
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@ -0,0 +1,5 @@ |
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#!/bin/bash |
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git clone --recursive https://github.com/pfalcon/esp-open-sdk.git |
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cd esp-open-sdk |
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git checkout 03f5e898a059451ec5f3de30e7feff30455f7cec |
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LD_LIBRARY_PATH="" make STANDALONE=y |
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@ -1,4 +1,7 @@ |
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libusb1 |
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libusb1 == 1.6.6 |
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hexdump |
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pycrypto |
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tqdm |
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nose |
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parameterized |
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requests |
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@ -1,3 +1,9 @@ |
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#!/bin/bash |
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PYTHONPATH="." nosetests -x -s tests/automated/$1*.py |
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TEST_FILENAME=${TEST_FILENAME:-nosetests.xml} |
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if [ ! -f "/EON" ]; then |
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TESTSUITE_NAME="Panda_Test-EON" |
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else |
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TESTSUITE_NAME="Panda_Test-DEV" |
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fi |
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PYTHONPATH="." nosetests -v --with-xunit --xunit-file=./$TEST_FILENAME --xunit-testsuite-name=$TESTSUITE_NAME -s tests/automated/$1*.py |
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@ -0,0 +1,121 @@ |
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from __future__ import print_function |
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import time |
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from panda import Panda |
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from nose.tools import assert_equal, assert_less, assert_greater |
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from helpers import time_many_sends, test_two_panda, panda_color_to_serial |
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@test_two_panda |
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@panda_color_to_serial |
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def test_send_recv(serial_sender=None, serial_reciever=None): |
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p_send = Panda(serial_sender) |
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p_recv = Panda(serial_reciever) |
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p_send.set_safety_mode(Panda.SAFETY_ALLOUTPUT) |
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p_send.set_can_loopback(False) |
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p_recv.set_can_loopback(False) |
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assert not p_send.legacy |
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assert not p_recv.legacy |
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p_send.can_send_many([(0x1ba, 0, "message", 0)]*2) |
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time.sleep(0.05) |
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p_recv.can_recv() |
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p_send.can_recv() |
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busses = [0,1,2] |
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for bus in busses: |
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for speed in [100, 250, 500, 750, 1000]: |
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p_send.set_can_speed_kbps(bus, speed) |
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p_recv.set_can_speed_kbps(bus, speed) |
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time.sleep(0.05) |
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comp_kbps = time_many_sends(p_send, bus, p_recv, two_pandas=True) |
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saturation_pct = (comp_kbps/speed) * 100.0 |
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assert_greater(saturation_pct, 80) |
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assert_less(saturation_pct, 100) |
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print("two pandas bus {}, 100 messages at speed {:4d}, comp speed is {:7.2f}, percent {:6.2f}".format(bus, speed, comp_kbps, saturation_pct)) |
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@test_two_panda |
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@panda_color_to_serial |
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def test_latency(serial_sender=None, serial_reciever=None): |
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p_send = Panda(serial_sender) |
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p_recv = Panda(serial_reciever) |
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p_send.set_safety_mode(Panda.SAFETY_ALLOUTPUT) |
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p_send.set_can_loopback(False) |
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p_recv.set_can_loopback(False) |
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assert not p_send.legacy |
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assert not p_recv.legacy |
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p_send.set_can_speed_kbps(0, 100) |
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p_recv.set_can_speed_kbps(0, 100) |
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time.sleep(0.05) |
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|
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p_send.can_send_many([(0x1ba, 0, "testmsg", 0)]*10) |
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time.sleep(0.05) |
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p_recv.can_recv() |
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p_send.can_recv() |
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busses = [0,1,2] |
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|
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for bus in busses: |
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for speed in [100, 250, 500, 750, 1000]: |
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p_send.set_can_speed_kbps(bus, speed) |
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p_recv.set_can_speed_kbps(bus, speed) |
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time.sleep(0.1) |
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#clear can buffers |
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r = [1] |
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while len(r) > 0: |
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r = p_send.can_recv() |
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r = [1] |
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while len(r) > 0: |
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r = p_recv.can_recv() |
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time.sleep(0.05) |
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|
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latencies = [] |
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comp_kbps_list = [] |
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saturation_pcts = [] |
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num_messages = 100 |
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for i in range(num_messages): |
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st = time.time() |
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p_send.can_send(0x1ab, "message", bus) |
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r = [] |
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while len(r) < 1 and (time.time() - st) < 5: |
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r = p_recv.can_recv() |
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et = time.time() |
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r_echo = [] |
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while len(r_echo) < 1 and (time.time() - st) < 10: |
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r_echo = p_send.can_recv() |
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|
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if len(r) == 0 or len(r_echo) == 0: |
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print("r: {}, r_echo: {}".format(r, r_echo)) |
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assert_equal(len(r),1) |
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assert_equal(len(r_echo),1) |
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|
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et = (et - st)*1000.0 |
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comp_kbps = (1+11+1+1+1+4+8*8+15+1+1+1+7) / et |
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latency = et - ((1+11+1+1+1+4+8*8+15+1+1+1+7) / speed) |
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|
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assert_less(latency, 5.0) |
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saturation_pct = (comp_kbps/speed) * 100.0 |
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latencies.append(latency) |
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comp_kbps_list.append(comp_kbps) |
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saturation_pcts.append(saturation_pct) |
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|
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average_latency = sum(latencies)/num_messages |
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assert_less(average_latency, 1.0) |
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average_comp_kbps = sum(comp_kbps_list)/num_messages |
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average_saturation_pct = sum(saturation_pcts)/num_messages |
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|
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print("two pandas bus {}, {} message average at speed {:4d}, latency is {:5.3f}ms, comp speed is {:7.2f}, percent {:6.2f}"\ |
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.format(bus, num_messages, speed, average_latency, average_comp_kbps, average_saturation_pct)) |
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Reference in new issue