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