Merge panda subtree

panda/VERSION

@@ -1 +1 @@
-v1.0.4
+v1.0.6

panda/board/build.mk

@@ -17,7 +17,7 @@ DFU_UTIL = "dfu-util"
 
 # this no longer pushes the bootstub
 flash: obj/$(PROJ_NAME).bin
-	PYTHONPATH=../ python -c "from panda import Panda; Panda().flash('obj/$(PROJ_NAME).bin')"
+	PYTHONPATH=../ python -c "from python import Panda; Panda().flash('obj/$(PROJ_NAME).bin')"
 
 ota: obj/$(PROJ_NAME).bin
 	curl http://192.168.0.10/stupdate --upload-file $<
@@ -26,7 +26,7 @@ bin: obj/$(PROJ_NAME).bin
 
 # this flashes everything
 recover: obj/bootstub.$(PROJ_NAME).bin obj/$(PROJ_NAME).bin
-	-PYTHONPATH=../ python -c "from panda import Panda; Panda().reset(enter_bootloader=True)"
+	-PYTHONPATH=../ python -c "from python import Panda; Panda().reset(enter_bootloader=True)"
 	sleep 1.0
 	$(DFU_UTIL) -d 0483:df11 -a 0 -s 0x08004000 -D obj/$(PROJ_NAME).bin
 	$(DFU_UTIL) -d 0483:df11 -a 0 -s 0x08000000:leave -D obj/bootstub.$(PROJ_NAME).bin

panda/board/drivers/drivers.h

@@ -57,13 +57,13 @@ void usb_cb_enumeration_complete();
 // ********************* UART *********************
 // IRQs: USART1, USART2, USART3, UART5
 
-#define FIFO_SIZE 0x100
+#define FIFO_SIZE 0x400
 typedef struct uart_ring {
-  uint8_t w_ptr_tx;
+  uint16_t w_ptr_tx;
-  uint8_t r_ptr_tx;
+  uint16_t r_ptr_tx;
   uint8_t elems_tx[FIFO_SIZE];
-  uint8_t w_ptr_rx;
+  uint16_t w_ptr_rx;
-  uint8_t r_ptr_rx;
+  uint16_t r_ptr_rx;
   uint8_t elems_rx[FIFO_SIZE];
   USART_TypeDef *uart;
   void (*callback)(struct uart_ring*);

panda/board/drivers/uart.h

@@ -52,7 +52,7 @@ void uart_ring_process(uart_ring *q) {
   if (q->w_ptr_tx != q->r_ptr_tx) {
     if (sr & USART_SR_TXE) {
       q->uart->DR = q->elems_tx[q->r_ptr_tx];
-      q->r_ptr_tx += 1;
+      q->r_ptr_tx = (q->r_ptr_tx + 1) % FIFO_SIZE;
     } else {
       // push on interrupt later
       q->uart->CR1 |= USART_CR1_TXEIE;
@@ -64,13 +64,15 @@ void uart_ring_process(uart_ring *q) {
 
   if (sr & USART_SR_RXNE || sr & USART_SR_ORE) {
     uint8_t c = q->uart->DR;  // TODO: can drop packets
-    uint8_t next_w_ptr = q->w_ptr_rx + 1;
+    if (q != &esp_ring) {
+      uint16_t next_w_ptr = (q->w_ptr_rx + 1) % FIFO_SIZE;
       if (next_w_ptr != q->r_ptr_rx) {
         q->elems_rx[q->w_ptr_rx] = c;
         q->w_ptr_rx = next_w_ptr;
         if (q->callback) q->callback(q);
       }
     }
+  }
 
   if (sr & USART_SR_ORE) {
     // set dropped packet flag?
@@ -92,7 +94,7 @@ int getc(uart_ring *q, char *elem) {
   enter_critical_section();
   if (q->w_ptr_rx != q->r_ptr_rx) {
     *elem = q->elems_rx[q->r_ptr_rx];
-    q->r_ptr_rx += 1;
+    q->r_ptr_rx = (q->r_ptr_rx + 1) % FIFO_SIZE;
     ret = 1;
   }
   exit_critical_section();
@@ -102,10 +104,10 @@ int getc(uart_ring *q, char *elem) {
 
 int injectc(uart_ring *q, char elem) {
   int ret = 0;
-  uint8_t next_w_ptr;
+  uint16_t next_w_ptr;
 
   enter_critical_section();
-  next_w_ptr = q->w_ptr_rx + 1;
+  next_w_ptr = (q->w_ptr_rx + 1) % FIFO_SIZE;
   if (next_w_ptr != q->r_ptr_rx) {
     q->elems_rx[q->w_ptr_rx] = elem;
     q->w_ptr_rx = next_w_ptr;
@@ -118,10 +120,10 @@ int injectc(uart_ring *q, char elem) {
 
