You can not select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
298 lines
9.4 KiB
298 lines
9.4 KiB
#include "selfdrive/boardd/pigeon.h"
|
|
|
|
#include <fcntl.h>
|
|
#include <termios.h>
|
|
#include <unistd.h>
|
|
|
|
#include <cassert>
|
|
#include <cerrno>
|
|
#include <optional>
|
|
|
|
#include "selfdrive/common/gpio.h"
|
|
#include "selfdrive/common/swaglog.h"
|
|
#include "selfdrive/common/util.h"
|
|
#include "selfdrive/locationd/ublox_msg.h"
|
|
|
|
// Termios on macos doesn't define all baud rate constants
|
|
#ifndef B460800
|
|
#define B460800 0010004
|
|
#endif
|
|
|
|
using namespace std::string_literals;
|
|
|
|
extern ExitHandler do_exit;
|
|
|
|
const std::string ack = "\xb5\x62\x05\x01\x02\x00";
|
|
const std::string nack = "\xb5\x62\x05\x00\x02\x00";
|
|
const std::string sos_ack = "\xb5\x62\x09\x14\x08\x00\x02\x00\x00\x00\x01\x00\x00\x00";
|
|
const std::string sos_nack = "\xb5\x62\x09\x14\x08\x00\x02\x00\x00\x00\x00\x00\x00\x00";
|
|
|
|
Pigeon * Pigeon::connect(Panda * p) {
|
|
PandaPigeon * pigeon = new PandaPigeon();
|
|
pigeon->connect(p);
|
|
|
|
return pigeon;
|
|
}
|
|
|
|
Pigeon * Pigeon::connect(const char * tty) {
|
|
TTYPigeon * pigeon = new TTYPigeon();
|
|
pigeon->connect(tty);
|
|
|
|
return pigeon;
|
|
}
|
|
|
|
bool Pigeon::wait_for_ack(const std::string &ack_, const std::string &nack_, int timeout_ms) {
|
|
std::string s;
|
|
const double start_t = millis_since_boot();
|
|
while (!do_exit) {
|
|
s += receive();
|
|
|
|
if (s.find(ack_) != std::string::npos) {
|
|
LOGD("Received ACK from ublox");
|
|
return true;
|
|
} else if (s.find(nack_) != std::string::npos) {
|
|
LOGE("Received NACK from ublox");
|
|
return false;
|
|
} else if (s.size() > 0x1000 || ((millis_since_boot() - start_t) > timeout_ms)) {
|
|
LOGE("No response from ublox");
|
|
return false;
|
|
}
|
|
|
|
util::sleep_for(1); // Allow other threads to be scheduled
|
|
}
|
|
return false;
|
|
}
|
|
|
|
bool Pigeon::wait_for_ack() {
|
|
return wait_for_ack(ack, nack);
|
|
}
|
|
|
|
bool Pigeon::send_with_ack(const std::string &cmd) {
|
|
send(cmd);
|
|
return wait_for_ack();
|
|
}
|
|
|
|
void Pigeon::init() {
|
|
for (int i = 0; i < 10; i++) {
|
|
if (do_exit) return;
|
|
LOGW("panda GPS start");
|
|
|
|
// power off pigeon
|
|
set_power(false);
|
|
util::sleep_for(100);
|
|
|
|
// 9600 baud at init
|
|
set_baud(9600);
|
|
|
|
// power on pigeon
|
|
set_power(true);
|
|
util::sleep_for(500);
|
|
|
|
// baud rate upping
|
|
send("\x24\x50\x55\x42\x58\x2C\x34\x31\x2C\x31\x2C\x30\x30\x30\x37\x2C\x30\x30\x30\x33\x2C\x34\x36\x30\x38\x30\x30\x2C\x30\x2A\x31\x35\x0D\x0A"s);
|
|
util::sleep_for(100);
|
|
|
|
// set baud rate to 460800
|
|
set_baud(460800);
|
|
|
|
// init from ubloxd
|
|
// To generate this data, run selfdrive/locationd/test/ubloxd.py
|
|
if (!send_with_ack("\xB5\x62\x06\x00\x14\x00\x03\xFF\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x01\x00\x01\x00\x00\x00\x00\x00\x1E\x7F"s)) continue;
|
|
if (!send_with_ack("\xB5\x62\x06\x00\x14\x00\x00\xFF\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x19\x35"s)) continue;
|
|
if (!send_with_ack("\xB5\x62\x06\x00\x14\x00\x01\x00\x00\x00\xC0\x08\x00\x00\x00\x08\x07\x00\x01\x00\x01\x00\x00\x00\x00\x00\xF4\x80"s)) continue;
|
|
