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Merge panda subtree

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old-commit-hash: c8b4633cd1
This commit is contained in:
Vehicle Researcher
2019-07-22 19:15:27 +00:00
parent 01cad42662 1b8e5096c2
commit 12f2ca40ee
78 changed files with 1565 additions and 719 deletions
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panda/board/Makefile
+1 -1
View File
@@ -1,5 +1,5 @@
PROJ_NAME = panda
CFLAGS = -g -Wall
CFLAGS = -g -Wall -Wextra -Wstrict-prototypes -Werror
CFLAGS += -mlittle-endian -mthumb -mcpu=cortex-m4
CFLAGS += -mhard-float -DSTM32F4 -DSTM32F413xx -mfpu=fpv4-sp-d16 -fsingle-precision-constant
panda/board/Makefile.strict
-8
View File
@@ -1,8 +0,0 @@
PROJ_NAME = panda
CFLAGS = -g -Wall -Wextra -Wstrict-prototypes
CFLAGS += -mlittle-endian -mthumb -mcpu=cortex-m4
CFLAGS += -mhard-float -DSTM32F4 -DSTM32F413xx -mfpu=fpv4-sp-d16 -fsingle-precision-constant
STARTUP_FILE = startup_stm32f413xx
include build.mk
panda/board/bootstub.c
+11 -6
View File
@@ -13,8 +13,13 @@
#endif
// default since there's no serial
void puts(const char *a) {}
void puth(unsigned int i) {}
void puts(const char *a) {
UNUSED(a);
}
void puth(unsigned int i) {
UNUSED(i);
}
#include "libc.h"
#include "provision.h"
@@ -34,11 +39,11 @@ void puth(unsigned int i) {}
#include "spi_flasher.h"
void __initialize_hardware_early() {
void __initialize_hardware_early(void) {
early();
}
void fail() {
void fail(void) {
soft_flasher_start();
}
@@ -48,7 +53,7 @@ extern void *_app_start[];
// FIXME: sometimes your panda will fail flashing and will quickly blink a single Green LED
// BOUNTY: $200 coupon on shop.comma.ai or $100 check.
int main() {
int main(void) {
__disable_irq();
clock_init();
detect();
@@ -88,7 +93,7 @@ fail:
return 0;
good:
// jump to flash
((void(*)()) _app_start[1])();
((void(*)(void)) _app_start[1])();
return 0;
}
panda/board/config.h
+4 -4
View File
@@ -12,12 +12,12 @@
#include "stm32f2xx.h"
#endif
#define USB_VID 0xbbaa
#define USB_VID 0xbbaaU
#ifdef BOOTSTUB
#define USB_PID 0xddee
#define USB_PID 0xddeeU
#else
#define USB_PID 0xddcc
#define USB_PID 0xddccU
#endif
#include <stdbool.h>
@@ -34,7 +34,7 @@
__typeof__ (b) _b = (b); \
(_a > _b) ? _a : _b; })
#define MAX_RESP_LEN 0x40
#define MAX_RESP_LEN 0x40U
#endif
panda/board/drivers/adc.h
+1 -1
View File
@@ -19,7 +19,7 @@ void adc_init(void) {
ADC1->SMPR1 = ADC_SMPR1_SMP12 | ADC_SMPR1_SMP13;
}
uint32_t adc_get(int channel) {
uint32_t adc_get(unsigned int channel) {
// includes length
//ADC1->SQR1 = 0;
panda/board/drivers/can.h
+59 -53
View File
@@ -9,11 +9,14 @@ typedef struct {
CAN_FIFOMailBox_TypeDef *elems;
} can_ring;
#define CAN_BUS_RET_FLAG 0x80
#define CAN_BUS_NUM_MASK 0x7F
#define CAN_BUS_RET_FLAG 0x80U
#define CAN_BUS_NUM_MASK 0x7FU
#define BUS_MAX 4
#define BUS_MAX 4U
uint32_t can_send_errs = 0;
uint32_t can_fwd_errs = 0;
uint32_t gmlan_send_errs = 0;
extern int can_live, pending_can_live;
// must reinit after changing these
@@ -63,8 +66,11 @@ bool can_pop(can_ring *q, CAN_FIFOMailBox_TypeDef *elem) {
enter_critical_section();
if (q->w_ptr != q->r_ptr) {
*elem = q->elems[q->r_ptr];
if ((q->r_ptr + 1) == q->fifo_size) q->r_ptr = 0;
else q->r_ptr += 1;
if ((q->r_ptr + 1U) == q->fifo_size) {
q->r_ptr = 0;
} else {
q->r_ptr += 1U;
}
ret = 1;
}
exit_critical_section();
@@ -72,20 +78,23 @@ bool can_pop(can_ring *q, CAN_FIFOMailBox_TypeDef *elem) {
return ret;
}
int can_push(can_ring *q, CAN_FIFOMailBox_TypeDef *elem) {
int ret = 0;
bool can_push(can_ring *q, CAN_FIFOMailBox_TypeDef *elem) {
bool ret = false;
uint32_t next_w_ptr;
enter_critical_section();
if ((q->w_ptr + 1) == q->fifo_size) next_w_ptr = 0;
else next_w_ptr = q->w_ptr + 1;
if ((q->w_ptr + 1U) == q->fifo_size) {
next_w_ptr = 0;
} else {
next_w_ptr = q->w_ptr + 1U;
}
if (next_w_ptr != q->r_ptr) {
q->elems[q->w_ptr] = *elem;
q->w_ptr = next_w_ptr;
ret = 1;
ret = true;
}
exit_critical_section();
if (ret == 0) {
if (!ret) {
can_overflow_cnt++;
#ifdef DEBUG
puts("can_push failed!\n");
@@ -130,7 +139,7 @@ void can_set_speed(uint8_t can_number) {
CAN_TypeDef *CAN = CANIF_FROM_CAN_NUM(can_number);
uint8_t bus_number = BUS_NUM_FROM_CAN_NUM(can_number);
if (!llcan_set_speed(CAN, can_speed[bus_number], can_loopback, can_silent & (1 << can_number))) {
if (!llcan_set_speed(CAN, can_speed[bus_number], can_loopback, (unsigned int)(can_silent) & (1U << can_number))) {
puts("CAN init FAILED!!!!!\n");
puth(can_number); puts(" ");
puth(BUS_NUM_FROM_CAN_NUM(can_number)); puts("\n");
@@ -138,7 +147,7 @@ void can_set_speed(uint8_t can_number) {
}
void can_init(uint8_t can_number) {
if (can_number != 0xff) {
if (can_number != 0xffU) {
CAN_TypeDef *CAN = CANIF_FROM_CAN_NUM(can_number);
set_can_enable(CAN, 1);
can_set_speed(can_number);
@@ -156,48 +165,45 @@ void can_init_all(void) {
}
}
void can_set_gmlan(int bus) {
if ((bus == -1) || (bus != can_num_lookup[3])) {
// GMLAN OFF
switch (can_num_lookup[3]) {
void can_set_gmlan(uint8_t bus) {
// first, disable GMLAN on prev bus
uint8_t prev_bus = can_num_lookup[3];
if (bus != prev_bus) {
switch (prev_bus) {
case 1:
puts("disable GMLAN on CAN2\n");
set_can_mode(1, 0);
bus_lookup[1] = 1;
can_num_lookup[1] = 1;
can_num_lookup[3] = -1;
can_init(1);
break;
case 2:
puts("disable GMLAN on CAN3\n");
set_can_mode(2, 0);
bus_lookup[2] = 2;
can_num_lookup[2] = 2;
puts("Disable GMLAN on CAN");
puth(prev_bus + 1U);
puts("\n");
set_can_mode(prev_bus, 0);
bus_lookup[prev_bus] = prev_bus;
can_num_lookup[prev_bus] = prev_bus;
can_num_lookup[3] = -1;
can_init(2);
can_init(prev_bus);
break;
default:
puts("GMLAN bus value invalid\n");
// GMLAN was not set on either BUS 1 or 2
break;
}
}
if (bus == 1) {
puts("GMLAN on CAN2\n");
// GMLAN on CAN2
set_can_mode(1, 1);
bus_lookup[1] = 3;
can_num_lookup[1] = -1;
can_num_lookup[3] = 1;
can_init(1);
} else if (bus == 2) {
puts("GMLAN on CAN3\n");
// GMLAN on CAN3
set_can_mode(2, 1);
bus_lookup[2] = 3;
can_num_lookup[2] = -1;
can_num_lookup[3] = 2;
can_init(2);
// now enable GMLAN on the new bus
switch (bus) {
case 1:
case 2:
puts("Enable GMLAN on CAN");
puth(bus + 1U);
puts("\n");
set_can_mode(bus, 1);
bus_lookup[bus] = 3;
can_num_lookup[bus] = -1;
can_num_lookup[3] = bus;
can_init(bus);
break;
default:
puts("GMLAN can only be set on CAN2 or CAN3");
break;
}
}
@@ -232,7 +238,7 @@ void can_sce(CAN_TypeDef *CAN) {
// ***************************** CAN *****************************
void process_can(uint8_t can_number) {
if (can_number != 0xff) {
if (can_number != 0xffU) {
enter_critical_section();
@@ -249,10 +255,10 @@ void process_can(uint8_t can_number) {
if ((CAN->TSR & CAN_TSR_TXOK0) == CAN_TSR_TXOK0) {
CAN_FIFOMailBox_TypeDef to_push;
to_push.RIR = CAN->sTxMailBox[0].TIR;
to_push.RDTR = (CAN->sTxMailBox[0].TDTR & 0xFFFF000F) | ((CAN_BUS_RET_FLAG | bus_number) << 4);
to_push.RDTR = (CAN->sTxMailBox[0].TDTR & 0xFFFF000FU) | ((CAN_BUS_RET_FLAG | bus_number) << 4);
to_push.RDLR = CAN->sTxMailBox[0].TDLR;
to_push.RDHR = CAN->sTxMailBox[0].TDHR;
can_push(&can_rx_q, &to_push);
can_send_errs += !can_push(&can_rx_q, &to_push);
}
if ((CAN->TSR & CAN_TSR_TERR0) == CAN_TSR_TERR0) {
@@ -321,7 +327,7 @@ void can_rx(uint8_t can_number) {
safety_rx_hook(&to_push);
set_led(LED_BLUE, 1);
can_push(&can_rx_q, &to_push);
can_send_errs += !can_push(&can_rx_q, &to_push);
// next
CAN->RF0R |= CAN_RF0R_RFOM0;
@@ -346,11 +352,11 @@ void can_send(CAN_FIFOMailBox_TypeDef *to_push, uint8_t bus_number) {
// add CAN packet to send queue
// bus number isn't passed through
to_push->RDTR &= 0xF;
if ((bus_number == 3) && (can_num_lookup[3] == 0xFF)) {
if ((bus_number == 3U) && (can_num_lookup[3] == 0xFFU)) {
// TODO: why uint8 bro? only int8?
bitbang_gmlan(to_push);
gmlan_send_errs += !bitbang_gmlan(to_push);
} else {
can_push(can_queues[bus_number], to_push);
can_fwd_errs += !can_push(can_queues[bus_number], to_push);
process_can(CAN_NUM_FROM_BUS_NUM(bus_number));
}
}
panda/board/drivers/clock.h
+1 -1
View File
@@ -3,7 +3,7 @@ void clock_init(void) {
RCC->CR |= RCC_CR_HSEON;
while ((RCC->CR & RCC_CR_HSERDY) == 0);
// divide shit
// divide things
RCC->CFGR = RCC_CFGR_HPRE_DIV1 | RCC_CFGR_PPRE2_DIV2 | RCC_CFGR_PPRE1_DIV4;
// 16mhz crystal
panda/board/drivers/dac.h
+8 -1
View File
@@ -1,4 +1,7 @@
void dac_init() {
void puth(unsigned int i);
void puts(const char *a);
void dac_init(void) {
// no buffers required since we have an opamp
//DAC->CR = DAC_CR_EN1 | DAC_CR_BOFF1 | DAC_CR_EN2 | DAC_CR_BOFF2;
DAC->DHR12R1 = 0;
@@ -11,6 +14,10 @@ void dac_set(int channel, uint32_t value) {
DAC->DHR12R1 = value;
} else if (channel == 1) {
DAC->DHR12R2 = value;
} else {
puts("Failed to set DAC: invalid channel value: ");
puth(value);
puts("\n");
}
}
panda/board/drivers/gmlan_alt.h
+33 -26
View File
@@ -41,35 +41,38 @@ int do_bitstuff(char *out, char *in, int in_len) {
}
int append_crc(char *in, int in_len) {
int crc = 0;
unsigned int crc = 0;
for (int i = 0; i < in_len; i++) {
crc <<= 1;
if ((in[i] ^ ((crc >> 15) & 1)) != 0) {
crc = crc ^ 0x4599;
if (((unsigned int)(in[i]) ^ ((crc >> 15) & 1U)) != 0U) {
crc = crc ^ 0x4599U;
}
crc &= 0x7fff;
crc &= 0x7fffU;
}
int in_len_copy = in_len;
for (int i = 14; i >= 0; i--) {
in[in_len] = (crc>>i)&1;
in_len++;
in[in_len_copy] = (crc >> (unsigned int)(i)) & 1U;
in_len_copy++;
}
return in_len;
return in_len_copy;
}
int append_bits(char *in, int in_len, char *app, int app_len) {
int in_len_copy = in_len;
for (int i = 0; i < app_len; i++) {
in[in_len] = app[i];
in_len++;
in[in_len_copy] = app[i];
in_len_copy++;
}
return in_len;
return in_len_copy;
}
int append_int(char *in, int in_len, int val, int val_len) {
for (int i = val_len-1; i >= 0; i--) {
in[in_len] = (val&(1<<i)) != 0;
in_len++;
int in_len_copy = in_len;
for (int i = val_len - 1; i >= 0; i--) {
in[in_len_copy] = ((unsigned int)(val) & (1U << (unsigned int)(i))) != 0U;
in_len_copy++;
}
return in_len;
return in_len_copy;
}
int get_bit_message(char *out, CAN_FIFOMailBox_TypeDef *to_bang) {
@@ -92,7 +95,7 @@ int get_bit_message(char *out, CAN_FIFOMailBox_TypeDef *to_bang) {
// extended identifier
len = append_int(pkt, len, to_bang->RIR >> 21, 11); // Identifier
len = append_int(pkt, len, 3, 2); // SRR+IDE