 int putc(uart_ring *q, char elem) {
   int ret = 0;
-  uint8_t next_w_ptr;
+  uint16_t next_w_ptr;
 
   enter_critical_section();
-  next_w_ptr = q->w_ptr_tx + 1;
+  next_w_ptr = (q->w_ptr_tx + 1) % FIFO_SIZE;
   if (next_w_ptr != q->r_ptr_tx) {
     q->elems_tx[q->w_ptr_tx] = elem;
     q->w_ptr_tx = next_w_ptr;
@@ -159,6 +161,51 @@ void uart_set_baud(USART_TypeDef *u, int baud) {
   }
 }
 
+#define USART1_DMA_LEN 0x20
+char usart1_dma[USART1_DMA_LEN];
+
+void uart_dma_drain() {
+  uart_ring *q = &esp_ring;
+
+  enter_critical_section();
+
+  if (DMA2->HISR & DMA_HISR_TCIF5 || DMA2->HISR & DMA_HISR_HTIF5 || DMA2_Stream5->NDTR != USART1_DMA_LEN) {
+    // disable DMA
+    q->uart->CR3 &= ~USART_CR3_DMAR;
+    DMA2_Stream5->CR &= ~DMA_SxCR_EN;
+    while (DMA2_Stream5->CR & DMA_SxCR_EN);
+
+    int i;
+    for (i = 0; i < USART1_DMA_LEN - DMA2_Stream5->NDTR; i++) {
+      char c = usart1_dma[i];
+      uint16_t next_w_ptr = (q->w_ptr_rx + 1) % FIFO_SIZE;
+      if (next_w_ptr != q->r_ptr_rx) {
+        q->elems_rx[q->w_ptr_rx] = c;
+        q->w_ptr_rx = next_w_ptr;
+      }
+    }
+
+    // reset DMA len
+    DMA2_Stream5->NDTR = USART1_DMA_LEN;
+
+    // clear interrupts
+    DMA2->HIFCR = DMA_HIFCR_CTCIF5 | DMA_HIFCR_CHTIF5;
+    //DMA2->HIFCR = DMA_HIFCR_CTEIF5 | DMA_HIFCR_CDMEIF5 | DMA_HIFCR_CFEIF5;
+
+    // enable DMA
+    DMA2_Stream5->CR |= DMA_SxCR_EN;
+    q->uart->CR3 |= USART_CR3_DMAR;
+  }
+
+  exit_critical_section();
+}
+
+void DMA2_Stream5_IRQHandler(void) {
+  //set_led(LED_BLUE, 1);
+  uart_dma_drain();
+  //set_led(LED_BLUE, 0);
+}
+
 void uart_init(USART_TypeDef *u, int baud) {
   // enable uart and tx+rx mode
   u->CR1 = USART_CR1_UE;
@@ -170,9 +217,23 @@ void uart_init(USART_TypeDef *u, int baud) {
   // ** UART is ready to work **
 
   // enable interrupts
+  if (u != USART1) {
     u->CR1 |= USART_CR1_RXNEIE;
+  }
 
   if (u == USART1) {
+    // DMA2, stream 2, channel 3
+    DMA2_Stream5->M0AR = (uint32_t)usart1_dma;
+    DMA2_Stream5->NDTR = USART1_DMA_LEN;
+    DMA2_Stream5->PAR = (uint32_t)&(USART1->DR);
+
+    // channel4, increment memory, periph -> memory, enable
+    DMA2_Stream5->CR = DMA_SxCR_CHSEL_2 | DMA_SxCR_MINC | DMA_SxCR_HTIE | DMA_SxCR_TCIE | DMA_SxCR_EN;
+
+    // this one uses DMA receiver
+    u->CR3 = USART_CR3_DMAR;
+
+    NVIC_EnableIRQ(DMA2_Stream5_IRQn);
     NVIC_EnableIRQ(USART1_IRQn);
   } else if (u == USART2) {
     NVIC_EnableIRQ(USART2_IRQn);

panda/board/gpio.h

@@ -15,6 +15,7 @@ int has_external_debug_serial = 0;
 int is_giant_panda = 0;
 int is_entering_bootmode = 0;
 int revision = PANDA_REV_AB;
+int is_grey_panda = 0;
 
 int detect_with_pull(GPIO_TypeDef *GPIO, int pin, int mode) {
   set_gpio_mode(GPIO, pin, MODE_INPUT);
@@ -45,9 +46,14 @@ void detect() {
 
