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openpilot_comma
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openpilot is an open source driver assistance system. openpilot performs the functions of Automated Lane Centering and Adaptive Cruise Control for over 200 supported car makes and models.
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openpilot_comma/board/main.c

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//#define EON
#include "config.h"
#include "obj/gitversion.h"
// ********************* includes *********************
#include "libc.h"
#include "provision.h"
#include "drivers/llcan.h"
#include "drivers/llgpio.h"
#include "gpio.h"
#include "drivers/uart.h"
#include "drivers/adc.h"
#include "drivers/usb.h"
#include "drivers/gmlan_alt.h"
#include "drivers/timer.h"
#include "drivers/clock.h"
#ifndef EON
#include "drivers/spi.h"
#endif
#include "power_saving.h"
#include "safety.h"
#include "drivers/can.h"
// ********************* serial debugging *********************
void debug_ring_callback(uart_ring *ring) {
char rcv;
while (getc(ring, &rcv)) {
(void)putc(ring, rcv); // misra-c2012-17.7: cast to void is ok: debug function
// jump to DFU flash
if (rcv == 'z') {
enter_bootloader_mode = ENTER_BOOTLOADER_MAGIC;
NVIC_SystemReset();
}
// normal reset
if (rcv == 'x') {
NVIC_SystemReset();
}
// enable CDP mode
if (rcv == 'C') {
puts("switching USB to CDP mode\n");
set_usb_power_mode(USB_POWER_CDP);
}
if (rcv == 'c') {
puts("switching USB to client mode\n");
set_usb_power_mode(USB_POWER_CLIENT);
}
if (rcv == 'D') {
puts("switching USB to DCP mode\n");
set_usb_power_mode(USB_POWER_DCP);
}
}
}
// ***************************** started logic *****************************
bool is_gpio_started(void) {
// ignition is on PA1
return (GPIOA->IDR & (1U << 1)) == 0;
}
// cppcheck-suppress unusedFunction ; used in headers not included in cppcheck
void EXTI1_IRQHandler(void) {
volatile unsigned int pr = EXTI->PR & (1U << 1);
if ((pr & (1U << 1)) != 0U) {
#ifdef DEBUG
puts("got started interrupt\n");
#endif
// jenky debounce
delay(100000);
// set power savings mode here
int power_save_state = is_gpio_started() ? POWER_SAVE_STATUS_DISABLED : POWER_SAVE_STATUS_ENABLED;
set_power_save_state(power_save_state);
EXTI->PR = (1U << 1);
}
}
void started_interrupt_init(void) {
SYSCFG->EXTICR[1] = SYSCFG_EXTICR1_EXTI1_PA;
EXTI->IMR |= (1U << 1);
EXTI->RTSR |= (1U << 1);
EXTI->FTSR |= (1U << 1);
NVIC_EnableIRQ(EXTI1_IRQn);
}
// ***************************** USB port *****************************
int get_health_pkt(void *dat) {
struct __attribute__((packed)) {
uint32_t voltage_pkt;
uint32_t current_pkt;
uint8_t started_pkt;
uint8_t controls_allowed_pkt;
uint8_t gas_interceptor_detected_pkt;
uint32_t can_send_errs_pkt;
uint32_t can_fwd_errs_pkt;
uint32_t gmlan_send_errs_pkt;
