Merge panda subtree

old-commit-hash: 26da755a1e

panda/.circleci/config.yml

@@ -29,9 +29,13 @@ jobs:
           command: |
             docker run panda_build /bin/bash -c "cd /panda/board; make bin"
       - run:
-          name: Build Pedal STM image
+          name: Build Honda Pedal STM image
           command: |
-            docker run panda_build /bin/bash -c "cd /panda/board/pedal; make obj/comma.bin"
+            docker run panda_build /bin/bash -c "cd /panda/board/pedal_honda; make obj/comma.bin"
+      - run:
+          name: Build Toyota Pedal STM image
+          command: |
+            docker run panda_build /bin/bash -c "cd /panda/board/pedal_toyota; make obj/comma.bin"
       - run:
           name: Build NEO STM image
           command: |

panda/VERSION

@@ -1 +1 @@
-v1.1.8
+v1.2.0

panda/board/main.c

@@ -559,6 +559,7 @@ int main() {
   usb_init();
 
   // default to silent mode to prevent issues with Ford
+  // hardcode a specific safety mode if you want to force the panda to be in a specific mode
   safety_set_mode(SAFETY_NOOUTPUT, 0);
   can_silent = ALL_CAN_SILENT;
   can_init_all();

panda/board/pedal_toyota/.gitignore

@@ -0,0 +1 @@
+obj/*

panda/board/pedal_toyota/Makefile

@@ -0,0 +1,58 @@
+# :set noet
+PROJ_NAME = comma
+
+CFLAGS  = -O2 -Wall -std=gnu11 -DPEDAL
+CFLAGS += -mlittle-endian -mthumb -mcpu=cortex-m3
+CFLAGS += -msoft-float -DSTM32F2 -DSTM32F205xx
+CFLAGS += -I ../inc -I ../ -I ../../ -nostdlib
+CFLAGS += -T../stm32_flash.ld
+
+STARTUP_FILE = startup_stm32f205xx
+
+CC = arm-none-eabi-gcc
+OBJCOPY = arm-none-eabi-objcopy
+OBJDUMP = arm-none-eabi-objdump
+DFU_UTIL = "dfu-util"
+
+# pedal only uses the debug cert
+CERT = ../../certs/debug
+CFLAGS += "-DALLOW_DEBUG"
+
+canflash: obj/$(PROJ_NAME).bin
+	../../tests/pedal/enter_canloader.py $<
+
+usbflash: obj/$(PROJ_NAME).bin
+	../../tests/pedal/enter_canloader.py; sleep 0.5
+	PYTHONPATH=../../ python -c "from python import Panda; p = [x for x in [Panda(x) for x in Panda.list()] if x.bootstub]; assert(len(p)==1); p[0].flash('obj/$(PROJ_NAME).bin', reconnect=False)"
+
+recover: obj/bootstub.bin obj/$(PROJ_NAME).bin
+	../../tests/pedal/enter_canloader.py --recover; sleep 0.5
+	$(DFU_UTIL) -d 0483:df11 -a 0 -s 0x08004000 -D obj/$(PROJ_NAME).bin
+	$(DFU_UTIL) -d 0483:df11 -a 0 -s 0x08000000:leave -D obj/bootstub.bin
+
+obj/main.o: main.c ../*.h
+	mkdir -p obj
+	$(CC) $(CFLAGS) -o $@ -c $<
+
+obj/bootstub.o: ../bootstub.c ../*.h
+	mkdir -p obj
+	$(CC) $(CFLAGS) -o $@ -c $<
+
+obj/$(STARTUP_FILE).o: ../$(STARTUP_FILE).s
+	$(CC) $(CFLAGS) -o $@ -c $<
+
+obj/%.o: ../../crypto/%.c
+	$(CC) $(CFLAGS) -o $@ -c $<
+
+obj/$(PROJ_NAME).bin: obj/$(STARTUP_FILE).o obj/main.o
+  # hack
+	$(CC) -Wl,--section-start,.isr_vector=0x8004000 $(CFLAGS) -o obj/$(PROJ_NAME).elf $^
+	$(OBJCOPY) -v -O binary obj/$(PROJ_NAME).elf obj/code.bin
+	SETLEN=1 ../../crypto/sign.py obj/code.bin $@ $(CERT)
+
+obj/bootstub.bin: obj/$(STARTUP_FILE).o obj/bootstub.o obj/sha.o obj/rsa.o
+	$(CC) $(CFLAGS) -o obj/bootstub.$(PROJ_NAME).elf $^
+	$(OBJCOPY) -v -O binary obj/bootstub.$(PROJ_NAME).elf $@
+	
+clean:
+	rm -f obj/*

