mirror of
https://github.com/firestar5683/StarPilot.git
synced 2026-08-24 17:53:43 +08:00
Compare commits
9 Commits
| Author | SHA1 | Date | |
|---|---|---|---|
 Vehicle Researcher
|
a64b9aa9b8 | ||
|
George Hotz
|
0138eca61d | ||
|
Mutley
|
139a40de29 | ||
|
Vehicle Researcher
|
17d9becd3c | ||
|
Vehicle Researcher
|
449b482cc3 | ||
|
espes
|
a7e099c946 | ||
|
espes
|
610462be5a | ||
|
Ariel Nuñez
|
207d32668f | ||
|
Vehicle Researcher
|
e94a30bec0 |
-19
@@ -1,19 +0,0 @@
|
||||
---
|
||||
Checks: '
|
||||
bugprone-*,
|
||||
-bugprone-integer-division,
|
||||
-bugprone-narrowing-conversions,
|
||||
performance-*,
|
||||
clang-analyzer-*,
|
||||
misc-*,
|
||||
-misc-unused-parameters,
|
||||
modernize-*,
|
||||
-modernize-avoid-c-arrays,
|
||||
-modernize-deprecated-headers,
|
||||
-modernize-use-auto,
|
||||
-modernize-use-using,
|
||||
-modernize-use-nullptr,
|
||||
-modernize-use-trailing-return-type,
|
||||
'
|
||||
CheckOptions:
|
||||
...
|
||||
@@ -1,5 +0,0 @@
|
||||
Wen
|
||||
REGIST
|
||||
PullRequest
|
||||
cancelled
|
||||
FOF
|
||||
@@ -1,39 +0,0 @@
|
||||
**/.git
|
||||
.DS_Store
|
||||
*.dylib
|
||||
*.DSYM
|
||||
*.d
|
||||
*.pyc
|
||||
*.pyo
|
||||
.*.swp
|
||||
.*.swo
|
||||
.*.un~
|
||||
*.tmp
|
||||
*.o
|
||||
*.o-*
|
||||
*.os
|
||||
*.os-*
|
||||
*.so
|
||||
*.a
|
||||
|
||||
venv/
|
||||
.venv/
|
||||
|
||||
notebooks
|
||||
phone
|
||||
massivemap
|
||||
neos
|
||||
installer
|
||||
chffr/app2
|
||||
chffr/backend/env
|
||||
selfdrive/nav
|
||||
selfdrive/baseui
|
||||
selfdrive/test/simulator2
|
||||
**/cache_data
|
||||
xx/plus
|
||||
xx/community
|
||||
xx/projects
|
||||
!xx/projects/eon_testing_master
|
||||
!xx/projects/map3d
|
||||
xx/ops
|
||||
xx/junk
|
||||
@@ -1,11 +0,0 @@
|
||||
root = true
|
||||
|
||||
[*]
|
||||
end_of_line = lf
|
||||
insert_final_newline = true
|
||||
trim_trailing_whitespace = true
|
||||
|
||||
[*.{py,pyx,pxd}]
|
||||
charset = utf-8
|
||||
indent_style = space
|
||||
indent_size = 2
|
||||
@@ -1,21 +0,0 @@
|
||||
* text=auto
|
||||
|
||||
# to move existing files into LFS:
|
||||
# git add --renormalize .
|
||||
*.onnx filter=lfs diff=lfs merge=lfs -text
|
||||
*.svg filter=lfs diff=lfs merge=lfs -text
|
||||
*.png filter=lfs diff=lfs merge=lfs -text
|
||||
*.gif filter=lfs diff=lfs merge=lfs -text
|
||||
*.ttf filter=lfs diff=lfs merge=lfs -text
|
||||
*.wav filter=lfs diff=lfs merge=lfs -text
|
||||
|
||||
selfdrive/car/tests/test_models_segs.txt filter=lfs diff=lfs merge=lfs -text
|
||||
system/hardware/tici/updater filter=lfs diff=lfs merge=lfs -text
|
||||
third_party/**/*.a filter=lfs diff=lfs merge=lfs -text
|
||||
third_party/**/*.so filter=lfs diff=lfs merge=lfs -text
|
||||
third_party/**/*.so.* filter=lfs diff=lfs merge=lfs -text
|
||||
third_party/**/*.dylib filter=lfs diff=lfs merge=lfs -text
|
||||
third_party/acados/*/t_renderer filter=lfs diff=lfs merge=lfs -text
|
||||
third_party/qt5/larch64/bin/lrelease filter=lfs diff=lfs merge=lfs -text
|
||||
third_party/qt5/larch64/bin/lupdate filter=lfs diff=lfs merge=lfs -text
|
||||
third_party/catch2/include/catch2/catch.hpp filter=lfs diff=lfs merge=lfs -text
|
||||
@@ -1,11 +0,0 @@
|
||||
* @sunnypilot/dev-internal
|
||||
/.github/ @devtekve @sunnyhaibin
|
||||
/release/ci/ @devtekve @sunnyhaibin
|
||||
/tinygrad_repo @devtekve @Discountchubbs
|
||||
/tinygrad/ @devtekve @Discountchubbs
|
||||
/selfdrive/controls/lib/longitudinal_planner.py @devtekve @Discountchubbs
|
||||
/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py @devtekve @Discountchubbs
|
||||
/selfdrive/modeld/ @devtekve @Discountchubbs
|
||||
/sunnypilot/model* @devtekve @Discountchubbs
|
||||
/sunnypilot/sunnylink/ @devtekve
|
||||
/system/athena/ @devtekve
|
||||
@@ -1,47 +0,0 @@
|
||||
name: Bug report
|
||||
description: For issues with running openpilot on your comma device
|
||||
labels: ["bug"]
|
||||
body:
|
||||
|
||||
- type: markdown
|
||||
attributes:
|
||||
value: >
|
||||
Before creating a **bug report**, please check the following:
|
||||
* If the issue likely only affects your car model or make, go back and open a **car bug report** instead.
|
||||
* If the issue is related to the driving or driver monitoring models, you should open a [discussion](https://github.com/commaai/openpilot/discussions/categories/model-feedback) instead.
|
||||
* Ensure you're running the latest openpilot release.
|
||||
* Ensure you're using officially supported hardware. Issues running on PCs have a different issue template.
|
||||
* Ensure there isn't an existing issue for your bug. If there is, leave a comment on the existing issue.
|
||||
* Ensure you're running stock openpilot. We cannot look into bug reports from forks.
|
||||
|
||||
If you're unsure whether you've hit a bug, check out the #installation-help channel in the [community Discord server](https://discord.comma.ai).
|
||||
|
||||
- type: textarea
|
||||
attributes:
|
||||
label: Describe the bug
|
||||
description: Also include a description of how to reproduce the bug
|
||||
validations:
|
||||
required: true
|
||||
|
||||
- type: input
|
||||
id: route
|
||||
attributes:
|
||||
label: Provide a route where the issue occurs
|
||||
description: Ensure the route is fully uploaded at https://useradmin.comma.ai. We cannot look into issues without routes, or at least a Dongle ID.
|
||||
placeholder: 77611a1fac303767|2020-05-11--16-37-07
|
||||
validations:
|
||||
required: true
|
||||
|
||||
- type: input
|
||||
id: version
|
||||
attributes:
|
||||
label: openpilot version
|
||||
description: If you're not on release, provide the commit hash
|
||||
placeholder: 0.8.10
|
||||
validations:
|
||||
required: true
|
||||
|
||||
- type: textarea
|
||||
attributes:
|
||||
label: Additional info
|
||||
|
||||
@@ -1,14 +0,0 @@
|
||||
blank_issues_enabled: false
|
||||
contact_links:
|
||||
- name: Car bug report
|
||||
url: https://github.com/commaai/opendbc/issues/new
|
||||
about: For issues with a particular car make or model
|
||||
- name: Join the Discord
|
||||
url: https://discord.comma.ai
|
||||
about: The community Discord is for both openpilot development and experience discussion
|
||||
- name: Report driving behavior feedback
|
||||
url: https://discord.com/channels/469524606043160576/1254834193066623017
|
||||
about: Feedback for the driving and driver monitoring models goes in the #driving-feedback in Discord
|
||||
- name: Community Wiki
|
||||
url: https://github.com/commaai/openpilot/wiki
|
||||
about: Check out our community wiki
|
||||
@@ -1,8 +0,0 @@
|
||||
---
|
||||
name: Enhancement
|
||||
about: For openpilot enhancement suggestions
|
||||
title: ''
|
||||
labels: 'enhancement'
|
||||
assignees: ''
|
||||
---
|
||||
|
||||
@@ -1,42 +0,0 @@
|
||||
name: PC bug report
|
||||
description: For issues with running openpilot on PC
|
||||
labels: ["PC"]
|
||||
body:
|
||||
|
||||
- type: markdown
|
||||
attributes:
|
||||
value: >
|
||||
Before creating a **bug report**, please check the following:
|
||||
* Ensure you're running the latest openpilot release.
|
||||
* Ensure there isn't an existing issue for your bug. If there is, leave a comment on the existing issue.
|
||||
* Ensure you're running stock openpilot. We cannot look into bug reports from forks.
|
||||
|
||||
If you're unsure whether you've hit a bug, check out the #installation-help channel in the [community Discord server](https://discord.comma.ai).
|
||||
|
||||
- type: textarea
|
||||
attributes:
|
||||
label: Describe the bug
|
||||
description: Also include a description of how to reproduce the bug
|
||||
validations:
|
||||
required: true
|
||||
|
||||
- type: input
|
||||
id: os-version
|
||||
attributes:
|
||||
label: OS Version
|
||||
placeholder: Ubuntu 24.04
|
||||
validations:
|
||||
required: true
|
||||
|
||||
- type: input
|
||||
id: version
|
||||
attributes:
|
||||
label: openpilot version or commit
|
||||
placeholder: bd36f2ec8d3559909678eff2690c10a520938367
|
||||
validations:
|
||||
required: false
|
||||
|
||||
- type: textarea
|
||||
attributes:
|
||||
label: Additional info
|
||||
|
||||
@@ -1,31 +0,0 @@
|
||||
ci:
|
||||
- changed-files:
|
||||
- any-glob-to-all-files: "{.github/**,**/test_*,**/test/**,Jenkinsfile}"
|
||||
|
||||
chore:
|
||||
- changed-files:
|
||||
- any-glob-to-all-files: "{.github/**}"
|
||||
|
||||
car:
|
||||
- changed-files:
|
||||
- any-glob-to-all-files: '{selfdrive/car/**,opendbc_repo}'
|
||||
|
||||
simulation:
|
||||
- changed-files:
|
||||
- any-glob-to-all-files: 'tools/sim/**'
|
||||
|
||||
ui:
|
||||
- changed-files:
|
||||
- any-glob-to-all-files: '{selfdrive/ui/**,system/ui/**}'
|
||||
|
||||
tools:
|
||||
- changed-files:
|
||||
- any-glob-to-all-files: 'tools/**'
|
||||
|
||||
multilanguage:
|
||||
- changed-files:
|
||||
- any-glob-to-all-files: 'selfdrive/ui/translations/**'
|
||||
|
||||
autonomy:
|
||||
- changed-files:
|
||||
- any-glob-to-all-files: "{selfdrive/modeld/models/**,selfdrive/test/process_replay/model_replay_ref_commit,sunnypilot/modeld*/models/**}"
|
||||
@@ -1,68 +0,0 @@
|
||||
<!-- Please copy and paste the relevant template -->
|
||||
|
||||
<!--- ***** Template: Fingerprint *****
|
||||
|
||||
**Car**
|
||||
Which car (make, model, year) this fingerprint is for
|
||||
|
||||
**Route**
|
||||
A route with the fingerprint
|
||||
|
||||
-->
|
||||
|
||||
<!--- ***** Template: Car Bugfix *****
|
||||
|
||||
**Description**
|
||||
|
||||
A description of the bug and the fix. Also link the issue if it exists.
|
||||
|
||||
**Verification**
|
||||
|
||||
Explain how you tested this bug fix.
|
||||
|
||||
**Route**
|
||||
|
||||
Route: [a route with the bug fix]
|
||||
|
||||
|
||||
-->
|
||||
|
||||
<!--- ***** Template: Bugfix *****
|
||||
|
||||
**Description**
|
||||
|
||||
A description of the bug and the fix. Also link the issue if it exists.
|
||||
|
||||
**Verification**
|
||||
|
||||
Explain how you tested this bug fix.
|
||||
|
||||
|
||||
-->
|
||||
|
||||
<!--- ***** Template: Car Port *****
|
||||
|
||||
**Checklist**
|
||||
|
||||
- [ ] added entry to CAR in selfdrive/car/*/values.py and ran `selfdrive/car/docs.py` to generate new docs
|
||||
- [ ] test route added to [routes.py](https://github.com/commaai/openpilot/blob/master/selfdrive/car/tests/routes.py)
|
||||
- [ ] route with openpilot:
|
||||
- [ ] route with stock system:
|
||||
- [ ] car harness used (if comma doesn't sell it, put N/A):
|
||||
|
||||
|
||||
-->
|
||||
|
||||
<!--- ***** Template: Refactor *****
|
||||
|
||||
**Description**
|
||||
|
||||
A description of the refactor, including the goals it accomplishes.
|
||||
|
||||
**Verification**
|
||||
|
||||
Explain how you tested the refactor for regressions.