   // check if the ESP is trying to put me in boot mode
   is_entering_bootmode = !detect_with_pull(GPIOB, 0, PULL_UP);
+
+  // check if it's a grey panda by seeing if the SPI lines are floating
+  // TODO: is this reliable?
+  is_grey_panda = !(detect_with_pull(GPIOA, 4, PULL_DOWN) | detect_with_pull(GPIOA, 5, PULL_DOWN) | detect_with_pull(GPIOA, 6, PULL_DOWN) | detect_with_pull(GPIOA, 7, PULL_DOWN));
 #else
   // need to do this for early detect
   is_giant_panda = 0;
+  is_grey_panda = 0;
   revision = PANDA_REV_AB;
   is_entering_bootmode = 0;
 #endif

panda/board/main.c

@@ -175,6 +175,11 @@ int usb_cb_control_msg(USB_Setup_TypeDef *setup, uint8_t *resp, int hardwired) {
       puts(" err: "); puth(can_err_cnt);
       puts("\n");
       break;
+    // **** 0xc1: is grey panda
+    case 0xc1:
+      resp[0] = is_grey_panda;
+      resp_len = 1;
+      break;
     // **** 0xd0: fetch serial number
     case 0xd0:
       #ifdef PANDA
@@ -229,6 +234,8 @@ int usb_cb_control_msg(USB_Setup_TypeDef *setup, uint8_t *resp, int hardwired) {
     case 0xd9:
       if (setup->b.wValue.w == 1) {
         set_esp_mode(ESP_ENABLED);
+      } else if (setup->b.wValue.w == 2) {
+        set_esp_mode(ESP_BOOTMODE);
       } else {
         set_esp_mode(ESP_DISABLED);
       }
@@ -267,7 +274,7 @@ int usb_cb_control_msg(USB_Setup_TypeDef *setup, uint8_t *resp, int hardwired) {
       // and it's blocked over WiFi
       // Allow ELM security mode to be set over wifi.
       if (hardwired || setup->b.wValue.w == SAFETY_NOOUTPUT || setup->b.wValue.w == SAFETY_ELM327) {
-        safety_set_mode(setup->b.wValue.w);
+        safety_set_mode(setup->b.wValue.w, (int16_t)setup->b.wIndex.w);
         switch (setup->b.wValue.w) {
           case SAFETY_NOOUTPUT:
             can_silent = ALL_CAN_SILENT;
@@ -304,6 +311,7 @@ int usb_cb_control_msg(USB_Setup_TypeDef *setup, uint8_t *resp, int hardwired) {
     case 0xe0:
       ur = get_ring_by_number(setup->b.wValue.w);
       if (!ur) break;
+      if (ur == &esp_ring) uart_dma_drain();
       // read
       while ((resp_len < min(setup->b.wLength.w, MAX_RESP_LEN)) &&
                          getc(ur, (char*)&resp[resp_len])) {
@@ -489,6 +497,7 @@ int main() {
   #endif
   puts(has_external_debug_serial ? "  real serial\n" : "  USB serial\n");
   puts(is_giant_panda ? "  GIANTpanda detected\n" : "  not GIANTpanda\n");
+  puts(is_grey_panda ? "  gray panda detected!\n" : "  white panda\n");
   puts(is_entering_bootmode ? "  ESP wants bootmode\n" : "  no bootmode\n");
   gpio_init();
 
@@ -500,9 +509,12 @@ int main() {
   }
 
 #ifdef PANDA
+  if (is_grey_panda) {
+    uart_init(USART1, 9600);
+  } else {
     // enable ESP uart
     uart_init(USART1, 115200);
-
+  }
   // enable LIN
   uart_init(UART5, 10400);
   UART5->CR2 |= USART_CR2_LINEN;
@@ -522,7 +534,7 @@ int main() {
   usb_init();
 
   // default to silent mode to prevent issues with Ford
-  safety_set_mode(SAFETY_NOOUTPUT);
+  safety_set_mode(SAFETY_NOOUTPUT, 0);
   can_silent = ALL_CAN_SILENT;
   can_init_all();
 
@@ -552,6 +564,8 @@ int main() {
   for (cnt=0;;cnt++) {
     can_live = pending_can_live;
 
+    //puth(usart1_dma); puts(" "); puth(DMA2_Stream5->M0AR); puts(" "); puth(DMA2_Stream5->NDTR); puts("\n");
+
     #ifdef PANDA
       int current = adc_get(ADCCHAN_CURRENT);
 

panda/board/safety.h

@@ -2,7 +2,7 @@ void safety_rx_hook(CAN_FIFOMailBox_TypeDef *to_push);
 int safety_tx_hook(CAN_FIFOMailBox_TypeDef *to_send);
 int safety_tx_lin_hook(int lin_num, uint8_t *data, int len);
 