panda/board/pedal_toyota/README

@@ -0,0 +1,30 @@
+MOVE ALL FILES TO board/pedal TO FLASH
+
+
+This is the firmware for the comma pedal. It borrows a lot from panda.
+
+The comma pedal is a gas pedal interceptor for Honda/Acura. It allows you to "virtually" press the pedal.
+
+This is the open source software. Note that it is not ready to use yet.
+
+== Test Plan ==
+
+* Startup
+** Confirm STATE_FAULT_STARTUP
+* Timeout
+** Send value
+** Confirm value is output
+** Stop sending messages
+** Confirm value is passthru after 100ms
+** Confirm STATE_FAULT_TIMEOUT
+* Random values
+** Send random 6 byte messages
+** Confirm random values cause passthru
+** Confirm STATE_FAULT_BAD_CHECKSUM
+* Same message lockout
+** Send same message repeated
+** Confirm timeout behavior
+* Don't set enable
+** Confirm no output
+* Set enable and values
+** Confirm output

panda/board/pedal_toyota/main.c

@@ -0,0 +1,291 @@
+//#define DEBUG
+//#define CAN_LOOPBACK_MODE
+//#define USE_INTERNAL_OSC
+
+#include "../config.h"
+
+#include "drivers/drivers.h"
+#include "drivers/llgpio.h"
+#include "gpio.h"
+
+#define CUSTOM_CAN_INTERRUPTS
+
+#include "libc.h"
+#include "safety.h"
+#include "drivers/adc.h"
+#include "drivers/uart.h"
+#include "drivers/dac.h"
+#include "drivers/can.h"
+#include "drivers/timer.h"
+
+#define CAN CAN1
+
+//#define PEDAL_USB
+
+#ifdef PEDAL_USB
+  #include "drivers/usb.h"
+#endif
+
+#define ENTER_BOOTLOADER_MAGIC 0xdeadbeef
+uint32_t enter_bootloader_mode;
+
+void __initialize_hardware_early() {
+  early();
+}
+
+// ********************* serial debugging *********************
+
+void debug_ring_callback(uart_ring *ring) {
+  char rcv;
+  while (getc(ring, &rcv)) {
+    putc(ring, rcv);
+  }
+}
+
+#ifdef PEDAL_USB
+
+int usb_cb_ep1_in(uint8_t *usbdata, int len, int hardwired) { return 0; }
+void usb_cb_ep2_out(uint8_t *usbdata, int len, int hardwired) {}
+void usb_cb_ep3_out(uint8_t *usbdata, int len, int hardwired) {}
+void usb_cb_enumeration_complete() {}
+
+int usb_cb_control_msg(USB_Setup_TypeDef *setup, uint8_t *resp, int hardwired) {
+  int resp_len = 0;
+  uart_ring *ur = NULL;
+  switch (setup->b.bRequest) {
+    // **** 0xe0: uart read
+    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])) {
+        ++resp_len;
+      }
+      break;
+  }
+  return resp_len;
+}
+
+#endif
+
+// ***************************** toyota can checksum ****************************
+
+int can_cksum(uint8_t *dat, uint8_t len, uint16_t addr)
+{