|
||||
|
||||
|
||||
-->
|
||||
|
||||
@@ -1,43 +0,0 @@
|
||||
exclude-labels:
|
||||
- 'no-changelog'
|
||||
categories:
|
||||
- title: '🚀 Features'
|
||||
labels:
|
||||
- 'feature'
|
||||
- 'enhancement'
|
||||
- title: '🐛 Bug Fixes'
|
||||
collapse-after: 5
|
||||
labels:
|
||||
- 'fix'
|
||||
- 'bugfix'
|
||||
- 'bug'
|
||||
- title: '🧰 Maintenance'
|
||||
collapse-after: 5
|
||||
label: 'chore'
|
||||
change-template: '- $TITLE @$AUTHOR (#$NUMBER)'
|
||||
change-title-escapes: '\<*_&'
|
||||
replacers:
|
||||
- search: '/[Ss][Uu][Nn][Nn][Yy][Pp][Ii][Ll][Oo][Tt]/g'
|
||||
replace: 'sunnypilot'
|
||||
- search: '/\b[Ss][Pp]\b/g'
|
||||
replace: 'SP'
|
||||
version-resolver:
|
||||
major:
|
||||
labels:
|
||||
- 'major'
|
||||
minor:
|
||||
labels:
|
||||
- 'minor'
|
||||
patch:
|
||||
labels:
|
||||
- 'patch'
|
||||
default: patch
|
||||
name-template: 'v$RESOLVED_VERSION 🚀'
|
||||
tag-template: 'v$RESOLVED_VERSION'
|
||||
version-template: "0.$MAJOR.$MINOR.$PATCH" # The day OP becomes v1, we need to bump this
|
||||
tag-prefix: "v0." # The day OP becomes v1, we need to bump this
|
||||
prerelease-identifier: "staging"
|
||||
template: |
|
||||
## Changes
|
||||
|
||||
$CHANGES
|
||||
@@ -1,58 +0,0 @@
|
||||
name: 'automatically cache based on current runner'
|
||||
|
||||
inputs:
|
||||
path:
|
||||
description: 'path to cache'
|
||||
required: true
|
||||
key:
|
||||
description: 'key'
|
||||
required: true
|
||||
restore-keys:
|
||||
description: 'restore-keys'
|
||||
required: true
|
||||
save:
|
||||
description: 'whether to save the cache'
|
||||
default: 'true'
|
||||
required: false
|
||||
outputs:
|
||||
cache-hit:
|
||||
description: 'cache hit occurred'
|
||||
value: ${{ (contains(runner.name, 'nsc') && steps.ns-cache.outputs.cache-hit) ||
|
||||
(!contains(runner.name, 'nsc') && inputs.save != 'false' && steps.gha-cache.outputs.cache-hit) ||
|
||||
(!contains(runner.name, 'nsc') && inputs.save == 'false' && steps.gha-cache-ro.outputs.cache-hit) }}
|
||||
|
||||
runs:
|
||||
using: "composite"
|
||||
steps:
|
||||
- name: setup namespace cache
|
||||
id: ns-cache
|
||||
if: ${{ contains(runner.name, 'nsc') }}
|
||||
uses: namespacelabs/nscloud-cache-action@v1
|
||||
with:
|
||||
path: ${{ inputs.path }}
|
||||
|
||||
- name: setup github cache
|
||||
id: gha-cache
|
||||
if: ${{ !contains(runner.name, 'nsc') && inputs.save != 'false' }}
|
||||
uses: 'actions/cache@v4'
|
||||
with:
|
||||
path: ${{ inputs.path }}
|
||||
key: ${{ inputs.key }}
|
||||
restore-keys: ${{ inputs.restore-keys }}
|
||||
|
||||
- name: setup github cache
|
||||
id: gha-cache-ro
|
||||
if: ${{ !contains(runner.name, 'nsc') && inputs.save == 'false' }}
|
||||
uses: 'actions/cache/restore@v4'
|
||||
with:
|
||||
path: ${{ inputs.path }}
|
||||
key: ${{ inputs.key }}
|
||||
restore-keys: ${{ inputs.restore-keys }}
|
||||
|
||||
# make the directory manually in case we didn't get a hit, so it doesn't fail on future steps
|
||||
- id: scons-cache-setup
|
||||
shell: bash
|
||||
run: |
|
||||
mkdir -p ${{ inputs.path }}
|
||||
sudo chmod -R 777 ${{ inputs.path }}
|
||||
sudo chown -R $USER ${{ inputs.path }}
|
||||
@@ -1,91 +0,0 @@
|
||||
name: "PR review"
|
||||
on:
|
||||
pull_request_target:
|
||||
types: [ opened, reopened, synchronize, edited ]
|
||||
|
||||
jobs:
|
||||
labeler:
|
||||
name: review
|
||||
permissions:
|
||||
contents: read
|
||||
pull-requests: write
|
||||
issues: write
|
||||
runs-on: ubuntu-latest
|
||||
steps:
|
||||
- uses: actions/checkout@v4
|
||||
with:
|
||||
submodules: false
|
||||
|
||||
# Label PRs
|
||||
- uses: actions/labeler@v5.0.0
|
||||
with:
|
||||
dot: true
|
||||
configuration-path: .github/labeler.yaml
|
||||
|
||||
# Check PR target branch
|
||||
- name: check branch
|
||||
uses: Vankka/pr-target-branch-action@def32ec9d93514138d6ac0132ee62e120a72aed5
|
||||
if: github.repository == 'sunnypilot/sunnypilot'
|
||||
env:
|
||||
GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
|
||||
with:
|
||||
target: /^(?!master$).*/
|
||||
exclude: /sunnypilot:.*/
|
||||
change-to: ${{ github.base_ref }}
|
||||
already-exists-action: close_this
|
||||
already-exists-comment: "Your PR should be made against the `master` branch"
|
||||
|
||||
update-pr-labels:
|
||||
name: Update fork's PR Labels
|
||||
runs-on: ubuntu-latest
|
||||
if: (github.event.pull_request.head.repo.fork && (contains(github.event_name, 'pull_request') && github.event.action == 'synchronize'))
|
||||
env:
|
||||
PR_LABEL: 'dev-c3'
|
||||
TRUST_FORK_PR_LABEL: 'trust-fork-pr'
|
||||
steps:
|
||||
- name: Check if PR has dev-c3 label
|
||||
id: check-labels
|
||||
uses: actions/github-script@v7
|
||||
with:
|
||||
github-token: ${{ secrets.GITHUB_TOKEN }}
|
||||
script: |
|
||||
const prNumber = context.payload.pull_request.number;
|
||||
const { data: labels } = await github.rest.issues.listLabelsOnIssue({
|
||||
owner: context.repo.owner,
|
||||
repo: context.repo.repo,
|
||||
issue_number: prNumber
|
||||
});
|
||||
|
||||
const hasDevC3Label = labels.some(label => label.name === process.env.PR_LABEL);
|
||||
const hasTrustLabel = labels.some(label => label.name === process.env.TRUST_FORK_PR_LABEL);
|
||||
|
||||
console.log(`PR #${prNumber} has ${process.env.PR_LABEL} label: ${hasDevC3Label}`);
|
||||
console.log(`PR #${prNumber} has ${process.env.TRUST_FORK_PR_LABEL} label: ${hasTrustLabel}`);
|
||||
|
||||
core.setOutput('has-dev-c3', hasDevC3Label ? 'true' : 'false');
|
||||
core.setOutput('has-trust', hasTrustLabel ? 'true' : 'false');
|
||||
|
||||
- name: Remove trust-fork-pr label if present
|
||||
if: steps.check-labels.outputs.has-dev-c3 == 'true' && steps.check-labels.outputs.has-trust == 'true'
|
||||
uses: actions/github-script@v7
|
||||
with:
|
||||
github-token: ${{ secrets.GITHUB_TOKEN }}
|
||||
script: |
|
||||
const prNumber = context.payload.pull_request.number;
|
||||
|
||||
await github.rest.issues.removeLabel({
|
||||
owner: context.repo.owner,
|
||||
repo: context.repo.repo,
|
||||
issue_number: prNumber,
|
||||
name: process.env.TRUST_FORK_PR_LABEL
|
||||
});
|
||||
|
||||
console.log(`Removed '${process.env.TRUST_FORK_PR_LABEL}' label from PR #${prNumber} as it received new commits`);
|
||||
|
||||
// Add a comment to the PR
|
||||
await github.rest.issues.createComment({
|
||||
owner: context.repo.owner,
|
||||
repo: context.repo.repo,
|
||||
issue_number: prNumber,
|
||||
body: `The \`${process.env.TRUST_FORK_PR_LABEL}\` label has been automatically removed because new commits were pushed to this PR. This PR will need to be re-reviewed before the label can be applied again.`
|
||||
});
|
||||
@@ -1,37 +0,0 @@
|
||||
name: badges
|
||||
on:
|
||||
schedule:
|
||||
- cron: '0 * * * *'
|
||||
workflow_dispatch:
|
||||
|
||||
env:
|
||||
BASE_IMAGE: sunnypilot-base
|
||||
DOCKER_REGISTRY: ghcr.io/sunnypilot
|
||||
RUN: docker run --shm-size 2G -v $PWD:/tmp/openpilot -w /tmp/openpilot -e PYTHONPATH=/tmp/openpilot -e NUM_JOBS -e JOB_ID -e GITHUB_ACTION -e GITHUB_REF -e GITHUB_HEAD_REF -e GITHUB_SHA -e GITHUB_REPOSITORY -e GITHUB_RUN_ID -v $GITHUB_WORKSPACE/.ci_cache/scons_cache:/tmp/scons_cache -v $GITHUB_WORKSPACE/.ci_cache/comma_download_cache:/tmp/comma_download_cache -v $GITHUB_WORKSPACE/.ci_cache/openpilot_cache:/tmp/openpilot_cache $DOCKER_REGISTRY/$BASE_IMAGE:latest /bin/bash -c
|
||||
|
||||
jobs:
|
||||
badges:
|
||||
name: create badges
|
||||
runs-on: ubuntu-latest
|
||||
if: github.repository == 'sunnypilot/sunnypilot'
|
||||
permissions:
|
||||
contents: write
|
||||
steps:
|
||||
- uses: actions/checkout@v4
|
||||
with:
|
||||
submodules: true
|
||||
- uses: ./.github/workflows/setup-with-retry
|
||||
- name: Push badges
|
||||
run: |
|
||||
${{ env.RUN }} "scons -j$(nproc) && python3 selfdrive/ui/translations/create_badges.py"
|
||||
|
||||
rm .gitattributes
|
||||
|
||||
git checkout --orphan badges
|
||||
git rm -rf --cached .
|
||||
git config user.email "badge-researcher@sunnypilot.ai"
|
||||
git config user.name "Badge Researcher"
|
||||
|
||||
git add translation_badge.svg
|
||||
git commit -m "Add/Update badges"
|
||||
git push -f origin HEAD
|
||||
@@ -1,303 +0,0 @@
|
||||
name: Build and push all tinygrad models
|
||||
|
||||
on:
|
||||
workflow_dispatch:
|
||||
inputs:
|
||||
set_min_version:
|
||||
description: 'Minimum selector version required for the models (see helpers.py or readme.md)'
|
||||
required: true
|
||||
type: string
|
||||
|
||||
jobs:
|
||||
setup:
|
||||
runs-on: ubuntu-latest
|
||||
outputs:
|
||||
json_version: ${{ steps.get-json.outputs.json_version }}
|
||||
recompiled_dir: ${{ steps.create-recompiled-dir.outputs.recompiled_dir }}
|
||||
json_file: ${{ steps.get-json.outputs.json_file }}
|
||||
model_matrix: ${{ steps.set-matrix.outputs.model_matrix }}
|
||||
tinygrad_ref: ${{ steps.get-tinygrad-ref.outputs.tinygrad_ref }}
|
||||
steps:
|
||||
- name: Checkout sunnypilot repo
|
||||
uses: actions/checkout@v4
|
||||
with:
|
||||
repository: sunnypilot/sunnypilot
|
||||
path: sunnypilot
|
||||
submodules: recursive
|
||||
|
||||
- name: Get tinygrad_repo ref
|
||||
id: get-tinygrad-ref
|
||||
run: |
|
||||
cd sunnypilot
|
||||
export PYTHONPATH=$(pwd)
|
||||
ref=$(python3 sunnypilot/models/tinygrad_ref.py)
|
||||
echo "tinygrad_ref=$ref" >> $GITHUB_OUTPUT
|
||||
echo "tinygrad_ref is $ref"
|
||||
|
||||
- name: Checkout docs repo (sunnypilot-docs, gh-pages)
|
||||
uses: actions/checkout@v4
|
||||
with:
|
||||
repository: sunnypilot/sunnypilot-docs
|
||||
ref: gh-pages
|
||||
path: docs
|
||||
ssh-key: ${{ secrets.CI_SUNNYPILOT_DOCS_PRIVATE_KEY }}
|
||||
|
||||
- name: Get next JSON version to use (from GitHub docs repo)
|
||||
id: get-json
|
||||
run: |
|
||||
cd docs/docs
|
||||
latest=$(ls driving_models_v*.json | sed -E 's/.*_v([0-9]+)\.json/\1/' | sort -n | tail -1)
|
||||
next=$((latest+1))
|
||||
json_file="driving_models_v${next}.json"
|
||||
cp "driving_models_v${latest}.json" "$json_file"
|
||||
echo "json_file=docs/docs/$json_file" >> $GITHUB_OUTPUT
|
||||
echo "json_version=$((next+0))" >> $GITHUB_OUTPUT
|
||||
echo "SRC_JSON_FILE=docs/docs/driving_models_v${latest}.json" >> $GITHUB_ENV
|
||||
|
||||
- name: Extract tinygrad models
|
||||
id: set-matrix
|
||||
working-directory: docs/docs
|
||||
run: |
|
||||
jq -c '[.bundles[] | select(.runner=="tinygrad") | {ref, display_name: (.display_name | gsub(" \\([^)]*\\)"; "")), is_20hz}]' "$(basename "${SRC_JSON_FILE}")" > matrix.json
|
||||
echo "model_matrix=$(cat matrix.json)" >> $GITHUB_OUTPUT
|
||||
|
||||
- name: Set up SSH
|
||||
uses: webfactory/ssh-agent@v0.9.0
|
||||
with:
|
||||
ssh-private-key: ${{ secrets.GITLAB_SSH_PRIVATE_KEY }}
|
||||
- run: |
|
||||
mkdir -p ~/.ssh
|
||||
ssh-keyscan -H gitlab.com >> ~/.ssh/known_hosts
|
||||
|
||||
- name: Clone GitLab docs repo and create new recompiled dir
|
||||
id: create-recompiled-dir
|
||||
env:
|
||||
GIT_SSH_COMMAND: 'ssh -o UserKnownHostsFile=~/.ssh/known_hosts'
|
||||
run: |
|
||||
git clone --depth 1 --filter=tree:0 --sparse git@gitlab.com:sunnypilot/public/docs.sunnypilot.ai2.git gitlab_docs
|
||||
cd gitlab_docs
|
||||
git checkout main
|
||||
git sparse-checkout set --no-cone models/
|
||||
cd models
|
||||
latest_dir=$(ls -d recompiled* 2>/dev/null | sed -E 's/recompiled([0-9]+)/\1/' | sort -n | tail -1)
|
||||
if [[ -z "$latest_dir" ]]; then
|
||||
next_dir=1
|
||||
else
|
||||
next_dir=$((latest_dir+1))
|
||||
fi
|
||||
recompiled_dir="${next_dir}"
|
||||
mkdir -p "recompiled${recompiled_dir}"
|
||||
touch "recompiled${recompiled_dir}/.gitkeep"
|
||||
cd ../..
|
||||
echo "recompiled_dir=$recompiled_dir" >> $GITHUB_OUTPUT
|
||||
|
||||
- name: Push empty recompiled dir to GitLab
|
||||
run: |
|
||||
cd gitlab_docs
|
||||
git add models/recompiled${{ steps.create-recompiled-dir.outputs.recompiled_dir }}
|
||||
git config --global user.name "GitHub Action"
|
||||
git config --global user.email "action@github.com"
|
||||
git commit -m "Add recompiled${{ steps.create-recompiled-dir.outputs.recompiled_dir }} for build-all" || echo "No changes to commit"
|
||||
git push origin main
|
||||
|
||||
- name: Push new JSON to GitHub docs repo
|
||||
run: |
|
||||
cd docs
|
||||
git pull origin gh-pages
|
||||
git add docs/"$(basename ${{ steps.get-json.outputs.json_file }})"
|
||||
git config --global user.name "GitHub Action"
|
||||
git config --global user.email "action@github.com"
|
||||
git commit -m "Add new ${{ steps.get-json.outputs.json_file }} for build-all" || echo "No changes to commit"
|
||||
git push origin gh-pages
|
||||
|
||||
get_and_build:
|
||||
needs: [setup]
|
||||
strategy:
|
||||
matrix:
|
||||
model: ${{ fromJson(needs.setup.outputs.model_matrix) }}
|
||||
fail-fast: false
|
||||
uses: ./.github/workflows/build-single-tinygrad-model.yaml
|
||||
with:
|
||||
upstream_branch: ${{ matrix.model.ref }}
|
||||
custom_name: ${{ matrix.model.display_name }}
|
||||
recompiled_dir: ${{ needs.setup.outputs.recompiled_dir }}
|
||||
json_version: ${{ needs.setup.outputs.json_version }}
|
||||
secrets: inherit
|
||||
|
||||
retry_failed_models:
|
||||
needs: [setup, get_and_build]
|
||||
runs-on: ubuntu-latest
|
||||
if: ${{ needs.setup.result != 'failure' && !cancelled() }}
|
||||
outputs:
|
||||
retry_matrix: ${{ steps.set-retry-matrix.outputs.retry_matrix }}
|
||||
steps:
|
||||
- uses: actions/download-artifact@v4
|
||||
with:
|
||||
pattern: model-*
|
||||
path: output
|
||||
|
||||
- id: set-retry-matrix
|
||||
run: |
|
||||
echo '${{ needs.setup.outputs.model_matrix }}' > matrix.json
|
||||
built=(); while IFS= read -r line; do built+=("$line"); done < <(
|
||||
ls output | sed -E 's/^model-//' | sed -E 's/-[0-9]+$//' | sed -E 's/ \([^)]*\)//' | awk '{gsub(/^ +| +$/, ""); print}'
|
||||
)
|
||||
jq -c --argjson built "$(printf '%s\n' "${built[@]}" | jq -R . | jq -s .)" \
|
||||
'map(select(.display_name as $n | ($built | index($n | gsub("^ +| +$"; "")) | not)))' matrix.json > retry_matrix.json
|
||||
echo "retry_matrix=$(cat retry_matrix.json)" >> $GITHUB_OUTPUT
|
||||
|
||||
retry_get_and_build:
|
||||
needs: [setup, get_and_build, retry_failed_models]
|
||||
if: ${{ needs.get_and_build.result == 'failure' || (needs.retry_failed_models.outputs.retry_matrix != '[]' && needs.retry_failed_models.outputs.retry_matrix != '') }}
|
||||
strategy:
|
||||
matrix:
|
||||
model: ${{ fromJson(needs.retry_failed_models.outputs.retry_matrix) }}
|
||||
fail-fast: false
|
||||
uses: ./.github/workflows/build-single-tinygrad-model.yaml
|
||||
with:
|
||||
upstream_branch: ${{ matrix.model.ref }}
|
||||
custom_name: ${{ matrix.model.display_name }}
|
||||
recompiled_dir: ${{ needs.setup.outputs.recompiled_dir }}
|
||||
json_version: ${{ needs.setup.outputs.json_version }}
|
||||
artifact_suffix: -retry
|
||||
secrets: inherit
|
||||
|
||||
publish_models:
|
||||
name: Publish models sequentially
|
||||
needs: [setup, get_and_build, retry_failed_models, retry_get_and_build]
|
||||
if: ${{ !cancelled() && (needs.get_and_build.result != 'failure' || needs.retry_get_and_build.result == 'success' || (needs.retry_failed_models.outputs.retry_matrix != '[]' && needs.retry_failed_models.outputs.retry_matrix != '')) }}
|
||||
runs-on: ubuntu-latest
|
||||
strategy:
|
||||
max-parallel: 1
|
||||
matrix:
|
||||
model: ${{ fromJson(needs.setup.outputs.model_matrix) }}
|
||||
env:
|
||||
RECOMPILED_DIR: recompiled${{ needs.setup.outputs.recompiled_dir }}
|
||||
JSON_FILE: ${{ needs.setup.outputs.json_file }}
|
||||
ARTIFACT_NAME_INPUT: ${{ matrix.model.display_name }}
|
||||
steps:
|
||||
- name: Set up SSH
|
||||
uses: webfactory/ssh-agent@v0.9.0
|
||||
with:
|
||||
ssh-private-key: ${{ secrets.GITLAB_SSH_PRIVATE_KEY }}
|
||||
|
||||
- name: Add GitLab.com SSH key to known_hosts
|
||||
run: |
|
||||
mkdir -p ~/.ssh
|
||||
ssh-keyscan -H gitlab.com >> ~/.ssh/known_hosts
|
||||
|
||||
- name: Clone GitLab docs repo
|
||||
env:
|
||||
GIT_SSH_COMMAND: 'ssh -o UserKnownHostsFile=~/.ssh/known_hosts'
|
||||
run: |
|
||||
echo "Cloning GitLab"
|
||||
git clone --depth 1 --filter=tree:0 --sparse git@gitlab.com:sunnypilot/public/docs.sunnypilot.ai2.git gitlab_docs
|
||||
cd gitlab_docs
|
||||
echo "checkout models/${RECOMPILED_DIR}"
|
||||
git sparse-checkout set --no-cone models/${RECOMPILED_DIR}
|
||||
git checkout main
|
||||
cd ..
