Merge pull request #116 from commaai/revert-114-new_panda_code

Revert "Pulled in new panda firmware and updated boardd to support the changes."
old-commit-hash: 68485aa4e4

cereal/log.capnp

@@ -205,7 +205,7 @@ struct CanData {
   address @0 :UInt32;
   busTime @1 :UInt16;
   dat     @2 :Data;
-  src     @3 :UInt8;
+  src     @3 :Int8;
 }
 
 struct ThermalData {

panda

@@ -1 +1 @@
-Subproject commit 27a8af11075d92d03c389713694a879905877cf0
+Subproject commit 5409c51041cfe8f139650a4e0decf4f6d863eb07

selfdrive/boardd/boardd.cc

@@ -31,16 +31,11 @@ pthread_mutex_t usb_lock;
 
 bool spoofing_started = false;
 bool fake_send = false;
-bool loopback_can = false;
 
 // double the FIFO size
 #define RECV_SIZE (0x1000)
 #define TIMEOUT 0
 
-#define SAFETY_NOOUTPUT  0x0000
-#define SAFETY_HONDA     0x0001
-#define SAFETY_ALLOUTPUT 0x1337
-
 bool usb_connect() {
   int err;
 
@@ -53,36 +48,22 @@ bool usb_connect() {
   err = libusb_claim_interface(dev_handle, 0);
   if (err != 0) { return false; }
 
-  if(loopback_can) {
-    libusb_control_transfer(dev_handle, 0xc0, 0xe5, 1, 0, NULL, 0, TIMEOUT);
-  }
-
   // power off ESP
   libusb_control_transfer(dev_handle, 0xc0, 0xd9, 0, 0, NULL, 0, TIMEOUT);
 
   // forward CAN1 to CAN3...soon
   //libusb_control_transfer(dev_handle, 0xc0, 0xdd, 1, 2, NULL, 0, TIMEOUT);
-
+  
   // set UART modes for Honda Accord
   for (int uart = 2; uart <= 3; uart++) {
     // 9600 baud
-    libusb_control_transfer(dev_handle, 0x40, 0xe1, uart, 9600, NULL, 0, TIMEOUT);
+    libusb_control_transfer(dev_handle, 0xc0, 0xe1, uart, 9600, NULL, 0, TIMEOUT);
     // even parity
-    libusb_control_transfer(dev_handle, 0x40, 0xe2, uart, 1, NULL, 0, TIMEOUT);
+    libusb_control_transfer(dev_handle, 0xc0, 0xe2, uart, 1, NULL, 0, TIMEOUT);
     // callback 1
-    libusb_control_transfer(dev_handle, 0x40, 0xe3, uart, 1, NULL, 0, TIMEOUT);
+    libusb_control_transfer(dev_handle, 0xc0, 0xe3, uart, 1, NULL, 0, TIMEOUT);
   }
 
-  // TODO: Boardd should be able to set the baud rate
-  int baud = 500000;
-  libusb_control_transfer(dev_handle, 0x40, 0xde, 0, 0,
-                          (unsigned char *)&baud, sizeof(baud), TIMEOUT); // CAN1
-  libusb_control_transfer(dev_handle, 0x40, 0xde, 1, 0,
-                          (unsigned char *)&baud, sizeof(baud), TIMEOUT); // CAN2
-
-  // TODO: Boardd should be able to be told which safety model to use
-  libusb_control_transfer(dev_handle, 0x40, 0xdc, SAFETY_HONDA, 0, NULL, 0, TIMEOUT);
-
   return true;
 }
 