len = append_int(pkt, len, (to_bang->RIR >> 3) & ((1<<18)-1), 18); // Identifier
len = append_int(pkt, len, (to_bang->RIR >> 3) & ((1U << 18) - 1U), 18); // Identifier
len = append_int(pkt, len, 0, 3); // RTR+r1+r0
} else {
// standard identifier
@@ -168,15 +171,16 @@ void reset_gmlan_switch_timeout(void) {
void set_bitbanged_gmlan(int val) {
if (val != 0) {
GPIOB->ODR |= (1 << 13);
GPIOB->ODR |= (1U << 13);
} else {
GPIOB->ODR &= ~(1 << 13);
GPIOB->ODR &= ~(1U << 13);
}
}
char pkt_stuffed[MAX_BITS_CAN_PACKET];
int gmlan_sending = -1;
int gmlan_sendmax = -1;
bool gmlan_send_ok = true;
int gmlan_silent_count = 0;
int gmlan_fail_count = 0;
@@ -193,7 +197,7 @@ void TIM4_IRQHandler(void) {
} else {
gmlan_silent_count++;
}
} else if (gmlan_silent_count == REQUIRED_SILENT_TIME) {
} else {
bool retry = 0;
// in send loop
if ((gmlan_sending > 0) && // not first bit
@@ -206,6 +210,8 @@ void TIM4_IRQHandler(void) {
} else if ((read == 1) && (gmlan_sending == (gmlan_sendmax - 11))) { // recessive during ACK
puts("GMLAN ERR: didn't recv ACK\n");
retry = 1;
} else {
// do not retry
}
if (retry) {
// reset sender (retry after 7 silent)
@@ -215,6 +221,7 @@ void TIM4_IRQHandler(void) {
gmlan_fail_count++;
if (gmlan_fail_count == MAX_FAIL_COUNT) {
puts("GMLAN ERR: giving up send\n");
gmlan_send_ok = false;
}
} else {
set_bitbanged_gmlan(pkt_stuffed[gmlan_sending]);
@@ -230,9 +237,7 @@ void TIM4_IRQHandler(void) {
}
}
TIM4->SR = 0;
} //bit bang mode
else if (gmlan_alt_mode == GPIO_SWITCH) {
} else if (gmlan_alt_mode == GPIO_SWITCH) {
if ((TIM4->SR & TIM_SR_UIF) && (gmlan_switch_below_timeout != -1)) {
if ((can_timeout_counter == 0) && gmlan_switch_timeout_enable) {
//it has been more than 1 second since timeout was reset; disable timer and restore the GMLAN output
@@ -255,25 +260,27 @@ void TIM4_IRQHandler(void) {
}
}
TIM4->SR = 0;
} //gmlan switch mode
} else {
puts("invalid gmlan_alt_mode\n");
}
}
void bitbang_gmlan(CAN_FIFOMailBox_TypeDef *to_bang) {
bool bitbang_gmlan(CAN_FIFOMailBox_TypeDef *to_bang) {
gmlan_send_ok = true;
gmlan_alt_mode = BITBANG;
// TODO: make failure less silent
if (gmlan_sendmax == -1) {
if (gmlan_sendmax == -1) {
int len = get_bit_message(pkt_stuffed, to_bang);
gmlan_fail_count = 0;
gmlan_silent_count = 0;
gmlan_sending = 0;
gmlan_sendmax = len;
// setup for bitbang loop
set_bitbanged_gmlan(1); // recessive
set_gpio_mode(GPIOB, 13, MODE_OUTPUT);
setup_timer4();
}
return gmlan_send_ok;
}
panda/board/drivers/llcan.h
+41 -28
View File
@@ -1,38 +1,48 @@
// this is needed for 1 mbps support
#define CAN_QUANTA 8
#define CAN_QUANTA 8U
#define CAN_SEQ1 6 // roundf(quanta * 0.875f) - 1;
#define CAN_SEQ2 1 // roundf(quanta * 0.125f);
#define CAN_PCLK 24000
#define CAN_PCLK 24000U
// 333 = 33.3 kbps
// 5000 = 500 kbps
#define can_speed_to_prescaler(x) (CAN_PCLK / CAN_QUANTA * 10 / (x))
#define can_speed_to_prescaler(x) (CAN_PCLK / CAN_QUANTA * 10U / (x))
bool llcan_set_speed(CAN_TypeDef *CAN, uint32_t speed, bool loopback, bool silent) {
#define GET_BUS(msg) (((msg)->RDTR >> 4) & 0xFF)
#define GET_LEN(msg) ((msg)->RDTR & 0xF)
#define GET_ADDR(msg) ((((msg)->RIR & 4) != 0) ? ((msg)->RIR >> 3) : ((msg)->RIR >> 21))
#define GET_BYTE(msg, b) (((int)(b) > 3) ? (((msg)->RDHR >> (8U * ((unsigned int)(b) % 4U))) & 0XFFU) : (((msg)->RDLR >> (8U * (unsigned int)(b))) & 0xFFU))
#define GET_BYTES_04(msg) ((msg)->RDLR)
#define GET_BYTES_48(msg) ((msg)->RDHR)
void puts(const char *a);
bool llcan_set_speed(CAN_TypeDef *CAN_obj, uint32_t speed, bool loopback, bool silent) {
// initialization mode
CAN->MCR = CAN_MCR_TTCM | CAN_MCR_INRQ;
while((CAN->MSR & CAN_MSR_INAK) != CAN_MSR_INAK);
CAN_obj->MCR = CAN_MCR_TTCM | CAN_MCR_INRQ;
while((CAN_obj->MSR & CAN_MSR_INAK) != CAN_MSR_INAK);
// set time quanta from defines
CAN->BTR = (CAN_BTR_TS1_0 * (CAN_SEQ1-1)) |
CAN_obj->BTR = (CAN_BTR_TS1_0 * (CAN_SEQ1-1)) |
(CAN_BTR_TS2_0 * (CAN_SEQ2-1)) |
(can_speed_to_prescaler(speed) - 1);
(can_speed_to_prescaler(speed) - 1U);
// silent loopback mode for debugging
if (loopback) {
CAN->BTR |= CAN_BTR_SILM | CAN_BTR_LBKM;
CAN_obj->BTR |= CAN_BTR_SILM | CAN_BTR_LBKM;
}
if (silent) {
CAN->BTR |= CAN_BTR_SILM;
CAN_obj->BTR |= CAN_BTR_SILM;
}
// reset
CAN->MCR = CAN_MCR_TTCM | CAN_MCR_ABOM;
// cppcheck-suppress redundantAssignment ; it's a register
CAN_obj->MCR = CAN_MCR_TTCM | CAN_MCR_ABOM;
#define CAN_TIMEOUT 1000000
int tmp = 0;
bool ret = false;
while(((CAN->MSR & CAN_MSR_INAK) == CAN_MSR_INAK) && (tmp < CAN_TIMEOUT)) tmp++;
while(((CAN_obj->MSR & CAN_MSR_INAK) == CAN_MSR_INAK) && (tmp < CAN_TIMEOUT)) tmp++;
if (tmp < CAN_TIMEOUT) {
ret = true;
}
@@ -40,42 +50,45 @@ bool llcan_set_speed(CAN_TypeDef *CAN, uint32_t speed, bool loopback, bool silen
return ret;
}
void llcan_init(CAN_TypeDef *CAN) {
void llcan_init(CAN_TypeDef *CAN_obj) {
// accept all filter
CAN->FMR |= CAN_FMR_FINIT;
CAN_obj->FMR |= CAN_FMR_FINIT;
// no mask
CAN->sFilterRegister[0].FR1 = 0;
CAN->sFilterRegister[0].FR2 = 0;
CAN->sFilterRegister[14].FR1 = 0;
CAN->sFilterRegister[14].FR2 = 0;
CAN->FA1R |= 1 | (1U << 14);
CAN_obj->sFilterRegister[0].FR1 = 0;
CAN_obj->sFilterRegister[0].FR2 = 0;
CAN_obj->sFilterRegister[14].FR1 = 0;
CAN_obj->sFilterRegister[14].FR2 = 0;
CAN_obj->FA1R |= 1U | (1U << 14);
CAN->FMR &= ~(CAN_FMR_FINIT);
CAN_obj->FMR &= ~(CAN_FMR_FINIT);
// enable certain CAN interrupts
CAN->IER |= CAN_IER_TMEIE | CAN_IER_FMPIE0 | CAN_IER_WKUIE;
CAN_obj->IER |= CAN_IER_TMEIE | CAN_IER_FMPIE0 | CAN_IER_WKUIE;
if (CAN == CAN1) {
if (CAN_obj == CAN1) {
NVIC_EnableIRQ(CAN1_TX_IRQn);
NVIC_EnableIRQ(CAN1_RX0_IRQn);
NVIC_EnableIRQ(CAN1_SCE_IRQn);
} else if (CAN == CAN2) {
} else if (CAN_obj == CAN2) {
NVIC_EnableIRQ(CAN2_TX_IRQn);
NVIC_EnableIRQ(CAN2_RX0_IRQn);
NVIC_EnableIRQ(CAN2_SCE_IRQn);
#ifdef CAN3
} else if (CAN == CAN3) {
} else if (CAN_obj == CAN3) {
NVIC_EnableIRQ(CAN3_TX_IRQn);
NVIC_EnableIRQ(CAN3_RX0_IRQn);
NVIC_EnableIRQ(CAN3_SCE_IRQn);
#endif
} else {
puts("Invalid CAN: initialization failed\n");
}
}
void llcan_clear_send(CAN_TypeDef *CAN) {
CAN->TSR |= CAN_TSR_ABRQ0;
CAN->MSR &= ~(CAN_MSR_ERRI);
CAN->MSR = CAN->MSR;
void llcan_clear_send(CAN_TypeDef *CAN_obj) {
CAN_obj->TSR |= CAN_TSR_ABRQ0;
CAN_obj->MSR &= ~(CAN_MSR_ERRI);
// cppcheck-suppress selfAssignment ; needed to clear the register
CAN_obj->MSR = CAN_obj->MSR;
}
panda/board/drivers/llgpio.h
+15 -15
View File
@@ -7,38 +7,38 @@
#define PULL_UP 1
#define PULL_DOWN 2
void set_gpio_mode(GPIO_TypeDef *GPIO, int pin, int mode) {
void set_gpio_mode(GPIO_TypeDef *GPIO, unsigned int pin, unsigned int mode) {
uint32_t tmp = GPIO->MODER;
tmp &= ~(3 << (pin*2));
tmp |= (mode << (pin*2));
tmp &= ~(3U << (pin * 2U));
tmp |= (mode << (pin * 2U));
GPIO->MODER = tmp;
}
void set_gpio_output(GPIO_TypeDef *GPIO, int pin, bool enabled) {
void set_gpio_output(GPIO_TypeDef *GPIO, unsigned int pin, bool enabled) {
if (enabled) {
GPIO->ODR |= (1 << pin);
GPIO->ODR |= (1U << pin);
} else {
GPIO->ODR &= ~(1 << pin);
GPIO->ODR &= ~(1U << pin);
}
set_gpio_mode(GPIO, pin, MODE_OUTPUT);
}
void set_gpio_alternate(GPIO_TypeDef *GPIO, int pin, int mode) {
uint32_t tmp = GPIO->AFR[pin>>3];
tmp &= ~(0xF << ((pin&7)*4));
tmp |= mode << ((pin&7)*4);
GPIO->AFR[pin>>3] = tmp;
void set_gpio_alternate(GPIO_TypeDef *GPIO, unsigned int pin, unsigned int mode) {
uint32_t tmp = GPIO->AFR[pin >> 3U];
tmp &= ~(0xFU << ((pin & 7U) * 4U));
tmp |= mode << ((pin & 7U) * 4U);
GPIO->AFR[pin >> 3] = tmp;
set_gpio_mode(GPIO, pin, MODE_ALTERNATE);
}
void set_gpio_pullup(GPIO_TypeDef *GPIO, int pin, int mode) {
void set_gpio_pullup(GPIO_TypeDef *GPIO, unsigned int pin, unsigned int mode) {
uint32_t tmp = GPIO->PUPDR;
tmp &= ~(3 << (pin*2));
tmp |= (mode << (pin*2));
tmp &= ~(3U << (pin * 2U));
tmp |= (mode << (pin * 2U));
GPIO->PUPDR = tmp;
}
int get_gpio_input(GPIO_TypeDef *GPIO, int pin) {
int get_gpio_input(GPIO_TypeDef *GPIO, unsigned int pin) {
return (GPIO->IDR & (1U << pin)) == (1U << pin);
}
panda/board/drivers/spi.h
+5 -5
View File
@@ -28,8 +28,8 @@ void spi_init(void) {
// setup interrupt on falling edge of SPI enable (on PA4)
SYSCFG->EXTICR[2] = SYSCFG_EXTICR2_EXTI4_PA;
EXTI->IMR |= (1 << 4);
EXTI->FTSR |= (1 << 4);
EXTI->IMR |= (1U << 4);
EXTI->FTSR |= (1U << 4);
NVIC_EnableIRQ(EXTI4_IRQn);
}
@@ -85,7 +85,7 @@ uint8_t spi_tx_buf[0x44];
// SPI RX
void DMA2_Stream2_IRQHandler(void) {
int *resp_len = (int*)spi_tx_buf;
memset(spi_tx_buf, 0xaa, 0x44);
(void)memset(spi_tx_buf, 0xaa, 0x44);
*resp_len = spi_cb_rx(spi_buf, 0x14, spi_tx_buf+4);
#ifdef DEBUG_SPI
puts("SPI write: ");
@@ -113,12 +113,12 @@ void DMA2_Stream3_IRQHandler(void) {
}
void EXTI4_IRQHandler(void) {
volatile int pr = EXTI->PR & (1 << 4);
volatile unsigned int pr = EXTI->PR & (1U << 4);
#ifdef DEBUG_SPI
puts("exti4\n");
#endif
// SPI CS falling
if ((pr & (1 << 4)) != 0) {
if ((pr & (1U << 4)) != 0U) {
spi_total_count = 0;
spi_rx_dma(spi_buf, 0x14);
}
panda/board/drivers/uart.h
+31 -30
View File
@@ -1,6 +1,6 @@
// IRQs: USART1, USART2, USART3, UART5
#define FIFO_SIZE 0x400
#define FIFO_SIZE 0x400U
typedef struct uart_ring {
volatile uint16_t w_ptr_tx;
volatile uint16_t r_ptr_tx;
@@ -81,7 +81,7 @@ void uart_ring_process(uart_ring *q) {
if (q->w_ptr_tx != q->r_ptr_tx) {
if ((sr & USART_SR_TXE) != 0) {
q->uart->DR = q->elems_tx[q->r_ptr_tx];
q->r_ptr_tx = (q->r_ptr_tx + 1) % FIFO_SIZE;
q->r_ptr_tx = (q->r_ptr_tx + 1U) % FIFO_SIZE;
}
// there could be more to send
q->uart->CR1 |= USART_CR1_TXEIE;
@@ -93,7 +93,7 @@ void uart_ring_process(uart_ring *q) {
if ((sr & USART_SR_RXNE) || (sr & USART_SR_ORE)) {
uint8_t c = q->uart->DR; // TODO: can drop packets
if (q != &esp_ring) {
uint16_t next_w_ptr = (q->w_ptr_rx + 1) % FIFO_SIZE;
uint16_t next_w_ptr = (q->w_ptr_rx + 1U) % FIFO_SIZE;
if (next_w_ptr != q->r_ptr_rx) {
q->elems_rx[q->w_ptr_rx] = c;
q->w_ptr_rx = next_w_ptr;
@@ -124,7 +124,7 @@ bool getc(uart_ring *q, char *elem) {
enter_critical_section();
if (q->w_ptr_rx != q->r_ptr_rx) {
if (elem != NULL) *elem = q->elems_rx[q->r_ptr_rx];
q->r_ptr_rx = (q->r_ptr_rx + 1) % FIFO_SIZE;
q->r_ptr_rx = (q->r_ptr_rx + 1U) % FIFO_SIZE;
ret = true;
}
exit_critical_section();
@@ -137,7 +137,7 @@ bool injectc(uart_ring *q, char elem) {
uint16_t next_w_ptr;