|
||||
|
||||
- name: Checkout docs repo
|
||||
uses: actions/checkout@v4
|
||||
with:
|
||||
repository: sunnypilot/sunnypilot-docs
|
||||
ref: gh-pages
|
||||
path: docs
|
||||
ssh-key: ${{ secrets.CI_SUNNYPILOT_DOCS_PRIVATE_KEY }}
|
||||
|
||||
- name: Validate recompiled dir and JSON version
|
||||
run: |
|
||||
if [ ! -d "gitlab_docs/models/$RECOMPILED_DIR" ]; then
|
||||
echo "Recompiled dir $RECOMPILED_DIR does not exist in GitLab repo"
|
||||
exit 1
|
||||
fi
|
||||
if [ ! -f "$JSON_FILE" ]; then
|
||||
echo "JSON file $JSON_FILE does not exist!"
|
||||
exit 1
|
||||
fi
|
||||
|
||||
- name: Download artifact name file
|
||||
uses: actions/download-artifact@v4
|
||||
with:
|
||||
name: artifact-name-${{ env.ARTIFACT_NAME_INPUT }}
|
||||
path: artifact_name
|
||||
|
||||
- name: Read artifact name
|
||||
id: read-artifact-name
|
||||
run: |
|
||||
ARTIFACT_NAME=$(cat artifact_name/artifact_name.txt)
|
||||
echo "artifact_name=$ARTIFACT_NAME" >> $GITHUB_OUTPUT
|
||||
|
||||
- name: Download model artifact
|
||||
uses: actions/download-artifact@v4
|
||||
with:
|
||||
name: ${{ steps.read-artifact-name.outputs.artifact_name }}
|
||||
path: output
|
||||
|
||||
- name: Remove onnx files bc not needed for recompiled dir since they already exist from single build
|
||||
run: |
|
||||
find output -type f -name '*.onnx' -delete
|
||||
find output -type f -name 'big_*.pkl' -delete
|
||||
find output -type f -name 'dmonitoring_model_tinygrad.pkl' -delete
|
||||
|
||||
- name: Copy model artifacts to gitlab
|
||||
env:
|
||||
ARTIFACT_NAME: ${{ steps.read-artifact-name.outputs.artifact_name }}
|
||||
run: |
|
||||
ARTIFACT_DIR="gitlab_docs/models/${RECOMPILED_DIR}/${ARTIFACT_NAME}"
|
||||
mkdir -p "$ARTIFACT_DIR"
|
||||
for path in output/*; do
|
||||
if [ "$(basename "$path")" = "artifact_name.txt" ]; then
|
||||
continue
|
||||
fi
|
||||
name="$(basename "$path")"
|
||||
if [ -d "$path" ]; then
|
||||
mkdir -p "$ARTIFACT_DIR/$name"
|
||||
cp -r "$path"/* "$ARTIFACT_DIR/$name/"
|
||||
echo "Copied dir $name -> $ARTIFACT_DIR/$name"
|
||||
else
|
||||
cp "$path" "$ARTIFACT_DIR/"
|
||||
echo "Copied file $name -> $ARTIFACT_DIR/"
|
||||
fi
|
||||
done
|
||||
|
||||
- name: Push recompiled dir to GitLab
|
||||
env:
|
||||
GITLAB_SSH_PRIVATE_KEY: ${{ secrets.GITLAB_SSH_PRIVATE_KEY }}
|
||||
run: |
|
||||
cd gitlab_docs
|
||||
git checkout main
|
||||
git pull origin main
|
||||
for d in models/"$RECOMPILED_DIR"/*/; do
|
||||
git sparse-checkout add "$d"
|
||||
done
|
||||
git add models/"$RECOMPILED_DIR"
|
||||
git config --global user.name "GitHub Action"
|
||||
git config --global user.email "action@github.com"
|
||||
git commit -m "Update $RECOMPILED_DIR with model from build-all-tinygrad-models" || echo "No changes to commit"
|
||||
git push origin main
|
||||
- run: |
|
||||
cd docs
|
||||
git pull origin gh-pages
|
||||
|
||||
- name: update json
|
||||
run: |
|
||||
ARGS=""
|
||||
[ -n "${{ inputs.set_min_version }}" ] && ARGS="$ARGS --set-min-version \"${{ inputs.set_min_version }}\""
|
||||
ARGS="$ARGS --sort-by-date"
|
||||
ARGS="$ARGS --tinygrad-ref \"${{ needs.setup.outputs.tinygrad_ref }}\""
|
||||
eval python3 docs/json_parser.py \
|
||||
--json-path "$JSON_FILE" \
|
||||
--recompiled-dir "gitlab_docs/models/$RECOMPILED_DIR" \
|
||||
$ARGS
|
||||
|
||||
- name: Push updated json to GitHub
|
||||
run: |
|
||||
cd docs
|
||||
git config --global user.name "GitHub Action"
|
||||
git config --global user.email "action@github.com"
|
||||
git checkout gh-pages
|
||||
git add docs/"$(basename $JSON_FILE)"
|
||||
git commit -m "Update $(basename $JSON_FILE) after recompiling model" || echo "No changes to commit"
|
||||
git push origin gh-pages
|
||||
@@ -1,228 +0,0 @@
|
||||
name: Build Single Tinygrad Model and Push
|
||||
|
||||
on:
|
||||
workflow_call:
|
||||
inputs:
|
||||
upstream_branch:
|
||||
description: 'Upstream commit to build from'
|
||||
required: true
|
||||
type: string
|
||||
custom_name:
|
||||
description: 'Custom name for the model (no date, only name)'
|
||||
required: false
|
||||
type: string
|
||||
recompiled_dir:
|
||||
description: 'Existing recompiled directory number (e.g. 3 for recompiled3)'
|
||||
required: true
|
||||
type: string
|
||||
json_version:
|
||||
description: 'driving_models version number to update (e.g. 5 for driving_models_v5.json)'
|
||||
required: true
|
||||
type: string
|
||||
artifact_suffix:
|
||||
description: 'Suffix for artifact name'
|
||||
required: false
|
||||
type: string
|
||||
default: ''
|
||||
bypass_push:
|
||||
description: 'Bypass pushing to GitLab for build-all'
|
||||
required: false
|
||||
default: true
|
||||
type: boolean
|
||||
workflow_dispatch:
|
||||
inputs:
|
||||
upstream_branch:
|
||||
description: 'Upstream commit to build from'
|
||||
required: true
|
||||
type: string
|
||||
custom_name:
|
||||
description: 'Custom name for the model (no date, only name)'
|
||||
required: false
|
||||
type: string
|
||||
recompiled_dir:
|
||||
description: 'Existing recompiled directory number (e.g. 3 for recompiled3)'
|
||||
required: true
|
||||
type: string
|
||||
json_version:
|
||||
description: 'driving_models version number to update (e.g. 5 for driving_models_v5.json)'
|
||||
required: true
|
||||
type: string
|
||||
model_folder:
|
||||
description: 'Model folder'
|
||||
type: choice
|
||||
default: 'None'
|
||||
options:
|
||||
- None
|
||||
- Simple Plan Models
|
||||
- Space Lab Models
|
||||
- TR Models
|
||||
- DTR Models
|
||||
- Custom Merge Models
|
||||
- FOF series models
|
||||
- Other
|
||||
custom_model_folder:
|
||||
description: 'Custom model folder name (if "Other" selected)'
|
||||
required: false
|
||||
type: string
|
||||
generation:
|
||||
description: 'Model generation'
|
||||
required: false
|
||||
type: string
|
||||
version:
|
||||
description: 'Minimum selector version'
|
||||
required: false
|
||||
type: string
|
||||
env:
|
||||
RECOMPILED_DIR: recompiled${{ inputs.recompiled_dir }}
|
||||
JSON_FILE: docs/docs/driving_models_v${{ inputs.json_version }}.json
|
||||
|
||||
jobs:
|
||||
build_model:
|
||||
uses: ./.github/workflows/sunnypilot-build-model.yaml
|
||||
with:
|
||||
upstream_branch: ${{ inputs.upstream_branch }}
|
||||
custom_name: ${{ inputs.custom_name || inputs.upstream_branch }}
|
||||
is_20hz: true
|
||||
artifact_suffix: ${{ inputs.artifact_suffix }}
|
||||
secrets: inherit
|
||||
|
||||
publish_model:
|
||||
if: ${{ !inputs.bypass_push && !cancelled() }}
|
||||
concurrency:
|
||||
group: gitlab-push-${{ inputs.recompiled_dir }}
|
||||
cancel-in-progress: false
|
||||
needs: build_model
|
||||
runs-on: ubuntu-latest
|
||||
steps:
|
||||
- name: Set up SSH
|
||||
uses: webfactory/ssh-agent@v0.9.0
|
||||
with:
|
||||
ssh-private-key: ${{ secrets.GITLAB_SSH_PRIVATE_KEY }}
|
||||
|
||||
- name: Add GitLab.com SSH key to known_hosts
|
||||
run: |
|
||||
mkdir -p ~/.ssh
|
||||
ssh-keyscan -H gitlab.com >> ~/.ssh/known_hosts
|
||||
|
||||
- name: Clone GitLab docs repo
|
||||
env:
|
||||
GIT_SSH_COMMAND: 'ssh -o UserKnownHostsFile=~/.ssh/known_hosts'
|
||||
run: |
|
||||
echo "Cloning GitLab"
|
||||
git clone --depth 1 --filter=tree:0 --sparse git@gitlab.com:sunnypilot/public/docs.sunnypilot.ai2.git gitlab_docs
|
||||
cd gitlab_docs
|
||||
echo "checkout models/${RECOMPILED_DIR}"
|
||||
git sparse-checkout set --no-cone models/${RECOMPILED_DIR}
|
||||
git checkout main
|
||||
cd ..
|
||||
|
||||
- name: Checkout docs repo
|
||||
uses: actions/checkout@v4
|
||||
with:
|
||||
repository: sunnypilot/sunnypilot-docs
|
||||
ref: gh-pages
|
||||
path: docs
|
||||
ssh-key: ${{ secrets.CI_SUNNYPILOT_DOCS_PRIVATE_KEY }}
|
||||
|
||||
- name: Validate recompiled dir and JSON version
|
||||
run: |
|
||||
if [ ! -d "gitlab_docs/models/$RECOMPILED_DIR" ]; then
|
||||
echo "Recompiled dir $RECOMPILED_DIR does not exist in GitLab repo"
|
||||
exit 1
|
||||
fi
|
||||
if [ ! -f "$JSON_FILE" ]; then
|
||||
echo "JSON file $JSON_FILE does not exist!"
|
||||
exit 1
|
||||
fi
|
||||
|
||||
- name: Download artifact name file
|
||||
uses: actions/download-artifact@v4
|
||||
with:
|
||||
name: artifact-name-${{ inputs.custom_name || inputs.upstream_branch }}
|
||||
path: artifact_name
|
||||
|
||||
- name: Read artifact name
|
||||
id: read-artifact-name
|
||||
run: |
|
||||
ARTIFACT_NAME=$(cat artifact_name/artifact_name.txt)
|
||||
echo "artifact_name=$ARTIFACT_NAME" >> $GITHUB_OUTPUT
|
||||
|
||||
- name: Download and extract model artifact
|
||||
uses: actions/download-artifact@v4
|
||||
with:
|
||||
name: ${{ steps.read-artifact-name.outputs.artifact_name }}
|
||||
path: output
|
||||
|
||||
- name: Remove unwanted files
|
||||
run: |
|
||||
find output -type f -name 'dmonitoring_model_tinygrad.pkl' -delete
|
||||
find output -type f -name 'dmonitoring_model.onnx' -delete
|
||||
|
||||
- name: Copy model artifact(s) to GitLab recompiled dir
|
||||
env:
|
||||
ARTIFACT_NAME: ${{ steps.read-artifact-name.outputs.artifact_name }}
|
||||
run: |
|
||||
ARTIFACT_DIR="gitlab_docs/models/${RECOMPILED_DIR}/${ARTIFACT_NAME}"
|
||||
mkdir -p "$ARTIFACT_DIR"
|
||||
for path in output/*; do
|
||||
if [ "$(basename "$path")" = "artifact_name.txt" ]; then
|
||||
continue
|
||||
fi
|
||||
name="$(basename "$path")"
|
||||
if [ -d "$path" ]; then
|
||||
mkdir -p "$ARTIFACT_DIR/$name"
|
||||
cp -r "$path"/* "$ARTIFACT_DIR/$name/"
|
||||
echo "Copied dir $name -> $ARTIFACT_DIR/$name"
|
||||
else
|
||||
cp "$path" "$ARTIFACT_DIR/"
|
||||
echo "Copied file $name -> $ARTIFACT_DIR/"
|
||||
fi
|
||||
done
|
||||
|
||||
- name: Push recompiled dir to GitLab
|
||||
env:
|
||||
GITLAB_SSH_PRIVATE_KEY: ${{ secrets.GITLAB_SSH_PRIVATE_KEY }}
|
||||
run: |
|
||||
cd gitlab_docs
|
||||
git checkout main
|
||||
git pull origin main
|
||||
for d in models/"$RECOMPILED_DIR"/*/; do
|
||||
git sparse-checkout add "$d"
|
||||
done
|
||||
git add models/"$RECOMPILED_DIR"
|
||||
git config --global user.name "GitHub Action"
|
||||
git config --global user.email "action@github.com"
|
||||
git commit -m "Create/Update $RECOMPILED_DIR with new/updated model from build-single-tinygrad-model" || echo "No changes to commit"
|
||||
git push origin main
|
||||
|
||||
- run: |
|
||||
cd docs
|
||||
git pull origin gh-pages
|
||||
|
||||
- name: Run json_parser.py to update JSON
|
||||
run: |
|
||||
FOLDER="${{ inputs.model_folder }}"
|
||||
if [ "$FOLDER" = "Other" ]; then
|
||||
FOLDER="${{ inputs.custom_model_folder }}"
|
||||
fi
|
||||
ARGS=""
|
||||
if [ "$FOLDER" != "None" ] && [ -n "$FOLDER" ]; then
|
||||
ARGS="$ARGS --model-folder \"$FOLDER\""
|
||||
fi
|
||||
[ -n "${{ inputs.generation }}" ] && ARGS="$ARGS --generation \"${{ inputs.generation }}\""
|
||||
[ -n "${{ inputs.version }}" ] && ARGS="$ARGS --version \"${{ inputs.version }}\""
|
||||
eval python3 docs/json_parser.py \
|
||||
--json-path "$JSON_FILE" \
|
||||
--recompiled-dir "gitlab_docs/models/$RECOMPILED_DIR" \
|
||||
--sort-by-date \
|
||||
$ARGS
|
||||
|
||||
- name: Push updated JSON to GitHub docs repo
|
||||
run: |
|
||||
cd docs
|
||||
git config --global user.name "GitHub Action"
|
||||
git config --global user.email "action@github.com"
|
||||
git checkout gh-pages
|
||||
git add docs/"$(basename $JSON_FILE)"
|
||||
git commit -m "Update $(basename $JSON_FILE) after recompiling model" || echo "No changes to commit"
|
||||
git push origin gh-pages
|
||||
@@ -1,76 +0,0 @@
|
||||
name: cereal validation
|
||||
|
||||
on:
|
||||
push:
|
||||
branches:
|
||||
- master
|
||||
pull_request:
|
||||
paths:
|
||||
- 'cereal/**'
|
||||
workflow_dispatch:
|
||||
workflow_call:
|
||||
inputs:
|
||||
run_number:
|
||||
default: '1'
|
||||
required: true
|
||||
type: string
|
||||
|
||||
concurrency:
|
||||
group: cereal-validation-ci-run-${{ inputs.run_number }}-${{ github.event_name == 'push' && github.ref == 'refs/heads/master' && github.run_id || github.head_ref || github.ref }}-${{ github.workflow }}-${{ github.event_name }}
|
||||
cancel-in-progress: true
|
||||
|
||||
env:
|
||||
PYTHONWARNINGS: error
|
||||
BASE_IMAGE: openpilot-base
|
||||
BUILD: selfdrive/test/docker_build.sh base
|
||||
RUN: docker run --shm-size 2G -v $PWD:/tmp/openpilot -w /tmp/openpilot -e CI=1 -e PYTHONWARNINGS=error -e FILEREADER_CACHE=1 -e PYTHONPATH=/tmp/openpilot -e NUM_JOBS -e JOB_ID -e GITHUB_ACTION -e GITHUB_REF -e GITHUB_HEAD_REF -e GITHUB_SHA -e GITHUB_REPOSITORY -e GITHUB_RUN_ID -v $GITHUB_WORKSPACE/.ci_cache/scons_cache:/tmp/scons_cache -v $GITHUB_WORKSPACE/.ci_cache/comma_download_cache:/tmp/comma_download_cache -v $GITHUB_WORKSPACE/.ci_cache/openpilot_cache:/tmp/openpilot_cache $BASE_IMAGE /bin/bash -c
|
||||
|
||||
jobs:
|
||||
generate_cereal_artifact:
|
||||
name: Generate cereal validation artifacts
|
||||
runs-on: ubuntu-24.04
|
||||
steps:
|
||||
- uses: actions/checkout@v4
|
||||
with:
|
||||
submodules: true
|
||||
- uses: ./.github/workflows/setup-with-retry
|
||||
- name: Build openpilot
|
||||
run: ${{ env.RUN }} "scons -j$(nproc) cereal"