+	uint8_t checksum = 0;
+	checksum =((addr & 0xFF00) >> 8) + (addr & 0x00FF) + len + 1;
+	//uint16_t temp_msg = msg;
+	
+	for (int ii = 0; ii < len; ii++)
+	{
+		checksum += (dat[ii]);
+		//temp_msg = temp_msg >> 8;
+	}
+	//return ((msg & ~0xFF) & (checksum & 0xFF));
+	return checksum;
+}
+
+// ***************************** can port *****************************
+
+// addresses to be used on CAN
+#define CAN_GAS_INPUT  0x200
+#define CAN_GAS_OUTPUT 0x201
+
+void CAN1_TX_IRQHandler() {
+  // clear interrupt
+  CAN->TSR |= CAN_TSR_RQCP0;
+}
+
+// two independent values
+uint16_t gas_set_0 = 0;
+uint16_t gas_set_1 = 0;
+
+#define MAX_TIMEOUT 10
+uint32_t timeout = 0;
+
+#define NO_FAULT 0
+#define FAULT_BAD_CHECKSUM 1
+#define FAULT_SEND 2
+#define FAULT_SCE 3
+#define FAULT_STARTUP 4
+#define FAULT_TIMEOUT 5
+#define FAULT_INVALID 6
+uint8_t state = FAULT_STARTUP;
+
+void CAN1_RX0_IRQHandler() {
+  while (CAN->RF0R & CAN_RF0R_FMP0) {
+    #ifdef DEBUG
+      puts("CAN RX\n");
+    #endif
+    uint32_t address = CAN->sFIFOMailBox[0].RIR>>21;
+    if (address == CAN_GAS_INPUT) {
+      // softloader entry
+      if (CAN->sFIFOMailBox[0].RDLR == 0xdeadface) {
+        if (CAN->sFIFOMailBox[0].RDHR == 0x0ab00b1e) {
+          enter_bootloader_mode = ENTER_SOFTLOADER_MAGIC;
+          NVIC_SystemReset();
+        } else if (CAN->sFIFOMailBox[0].RDHR == 0x02b00b1e) {
+          enter_bootloader_mode = ENTER_BOOTLOADER_MAGIC;
+          NVIC_SystemReset();
+        }
+      }
+
+      // normal packet
+      uint8_t *dat = (uint8_t *)&CAN->sFIFOMailBox[0].RDLR;
+      uint8_t *dat2 = (uint8_t *)&CAN->sFIFOMailBox[0].RDHR;
+      uint16_t value_0 = (dat[0] << 8) | dat[1];
+      uint16_t value_1 = (dat[2] << 8) | dat[3];
+      uint8_t enable = (dat2[0] >> 7) & 1;
+      uint8_t index = 0;
+      if (can_cksum(dat, 5, CAN_GAS_INPUT) == dat2[1]) {
+        if (index == 0) {
+          #ifdef DEBUG
+            puts("setting gas ");
+            puth(value);
+            puts("\n");
+          #endif
+          if (enable) {
+            gas_set_0 = value_0;
+            gas_set_1 = value_1;
+          } else {
+            // clear the fault state if values are 0
+            if (value_0 == 0 && value_1 == 0) {
+              state = NO_FAULT;
+            } else {
+              state = FAULT_INVALID;
+            }
+            gas_set_0 = gas_set_1 = 0;
+          }
+          // clear the timeout
+          timeout = 0;
+        }
+
+      } else {