enter_critical_section();
next_w_ptr = (q->w_ptr_rx + 1) % FIFO_SIZE;
next_w_ptr = (q->w_ptr_rx + 1U) % FIFO_SIZE;
if (next_w_ptr != q->r_ptr_rx) {
q->elems_rx[q->w_ptr_rx] = elem;
q->w_ptr_rx = next_w_ptr;
@@ -153,7 +153,7 @@ bool putc(uart_ring *q, char elem) {
uint16_t next_w_ptr;
enter_critical_section();
next_w_ptr = (q->w_ptr_tx + 1) % FIFO_SIZE;
next_w_ptr = (q->w_ptr_tx + 1U) % FIFO_SIZE;
if (next_w_ptr != q->r_ptr_tx) {
q->elems_tx[q->w_ptr_tx] = elem;
q->w_ptr_tx = next_w_ptr;
@@ -195,17 +195,17 @@ void clear_uart_buff(uart_ring *q) {
// ***************************** start UART code *****************************
#define __DIV(_PCLK_, _BAUD_) (((_PCLK_) * 25) / (4 * (_BAUD_)))
#define __DIVMANT(_PCLK_, _BAUD_) (__DIV((_PCLK_), (_BAUD_)) / 100)
#define __DIVFRAQ(_PCLK_, _BAUD_) ((((__DIV((_PCLK_), (_BAUD_)) - (__DIVMANT((_PCLK_), (_BAUD_)) * 100)) * 16) + 50) / 100)
#define __USART_BRR(_PCLK_, _BAUD_) ((__DIVMANT((_PCLK_), (_BAUD_)) << 4) | (__DIVFRAQ((_PCLK_), (_BAUD_)) & 0x0F))
#define __DIV(_PCLK_, _BAUD_) (((_PCLK_) * 25U) / (4U * (_BAUD_)))
#define __DIVMANT(_PCLK_, _BAUD_) (__DIV((_PCLK_), (_BAUD_)) / 100U)
#define __DIVFRAQ(_PCLK_, _BAUD_) ((((__DIV((_PCLK_), (_BAUD_)) - (__DIVMANT((_PCLK_), (_BAUD_)) * 100U)) * 16U) + 50U) / 100U)
#define __USART_BRR(_PCLK_, _BAUD_) ((__DIVMANT((_PCLK_), (_BAUD_)) << 4) | (__DIVFRAQ((_PCLK_), (_BAUD_)) & 0x0FU))
void uart_set_baud(USART_TypeDef *u, int baud) {
void uart_set_baud(USART_TypeDef *u, unsigned int baud) {
if (u == USART1) {
// USART1 is on APB2
u->BRR = __USART_BRR(48000000, baud);
u->BRR = __USART_BRR(48000000U, baud);
} else {
u->BRR = __USART_BRR(24000000, baud);
u->BRR = __USART_BRR(24000000U, baud);
}
}
@@ -226,7 +226,7 @@ void uart_dma_drain(void) {
unsigned int i;
for (i = 0; i < (USART1_DMA_LEN - DMA2_Stream5->NDTR); i++) {
char c = usart1_dma[i];
uint16_t next_w_ptr = (q->w_ptr_rx + 1) % FIFO_SIZE;
uint16_t next_w_ptr = (q->w_ptr_rx + 1U) % FIFO_SIZE;
if (next_w_ptr != q->r_ptr_rx) {
q->elems_rx[q->w_ptr_rx] = c;
q->w_ptr_rx = next_w_ptr;
@@ -289,6 +289,8 @@ void uart_init(USART_TypeDef *u, int baud) {
NVIC_EnableIRQ(USART3_IRQn);
} else if (u == UART5) {
NVIC_EnableIRQ(UART5_IRQn);
} else {
// USART type undefined, skip
}
}
@@ -302,49 +304,48 @@ void putch(const char a) {
//putc(&debug_ring, a);
} else {
injectc(&debug_ring, a);
// misra-c2012-17.7: serial debug function, ok to ignore output
(void)injectc(&debug_ring, a);
}
}
void puts(const char *a) {
for (;*a;a++) {
if (*a == '\n') putch('\r');
putch(*a);
for (const char *in = a; *in; in++) {
if (*in == '\n') putch('\r');
putch(*in);
}
}
void putui(uint32_t i) {
uint32_t i_copy = i;
char str[11];
uint8_t idx = 10;
str[idx] = '\0';
idx--;
do {
str[idx] = (i % 10) + 0x30;
str[idx] = (i_copy % 10U) + 0x30U;
idx--;
i /= 10;
} while (i != 0);
puts(str + idx + 1);
i_copy /= 10;
} while (i_copy != 0U);
puts(str + idx + 1U);
}
void puth(unsigned int i) {
int pos;
char c[] = "0123456789abcdef";
for (pos = 28; pos != -4; pos -= 4) {
putch(c[(i >> pos) & 0xF]);
for (int pos = 28; pos != -4; pos -= 4) {
putch(c[(i >> (unsigned int)(pos)) & 0xFU]);
}
}
void puth2(unsigned int i) {
int pos;
char c[] = "0123456789abcdef";
for (pos = 4; pos != -4; pos -= 4) {
putch(c[(i >> pos) & 0xF]);
for (int pos = 4; pos != -4; pos -= 4) {
putch(c[(i >> (unsigned int)(pos)) & 0xFU]);
}
}
void hexdump(const void *a, int l) {
int i;
for (i=0;i<l;i++) {
for (int i=0; i < l; i++) {
if ((i != 0) && ((i & 0xf) == 0)) puts("\n");
puth2(((const unsigned char*)a)[i]);
puts(" ");
panda/board/drivers/usb.h
+58 -54
View File
@@ -25,9 +25,9 @@ USB_Setup_TypeDef;
void usb_init(void);
int usb_cb_control_msg(USB_Setup_TypeDef *setup, uint8_t *resp, bool hardwired);
int usb_cb_ep1_in(uint8_t *usbdata, int len, bool hardwired);
void usb_cb_ep2_out(uint8_t *usbdata, int len, bool hardwired);
void usb_cb_ep3_out(uint8_t *usbdata, int len, bool hardwired);
int usb_cb_ep1_in(void *usbdata, int len, bool hardwired);
void usb_cb_ep2_out(void *usbdata, int len, bool hardwired);
void usb_cb_ep3_out(void *usbdata, int len, bool hardwired);
void usb_cb_enumeration_complete(void);
// **** supporting defines ****
@@ -96,7 +96,7 @@ USB_OTG_GlobalTypeDef *USBx = USB_OTG_FS;
#define STS_SETUP_COMP 4
#define STS_SETUP_UPDT 6
#define USBD_FS_TRDT_VALUE 5
#define USBD_FS_TRDT_VALUE 5U
#define USB_OTG_SPEED_FULL 3
@@ -125,7 +125,7 @@ uint8_t resp[MAX_RESP_LEN];
// Convert machine byte order to USB byte order
#define TOUSBORDER(num)\
((num) & 0xFF), (((num) >> 8) & 0xFF)
((num) & 0xFFU), (((num) >> 8) & 0xFFU)
// take in string length and return the first 2 bytes of a string descriptor
#define STRING_DESCRIPTOR_HEADER(size)\
@@ -158,7 +158,7 @@ uint8_t device_qualifier[] = {
uint8_t configuration_desc[] = {
DSCR_CONFIG_LEN, USB_DESC_TYPE_CONFIGURATION, // Length, Type,
TOUSBORDER(0x0045), // Total Len (uint16)
TOUSBORDER(0x0045U), // Total Len (uint16)
0x01, 0x01, STRING_OFFSET_ICONFIGURATION, // Num Interface, Config Value, Configuration
0xc0, 0x32, // Attributes, Max Power
// interface 0 ALT 0
@@ -169,17 +169,17 @@ uint8_t configuration_desc[] = {
// endpoint 1, read CAN
DSCR_ENDPOINT_LEN, USB_DESC_TYPE_ENDPOINT, // Length, Type
ENDPOINT_RCV | 1, ENDPOINT_TYPE_BULK, // Endpoint Num/Direction, Type
TOUSBORDER(0x0040), // Max Packet (0x0040)
TOUSBORDER(0x0040U), // Max Packet (0x0040)
0x00, // Polling Interval (NA)
// endpoint 2, send serial
DSCR_ENDPOINT_LEN, USB_DESC_TYPE_ENDPOINT, // Length, Type
ENDPOINT_SND | 2, ENDPOINT_TYPE_BULK, // Endpoint Num/Direction, Type
TOUSBORDER(0x0040), // Max Packet (0x0040)
TOUSBORDER(0x0040U), // Max Packet (0x0040)
0x00, // Polling Interval
// endpoint 3, send CAN
DSCR_ENDPOINT_LEN, USB_DESC_TYPE_ENDPOINT, // Length, Type
ENDPOINT_SND | 3, ENDPOINT_TYPE_BULK, // Endpoint Num/Direction, Type
TOUSBORDER(0x0040), // Max Packet (0x0040)
TOUSBORDER(0x0040U), // Max Packet (0x0040)
0x00, // Polling Interval
// interface 0 ALT 1
DSCR_INTERFACE_LEN, USB_DESC_TYPE_INTERFACE, // Length, Type
@@ -189,17 +189,17 @@ uint8_t configuration_desc[] = {
// endpoint 1, read CAN
DSCR_ENDPOINT_LEN, USB_DESC_TYPE_ENDPOINT, // Length, Type
ENDPOINT_RCV | 1, ENDPOINT_TYPE_INT, // Endpoint Num/Direction, Type
TOUSBORDER(0x0040), // Max Packet (0x0040)
TOUSBORDER(0x0040U), // Max Packet (0x0040)
0x05, // Polling Interval (5 frames)
// endpoint 2, send serial
DSCR_ENDPOINT_LEN, USB_DESC_TYPE_ENDPOINT, // Length, Type
ENDPOINT_SND | 2, ENDPOINT_TYPE_BULK, // Endpoint Num/Direction, Type
TOUSBORDER(0x0040), // Max Packet (0x0040)
TOUSBORDER(0x0040U), // Max Packet (0x0040)
0x00, // Polling Interval
// endpoint 3, send CAN
DSCR_ENDPOINT_LEN, USB_DESC_TYPE_ENDPOINT, // Length, Type
ENDPOINT_SND | 3, ENDPOINT_TYPE_BULK, // Endpoint Num/Direction, Type
TOUSBORDER(0x0040), // Max Packet (0x0040)
TOUSBORDER(0x0040U), // Max Packet (0x0040)
0x00, // Polling Interval
};
@@ -394,36 +394,36 @@ int current_int0_alt_setting = 0;
// packet read and write
void *USB_ReadPacket(void *dest, uint16_t len) {
uint32_t i=0;
uint32_t count32b = (len + 3) / 4;
uint32_t *dest_copy = (uint32_t *)dest;
uint32_t count32b = (len + 3U) / 4U;
for ( i = 0; i < count32b; i++) {
// packed?
*(__attribute__((__packed__)) uint32_t *)dest = USBx_DFIFO(0);
dest += 4;
for (uint32_t i = 0; i < count32b; i++) {
*dest_copy = USBx_DFIFO(0);
dest_copy++;
}
return ((void *)dest);
return ((void *)dest_copy);
}
void USB_WritePacket(const uint8_t *src, uint16_t len, uint32_t ep) {
void USB_WritePacket(const void *src, uint16_t len, uint32_t ep) {
#ifdef DEBUG_USB
puts("writing ");
hexdump(src, len);
#endif
uint8_t numpacket = (len+(MAX_RESP_LEN-1))/MAX_RESP_LEN;
uint32_t count32b = 0, i = 0;
count32b = (len + 3) / 4;
uint8_t numpacket = (len + (MAX_RESP_LEN - 1U)) / MAX_RESP_LEN;
uint32_t count32b = 0;
count32b = (len + 3U) / 4U;
// bullshit
// TODO: revisit this
USBx_INEP(ep)->DIEPTSIZ = ((numpacket << 19) & USB_OTG_DIEPTSIZ_PKTCNT) |
(len & USB_OTG_DIEPTSIZ_XFRSIZ);
USBx_INEP(ep)->DIEPCTL |= (USB_OTG_DIEPCTL_CNAK | USB_OTG_DIEPCTL_EPENA);
// load the FIFO
for (i = 0; i < count32b; i++) {
USBx_DFIFO(ep) = *((__attribute__((__packed__)) uint32_t *)src);
src += 4;
const uint32_t *src_copy = (const uint32_t *)src;
for (uint32_t i = 0; i < count32b; i++) {
USBx_DFIFO(ep) = *src_copy;
src_copy++;
}
}
@@ -471,10 +471,10 @@ void usb_reset(void) {
USBx->GRXFSIZ = 0x40;
// 0x100 to offset past GRXFSIZ
USBx->DIEPTXF0_HNPTXFSIZ = (0x40 << 16) | 0x40;
USBx->DIEPTXF0_HNPTXFSIZ = (0x40U << 16) | 0x40U;
// EP1, massive
USBx->DIEPTXF[0] = (0x40 << 16) | 0x80;
USBx->DIEPTXF[0] = (0x40U << 16) | 0x80U;
// flush TX fifo
USBx->GRSTCTL = USB_OTG_GRSTCTL_TXFFLSH | USB_OTG_GRSTCTL_TXFNUM_4;
@@ -487,7 +487,7 @@ void usb_reset(void) {
USBx_DEVICE->DCTL |= USB_OTG_DCTL_CGINAK;
// ready to receive setup packets
USBx_OUTEP(0)->DOEPTSIZ = USB_OTG_DOEPTSIZ_STUPCNT | (USB_OTG_DOEPTSIZ_PKTCNT & (1 << 19)) | (3 * 8);
USBx_OUTEP(0)->DOEPTSIZ = USB_OTG_DOEPTSIZ_STUPCNT | (USB_OTG_DOEPTSIZ_PKTCNT & (1U << 19)) | (3U << 3);
}
char to_hex_char(int a) {
@@ -506,17 +506,17 @@ void usb_setup(void) {
switch (setup.b.bRequest) {
case USB_REQ_SET_CONFIGURATION:
// enable other endpoints, has to be here?
USBx_INEP(1)->DIEPCTL = (0x40 & USB_OTG_DIEPCTL_MPSIZ) | (2 << 18) | (1 << 22) |
USBx_INEP(1)->DIEPCTL = (0x40U & USB_OTG_DIEPCTL_MPSIZ) | (2U << 18) | (1U << 22) |
USB_OTG_DIEPCTL_SD0PID_SEVNFRM | USB_OTG_DIEPCTL_USBAEP;
USBx_INEP(1)->DIEPINT = 0xFF;
USBx_OUTEP(2)->DOEPTSIZ = (1 << 19) | 0x40;
USBx_OUTEP(2)->DOEPCTL = (0x40 & USB_OTG_DOEPCTL_MPSIZ) | (2 << 18) |
USBx_OUTEP(2)->DOEPTSIZ = (1U << 19) | 0x40U;
USBx_OUTEP(2)->DOEPCTL = (0x40U & USB_OTG_DOEPCTL_MPSIZ) | (2U << 18) |
USB_OTG_DOEPCTL_SD0PID_SEVNFRM | USB_OTG_DOEPCTL_USBAEP;
USBx_OUTEP(2)->DOEPINT = 0xFF;
USBx_OUTEP(3)->DOEPTSIZ = (1 << 19) | 0x40;
USBx_OUTEP(3)->DOEPCTL = (0x40 & USB_OTG_DOEPCTL_MPSIZ) | (2 << 18) |
USBx_OUTEP(3)->DOEPTSIZ = (1U << 19) | 0x40U;
USBx_OUTEP(3)->DOEPCTL = (0x40U & USB_OTG_DOEPCTL_MPSIZ) | (2U << 18) |
USB_OTG_DOEPCTL_SD0PID_SEVNFRM | USB_OTG_DOEPCTL_USBAEP;
USBx_OUTEP(3)->DOEPINT = 0xFF;
@@ -529,7 +529,7 @@ void usb_setup(void) {
break;
case USB_REQ_SET_ADDRESS:
// set now?