|
||||
- name: Generate the log file
|
||||
run: |
|
||||
${{ env.RUN }} "cereal/messaging/tests/validate_sp_cereal_upstream.py -g -f schema_instances.bin" && \
|
||||
ls -la
|
||||
ls -la cereal/messaging/tests
|
||||
- name: 'Prepare artifact'
|
||||
run: |
|
||||
mkdir -p "cereal/messaging/tests/cereal_validations"
|
||||
cp cereal/messaging/tests/validate_sp_cereal_upstream.py "cereal/messaging/tests/cereal_validations/validate_sp_cereal_upstream.py"
|
||||
cp schema_instances.bin "cereal/messaging/tests/cereal_validations/schema_instances.bin"
|
||||
- name: 'Upload Artifact'
|
||||
uses: actions/upload-artifact@v4
|
||||
with:
|
||||
name: cereal_validations
|
||||
path: cereal/messaging/tests/cereal_validations
|
||||
|
||||
validate_cereal_with_upstream:
|
||||
name: Validate cereal with Upstream
|
||||
runs-on: ubuntu-24.04
|
||||
needs: generate_cereal_artifact
|
||||
steps:
|
||||
- uses: actions/checkout@v4
|
||||
with:
|
||||
repository: 'commaai/openpilot'
|
||||
submodules: true
|
||||
ref: "refs/heads/master"
|
||||
- uses: ./.github/workflows/setup-with-retry
|
||||
- name: Build openpilot
|
||||
run: ${{ env.RUN }} "scons -j$(nproc) cereal"
|
||||
- name: Download build artifacts
|
||||
uses: actions/download-artifact@v4
|
||||
with:
|
||||
name: cereal_validations
|
||||
path: cereal/messaging/tests/cereal_validations
|
||||
- name: 'Run the validation'
|
||||
run: |
|
||||
chmod +x cereal/messaging/tests/cereal_validations/validate_sp_cereal_upstream.py
|
||||
${{ env.RUN }} "cereal/messaging/tests/cereal_validations/validate_sp_cereal_upstream.py -r -f cereal/messaging/tests/cereal_validations/schema_instances.bin"
|
||||
@@ -1,101 +0,0 @@
|
||||
name: weekly CI test report
|
||||
on:
|
||||
schedule:
|
||||
- cron: '37 9 * * 1' # 9:37AM UTC -> 2:37AM PST every monday
|
||||
workflow_dispatch:
|
||||
inputs:
|
||||
ci_runs:
|
||||
description: 'The amount of runs to trigger in CI test report'
|
||||
concurrency:
|
||||
group: ${{ github.workflow }}-${{ github.ref }}
|
||||
cancel-in-progress: true
|
||||
|
||||
env:
|
||||
CI_RUNS: ${{ github.event.inputs.ci_runs || '50' }}
|
||||
|
||||
jobs:
|
||||
setup:
|
||||
if: github.repository == 'sunnypilot/sunnypilot'
|
||||
runs-on: ubuntu-latest
|
||||
outputs:
|
||||
ci_runs: ${{ steps.ci_runs_setup.outputs.matrix }}
|
||||
steps:
|
||||
- id: ci_runs_setup
|
||||
name: CI_RUNS=${{ env.CI_RUNS }}
|
||||
run: |
|
||||
matrix=$(python3 -c "import json; print(json.dumps({ 'run_number' : list(range(${{ env.CI_RUNS }})) }))")
|
||||
echo "matrix=$matrix" >> $GITHUB_OUTPUT
|
||||
|
||||
ci_matrix_run:
|
||||
needs: [ setup ]
|
||||
strategy:
|
||||
fail-fast: false
|
||||
matrix: ${{fromJSON(needs.setup.outputs.ci_runs)}}
|
||||
uses: sunnypilot/sunnypilot/.github/workflows/ci_weekly_run.yaml@master
|
||||
with:
|
||||
run_number: ${{ matrix.run_number }}
|
||||
|
||||
report:
|
||||
needs: [ci_matrix_run]
|
||||
runs-on: ubuntu-latest
|
||||
if: always()
|
||||
steps:
|
||||
- name: Get job results
|
||||
uses: actions/github-script@v7
|
||||
id: get-job-results
|
||||
with:
|
||||
script: |
|
||||
const jobs = await github
|
||||
.paginate("GET /repos/{owner}/{repo}/actions/runs/{run_id}/attempts/{attempt}/jobs", {
|
||||
owner: "commaai",
|
||||
repo: "${{ github.event.repository.name }}",
|
||||
run_id: "${{ github.run_id }}",
|
||||
attempt: "${{ github.run_attempt }}",
|
||||
})
|
||||
var report = {}
|
||||
jobs.slice(1, jobs.length-1).forEach(job => {
|
||||
if (job.conclusion === "skipped") return;
|
||||
const jobName = job.name.split(" / ")[2];
|
||||
const runRegex = /\((.*?)\)/;
|
||||
const run = job.name.match(runRegex)[1];
|
||||
report[jobName] = report[jobName] || { successes: [], failures: [], canceled: [] };
|
||||
switch (job.conclusion) {
|
||||
case "success":
|
||||
report[jobName].successes.push({ "run_number": run, "link": job.html_url}); break;
|
||||
case "failure":
|
||||
report[jobName].failures.push({ "run_number": run, "link": job.html_url }); break;
|
||||
case "canceled":
|
||||
report[jobName].canceled.push({ "run_number": run, "link": job.html_url }); break;
|
||||
}
|
||||
});
|
||||
return JSON.stringify({"jobs": report});
|
||||
|
||||
- name: Add job results to summary
|
||||
env:
|
||||
JOB_RESULTS: ${{ fromJSON(steps.get-job-results.outputs.result) }}
|
||||
run: |
|
||||
cat <<EOF >> template.html
|
||||
<table>
|
||||
<thead>
|
||||
<tr>
|
||||
<th></th>
|
||||
<th>Job</th>
|
||||
<th>✅ Passing</th>
|
||||
<th>❌ Failure Details</th>
|
||||
</tr>
|
||||
</thead>
|
||||
<tbody>
|
||||
{% for key in jobs.keys() %}<tr>
|
||||
<td>{% for i in range(5) %}{% if i+1 <= (5 * jobs[key]["successes"]|length // ${{ env.CI_RUNS }}) %}🟩{% else %}🟥{% endif %}{% endfor%}</td>
|
||||
<td>{{ key }}</td>
|
||||
<td>{{ 100 * jobs[key]["successes"]|length // ${{ env.CI_RUNS }} }}%</td>
|
||||
<td>{% if jobs[key]["failures"]|length > 0 %}<details>{% for failure in jobs[key]["failures"] %}<a href="{{ failure['link'] }}">Log for run #{{ failure['run_number'] }}</a><br>{% endfor %}</details>{% else %}{% endif %}</td>
|
||||
</td>
|
||||
</tr>{% endfor %}
|
||||
</table>
|
||||
EOF
|
||||
|
||||
pip install jinja2-cli
|
||||
echo $JOB_RESULTS | jinja2 template.html > report.html
|
||||
echo "# CI Test Report - ${{ env.CI_RUNS }} Runs" >> $GITHUB_STEP_SUMMARY
|
||||
cat report.html >> $GITHUB_STEP_SUMMARY
|
||||
@@ -1,17 +0,0 @@
|
||||
name: weekly CI test run
|
||||
on:
|
||||
workflow_call:
|
||||
inputs:
|
||||
run_number:
|
||||
required: true
|
||||
type: string
|
||||
|
||||
concurrency:
|
||||
group: ci-run-${{ inputs.run_number }}-${{ github.ref }}
|
||||
cancel-in-progress: true
|
||||
|
||||
jobs:
|
||||
selfdrive_tests:
|
||||
uses: sunnypilot/sunnypilot/.github/workflows/selfdrive_tests.yaml@master
|
||||
with:
|
||||
run_number: ${{ inputs.run_number }}
|
||||
@@ -1,21 +0,0 @@
|
||||
name: 'compile openpilot'
|
||||
|
||||
runs:
|
||||
using: "composite"
|
||||
steps:
|
||||
- shell: bash
|
||||
name: Build openpilot with all flags
|
||||
run: |
|
||||
${{ env.RUN }} "scons -j$(nproc)"
|
||||
${{ env.RUN }} "release/check-dirty.sh"
|
||||
- shell: bash
|
||||
name: Cleanup scons cache and rebuild
|
||||
run: |
|
||||
${{ env.RUN }} "rm -rf /tmp/scons_cache/* && \
|
||||
scons -j$(nproc) --cache-populate"
|
||||
- name: Save scons cache
|
||||
uses: actions/cache/save@v4
|
||||
if: github.ref == 'refs/heads/master'
|
||||
with:
|
||||
path: .ci_cache/scons_cache
|
||||
key: scons-${{ runner.arch }}-${{ env.CACHE_COMMIT_DATE }}-${{ github.sha }}
|
||||
@@ -1,65 +0,0 @@
|
||||
name: docs
|
||||
|
||||
on:
|
||||
push:
|
||||
branches:
|
||||
- master
|
||||
pull_request:
|
||||
workflow_call:
|
||||
inputs:
|
||||
run_number:
|
||||
default: '1'
|
||||
required: true
|
||||
type: string
|
||||
concurrency:
|
||||
group: docs-tests-ci-run-${{ inputs.run_number }}-${{ github.event_name == 'push' && github.ref == 'refs/heads/master' && github.run_id || github.head_ref || github.ref }}-${{ github.workflow }}-${{ github.event_name }}
|
||||
cancel-in-progress: true
|
||||
|
||||
jobs:
|
||||
docs:
|
||||
name: build docs
|
||||
runs-on: ubuntu-24.04
|
||||
steps:
|
||||
- uses: commaai/timeout@v1
|
||||
|
||||
- uses: actions/checkout@v4
|
||||
with:
|
||||
submodules: true
|
||||
|
||||
# Build
|
||||
- name: Build docs
|
||||
run: |
|
||||
# TODO: can we install just the "docs" dependency group without the normal deps?
|
||||
pip install mkdocs
|
||||
mkdocs build
|
||||
|
||||
# Push to docs.comma.ai
|
||||
- uses: actions/checkout@v4
|
||||
if: github.ref == 'refs/heads/master' && github.repository == 'sunnypilot/sunnypilot'
|
||||
with:
|
||||
path: openpilot-docs
|
||||
ssh-key: ${{ secrets.OPENPILOT_DOCS_KEY }}
|
||||
repository: sunnypilot/sunnypilot-docs
|
||||
- name: Push
|
||||
if: github.ref == 'refs/heads/master' && github.repository == 'sunnypilot/sunnypilot'
|
||||
run: |
|
||||
set -x
|
||||
|
||||
source release/identity.sh
|
||||
|
||||
cd openpilot-docs
|
||||
git checkout --orphan tmp
|
||||
git rm -rf .
|
||||
|
||||
# copy over docs
|
||||
cp -r ../docs_site/ docs/
|
||||
|
||||
# GitHub pages config
|
||||
touch docs/.nojekyll
|
||||
echo -n docs.comma.ai > docs/CNAME
|
||||
|
||||
git add -f .
|
||||
git commit -m "build docs"
|
||||
|
||||
# docs live in different repo to not bloat openpilot's full clone size
|
||||
git push -f origin tmp:gh-pages
|
||||
@@ -1,59 +0,0 @@
|
||||
name: jenkins scan
|
||||
|
||||
on:
|
||||
issue_comment:
|
||||
types: [created, edited]
|
||||
|
||||
jobs:
|
||||
# TODO: gc old branches in a separate job in this workflow
|
||||
scan-comments:
|
||||
runs-on: ubuntu-latest
|
||||
if: ${{ github.event.issue.pull_request }}
|
||||
permissions:
|
||||
contents: write
|
||||
issues: write
|
||||
steps:
|
||||
- name: Check for trigger phrase
|
||||
id: check_comment
|
||||
uses: actions/github-script@v7
|
||||
with:
|
||||
script: |
|
||||
const triggerPhrase = "trigger-jenkins";
|
||||
const comment = context.payload.comment.body;
|
||||
const commenter = context.payload.comment.user.login;
|
||||
|
||||
const { data: permissions } = await github.rest.repos.getCollaboratorPermissionLevel({
|
||||
owner: context.repo.owner,
|
||||
repo: context.repo.repo,
|
||||
username: commenter
|
||||
});
|
||||
|
||||
const hasWriteAccess = permissions.permission === 'write' || permissions.permission === 'admin';
|
||||
|
||||
return (hasWriteAccess && comment.includes(triggerPhrase));
|
||||
result-encoding: json
|
||||
|
||||
- name: Checkout repository
|
||||
if: steps.check_comment.outputs.result == 'true'
|
||||
uses: actions/checkout@v4
|
||||
with:
|
||||
ref: refs/pull/${{ github.event.issue.number }}/head
|
||||
|
||||
- name: Push to tmp-jenkins branch
|
||||
if: steps.check_comment.outputs.result == 'true'
|
||||
run: |
|
||||
git config --global user.name "github-actions[bot]"
|
||||
git config --global user.email "github-actions[bot]@users.noreply.github.com"
|
||||
git checkout -b tmp-jenkins-${{ github.event.issue.number }}
|
||||
GIT_LFS_SKIP_PUSH=1 git push -f origin tmp-jenkins-${{ github.event.issue.number }}
|
||||
|
||||
- name: Delete trigger comment
|
||||
if: steps.check_comment.outputs.result == 'true' && always()
|
||||
uses: actions/github-script@v7
|
||||
with:
|
||||
script: |
|
||||
await github.rest.issues.deleteComment({
|
||||
owner: context.repo.owner,
|
||||
repo: context.repo.repo,
|
||||
comment_id: context.payload.comment.id,
|
||||
});
|
||||
@@ -1,72 +0,0 @@
|
||||
name: Sync comma's LFS
|
||||
|
||||
env:
|
||||
LFS_URL: 'https://gitlab.com/sunnypilot/public/sunnypilot-new-lfs.git/info/lfs'
|
||||
LFS_PUSH_URL: 'ssh://git@gitlab.com/sunnypilot/public/sunnypilot-new-lfs.git'
|
||||
|
||||
on:
|
||||
schedule:
|
||||
- cron: '0 0 * * *' # Runs at 00:00 UTC every day
|
||||
push:
|
||||
branches:
|
||||
- 'master'
|
||||
pull_request:
|
||||
branches:
|
||||
- 'master'
|
||||
workflow_dispatch: # enables manual triggering
|
||||
inputs:
|
||||
upstream_branch:
|
||||
default: 'master'
|
||||
type: string
|
||||
|
||||
jobs:
|
||||
sync:
|
||||
runs-on: ubuntu-latest
|
||||
# Skip if PR is in draft mode
|
||||
if: (github.event_name != 'pull_request' || (github.event_name == 'pull_request' && github.event.pull_request.draft == false)) && !github.event.pull_request.head.repo.fork
|
||||
steps:
|
||||
- name: Checkout Repository
|
||||
uses: actions/checkout@v4
|
||||
with:
|
||||
repository: 'commaai/openpilot'
|
||||
ref: ${{ inputs.upstream_branch }}
|
||||
|
||||
- name: LFS Fetch
|
||||
run: |
|
||||
git lfs fetch
|
||||
|
||||
- name: Set up Git
|
||||
run: |
|
||||
git config --global user.name 'GitHub Action'
|
||||
git config --global user.email 'action@github.com'
|
||||
|
||||
- name: Set up SSH
|
||||
uses: webfactory/ssh-agent@v0.9.0
|
||||
with:
|
||||
ssh-private-key: ${{ secrets.SSH_PRIVATE_KEY }}
|
||||
|
||||
- name: Add GitLab public keys
|
||||
run: |
|
||||
ssh-keyscan -H gitlab.com >> ~/.ssh/known_hosts
|
||||
|
||||
- name: Ensure branch
|
||||
run: |
|
||||
if git symbolic-ref -q HEAD >/dev/null; then
|
||||
echo "Already on a branch, proceeding with push"
|
||||
else
|
||||
echo "Detached HEAD state detected, creating temporary branch"
|
||||
git checkout -b temp_branch
|
||||
fi
|
||||
|
||||
- name: Update LFS Config
|
||||
run: |
|
||||
echo '[lfs]' > .lfsconfig
|
||||
echo ' url = ${{ env.LFS_URL }}' >> .lfsconfig
|
||||
echo ' pushurl = ${{ env.LFS_PUSH_URL }}' >> .lfsconfig
|
||||
echo ' locksverify = false' >> .lfsconfig
|
||||
|
||||
- name: Push LFS
|
||||
id: sync-and-commit
|
||||
run: |
|
||||
git lfs ls-files -l
|
||||
git lfs push --all origin
|
||||
@@ -1,42 +0,0 @@
|
||||
name: "model review"
|
||||
|
||||
on:
|
||||
pull_request:
|
||||
types: [opened, reopened, synchronize]
|
||||
paths:
|
||||
- 'selfdrive/modeld/models/*.onnx'
|
||||
workflow_dispatch:
|
||||
|
||||
jobs:
|
||||
comment:
|
||||
permissions:
|
||||
contents: read