if (!send_with_ack("\xB5\x62\x06\x00\x14\x00\x04\xFF\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x1D\x85"s)) continue;
|
|
if (!send_with_ack("\xB5\x62\x06\x00\x00\x00\x06\x18"s)) continue;
|
|
if (!send_with_ack("\xB5\x62\x06\x00\x01\x00\x01\x08\x22"s)) continue;
|
|
if (!send_with_ack("\xB5\x62\x06\x00\x01\x00\x03\x0A\x24"s)) continue;
|
|
if (!send_with_ack("\xB5\x62\x06\x08\x06\x00\x64\x00\x01\x00\x00\x00\x79\x10"s)) continue;
|
|
if (!send_with_ack("\xB5\x62\x06\x24\x24\x00\x05\x00\x04\x03\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x5A\x63"s)) continue;
|
|
if (!send_with_ack("\xB5\x62\x06\x1E\x14\x00\x00\x00\x00\x00\x01\x03\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x3C\x37"s)) continue;
|
|
if (!send_with_ack("\xB5\x62\x06\x39\x08\x00\xFF\xAD\x62\xAD\x1E\x63\x00\x00\x83\x0C"s)) continue;
|
|
if (!send_with_ack("\xB5\x62\x06\x24\x00\x00\x2A\x84"s)) continue;
|
|
if (!send_with_ack("\xB5\x62\x06\x23\x00\x00\x29\x81"s)) continue;
|
|
if (!send_with_ack("\xB5\x62\x06\x1E\x00\x00\x24\x72"s)) continue;
|
|
if (!send_with_ack("\xB5\x62\x06\x39\x00\x00\x3F\xC3"s)) continue;
|
|
if (!send_with_ack("\xB5\x62\x06\x01\x03\x00\x01\x07\x01\x13\x51"s)) continue;
|
|
if (!send_with_ack("\xB5\x62\x06\x01\x03\x00\x02\x15\x01\x22\x70"s)) continue;
|
|
if (!send_with_ack("\xB5\x62\x06\x01\x03\x00\x02\x13\x01\x20\x6C"s)) continue;
|
|
if (!send_with_ack("\xB5\x62\x06\x01\x03\x00\x0A\x09\x01\x1E\x70"s)) continue;
|
|
if (!send_with_ack("\xB5\x62\x06\x01\x03\x00\x0A\x0B\x01\x20\x74"s)) continue;
|
|
|
|
auto time = util::get_time();
|
|
if (util::time_valid(time)) {
|
|
LOGW("Sending current time to ublox");
|
|
send(ublox::build_ubx_mga_ini_time_utc(time));
|
|
}
|
|
|
|
LOGW("panda GPS on");
|
|
return;
|
|
}
|
|
LOGE("failed to initialize panda GPS");
|
|
}
|
|
|
|
void Pigeon::stop() {
|
|
LOGW("Storing almanac in ublox flash");
|
|
|
|
// Controlled GNSS stop
|
|
send("\xB5\x62\x06\x04\x04\x00\x00\x00\x08\x00\x16\x74"s);
|
|
|
|
// Store almanac in flash
|
|
send("\xB5\x62\x09\x14\x04\x00\x00\x00\x00\x00\x21\xEC"s);
|
|
|
|
if (wait_for_ack(sos_ack, sos_nack)) {
|
|
LOGW("Done storing almanac");
|
|
} else {
|
|
LOGE("Error storing almanac");
|
|
}
|
|
}
|
|
|
|
void PandaPigeon::connect(Panda * p) {
|
|
panda = p;
|
|
}
|
|
|
|
void PandaPigeon::set_baud(int baud) {
|
|
panda->usb_write(0xe2, 1, 0);
|
|
panda->usb_write(0xe4, 1, baud/300);
|
|
}
|
|
|
|
void PandaPigeon::send(const std::string &s) {
|
|
int len = s.length();
|
|
const char * dat = s.data();
|
|
|
|
unsigned char a[0x20+1];
|
|
a[0] = 1;
|
|
for (int i=0; i<len; i+=0x20) {
|
|
int ll = std::min(0x20, len-i);
|
|
memcpy(&a[1], &dat[i], ll);
|
|
|
|
panda->usb_bulk_write(2, a, ll+1);
|
|
}
|
|
}
|
|
|
|
std::string PandaPigeon::receive() {
|
|
std::string r;
|
|
r.reserve(0x1000 + 0x40);
|
|
unsigned char dat[0x40];
|
|
while (r.length() < 0x1000) {
|
|
int len = panda->usb_read(0xe0, 1, 0, dat, sizeof(dat));
|
|
if (len <= 0) break;
|
|
r.append((char*)dat, len);
|
|
}
|
|
|
|
return r;
|
|
}
|
|
|
|
void PandaPigeon::set_power(bool power) {
|
|
panda->usb_write(0xd9, power, 0);
|
|
}
|
|
|
|
PandaPigeon::~PandaPigeon() {
|
|
}
|
|
|
|
void handle_tty_issue(int err, const char func[]) {
|
|
