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396 lines
12 KiB
396 lines
12 KiB
extern int _app_start[0xc000]; // Only first 3 sectors of size 0x4000 are used
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// Prototypes
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void set_safety_mode(uint16_t mode, uint16_t param);
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bool is_car_safety_mode(uint16_t mode);
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static int get_health_pkt(void *dat) {
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COMPILE_TIME_ASSERT(sizeof(struct health_t) <= USBPACKET_MAX_SIZE);
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struct health_t * health = (struct health_t*)dat;
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health->uptime_pkt = uptime_cnt;
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health->voltage_pkt = current_board->read_voltage_mV();
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health->current_pkt = current_board->read_current_mA();
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// Use the GPIO pin to determine ignition or use a CAN based logic
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health->ignition_line_pkt = (uint8_t)(current_board->check_ignition());
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health->ignition_can_pkt = ignition_can;
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health->controls_allowed_pkt = controls_allowed;
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health->safety_tx_blocked_pkt = safety_tx_blocked;
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health->safety_rx_invalid_pkt = safety_rx_invalid;
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health->tx_buffer_overflow_pkt = tx_buffer_overflow;
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health->rx_buffer_overflow_pkt = rx_buffer_overflow;
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health->car_harness_status_pkt = harness.status;
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health->safety_mode_pkt = (uint8_t)(current_safety_mode);
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health->safety_param_pkt = current_safety_param;
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health->alternative_experience_pkt = alternative_experience;
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health->power_save_enabled_pkt = power_save_status == POWER_SAVE_STATUS_ENABLED;
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health->heartbeat_lost_pkt = heartbeat_lost;
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health->safety_rx_checks_invalid_pkt = safety_rx_checks_invalid;
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health->spi_checksum_error_count_pkt = spi_checksum_error_count;
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health->fault_status_pkt = fault_status;
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health->faults_pkt = faults;
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health->interrupt_load_pkt = interrupt_load;
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health->fan_power = fan_state.power;
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health->fan_stall_count = fan_state.total_stall_count;
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health->sbu1_voltage_mV = harness.sbu1_voltage_mV;
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health->sbu2_voltage_mV = harness.sbu2_voltage_mV;
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health->som_reset_triggered = bootkick_reset_triggered;
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return sizeof(*health);
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}
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// send on serial, first byte to select the ring
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void comms_endpoint2_write(const uint8_t *data, uint32_t len) {
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uart_ring *ur = get_ring_by_number(data[0]);
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if ((len != 0U) && (ur != NULL)) {
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if ((data[0] < 2U) || (data[0] >= 4U)) {
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for (uint32_t i = 1; i < len; i++) {
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while (!put_char(ur, data[i])) {
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// wait
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}
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}
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}
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}
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}
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int comms_control_handler(ControlPacket_t *req, uint8_t *resp) {
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unsigned int resp_len = 0;
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uart_ring *ur = NULL;
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uint32_t time;
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#ifdef DEBUG_COMMS
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print("raw control request: "); hexdump(req, sizeof(ControlPacket_t)); print("\n");
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print("- request "); puth(req->request); print("\n");
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print("- param1 "); puth(req->param1); print("\n");
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print("- param2 "); puth(req->param2); print("\n");
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#endif
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switch (req->request) {
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// **** 0xa8: get microsecond timer
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case 0xa8:
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time = microsecond_timer_get();
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resp[0] = (time & 0x000000FFU);
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resp[1] = ((time & 0x0000FF00U) >> 8U);
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resp[2] = ((time & 0x00FF0000U) >> 16U);
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resp[3] = ((time & 0xFF000000U) >> 24U);
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resp_len = 4U;
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break;
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// **** 0xb0: set IR power
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case 0xb0:
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current_board->set_ir_power(req->param1);
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break;
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// **** 0xb1: set fan power
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case 0xb1:
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fan_set_power(req->param1);
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break;
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// **** 0xb2: get fan rpm
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case 0xb2:
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resp[0] = (fan_state.rpm & 0x00FFU);
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resp[1] = ((fan_state.rpm & 0xFF00U) >> 8U);
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resp_len = 2;
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break;
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// **** 0xc0: reset communications
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case 0xc0:
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comms_can_reset();
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break;
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// **** 0xc1: get hardware type
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case 0xc1:
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resp[0] = hw_type;
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resp_len = 1;
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break;
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// **** 0xc2: CAN health stats
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case 0xc2:
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COMPILE_TIME_ASSERT(sizeof(can_health_t) <= USBPACKET_MAX_SIZE);
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if (req->param1 < 3U) {
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update_can_health_pkt(req->param1, 0U);
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can_health[req->param1].can_speed = (bus_config[req->param1].can_speed / 10U);
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can_health[req->param1].can_data_speed = (bus_config[req->param1].can_data_speed / 10U);
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can_health[req->param1].canfd_enabled = bus_config[req->param1].canfd_enabled;
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can_health[req->param1].brs_enabled = bus_config[req->param1].brs_enabled;
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can_health[req->param1].canfd_non_iso = bus_config[req->param1].canfd_non_iso;
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resp_len = sizeof(can_health[req->param1]);
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(void)memcpy(resp, (uint8_t*)(&can_health[req->param1]), resp_len);
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}
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break;
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// **** 0xc3: fetch MCU UID
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case 0xc3:
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(void)memcpy(resp, ((uint8_t *)UID_BASE), 12);
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resp_len = 12;
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break;
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// **** 0xc4: get interrupt call rate
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case 0xc4:
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if (req->param1 < NUM_INTERRUPTS) {