|
||||
pull-requests: write
|
||||
runs-on: ubuntu-latest
|
||||
if: github.repository == 'commaai/openpilot'
|
||||
steps:
|
||||
- name: Checkout
|
||||
uses: actions/checkout@v4
|
||||
- name: Checkout master
|
||||
uses: actions/checkout@v4
|
||||
with:
|
||||
ref: master
|
||||
path: base
|
||||
- run: git lfs pull
|
||||
- run: cd base && git lfs pull
|
||||
|
||||
- run: pip install onnx
|
||||
|
||||
- name: scripts/reporter.py
|
||||
id: report
|
||||
run: |
|
||||
echo "content<<EOF" >> $GITHUB_OUTPUT
|
||||
echo "## Model Review" >> $GITHUB_OUTPUT
|
||||
MASTER_PATH=${{ github.workspace }}/base python scripts/reporter.py >> $GITHUB_OUTPUT
|
||||
echo "EOF" >> $GITHUB_OUTPUT
|
||||
|
||||
- name: Post model report comment
|
||||
uses: marocchino/sticky-pull-request-comment@baa7203ed60924babbe5dcd0ac8eae3b66ec5e16
|
||||
with:
|
||||
header: model-review
|
||||
message: ${{ steps.report.outputs.content }}
|
||||
@@ -1,39 +0,0 @@
|
||||
name: prebuilt
|
||||
on:
|
||||
schedule:
|
||||
- cron: '0 * * * *'
|
||||
workflow_dispatch:
|
||||
|
||||
env:
|
||||
DOCKER_LOGIN: docker login ghcr.io -u ${{ github.actor }} -p ${{ secrets.GITHUB_TOKEN }}
|
||||
BUILD: release/ci/docker_build_sp.sh prebuilt
|
||||
|
||||
jobs:
|
||||
build_prebuilt:
|
||||
name: build prebuilt
|
||||
runs-on: ubuntu-latest
|
||||
if: github.repository == 'sunnypilot/sunnypilot'
|
||||
env:
|
||||
PUSH_IMAGE: true
|
||||
permissions:
|
||||
checks: read
|
||||
contents: read
|
||||
packages: write
|
||||
steps:
|
||||
- name: Wait for green check mark
|
||||
if: ${{ github.event_name != 'workflow_dispatch' }}
|
||||
uses: lewagon/wait-on-check-action@ccfb013c15c8afb7bf2b7c028fb74dc5a068cccc
|
||||
with:
|
||||
ref: master
|
||||
wait-interval: 30
|
||||
running-workflow-name: 'build prebuilt'
|
||||
repo-token: ${{ secrets.GITHUB_TOKEN }}
|
||||
check-regexp: ^((?!.*(build master-ci).*).)*$
|
||||
- uses: actions/checkout@v4
|
||||
with:
|
||||
submodules: true
|
||||
- run: git lfs pull
|
||||
- name: Build and Push docker image
|
||||
run: |
|
||||
$DOCKER_LOGIN
|
||||
eval "$BUILD"
|
||||
@@ -1,28 +0,0 @@
|
||||
name: Release Drafter
|
||||
|
||||
on:
|
||||
push:
|
||||
branches:
|
||||
- master
|
||||
tags:
|
||||
- 'v*'
|
||||
pull_request_target:
|
||||
types: [opened, reopened, synchronize]
|
||||
workflow_dispatch:
|
||||
|
||||
permissions:
|
||||
contents: read
|
||||
|
||||
jobs:
|
||||
update_release_draft:
|
||||
permissions:
|
||||
contents: write
|
||||
pull-requests: write
|
||||
runs-on: ubuntu-latest
|
||||
steps:
|
||||
- uses: release-drafter/release-drafter@v6
|
||||
with:
|
||||
config-name: release-drafter.yml
|
||||
prerelease: ${{ !startsWith(github.ref, 'refs/tags/v') }}
|
||||
env:
|
||||
GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
|
||||
@@ -1,42 +0,0 @@
|
||||
name: release
|
||||
on:
|
||||
schedule:
|
||||
- cron: '0 9 * * *'
|
||||
workflow_dispatch:
|
||||
|
||||
jobs:
|
||||
build___nightly:
|
||||
name: build __nightly
|
||||
env:
|
||||
ImageOS: ubuntu24
|
||||
container:
|
||||
image: ghcr.io/sunnypilot/sunnypilot-base:latest
|
||||
runs-on: ubuntu-latest
|
||||
if: github.repository == 'sunnypilot/sunnypilot'
|
||||
permissions:
|
||||
checks: read
|
||||
contents: write
|
||||
steps:
|
||||
- name: Install wait-on-check-action dependencies
|
||||
run: |
|
||||
sudo apt-get update
|
||||
sudo apt-get install -y libyaml-dev
|
||||
- name: Wait for green check mark
|
||||
if: ${{ github.event_name == 'schedule' }}
|
||||
uses: lewagon/wait-on-check-action@ccfb013c15c8afb7bf2b7c028fb74dc5a068cccc
|
||||
with:
|
||||
ref: master
|
||||
wait-interval: 30
|
||||
running-workflow-name: 'build __nightly'
|
||||
repo-token: ${{ secrets.GITHUB_TOKEN }}
|
||||
check-regexp: ^((?!.*(build prebuilt).*).)*$
|
||||
- uses: actions/checkout@v4
|
||||
with:
|
||||
submodules: true
|
||||
fetch-depth: 0
|
||||
- name: Pull LFS
|
||||
run: |
|
||||
git config --global --add safe.directory '*'
|
||||
git lfs pull
|
||||
- name: Push __nightly
|
||||
run: BRANCH=__nightly release/build_stripped.sh
|
||||
@@ -1,73 +0,0 @@
|
||||
name: repo maintenance
|
||||
|
||||
on:
|
||||
schedule:
|
||||
- cron: "0 14 * * 1" # every Monday at 2am UTC (6am PST)
|
||||
workflow_dispatch:
|
||||
|
||||
env:
|
||||
BASE_IMAGE: sunnypilot-base
|
||||
BUILD: release/ci/docker_build_sp.sh base
|
||||
RUN: docker run --shm-size 2G -v $PWD:/tmp/openpilot -w /tmp/openpilot -e CI=1 -e PYTHONWARNINGS=error -e FILEREADER_CACHE=1 -e PYTHONPATH=/tmp/openpilot -e NUM_JOBS -e JOB_ID -e GITHUB_ACTION -e GITHUB_REF -e GITHUB_HEAD_REF -e GITHUB_SHA -e GITHUB_REPOSITORY -e GITHUB_RUN_ID -v $GITHUB_WORKSPACE/.ci_cache/scons_cache:/tmp/scons_cache -v $GITHUB_WORKSPACE/.ci_cache/comma_download_cache:/tmp/comma_download_cache -v $GITHUB_WORKSPACE/.ci_cache/openpilot_cache:/tmp/openpilot_cache $BASE_IMAGE /bin/bash -c
|
||||
|
||||
jobs:
|
||||
update_translations:
|
||||
runs-on: ubuntu-latest
|
||||
if: github.repository == 'sunnypilot/sunnypilot'
|
||||
steps:
|
||||
- uses: actions/checkout@v4
|
||||
- uses: ./.github/workflows/setup-with-retry
|
||||
- name: Update translations
|
||||
run: |
|
||||
${{ env.RUN }} "python3 selfdrive/ui/update_translations.py --vanish"
|
||||
- name: Create Pull Request
|
||||
uses: peter-evans/create-pull-request@9153d834b60caba6d51c9b9510b087acf9f33f83
|
||||
with:
|
||||
author: github-actions[bot] <github-actions[bot]@users.noreply.github.com>
|
||||
commit-message: "Update translations"
|
||||
title: "[bot] Update translations"
|
||||
body: "Automatic PR from repo-maintenance -> update_translations"
|
||||
branch: "update-translations"
|
||||
base: "master"
|
||||
delete-branch: true
|
||||
labels: bot
|
||||
|
||||
package_updates:
|
||||
name: package_updates
|
||||
runs-on: ubuntu-latest
|
||||
container:
|
||||
image: ghcr.io/sunnypilot/sunnypilot-base:latest
|
||||
if: github.repository == 'sunnypilot/sunnypilot'
|
||||
steps:
|
||||
- uses: actions/checkout@v4
|
||||
with:
|
||||
submodules: true
|
||||
- name: uv lock
|
||||
run: |
|
||||
python3 -m ensurepip --upgrade
|
||||
pip3 install uv
|
||||
uv lock --upgrade
|
||||
- name: bump submodules
|
||||
run: |
|
||||
git config --global --add safe.directory '*'
|
||||
git config submodule.tinygrad.update none
|
||||
git submodule update --remote
|
||||
git add .
|
||||
- name: update car docs
|
||||
run: |
|
||||
export PYTHONPATH="$PWD"
|
||||
scons -j$(nproc) --minimal opendbc_repo
|
||||
python selfdrive/car/docs.py
|
||||
git add docs/CARS.md
|
||||
- name: Create Pull Request
|
||||
uses: peter-evans/create-pull-request@9153d834b60caba6d51c9b9510b087acf9f33f83
|
||||
with:
|
||||
author: github-actions[bot] <github-actions[bot]@users.noreply.github.com>
|
||||
token: ${{ github.repository == 'commaai/openpilot' && secrets.ACTIONS_CREATE_PR_PAT || secrets.GITHUB_TOKEN }}
|
||||
commit-message: Update Python packages
|
||||
title: '[bot] Update Python packages'
|
||||
branch: auto-package-updates
|
||||
base: master
|
||||
delete-branch: true
|
||||
body: 'Automatic PR from repo-maintenance -> package_updates'
|
||||
labels: bot
|
||||
@@ -1,309 +0,0 @@
|
||||
name: selfdrive
|
||||
|
||||
on:
|
||||
push:
|
||||
branches:
|
||||
- master
|
||||
pull_request:
|
||||
workflow_dispatch:
|
||||
workflow_call:
|
||||
inputs:
|
||||
run_number:
|
||||
default: '1'
|
||||
required: true
|
||||
type: string
|
||||
|
||||
concurrency:
|
||||
group: selfdrive-tests-ci-run-${{ inputs.run_number }}-${{ github.event_name == 'push' && github.ref == 'refs/heads/master' && github.run_id || github.head_ref || github.ref }}-${{ github.workflow }}-${{ github.event_name }}
|
||||
cancel-in-progress: true
|
||||
|
||||
env:
|
||||
PYTHONWARNINGS: error
|
||||
BASE_IMAGE: sunnypilot-base
|
||||
AZURE_TOKEN: ${{ secrets.AZURE_COMMADATACI_OPENPILOTCI_TOKEN }}
|
||||
|
||||
DOCKER_LOGIN: docker login ghcr.io -u ${{ github.actor }} -p ${{ secrets.GITHUB_TOKEN }}
|
||||
BUILD: release/ci/docker_build_sp.sh base
|
||||
|
||||
RUN: docker run --shm-size 2G -v $PWD:/tmp/openpilot -w /tmp/openpilot -e CI=1 -e PYTHONWARNINGS=error -e FILEREADER_CACHE=1 -e PYTHONPATH=/tmp/openpilot -e NUM_JOBS -e JOB_ID -e GITHUB_ACTION -e GITHUB_REF -e GITHUB_HEAD_REF -e GITHUB_SHA -e GITHUB_REPOSITORY -e GITHUB_RUN_ID -v $GITHUB_WORKSPACE/.ci_cache/scons_cache:/tmp/scons_cache -v $GITHUB_WORKSPACE/.ci_cache/comma_download_cache:/tmp/comma_download_cache -v $GITHUB_WORKSPACE/.ci_cache/openpilot_cache:/tmp/openpilot_cache $BASE_IMAGE /bin/bash -c
|
||||
|
||||
PYTEST: pytest --continue-on-collection-errors --durations=0 -n logical
|
||||
|
||||
jobs:
|
||||
build_release:
|
||||
name: build release
|
||||
runs-on: ${{
|
||||
(github.repository == 'commaai/openpilot') &&
|
||||
((github.event_name != 'pull_request') ||
|
||||
(github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))
|
||||
&& fromJSON('["namespace-profile-amd64-8x16", "namespace-experiments:docker.builds.local-cache=separate"]')
|
||||
|| fromJSON('["ubuntu-24.04"]') }}
|
||||
env:
|
||||
STRIPPED_DIR: /tmp/releasepilot
|
||||
steps:
|
||||
- uses: actions/checkout@v4
|
||||
with:
|
||||
submodules: true
|
||||
- name: Getting LFS files
|
||||
uses: nick-fields/retry@7152eba30c6575329ac0576536151aca5a72780e
|
||||
with:
|
||||
timeout_minutes: 2
|
||||
max_attempts: 3
|
||||
command: git lfs pull
|
||||
- name: Build devel
|
||||
timeout-minutes: 1
|
||||
run: TARGET_DIR=$STRIPPED_DIR release/build_stripped.sh
|
||||
- uses: ./.github/workflows/setup-with-retry
|
||||
- name: Build openpilot and run checks
|
||||
timeout-minutes: ${{ ((steps.restore-scons-cache.outputs.cache-hit == 'true') && 10 || 30) }} # allow more time when we missed the scons cache
|
||||
run: |
|
||||
cd $STRIPPED_DIR
|
||||
${{ env.RUN }} "python3 system/manager/build.py"
|
||||
- name: Run tests
|
||||
timeout-minutes: 1
|
||||
run: |
|
||||
cd $STRIPPED_DIR
|
||||
${{ env.RUN }} "release/check-dirty.sh"
|
||||
- name: Check submodules
|
||||
if: github.repository == 'sunnypilot/sunnypilot'
|
||||
timeout-minutes: 3
|
||||
run: |
|
||||
if [ "${{ github.ref }}" != "refs/heads/master" ]; then
|
||||
git fetch origin master:refs/remotes/origin/master
|
||||
|
||||
SUBMODULE_PATHS=$(git diff origin/master HEAD --name-only | grep -E '^[^/]+$' | while read path; do
|
||||
if git ls-files --stage "$path" | grep -q "^160000"; then
|
||||
echo "$path"
|
||||
fi
|
||||
done | tr '\n' ' ')
|
||||
|
||||
if [ -n "$SUBMODULE_PATHS" ]; then
|
||||
echo "Changed submodule paths: $SUBMODULE_PATHS"
|
||||
export SUBMODULE_PATHS="$SUBMODULE_PATHS"
|
||||
export CHECK_PR_REFS=true
|
||||
fi
|
||||
fi
|
||||
release/check-submodules.sh
|
||||
|
||||
build:
|
||||
runs-on: ${{
|
||||
(github.repository == 'commaai/openpilot') &&
|
||||
((github.event_name != 'pull_request') ||
|
||||
(github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))
|
||||
&& fromJSON('["namespace-profile-amd64-8x16", "namespace-experiments:docker.builds.local-cache=separate"]')
|
||||
|| fromJSON('["ubuntu-24.04"]') }}
|
||||
steps:
|
||||
- uses: actions/checkout@v4
|
||||
with:
|
||||
submodules: true
|
||||
- name: Setup docker push
|
||||
if: github.ref == 'refs/heads/master' && github.event_name != 'pull_request' && github.repository == 'sunnypilot/sunnypilot'
|
||||
run: |
|
||||
echo "PUSH_IMAGE=true" >> "$GITHUB_ENV"
|
||||
$DOCKER_LOGIN
|
||||
- uses: ./.github/workflows/setup-with-retry
|
||||
- uses: ./.github/workflows/compile-openpilot
|
||||
timeout-minutes: 30
|
||||
|
||||
build_mac:
|
||||
name: build macOS
|
||||
if: false # temp disable since homebrew install is getting stuck
|
||||
runs-on: ${{ ((github.repository == 'commaai/openpilot') && ((github.event_name != 'pull_request') || (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-profile-macos-8x14' || 'macos-latest' }}
|
||||
steps:
|
||||
- uses: actions/checkout@v4
|
||||
with:
|
||||
submodules: true
|
||||
- run: echo "CACHE_COMMIT_DATE=$(git log -1 --pretty='format:%cd' --date=format:'%Y-%m-%d-%H:%M')" >> $GITHUB_ENV
|
||||
- name: Homebrew cache
|
||||
uses: ./.github/workflows/auto-cache
|
||||
with:
|
||||
path: ~/Library/Caches/Homebrew
|
||||
key: brew-macos-${{ env.CACHE_COMMIT_DATE }}-${{ github.sha }}
|
||||
restore-keys: |
|
||||
brew-macos-${{ env.CACHE_COMMIT_DATE }}
|
||||
brew-macos
|
||||
- name: Install dependencies
|
||||
run: ./tools/mac_setup.sh
|
||||
env:
|
||||
# package install has DeprecationWarnings
|
||||
PYTHONWARNINGS: default
|
||||
- name: Save Homebrew cache
|
||||
uses: actions/cache/save@v4
|
||||
if: github.ref == 'refs/heads/master'
|
||||
with:
|
||||
path: ~/Library/Caches/Homebrew
|
||||
key: brew-macos-${{ env.CACHE_COMMIT_DATE }}-${{ github.sha }}
|
||||
- run: git lfs pull
|
||||
- name: Getting scons cache
|
||||
uses: ./.github/workflows/auto-cache
|
||||
with:
|
||||
path: /tmp/scons_cache
|
||||
key: scons-${{ runner.arch }}-macos-${{ env.CACHE_COMMIT_DATE }}-${{ github.sha }}
|
||||