LOGE_100("tty error %d \"%s\" in %s", err, strerror(err), func);
|
|
}
|
|
|
|
void TTYPigeon::connect(const char * tty) {
|
|
pigeon_tty_fd = HANDLE_EINTR(open(tty, O_RDWR));
|
|
if (pigeon_tty_fd < 0) {
|
|
handle_tty_issue(errno, __func__);
|
|
assert(pigeon_tty_fd >= 0);
|
|
}
|
|
int err = tcgetattr(pigeon_tty_fd, &pigeon_tty);
|
|
assert(err == 0);
|
|
|
|
// configure tty
|
|
pigeon_tty.c_cflag &= ~PARENB; // disable parity
|
|
pigeon_tty.c_cflag &= ~CSTOPB; // single stop bit
|
|
pigeon_tty.c_cflag |= CS8; // 8 bits per byte
|
|
pigeon_tty.c_cflag &= ~CRTSCTS; // no RTS/CTS flow control
|
|
pigeon_tty.c_cflag |= CREAD | CLOCAL; // turn on READ & ignore ctrl lines
|
|
pigeon_tty.c_lflag &= ~ICANON; // disable canonical mode
|
|
pigeon_tty.c_lflag &= ~ISIG; // disable interpretation of INTR, QUIT and SUSP
|
|
pigeon_tty.c_iflag &= ~(IXON | IXOFF | IXANY); // turn off software flow ctrl
|
|
pigeon_tty.c_iflag &= ~(IGNBRK|BRKINT|PARMRK|ISTRIP|INLCR|IGNCR|ICRNL); // disable any special handling of received bytes
|
|
pigeon_tty.c_oflag &= ~OPOST; // prevent special interpretation of output bytes
|
|
pigeon_tty.c_oflag &= ~ONLCR; // prevent conversion of newline to carriage return/line feed
|
|
|
|
// configure blocking behavior
|
|
pigeon_tty.c_cc[VMIN] = 0; // min amount of characters returned
|
|
pigeon_tty.c_cc[VTIME] = 0; // max blocking time in s/10 (0=inf)
|
|
|
|
err = tcsetattr(pigeon_tty_fd, TCSANOW, &pigeon_tty);
|
|
assert(err == 0);
|
|
}
|
|
|
|
void TTYPigeon::set_baud(int baud) {
|
|
speed_t baud_const = 0;
|
|
switch(baud) {
|
|
case 9600:
|
|
baud_const = B9600;
|
|
break;
|
|
case 460800:
|
|
baud_const = B460800;
|
|
break;
|
|
default:
|
|
assert(false);
|
|
}
|
|
|
|
// make sure everything is tx'ed before changing baud
|
|
int err = tcdrain(pigeon_tty_fd);
|
|
assert(err == 0);
|
|
|
|
// change baud
|
|
err = tcgetattr(pigeon_tty_fd, &pigeon_tty);
|
|
assert(err == 0);
|
|
err = cfsetspeed(&pigeon_tty, baud_const);
|
|
assert(err == 0);
|
|
err = tcsetattr(pigeon_tty_fd, TCSANOW, &pigeon_tty);
|
|
assert(err == 0);
|
|
|
|
// flush
|
|
err = tcflush(pigeon_tty_fd, TCIOFLUSH);
|
|
assert(err == 0);
|
|
}
|
|
|
|
void TTYPigeon::send(const std::string &s) {
|
|
int err = HANDLE_EINTR(write(pigeon_tty_fd, s.data(), s.length()));
|
|
|
|
if(err < 0) { handle_tty_issue(err, __func__); }
|
|
err = tcdrain(pigeon_tty_fd);
|
|
if(err < 0) { handle_tty_issue(err, __func__); }
|
|
}
|
|
|
|
std::string TTYPigeon::receive() {
|
|
std::string r;
|
|
r.reserve(0x1000 + 0x40);
|
|
char dat[0x40];
|
|
while (r.length() < 0x1000) {
|
|
int len = read(pigeon_tty_fd, dat, sizeof(dat));
|
|
if(len < 0) {
|
|
handle_tty_issue(len, __func__);
|
|
} else if (len == 0) {
|
|
break;
|
|
} else {
|
|
r.append(dat, len);
|
|
}
|
|
|
|
}
|
|
return r;
|
|
}
|
|
|
|
void TTYPigeon::set_power(bool power) {
|
|
#ifdef QCOM2
|
|
int err = 0;
|
|
err += gpio_init(GPIO_UBLOX_RST_N, true);
|
|
err += gpio_init(GPIO_UBLOX_SAFEBOOT_N, true);
|
|
err += gpio_init(GPIO_UBLOX_PWR_EN, true);
|
|
|
|
err += gpio_set(GPIO_UBLOX_RST_N, power);
|
|
err += gpio_set(GPIO_UBLOX_SAFEBOOT_N, power);
|
|
err += gpio_set(GPIO_UBLOX_PWR_EN, power);
|
|
assert(err == 0);
|
|
#endif
|
|
}
|
|
|
|
TTYPigeon::~TTYPigeon() {
|
|
close(pigeon_tty_fd);
|
|
}
|
|
|