} *health = dat;
//Voltage will be measured in mv. 5000 = 5V
uint32_t voltage = adc_get(ADCCHAN_VOLTAGE);
// REVC has a 10, 1 (1/11) voltage divider
// Here is the calculation for the scale (s)
// ADCV = VIN_S * (1/11) * (4095/3.3)
// RETVAL = ADCV * s = VIN_S*1000
// s = 1000/((4095/3.3)*(1/11)) = 8.8623046875
// Avoid needing floating point math
health->voltage_pkt = (voltage * 8862U) / 1000U;
health->current_pkt = adc_get(ADCCHAN_CURRENT);
int safety_ignition = safety_ignition_hook();
if (safety_ignition < 0) {
//Use the GPIO pin to determine ignition
health->started_pkt = is_gpio_started();
} else {
//Current safety hooks want to determine ignition (ex: GM)
health->started_pkt = safety_ignition;
}
health->controls_allowed_pkt = controls_allowed;
health->gas_interceptor_detected_pkt = gas_interceptor_detected;
health->can_send_errs_pkt = can_send_errs;
health->can_fwd_errs_pkt = can_fwd_errs;
health->gmlan_send_errs_pkt = gmlan_send_errs;
return sizeof(*health);
}
int usb_cb_ep1_in(void *usbdata, int len, bool hardwired) {
UNUSED(hardwired);
CAN_FIFOMailBox_TypeDef *reply = (CAN_FIFOMailBox_TypeDef *)usbdata;
int ilen = 0;
while (ilen < MIN(len/0x10, 4) && can_pop(&can_rx_q, &reply[ilen])) {
ilen++;
}
return ilen*0x10;
}
// send on serial, first byte to select the ring
void usb_cb_ep2_out(void *usbdata, int len, bool hardwired) {
UNUSED(hardwired);
uint8_t *usbdata8 = (uint8_t *)usbdata;
uart_ring *ur = get_ring_by_number(usbdata8[0]);
if ((len != 0) && (ur != NULL)) {
if ((usbdata8[0] < 2U) || safety_tx_lin_hook(usbdata8[0] - 2U, usbdata8 + 1, len - 1)) {
for (int i = 1; i < len; i++) {
while (!putc(ur, usbdata8[i])) {
// wait
}
}
}
}
}
// send on CAN
void usb_cb_ep3_out(void *usbdata, int len, bool hardwired) {
UNUSED(hardwired);
int dpkt = 0;
uint32_t *d32 = (uint32_t *)usbdata;
for (dpkt = 0; dpkt < (len / 4); dpkt += 4) {
CAN_FIFOMailBox_TypeDef to_push;
to_push.RDHR = d32[dpkt + 3];
to_push.RDLR = d32[dpkt + 2];
to_push.RDTR = d32[dpkt + 1];
to_push.RIR = d32[dpkt];
uint8_t bus_number = (to_push.RDTR >> 4) & CAN_BUS_NUM_MASK;
can_send(&to_push, bus_number);
}
}
bool is_enumerated = 0;
void usb_cb_enumeration_complete() {
puts("USB enumeration complete\n");
is_enumerated = 1;
}
int usb_cb_control_msg(USB_Setup_TypeDef *setup, uint8_t *resp, bool hardwired) {
unsigned int resp_len = 0;
uart_ring *ur = NULL;
int i;
switch (setup->b.bRequest) {
// **** 0xc0: get CAN debug info
case 0xc0:
puts("can tx: "); puth(can_tx_cnt);
puts(" txd: "); puth(can_txd_cnt);
puts(" rx: "); puth(can_rx_cnt);
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:
// addresses are OTP
if (setup->b.wValue.w == 1U) {
(void)memcpy(resp, (uint8_t *)0x1fff79c0, 0x10);
resp_len = 0x10;
} else {
get_provision_chunk(resp);
resp_len = PROVISION_CHUNK_LEN;
}
break;
// **** 0xd1: enter bootloader mode