restore-keys: |
|
||||
scons-${{ runner.arch }}-macos-${{ env.CACHE_COMMIT_DATE }}
|
||||
scons-${{ runner.arch }}-macos
|
||||
- name: Building openpilot
|
||||
run: . .venv/bin/activate && scons -j$(nproc)
|
||||
- name: Save scons cache
|
||||
uses: actions/cache/save@v4
|
||||
if: github.ref == 'refs/heads/master'
|
||||
with:
|
||||
path: /tmp/scons_cache
|
||||
key: scons-${{ runner.arch }}-macos-${{ env.CACHE_COMMIT_DATE }}-${{ github.sha }}
|
||||
|
||||
static_analysis:
|
||||
name: static analysis
|
||||
runs-on: ${{
|
||||
(github.repository == 'commaai/openpilot') &&
|
||||
((github.event_name != 'pull_request') ||
|
||||
(github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))
|
||||
&& fromJSON('["namespace-profile-amd64-8x16", "namespace-experiments:docker.builds.local-cache=separate"]')
|
||||
|| fromJSON('["ubuntu-24.04"]') }}
|
||||
env:
|
||||
PYTHONWARNINGS: default
|
||||
steps:
|
||||
- uses: actions/checkout@v4
|
||||
with:
|
||||
submodules: true
|
||||
- uses: ./.github/workflows/setup-with-retry
|
||||
- name: Static analysis
|
||||
timeout-minutes: 1
|
||||
run: ${{ env.RUN }} "scripts/lint/lint.sh"
|
||||
|
||||
unit_tests:
|
||||
name: unit tests
|
||||
runs-on: ${{
|
||||
(github.repository == 'commaai/openpilot') &&
|
||||
((github.event_name != 'pull_request') ||
|
||||
(github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))
|
||||
&& fromJSON('["namespace-profile-amd64-8x16", "namespace-experiments:docker.builds.local-cache=separate"]')
|
||||
|| fromJSON('["ubuntu-24.04"]') }}
|
||||
steps:
|
||||
- uses: actions/checkout@v4
|
||||
with:
|
||||
submodules: true
|
||||
- uses: ./.github/workflows/setup-with-retry
|
||||
id: setup-step
|
||||
- name: Build openpilot
|
||||
run: ${{ env.RUN }} "scons -j$(nproc)"
|
||||
- name: Run unit tests
|
||||
timeout-minutes: ${{ contains(runner.name, 'nsc') && ((steps.setup-step.outputs.duration < 18) && 1 || 2) || 999 }}
|
||||
run: |
|
||||
${{ env.RUN }} "source selfdrive/test/setup_xvfb.sh && \
|
||||
# Pre-compile Python bytecode so each pytest worker doesn't need to
|
||||
$PYTEST --collect-only -m 'not slow' -qq && \
|
||||
MAX_EXAMPLES=1 $PYTEST -m 'not slow' && \
|
||||
./selfdrive/ui/tests/create_test_translations.sh && \
|
||||
QT_QPA_PLATFORM=offscreen ./selfdrive/ui/tests/test_translations && \
|
||||
chmod -R 777 /tmp/comma_download_cache"
|
||||
|
||||
process_replay:
|
||||
name: process replay
|
||||
if: false # disable process_replay for forks
|
||||
runs-on: ${{
|
||||
(github.repository == 'commaai/openpilot') &&
|
||||
((github.event_name != 'pull_request') ||
|
||||
(github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))
|
||||
&& fromJSON('["namespace-profile-amd64-8x16", "namespace-experiments:docker.builds.local-cache=separate"]')
|
||||
|| fromJSON('["ubuntu-24.04"]') }}
|
||||
steps:
|
||||
- uses: actions/checkout@v4
|
||||
with:
|
||||
submodules: true
|
||||
- uses: ./.github/workflows/setup-with-retry
|
||||
id: setup-step
|
||||
- name: Cache test routes
|
||||
id: dependency-cache
|
||||
uses: actions/cache@v4
|
||||
with:
|
||||
path: .ci_cache/comma_download_cache
|
||||
key: proc-replay-${{ hashFiles('selfdrive/test/process_replay/ref_commit', 'selfdrive/test/process_replay/test_processes.py') }}
|
||||
- name: Build openpilot
|
||||
run: |
|
||||
${{ env.RUN }} "scons -j$(nproc)"
|
||||
- name: Run replay
|
||||
timeout-minutes: ${{ contains(runner.name, 'nsc') && (steps.dependency-cache.outputs.cache-hit == 'true') && ((steps.setup-step.outputs.duration < 18) && 1 || 2) || 20 }}
|
||||
run: |
|
||||
${{ env.RUN }} "selfdrive/test/process_replay/test_processes.py -j$(nproc) && \
|
||||
chmod -R 777 /tmp/comma_download_cache"
|
||||
- name: Print diff
|
||||
id: print-diff
|
||||
if: always()
|
||||
run: cat selfdrive/test/process_replay/diff.txt
|
||||
- uses: actions/upload-artifact@v4
|
||||
if: always()
|
||||
continue-on-error: true
|
||||
with:
|
||||
name: process_replay_diff.txt
|
||||
path: selfdrive/test/process_replay/diff.txt
|
||||
- name: Upload reference logs
|
||||
if: false # TODO: move this to github instead of azure
|
||||
run: |
|
||||
${{ env.RUN }} "unset PYTHONWARNINGS && AZURE_TOKEN='$AZURE_TOKEN' python3 selfdrive/test/process_replay/test_processes.py -j$(nproc) --upload-only"
|
||||
- name: Run regen
|
||||
if: false
|
||||
timeout-minutes: 4
|
||||
run: |
|
||||
${{ env.RUN }} "ONNXCPU=1 $PYTEST selfdrive/test/process_replay/test_regen.py && \
|
||||
chmod -R 777 /tmp/comma_download_cache"
|
||||
|
||||
simulator_driving:
|
||||
name: simulator driving
|
||||
runs-on: ${{
|
||||
(github.repository == 'commaai/openpilot') &&
|
||||
((github.event_name != 'pull_request') ||
|
||||
(github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))
|
||||
&& fromJSON('["namespace-profile-amd64-8x16", "namespace-experiments:docker.builds.local-cache=separate"]')
|
||||
|| fromJSON('["ubuntu-24.04"]') }}
|
||||
if: (github.repository == 'commaai/openpilot') && ((github.event_name != 'pull_request') || (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))
|
||||
steps:
|
||||
- uses: actions/checkout@v4
|
||||
with:
|
||||
submodules: true
|
||||
- uses: ./.github/workflows/setup-with-retry
|
||||
id: setup-step
|
||||
- name: Build openpilot
|
||||
run: |
|
||||
${{ env.RUN }} "scons -j$(nproc)"
|
||||
- name: Driving test
|
||||
timeout-minutes: ${{ (steps.setup-step.outputs.duration < 18) && 1 || 2 }}
|
||||
run: |
|
||||
${{ env.RUN }} "source selfdrive/test/setup_xvfb.sh && \
|
||||
source selfdrive/test/setup_vsound.sh && \
|
||||
CI=1 pytest -s tools/sim/tests/test_metadrive_bridge.py"
|
||||
|
||||
create_ui_report:
|
||||
# This job name needs to be the same as UI_JOB_NAME in ui_preview.yaml
|
||||
name: Create UI Report
|
||||
runs-on: ${{
|
||||
(github.repository == 'commaai/openpilot') &&
|
||||
((github.event_name != 'pull_request') ||
|
||||
(github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))
|
||||
&& fromJSON('["namespace-profile-amd64-8x16", "namespace-experiments:docker.builds.local-cache=separate"]')
|
||||
|| fromJSON('["ubuntu-24.04"]') }}
|
||||
if: false # FIXME: FrameReader is broken on CI runners
|
||||
steps:
|
||||
- uses: actions/checkout@v4
|
||||
with:
|
||||
submodules: true
|
||||
- uses: ./.github/workflows/setup-with-retry
|
||||
- name: caching frames
|
||||
id: frames-cache
|
||||
uses: actions/cache@v4
|
||||
with:
|
||||
path: .ci_cache/comma_download_cache
|
||||
key: ui_screenshots_test_${{ hashFiles('selfdrive/ui/tests/test_ui/run.py') }}
|
||||
- name: Build openpilot
|
||||
run: ${{ env.RUN }} "scons -j$(nproc)"
|
||||
- name: Create Test Report
|
||||
timeout-minutes: ${{ ((steps.frames-cache.outputs.cache-hit == 'true') && 2 || 4) }}
|
||||
run: >
|
||||
${{ env.RUN }} "PYTHONWARNINGS=ignore &&
|
||||
source selfdrive/test/setup_xvfb.sh &&
|
||||
CACHE_ROOT=/tmp/comma_download_cache python3 selfdrive/ui/tests/test_ui/run.py &&
|
||||
chmod -R 777 /tmp/comma_download_cache"
|
||||
- name: Upload Test Report
|
||||
uses: actions/upload-artifact@v4
|
||||
with:
|
||||
name: report-${{ inputs.run_number || '1' }}-${{ github.event_name == 'push' && github.ref == 'refs/heads/master' && 'master' || github.event.number }}
|
||||
path: selfdrive/ui/tests/test_ui/report_1/screenshots
|
||||
@@ -1,52 +0,0 @@
|
||||
name: 'openpilot env setup, with retry on failure'
|
||||
|
||||
inputs:
|
||||
docker_hub_pat:
|
||||
description: 'Auth token for Docker Hub, required for BuildJet jobs'
|
||||
required: false
|
||||
default: ''
|
||||
sleep_time:
|
||||
description: 'Time to sleep between retries'
|
||||
required: false
|
||||
default: 30
|
||||
|
||||
outputs:
|
||||
duration:
|
||||
description: 'Duration of the setup process in seconds'
|
||||
value: ${{ steps.get_duration.outputs.duration }}
|
||||
|
||||
runs:
|
||||
using: "composite"
|
||||
steps:
|
||||
- id: start_time
|
||||
shell: bash
|
||||
run: echo "START_TIME=$(date +%s)" >> $GITHUB_ENV
|
||||
- id: setup1
|
||||
uses: ./.github/workflows/setup
|
||||
continue-on-error: true
|
||||
with:
|
||||
is_retried: true
|
||||
- if: steps.setup1.outcome == 'failure'
|
||||
shell: bash
|
||||
run: sleep ${{ inputs.sleep_time }}
|
||||
- id: setup2
|
||||
if: steps.setup1.outcome == 'failure'
|
||||
uses: ./.github/workflows/setup
|
||||
continue-on-error: true
|
||||
with:
|
||||
is_retried: true
|
||||
- if: steps.setup2.outcome == 'failure'
|
||||
shell: bash
|
||||
run: sleep ${{ inputs.sleep_time }}
|
||||
- id: setup3
|
||||
if: steps.setup2.outcome == 'failure'
|
||||
uses: ./.github/workflows/setup
|
||||
with:
|
||||
is_retried: true
|
||||
- id: get_duration
|
||||
shell: bash
|
||||
run: |
|
||||
END_TIME=$(date +%s)
|
||||
DURATION=$((END_TIME - START_TIME))
|
||||
echo "Total duration: $DURATION seconds"
|
||||
echo "duration=$DURATION" >> $GITHUB_OUTPUT
|
||||
@@ -1,56 +0,0 @@
|
||||
name: 'openpilot env setup'
|
||||
|
||||
inputs:
|
||||
is_retried:
|
||||
description: 'A mock param that asserts that we use the setup-with-retry instead of this action directly'
|
||||
required: false
|
||||
default: 'false'
|
||||
|
||||
runs:
|
||||
using: "composite"
|
||||
steps:
|
||||
# assert that this action is retried using the setup-with-retry
|
||||
- shell: bash
|
||||
if: ${{ inputs.is_retried == 'false' }}
|
||||
run: |
|
||||
echo "You should not run this action directly. Use setup-with-retry instead"
|
||||
exit 1
|
||||
|
||||
- shell: bash
|
||||
name: No retries!
|
||||
run: |
|
||||
if [ "${{ github.run_attempt }}" -gt ${{ github.event.pull_request.head.repo.fork && github.event.pull_request.author_association == 'NONE' && 2 || 1}} ]; then
|
||||
echo -e "\033[0;31m##################################################"
|
||||
echo -e "\033[0;31m Retries not allowed! Fix the flaky test! "
|
||||
echo -e "\033[0;31m##################################################\033[0m"
|
||||
exit 1
|
||||
fi
|
||||
|
||||
# do this after checkout to ensure our custom LFS config is used to pull from GitLab
|
||||
- shell: bash
|
||||
run: git lfs pull
|
||||
|
||||
# build cache
|
||||
- id: date
|
||||
shell: bash
|
||||
run: echo "CACHE_COMMIT_DATE=$(git log -1 --pretty='format:%cd' --date=format:'%Y-%m-%d-%H:%M')" >> $GITHUB_ENV
|
||||
- shell: bash
|
||||
run: echo "$CACHE_COMMIT_DATE"
|
||||
- id: scons-cache
|
||||
uses: ./.github/workflows/auto-cache
|
||||
with:
|
||||
path: .ci_cache/scons_cache
|
||||
key: scons-${{ runner.arch }}-${{ env.CACHE_COMMIT_DATE }}-${{ github.sha }}
|
||||
restore-keys: |
|
||||
scons-${{ runner.arch }}-${{ env.CACHE_COMMIT_DATE }}
|
||||
scons-${{ runner.arch }}
|
||||
# as suggested here: https://github.com/moby/moby/issues/32816#issuecomment-910030001
|
||||
- id: normalize-file-permissions
|
||||
shell: bash
|
||||
name: Normalize file permissions to ensure a consistent docker build cache
|
||||
run: |
|
||||
find . -type f -executable -not -perm 755 -exec chmod 755 {} \;
|
||||
find . -type f -not -executable -not -perm 644 -exec chmod 644 {} \;
|
||||
# build our docker image
|
||||
- shell: bash
|
||||
run: eval ${{ env.BUILD }}
|
||||
@@ -1,52 +0,0 @@
|
||||
name: stale
|
||||
on:
|
||||
schedule:
|
||||
- cron: '30 1 * * *'
|
||||
workflow_dispatch:
|
||||
|
||||
env:
|
||||
DAYS_BEFORE_PR_CLOSE: 2
|
||||
DAYS_BEFORE_PR_STALE: 9
|
||||
DAYS_BEFORE_PR_STALE_DRAFT: 30
|
||||
|
||||
jobs:
|
||||
stale:
|
||||
runs-on: ubuntu-latest
|
||||
steps:
|
||||
- uses: actions/stale@v9
|
||||
with:
|
||||
exempt-all-milestones: true
|
||||
|
||||
# pull request config
|
||||
stale-pr-message: 'This PR has had no activity for ${{ env.DAYS_BEFORE_PR_STALE }} days. It will be automatically closed in ${{ env.DAYS_BEFORE_PR_CLOSE }} days if there is no activity.'
|
||||
close-pr-message: 'This PR has been automatically closed due to inactivity. Feel free to re-open once activity resumes.'
|
||||
stale-pr-label: stale
|
||||
delete-branch: ${{ github.event.pull_request.head.repo.full_name == 'sunnypilot/sunnypilot' }} # only delete branches on the main repo
|
||||
exempt-pr-labels: "ignore stale,needs testing" # if wip or it needs testing from the community, don't mark as stale
|
||||
days-before-pr-stale: ${{ env.DAYS_BEFORE_PR_STALE }}
|
||||
days-before-pr-close: ${{ env.DAYS_BEFORE_PR_CLOSE }}
|
||||
exempt-draft-pr: false
|
||||
|
||||
# issue config
|
||||
days-before-issue-stale: -1 # ignore issues for now
|
||||
|
||||
# same as above, but give draft PRs more time
|
||||
stale_drafts:
|
||||
runs-on: ubuntu-latest
|
||||
steps:
|
||||
- uses: actions/stale@v9
|
||||
with:
|
||||
exempt-all-milestones: true
|
||||
|
||||
# pull request config
|
||||
stale-pr-message: 'This PR has had no activity for ${{ env.DAYS_BEFORE_PR_STALE_DRAFT }} days. It will be automatically closed in ${{ env.DAYS_BEFORE_PR_CLOSE }} days if there is no activity.'
|
||||
close-pr-message: 'This PR has been automatically closed due to inactivity. Feel free to re-open once activity resumes.'