+        // wrong checksum = fault
+        state = FAULT_BAD_CHECKSUM;
+      }
+    }
+    // next
+    CAN->RF0R |= CAN_RF0R_RFOM0;
+  }
+}
+
+void CAN1_SCE_IRQHandler() {
+  state = FAULT_SCE;
+  can_sce(CAN);
+}
+
+int pdl0 = 0, pdl1 = 0;
+
+
+int led_value = 0;
+
+void TIM3_IRQHandler() {
+  #ifdef DEBUG
+    puth(TIM3->CNT);
+    puts(" ");
+    puth(pdl0);
+    puts(" ");
+    puth(pdl1);
+    puts("\n");
+  #endif
+
+  // check timer for sending the user pedal and clearing the CAN
+  if ((CAN->TSR & CAN_TSR_TME0) == CAN_TSR_TME0) {
+    uint8_t dat[8];
+    dat[0] = (pdl0>>8)&0xFF;
+    dat[1] = (pdl0>>0)&0xFF;
+    dat[2] = (pdl1>>8)&0xFF;
+    dat[3] = (pdl1>>0)&0xFF;
+    dat[4] = state;
+    dat[5] = can_cksum(dat, 5, CAN_GAS_OUTPUT);
+    CAN->sTxMailBox[0].TDLR = dat[0] | (dat[1]<<8) | (dat[2]<<16) | (dat[3]<<24);
+    CAN->sTxMailBox[0].TDHR = dat[4] | (dat[5]<<8);
+    CAN->sTxMailBox[0].TDTR = 6;  // len of packet is 5
+    CAN->sTxMailBox[0].TIR = (CAN_GAS_OUTPUT << 21) | 1;
+  } else {
+    // old can packet hasn't sent!
+    state = FAULT_SEND;
+    #ifdef DEBUG
+      puts("CAN MISS\n");
+    #endif
+  }
+
+  // blink the LED
+  set_led(LED_GREEN, led_value);
+  led_value = !led_value;
+
+  TIM3->SR = 0;
+
+  // up timeout for gas set
+  if (timeout == MAX_TIMEOUT) {
+    state = FAULT_TIMEOUT;
+  } else {
+    timeout += 1;
+  }
+}
+
+// ***************************** main code *****************************
+
+void pedal() {
+  // read/write
+  pdl0 = adc_get(ADCCHAN_ACCEL0);
+  pdl1 = adc_get(ADCCHAN_ACCEL1);
+
+  // write the pedal to the DAC
+  if (state == NO_FAULT) {
+    dac_set(0, max(gas_set_0, pdl0));
+    dac_set(1, max(gas_set_1, pdl1));
+  } else {
+    dac_set(0, pdl0);
+    dac_set(1, pdl1);
+  }
+
+  // feed the watchdog
+  IWDG->KR = 0xAAAA;
+}
+
+int main() {
+  __disable_irq();
+
+  // init devices
+  clock_init();
+  periph_init();
+  gpio_init();
+
+#ifdef PEDAL_USB
+  // enable USB
+  usb_init();
+#endif
+
+  // pedal stuff
+  dac_init();
+  adc_init();
+
+  // init can
+  can_silent = ALL_CAN_LIVE;
+  can_init(0);
+
+  // 48mhz / 65536 ~= 732
+  timer_init(TIM3, 15);
+  NVIC_EnableIRQ(TIM3_IRQn);
+
+  // setup watchdog
+  IWDG->KR = 0x5555;
+  IWDG->PR = 0;          // divider /4
+  // 0 = 0.125 ms, let's have a 50ms watchdog
+  IWDG->RLR = 400 - 1;
+  IWDG->KR = 0xCCCC;
+
+  puts("**** INTERRUPTS ON ****\n");
+  __enable_irq();
+
+  // main pedal loop
+  while (1) {
+    pedal();
+  }
+
+  return 0;
+}