case 0xd1:
// this allows reflashing of the bootstub
// so it's blocked over wifi
switch (setup->b.wValue.w) {
case 0:
if (hardwired) {
puts("-> entering bootloader\n");
enter_bootloader_mode = ENTER_BOOTLOADER_MAGIC;
NVIC_SystemReset();
}
break;
case 1:
puts("-> entering softloader\n");
enter_bootloader_mode = ENTER_SOFTLOADER_MAGIC;
NVIC_SystemReset();
break;
default:
puts("Bootloader mode invalid\n");
break;
}
break;
// **** 0xd2: get health packet
case 0xd2:
resp_len = get_health_pkt(resp);
break;
// **** 0xd6: get version
case 0xd6:
COMPILE_TIME_ASSERT(sizeof(gitversion) <= MAX_RESP_LEN);
(void)memcpy(resp, gitversion, sizeof(gitversion));
resp_len = sizeof(gitversion) - 1U;
break;
// **** 0xd8: reset ST
case 0xd8:
NVIC_SystemReset();
break;
// **** 0xd9: set ESP power
case 0xd9:
if (setup->b.wValue.w == 1U) {
set_esp_mode(ESP_ENABLED);
} else if (setup->b.wValue.w == 2U) {
set_esp_mode(ESP_BOOTMODE);
} else {
set_esp_mode(ESP_DISABLED);
}
break;
// **** 0xda: reset ESP, with optional boot mode
case 0xda:
set_esp_mode(ESP_DISABLED);
delay(1000000);
if (setup->b.wValue.w == 1U) {
set_esp_mode(ESP_BOOTMODE);
} else {
set_esp_mode(ESP_ENABLED);
}
delay(1000000);
set_esp_mode(ESP_ENABLED);
break;
// **** 0xdb: set GMLAN multiplexing mode
case 0xdb:
if (setup->b.wValue.w == 1U) {
// GMLAN ON
if (setup->b.wIndex.w == 1U) {
can_set_gmlan(1);
} else if (setup->b.wIndex.w == 2U) {
can_set_gmlan(2);
} else {
puts("Invalid bus num for GMLAN CAN set\n");
}
} else {
can_set_gmlan(-1);
}
break;
// **** 0xdc: set safety mode
case 0xdc:
// this is the only way to leave silent mode
// 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)) {
int err = safety_set_mode(setup->b.wValue.w, (int16_t)setup->b.wIndex.w);
if (err == -1) {
puts("Error: safety set mode failed\n");
} else {
#ifndef EON
// always LIVE on EON
switch (setup->b.wValue.w) {
case SAFETY_NOOUTPUT:
can_silent = ALL_CAN_SILENT;
break;
case SAFETY_ELM327:
can_silent = ALL_CAN_BUT_MAIN_SILENT;
break;
default:
can_silent = ALL_CAN_LIVE;
break;
}
#endif
if (safety_ignition_hook() != -1) {
// if the ignition hook depends on something other than the started GPIO
// we have to disable power savings (fix for GM and Tesla)
set_power_save_state(POWER_SAVE_STATUS_DISABLED);
} else {
// power mode is already POWER_SAVE_STATUS_DISABLED and CAN TXs are active
}
can_init_all();
}
}
break;
// **** 0xdd: enable can forwarding
case 0xdd:
// wValue = Can Bus Num to forward from
// wIndex = Can Bus Num to forward to
if ((setup->b.wValue.w < BUS_MAX) && (setup->b.wIndex.w < BUS_MAX) &&
(setup->b.wValue.w != setup->b.wIndex.w)) { // set forwarding
can_set_forwarding(setup->b.wValue.w, setup->b.wIndex.w & CAN_BUS_NUM_MASK);
} else if((setup->b.wValue.w < BUS_MAX) && (setup->b.wIndex.w == 0xFFU)){ //Clear Forwarding
can_set_forwarding(setup->b.wValue.w, -1);