USBx_DEVICE->DCFG |= ((setup.b.wValue.w & 0x7f) << 4);
USBx_DEVICE->DCFG |= ((setup.b.wValue.w & 0x7fU) << 4);
#ifdef DEBUG_USB
puts(" set address\n");
@@ -575,16 +575,16 @@ void usb_setup(void) {
break;
case STRING_OFFSET_ISERIAL:
#ifdef UID_BASE
resp[0] = 0x02 + 12*4;
resp[0] = 0x02 + (12 * 4);
resp[1] = 0x03;
// 96 bits = 12 bytes
for (int i = 0; i < 12; i++){
uint8_t cc = ((uint8_t *)UID_BASE)[i];
resp[2 + i*4 + 0] = to_hex_char((cc>>4)&0xF);
resp[2 + i*4 + 1] = '\0';
resp[2 + i*4 + 2] = to_hex_char((cc>>0)&0xF);
resp[2 + i*4 + 3] = '\0';
resp[2 + (i * 4) + 0] = to_hex_char((cc >> 4) & 0xFU);
resp[2 + (i * 4) + 1] = '\0';
resp[2 + (i * 4) + 2] = to_hex_char((cc >> 0) & 0xFU);
resp[2 + (i * 4) + 3] = '\0';
}
USB_WritePacket(resp, MIN(resp[0], setup.b.wLength.w), 0);
@@ -683,7 +683,7 @@ void usb_init(void) {
USBx->GUSBCFG = USB_OTG_GUSBCFG_PHYSEL | USB_OTG_GUSBCFG_FDMOD;
// slowest timings
USBx->GUSBCFG |= (uint32_t)((USBD_FS_TRDT_VALUE << 10) & USB_OTG_GUSBCFG_TRDT);
USBx->GUSBCFG |= ((USBD_FS_TRDT_VALUE << 10) & USB_OTG_GUSBCFG_TRDT);
// power up the PHY
#ifdef STM32F4
@@ -732,7 +732,6 @@ void usb_init(void) {
USBx->GAHBCFG = USB_OTG_GAHBCFG_GINT;
// DCTL startup value is 2 on new chip, 0 on old chip
// THIS IS FUCKING BULLSHIT
USBx_DEVICE->DCTL = 0;
// enable the IRQ
@@ -793,21 +792,22 @@ void usb_irqhandler(void) {
if ((gintsts & USB_OTG_GINTSTS_RXFLVL) != 0) {
// 1. Read the Receive status pop register
volatile unsigned int rxst = USBx->GRXSTSP;
int status = (rxst & USB_OTG_GRXSTSP_PKTSTS) >> 17;
#ifdef DEBUG_USB
puts(" RX FIFO:");
puth(rxst);
puts(" status: ");
puth((rxst & USB_OTG_GRXSTSP_PKTSTS) >> 17);
puth(status);
puts(" len: ");
puth((rxst & USB_OTG_GRXSTSP_BCNT) >> 4);
puts("\n");
#endif
if (((rxst & USB_OTG_GRXSTSP_PKTSTS) >> 17) == STS_DATA_UPDT) {
if (status == STS_DATA_UPDT) {
int endpoint = (rxst & USB_OTG_GRXSTSP_EPNUM);
int len = (rxst & USB_OTG_GRXSTSP_BCNT) >> 4;
USB_ReadPacket(&usbdata, len);
(void)USB_ReadPacket(&usbdata, len);
#ifdef DEBUG_USB
puts(" data ");
puth(len);
@@ -822,13 +822,15 @@ void usb_irqhandler(void) {
if (endpoint == 3) {
usb_cb_ep3_out(usbdata, len, 1);
}
} else if (((rxst & USB_OTG_GRXSTSP_PKTSTS) >> 17) == STS_SETUP_UPDT) {
USB_ReadPacket(&setup, 8);
} else if (status == STS_SETUP_UPDT) {
(void)USB_ReadPacket(&setup, 8);
#ifdef DEBUG_USB
puts(" setup ");
hexdump(&setup, 8);
puts("\n");
#endif
} else {
// status is neither STS_DATA_UPDT or STS_SETUP_UPDT, skip
}
}
@@ -882,7 +884,7 @@ void usb_irqhandler(void) {
#ifdef DEBUG_USB
puts(" OUT2 PACKET XFRC\n");
#endif
USBx_OUTEP(2)->DOEPTSIZ = (1 << 19) | 0x40;
USBx_OUTEP(2)->DOEPTSIZ = (1U << 19) | 0x40U;
USBx_OUTEP(2)->DOEPCTL |= USB_OTG_DOEPCTL_EPENA | USB_OTG_DOEPCTL_CNAK;
}
@@ -890,24 +892,26 @@ void usb_irqhandler(void) {
#ifdef DEBUG_USB
puts(" OUT3 PACKET XFRC\n");
#endif
USBx_OUTEP(3)->DOEPTSIZ = (1 << 19) | 0x40;
USBx_OUTEP(3)->DOEPTSIZ = (1U << 19) | 0x40U;
USBx_OUTEP(3)->DOEPCTL |= USB_OTG_DOEPCTL_EPENA | USB_OTG_DOEPCTL_CNAK;
} else if ((USBx_OUTEP(3)->DOEPINT & 0x2000) != 0) {
#ifdef DEBUG_USB
puts(" OUT3 PACKET WTF\n");
#endif
// if NAK was set trigger this, unknown interrupt
USBx_OUTEP(3)->DOEPTSIZ = (1 << 19) | 0x40;
USBx_OUTEP(3)->DOEPTSIZ = (1U << 19) | 0x40U;
USBx_OUTEP(3)->DOEPCTL |= USB_OTG_DOEPCTL_CNAK;
} else if ((USBx_OUTEP(3)->DOEPINT) != 0) {
puts("OUTEP3 error ");
puth(USBx_OUTEP(3)->DOEPINT);
puts("\n");
} else {
// USBx_OUTEP(3)->DOEPINT is 0, ok to skip
}
if ((USBx_OUTEP(0)->DOEPINT & USB_OTG_DIEPINT_XFRC) != 0) {
// ready for next packet
USBx_OUTEP(0)->DOEPTSIZ = USB_OTG_DOEPTSIZ_STUPCNT | (USB_OTG_DOEPTSIZ_PKTCNT & (1 << 19)) | (1 * 8);
USBx_OUTEP(0)->DOEPTSIZ = USB_OTG_DOEPTSIZ_STUPCNT | (USB_OTG_DOEPTSIZ_PKTCNT & (1U << 19)) | (1U << 3);
}
// respond to setup packets
@@ -978,12 +982,12 @@ void usb_irqhandler(void) {
puts(" IN PACKET QUEUE\n");
#endif
if ((ep0_txlen != 0) && ((USBx_INEP(0)->DTXFSTS & USB_OTG_DTXFSTS_INEPTFSAV) >= 0x40)) {
if ((ep0_txlen != 0U) && ((USBx_INEP(0)->DTXFSTS & USB_OTG_DTXFSTS_INEPTFSAV) >= 0x40U)) {
uint16_t len = MIN(ep0_txlen, 0x40);
USB_WritePacket(ep0_txdata, len, 0);
ep0_txdata += len;
ep0_txlen -= len;
if (ep0_txlen == 0) {
if (ep0_txlen == 0U) {
ep0_txdata = NULL;
USBx_DEVICE->DIEPEMPMSK &= ~1;
USBx_OUTEP(0)->DOEPCTL |= USB_OTG_DOEPCTL_CNAK;
panda/board/gpio.h
+16 -6
View File
@@ -99,9 +99,9 @@ void periph_init(void) {
// ********************* setters *********************
void set_can_enable(CAN_TypeDef *CAN, bool enabled) {
void set_can_enable(CAN_TypeDef *CAN_obj, bool enabled) {
// enable CAN busses
if (CAN == CAN1) {
if (CAN_obj == CAN1) {
#ifdef PANDA
// CAN1_EN
set_gpio_output(GPIOC, 1, !enabled);
@@ -114,7 +114,7 @@ void set_can_enable(CAN_TypeDef *CAN, bool enabled) {
set_gpio_output(GPIOB, 3, enabled);
#endif
#endif
} else if (CAN == CAN2) {
} else if (CAN_obj == CAN2) {
#ifdef PANDA
// CAN2_EN
set_gpio_output(GPIOC, 13, !enabled);
@@ -123,10 +123,12 @@ void set_can_enable(CAN_TypeDef *CAN, bool enabled) {
set_gpio_output(GPIOB, 4, enabled);
#endif
#ifdef CAN3
} else if (CAN == CAN3) {
} else if (CAN_obj == CAN3) {
// CAN3_EN
set_gpio_output(GPIOA, 0, !enabled);
#endif
} else {
puts("Invalid CAN: enabling failed\n");
}
}
@@ -171,6 +173,8 @@ void set_can_mode(int can, bool use_gmlan) {
set_gpio_alternate(GPIOB, 3, GPIO_AF11_CAN3);
set_gpio_alternate(GPIOB, 4, GPIO_AF11_CAN3);
#endif
} else {
puts("Invalid CAN: mode setting failed\n");
}
} else {
if (can == 1) {
@@ -190,6 +194,8 @@ void set_can_mode(int can, bool use_gmlan) {
set_gpio_alternate(GPIOA, 8, GPIO_AF11_CAN3);
set_gpio_alternate(GPIOA, 15, GPIO_AF11_CAN3);
#endif
} else {
puts("Invalid CAN: mode setting failed\n");
}
}
}
@@ -404,9 +410,13 @@ void early(void) {
// if wrong chip, reboot
volatile unsigned int id = DBGMCU->IDCODE;
#ifdef STM32F4
if ((id&0xFFF) != 0x463) enter_bootloader_mode = ENTER_BOOTLOADER_MAGIC;
if ((id & 0xFFFU) != 0x463U) {
enter_bootloader_mode = ENTER_BOOTLOADER_MAGIC;
}
#else
if ((id&0xFFF) != 0x411) enter_bootloader_mode = ENTER_BOOTLOADER_MAGIC;
if ((id & 0xFFFU) != 0x411U) {
enter_bootloader_mode = ENTER_BOOTLOADER_MAGIC;
}
#endif
// setup interrupt table
panda/board/inc/stm32f205xx.h
+2 -2
View File
@@ -1,3 +1,3 @@
version https://git-lfs.github.com/spec/v1
oid sha256:65ac7a82a58b702c8c8b99cf7ee965c71cd59d5dfa663d3729a602bdea8ec4cd
size 601889
oid sha256:ff380e37bf47cf52d57bc128bdde48845ad4649fb2d521cafd3fc21b3e4cc61d
size 537193
panda/board/inc/stm32f2xx.h
+2 -2
View File
@@ -1,3 +1,3 @@
version https://git-lfs.github.com/spec/v1
oid sha256:9591dc7b364d8e963152a4a15f0435e8631a9d4eacc95fca022574269047dada
size 6738
oid sha256:a8110042b1ae172881d3b7a85d7b06a2cdc8cfed7da06c35bca6668c223b57c5
size 6700
panda/board/inc/stm32f2xx_hal_def.h
+2 -2
View File
@@ -1,3 +1,3 @@
version https://git-lfs.github.com/spec/v1
oid sha256:a312bdc79b5ac3c780f700869f73237256047e1f134310087cd1c4d3ef8255fd
size 7352
oid sha256:ab72c6b3f84092a1df088ec983392d9501c067f5d2df219e483423cdde8cad70
size 7309
panda/board/inc/stm32f2xx_hal_gpio_ex.h
+2 -2
View File
@@ -1,3 +1,3 @@
version https://git-lfs.github.com/spec/v1
oid sha256:e320fb1b6f44dadb3b819146ffce5cf4d1d5b0482d2ba7cddc4845899e47290c
size 12933
oid sha256:27c9d38068c9260165acdc47204b67f418f5c05898ff50f30fb72a3353e55589
size 12832
panda/board/inc/stm32f413xx.h
+2 -2
View File
@@ -1,3 +1,3 @@
version https://git-lfs.github.com/spec/v1
oid sha256:21e5ea5bc19e8d45cf4f32d451ea7f79a62c50e5a6c0e07cc7752ed0c9d295c3
size 1288438
oid sha256:d0d192a64b7d859a76a631cf9bfdb865825ca83172a455eff661217c56392638
size 1145211
panda/board/inc/stm32f4xx.h
+2 -2
View File
@@ -1,3 +1,3 @@
version https://git-lfs.github.com/spec/v1
oid sha256:7ccd163515bc57fa7a1ce31361ec1bc70a1b3e2c82873e940dfaaaf1072b4d3d
size 10525
oid sha256:6bacf7eb5c98b53a3d6d7a1939510105114cf5c8a0c340dac1fb1df9acea3268
size 10478
panda/board/inc/stm32f4xx_hal_def.h
+2 -2
View File
@@ -1,3 +1,3 @@
version https://git-lfs.github.com/spec/v1
oid sha256:8f2c6a79cf25619734b65bd7e1babaeb9702fa86c89a221c3f7ea2c7ab8c2146
size 8325
oid sha256:5df62b93da61e8534a5ac79582cc34c1bf629ebaaf5bd17454d50e6cb86114b0
size 8285
panda/board/inc/stm32f4xx_hal_gpio_ex.h
+2 -2
View File
@@ -1,3 +1,3 @@
version https://git-lfs.github.com/spec/v1
oid sha256:2600c6ad35c8accf5aa0878a151aa69a3e21859fb7675b3ce71c0fb44ef7f521
size 81942
oid sha256:64af095fe7662e0e2f5e30dee7cb931639d571a3874ecaec1dcf484ea1434c3c
size 81285
panda/board/inc/system_stm32f2xx.h
+2 -2
View File
@@ -1,3 +1,3 @@
version https://git-lfs.github.com/spec/v1
oid sha256:75bc5bac6341c0e088408c2b1548eafa24b80287bd37f6807cf52cf652984fa3
size 3556
oid sha256:d7789e6673b2cbc68f77ddd526f7d613c01073307c7e1fe583900337b6767daf
size 3534
panda/board/inc/system_stm32f4xx.h
+2 -2
View File
@@ -1,3 +1,3 @@
version https://git-lfs.github.com/spec/v1
oid sha256:a631a141f5e85b8fcef77b5f756392d1b9546c336fae6a565f037d84dcbe3df7
size 3724
oid sha256:0b1639a4684b0ffefee8671550dea9f2cc0080e88be98a9388e3c27c55cc8de6
size 3700
panda/board/libc.h
+16 -12
View File
@@ -6,32 +6,36 @@ void delay(int a) {
}
void *memset(void *str, int c, unsigned int n) {
unsigned int i;
for (i = 0; i < n; i++) {
*((uint8_t*)str) = c;
++str;
uint8_t *s = str;
for (unsigned int i = 0; i < n; i++) {
*s = c;
s++;
}
return str;
}
void *memcpy(void *dest, const void *src, unsigned int n) {
unsigned int i;
// TODO: make not slow
for (i = 0; i < n; i++) {
((uint8_t*)dest)[i] = *(uint8_t*)src;
++src;
uint8_t *d = dest;
const uint8_t *s = src;
for (unsigned int i = 0; i < n; i++) {
*d = *s;
d++;
s++;
}
return dest;
}
int memcmp(const void * ptr1, const void * ptr2, unsigned int num) {
unsigned int i;
int ret = 0;
for (i = 0; i < num; i++) {
if ( ((uint8_t*)ptr1)[i] != ((uint8_t*)ptr2)[i] ) {
const uint8_t *p1 = ptr1;
const uint8_t *p2 = ptr2;
for (unsigned int i = 0; i < num; i++) {
if (*p1 != *p2) {
ret = -1;
break;
}
p1++;
p2++;
}
return ret;
}
panda/board/main.c
+104 -83
View File
@@ -33,7 +33,7 @@
void debug_ring_callback(uart_ring *ring) {
char rcv;
while (getc(ring, &rcv)) {
putc(ring, rcv);
(void)putc(ring, rcv); // misra-c2012-17.7: cast to void is ok: debug function
// jump to DFU flash
if (rcv == 'z') {
@@ -69,9 +69,10 @@ bool is_gpio_started(void) {
return (GPIOA->IDR & (1U << 1)) == 0;
}
// cppcheck-suppress unusedFunction ; used in headers not included in cppcheck
void EXTI1_IRQHandler(void) {
volatile int pr = EXTI->PR & (1U << 1);
if ((pr & (1U << 1)) != 0) {
volatile unsigned int pr = EXTI->PR & (1U << 1);
if ((pr & (1U << 1)) != 0U) {
#ifdef DEBUG
puts("got started interrupt\n");
#endif
@@ -98,13 +99,14 @@ void started_interrupt_init(void) {
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;
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
@@ -117,29 +119,28 @@ int get_health_pkt(void *dat) {
// s = 1000/((4095/3.3)*(1/11)) = 8.8623046875
// Avoid needing floating point math
health->voltage = (voltage * 8862) / 1000;
health->voltage_pkt = (voltage * 8862U) / 1000U;
health->current = adc_get(ADCCHAN_CURRENT);
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 = is_gpio_started();
health->started_pkt = is_gpio_started();
} else {
//Current safety hooks want to determine ignition (ex: GM)
health->started = safety_ignition;
health->started_pkt = safety_ignition;
}
health->controls_allowed = controls_allowed;
health->gas_interceptor_detected = gas_interceptor_detected;
// DEPRECATED
health->started_alt = 0;
health->started_signal_detected = 0;
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(uint8_t *usbdata, int len, bool hardwired) {
int usb_cb_ep1_in(void *usbdata, int len, bool hardwired) {
UNUSED(hardwired);
CAN_FIFOMailBox_TypeDef *reply = (CAN_FIFOMailBox_TypeDef *)usbdata;
int ilen = 0;
@@ -150,13 +151,14 @@ int usb_cb_ep1_in(uint8_t *usbdata, int len, bool hardwired) {
}
// send on serial, first byte to select the ring
void usb_cb_ep2_out(uint8_t *usbdata, int len, bool hardwired) {
void usb_cb_ep2_out(void *usbdata, int len, bool hardwired) {
UNUSED(hardwired);
uart_ring *ur = get_ring_by_number(usbdata[0]);
uint8_t *usbdata8 = (uint8_t *)usbdata;
uart_ring *ur = get_ring_by_number(usbdata8[0]);
if ((len != 0) && (ur != NULL)) {
if ((usbdata[0] < 2) || safety_tx_lin_hook(usbdata[0]-2, usbdata+1, len-1)) {
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, usbdata[i])) {
while (!putc(ur, usbdata8[i])) {
// wait
}
}
@@ -165,18 +167,16 @@ void usb_cb_ep2_out(uint8_t *usbdata, int len, bool hardwired) {
}
// send on CAN
void usb_cb_ep3_out(uint8_t *usbdata, int len, bool hardwired) {
void usb_cb_ep3_out(void *usbdata, int len, bool hardwired) {
UNUSED(hardwired);
int dpkt = 0;
for (dpkt = 0; dpkt < len; dpkt += 0x10) {
uint32_t *tf = (uint32_t*)(&usbdata[dpkt]);
// make a copy
uint32_t *d32 = (uint32_t *)usbdata;
for (dpkt = 0; dpkt < (len / 4); dpkt += 4) {
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];
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);
@@ -191,7 +191,7 @@ void usb_cb_enumeration_complete() {
}
int usb_cb_control_msg(USB_Setup_TypeDef *setup, uint8_t *resp, bool hardwired) {
int resp_len = 0;
unsigned int resp_len = 0;
uart_ring *ur = NULL;
int i;
switch (setup->b.bRequest) {
@@ -211,8 +211,8 @@ int usb_cb_control_msg(USB_Setup_TypeDef *setup, uint8_t *resp, bool hardwired)
// **** 0xd0: fetch serial number
case 0xd0:
// addresses are OTP
if (setup->b.wValue.w == 1) {
memcpy(resp, (void *)0x1fff79c0, 0x10);
if (setup->b.wValue.w == 1U) {
(void)memcpy(resp, (uint8_t *)0x1fff79c0, 0x10);
resp_len = 0x10;
} else {
get_provision_chunk(resp);
@@ -248,8 +248,8 @@ int usb_cb_control_msg(USB_Setup_TypeDef *setup, uint8_t *resp, bool hardwired)
// **** 0xd6: get version
case 0xd6:
COMPILE_TIME_ASSERT(sizeof(gitversion) <= MAX_RESP_LEN);
memcpy(resp, gitversion, sizeof(gitversion));
resp_len = sizeof(gitversion)-1;
(void)memcpy(resp, gitversion, sizeof(gitversion));
resp_len = sizeof(gitversion) - 1U;
break;
// **** 0xd8: reset ST
case 0xd8:
@@ -257,9 +257,9 @@ int usb_cb_control_msg(USB_Setup_TypeDef *setup, uint8_t *resp, bool hardwired)
break;
// **** 0xd9: set ESP power
case 0xd9:
if (setup->b.wValue.w == 1) {
if (setup->b.wValue.w == 1U) {
set_esp_mode(ESP_ENABLED);
} else if (setup->b.wValue.w == 2) {
} else if (setup->b.wValue.w == 2U) {
set_esp_mode(ESP_BOOTMODE);
} else {
set_esp_mode(ESP_DISABLED);
@@ -269,7 +269,7 @@ int usb_cb_control_msg(USB_Setup_TypeDef *setup, uint8_t *resp, bool hardwired)
case 0xda:
set_esp_mode(ESP_DISABLED);
delay(1000000);
if (setup->b.wValue.w == 1) {
if (setup->b.wValue.w == 1U) {
set_esp_mode(ESP_BOOTMODE);
} else {
set_esp_mode(ESP_ENABLED);
@@ -279,12 +279,14 @@ int usb_cb_control_msg(USB_Setup_TypeDef *setup, uint8_t *resp, bool hardwired)
break;
// **** 0xdb: set GMLAN multiplexing mode
case 0xdb:
if (setup->b.wValue.w == 1) {
if (setup->b.wValue.w == 1U) {
// GMLAN ON
if (setup->b.wIndex.w == 1) {
if (setup->b.wIndex.w == 1U) {
can_set_gmlan(1);
} else if (setup->b.wIndex.w == 2) {
} 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);
@@ -296,27 +298,33 @@ int usb_cb_control_msg(USB_Setup_TypeDef *setup, uint8_t *resp, bool hardwired)
// 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);
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);
}
#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;
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
}
#endif
can_init_all();
can_init_all();
}
}
break;
// **** 0xdd: enable can forwarding
@@ -326,8 +334,10 @@ int usb_cb_control_msg(USB_Setup_TypeDef *setup, uint8_t *resp, bool hardwired)
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
} 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
@@ -340,7 +350,7 @@ int usb_cb_control_msg(USB_Setup_TypeDef *setup, uint8_t *resp, bool hardwired)
// **** 0xdf: set long controls allowed
case 0xdf:
if (hardwired) {
long_controls_allowed = setup->b.wValue.w & 1;
long_controls_allowed = setup->b.wValue.w & 1U;
}
break;
// **** 0xe0: uart read
@@ -401,15 +411,15 @@ int usb_cb_control_msg(USB_Setup_TypeDef *setup, uint8_t *resp, bool hardwired)
break;
// **** 0xe5: set CAN loopback (for testing)
case 0xe5:
can_loopback = (setup->b.wValue.w > 0);
can_loopback = (setup->b.wValue.w > 0U);
can_init_all();
break;
// **** 0xe6: set USB power
case 0xe6:
if (setup->b.wValue.w == 1) {
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 == 2) {
} else if (setup->b.wValue.w == 2U) {
puts("user setting DCP mode\n");
set_usb_power_mode(USB_POWER_DCP);
} else {
@@ -419,7 +429,7 @@ int usb_cb_control_msg(USB_Setup_TypeDef *setup, uint8_t *resp, bool hardwired)
break;
// **** 0xf0: do k-line wValue pulse on uart2 for Acura
case 0xf0:
if (setup->b.wValue.w == 1) {
if (setup->b.wValue.w == 1U) {
GPIOC->ODR &= ~(1U << 10);
GPIOC->MODER &= ~GPIO_MODER_MODER10_1;
GPIOC->MODER |= GPIO_MODER_MODER10_0;
@@ -431,7 +441,7 @@ int usb_cb_control_msg(USB_Setup_TypeDef *setup, uint8_t *resp, bool hardwired)
for (i = 0; i < 80; i++) {
delay(8000);
if (setup->b.wValue.w == 1) {
if (setup->b.wValue.w == 1U) {
GPIOC->ODR |= (1U << 10);
GPIOC->ODR &= ~(1U << 10);
} else {
@@ -440,7 +450,7 @@ int usb_cb_control_msg(USB_Setup_TypeDef *setup, uint8_t *resp, bool hardwired)
}
}
if (setup->b.wValue.w == 1) {
if (setup->b.wValue.w == 1U) {
GPIOC->MODER &= ~GPIO_MODER_MODER10_0;
GPIOC->MODER |= GPIO_MODER_MODER10_1;
} else {
@@ -452,12 +462,14 @@ int usb_cb_control_msg(USB_Setup_TypeDef *setup, uint8_t *resp, bool hardwired)
break;
// **** 0xf1: Clear CAN ring buffer.