-typedef void (*safety_hook_init)();
+typedef void (*safety_hook_init)(int16_t param);
 typedef void (*rx_hook)(CAN_FIFOMailBox_TypeDef *to_push);
 typedef int (*tx_hook)(CAN_FIFOMailBox_TypeDef *to_send);
 typedef int (*tx_lin_hook)(int lin_num, uint8_t *data, int len);
@@ -60,11 +60,11 @@ const safety_hook_config safety_hook_registry[] = {
 
 #define HOOK_CONFIG_COUNT (sizeof(safety_hook_registry)/sizeof(safety_hook_config))
 
-int safety_set_mode(uint16_t mode) {
+int safety_set_mode(uint16_t mode, int16_t param) {
   for (int i = 0; i < HOOK_CONFIG_COUNT; i++) {
     if (safety_hook_registry[i].id == mode) {
       current_hooks = safety_hook_registry[i].hooks;
-      if (current_hooks->init) current_hooks->init();
+      if (current_hooks->init) current_hooks->init(param);
       return 0;
     }
   }

panda/board/safety/safety_defaults.h

@@ -2,7 +2,7 @@ void default_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {}
 
 // *** no output safety mode ***
 
-static void nooutput_init() {
+static void nooutput_init(int16_t param) {
   controls_allowed = 0;
 }
 
@@ -23,7 +23,7 @@ const safety_hooks nooutput_hooks = {
 
 // *** all output safety mode ***
 
-static void alloutput_init() {
+static void alloutput_init(int16_t param) {
   controls_allowed = 1;
 }
 

panda/board/safety/safety_elm327.h

@@ -27,7 +27,7 @@ static int elm327_tx_lin_hook(int lin_num, uint8_t *data, int len) {
   return true;
 }
 
-static void elm327_init() {
+static void elm327_init(int16_t param) {
   controls_allowed = 1;
 }
 

panda/board/safety/safety_honda.h

@@ -115,7 +115,7 @@ static int honda_tx_lin_hook(int lin_num, uint8_t *data, int len) {
   return true;
 }
 
-static void honda_init() {
+static void honda_init(int16_t param) {
   controls_allowed = 0;
 }
 

panda/board/safety/safety_toyota.h

@@ -9,7 +9,7 @@ const int32_t MAX_TORQUE = 1500;       // max torque cmd allowed ever
 // packet is sent at 100hz, so this limit is 1000/sec
 const int32_t MAX_RATE_UP = 10;        // ramp up slow
 const int32_t MAX_RATE_DOWN = 25;      // ramp down fast
-const int32_t MAX_TORQUE_ERROR = 500;  // max torque cmd in excess of torque motor
+const int32_t MAX_TORQUE_ERROR = 350;  // max torque cmd in excess of torque motor
 
 // real time torque limit to prevent controls spamming
 // the real time limit is 1500/sec
@@ -22,6 +22,7 @@ const int16_t MIN_ACCEL = -3000;       // 3.0 m/s2
 
 // global actuation limit state
 int actuation_limits = 1;              // by default steer limits are imposed
+int16_t dbc_eps_torque_factor = 100;   // conversion factor for STEER_TORQUE_EPS in %: see dbc file
 
 // state of torque limits
 int16_t desired_torque_last = 0;       // last desired steer torque
@@ -31,10 +32,10 @@ uint32_t ts_last = 0;
 static void toyota_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
   // get eps motor torque (0.66 factor in dbc)
   if ((to_push->RIR>>21) == 0x260) {
-    int16_t torque_meas_new = (((to_push->RDHR) & 0xFF00) | ((to_push->RDHR >> 16) & 0xFF));
+    int torque_meas_new = (((to_push->RDHR) & 0xFF00) | ((to_push->RDHR >> 16) & 0xFF));
 
     // increase torque_meas by 1 to be conservative on rounding
-    torque_meas_new = (torque_meas_new / 3 + (torque_meas_new > 0 ? 1 : -1)) * 2;
+    torque_meas_new = (torque_meas_new * dbc_eps_torque_factor / 100) + (torque_meas_new > 0 ? 1 : -1);
 
     // shift the array
     for (int i = sizeof(torque_meas)/sizeof(torque_meas[0]) - 1; i > 0; i--) {
@@ -154,9 +155,10 @@ static int toyota_tx_lin_hook(int lin_num, uint8_t *data, int len) {
   return true;
 }
 