panda/board/safety.h

@@ -57,12 +57,14 @@ int controls_allowed = 0;
 #ifdef PANDA
 #include "safety/safety_toyota_ipas.h"
 #include "safety/safety_tesla.h"
+#include "safety/safety_gm_ascm.h"
 #endif
 #include "safety/safety_gm.h"
 #include "safety/safety_ford.h"
 #include "safety/safety_cadillac.h"
 #include "safety/safety_hyundai.h"
 #include "safety/safety_chrysler.h"
+#include "safety/safety_subaru.h"
 #include "safety/safety_elm327.h"
 
 const safety_hooks *current_hooks = &nooutput_hooks;
@@ -104,6 +106,8 @@ typedef struct {
 #define SAFETY_HYUNDAI 7
 #define SAFETY_TESLA 8
 #define SAFETY_CHRYSLER 9
+#define SAFETY_SUBARU 10
+#define SAFETY_GM_ASCM 0x1334
 #define SAFETY_TOYOTA_IPAS 0x1335
 #define SAFETY_TOYOTA_NOLIMITS 0x1336
 #define SAFETY_ALLOUTPUT 0x1337
@@ -119,9 +123,11 @@ const safety_hook_config safety_hook_registry[] = {
   {SAFETY_CADILLAC, &cadillac_hooks},
   {SAFETY_HYUNDAI, &hyundai_hooks},
   {SAFETY_CHRYSLER, &chrysler_hooks},
+  {SAFETY_SUBARU, &subaru_hooks},
   {SAFETY_TOYOTA_NOLIMITS, &toyota_nolimits_hooks},
 #ifdef PANDA
   {SAFETY_TOYOTA_IPAS, &toyota_ipas_hooks},
+  {SAFETY_GM_ASCM, &gm_ascm_hooks},
   {SAFETY_TESLA, &tesla_hooks},
 #endif
   {SAFETY_ALLOUTPUT, &alloutput_hooks},

panda/board/safety/safety_gm_ascm.h

@@ -0,0 +1,52 @@
+// BUS 0 is on the LKAS module (ASCM) side
+// BUS 2 is on the actuator (EPS) side
+
+static int gm_ascm_fwd_hook(int bus_num, CAN_FIFOMailBox_TypeDef *to_fwd) {
+
+  uint32_t addr = to_fwd->RIR>>21;
+
+  if (bus_num == 0) {
+
+    // do not propagate lkas messages from ascm to actuators
+    // block 0x152 and 0x154, which are the lkas command from ASCM1 and ASCM2
+    // block 0x315 and 0x2cb, which are the brake and accel commands from ASCM1
+    //if ((addr == 0x152) || (addr == 0x154) || (addr == 0x315) || (addr == 0x2cb)) {
+    if ((addr == 0x152) || (addr == 0x154)) {
+      int supercruise_on = (to_fwd->RDHR>>4) & 0x1;  // bit 36
+      if (!supercruise_on) return -1;
+    }
+
+    // on the chassis bus, the OBDII port is on the module side, so we need to read
+    // the lkas messages sent by openpilot (put on unused 0x151 ane 0x153 addrs) and send it to
+    // the actuator as 0x152 and 0x154
+    if (addr == 0x151) {
+      to_fwd->RIR = (0x152 << 21) | (to_fwd->RIR & 0x1fffff);
+    }
+    if (addr == 0x153) {
+      to_fwd->RIR = (0x154 << 21) | (to_fwd->RIR & 0x1fffff);
+    }
+
+    // brake
+    if (addr == 0x314) {
+      to_fwd->RIR = (0x315 << 21) | (to_fwd->RIR & 0x1fffff);
+    }
+
+    return 2;
+  }
+
+  if (bus_num == 2) {
+    return 0;
+  }
+
+  return -1;
+}
+
+const safety_hooks gm_ascm_hooks = {
+  .init = nooutput_init,
+  .rx = default_rx_hook,
+  .tx = alloutput_tx_hook,
+  .tx_lin = nooutput_tx_lin_hook,
+  .ignition = default_ign_hook,
+  .fwd = gm_ascm_fwd_hook,
+};
+