case 0xf1:
if (setup->b.wValue.w == 0xFFFF) {
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.
@@ -479,6 +491,7 @@ int usb_cb_control_msg(USB_Setup_TypeDef *setup, uint8_t *resp, bool hardwired)
return resp_len;
}
#ifndef EON
int spi_cb_rx(uint8_t *data, int len, uint8_t *data_out) {
// data[0] = endpoint
// data[2] = length
@@ -508,26 +521,28 @@ int spi_cb_rx(uint8_t *data, int len, uint8_t *data_out) {
}
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 * 2)) | (3UL << (11U * 2)));
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 0xF00
#define CLICKS 5 // 5 seconds to switch modes
#define CURRENT_THRESHOLD 0xF00U
#define CLICKS 5U // 5 seconds to switch modes
if (TIM3->SR != 0) {
can_live = pending_can_live;
@@ -538,7 +553,7 @@ void TIM3_IRQHandler(void) {
switch (usb_power_mode) {
case USB_POWER_CLIENT:
if ((tcnt-marker) >= CLICKS) {
if ((tcnt - marker) >= CLICKS) {
if (!is_enumerated) {
puts("USBP: didn't enumerate, switching to CDP mode\n");
// switch to CDP
@@ -594,7 +609,7 @@ void TIM3_IRQHandler(void) {
puts("\n");*/
// reset this every 16th pass
if ((tcnt&0xF) == 0) {
if ((tcnt & 0xFU) == 0U) {
pending_can_live = 0;
}
#ifdef DEBUG
@@ -609,10 +624,10 @@ void TIM3_IRQHandler(void) {
// turn off the blue LED, turned on by CAN
// unless we are in power saving mode
set_led(LED_BLUE, (tcnt & 1) && (power_save_status == POWER_SAVE_STATUS_ENABLED));
set_led(LED_BLUE, (tcnt & 1U) && (power_save_status == POWER_SAVE_STATUS_ENABLED));
// on to the next one
tcnt += 1;
tcnt += 1U;
}
TIM3->SR = 0;
}
@@ -680,7 +695,13 @@ int main(void) {
// 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
safety_set_mode(SAFETY_NOOUTPUT, 0);
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;
panda/board/pedal/Makefile
+2 -2
View File
@@ -1,10 +1,10 @@
# :set noet
PROJ_NAME = comma
CFLAGS = -O2 -Wall -std=gnu11 -DPEDAL
CFLAGS = -O2 -Wall -Wextra -Wstrict-prototypes -Werror -std=gnu11 -DPEDAL
CFLAGS += -mlittle-endian -mthumb -mcpu=cortex-m3
CFLAGS += -msoft-float -DSTM32F2 -DSTM32F205xx
CFLAGS += -I ../inc -I ../ -I ../../ -nostdlib
CFLAGS += -I ../inc -I ../ -I ../../ -nostdlib -fno-builtin
CFLAGS += -T../stm32_flash.ld
STARTUP_FILE = startup_stm32f205xx
panda/board/pedal/main.c
+92 -55
View File
@@ -19,14 +19,19 @@
#include "drivers/usb.h"
#else
// no serial either
void puts(const char *a) {}
void puth(unsigned int i) {}
void puts(const char *a) {
UNUSED(a);
}
void puth(unsigned int i) {
UNUSED(i);
}
#endif
#define ENTER_BOOTLOADER_MAGIC 0xdeadbeef
uint32_t enter_bootloader_mode;
void __initialize_hardware_early() {
// cppcheck-suppress unusedFunction ; used in headers not included in cppcheck
void __initialize_hardware_early(void) {
early();
}
@@ -36,31 +41,54 @@ void __initialize_hardware_early() {
void debug_ring_callback(uart_ring *ring) {
char rcv;
while (getc(ring, &rcv)) {
putc(ring, rcv);
while (getc(ring, &rcv) != 0) {
(void)putc(ring, rcv);
}
}
int usb_cb_ep1_in(uint8_t *usbdata, int len, bool hardwired) { return 0; }
void usb_cb_ep2_out(uint8_t *usbdata, int len, bool hardwired) {}
void usb_cb_ep3_out(uint8_t *usbdata, int len, bool hardwired) {}
void usb_cb_enumeration_complete() {}
int usb_cb_ep1_in(uint8_t *usbdata, int len, bool hardwired) {
UNUSED(usbdata);
UNUSED(len);
UNUSED(hardwired);
return 0;
}
void usb_cb_ep2_out(uint8_t *usbdata, int len, bool hardwired) {
UNUSED(usbdata);
UNUSED(len);
UNUSED(hardwired);
}
void usb_cb_ep3_out(uint8_t *usbdata, int len, bool hardwired) {
UNUSED(usbdata);
UNUSED(len);
UNUSED(hardwired);
}
void usb_cb_enumeration_complete(void) {}
int usb_cb_control_msg(USB_Setup_TypeDef *setup, uint8_t *resp, bool hardwired) {
int resp_len = 0;
UNUSED(hardwired);
unsigned int resp_len = 0;
uart_ring *ur = NULL;
switch (setup->b.bRequest) {
// **** 0xe0: uart read
case 0xe0:
ur = get_ring_by_number(setup->b.wValue.w);
if (!ur) break;
if (ur == &esp_ring) uart_dma_drain();
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;
default:
puts("NO HANDLER ");
puth(setup->b.bRequest);
puts("\n");
break;
}
return resp_len;
}
@@ -76,7 +104,7 @@ uint8_t pedal_checksum(uint8_t *dat, int len) {
for (i = len - 1; i >= 0; i--) {
crc ^= dat[i];
for (j = 0; j < 8; j++) {
if ((crc & 0x80) != 0) {
if ((crc & 0x80U) != 0U) {
crc = (uint8_t)((crc << 1) ^ poly);
}
else {
@@ -91,11 +119,12 @@ uint8_t pedal_checksum(uint8_t *dat, int len) {
// addresses to be used on CAN
#define CAN_GAS_INPUT 0x200
#define CAN_GAS_OUTPUT 0x201
#define CAN_GAS_OUTPUT 0x201U
#define CAN_GAS_SIZE 6
#define COUNTER_CYCLE 0xF
#define COUNTER_CYCLE 0xFU
void CAN1_TX_IRQHandler() {
// cppcheck-suppress unusedFunction ; used in headers not included in cppcheck
void CAN1_TX_IRQHandler(void) {
// clear interrupt
CAN->TSR |= CAN_TSR_RQCP0;
}
@@ -104,51 +133,51 @@ void CAN1_TX_IRQHandler() {
uint16_t gas_set_0 = 0;
uint16_t gas_set_1 = 0;
#define MAX_TIMEOUT 10
#define MAX_TIMEOUT 10U
uint32_t timeout = 0;
uint32_t current_index = 0;
#define NO_FAULT 0
#define FAULT_BAD_CHECKSUM 1
#define FAULT_SEND 2
#define FAULT_SCE 3
#define FAULT_STARTUP 4
#define FAULT_TIMEOUT 5
#define FAULT_INVALID 6
#define NO_FAULT 0U
#define FAULT_BAD_CHECKSUM 1U
#define FAULT_SEND 2U
#define FAULT_SCE 3U
#define FAULT_STARTUP 4U
#define FAULT_TIMEOUT 5U
#define FAULT_INVALID 6U
uint8_t state = FAULT_STARTUP;
void CAN1_RX0_IRQHandler() {
while (CAN->RF0R & CAN_RF0R_FMP0) {
// cppcheck-suppress unusedFunction ; used in headers not included in cppcheck
void CAN1_RX0_IRQHandler(void) {
while ((CAN->RF0R & CAN_RF0R_FMP0) != 0) {
#ifdef DEBUG
puts("CAN RX\n");
#endif
uint32_t address = CAN->sFIFOMailBox[0].RIR>>21;
int address = CAN->sFIFOMailBox[0].RIR >> 21;
if (address == CAN_GAS_INPUT) {
// softloader entry
if (CAN->sFIFOMailBox[0].RDLR == 0xdeadface) {
if (CAN->sFIFOMailBox[0].RDHR == 0x0ab00b1e) {
if (GET_BYTES_04(&CAN->sFIFOMailBox[0]) == 0xdeadface) {
if (GET_BYTES_48(&CAN->sFIFOMailBox[0]) == 0x0ab00b1e) {
enter_bootloader_mode = ENTER_SOFTLOADER_MAGIC;
NVIC_SystemReset();
} else if (CAN->sFIFOMailBox[0].RDHR == 0x02b00b1e) {
} else if (GET_BYTES_48(&CAN->sFIFOMailBox[0]) == 0x02b00b1e) {
enter_bootloader_mode = ENTER_BOOTLOADER_MAGIC;
NVIC_SystemReset();
} else {
puts("Failed entering Softloader or Bootloader\n");
}
}
// normal packet
uint8_t dat[8];
uint8_t *rdlr = (uint8_t *)&CAN->sFIFOMailBox[0].RDLR;
uint8_t *rdhr = (uint8_t *)&CAN->sFIFOMailBox[0].RDHR;
for (int i=0; i<4; i++) {
dat[i] = rdlr[i];
dat[i+4] = rdhr[i];
for (int i=0; i<8; i++) {
dat[i] = GET_BYTE(&CAN->sFIFOMailBox[0], i);
}
uint16_t value_0 = (dat[0] << 8) | dat[1];
uint16_t value_1 = (dat[2] << 8) | dat[3];
uint8_t enable = (dat[4] >> 7) & 1;
bool enable = ((dat[4] >> 7) & 1U) != 0U;
uint8_t index = dat[4] & COUNTER_CYCLE;
if (pedal_checksum(dat, CAN_GAS_SIZE - 1) == dat[5]) {
if (((current_index + 1) & COUNTER_CYCLE) == index) {
if (((current_index + 1U) & COUNTER_CYCLE) == index) {
#ifdef DEBUG
puts("setting gas ");
puth(value);
@@ -159,12 +188,13 @@ void CAN1_RX0_IRQHandler() {
gas_set_1 = value_1;
} else {
// clear the fault state if values are 0
if (value_0 == 0 && value_1 == 0) {
if ((value_0 == 0U) && (value_1 == 0U)) {
state = NO_FAULT;
} else {
state = FAULT_INVALID;
}
gas_set_0 = gas_set_1 = 0;
gas_set_0 = 0;
gas_set_1 = 0;
}
// clear the timeout
timeout = 0;
@@ -180,17 +210,20 @@ void CAN1_RX0_IRQHandler() {
}
}
void CAN1_SCE_IRQHandler() {
// cppcheck-suppress unusedFunction ; used in headers not included in cppcheck
void CAN1_SCE_IRQHandler(void) {
state = FAULT_SCE;
llcan_clear_send(CAN);
}
int pdl0 = 0, pdl1 = 0;
int pkt_idx = 0;
uint32_t pdl0 = 0;
uint32_t pdl1 = 0;
unsigned int pkt_idx = 0;
int led_value = 0;
void TIM3_IRQHandler() {
// cppcheck-suppress unusedFunction ; used in headers not included in cppcheck
void TIM3_IRQHandler(void) {
#ifdef DEBUG
puth(TIM3->CNT);
puts(" ");
@@ -203,16 +236,16 @@ void TIM3_IRQHandler() {
// check timer for sending the user pedal and clearing the CAN
if ((CAN->TSR & CAN_TSR_TME0) == CAN_TSR_TME0) {
uint8_t dat[8];
dat[0] = (pdl0>>8) & 0xFF;
dat[1] = (pdl0>>0) & 0xFF;
dat[2] = (pdl1>>8) & 0xFF;
dat[3] = (pdl1>>0) & 0xFF;
dat[4] = (state & 0xF) << 4 | pkt_idx;
dat[0] = (pdl0 >> 8) & 0xFFU;
dat[1] = (pdl0 >> 0) & 0xFFU;
dat[2] = (pdl1 >> 8) & 0xFFU;
dat[3] = (pdl1 >> 0) & 0xFFU;
dat[4] = ((state & 0xFU) << 4) | pkt_idx;
dat[5] = pedal_checksum(dat, CAN_GAS_SIZE - 1);
CAN->sTxMailBox[0].TDLR = dat[0] | (dat[1]<<8) | (dat[2]<<16) | (dat[3]<<24);
CAN->sTxMailBox[0].TDHR = dat[4] | (dat[5]<<8);
CAN->sTxMailBox[0].TDLR = dat[0] | (dat[1] << 8) | (dat[2] << 16) | (dat[3] << 24);
CAN->sTxMailBox[0].TDHR = dat[4] | (dat[5] << 8);
CAN->sTxMailBox[0].TDTR = 6; // len of packet is 5
CAN->sTxMailBox[0].TIR = (CAN_GAS_OUTPUT << 21) | 1;
CAN->sTxMailBox[0].TIR = (CAN_GAS_OUTPUT << 21) | 1U;
++pkt_idx;
pkt_idx &= COUNTER_CYCLE;
} else {
@@ -233,13 +266,13 @@ void TIM3_IRQHandler() {
if (timeout == MAX_TIMEOUT) {
state = FAULT_TIMEOUT;
} else {
timeout += 1;
timeout += 1U;
}
}
// ***************************** main code *****************************
void pedal() {
void pedal(void) {
// read/write
pdl0 = adc_get(ADCCHAN_ACCEL0);
pdl1 = adc_get(ADCCHAN_ACCEL1);
@@ -256,7 +289,7 @@ void pedal() {
watchdog_feed();
}
int main() {
int main(void) {
__disable_irq();
// init devices
@@ -274,7 +307,11 @@ int main() {
adc_init();
// init can
llcan_set_speed(CAN1, 5000, false, false);
bool llcan_speed_set = llcan_set_speed(CAN1, 5000, false, false);
if (!llcan_speed_set) {
puts("Failed to set llcan speed");
}
llcan_init(CAN1);
// 48mhz / 65536 ~= 732
panda/board/power_saving.h
+2 -2
View File
@@ -13,14 +13,14 @@ void set_power_save_state(int state) {
if (is_grey_panda) {
char UBLOX_SLEEP_MSG[] = "\xb5\x62\x06\x04\x04\x00\x01\x00\x08\x00\x17\x78";
uart_ring *ur = get_ring_by_number(1);
for (unsigned int i = 0; i < sizeof(UBLOX_SLEEP_MSG) - 1; i++) while (!putc(ur, UBLOX_SLEEP_MSG[i]));
for (unsigned int i = 0; i < sizeof(UBLOX_SLEEP_MSG) - 1U; i++) while (!putc(ur, UBLOX_SLEEP_MSG[i]));
}
} else {
puts("disable power savings\n");
if (is_grey_panda) {
char UBLOX_WAKE_MSG[] = "\xb5\x62\x06\x04\x04\x00\x01\x00\x09\x00\x18\x7a";
uart_ring *ur = get_ring_by_number(1);
for (unsigned int i = 0; i < sizeof(UBLOX_WAKE_MSG) - 1; i++) while (!putc(ur, UBLOX_WAKE_MSG[i]));
for (unsigned int i = 0; i < sizeof(UBLOX_WAKE_MSG) - 1U; i++) while (!putc(ur, UBLOX_WAKE_MSG[i]));
}
enable = true;
}
panda/board/provision.h
+2 -2
View File
@@ -5,9 +5,9 @@
// SHA1 checksum = 0x1C - 0x20
void get_provision_chunk(uint8_t *resp) {
memcpy(resp, (void *)0x1fff79e0, PROVISION_CHUNK_LEN);
(void)memcpy(resp, (uint8_t *)0x1fff79e0, PROVISION_CHUNK_LEN);
if (memcmp(resp, "\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff", 0x20) == 0) {
memcpy(resp, "unprovisioned\x00\x00\x00testing123\x00\x00\xa3\xa6\x99\xec", 0x20);
(void)memcpy(resp, "unprovisioned\x00\x00\x00testing123\x00\x00\xa3\xa6\x99\xec", 0x20);
}
}
panda/board/safety.h
+15 -15
View File
@@ -44,21 +44,21 @@ typedef struct {
const safety_hooks *hooks;
} safety_hook_config;
#define SAFETY_NOOUTPUT 0
#define SAFETY_HONDA 1
#define SAFETY_TOYOTA 2
#define SAFETY_GM 3
#define SAFETY_HONDA_BOSCH 4
#define SAFETY_FORD 5
#define SAFETY_CADILLAC 6
#define SAFETY_HYUNDAI 7
#define SAFETY_TESLA 8
#define SAFETY_CHRYSLER 9
#define SAFETY_SUBARU 10
#define SAFETY_GM_ASCM 0x1334
#define SAFETY_TOYOTA_IPAS 0x1335
#define SAFETY_ALLOUTPUT 0x1337
#define SAFETY_ELM327 0xE327
#define SAFETY_NOOUTPUT 0U
#define SAFETY_HONDA 1U
#define SAFETY_TOYOTA 2U
#define SAFETY_GM 3U
#define SAFETY_HONDA_BOSCH 4U
#define SAFETY_FORD 5U
#define SAFETY_CADILLAC 6U
#define SAFETY_HYUNDAI 7U
#define SAFETY_TESLA 8U
#define SAFETY_CHRYSLER 9U
#define SAFETY_SUBARU 10U
#define SAFETY_GM_ASCM 0x1334U
#define SAFETY_TOYOTA_IPAS 0x1335U
#define SAFETY_ALLOUTPUT 0x1337U
#define SAFETY_ELM327 0xE327U
const safety_hook_config safety_hook_registry[] = {
{SAFETY_NOOUTPUT, &nooutput_hooks},
panda/board/safety/safety_cadillac.h
+8 -7
View File
@@ -10,13 +10,13 @@ const int CADILLAC_MAX_RATE_DOWN = 5;
const int CADILLAC_DRIVER_TORQUE_ALLOWANCE = 50;
const int CADILLAC_DRIVER_TORQUE_FACTOR = 4;
int cadillac_ign = 0;
bool cadillac_ign = 0;