-static void toyota_init() {
+static void toyota_init(int16_t param) {
   controls_allowed = 0;
   actuation_limits = 1;
+  dbc_eps_torque_factor = param;
 }
 
 const safety_hooks toyota_hooks = {
@@ -166,9 +168,10 @@ const safety_hooks toyota_hooks = {
   .tx_lin = toyota_tx_lin_hook,
 };
 
-static void toyota_nolimits_init() {
+static void toyota_nolimits_init(int16_t param) {
   controls_allowed = 0;
   actuation_limits = 0;
+  dbc_eps_torque_factor = param;
 }
 
 const safety_hooks toyota_nolimits_hooks = {

panda/examples/isotp.py

@@ -9,7 +9,27 @@ def msg(x):
     assert False
   return ret.ljust(8, "\x00")
 
-def isotp_send(panda, x, addr, bus=0):
+kmsgs = []
+def recv(panda, cnt, addr, nbus):
+  global kmsgs
+  ret = []
+
+  while len(ret) < cnt:
+    kmsgs += panda.can_recv()
+    nmsgs = []
+    for ids, ts, dat, bus in kmsgs:
+      if ids == addr and bus == nbus and len(ret) < cnt:
+        ret.append(dat)
+      else:
+        # leave around
+        nmsgs.append((ids, ts, dat, bus))
+    kmsgs = nmsgs[-256:]
+  return map(str, ret)
+
+def isotp_send(panda, x, addr, bus=0, recvaddr=None):
+  if recvaddr is None:
+    recvaddr = addr+8
+
   if len(x) <= 7:
     panda.can_send(addr, msg(x), bus)
   else:
@@ -24,25 +44,9 @@ def isotp_send(panda, x, addr, bus=0):
 
     # actually send
     panda.can_send(addr, ss, bus)
-    rr = recv(panda, 1, addr+8, bus)[0]
+    rr = recv(panda, 1, recvaddr, bus)[0]
     panda.can_send_many([(addr, None, s, 0) for s in sends])
 
-kmsgs = []
-def recv(panda, cnt, addr, nbus):
-  global kmsgs
-  ret = []
-
-  while len(ret) < cnt:
-    kmsgs += panda.can_recv()
-    nmsgs = []
-    for ids, ts, dat, bus in kmsgs:
-      if ids == addr and bus == nbus and len(ret) < cnt:
-        ret.append(dat)
-      else:
-        pass
-    kmsgs = nmsgs
-  return map(str, ret)
-
 def isotp_recv(panda, addr, bus=0, sendaddr=None):
   msg = recv(panda, 1, addr, bus)[0]
 

panda/python/__init__.py

@@ -18,6 +18,8 @@ __version__ = '0.0.6'
 
 BASEDIR = os.path.join(os.path.dirname(os.path.realpath(__file__)), "../")
 
+DEBUG = os.getenv("PANDADEBUG") is not None
+
 # *** wifi mode ***
 
 def build_st(target, mkfile="Makefile"):
@@ -34,7 +36,10 @@ def parse_can_buffer(dat):
       address = f1 >> 3
     else:
       address = f1 >> 21
-    ret.append((address, f2>>16, ddat[8:8+(f2&0xF)], (f2>>4)&0xFF))
+    dddat = ddat[8:8+(f2&0xF)]
+    if DEBUG:
+      print("  R %x: %s" % (address, str(dddat).encode("hex")))
+    ret.append((address, f2>>16, dddat, (f2>>4)&0xFF))
   return ret
 
 class PandaWifiStreaming(object):
@@ -369,6 +374,8 @@ class Panda(object):
     extended = 4
     for addr, _, dat, bus in arr:
       assert len(dat) <= 8
+      if DEBUG:
+        print("  W %x: %s" % (addr, dat.encode("hex")))
       if addr >= 0x800:
         rir = (addr << 3) | transmit | extended
       else:
@@ -425,7 +432,10 @@ class Panda(object):
     return b''.join(ret)
 
   def serial_write(self, port_number, ln):
-    return self._handle.bulkWrite(2, struct.pack("B", port_number) + ln)
+    ret = 0
+    for i in range(0, len(ln), 0x20):
+      ret += self._handle.bulkWrite(2, struct.pack("B", port_number) + ln[i:i+0x20])
+    return ret
 
   def serial_clear(self, port_number):
     """Clears all messages (tx and rx) from the specified internal uart

panda/tests/location_listener.py

@@ -27,7 +27,6 @@ if __name__ == "__main__":
   print ser.read(1024)
 
   # upping baud rate
-  # 460800 has issues
   baudrate = 460800
 
   print "upping baud rate"