@@ -109,7 +90,7 @@ void can_recv(void *s) {
 
   // do recv
   pthread_mutex_lock(&usb_lock);
-
+ 
   do {
     err = libusb_bulk_transfer(dev_handle, 0x81, (uint8_t*)data, RECV_SIZE, &recv, TIMEOUT);
     if (err != 0) { handle_usb_issue(err, __func__); }
@@ -146,13 +127,13 @@ void can_recv(void *s) {
     canData[i].setBusTime(data[i*4+1] >> 16);
     int len = data[i*4+1]&0xF;
     canData[i].setDat(kj::arrayPtr((uint8_t*)&data[i*4+2], len));
-    canData[i].setSrc((data[i*4+1] >> 4) & 0xff);
+    canData[i].setSrc((data[i*4+1] >> 4) & 0xf);
   }
 
   // send to can
   auto words = capnp::messageToFlatArray(msg);
   auto bytes = words.asBytes();
-  zmq_send(s, bytes.begin(), bytes.size(), 0);
+  zmq_send(s, bytes.begin(), bytes.size(), 0); 
 }
 
 void can_health(void *s) {
@@ -200,7 +181,7 @@ void can_health(void *s) {
   // send to health
   auto words = capnp::messageToFlatArray(msg);
   auto bytes = words.asBytes();
-  zmq_send(s, bytes.begin(), bytes.size(), 0);
+  zmq_send(s, bytes.begin(), bytes.size(), 0); 
 }
 
 
@@ -335,10 +316,6 @@ int main() {
     fake_send = true;
   }
 
-  if(getenv("BOARDD_LOOPBACK")){
-    loopback_can = true;
-  }
-
   // init libusb
   err = libusb_init(&ctx);
   assert(err == 0);
@@ -380,3 +357,4 @@ int main() {
   libusb_close(dev_handle);
   libusb_exit(ctx);
 }
+

selfdrive/boardd/boardd.py

@@ -18,10 +18,6 @@ except Exception:
 
 # TODO: rewrite in C to save CPU
 
-SAFETY_NOOUTPUT = 0
-SAFETY_HONDA = 1
-SAFETY_ALLOUTPUT = 0x1337
-
 # *** serialization functions ***
 def can_list_to_can_capnp(can_msgs, msgtype='can'):
   dat = messaging.new_message()
@@ -98,7 +94,6 @@ def can_init():
     if device.getVendorID() == 0xbbaa and device.getProductID() == 0xddcc:
       handle = device.open()
       handle.claimInterface(0)
-      handle.controlWrite(0x40, 0xdc, SAFETY_HONDA, 0, b'')
 
   if handle is None:
     print "CAN NOT FOUND"
@@ -195,3 +190,4 @@ def main(gctx=None):
 
 if __name__ == "__main__":
   main()
+

selfdrive/boardd/test_boardd_loopback.py

@@ -1,49 +0,0 @@
-"""Run boardd with the BOARDD_LOOPBACK envvar before running this test."""
-
-import os
-import random
-import zmq
-import time
-
-from selfdrive.boardd.boardd import can_list_to_can_capnp
-from selfdrive.messaging import drain_sock, pub_sock, sub_sock
-from selfdrive.services import service_list
-
-def get_test_string():
-  return b"test"+os.urandom(10)
-
-BUS = 0
-
-def main():
-    context = zmq.Context()
-
-    rcv = sub_sock(context, service_list['can'].port) # port 8006
-    snd = pub_sock(context, service_list['sendcan'].port) # port 8017
-    time.sleep(0.3) # wait to bind before send/recv
-
-    for _ in range(10):
-        at = random.randint(1024, 2000)
-        st = get_test_string()[0:8]
-        snd.send(can_list_to_can_capnp([[at, 0, st, 0]], msgtype='sendcan').to_bytes())
-        time.sleep(0.1)
-        res = drain_sock(rcv, True)
-        assert len(res) == 1
-
-        res = res[0].can
-        assert len(res) == 2
-
-        msg0, msg1 = res
-
-        assert msg0.dat == st
-        assert msg1.dat == st
-
-        assert msg0.address == at
-        assert msg1.address == at
-
-        assert msg0.src == 0x80 | BUS
-        assert msg1.src == BUS
-
-    print("Success")
-
-if __name__ == "__main__":
-    main()