cabana: add independent panda lib (#35920)
* cabana: add separate panda lib * cleanuppull/35700/head
Adeeb Shihadeh
6 days ago
committed by
GitHub
parent
1ca8a4ca75
commit
aecb6d13e7
4 changed files with 446 additions and 4 deletions
@ -0,0 +1,346 @@ |
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#include "tools/cabana/panda.h" |
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#include <unistd.h> |
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#include <cassert> |
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#include <stdexcept> |
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#include <vector> |
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#include <memory> |
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#include "cereal/messaging/messaging.h" |
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#include "common/swaglog.h" |
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#include "common/util.h" |
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static libusb_context *init_usb_ctx() { |
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libusb_context *context = nullptr; |
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int err = libusb_init(&context); |
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if (err != 0) { |
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LOGE("libusb initialization error"); |
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return nullptr; |
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} |
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#if LIBUSB_API_VERSION >= 0x01000106 |
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libusb_set_option(context, LIBUSB_OPTION_LOG_LEVEL, LIBUSB_LOG_LEVEL_INFO); |
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#else |
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libusb_set_debug(context, 3); |
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#endif |
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return context; |
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} |
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Panda::Panda(std::string serial, uint32_t bus_offset) : bus_offset(bus_offset) { |
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if (!init_usb_connection(serial)) { |
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throw std::runtime_error("Error connecting to panda"); |
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} |
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LOGW("connected to %s over USB", serial.c_str()); |
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hw_type = get_hw_type(); |
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can_reset_communications(); |
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} |
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Panda::~Panda() { |
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cleanup_usb(); |
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} |
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bool Panda::connected() { |
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return connected_flag; |
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} |
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bool Panda::comms_healthy() { |
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return comms_healthy_flag; |
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} |
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std::string Panda::hw_serial() { |
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return hw_serial_str; |
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} |
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std::vector<std::string> Panda::list(bool usb_only) { |
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static std::unique_ptr<libusb_context, decltype(&libusb_exit)> context(init_usb_ctx(), libusb_exit); |
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ssize_t num_devices; |
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libusb_device **dev_list = NULL; |
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std::vector<std::string> serials; |
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if (!context) { return serials; } |
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num_devices = libusb_get_device_list(context.get(), &dev_list); |
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if (num_devices < 0) { |
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LOGE("libusb can't get device list"); |
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goto finish; |
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} |
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for (size_t i = 0; i < num_devices; ++i) { |
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libusb_device *device = dev_list[i]; |
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libusb_device_descriptor desc; |
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libusb_get_device_descriptor(device, &desc); |
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if (desc.idVendor == 0x3801 && desc.idProduct == 0xddcc) { |
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libusb_device_handle *handle = NULL; |
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int ret = libusb_open(device, &handle); |
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if (ret < 0) { goto finish; } |
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unsigned char desc_serial[26] = { 0 }; |
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ret = libusb_get_string_descriptor_ascii(handle, desc.iSerialNumber, desc_serial, std::size(desc_serial)); |
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libusb_close(handle); |
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if (ret < 0) { goto finish; } |
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serials.push_back(std::string((char *)desc_serial, ret)); |
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} |
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} |
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finish: |
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if (dev_list != NULL) { |
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libusb_free_device_list(dev_list, 1); |
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} |
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return serials; |
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} |
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void Panda::set_safety_model(cereal::CarParams::SafetyModel safety_model, uint16_t safety_param) { |
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control_write(0xdc, (uint16_t)safety_model, safety_param); |
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} |
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cereal::PandaState::PandaType Panda::get_hw_type() { |
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unsigned char hw_query[1] = {0}; |
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control_read(0xc1, 0, 0, hw_query, 1); |
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return (cereal::PandaState::PandaType)(hw_query[0]); |
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} |
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void Panda::send_heartbeat(bool engaged) { |
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control_write(0xf3, engaged, 0); |
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} |
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void Panda::set_can_speed_kbps(uint16_t bus, uint16_t speed) { |