int cadillac_cruise_engaged_last = 0;
int cadillac_rt_torque_last = 0;
const int cadillac_torque_msgs_n = 4;
int cadillac_desired_torque_last[CADILLAC_TORQUE_MSG_N] = {0};
uint32_t cadillac_ts_last = 0;
int cadillac_supercruise_on = 0;
bool cadillac_supercruise_on = 0;
struct sample_t cadillac_torque_driver; // last few driver torques measured
int cadillac_get_torque_idx(int addr, int array_size) {
@@ -28,7 +28,8 @@ static void cadillac_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
int addr = GET_ADDR(to_push);
if (addr == 356) {
int torque_driver_new = ((to_push->RDLR & 0x7) << 8) | ((to_push->RDLR >> 8) & 0xFF);
int torque_driver_new = ((GET_BYTE(to_push, 0) & 0x7U) << 8) | (GET_BYTE(to_push, 1));
torque_driver_new = to_signed(torque_driver_new, 11);
// update array of samples
update_sample(&cadillac_torque_driver, torque_driver_new);
@@ -36,12 +37,12 @@ static void cadillac_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
// this message isn't all zeros when ignition is on
if ((addr == 0x160) && (bus == 0)) {
cadillac_ign = to_push->RDLR > 0;
cadillac_ign = GET_BYTES_04(to_push) != 0;
}
// enter controls on rising edge of ACC, exit controls on ACC off
if ((addr == 0x370) && (bus == 0)) {
int cruise_engaged = to_push->RDLR & 0x800000; // bit 23
int cruise_engaged = GET_BYTE(to_push, 2) & 0x80; // bit 23
if (cruise_engaged && !cadillac_cruise_engaged_last) {
controls_allowed = 1;
}
@@ -53,7 +54,7 @@ static void cadillac_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
// know supercruise mode and block openpilot msgs if on
if ((addr == 0x152) || (addr == 0x154)) {
cadillac_supercruise_on = (to_push->RDHR>>4) & 0x1;
cadillac_supercruise_on = (GET_BYTE(to_push, 4) & 0x10) != 0;
}
}
@@ -63,7 +64,7 @@ static int cadillac_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
// steer cmd checks
if ((addr == 0x151) || (addr == 0x152) || (addr == 0x153) || (addr == 0x154)) {
int desired_torque = ((to_send->RDLR & 0x3f) << 8) + ((to_send->RDLR & 0xff00) >> 8);
int desired_torque = ((GET_BYTE(to_send, 0) & 0x3f) << 8) | GET_BYTE(to_send, 1);
int violation = 0;
uint32_t ts = TIM2->CNT;
int idx = cadillac_get_torque_idx(addr, CADILLAC_TORQUE_MSG_N);
panda/board/safety/safety_chrysler.h
+3 -5
View File
@@ -18,8 +18,7 @@ static void chrysler_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
// Measured eps torque
if (addr == 544) {
uint32_t rdhr = to_push->RDHR;
int torque_meas_new = ((rdhr & 0x7U) << 8) + ((rdhr & 0xFF00U) >> 8) - 1024U;
int torque_meas_new = ((GET_BYTE(to_push, 4) & 0x7U) << 8) + GET_BYTE(to_push, 5) - 1024U;
// update array of samples
update_sample(&chrysler_torque_meas, torque_meas_new);
@@ -27,7 +26,7 @@ static void chrysler_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
// enter controls on rising edge of ACC, exit controls on ACC off
if (addr == 0x1F4) {
int cruise_engaged = ((to_push->RDLR & 0x380000) >> 19) == 7;
int cruise_engaged = ((GET_BYTE(to_push, 2) & 0x38) >> 3) == 7;
if (cruise_engaged && !chrysler_cruise_engaged_last) {
controls_allowed = 1;
}
@@ -57,8 +56,7 @@ static int chrysler_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
// LKA STEER
if (addr == 0x292) {
uint32_t rdlr = to_send->RDLR;
int desired_torque = ((rdlr & 0x7U) << 8) + ((rdlr & 0xFF00U) >> 8) - 1024U;
int desired_torque = ((GET_BYTE(to_send, 0) & 0x7U) << 8) + GET_BYTE(to_send, 1) - 1024U;
uint32_t ts = TIM2->CNT;
bool violation = 0;
panda/board/safety/safety_ford.h
+13 -11
View File
@@ -9,7 +9,7 @@
int ford_brake_prev = 0;
int ford_gas_prev = 0;
int ford_is_moving = 0;
bool ford_moving = false;
static void ford_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
@@ -17,14 +17,16 @@ static void ford_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
if (addr == 0x217) {
// wheel speeds are 14 bits every 16
ford_is_moving = 0xFCFF & (to_push->RDLR | (to_push->RDLR >> 16) |
to_push->RDHR | (to_push->RDHR >> 16));
ford_moving = false;
for (int i = 0; i < 8; i += 2) {
ford_moving |= GET_BYTE(to_push, i) | (GET_BYTE(to_push, (int)(i + 1)) & 0xFCU);
}
}
// state machine to enter and exit controls
if (addr == 0x83) {
bool cancel = (to_push->RDLR >> 8) & 0x1;
bool set_or_resume = (to_push->RDLR >> 28) & 0x3;
bool cancel = GET_BYTE(to_push, 1) & 0x1;
bool set_or_resume = GET_BYTE(to_push, 3) & 0x30;
if (cancel) {
controls_allowed = 0;
}
@@ -36,8 +38,8 @@ static void ford_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
// exit controls on rising edge of brake press or on brake press when
// speed > 0
if (addr == 0x165) {
int brake = to_push->RDLR & 0x20;
if (brake && (!(ford_brake_prev) || ford_is_moving)) {
int brake = GET_BYTE(to_push, 0) & 0x20;
if (brake && (!(ford_brake_prev) || ford_moving)) {
controls_allowed = 0;
}
ford_brake_prev = brake;
@@ -45,7 +47,7 @@ static void ford_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
// exit controls on rising edge of gas press
if (addr == 0x204) {
int gas = to_push->RDLR & 0xFF03;
int gas = (GET_BYTE(to_push, 0) & 0x03) | GET_BYTE(to_push, 1);
if (gas && !(ford_gas_prev)) {
controls_allowed = 0;
}
@@ -64,7 +66,7 @@ static int ford_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
int tx = 1;
// disallow actuator commands if gas or brake (with vehicle moving) are pressed
// and the the latching controls_allowed flag is True
int pedal_pressed = ford_gas_prev || (ford_brake_prev && ford_is_moving);
int pedal_pressed = ford_gas_prev || (ford_brake_prev && ford_moving);
bool current_controls_allowed = controls_allowed && !(pedal_pressed);
int addr = GET_ADDR(to_send);
@@ -72,7 +74,7 @@ static int ford_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
if (addr == 0x3CA) {
if (!current_controls_allowed) {
// bits 7-4 need to be 0xF to disallow lkas commands
if (((to_send->RDLR >> 4) & 0xF) != 0xF) {
if ((GET_BYTE(to_send, 0) & 0xF0) != 0xF0) {
tx = 0;
}
}
@@ -81,7 +83,7 @@ static int ford_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
// FORCE CANCEL: safety check only relevant when spamming the cancel button
// ensuring that set and resume aren't sent
if (addr == 0x83) {
if (((to_send->RDLR >> 28) & 0x3) != 0) {
if ((GET_BYTE(to_send, 3) & 0x30) != 0) {
tx = 0;
}
}
panda/board/safety/safety_gm.h
+14 -17
View File
@@ -21,7 +21,7 @@ const int GM_MAX_BRAKE = 350;
int gm_brake_prev = 0;
int gm_gas_prev = 0;
int gm_speed = 0;
bool gm_moving = false;
// silence everything if stock car control ECUs are still online
bool gm_ascm_detected = 0;
bool gm_ignition_started = 0;
@@ -35,7 +35,7 @@ static void gm_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
int addr = GET_ADDR(to_push);
if (addr == 388) {
int torque_driver_new = (((to_push->RDHR >> 16) & 0x7) << 8) | ((to_push->RDHR >> 24) & 0xFF);
int torque_driver_new = ((GET_BYTE(to_push, 6) & 0x7) << 8) | GET_BYTE(to_push, 7);
torque_driver_new = to_signed(torque_driver_new, 11);
// update array of samples
update_sample(&gm_torque_driver, torque_driver_new);
@@ -44,14 +44,14 @@ static void gm_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
if ((addr == 0x1F1) && (bus_number == 0)) {
//Bit 5 should be ignition "on"
//Backup plan is Bit 2 (accessory power)
bool ign = ((to_push->RDLR) & 0x20) != 0;
bool ign = (GET_BYTE(to_push, 0) & 0x20) != 0;
gm_ignition_started = ign;
}
// sample speed, really only care if car is moving or not
// rear left wheel speed
if (addr == 842) {
gm_speed = to_push->RDLR & 0xFFFF;
gm_moving = GET_BYTE(to_push, 0) | GET_BYTE(to_push, 1);
}
// Check if ASCM or LKA camera are online
@@ -65,7 +65,7 @@ static void gm_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
// ACC steering wheel buttons
if (addr == 481) {
int button = (to_push->RDHR >> 12) & 0x7;
int button = (GET_BYTE(to_push, 5) & 0x70) >> 4;
switch (button) {
case 2: // resume
case 3: // set
@@ -82,13 +82,13 @@ static void gm_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
// exit controls on rising edge of brake press or on brake press when
// speed > 0
if (addr == 241) {
int brake = (to_push->RDLR & 0xFF00) >> 8;
int brake = GET_BYTE(to_push, 1);
// Brake pedal's potentiometer returns near-zero reading
// even when pedal is not pressed
if (brake < 10) {
brake = 0;
}
if (brake && (!gm_brake_prev || gm_speed)) {
if (brake && (!gm_brake_prev || gm_moving)) {
controls_allowed = 0;
}
gm_brake_prev = brake;
@@ -96,7 +96,7 @@ static void gm_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
// exit controls on rising edge of gas press
if (addr == 417) {
int gas = to_push->RDHR & 0xFF0000;
int gas = GET_BYTE(to_push, 6);
if (gas && !gm_gas_prev && long_controls_allowed) {
controls_allowed = 0;
}
@@ -105,7 +105,7 @@ static void gm_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
// exit controls on regen paddle
if (addr == 189) {
bool regen = to_push->RDLR & 0x20;
bool regen = GET_BYTE(to_push, 0) & 0x20;
if (regen) {
controls_allowed = 0;
}
@@ -129,15 +129,14 @@ static int gm_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
// disallow actuator commands if gas or brake (with vehicle moving) are pressed
// and the the latching controls_allowed flag is True
int pedal_pressed = gm_gas_prev || (gm_brake_prev && gm_speed);
int pedal_pressed = gm_gas_prev || (gm_brake_prev && gm_moving);
bool current_controls_allowed = controls_allowed && !pedal_pressed;
int addr = GET_ADDR(to_send);
// BRAKE: safety check
if (addr == 789) {
uint32_t rdlr = to_send->RDLR;
int brake = ((rdlr & 0xFU) << 8) + ((rdlr & 0xFF00U) >> 8);
int brake = ((GET_BYTE(to_send, 0) & 0xFU) << 8) + GET_BYTE(to_send, 1);
brake = (0x1000 - brake) & 0xFFF;
if (!current_controls_allowed || !long_controls_allowed) {
if (brake != 0) {
@@ -151,8 +150,7 @@ static int gm_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
// LKA STEER: safety check
if (addr == 384) {
uint32_t rdlr = to_send->RDLR;
int desired_torque = ((rdlr & 0x7U) << 8) + ((rdlr & 0xFF00U) >> 8);
int desired_torque = ((GET_BYTE(to_send, 0) & 0x7U) << 8) + GET_BYTE(to_send, 1);
uint32_t ts = TIM2->CNT;
bool violation = 0;
desired_torque = to_signed(desired_torque, 11);
@@ -205,12 +203,11 @@ static int gm_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
// GAS/REGEN: safety check
if (addr == 715) {
uint32_t rdlr = to_send->RDLR;
int gas_regen = ((rdlr & 0x7F0000U) >> 11) + ((rdlr & 0xF8000000U) >> 27);
int gas_regen = ((GET_BYTE(to_send, 2) & 0x7FU) << 5) + ((GET_BYTE(to_send, 3) & 0xF8U) >> 3);
// Disabled message is !engaed with gas
// value that corresponds to max regen.
if (!current_controls_allowed || !long_controls_allowed) {
bool apply = (rdlr & 1U) != 0U;
bool apply = GET_BYTE(to_send, 0) & 1U;
if (apply || (gas_regen != GM_MAX_REGEN)) {
tx = 0;
}
panda/board/safety/safety_gm_ascm.h
+1 -1
View File
@@ -13,7 +13,7 @@ static int gm_ascm_fwd_hook(int bus_num, CAN_FIFOMailBox_TypeDef *to_fwd) {
// block 0x315 and 0x2cb, which are the brake and accel commands from ASCM1
//if ((addr == 0x152) || (addr == 0x154) || (addr == 0x315) || (addr == 0x2cb)) {
if ((addr == 0x152) || (addr == 0x154)) {
int supercruise_on = (to_fwd->RDHR >> 4) & 0x1; // bit 36
bool supercruise_on = (GET_BYTE(to_fwd, 4) & 0x10) != 0; // bit 36
if (!supercruise_on) {
bus_fwd = -1;
}
panda/board/safety/safety_honda.h
+17 -18
View File
@@ -10,7 +10,7 @@
const int HONDA_GAS_INTERCEPTOR_THRESHOLD = 328; // ratio between offset and gain from dbc file
int honda_brake_prev = 0;
int honda_gas_prev = 0;
int honda_ego_speed = 0;
bool honda_moving = false;
bool honda_bosch_hardware = false;
bool honda_alt_brake_msg = false;
@@ -22,13 +22,13 @@ static void honda_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
// sample speed
if (addr == 0x158) {
// first 2 bytes
honda_ego_speed = to_push->RDLR & 0xFFFF;
honda_moving = GET_BYTE(to_push, 0) | GET_BYTE(to_push, 1);
}
// state machine to enter and exit controls
// 0x1A6 for the ILX, 0x296 for the Civic Touring
if ((addr == 0x1A6) || (addr == 0x296)) {
int button = (to_push->RDLR & 0xE0) >> 5;
int button = (GET_BYTE(to_push, 0) & 0xE0) >> 5;
switch (button) {
case 2: // cancel
controls_allowed = 0;
@@ -48,14 +48,11 @@ static void honda_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
// in these cases, this is used instead.