} else {
puts("Invalid CAN bus forwarding\n");
}
break;
// **** 0xde: set can bitrate
case 0xde:
if (setup->b.wValue.w < BUS_MAX) {
can_speed[setup->b.wValue.w] = setup->b.wIndex.w;
can_init(CAN_NUM_FROM_BUS_NUM(setup->b.wValue.w));
}
break;
// **** 0xdf: set long controls allowed
case 0xdf:
if (hardwired) {
long_controls_allowed = setup->b.wValue.w & 1U;
}
break;
// **** 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;
// **** 0xe1: uart set baud rate
case 0xe1:
ur = get_ring_by_number(setup->b.wValue.w);
if (!ur) {
break;
}
uart_set_baud(ur->uart, setup->b.wIndex.w);
break;
// **** 0xe2: uart set parity
case 0xe2:
ur = get_ring_by_number(setup->b.wValue.w);
if (!ur) {
break;
}
switch (setup->b.wIndex.w) {
case 0:
// disable parity, 8-bit
ur->uart->CR1 &= ~(USART_CR1_PCE | USART_CR1_M);
break;
case 1:
// even parity, 9-bit
ur->uart->CR1 &= ~USART_CR1_PS;
ur->uart->CR1 |= USART_CR1_PCE | USART_CR1_M;
break;
case 2:
// odd parity, 9-bit
ur->uart->CR1 |= USART_CR1_PS;
ur->uart->CR1 |= USART_CR1_PCE | USART_CR1_M;
break;
default:
break;
}
break;
// **** 0xe4: uart set baud rate extended
case 0xe4:
ur = get_ring_by_number(setup->b.wValue.w);
if (!ur) {
break;
}
uart_set_baud(ur->uart, (int)setup->b.wIndex.w*300);
break;
// **** 0xe5: set CAN loopback (for testing)
case 0xe5:
can_loopback = (setup->b.wValue.w > 0U);
can_init_all();
break;
// **** 0xe6: set USB power
case 0xe6:
if (setup->b.wValue.w == 1U) {
puts("user setting CDP mode\n");
set_usb_power_mode(USB_POWER_CDP);
} else if (setup->b.wValue.w == 2U) {
puts("user setting DCP mode\n");
set_usb_power_mode(USB_POWER_DCP);
} else {
puts("user setting CLIENT mode\n");
set_usb_power_mode(USB_POWER_CLIENT);
}
break;
// **** 0xf0: do k-line wValue pulse on uart2 for Acura
case 0xf0:
if (setup->b.wValue.w == 1U) {
GPIOC->ODR &= ~(1U << 10);
GPIOC->MODER &= ~GPIO_MODER_MODER10_1;
GPIOC->MODER |= GPIO_MODER_MODER10_0;
} else {
GPIOC->ODR &= ~(1U << 12);
GPIOC->MODER &= ~GPIO_MODER_MODER12_1;
GPIOC->MODER |= GPIO_MODER_MODER12_0;
}
for (i = 0; i < 80; i++) {
delay(8000);
if (setup->b.wValue.w == 1U) {
GPIOC->ODR |= (1U << 10);
GPIOC->ODR &= ~(1U << 10);
} else {
GPIOC->ODR |= (1U << 12);
GPIOC->ODR &= ~(1U << 12);
}
}
if (setup->b.wValue.w == 1U) {
GPIOC->MODER &= ~GPIO_MODER_MODER10_0;
GPIOC->MODER |= GPIO_MODER_MODER10_1;
} else {
GPIOC->MODER &= ~GPIO_MODER_MODER12_0;
GPIOC->MODER |= GPIO_MODER_MODER12_1;
}
delay(140 * 9000);
break;
// **** 0xf1: Clear CAN ring buffer.
case 0xf1:
if (setup->b.wValue.w == 0xFFFFU) {
puts("Clearing CAN Rx queue\n");
can_clear(&can_rx_q);
} else if (setup->b.wValue.w < BUS_MAX) {
puts("Clearing CAN Tx queue\n");
can_clear(can_queues[setup->b.wValue.w]);
} else {
puts("Clearing CAN CAN ring buffer failed: wrong bus number\n");
}
break;
// **** 0xf2: Clear UART ring buffer.