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control_write(0xde, bus, (speed * 10)); |
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} |
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void Panda::set_data_speed_kbps(uint16_t bus, uint16_t speed) { |
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control_write(0xf9, bus, (speed * 10)); |
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} |
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bool Panda::can_receive(std::vector<can_frame>& out_vec) { |
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// Check if enough space left in buffer to store RECV_SIZE data
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assert(receive_buffer_size + RECV_SIZE <= sizeof(receive_buffer)); |
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int recv = bulk_read(0x81, &receive_buffer[receive_buffer_size], RECV_SIZE); |
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if (!comms_healthy()) { |
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return false; |
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} |
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bool ret = true; |
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if (recv > 0) { |
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receive_buffer_size += recv; |
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ret = unpack_can_buffer(receive_buffer, receive_buffer_size, out_vec); |
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} |
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return ret; |
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} |
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void Panda::can_reset_communications() { |
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control_write(0xc0, 0, 0); |
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} |
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bool Panda::unpack_can_buffer(uint8_t *data, uint32_t &size, std::vector<can_frame> &out_vec) { |
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int pos = 0; |
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while (pos <= size - sizeof(can_header)) { |
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can_header header; |
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memcpy(&header, &data[pos], sizeof(can_header)); |
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const uint8_t data_len = dlc_to_len[header.data_len_code]; |
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if (pos + sizeof(can_header) + data_len > size) { |
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// we don't have all the data for this message yet
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break; |
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} |
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if (calculate_checksum(&data[pos], sizeof(can_header) + data_len) != 0) { |
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LOGE("Panda CAN checksum failed"); |
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size = 0; |
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can_reset_communications(); |
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return false; |
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} |
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can_frame &canData = out_vec.emplace_back(); |
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canData.address = header.addr; |
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canData.src = header.bus + bus_offset; |
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if (header.rejected) { |
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canData.src += CAN_REJECTED_BUS_OFFSET; |
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} |
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if (header.returned) { |
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canData.src += CAN_RETURNED_BUS_OFFSET; |
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} |
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canData.dat.assign((char *)&data[pos + sizeof(can_header)], data_len); |
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pos += sizeof(can_header) + data_len; |
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} |
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// move the overflowing data to the beginning of the buffer for the next round
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memmove(data, &data[pos], size - pos); |
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size -= pos; |
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return true; |
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} |
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uint8_t Panda::calculate_checksum(uint8_t *data, uint32_t len) { |
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uint8_t checksum = 0U; |
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for (uint32_t i = 0U; i < len; i++) { |
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checksum ^= data[i]; |
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} |
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return checksum; |
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} |
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// USB implementation methods
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bool Panda::init_usb_connection(const std::string& serial) { |
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ssize_t num_devices; |
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libusb_device **dev_list = NULL; |
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int err = 0; |
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ctx = init_usb_ctx(); |
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if (!ctx) { goto fail; } |
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// connect by serial
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num_devices = libusb_get_device_list(ctx, &dev_list); |
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if (num_devices < 0) { goto fail; } |
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for (size_t i = 0; i < num_devices; ++i) { |
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libusb_device_descriptor desc; |
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libusb_get_device_descriptor(dev_list[i], &desc); |
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if (desc.idVendor == 0x3801 && desc.idProduct == 0xddcc) { |
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int ret = libusb_open(dev_list[i], &dev_handle); |
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if (dev_handle == NULL || ret < 0) { goto fail; } |
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unsigned char desc_serial[26] = { 0 }; |
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ret = libusb_get_string_descriptor_ascii(dev_handle, desc.iSerialNumber, desc_serial, std::size(desc_serial)); |
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if (ret < 0) { goto fail; } |
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hw_serial_str = std::string((char *)desc_serial, ret); |
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if (serial.empty() || serial == hw_serial_str) { |
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break; |
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} |
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libusb_close(dev_handle); |
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dev_handle = NULL; |
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} |
