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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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#include "config.h"
#include "obj/gitversion.h"
// ********************* includes *********************
#include "libc.h"
#include "safety.h"
#include "provision.h"
#include "drivers/drivers.h"
#include "drivers/llgpio.h"
#include "gpio.h"
#include "drivers/uart.h"
#include "drivers/adc.h"
#include "drivers/usb.h"
#include "drivers/can.h"
#include "drivers/spi.h"
#include "drivers/timer.h"
// ***************************** fan *****************************
void fan_init() {
// timer for fan PWM
TIM3->CCMR2 = TIM_CCMR2_OC3M_2 | TIM_CCMR2_OC3M_1;
TIM3->CCER = TIM_CCER_CC3E;
timer_init(TIM3, 10);
}
void fan_set_speed(int fan_speed) {
TIM3->CCR3 = fan_speed;
}
// ********************* serial debugging *********************
void debug_ring_callback(uart_ring *ring) {
char rcv;
while (getc(ring, &rcv)) {
putc(ring, rcv);
// 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);
}
}
}
// ***************************** USB port *****************************
int get_health_pkt(void *dat) {
struct __attribute__((packed)) {
uint32_t voltage;
uint32_t current;
uint8_t started;
uint8_t controls_allowed;
uint8_t gas_interceptor_detected;
uint8_t started_signal_detected;
uint8_t started_alt;
} *health = dat;
//Voltage will be measured in mv. 5000 = 5V
uint32_t voltage = adc_get(ADCCHAN_VOLTAGE);
if (revision == PANDA_REV_AB) {
//REVB has a 100, 27 (27/127) voltage divider
//Here is the calculation for the scale
//ADCV = VIN_S * (27/127) * (4095/3.3)
//RETVAL = ADCV * s = VIN_S*1000
//s = 1000/((4095/3.3)*(27/127)) = 3.79053046
//Avoid needing floating point math
health->voltage = (voltage * 3791) / 1000;
} else {
//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 = (voltage * 8862) / 1000;
}
#ifdef PANDA
health->current = adc_get(ADCCHAN_CURRENT);
int safety_ignition = safety_ignition_hook();
if (safety_ignition < 0) {
//Use the GPIO pin to determine ignition
health->started = (GPIOA->IDR & (1 << 1)) == 0;
} else {
//Current safety hooks want to determine ignition (ex: GM)
health->started = safety_ignition;
}
#else
health->current = 0;
health->started = (GPIOC->IDR & (1 << 13)) != 0;
#endif
health->controls_allowed = controls_allowed;
health->gas_interceptor_detected = gas_interceptor_detected;
// DEPRECATED
health->started_alt = 0;
health->started_signal_detected = 0;
return sizeof(*health);
}
int usb_cb_ep1_in(uint8_t *usbdata, int len, int 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(uint8_t *usbdata, int len, int hardwired) {
if (len == 0) return;
uart_ring *ur = get_ring_by_number(usbdata[0]);
if (!ur) return;
if ((usbdata[0] < 2) || safety_tx_lin_hook(usbdata[0]-2, usbdata+1, len-1)) {
for (int i = 1; i < len; i++) while (!putc(ur, usbdata[i]));
}
}
// send on CAN
void usb_cb_ep3_out(uint8_t *usbdata, int len, int hardwired) {
int dpkt = 0;
for (dpkt = 0; dpkt < len; dpkt += 0x10) {
uint32_t *tf = (uint32_t*)(&usbdata[dpkt]);
// make a copy
CAN_FIFOMailBox_TypeDef to_push;
to_push.RDHR = tf[3];
to_push.RDLR = tf[2];
to_push.RDTR = tf[1];
to_push.RIR = tf[0];
uint8_t bus_number = (to_push.RDTR >> 4) & CAN_BUS_NUM_MASK;
can_send(&to_push, bus_number);
}
}
int 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, int hardwired) {
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:
#ifdef PANDA
// addresses are OTP
if (setup->b.wValue.w == 1) {
memcpy(resp, (void *)0x1fff79c0, 0x10);
resp_len = 0x10;
} else {
get_provision_chunk(resp);
resp_len = PROVISION_CHUNK_LEN;
}
#endif
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;
}
break;
// **** 0xd2: get health packet
case 0xd2:
resp_len = get_health_pkt(resp);
break;
// **** 0xd3: set fan speed
case 0xd3:
fan_set_speed(setup->b.wValue.w);
break;
// **** 0xd6: get version
case 0xd6:
COMPILE_TIME_ASSERT(sizeof(gitversion) <= MAX_RESP_LEN)
memcpy(resp, gitversion, sizeof(gitversion));
resp_len = sizeof(gitversion)-1;
break;
// **** 0xd8: reset ST
case 0xd8:
NVIC_SystemReset();
break;
// **** 0xd9: set ESP power
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);
}
break;
// **** 0xda: reset ESP, with optional boot mode
case 0xda:
set_esp_mode(ESP_DISABLED);
delay(1000000);
if (setup->b.wValue.w == 1) {
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:
#ifdef PANDA
if (setup->b.wValue.w == 1) {
// GMLAN ON
if (setup->b.wIndex.w == 1) {
can_set_gmlan(1);
} else if (setup->b.wIndex.w == 2) {
// might be ignored on rev b panda
can_set_gmlan(2);
}
} else {
can_set_gmlan(-1);
}
#endif
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) {
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;
break;
case SAFETY_ELM327:
can_silent = ALL_CAN_BUT_MAIN_SILENT;
can_autobaud_enabled[0] = false;
break;
default:
can_silent = ALL_CAN_LIVE;
can_autobaud_enabled[0] = false;
can_autobaud_enabled[1] = false;
#ifdef PANDA
can_autobaud_enabled[2] = false;
#endif
break;
}
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 == 0xFF){ //Clear Forwarding
can_set_forwarding(setup->b.wValue.w, -1);
}
break;
// **** 0xde: set can bitrate
case 0xde:
if (setup->b.wValue.w < BUS_MAX) {
can_autobaud_enabled[setup->b.wValue.w] = false;
can_speed[setup->b.wValue.w] = setup->b.wIndex.w;
can_init(CAN_NUM_FROM_BUS_NUM(setup->b.wValue.w));
}
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 > 0);
can_init_all();
break;
// **** 0xe6: set USB power
case 0xe6:
if (revision == PANDA_REV_C) {
if (setup->b.wValue.w == 1) {
puts("user setting CDP mode\n");
set_usb_power_mode(USB_POWER_CDP);
} else if (setup->b.wValue.w == 2) {
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 == 1) {
GPIOC->ODR &= ~(1 << 10);
GPIOC->MODER &= ~GPIO_MODER_MODER10_1;
GPIOC->MODER |= GPIO_MODER_MODER10_0;
} else {
GPIOC->ODR &= ~(1 << 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 == 1) {
GPIOC->ODR |= (1 << 10);
GPIOC->ODR &= ~(1 << 10);
} else {
GPIOC->ODR |= (1 << 12);
GPIOC->ODR &= ~(1 << 12);
}
}
if (setup->b.wValue.w == 1) {
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 == 0xFFFF) {
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]);
}
break;
// **** 0xf2: Clear UART ring buffer.
case 0xf2:
{
uart_ring * rb = get_ring_by_number(setup->b.wValue.w);
if (rb) {
puts("Clearing UART queue.\n");
clear_uart_buff(rb);
}
break;
}
default:
puts("NO HANDLER ");
puth(setup->b.bRequest);
puts("\n");
break;
}
return resp_len;
}
#ifdef PANDA
int spi_cb_rx(uint8_t *data, int len, uint8_t *data_out) {
// data[0] = endpoint
// data[2] = length
// data[4:] = data
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;
}
return resp_len;
}
#else
int spi_cb_rx(uint8_t *data, int len, uint8_t *data_out) { return 0; };
#endif
// ***************************** main code *****************************
void __initialize_hardware_early() {
early();
}
void __attribute__ ((noinline)) enable_fpu() {
// enable the FPU
SCB->CPACR |= ((3UL << 10*2) | (3UL << 11*2));
}
int main() {
// 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");
#ifdef PANDA
puts(revision == PANDA_REV_C ? " panda rev c\n" : " panda rev a or b\n");
#else
puts(" legacy\n");
#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();
#ifdef PANDA
// panda has an FPU, let's use it!
enable_fpu();
#endif
// 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);
}
#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;
uart_init(USART3, 10400);
USART3->CR2 |= USART_CR2_LINEN;
#endif
// 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
safety_set_mode(SAFETY_NOOUTPUT, 0);
can_silent = ALL_CAN_SILENT;
can_init_all();
adc_init();
#ifdef PANDA
spi_init();
#endif
// set PWM
fan_init();
fan_set_speed(0);
puts("**** INTERRUPTS ON ****\n");
__enable_irq();
// if the error interrupt is enabled to quickly when the CAN bus is active
// something bad happens and you can't connect to the device over USB
delay(10000000);
CAN1->IER |= CAN_IER_ERRIE | CAN_IER_LECIE;
// LED should keep on blinking all the time
uint64_t cnt = 0;
#ifdef PANDA
uint64_t marker = 0;
#define CURRENT_THRESHOLD 0xF00
#define CLICKS 8
#endif
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);
switch (usb_power_mode) {
case USB_POWER_CLIENT:
if ((cnt-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 = cnt;
}
}
// keep resetting the timer if it's enumerated
if (is_enumerated) {
marker = cnt;
}
break;
case USB_POWER_CDP:
// been CLICKS clicks since we switched to CDP
if ((cnt-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 = cnt;
}
}
// keep resetting the timer if there's no current draw in CDP
if (current >= CURRENT_THRESHOLD) {
marker = cnt;
}
break;
case USB_POWER_DCP:
// been at least CLICKS clicks since we switched to DCP
if ((cnt-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 = cnt;
}
}
// keep resetting the timer if there's current draw in DCP
if (current < CURRENT_THRESHOLD) {
marker = cnt;
}
break;
}
// ~0x9a = 500 ma
/*puth(current);
puts("\n");*/
#endif
// reset this every 16th pass
if ((cnt&0xF) == 0) 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);
// blink the red LED
int div_mode = ((usb_power_mode == USB_POWER_DCP) ? 4 : 1);
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, 0);
if (fade < 512) { delay(512-fade); } else { delay(fade-512); }
set_led(LED_RED, 1);
if (fade < 512) { delay(fade); } else { delay(1024-fade); }
}
}
}
// turn off the blue LED, turned on by CAN
#ifdef PANDA
set_led(LED_BLUE, 0);
#endif
}
return 0;
}