case 0xf2:
{
uart_ring * rb = get_ring_by_number(setup->b.wValue.w);
if (rb != NULL) {
puts("Clearing UART queue.\n");
clear_uart_buff(rb);
}
break;
}
default:
puts("NO HANDLER ");
puth(setup->b.bRequest);
puts("\n");
break;
}
return resp_len;
}
#ifndef EON
int spi_cb_rx(uint8_t *data, int len, uint8_t *data_out) {
// data[0] = endpoint
// data[2] = length
// data[4:] = data
UNUSED(len);
int resp_len = 0;
switch (data[0]) {
case 0:
// control transfer
resp_len = usb_cb_control_msg((USB_Setup_TypeDef *)(data+4), data_out, 0);
break;
case 1:
// ep 1, read
resp_len = usb_cb_ep1_in(data_out, 0x40, 0);
break;
case 2:
// ep 2, send serial
usb_cb_ep2_out(data+4, data[2], 0);
break;
case 3:
// ep 3, send CAN
usb_cb_ep3_out(data+4, data[2], 0);
break;
default:
puts("SPI data invalid");
break;
}
return resp_len;
}
#endif
// ***************************** main code *****************************
// cppcheck-suppress unusedFunction ; used in headers not included in cppcheck
void __initialize_hardware_early(void) {
early();
}
void __attribute__ ((noinline)) enable_fpu(void) {
// enable the FPU
SCB->CPACR |= ((3UL << (10U * 2U)) | (3UL << (11U * 2U)));
}
uint64_t tcnt = 0;
uint64_t marker = 0;
// called once per second
// cppcheck-suppress unusedFunction ; used in headers not included in cppcheck
void TIM3_IRQHandler(void) {
#define CURRENT_THRESHOLD 0xF00U
#define CLICKS 5U // 5 seconds to switch modes
if (TIM3->SR != 0) {
can_live = pending_can_live;
//puth(usart1_dma); puts(" "); puth(DMA2_Stream5->M0AR); puts(" "); puth(DMA2_Stream5->NDTR); puts("\n");
uint32_t current = adc_get(ADCCHAN_CURRENT);
switch (usb_power_mode) {
case USB_POWER_CLIENT:
if ((tcnt - marker) >= CLICKS) {
if (!is_enumerated) {
puts("USBP: didn't enumerate, switching to CDP mode\n");
// switch to CDP
set_usb_power_mode(USB_POWER_CDP);
marker = tcnt;
}
}
// keep resetting the timer if it's enumerated
if (is_enumerated) {
marker = tcnt;
}
break;
case USB_POWER_CDP:
// On the EON, if we get into CDP mode we stay here. No need to go to DCP.
#ifndef EON
// been CLICKS clicks since we switched to CDP
if ((tcnt-marker) >= CLICKS) {
// measure current draw, if positive and no enumeration, switch to DCP
if (!is_enumerated && (current < CURRENT_THRESHOLD)) {
puts("USBP: no enumeration with current draw, switching to DCP mode\n");
set_usb_power_mode(USB_POWER_DCP);
marker = tcnt;
}
}
// keep resetting the timer if there's no current draw in CDP
if (current >= CURRENT_THRESHOLD) {
marker = tcnt;
}
#endif
break;
case USB_POWER_DCP:
// been at least CLICKS clicks since we switched to DCP
if ((tcnt-marker) >= CLICKS) {
// if no current draw, switch back to CDP
if (current >= CURRENT_THRESHOLD) {
puts("USBP: no current draw, switching back to CDP mode\n");
set_usb_power_mode(USB_POWER_CDP);
marker = tcnt;
}
}
// keep resetting the timer if there's current draw in DCP
if (current < CURRENT_THRESHOLD) {
marker = tcnt;
}
break;
default:
puts("USB power mode invalid\n"); // set_usb_power_mode prevents assigning invalid values
break;
}
// ~0x9a = 500 ma
/*puth(current);
puts("\n");*/
// reset this every 16th pass
if ((tcnt & 0xFU) == 0U) {
pending_can_live = 0;
}
#ifdef DEBUG
puts("** blink ");