|
||||
stale-pr-label: stale
|
||||
delete-branch: ${{ github.event.pull_request.head.repo.full_name == 'commaai/openpilot' }} # only delete branches on the main repo
|
||||
exempt-pr-labels: "ignore stale,needs testing" # if wip or it needs testing from the community, don't mark as stale
|
||||
days-before-pr-stale: ${{ env.DAYS_BEFORE_PR_STALE_DRAFT }}
|
||||
days-before-pr-close: ${{ env.DAYS_BEFORE_PR_CLOSE }}
|
||||
exempt-draft-pr: true
|
||||
|
||||
# issue config
|
||||
days-before-issue-stale: -1 # ignore issues for now
|
||||
@@ -1,219 +0,0 @@
|
||||
name: Build Model from Upstream
|
||||
|
||||
env:
|
||||
BUILD_DIR: "/data/openpilot"
|
||||
OUTPUT_DIR: ${{ github.workspace }}/output
|
||||
SCONS_CACHE_DIR: ${{ github.workspace }}/release/ci/scons_cache
|
||||
UPSTREAM_REPO: "commaai/openpilot"
|
||||
TINYGRAD_PATH: ${{ github.workspace }}/tinygrad_repo
|
||||
MODELS_DIR: ${{ github.workspace }}/selfdrive/modeld/models
|
||||
|
||||
on:
|
||||
workflow_call:
|
||||
inputs:
|
||||
upstream_branch:
|
||||
description: 'Upstream branch to build from'
|
||||
required: true
|
||||
default: 'master'
|
||||
type: string
|
||||
custom_name:
|
||||
description: 'Custom name for the model (no date, only name)'
|
||||
required: false
|
||||
type: string
|
||||
is_20hz:
|
||||
description: 'Is this a 20Hz model'
|
||||
required: false
|
||||
type: boolean
|
||||
default: true
|
||||
artifact_suffix:
|
||||
description: 'Suffix for artifact name'
|
||||
required: false
|
||||
type: string
|
||||
default: ''
|
||||
workflow_dispatch:
|
||||
inputs:
|
||||
upstream_branch:
|
||||
description: 'Upstream branch to build from'
|
||||
required: true
|
||||
default: 'master'
|
||||
type: string
|
||||
custom_name:
|
||||
description: 'Custom name for the model (no date, only name)'
|
||||
required: false
|
||||
type: string
|
||||
is_20hz:
|
||||
description: 'Is this a 20Hz model'
|
||||
required: false
|
||||
type: boolean
|
||||
default: true
|
||||
|
||||
|
||||
run-name: Build model [${{ inputs.custom_name || inputs.upstream_branch }}] from ref [${{ inputs.upstream_branch }}]
|
||||
|
||||
jobs:
|
||||
get_model:
|
||||
runs-on: ubuntu-latest
|
||||
env:
|
||||
REF: ${{ inputs.upstream_branch }}
|
||||
outputs:
|
||||
model_date: ${{ steps.commit-date.outputs.model_date }}
|
||||
steps:
|
||||
# Note: To allow dynamic models from both openpilot and sunnypilot (merges/mashups), we try commaai as default,
|
||||
# and fallback to sunnypilot if the ref checkout fails.
|
||||
- name: Checkout commaai/openpilot
|
||||
id: checkout_upstream
|
||||
continue-on-error: true
|
||||
uses: actions/checkout@v4
|
||||
with:
|
||||
repository: commaai/openpilot
|
||||
ref: ${{ inputs.upstream_branch }}
|
||||
submodules: recursive
|
||||
path: openpilot
|
||||
|
||||
- name: Fallback to sunnypilot/sunnypilot
|
||||
if: steps.checkout_upstream.outcome == 'failure'
|
||||
uses: actions/checkout@v4
|
||||
with:
|
||||
repository: sunnypilot/sunnypilot
|
||||
ref: ${{ inputs.upstream_branch }}
|
||||
submodules: recursive
|
||||
path: openpilot
|
||||
- name: Get commit date
|
||||
id: commit-date
|
||||
run: |
|
||||
cd ${{ github.workspace }}/openpilot
|
||||
commit_date=$(git log -1 --format=%cd --date=format:'%B %d, %Y')
|
||||
echo "model_date=${commit_date}" >> $GITHUB_OUTPUT
|
||||
cat $GITHUB_OUTPUT
|
||||
- run: |
|
||||
cd ${{ github.workspace }}/openpilot
|
||||
git lfs pull
|
||||
- name: 'Upload Artifact'
|
||||
uses: actions/upload-artifact@v4
|
||||
with:
|
||||
name: models-${{ env.REF }}${{ inputs.artifact_suffix }}
|
||||
path: ${{ github.workspace }}/openpilot/selfdrive/modeld/models/*.onnx
|
||||
|
||||
build_model:
|
||||
runs-on: [self-hosted, tici]
|
||||
needs: get_model
|
||||
env:
|
||||
MODEL_NAME: ${{ inputs.custom_name || inputs.upstream_branch }} (${{ needs.get_model.outputs.model_date }})
|
||||
REF: ${{ inputs.upstream_branch }}
|
||||
steps:
|
||||
- uses: actions/checkout@v4
|
||||
with:
|
||||
submodules: recursive
|
||||
|
||||
- run: git lfs pull
|
||||
- name: Cache SCons
|
||||
uses: actions/cache@v4
|
||||
with:
|
||||
path: ${{env.SCONS_CACHE_DIR}}
|
||||
key: scons-${{ runner.os }}-${{ runner.arch }}-${{ github.head_ref || github.ref_name }}-model-${{ github.sha }}
|
||||
# Note: GitHub Actions enforces cache isolation between different build sources (PR builds, workflow dispatches, etc.)
|
||||
# for security. Only caches from the default branch are shared across all builds. This is by design and cannot be overridden.
|
||||
restore-keys: |
|
||||
scons-${{ runner.os }}-${{ runner.arch }}-${{ github.head_ref || github.ref_name }}-model
|
||||
scons-${{ runner.os }}-${{ runner.arch }}-${{ github.head_ref || github.ref_name }}
|
||||
scons-${{ runner.os }}-${{ runner.arch }}-${{ env.MASTER_NEW_BRANCH }}-model
|
||||
scons-${{ runner.os }}-${{ runner.arch }}-${{ env.MASTER_BRANCH }}-model
|
||||
scons-${{ runner.os }}-${{ runner.arch }}-${{ env.MASTER_NEW_BRANCH }}
|
||||
scons-${{ runner.os }}-${{ runner.arch }}-${{ env.MASTER_BRANCH }}
|
||||
scons-${{ runner.os }}-${{ runner.arch }}
|
||||
|
||||
- name: Set environment variables
|
||||
id: set-env
|
||||
run: |
|
||||
# Set up common environment
|
||||
source /etc/profile;
|
||||
export UV_PROJECT_ENVIRONMENT=${HOME}/venv
|
||||
export VIRTUAL_ENV=$UV_PROJECT_ENVIRONMENT
|
||||
printenv >> $GITHUB_ENV
|
||||
if [[ "${{ runner.debug }}" == "1" ]]; then
|
||||
cat $GITHUB_OUTPUT
|
||||
fi
|
||||
|
||||
- name: Setup build environment
|
||||
run: |
|
||||
mkdir -p "${BUILD_DIR}/"
|
||||
sudo find $BUILD_DIR/ -mindepth 1 -delete
|
||||
echo "Starting build stage..."
|
||||
echo "BUILD_DIR: ${BUILD_DIR}"
|
||||
echo "CI_DIR: ${CI_DIR}"
|
||||
echo "VERSION: ${{ steps.set-env.outputs.version }}"
|
||||
echo "UV_PROJECT_ENVIRONMENT: ${UV_PROJECT_ENVIRONMENT}"
|
||||
echo "VIRTUAL_ENV: ${VIRTUAL_ENV}"
|
||||
echo "-------"
|
||||
if [[ "${{ runner.debug }}" == "1" ]]; then
|
||||
printenv
|
||||
fi
|
||||
PYTHONPATH=$PYTHONPATH:${{ github.workspace }}/ ${{ github.workspace }}/scripts/manage-powersave.py --disable
|
||||
rm -rf ${{ env.MODELS_DIR }}/*.onnx
|
||||
|
||||
- name: Download model artifacts
|
||||
uses: actions/download-artifact@v4
|
||||
with:
|
||||
name: models-${{ env.REF }}${{ inputs.artifact_suffix }}
|
||||
path: ${{ github.workspace }}/selfdrive/modeld/models
|
||||
|
||||
- name: Build Model
|
||||
run: |
|
||||
source /etc/profile
|
||||
export UV_PROJECT_ENVIRONMENT=${HOME}/venv
|
||||
export VIRTUAL_ENV=$UV_PROJECT_ENVIRONMENT
|
||||
export PYTHONPATH="${PYTHONPATH}:${{ env.TINYGRAD_PATH }}"
|
||||
|
||||
# Loop through all .onnx files
|
||||
find "${{ env.MODELS_DIR }}" -maxdepth 1 -name '*.onnx' | while IFS= read -r onnx_file; do
|
||||
base_name=$(basename "$onnx_file" .onnx)
|
||||
output_file="${{ env.MODELS_DIR }}/${base_name}_tinygrad.pkl"
|
||||
|
||||
echo "Compiling: $onnx_file -> $output_file"
|
||||
QCOM=1 python3 "${{ env.TINYGRAD_PATH }}/examples/openpilot/compile3.py" "$onnx_file" "$output_file"
|
||||
QCOM=1 python3 "${{ env.MODELS_DIR }}/../get_model_metadata.py" "$onnx_file" || true
|
||||
done
|
||||
|
||||
- name: Prepare Output
|
||||
run: |
|
||||
sudo rm -rf ${{ env.OUTPUT_DIR }}
|
||||
mkdir -p ${{ env.OUTPUT_DIR }}
|
||||
|
||||
# Copy the model files
|
||||
rsync -avm \
|
||||
--include='*.dlc' \
|
||||
--include='*.thneed' \
|
||||
--include='*.pkl' \
|
||||
--include='*.onnx' \
|
||||
--exclude='*' \
|
||||
--delete-excluded \
|
||||
--chown=comma:comma \
|
||||
${{ env.MODELS_DIR }}/ ${{ env.OUTPUT_DIR }}/
|
||||
|
||||
python3 "${{ github.workspace }}/release/ci/model_generator.py" \
|
||||
--model-dir "${{ env.MODELS_DIR }}" \
|
||||
--output-dir "${{ env.OUTPUT_DIR }}" \
|
||||
--custom-name "${{ env.MODEL_NAME }}" \
|
||||
--upstream-branch "${{ inputs.upstream_branch }}" \
|
||||
${{ inputs.is_20hz && '--is-20hz' || '' }}
|
||||
|
||||
- name: Write artifact name to file
|
||||
run: echo "model-${{ env.MODEL_NAME }}${{ inputs.artifact_suffix }}-${{ github.run_number }}" > ${{ env.OUTPUT_DIR }}/artifact_name.txt
|
||||
|
||||
- name: Upload Build Artifacts
|
||||
id: upload-artifact
|
||||
uses: actions/upload-artifact@v4
|
||||
with:
|
||||
name: model-${{ env.MODEL_NAME }}${{ inputs.artifact_suffix }}-${{ github.run_number }}
|
||||
path: ${{ env.OUTPUT_DIR }}
|
||||
|
||||
- name: Upload artifact name file
|
||||
uses: actions/upload-artifact@v4
|
||||
with:
|
||||
name: artifact-name-${{ inputs.custom_name || inputs.upstream_branch }}
|
||||
path: ${{ env.OUTPUT_DIR }}/artifact_name.txt
|
||||
|
||||
- name: Re-enable powersave
|
||||
if: always()
|
||||
run: |
|
||||
PYTHONPATH=$PYTHONPATH:${{ github.workspace }}/ ${{ github.workspace }}/scripts/manage-powersave.py --enable
|
||||
@@ -1,331 +0,0 @@
|
||||
name: sunnypilot prebuilt action
|
||||
|
||||
env:
|
||||
BUILD_DIR: "/data/openpilot"
|
||||
OUTPUT_DIR: ${{ github.workspace }}/output
|
||||
CI_DIR: ${{ github.workspace }}/release/ci
|
||||
SCONS_CACHE_DIR: ${{ github.workspace }}/release/ci/scons_cache
|
||||
PUBLIC_REPO_URL: "https://github.com/sunnypilot/sunnypilot"
|
||||
|
||||
# Branch configurations
|
||||
STAGING_C3_SOURCE_BRANCH: ${{ vars.STAGING_C3_SOURCE_BRANCH || 'master' }} # vars are set on repo settings.
|
||||
DEV_C3_SOURCE_BRANCH: ${{ vars.DEV_C3_SOURCE_BRANCH || 'master-dev-c3-new' }} # vars are set on repo settings.
|
||||
|
||||
# Target branch configurations
|
||||
STAGING_TARGET_BRANCH: ${{ vars.STAGING_TARGET_BRANCH || 'staging-c3-new' }} # vars are set on repo settings.
|
||||
DEV_TARGET_BRANCH: ${{ vars.DEV_TARGET_BRANCH || 'dev-c3-new' }} # vars are set on repo settings.
|
||||
RELEASE_TARGET_BRANCH: ${{ vars.RELEASE_TARGET_BRANCH || 'release-c3-new' }} # vars are set on repo settings.
|
||||
|
||||
# Runtime configuration
|
||||
SOURCE_BRANCH: "${{ github.head_ref || github.ref_name }}"
|
||||
|
||||
on:
|
||||
push:
|
||||
branches: [ master, master-dev-c3-new ]
|
||||
tags: [ '*' ]
|
||||
pull_request_target:
|
||||
types: [ labeled ]
|
||||
workflow_dispatch:
|
||||
inputs:
|
||||
wait_for_tests:
|
||||
description: 'Wait for selfdrive_tests to finish'
|
||||
required: false
|
||||
type: boolean
|
||||
default: false
|
||||
|
||||
jobs:
|
||||
validate_tests:
|
||||
runs-on: ubuntu-24.04
|
||||
if: ((github.event_name == 'workflow_dispatch' && inputs.wait_for_tests) || contains(github.event_name, 'pull_request') && (github.event.action == 'labeled' && github.event.label.name == 'prebuilt'))
|
||||
steps:
|
||||
- uses: actions/checkout@v4
|
||||
- name: Wait for Tests
|
||||
uses: ./.github/workflows/wait-for-action # Path to where you place the action
|
||||
with:
|
||||
workflow: selfdrive_tests.yaml # The workflow file to monitor
|
||||
github-token: ${{ secrets.GITHUB_TOKEN }}
|
||||
|
||||
build:
|
||||
needs: [ validate_tests ]
|
||||
concurrency:
|
||||
group: build-${{ github.head_ref || github.ref_name }}
|
||||
cancel-in-progress: false
|
||||
runs-on: [self-hosted, tici]
|
||||
outputs:
|
||||
new_branch: ${{ steps.set-env.outputs.new_branch }}
|
||||
version: ${{ steps.set-env.outputs.version }}
|
||||
extra_version_identifier: ${{ steps.set-env.outputs.extra_version_identifier }}
|
||||
commit_sha: ${{ steps.set-env.outputs.commit_sha }}
|
||||
if: ${{ (always() && !failure() && !cancelled()) && (!contains(github.event_name, 'pull_request') || (github.event.action == 'labeled' && github.event.label.name == 'prebuilt')) }}
|
||||
steps:
|
||||
- uses: actions/checkout@v4
|
||||
with:
|
||||
submodules: recursive
|
||||
ref: ${{ env.SOURCE_BRANCH }}
|
||||
repository: ${{ github.event.pull_request.head.repo.fork && github.event.pull_request.head.repo.full_name || github.repository }}
|
||||
- run: git lfs pull
|
||||
|
||||
- name: Cache SCons
|
||||
uses: actions/cache@v4
|
||||
with:
|
||||
path: ${{env.SCONS_CACHE_DIR}}
|
||||
key: scons-${{ runner.os }}-${{ runner.arch }}-${{ env.SOURCE_BRANCH }}-${{ github.sha }}
|
||||
# Note: GitHub Actions enforces cache isolation between different build sources (PR builds, workflow dispatches, etc.)
|
||||
# for security. Only caches from the default branch are shared across all builds. This is by design and cannot be overridden.