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} |
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if (dev_handle == NULL) goto fail; |
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libusb_free_device_list(dev_list, 1); |
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if (libusb_kernel_driver_active(dev_handle, 0) == 1) { |
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libusb_detach_kernel_driver(dev_handle, 0); |
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} |
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err = libusb_set_configuration(dev_handle, 1); |
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if (err != 0) { goto fail; } |
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err = libusb_claim_interface(dev_handle, 0); |
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if (err != 0) { goto fail; } |
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return true; |
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fail: |
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if (dev_list != NULL) { |
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libusb_free_device_list(dev_list, 1); |
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} |
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cleanup_usb(); |
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return false; |
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} |
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void Panda::cleanup_usb() { |
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if (dev_handle) { |
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libusb_release_interface(dev_handle, 0); |
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libusb_close(dev_handle); |
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dev_handle = nullptr; |
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} |
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if (ctx) { |
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libusb_exit(ctx); |
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ctx = nullptr; |
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} |
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connected_flag = false; |
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} |
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void Panda::handle_usb_issue(int err, const char func[]) { |
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LOGE_100("usb error %d \"%s\" in %s", err, libusb_strerror((enum libusb_error)err), func); |
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if (err == LIBUSB_ERROR_NO_DEVICE) { |
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LOGE("lost connection"); |
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connected_flag = false; |
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} |
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} |
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int Panda::control_write(uint8_t bRequest, uint16_t wValue, uint16_t wIndex, unsigned int timeout) { |
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int err; |
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const uint8_t bmRequestType = LIBUSB_ENDPOINT_OUT | LIBUSB_REQUEST_TYPE_VENDOR | LIBUSB_RECIPIENT_DEVICE; |
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if (!connected_flag) { |
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return LIBUSB_ERROR_NO_DEVICE; |
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} |
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do { |
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err = libusb_control_transfer(dev_handle, bmRequestType, bRequest, wValue, wIndex, NULL, 0, timeout); |
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if (err < 0) handle_usb_issue(err, __func__); |
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} while (err < 0 && connected_flag); |
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return err; |
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} |
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int Panda::control_read(uint8_t bRequest, uint16_t wValue, uint16_t wIndex, unsigned char *data, uint16_t wLength, unsigned int timeout) { |
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int err; |
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const uint8_t bmRequestType = LIBUSB_ENDPOINT_IN | LIBUSB_REQUEST_TYPE_VENDOR | LIBUSB_RECIPIENT_DEVICE; |
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if (!connected_flag) { |
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return LIBUSB_ERROR_NO_DEVICE; |
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} |
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do { |
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err = libusb_control_transfer(dev_handle, bmRequestType, bRequest, wValue, wIndex, data, wLength, timeout); |
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if (err < 0) handle_usb_issue(err, __func__); |
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} while (err < 0 && connected_flag); |
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return err; |
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} |
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int Panda::bulk_write(unsigned char endpoint, unsigned char* data, int length, unsigned int timeout) { |
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int err; |
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int transferred = 0; |
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if (!connected_flag) { |
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return 0; |
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} |
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do { |
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err = libusb_bulk_transfer(dev_handle, endpoint, data, length, &transferred, timeout); |
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if (err == LIBUSB_ERROR_TIMEOUT) { |
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LOGW("Transmit buffer full"); |
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break; |
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} else if (err != 0 || length != transferred) { |
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handle_usb_issue(err, __func__); |
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} |
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} while (err != 0 && connected_flag); |
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return transferred; |
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} |
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int Panda::bulk_read(unsigned char endpoint, unsigned char* data, int length, unsigned int timeout) { |
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int err; |
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int transferred = 0; |
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if (!connected_flag) { |
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return 0; |
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} |
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do { |
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err = libusb_bulk_transfer(dev_handle, endpoint, data, length, &transferred, timeout); |
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if (err == LIBUSB_ERROR_TIMEOUT) { |
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break; // timeout is okay to exit, recv still happened
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} else if (err == LIBUSB_ERROR_OVERFLOW) { |