puth(can_rx_q.r_ptr); puts(" "); puth(can_rx_q.w_ptr); puts(" ");
puth(can_tx1_q.r_ptr); puts(" "); puth(can_tx1_q.w_ptr); puts(" ");
puth(can_tx2_q.r_ptr); puts(" "); puth(can_tx2_q.w_ptr); puts("\n");
#endif
// set green LED to be controls allowed
set_led(LED_GREEN, controls_allowed);
// turn off the blue LED, turned on by CAN
// unless we are in power saving mode
set_led(LED_BLUE, (tcnt & 1U) && (power_save_status == POWER_SAVE_STATUS_ENABLED));
// on to the next one
tcnt += 1U;
}
TIM3->SR = 0;
}
int main(void) {
// shouldn't have interrupts here, but just in case
__disable_irq();
// init early devices
clock_init();
periph_init();
detect();
// print hello
puts("\n\n\n************************ MAIN START ************************\n");
// detect the revision and init the GPIOs
puts("config:\n");
puts((revision == PANDA_REV_C) ? " panda rev c\n" : " panda rev a or b\n");
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");
// non rev c panda are no longer supported
while (revision != PANDA_REV_C) {
// hang
}
gpio_init();
// panda has an FPU, let's use it!
enable_fpu();
// enable main uart if it's connected
if (has_external_debug_serial) {
// WEIRDNESS: without this gate around the UART, it would "crash", but only if the ESP is enabled
// assuming it's because the lines were left floating and spurious noise was on them
uart_init(USART2, 115200);
}
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;
uart_init(USART3, 10400);
USART3->CR2 |= USART_CR2_LINEN;
// init microsecond system timer
// increments 1000000 times per second
// generate an update to set the prescaler
TIM2->PSC = 48-1;
TIM2->CR1 = TIM_CR1_CEN;
TIM2->EGR = TIM_EGR_UG;
// use TIM2->CNT to read
// enable USB
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
int err = safety_set_mode(SAFETY_NOOUTPUT, 0);
if (err == -1) {
puts("Failed to set safety mode\n");
while (true) {
// if SAFETY_NOOUTPUT isn't succesfully set, we can't continue
}
}
#ifdef EON
// if we're on an EON, it's fine for CAN to be live for fingerprinting
can_silent = ALL_CAN_LIVE;
#else
can_silent = ALL_CAN_SILENT;
#endif
can_init_all();
adc_init();
#ifndef EON
spi_init();
#endif
#ifdef EON
// have to save power
if (!is_grey_panda) {
set_esp_mode(ESP_DISABLED);
}
// only enter power save after the first cycle
/*if (is_gpio_started()) {
set_power_save_state(POWER_SAVE_STATUS_ENABLED);
}*/
// interrupt on started line
started_interrupt_init();
#endif
// 48mhz / 65536 ~= 732 / 732 = 1
timer_init(TIM3, 732);
NVIC_EnableIRQ(TIM3_IRQn);
#ifdef DEBUG
puts("DEBUG ENABLED\n");
#endif
puts("**** INTERRUPTS ON ****\n");
enable_interrupts();
// LED should keep on blinking all the time
uint64_t cnt = 0;
for (cnt=0;;cnt++) {
if (power_save_status == POWER_SAVE_STATUS_DISABLED) {
int div_mode = ((usb_power_mode == USB_POWER_DCP) ? 4 : 1);
// useful for debugging, fade breaks = panda is overloaded
for (int div_mode_loop = 0; div_mode_loop < div_mode; div_mode_loop++) {
for (int fade = 0; fade < 1024; fade += 8) {
for (int i = 0; i < (128/div_mode); i++) {
set_led(LED_RED, 1);
if (fade < 512) { delay(fade); } else { delay(1024-fade); }
set_led(LED_RED, 0);
if (fade < 512) { delay(512-fade); } else { delay(fade-512); }
}
}
}
} else {
__WFI();
}
}
return 0;
}