// most hondas: 0x17C bit 53
// accord, crv: 0x1BE bit 4
#define IS_USER_BRAKE_MSG(addr) (!honda_alt_brake_msg ? ((addr) == 0x17C) : ((addr) == 0x1BE))
#define USER_BRAKE_VALUE(to_push) (!honda_alt_brake_msg ? ((to_push)->RDHR & 0x200000) : ((to_push)->RDLR & 0x10))
// exit controls on rising edge of brake press or on brake press when
// speed > 0
bool is_user_brake_msg = IS_USER_BRAKE_MSG(addr); // needed to enforce type
// exit controls on rising edge of brake press or on brake press when speed > 0
bool is_user_brake_msg = honda_alt_brake_msg ? ((addr) == 0x1BE) : ((addr) == 0x17C);
if (is_user_brake_msg) {
int brake = USER_BRAKE_VALUE(to_push);
if (brake && (!(honda_brake_prev) || honda_ego_speed)) {
int brake = honda_alt_brake_msg ? (GET_BYTE((to_push), 0) & 0x10) : (GET_BYTE((to_push), 6) & 0x20);
if (brake && (!(honda_brake_prev) || honda_moving)) {
controls_allowed = 0;
}
honda_brake_prev = brake;
@@ -65,7 +62,7 @@ static void honda_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
// length check because bosch hardware also uses this id (0x201 w/ len = 8)
if ((addr == 0x201) && (len == 6)) {
gas_interceptor_detected = 1;
int gas_interceptor = ((to_push->RDLR & 0xFF) << 8) | ((to_push->RDLR & 0xFF00) >> 8);
int gas_interceptor = GET_INTERCEPTOR(to_push);
if ((gas_interceptor > HONDA_GAS_INTERCEPTOR_THRESHOLD) &&
(gas_interceptor_prev <= HONDA_GAS_INTERCEPTOR_THRESHOLD) &&
long_controls_allowed) {
@@ -77,7 +74,7 @@ static void honda_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
// exit controls on rising edge of gas press if no interceptor
if (!gas_interceptor_detected) {
if (addr == 0x17C) {
int gas = to_push->RDLR & 0xFF;
int gas = GET_BYTE(to_push, 0);
if (gas && !(honda_gas_prev) && long_controls_allowed) {
controls_allowed = 0;
}
@@ -101,17 +98,18 @@ static int honda_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
// disallow actuator commands if gas or brake (with vehicle moving) are pressed
// and the the latching controls_allowed flag is True
int pedal_pressed = honda_gas_prev || (gas_interceptor_prev > HONDA_GAS_INTERCEPTOR_THRESHOLD) ||
(honda_brake_prev && honda_ego_speed);
(honda_brake_prev && honda_moving);
bool current_controls_allowed = controls_allowed && !(pedal_pressed);
// BRAKE: safety check
if (addr == 0x1FA) {
int brake = (GET_BYTE(to_send, 0) << 2) + (GET_BYTE(to_send, 1) & 0x3);
if (!current_controls_allowed || !long_controls_allowed) {
if ((to_send->RDLR & 0xFFFF0000) != to_send->RDLR) {
if (brake != 0) {
tx = 0;
}
}
if ((to_send->RDLR & 0xFFFFFF3F) != to_send->RDLR) {
if (brake > 255) {
tx = 0;
}
}
@@ -119,7 +117,8 @@ static int honda_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
// STEER: safety check
if ((addr == 0xE4) || (addr == 0x194)) {
if (!current_controls_allowed) {
if ((to_send->RDLR & 0xFFFF0000) != to_send->RDLR) {
bool steer_applied = GET_BYTE(to_send, 0) | GET_BYTE(to_send, 1);
if (steer_applied) {
tx = 0;
}
}
@@ -128,7 +127,7 @@ static int honda_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
// GAS: safety check
if (addr == 0x200) {
if (!current_controls_allowed || !long_controls_allowed) {
if ((to_send->RDLR & 0xFFFF0000) != to_send->RDLR) {
if (GET_BYTE(to_send, 0) || GET_BYTE(to_send, 1)) {
tx = 0;
}
}
@@ -139,7 +138,7 @@ static int honda_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
// This avoids unintended engagements while still allowing resume spam
if ((addr == 0x296) && honda_bosch_hardware &&
!current_controls_allowed && (bus == 0)) {
if (((to_send->RDLR >> 5) & 0x7) != 2) {
if (((GET_BYTE(to_send, 0) >> 5) & 0x7) != 2) {
tx = 0;
}
}
panda/board/safety/safety_hyundai.h
+4 -4
View File
@@ -20,7 +20,7 @@ static void hyundai_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
int addr = GET_ADDR(to_push);
if (addr == 897) {
int torque_driver_new = ((to_push->RDLR >> 11) & 0xfff) - 2048;
int torque_driver_new = ((GET_BYTES_04(to_push) >> 11) & 0xfff) - 2048;
// update array of samples
update_sample(&hyundai_torque_driver, torque_driver_new);
}
@@ -39,7 +39,7 @@ static void hyundai_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
// enter controls on rising edge of ACC, exit controls on ACC off
if (addr == 1057) {
// 2 bits: 13-14
int cruise_engaged = (to_push->RDLR >> 13) & 0x3;
int cruise_engaged = (GET_BYTES_04(to_push) >> 13) & 0x3;
if (cruise_engaged && !hyundai_cruise_engaged_last) {
controls_allowed = 1;
}
@@ -67,7 +67,7 @@ static int hyundai_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
// LKA STEER: safety check
if (addr == 832) {
int desired_torque = ((to_send->RDLR >> 16) & 0x7ff) - 1024;
int desired_torque = ((GET_BYTES_04(to_send) >> 16) & 0x7ff) - 1024;
uint32_t ts = TIM2->CNT;
bool violation = 0;
@@ -117,7 +117,7 @@ static int hyundai_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
// This avoids unintended engagements while still allowing resume spam
// TODO: fix bug preventing the button msg to be fwd'd on bus 2
//if ((addr == 1265) && !controls_allowed && (bus == 0) {
// if ((to_send->RDLR & 0x7) != 4) {
// if ((GET_BYTES_04(to_send) & 0x7) != 4) {
// tx = 0;
// }
//}
panda/board/safety/safety_subaru.h
+3 -3
View File
@@ -20,7 +20,7 @@ static void subaru_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
int addr = GET_ADDR(to_push);
if ((addr == 0x119) && (bus == 0)){
int torque_driver_new = ((to_push->RDLR >> 16) & 0x7FF);
int torque_driver_new = ((GET_BYTES_04(to_push) >> 16) & 0x7FF);
torque_driver_new = to_signed(torque_driver_new, 11);
// update array of samples
update_sample(&subaru_torque_driver, torque_driver_new);
@@ -28,7 +28,7 @@ static void subaru_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
// enter controls on rising edge of ACC, exit controls on ACC off
if ((addr == 0x240) && (bus == 0)) {
int cruise_engaged = (to_push->RDHR >> 9) & 1;
int cruise_engaged = GET_BYTE(to_push, 5) & 2;
if (cruise_engaged && !subaru_cruise_engaged_last) {
controls_allowed = 1;
}
@@ -45,7 +45,7 @@ static int subaru_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
// steer cmd checks
if (addr == 0x122) {
int desired_torque = ((to_send->RDLR >> 16) & 0x1FFF);
int desired_torque = ((GET_BYTES_04(to_send) >> 16) & 0x1FFF);
bool violation = 0;
uint32_t ts = TIM2->CNT;
desired_torque = to_signed(desired_torque, 13);
panda/board/safety/safety_tesla.h
+12 -12
View File
@@ -55,7 +55,7 @@ static void tesla_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
if (addr == 0x45) {
// 6 bits starting at position 0
int lever_position = (to_push->RDLR & 0x3F);
int lever_position = GET_BYTE(to_push, 0) & 0x3F;
if (lever_position == 2) { // pull forward
// activate openpilot
controls_allowed = 1;
@@ -69,7 +69,7 @@ static void tesla_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
// Detect drive rail on (ignition) (start recording)
if (addr == 0x348) {
// GTW_status
int drive_rail_on = (to_push->RDLR & 0x0001);
int drive_rail_on = GET_BYTE(to_push, 0) & 0x1;
tesla_ignition_started = drive_rail_on == 1;
}
@@ -77,12 +77,12 @@ static void tesla_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
// DI_torque2::DI_brakePedal 0x118
if (addr == 0x118) {
// 1 bit at position 16
if ((((to_push->RDLR & 0x8000)) >> 15) == 1) {
if ((GET_BYTE(to_push, 1) & 0x80) != 0) {
// disable break cancel by commenting line below
controls_allowed = 0;
}
//get vehicle speed in m/s. Tesla gives MPH
tesla_speed = ((((((to_push->RDLR >> 24) & 0xF) << 8) + ((to_push->RDLR >> 16) & 0xFF)) * 0.05) - 25) * 1.609 / 3.6;
tesla_speed = (((((GET_BYTE(to_push, 3) & 0xF) << 8) + GET_BYTE(to_push, 2)) * 0.05) - 25) * 1.609 / 3.6;
if (tesla_speed < 0) {
tesla_speed = 0;
}
@@ -92,7 +92,7 @@ static void tesla_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
// EPAS_sysStatus::EPAS_eacStatus 0x370
if (addr == 0x370) {
// if EPAS_eacStatus is not 1 or 2, disable control
eac_status = ((to_push->RDHR >> 21)) & 0x7;
eac_status = (GET_BYTE(to_push, 6) >> 5) & 0x7;
// For human steering override we must not disable controls when eac_status == 0
// Additional safety: we could only allow eac_status == 0 when we have human steering allowed
if (controls_allowed && (eac_status != 0) && (eac_status != 1) && (eac_status != 2)) {
@@ -102,7 +102,7 @@ static void tesla_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
}
//get latest steering wheel angle
if (addr == 0x00E) {
float angle_meas_now = (int)(((((to_push->RDLR & 0x3F) << 8) + ((to_push->RDLR >> 8) & 0xFF)) * 0.1) - 819.2);
float angle_meas_now = (int)(((((GET_BYTE(to_push, 0) & 0x3F) << 8) + GET_BYTE(to_push, 1)) * 0.1) - 819.2);
uint32_t ts = TIM2->CNT;
uint32_t ts_elapsed = get_ts_elapsed(ts, tesla_ts_angle_last);
@@ -146,10 +146,10 @@ static int tesla_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
// do not transmit CAN message if steering angle too high
// DAS_steeringControl::DAS_steeringAngleRequest
if (addr == 0x488) {
float angle_raw = ((to_send->RDLR & 0x7F) << 8) + ((to_send->RDLR & 0xFF00) >> 8);
float angle_raw = ((GET_BYTE(to_send, 0) & 0x7F) << 8) + GET_BYTE(to_send, 1);
float desired_angle = (angle_raw * 0.1) - 1638.35;
bool violation = 0;
int st_enabled = (to_send->RDLR & 0x400000) >> 22;
int st_enabled = GET_BYTE(to_send, 2) & 0x40;
if (st_enabled == 0) {
//steering is not enabled, do not check angles and do send
@@ -204,10 +204,10 @@ static int tesla_fwd_hook(int bus_num, CAN_FIFOMailBox_TypeDef *to_fwd) {
bus_fwd = 2; // Custom EPAS bus
}
if (addr == 0x101) {
to_fwd->RDLR = to_fwd->RDLR | 0x4000; // 0x4000: WITH_ANGLE, 0xC000: WITH_BOTH (angle and torque)
uint32_t checksum = (((to_fwd->RDLR & 0xFF00) >> 8) + (to_fwd->RDLR & 0xFF) + 2) & 0xFF;
to_fwd->RDLR = to_fwd->RDLR & 0xFFFF;
to_fwd->RDLR = to_fwd->RDLR + (checksum << 16);
to_fwd->RDLR = GET_BYTES_04(to_fwd) | 0x4000; // 0x4000: WITH_ANGLE, 0xC000: WITH_BOTH (angle and torque)
uint32_t checksum = (GET_BYTE(to_fwd, 1) + GET_BYTE(to_fwd, 0) + 2) & 0xFF;
to_fwd->RDLR = GET_BYTES_04(to_fwd) & 0xFFFF;
to_fwd->RDLR = GET_BYTES_04(to_fwd) + (checksum << 16);
}
}
if (bus_num == 2) {
panda/board/safety/safety_toyota.h
+7 -7
View File
@@ -39,7 +39,7 @@ static void toyota_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
// get eps motor torque (0.66 factor in dbc)
if (addr == 0x260) {
int torque_meas_new = (((to_push->RDHR) & 0xFF00) | ((to_push->RDHR >> 16) & 0xFF));
int torque_meas_new = (GET_BYTE(to_push, 5) << 8) | GET_BYTE(to_push, 6);
torque_meas_new = to_signed(torque_meas_new, 16);
// scale by dbc_factor
@@ -56,7 +56,7 @@ static void toyota_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
// enter controls on rising edge of ACC, exit controls on ACC off
if (addr == 0x1D2) {
// 5th bit is CRUISE_ACTIVE
int cruise_engaged = to_push->RDLR & 0x20;
int cruise_engaged = GET_BYTE(to_push, 0) & 0x20;
if (!cruise_engaged) {
controls_allowed = 0;
}
@@ -69,7 +69,7 @@ static void toyota_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
// exit controls on rising edge of interceptor gas press
if (addr == 0x201) {
gas_interceptor_detected = 1;
int gas_interceptor = ((to_push->RDLR & 0xFF) << 8) | ((to_push->RDLR & 0xFF00) >> 8);
int gas_interceptor = GET_INTERCEPTOR(to_push);
if ((gas_interceptor > TOYOTA_GAS_INTERCEPTOR_THRESHOLD) &&
(gas_interceptor_prev <= TOYOTA_GAS_INTERCEPTOR_THRESHOLD) &&
long_controls_allowed) {
@@ -80,7 +80,7 @@ static void toyota_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
// exit controls on rising edge of gas press
if (addr == 0x2C1) {
int gas = (to_push->RDHR >> 16) & 0xFF;
int gas = GET_BYTE(to_push, 6) & 0xFF;
if ((gas > 0) && (toyota_gas_prev == 0) && !gas_interceptor_detected && long_controls_allowed) {
controls_allowed = 0;
}
@@ -115,7 +115,7 @@ static int toyota_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
// GAS PEDAL: safety check
if (addr == 0x200) {
if (!controls_allowed || !long_controls_allowed) {
if ((to_send->RDLR & 0xFFFF0000) != to_send->RDLR) {
if (GET_BYTE(to_send, 0) || GET_BYTE(to_send, 1)) {
tx = 0;
}
}
@@ -123,7 +123,7 @@ static int toyota_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
// ACCEL: safety check on byte 1-2
if (addr == 0x343) {
int desired_accel = ((to_send->RDLR & 0xFF) << 8) | ((to_send->RDLR >> 8) & 0xFF);
int desired_accel = (GET_BYTE(to_send, 0) << 8) | GET_BYTE(to_send, 1);
desired_accel = to_signed(desired_accel, 16);
if (!controls_allowed || !long_controls_allowed) {
if (desired_accel != 0) {
@@ -138,7 +138,7 @@ static int toyota_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
// STEER: safety check on bytes 2-3
if (addr == 0x2E4) {
int desired_torque = (to_send->RDLR & 0xFF00) | ((to_send->RDLR >> 16) & 0xFF);
int desired_torque = (GET_BYTE(to_send, 1) << 8) | GET_BYTE(to_send, 2);
desired_torque = to_signed(desired_torque, 16);
bool violation = 0;
panda/board/safety/safety_toyota_ipas.h
+6 -6
View File
@@ -39,7 +39,7 @@ static void toyota_ipas_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
if (addr == 0x260) {
// get driver steering torque
int16_t torque_driver_new = (((to_push->RDLR) & 0xFF00) | ((to_push->RDLR >> 16) & 0xFF));
int16_t torque_driver_new = (GET_BYTE(to_push, 1) << 8) | GET_BYTE(to_push, 2);
// update array of samples
update_sample(&torque_driver, torque_driver_new);
@@ -47,7 +47,7 @@ static void toyota_ipas_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
// get steer angle
if (addr == 0x25) {
int angle_meas_new = ((to_push->RDLR & 0xf) << 8) + ((to_push->RDLR & 0xff00) >> 8);
int angle_meas_new = ((GET_BYTE(to_push, 0) & 0xF) << 8) | GET_BYTE(to_push, 1);
uint32_t ts = TIM2->CNT;
angle_meas_new = to_signed(angle_meas_new, 12);