panda/board/safety/safety_hyundai.h

@@ -1,4 +1,4 @@
-const int HYUNDAI_MAX_STEER = 250;
+const int HYUNDAI_MAX_STEER = 255;             // like stock
 const int HYUNDAI_MAX_RT_DELTA = 112;          // max delta torque allowed for real time checks
 const int32_t HYUNDAI_RT_INTERVAL = 250000;    // 250ms between real time checks
 const int HYUNDAI_MAX_RATE_UP = 3;

panda/board/safety/safety_subaru.h

@@ -0,0 +1,49 @@
+void subaru_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {}
+
+// FIXME
+// *** all output safety mode ***
+
+static void subaru_init(int16_t param) {
+  controls_allowed = 1;
+}
+
+static int subaru_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
+  return true;
+}
+
+static int subaru_fwd_hook(int bus_num, CAN_FIFOMailBox_TypeDef *to_fwd) {
+  
+  // shifts bits 29 > 11
+  int32_t addr = to_fwd->RIR >> 21;
+
+  // forward CAN 0 > 1
+  if (bus_num == 0) {
+    return 1; // ES CAN
+  }
+  // forward CAN 1 > 0, except ES_LKAS
+  else if (bus_num == 1) {
+    
+    // outback 2015
+    if (addr == 0x164) {
+      return -1;
+    }
+    // global platform
+    if (addr == 0x122) {
+      return -1;
+    }
+
+    return 0; // Main CAN
+  }
+
+  // fallback to do not forward
+  return -1;
+}
+
+const safety_hooks subaru_hooks = {
+  .init = subaru_init,
+  .rx = subaru_rx_hook,
+  .tx = subaru_tx_hook,
+  .tx_lin = nooutput_tx_lin_hook,
+  .ignition = default_ign_hook,
+  .fwd = subaru_fwd_hook,
+};

panda/crypto/sha.c

@@ -127,11 +127,37 @@ const uint8_t* SHA_final(SHA_CTX* ctx) {
     while ((ctx->count & 63) != 56) {
         SHA_update(ctx, (uint8_t*)"\0", 1);
     }
+
+    /* Hack - right shift operator with non const argument requires
+     *        libgcc.a which is missing in EON
+     *        thus expanding for loop from 
+
               for (i = 0; i < 8; ++i) {
                   uint8_t tmp = (uint8_t) (cnt >> ((7 - i) * 8));
                   SHA_update(ctx, &tmp, 1);
               }
 
+              to
+     */
+
+    uint8_t tmp = 0;
+    tmp = (uint8_t) (cnt >> ((7 - 0) * 8));
+    SHA_update(ctx, &tmp, 1);
+    tmp = (uint8_t) (cnt >> ((7 - 1) * 8));
+    SHA_update(ctx, &tmp, 1);
+    tmp = (uint8_t) (cnt >> ((7 - 2) * 8));
+    SHA_update(ctx, &tmp, 1);
+    tmp = (uint8_t) (cnt >> ((7 - 3) * 8));
+    SHA_update(ctx, &tmp, 1);
+    tmp = (uint8_t) (cnt >> ((7 - 4) * 8));
+    SHA_update(ctx, &tmp, 1);
+    tmp = (uint8_t) (cnt >> ((7 - 5) * 8));
+    SHA_update(ctx, &tmp, 1);
+    tmp = (uint8_t) (cnt >> ((7 - 6) * 8));
+    SHA_update(ctx, &tmp, 1);
+    tmp = (uint8_t) (cnt >> ((7 - 7) * 8));
+    SHA_update(ctx, &tmp, 1);
+
     for (i = 0; i < 5; i++) {
         uint32_t tmp = ctx->state[i];
         *p++ = tmp >> 24;

panda/tests/safety/test_hyundai.py

@@ -5,7 +5,7 @@ import libpandasafety_py
 
 MAX_RATE_UP = 3
 MAX_RATE_DOWN = 7
-MAX_STEER = 250
+MAX_STEER = 255
 
 MAX_RT_DELTA = 112
 RT_INTERVAL = 250000