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comms_healthy_flag = false; |
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LOGE_100("overflow got 0x%x", transferred); |
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} else if (err != 0) { |
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handle_usb_issue(err, __func__); |
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} |
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} while (err != 0 && connected_flag); |
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return transferred; |
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} |
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@ -0,0 +1,95 @@ |
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#pragma once |
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#include <cstdint> |
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#include <ctime> |
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#include <functional> |
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#include <list> |
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#include <memory> |
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#include <optional> |
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#include <string> |
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#include <vector> |
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#include <atomic> |
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#include <mutex> |
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#include <libusb-1.0/libusb.h> |
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#include "cereal/gen/cpp/car.capnp.h" |
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#include "cereal/gen/cpp/log.capnp.h" |
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#include "panda/board/health.h" |
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#include "panda/board/can.h" |
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#define USB_TX_SOFT_LIMIT (0x100U) |
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#define USBPACKET_MAX_SIZE (0x40) |
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#define RECV_SIZE (0x4000U) |
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#define TIMEOUT 0 |
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#define CAN_REJECTED_BUS_OFFSET 0xC0U |
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#define CAN_RETURNED_BUS_OFFSET 0x80U |
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#define PANDA_BUS_OFFSET 4 |
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struct __attribute__((packed)) can_header { |
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uint8_t reserved : 1; |
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uint8_t bus : 3; |
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uint8_t data_len_code : 4; |
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uint8_t rejected : 1; |
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uint8_t returned : 1; |
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uint8_t extended : 1; |
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uint32_t addr : 29; |
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uint8_t checksum : 8; |
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}; |
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struct can_frame { |
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long address; |
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std::string dat; |
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long src; |
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}; |
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class Panda { |
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public: |
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Panda(std::string serial="", uint32_t bus_offset=0); |
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~Panda(); |
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cereal::PandaState::PandaType hw_type = cereal::PandaState::PandaType::UNKNOWN; |
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const uint32_t bus_offset; |
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bool connected(); |
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bool comms_healthy(); |
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std::string hw_serial(); |
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// Static functions
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static std::vector<std::string> list(bool usb_only=false); |
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// Panda functionality
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cereal::PandaState::PandaType get_hw_type(); |
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void set_safety_model(cereal::CarParams::SafetyModel safety_model, uint16_t safety_param=0U); |
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void send_heartbeat(bool engaged); |
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void set_can_speed_kbps(uint16_t bus, uint16_t speed); |
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void set_data_speed_kbps(uint16_t bus, uint16_t speed); |
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bool can_receive(std::vector<can_frame>& out_vec); |
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void can_reset_communications(); |
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private: |
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// USB connection members
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libusb_context *ctx = nullptr; |
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libusb_device_handle *dev_handle = nullptr; |
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std::string hw_serial_str; |
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std::atomic<bool> connected_flag = true; |
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std::atomic<bool> comms_healthy_flag = true; |
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// CAN buffer members
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uint8_t receive_buffer[RECV_SIZE + sizeof(can_header) + 64]; |
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uint32_t receive_buffer_size = 0; |
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// Internal methods
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bool init_usb_connection(const std::string& serial); |
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void cleanup_usb(); |
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void handle_usb_issue(int err, const char func[]); |
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int control_write(uint8_t request, uint16_t param1, uint16_t param2, unsigned int timeout=TIMEOUT); |
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int control_read(uint8_t request, uint16_t param1, uint16_t param2, unsigned char *data, uint16_t length, unsigned int timeout=TIMEOUT); |
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int bulk_write(unsigned char endpoint, unsigned char* data, int length, unsigned int timeout=TIMEOUT); |
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int bulk_read(unsigned char endpoint, unsigned char* data, int length, unsigned int timeout=TIMEOUT); |
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bool unpack_can_buffer(uint8_t *data, uint32_t &size, std::vector<can_frame> &out_vec); |
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uint8_t calculate_checksum(uint8_t *data, uint32_t len); |
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}; |
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