@@ -81,12 +81,12 @@ static void toyota_ipas_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
// get speed
if (addr == 0xb4) {
speed = ((float) (((to_push->RDHR) & 0xFF00) | ((to_push->RDHR >> 16) & 0xFF))) * 0.01 / 3.6;
speed = ((float)((GET_BYTE(to_push, 5) << 8) | GET_BYTE(to_push, 6))) * 0.01 / 3.6;
}
// get ipas state
if (addr == 0x262) {
ipas_state = (to_push->RDLR & 0xf);
ipas_state = GET_BYTE(to_push, 0) & 0xf;
}
// exit controls on high steering override
@@ -111,8 +111,8 @@ static int toyota_ipas_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
if ((addr == 0x266) || (addr == 0x167)) {
angle_control = 1; // we are in angle control mode
int desired_angle = ((to_send->RDLR & 0xf) << 8) + ((to_send->RDLR & 0xff00) >> 8);
int ipas_state_cmd = ((to_send->RDLR & 0xff) >> 4);
int desired_angle = ((GET_BYTE(to_send, 0) & 0xF) << 8) | GET_BYTE(to_send, 1);
int ipas_state_cmd = GET_BYTE(to_send, 0) >> 4;
bool violation = 0;
desired_angle = to_signed(desired_angle, 12);
panda/board/safety_declarations.h
+3 -4
View File
@@ -1,7 +1,3 @@
#define GET_BUS(msg) (((msg)->RDTR >> 4) & 0xFF)
#define GET_LEN(msg) ((msg)->RDTR & 0xf)
#define GET_ADDR(msg) ((((msg)->RIR & 4) != 0) ? ((msg)->RIR >> 3) : ((msg)->RIR >> 21))
// sample struct that keeps 3 samples in memory
struct sample_t {
int values[6];
@@ -54,3 +50,6 @@ int gas_interceptor_prev = 0;
// This is set by USB command 0xdf
bool long_controls_allowed = 1;
// avg between 2 tracks
#define GET_INTERCEPTOR(msg) (((GET_BYTE((msg), 0) << 8) + GET_BYTE((msg), 1) + ((GET_BYTE((msg), 2) << 8) + GET_BYTE((msg), 3)) / 2 ) / 2)
panda/board/spi_flasher.h
+22 -10
View File
@@ -92,16 +92,26 @@ int usb_cb_control_msg(USB_Setup_TypeDef *setup, uint8_t *resp, bool hardwired)
return resp_len;
}
int usb_cb_ep1_in(uint8_t *usbdata, int len, bool hardwired) { return 0; }
void usb_cb_ep3_out(uint8_t *usbdata, int len, bool hardwired) { }
int usb_cb_ep1_in(void *usbdata, int len, bool hardwired) {
UNUSED(usbdata);
UNUSED(len);
UNUSED(hardwired);
return 0;
}
void usb_cb_ep3_out(void *usbdata, int len, bool hardwired) {
UNUSED(usbdata);
UNUSED(len);
UNUSED(hardwired);
}
int is_enumerated = 0;
void usb_cb_enumeration_complete() {
void usb_cb_enumeration_complete(void) {
puts("USB enumeration complete\n");
is_enumerated = 1;
}
void usb_cb_ep2_out(uint8_t *usbdata, int len, bool hardwired) {
void usb_cb_ep2_out(void *usbdata, int len, bool hardwired) {
UNUSED(hardwired);
set_led(LED_RED, 0);
for (int i = 0; i < len/4; i++) {
// program byte 1
@@ -118,6 +128,7 @@ void usb_cb_ep2_out(uint8_t *usbdata, int len, bool hardwired) {
int spi_cb_rx(uint8_t *data, int len, uint8_t *data_out) {
UNUSED(len);
int resp_len = 0;
switch (data[0]) {
case 0:
@@ -140,7 +151,7 @@ int spi_cb_rx(uint8_t *data, int len, uint8_t *data_out) {
#define CAN_BL_INPUT 0x1
#define CAN_BL_OUTPUT 0x2
void CAN1_TX_IRQHandler() {
void CAN1_TX_IRQHandler(void) {
// clear interrupt
CAN->TSR |= CAN_TSR_RQCP0;
}
@@ -167,12 +178,13 @@ void bl_can_send(uint8_t *odat) {
CAN->sTxMailBox[0].TIR = (CAN_BL_OUTPUT << 21) | 1;
}
void CAN1_RX0_IRQHandler() {
void CAN1_RX0_IRQHandler(void) {
while (CAN->RF0R & CAN_RF0R_FMP0) {
if ((CAN->sFIFOMailBox[0].RIR>>21) == CAN_BL_INPUT) {
uint8_t dat[8];
((uint32_t*)dat)[0] = CAN->sFIFOMailBox[0].RDLR;
((uint32_t*)dat)[1] = CAN->sFIFOMailBox[0].RDHR;
for (int i = 0; i < 8; i++) {
dat[0] = GET_BYTE(&CAN->sFIFOMailBox[0], i);
}
uint8_t odat[8];
uint8_t type = dat[0] & 0xF0;
if (type == 0x30) {
@@ -241,13 +253,13 @@ void CAN1_RX0_IRQHandler() {
}
}
void CAN1_SCE_IRQHandler() {
void CAN1_SCE_IRQHandler(void) {
llcan_clear_send(CAN);
}
#endif
void soft_flasher_start() {
void soft_flasher_start(void) {
puts("\n\n\n************************ FLASHER START ************************\n");
enter_bootloader_mode = 0;
panda/board/startup_stm32f205xx.s
+20 -20
View File
@@ -4,7 +4,7 @@
* @author MCD Application Team
* @version V2.1.2
* @date 29-June-2016
* @brief STM32F205xx Devices vector table for Atollic TrueSTUDIO toolchain.
* @brief STM32F205xx Devices vector table for Atollic TrueSTUDIO toolchain.
* This module performs:
* - Set the initial SP
* - Set the initial PC == Reset_Handler,
@@ -42,7 +42,7 @@
*
******************************************************************************
*/
.syntax unified
.cpu cortex-m3
.thumb
@@ -50,10 +50,10 @@
.global g_pfnVectors
.global Default_Handler
/* start address for the initialization values of the .data section.
/* start address for the initialization values of the .data section.
defined in linker script */
.word _sidata
/* start address for the .data section. defined in linker script */
/* start address for the .data section. defined in linker script */
.word _sdata
/* end address for the .data section. defined in linker script */
.word _edata
@@ -67,7 +67,7 @@ defined in linker script */
* @brief This is the code that gets called when the processor first
* starts execution following a reset event. Only the absolutely
* necessary set is performed, after which the application
* supplied main() routine is called.
* supplied main() routine is called.
* @param None
* @retval : None
*/
@@ -75,7 +75,7 @@ defined in linker script */
.section .text.Reset_Handler
.weak Reset_Handler
.type Reset_Handler, %function
Reset_Handler:
Reset_Handler:
ldr sp, =_estack /* set stack pointer */
bl __initialize_hardware_early
@@ -88,7 +88,7 @@ CopyDataInit:
ldr r3, [r3, r1]
str r3, [r0, r1]
adds r1, r1, #4
LoopCopyDataInit:
ldr r0, =_sdata
ldr r3, =_edata
@@ -101,7 +101,7 @@ LoopCopyDataInit:
FillZerobss:
movs r3, #0
str r3, [r2], #4
LoopFillZerobss:
ldr r3, = _ebss
cmp r2, r3
@@ -113,15 +113,15 @@ LoopFillZerobss:
/*bl __libc_init_array*/
/* Call the application's entry point.*/
bl main
bx lr
bx lr
.size Reset_Handler, .-Reset_Handler
/**
* @brief This is the code that gets called when the processor receives an
* @brief This is the code that gets called when the processor receives an
* unexpected interrupt. This simply enters an infinite loop, preserving
* the system state for examination by a debugger.
* @param None
* @retval None
* @param None
* @retval None
*/
.section .text.Default_Handler,"ax",%progbits
Default_Handler:
@@ -133,14 +133,14 @@ Infinite_Loop:
* The minimal vector table for a Cortex M3. Note that the proper constructs
* must be placed on this to ensure that it ends up at physical address
* 0x0000.0000.
*
*
*******************************************************************************/
.section .isr_vector,"a",%progbits
.type g_pfnVectors, %object
.size g_pfnVectors, .-g_pfnVectors
g_pfnVectors:
.word _estack
.word Reset_Handler
@@ -159,7 +159,7 @@ g_pfnVectors:
.word 0
.word PendSV_Handler
.word SysTick_Handler
/* External Interrupts */
.word WWDG_IRQHandler /* Window WatchDog */
.word PVD_IRQHandler /* PVD through EXTI Line detection */
@@ -248,7 +248,7 @@ g_pfnVectors:
* Provide weak aliases for each Exception handler to the Default_Handler.
* As they are weak aliases, any function with the same name will override
* this definition.
*
*
*******************************************************************************/
.weak NMI_Handler
.thumb_set NMI_Handler,Default_Handler
@@ -302,7 +302,7 @@ g_pfnVectors:
.thumb_set EXTI1_IRQHandler,Default_Handler
.weak EXTI2_IRQHandler
.thumb_set EXTI2_IRQHandler,Default_Handler
.thumb_set EXTI2_IRQHandler,Default_Handler
.weak EXTI3_IRQHandler
.thumb_set EXTI3_IRQHandler,Default_Handler
@@ -320,7 +320,7 @@ g_pfnVectors:
.thumb_set DMA1_Stream2_IRQHandler,Default_Handler
.weak DMA1_Stream3_IRQHandler
.thumb_set DMA1_Stream3_IRQHandler,Default_Handler
.thumb_set DMA1_Stream3_IRQHandler,Default_Handler
.weak DMA1_Stream4_IRQHandler
.thumb_set DMA1_Stream4_IRQHandler,Default_Handler
@@ -432,7 +432,7 @@ g_pfnVectors:
.weak SPI3_IRQHandler
.thumb_set SPI3_IRQHandler,Default_Handler
.weak UART4_IRQHandler
.thumb_set UART4_IRQHandler,Default_Handler
panda/board/startup_stm32f413xx.s
+29 -29
View File
@@ -4,7 +4,7 @@
* @author MCD Application Team
* @version V2.6.0
* @date 04-November-2016
* @brief STM32F413xx Devices vector table for GCC based toolchains.
* @brief STM32F413xx Devices vector table for GCC based toolchains.
* This module performs:
* - Set the initial SP
* - Set the initial PC == Reset_Handler,
@@ -42,7 +42,7 @@
*
******************************************************************************
*/
.syntax unified
.cpu cortex-m4
.fpu softvfp
@@ -51,7 +51,7 @@
.global g_pfnVectors
.global Default_Handler
/* start address for the initialization values of the .data section.
/* start address for the initialization values of the .data section.
defined in linker script */
.word _sidata
/* start address for the .data section. defined in linker script */
@@ -68,7 +68,7 @@ defined in linker script */
* @brief This is the code that gets called when the processor first
* starts execution following a reset event. Only the absolutely
* necessary set is performed, after which the application
* supplied main() routine is called.
* supplied main() routine is called.
* @param None
* @retval : None
*/
@@ -76,7 +76,7 @@ defined in linker script */
.section .text.Reset_Handler
.weak Reset_Handler
.type Reset_Handler, %function
Reset_Handler:
Reset_Handler:
ldr sp, =_estack /* set stack pointer */
bl __initialize_hardware_early
@@ -89,7 +89,7 @@ CopyDataInit:
ldr r3, [r3, r1]
str r3, [r0, r1]
adds r1, r1, #4
LoopCopyDataInit:
ldr r0, =_sdata
ldr r3, =_edata
@@ -102,7 +102,7 @@ LoopCopyDataInit:
FillZerobss:
movs r3, #0
str r3, [r2], #4
LoopFillZerobss:
ldr r3, = _ebss
cmp r2, r3
@@ -114,15 +114,15 @@ LoopFillZerobss:
/* bl __libc_init_array */
/* Call the application's entry point.*/
bl main
bx lr
bx lr
.size Reset_Handler, .-Reset_Handler
/**
* @brief This is the code that gets called when the processor receives an
* @brief This is the code that gets called when the processor receives an
* unexpected interrupt. This simply enters an infinite loop, preserving
* the system state for examination by a debugger.
* @param None
* @retval None
* @param None
* @retval None
*/
.section .text.Default_Handler,"ax",%progbits
Default_Handler:
@@ -134,12 +134,12 @@ Infinite_Loop:
* The minimal vector table for a Cortex M3. Note that the proper constructs
* must be placed on this to ensure that it ends up at physical address
* 0x0000.0000.
*
*
*******************************************************************************/
.section .isr_vector,"a",%progbits
.type g_pfnVectors, %object
.size g_pfnVectors, .-g_pfnVectors
g_pfnVectors:
.word _estack
.word Reset_Handler
@@ -261,11 +261,11 @@ g_pfnVectors:
.word DFSDM2_FLT1_IRQHandler /* DFSDM2 Filter1 */
.word DFSDM2_FLT2_IRQHandler /* DFSDM2 Filter2 */
.word DFSDM2_FLT3_IRQHandler /* DFSDM2 Filter3 */
/*******************************************************************************
*
* Provide weak aliases for each Exception handler to the Default_Handler.
* As they are weak aliases, any function with the same name will override
* Provide weak aliases for each Exception handler to the Default_Handler.
* As they are weak aliases, any function with the same name will override
* this definition.
*
*******************************************************************************/
@@ -277,7 +277,7 @@ g_pfnVectors:
.weak MemManage_Handler
.thumb_set MemManage_Handler,Default_Handler
.weak BusFault_Handler
.thumb_set BusFault_Handler,Default_Handler
@@ -321,7 +321,7 @@ g_pfnVectors:
.thumb_set EXTI1_IRQHandler,Default_Handler
.weak EXTI2_IRQHandler
.thumb_set EXTI2_IRQHandler,Default_Handler
.thumb_set EXTI2_IRQHandler,Default_Handler
.weak EXTI3_IRQHandler
.thumb_set EXTI3_IRQHandler,Default_Handler
@@ -439,9 +439,9 @@ g_pfnVectors:
.weak DMA1_Stream7_IRQHandler
.thumb_set DMA1_Stream7_IRQHandler,Default_Handler
.weak FSMC_IRQHandler
.thumb_set FSMC_IRQHandler,Default_Handler
.thumb_set FSMC_IRQHandler,Default_Handler
.weak SDIO_IRQHandler
.thumb_set SDIO_IRQHandler,Default_Handler
@@ -451,12 +451,12 @@ g_pfnVectors:
.weak SPI3_IRQHandler
.thumb_set SPI3_IRQHandler,Default_Handler
.weak UART4_IRQHandler
.thumb_set UART4_IRQHandler,Default_Handler
.weak UART5_IRQHandler
.thumb_set UART5_IRQHandler,Default_Handler
.thumb_set UART5_IRQHandler,Default_Handler
.weak TIM6_DAC_IRQHandler
.thumb_set TIM6_DAC_IRQHandler,Default_Handler
@@ -517,7 +517,7 @@ g_pfnVectors:
.weak I2C3_ER_IRQHandler
.thumb_set I2C3_ER_IRQHandler,Default_Handler
.weak CAN3_TX_IRQHandler
.thumb_set CAN3_TX_IRQHandler,Default_Handler
@@ -528,26 +528,26 @@ g_pfnVectors:
.thumb_set CAN3_RX1_IRQHandler,Default_Handler
.weak CAN3_SCE_IRQHandler
.thumb_set CAN3_SCE_IRQHandler,Default_Handler
.thumb_set CAN3_SCE_IRQHandler,Default_Handler
.weak RNG_IRQHandler
.thumb_set RNG_IRQHandler,Default_Handler
.weak FPU_IRQHandler
.thumb_set FPU_IRQHandler,Default_Handler
.weak UART7_IRQHandler
.thumb_set UART7_IRQHandler,Default_Handler
.weak UART8_IRQHandler
.thumb_set UART8_IRQHandler,Default_Handler
.thumb_set UART8_IRQHandler,Default_Handler
.weak SPI4_IRQHandler
.thumb_set SPI4_IRQHandler,Default_Handler
.weak SPI5_IRQHandler
.thumb_set SPI5_IRQHandler,Default_Handler
.weak SAI1_IRQHandler
.thumb_set SAI1_IRQHandler,Default_Handler
@@ -555,7 +555,7 @@ g_pfnVectors:
.thumb_set UART9_IRQHandler,Default_Handler
.weak UART10_IRQHandler
.thumb_set UART10_IRQHandler,Default_Handler
.thumb_set UART10_IRQHandler,Default_Handler
.weak QUADSPI_IRQHandler
.thumb_set QUADSPI_IRQHandler,Default_Handler
@@ -565,7 +565,7 @@ g_pfnVectors:
.weak FMPI2C1_ER_IRQHandler
.thumb_set FMPI2C1_ER_IRQHandler,Default_Handler
.weak LPTIM1_IRQHandler
.thumb_set LPTIM1_IRQHandler,Default_Handler