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uint32_t load = interrupts[req->param1].call_rate;
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resp[0] = (load & 0x000000FFU);
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resp[1] = ((load & 0x0000FF00U) >> 8U);
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resp[2] = ((load & 0x00FF0000U) >> 16U);
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resp[3] = ((load & 0xFF000000U) >> 24U);
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resp_len = 4U;
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}
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break;
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// **** 0xc5: DEBUG: drive relay
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case 0xc5:
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set_intercept_relay((req->param1 & 0x1U), (req->param1 & 0x2U));
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break;
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// **** 0xc6: DEBUG: read SOM GPIO
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case 0xc6:
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resp[0] = current_board->read_som_gpio();
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resp_len = 1;
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break;
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// **** 0xd0: fetch serial (aka the provisioned dongle ID)
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case 0xd0:
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// addresses are OTP
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if (req->param1 == 1U) {
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(void)memcpy(resp, (uint8_t *)DEVICE_SERIAL_NUMBER_ADDRESS, 0x10);
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resp_len = 0x10;
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} else {
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get_provision_chunk(resp);
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resp_len = PROVISION_CHUNK_LEN;
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}
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break;
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// **** 0xd1: enter bootloader mode
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case 0xd1:
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// this allows reflashing of the bootstub
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switch (req->param1) {
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case 0:
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// only allow bootloader entry on debug builds
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#ifdef ALLOW_DEBUG
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print("-> entering bootloader\n");
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enter_bootloader_mode = ENTER_BOOTLOADER_MAGIC;
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NVIC_SystemReset();
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#endif
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break;
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case 1:
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print("-> entering softloader\n");
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enter_bootloader_mode = ENTER_SOFTLOADER_MAGIC;
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NVIC_SystemReset();
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break;
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default:
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print("Bootloader mode invalid\n");
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break;
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}
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break;
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// **** 0xd2: get health packet
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case 0xd2:
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resp_len = get_health_pkt(resp);
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break;
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// **** 0xd3: get first 64 bytes of signature
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case 0xd3:
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{
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resp_len = 64;
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char * code = (char*)_app_start;
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int code_len = _app_start[0];
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(void)memcpy(resp, &code[code_len], resp_len);
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}
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break;
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// **** 0xd4: get second 64 bytes of signature
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case 0xd4:
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{
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resp_len = 64;
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char * code = (char*)_app_start;
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int code_len = _app_start[0];
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(void)memcpy(resp, &code[code_len + 64], resp_len);
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}
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break;
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// **** 0xd6: get version
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case 0xd6:
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COMPILE_TIME_ASSERT(sizeof(gitversion) <= USBPACKET_MAX_SIZE);
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(void)memcpy(resp, gitversion, sizeof(gitversion));
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resp_len = sizeof(gitversion) - 1U;
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break;
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// **** 0xd8: reset ST
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case 0xd8:
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NVIC_SystemReset();
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break;
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// **** 0xdb: set OBD CAN multiplexing mode
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case 0xdb:
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if (current_board->harness_config->has_harness) {
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if (req->param1 == 1U) {
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// Enable OBD CAN
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current_board->set_can_mode(CAN_MODE_OBD_CAN2);
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} else {
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// Disable OBD CAN
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current_board->set_can_mode(CAN_MODE_NORMAL);
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}
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}
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break;
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// **** 0xdc: set safety mode
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case 0xdc:
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set_safety_mode(req->param1, (uint16_t)req->param2);
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break;
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// **** 0xdd: get healthpacket and CANPacket versions
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case 0xdd:
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resp[0] = HEALTH_PACKET_VERSION;
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resp[1] = CAN_PACKET_VERSION;
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resp[2] = CAN_HEALTH_PACKET_VERSION;
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resp_len = 3;
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break;
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// **** 0xde: set can bitrate
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case 0xde:
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if ((req->param1 < PANDA_BUS_CNT) && is_speed_valid(req->param2, speeds, sizeof(speeds)/sizeof(speeds[0]))) {
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bus_config[req->param1].can_speed = req->param2;
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bool ret = can_init(CAN_NUM_FROM_BUS_NUM(req->param1));
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UNUSED(ret);
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}
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break;
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// **** 0xdf: set alternative experience
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case 0xdf:
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// you can only set this if you are in a non car safety mode
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if (!is_car_safety_mode(current_safety_mode)) {
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alternative_experience = req->param1;
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}
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break;
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// **** 0xe0: uart read
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case 0xe0:
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ur = get_ring_by_number(req->param1);
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if (!ur) {
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break;
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}
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// read
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uint16_t req_length = MIN(req->length, USBPACKET_MAX_SIZE);
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while ((resp_len < req_length) &&
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get_char(ur, (char*)&resp[resp_len])) {
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++resp_len;
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}
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break;
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// **** 0xe1: uart set baud rate
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case 0xe1:
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ur = get_ring_by_number(req->param1);
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if (!ur) {
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break;
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}
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uart_set_baud(ur->uart, req->param2);
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break;
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// **** 0xe2: uart set parity
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case 0xe2:
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ur = get_ring_by_number(req->param1);
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if (!ur) {
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break;
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}
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switch (req->param2) {
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case 0:
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// disable parity, 8-bit
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ur->uart->CR1 &= ~(USART_CR1_PCE | USART_CR1_M);
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break;
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case 1:
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// even parity, 9-bit
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ur->uart->CR1 &= ~USART_CR1_PS;
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ur->uart->CR1 |= USART_CR1_PCE | USART_CR1_M;
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break;
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case 2:
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// odd parity, 9-bit
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ur->uart->CR1 |= USART_CR1_PS;
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ur->uart->CR1 |= USART_CR1_PCE | USART_CR1_M;
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break;
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default:
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break;
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}
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break;
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// **** 0xe4: uart set baud rate extended
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case 0xe4:
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ur = get_ring_by_number(req->param1);
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if (!ur) {
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break;
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}
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uart_set_baud(ur->uart, (int)req->param2*300);
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break;
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// **** 0xe5: set CAN loopback (for testing)
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case 0xe5:
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can_loopback = req->param1 > 0U;
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can_init_all();
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break;
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// **** 0xe6: set custom clock source period
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case 0xe6:
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clock_source_set_period(req->param1);
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break;
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// **** 0xe7: set power save state
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case 0xe7:
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set_power_save_state(req->param1);
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break;
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// **** 0xe8: set can-fd auto swithing mode
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case 0xe8:
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bus_config[req->param1].canfd_auto = req->param2 > 0U;
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break;
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// **** 0xf1: Clear CAN ring buffer.
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case 0xf1:
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if (req->param1 == 0xFFFFU) {
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print("Clearing CAN Rx queue\n");
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can_clear(&can_rx_q);
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} else if (req->param1 < PANDA_BUS_CNT) {
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print("Clearing CAN Tx queue\n");
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can_clear(can_queues[req->param1]);
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} else {
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print("Clearing CAN CAN ring buffer failed: wrong bus number\n");
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}
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break;
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// **** 0xf2: Clear UART ring buffer.
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case 0xf2:
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{
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uart_ring * rb = get_ring_by_number(req->param1);
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if (rb != NULL) {
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print("Clearing UART queue.\n");
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clear_uart_buff(rb);
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}
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break;
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}
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// **** 0xf3: Heartbeat. Resets heartbeat counter.
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case 0xf3:
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{
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heartbeat_counter = 0U;
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heartbeat_lost = false;
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heartbeat_disabled = false;
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heartbeat_engaged = (req->param1 == 1U);
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break;
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}
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// **** 0xf6: set siren enabled
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case 0xf6:
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siren_enabled = (req->param1 != 0U);
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break;
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// **** 0xf7: set green led enabled
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case 0xf7:
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green_led_enabled = (req->param1 != 0U);
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break;
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// **** 0xf8: disable heartbeat checks
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case 0xf8:
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if (!is_car_safety_mode(current_safety_mode)) {
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heartbeat_disabled = true;
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}
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break;
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// **** 0xf9: set CAN FD data bitrate
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case 0xf9:
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if ((req->param1 < PANDA_CAN_CNT) &&
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current_board->has_canfd &&
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is_speed_valid(req->param2, data_speeds, sizeof(data_speeds)/sizeof(data_speeds[0]))) {
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bus_config[req->param1].can_data_speed = req->param2;
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bus_config[req->param1].canfd_enabled = (req->param2 >= bus_config[req->param1].can_speed);
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bus_config[req->param1].brs_enabled = (req->param2 > bus_config[req->param1].can_speed);
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bool ret = can_init(CAN_NUM_FROM_BUS_NUM(req->param1));
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UNUSED(ret);
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}
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break;
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// **** 0xfc: set CAN FD non-ISO mode
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case 0xfc:
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if ((req->param1 < PANDA_CAN_CNT) && current_board->has_canfd) {
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bus_config[req->param1].canfd_non_iso = (req->param2 != 0U);
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bool ret = can_init(CAN_NUM_FROM_BUS_NUM(req->param1));
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UNUSED(ret);
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}
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break;
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default:
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print("NO HANDLER ");
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puth(req->request);
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print("\n");
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break;
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}
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return resp_len;
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}
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