|
||||
restore-keys: |
|
||||
scons-${{ runner.os }}-${{ runner.arch }}-${{ env.SOURCE_BRANCH }}
|
||||
scons-${{ runner.os }}-${{ runner.arch }}-${{ env.STAGING_C3_SOURCE_BRANCH }}
|
||||
scons-${{ runner.os }}-${{ runner.arch }}
|
||||
|
||||
- name: Set Feature Branch Prebuilt Configuration
|
||||
id: set_feature_configuration
|
||||
if: (
|
||||
!(env.SOURCE_BRANCH == env.DEV_C3_SOURCE_BRANCH) &&
|
||||
!(env.SOURCE_BRANCH == env.STAGING_C3_SOURCE_BRANCH) &&
|
||||
!(startsWith(github.ref, 'refs/tags/'))
|
||||
)
|
||||
run: |
|
||||
echo "NEW_BRANCH=${{ env.SOURCE_BRANCH }}${{ github.event.pull_request.head.repo.fork && '-fork' || '' }}-prebuilt" >> $GITHUB_ENV
|
||||
echo "VERSION=$(date '+%Y.%m.%d')-${{ github.run_number }}" >> $GITHUB_ENV
|
||||
|
||||
- name: Set dev-c3-new prebuilt Configuration
|
||||
id: set_dev_configuration
|
||||
if: (
|
||||
steps.set_feature_configuration.outcome == 'skipped' &&
|
||||
env.SOURCE_BRANCH == env.DEV_C3_SOURCE_BRANCH
|
||||
)
|
||||
run: |
|
||||
echo "NEW_BRANCH=${{ env.DEV_TARGET_BRANCH }}" >> $GITHUB_ENV
|
||||
echo "VERSION=$(date '+%Y.%m.%d')-${{ github.run_number }}" >> $GITHUB_ENV
|
||||
echo "EXTRA_VERSION_IDENTIFIER=${{ github.run_number }}" >> $GITHUB_ENV
|
||||
|
||||
- name: Set staging-c3-new prebuilt Configuration
|
||||
id: set_staging_configuration
|
||||
if: (
|
||||
steps.set_feature_configuration.outcome == 'skipped' &&
|
||||
!contains(github.event_name, 'pull_request') &&
|
||||
steps.set_dev_configuration.outcome == 'skipped' &&
|
||||
(env.SOURCE_BRANCH == env.STAGING_C3_SOURCE_BRANCH)
|
||||
)
|
||||
run: |
|
||||
echo "NEW_BRANCH=${{ env.STAGING_TARGET_BRANCH }}" >> $GITHUB_ENV
|
||||
echo "EXTRA_VERSION_IDENTIFIER=staging" >> $GITHUB_ENV
|
||||
echo "VERSION=$(cat common/version.h | grep COMMA_VERSION | sed -e 's/[^0-9|.]//g')-staging" >> $GITHUB_ENV
|
||||
|
||||
- name: Set release-c3-new prebuilt Configuration
|
||||
id: set_tag_configuration
|
||||
if: (
|
||||
steps.set_feature_configuration.outcome == 'skipped' &&
|
||||
!contains(github.event_name, 'pull_request') &&
|
||||
steps.set_staging_configuration.outcome == 'skipped' &&
|
||||
startsWith(github.ref, 'refs/tags/')
|
||||
)
|
||||
run: |
|
||||
echo "NEW_BRANCH=${{ env.RELEASE_TARGET_BRANCH }}" >> $GITHUB_ENV
|
||||
echo "EXTRA_VERSION_IDENTIFIER=release" >> $GITHUB_ENV
|
||||
echo "VERSION=$(cat common/version.h | grep COMMA_VERSION | sed -e 's/[^0-9|.]//g')-release" >> $GITHUB_ENV
|
||||
|
||||
- name: Set environment variables
|
||||
id: set-env
|
||||
run: |
|
||||
# Write to GITHUB_OUTPUT from environment variables
|
||||
echo "new_branch=$NEW_BRANCH" >> $GITHUB_OUTPUT
|
||||
[[ ! -z "$EXTRA_VERSION_IDENTIFIER" ]] && echo "extra_version_identifier=$EXTRA_VERSION_IDENTIFIER" >> $GITHUB_OUTPUT
|
||||
[[ ! -z "$VERSION" ]] && echo "version=$VERSION" >> $GITHUB_OUTPUT
|
||||
echo "commit_sha=${{ github.sha }}" >> $GITHUB_OUTPUT
|
||||
|
||||
# Set up common environment
|
||||
source /etc/profile;
|
||||
export UV_PROJECT_ENVIRONMENT=${HOME}/venv
|
||||
export VIRTUAL_ENV=$UV_PROJECT_ENVIRONMENT
|
||||
printenv >> $GITHUB_ENV
|
||||
if [[ "${{ runner.debug }}" == "1" ]]; then
|
||||
cat $GITHUB_OUTPUT
|
||||
fi
|
||||
|
||||
- name: Setup build environment
|
||||
run: |
|
||||
mkdir -p "${BUILD_DIR}/"
|
||||
sudo find $BUILD_DIR/ -mindepth 1 -delete
|
||||
echo "Starting build stage..."
|
||||
echo "BUILD_DIR: ${BUILD_DIR}"
|
||||
echo "CI_DIR: ${CI_DIR}"
|
||||
echo "VERSION: ${{ steps.set-env.outputs.version }}"
|
||||
echo "UV_PROJECT_ENVIRONMENT: ${UV_PROJECT_ENVIRONMENT}"
|
||||
echo "VIRTUAL_ENV: ${VIRTUAL_ENV}"
|
||||
echo "-------"
|
||||
if [[ "${{ runner.debug }}" == "1" ]]; then
|
||||
printenv
|
||||
fi
|
||||
PYTHONPATH=$PYTHONPATH:${{ github.workspace }}/ ${{ github.workspace }}/scripts/manage-powersave.py --disable
|
||||
|
||||
- name: Build Main Project
|
||||
run: |
|
||||
export PYTHONPATH="$BUILD_DIR"
|
||||
./release/release_files.py | sort | uniq | rsync -rRl${RUNNER_DEBUG:+v} --files-from=- . $BUILD_DIR/
|
||||
cd $BUILD_DIR
|
||||
sed -i '/from .board.jungle import PandaJungle, PandaJungleDFU/s/^/#/' panda/__init__.py
|
||||
scons -j$(nproc) cache_dir=${{env.SCONS_CACHE_DIR}} --minimal
|
||||
touch ${BUILD_DIR}/prebuilt
|
||||
if [[ "${{ runner.debug }}" == "1" ]]; then
|
||||
ls -la ${BUILD_DIR}
|
||||
fi
|
||||
|
||||
- name: Prepare Output
|
||||
run: |
|
||||
sudo rm -rf ${OUTPUT_DIR}
|
||||
mkdir -p ${OUTPUT_DIR}
|
||||
rsync -am${RUNNER_DEBUG:+v} \
|
||||
--include='**/panda/board/' \
|
||||
--include='**/panda/board/obj' \
|
||||
--include='**/panda/board/obj/panda.bin.signed' \
|
||||
--include='**/panda/board/obj/panda_h7.bin.signed' \
|
||||
--include='**/panda/board/obj/bootstub.panda.bin' \
|
||||
--include='**/panda/board/obj/bootstub.panda_h7.bin' \
|
||||
--exclude='.sconsign.dblite' \
|
||||
--exclude='*.a' \
|
||||
--exclude='*.o' \
|
||||
--exclude='*.os' \
|
||||
--exclude='*.pyc' \
|
||||
--exclude='moc_*' \
|
||||
--exclude='*.cc' \
|
||||
--exclude='Jenkinsfile' \
|
||||
--exclude='supercombo.onnx' \
|
||||
--exclude='**/panda/board/*' \
|
||||
--exclude='**/panda/board/obj/**' \
|
||||
--exclude='**/panda/certs/' \
|
||||
--exclude='**/panda/crypto/' \
|
||||
--exclude='**/release/' \
|
||||
--exclude='**/.github/' \
|
||||
--exclude='**/selfdrive/ui/replay/' \
|
||||
--exclude='**/__pycache__/' \
|
||||
--exclude='**/selfdrive/ui/*.h' \
|
||||
--exclude='**/selfdrive/ui/**/*.h' \
|
||||
--exclude='**/selfdrive/ui/qt/offroad/sunnypilot/' \
|
||||
--exclude='${{env.SCONS_CACHE_DIR}}' \
|
||||
--exclude='**/.git/' \
|
||||
--exclude='**/SConstruct' \
|
||||
--exclude='**/SConscript' \
|
||||
--exclude='**/.venv/' \
|
||||
--delete-excluded \
|
||||
--chown=comma:comma \
|
||||
${BUILD_DIR}/ ${OUTPUT_DIR}/
|
||||
|
||||
- name: 'Tar.gz files'
|
||||
run: |
|
||||
tar czf prebuilt.tar.gz -C ${{ env.OUTPUT_DIR }} .
|
||||
ls -la prebuilt.tar.gz
|
||||
|
||||
- name: 'Upload Artifact'
|
||||
uses: actions/upload-artifact@v4
|
||||
with:
|
||||
name: prebuilt
|
||||
path: prebuilt.tar.gz
|
||||
|
||||
- name: Re-enable powersave
|
||||
if: always()
|
||||
run: |
|
||||
PYTHONPATH=$PYTHONPATH:${{ github.workspace }}/ ${{ github.workspace }}/scripts/manage-powersave.py --enable
|
||||
|
||||
publish:
|
||||
concurrency:
|
||||
group: publish-${{ github.head_ref || github.ref_name }}
|
||||
cancel-in-progress: true
|
||||
if: ${{ (always() && !failure() && !cancelled()) && (!contains(github.event_name, 'pull_request') || (github.event.action == 'labeled' && github.event.label.name == 'prebuilt')) }}
|
||||
needs: [ build ]
|
||||
runs-on: ubuntu-24.04
|
||||
environment: ${{ (contains(fromJSON(vars.AUTO_DEPLOY_PREBUILT_BRANCHES), github.head_ref || github.ref_name) || contains(github.event.pull_request.labels.*.name, 'prebuilt')) && 'auto-deploy' || 'feature-branch' }}
|
||||
steps:
|
||||
- uses: actions/checkout@v4
|
||||
|
||||
- name: Download build artifacts
|
||||
uses: actions/download-artifact@v4
|
||||
with:
|
||||
name: prebuilt
|
||||
|
||||
- name: Untar prebuilt
|
||||
run: |
|
||||
mkdir -p ${{ env.OUTPUT_DIR }}
|
||||
tar xzf prebuilt.tar.gz -C ${{ env.OUTPUT_DIR }}
|
||||
|
||||
- name: Configure Git
|
||||
run: |
|
||||
git config --global user.email "github-actions[bot]@users.noreply.github.com"
|
||||
git config --global user.name "github-actions[bot]"
|
||||
|
||||
- name: Publish to Public Repository
|
||||
env:
|
||||
GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
|
||||
run: |
|
||||
echo '${{ toJSON(needs.build.outputs) }}'
|
||||
ls -la ${{ env.OUTPUT_DIR }}
|
||||
|
||||
${{ env.CI_DIR }}/publish.sh \
|
||||
"${{ github.workspace }}" \
|
||||
"${{ env.OUTPUT_DIR }}" \
|
||||
"${{ needs.build.outputs.new_branch }}" \
|
||||
"${{ needs.build.outputs.version }}" \
|
||||
"https://x-access-token:${{github.token}}@github.com/sunnypilot/sunnypilot.git" \
|
||||
"-${{ needs.build.outputs.extra_version_identifier }}"
|
||||
|
||||
echo ""
|
||||
echo "---- ℹ️ To update the list of branches that auto deploy prebuilts -----"
|
||||
echo ""
|
||||
echo "1. Go to: ${{ github.server_url }}/${{ github.repository }}/settings/variables/actions/AUTO_DEPLOY_PREBUILT_BRANCHES"
|
||||
echo "2. Current value: ${{ vars.AUTO_DEPLOY_PREBUILT_BRANCHES }}"
|
||||
echo "3. Update as needed (JSON array with no spaces)"
|
||||
|
||||
notify:
|
||||
needs: [ build, publish ]
|
||||
runs-on: ubuntu-24.04
|
||||
if: ${{ (always() && !failure() && !cancelled()) && (!contains(github.event_name, 'pull_request') || (github.event.action == 'labeled' && github.event.label.name == 'prebuilt')) }}
|
||||
steps:
|
||||
- uses: actions/checkout@v4
|
||||
- name: Setup Alpine Linux environment
|
||||
uses: jirutka/setup-alpine@v1.2.0
|
||||
with:
|
||||
packages: 'jq gettext curl'
|
||||
|
||||
- name: Send Discord Notification
|
||||
env:
|
||||
DISCORD_WEBHOOK: ${{ contains(fromJSON(vars.DEV_FEEDBACK_NOTIFICATION_BRANCHES), env.SOURCE_BRANCH) && secrets.DISCORD_DEV_FEEDBACK_CHANNEL_WEBHOOK || secrets.DISCORD_DEV_PRIVATE_CHANNEL_WEBHOOK }}
|
||||
run: |
|
||||
TEMPLATE='${{ vars.DISCORD_GENERAL_UPDATE_NOTICE }}'
|
||||
export EXTRA_VERSION_IDENTIFIER="${{ needs.build.outputs.extra_version_identifier }}"
|
||||
export VERSION="${{ needs.build.outputs.version }}"
|
||||
export branch_name=${{ env.SOURCE_BRANCH }}
|
||||
export new_branch=${{ needs.build.outputs.new_branch }}
|
||||
export extra_version_identifier=${{ needs.build.outputs.extra_version_identifier || github.run_number}}
|
||||
echo ${TEMPLATE} | envsubst | jq -c '.' | tee payload.json
|
||||
curl -X POST -H "Content-Type: application/json" -d @payload.json $DISCORD_WEBHOOK
|
||||
|
||||
echo ""
|
||||
echo "---- ℹ️ To update the list of branches that notify to dev-feedback -----"
|
||||
echo ""
|
||||
echo "1. Go to: ${{ github.server_url }}/${{ github.repository }}/settings/variables/actions/DEV_FEEDBACK_NOTIFICATION_BRANCHES"
|
||||
echo "2. Current value: ${{ vars.DEV_FEEDBACK_NOTIFICATION_BRANCHES }}"
|
||||
echo "3. Update as needed (JSON array with no spaces)"
|
||||
shell: alpine.sh {0}
|
||||
|
||||
manage-pr-labels:
|
||||
name: Remove prebuilt label
|
||||
runs-on: ubuntu-latest
|
||||
if: (always() && contains(github.event_name, 'pull_request') && (github.event.action == 'labeled' && github.event.label.name == 'prebuilt'))
|
||||
env:
|
||||
LABEL: prebuilt
|
||||
steps:
|
||||
- name: Remove trust-fork-pr label if present
|
||||
uses: actions/github-script@v7
|
||||
with:
|
||||
github-token: ${{ secrets.GITHUB_TOKEN }}
|
||||
script: |
|
||||
const prNumber = context.payload.pull_request.number;
|
||||
|
||||
await github.rest.issues.removeLabel({
|
||||
owner: context.repo.owner,
|
||||
repo: context.repo.repo,
|
||||
issue_number: prNumber,
|
||||
name: process.env.LABEL
|
||||
});
|
||||
|
||||
console.log(`Removed '${process.env.LABEL}' label from PR #${prNumber}`);
|
||||
@@ -1,223 +0,0 @@
|
||||
name: Build dev-c3-new
|
||||
|
||||
env:
|
||||
DEFAULT_SOURCE_BRANCH: "master"
|
||||
DEFAULT_TARGET_BRANCH: "master-dev-c3-new"
|
||||
PR_LABEL: "dev-c3"
|
||||
LFS_URL: 'https://gitlab.com/sunnypilot/public/sunnypilot-new-lfs.git/info/lfs'
|
||||
LFS_PUSH_URL: 'ssh://git@gitlab.com/sunnypilot/public/sunnypilot-new-lfs.git'
|
||||
|
||||
on:
|
||||
push:
|
||||
branches:
|
||||
- master
|
||||
pull_request_target:
|
||||
types: [ labeled ]
|
||||
branches:
|
||||
- 'master'
|
||||
workflow_dispatch:
|
||||
inputs:
|
||||
source_branch:
|
||||
description: 'Source branch to reset from'
|
||||
required: true
|
||||
default: 'master'
|
||||
type: string
|
||||
target_branch:
|
||||
description: 'Target branch to reset and squash into'
|
||||
required: true
|
||||
default: 'master-dev-c3-new'
|
||||
type: string
|
||||
cancel_in_progress:
|
||||
description: 'Cancel any in-progress runs of this workflow'
|
||||
required: false
|
||||
default: true
|
||||
type: boolean
|
||||
|
||||
concurrency:
|
||||
group: ${{ github.workflow }}
|
||||
cancel-in-progress: ${{ inputs.cancel_in_progress || github.event_name == 'push' && github.ref == format('refs/heads/{0}', github.event.repository.default_branch) }}
|
||||
|
||||
jobs:
|
||||
reset-and-squash:
|
||||
runs-on: ubuntu-latest
|
||||
if: (
|
||||
(github.event_name == 'workflow_dispatch')
|
||||
|| (github.event_name == 'push' && github.ref == format('refs/heads/{0}', github.event.repository.default_branch))
|
||||
|| (contains(github.event_name, 'pull_request') && ((github.event.action == 'labeled' && (github.event.label.name == 'dev-c3' || github.event.label.name == 'trust-fork-pr') && contains(github.event.pull_request.labels.*.name, 'dev-c3'))))
|
||||
)
|
||||
steps:
|
||||
- uses: actions/checkout@v4
|
||||
with:
|
||||
fetch-depth: 0 # Fetch all history for all branches
|
||||
token: ${{ secrets.GITHUB_TOKEN }}
|
||||
|
||||
- name: Wait for Tests
|
||||
uses: ./.github/workflows/wait-for-action # Path to where you place the action
|
||||
if: (
|
||||
(github.event_name == 'push' && github.ref == format('refs/heads/{0}', github.event.repository.default_branch))
|
||||
|| (contains(github.event_name, 'pull_request') && ((github.event.action == 'labeled' && (github.event.label.name == 'dev-c3' || github.event.label.name == 'trust-fork-pr') && contains(github.event.pull_request.labels.*.name, 'dev-c3'))))
|
||||
)
|
||||
with:
|
||||
workflow: selfdrive_tests.yaml # The workflow file to monitor
|
||||
github-token: ${{ secrets.GITHUB_TOKEN }}
|
||||
|
||||
- name: Configure Git
|
||||
run: |
|
||||
git config --global user.name 'github-actions[bot]'
|
||||
git config --global user.email 'github-actions[bot]@users.noreply.github.com'
|
||||
|
||||
- name: Set up SSH
|
||||
uses: webfactory/ssh-agent@v0.9.0
|
||||
with:
|
||||
ssh-private-key: ${{ secrets.SSH_PRIVATE_KEY }}
|
||||
|
||||
- name: Add GitLab public keys
|
||||
run: |
|
||||
ssh-keyscan -H gitlab.com >> ~/.ssh/known_hosts
|
||||
|
||||
- name: Set up Python
|
||||
uses: actions/setup-python@v5
|
||||
with:
|
||||
python-version: '3.10'
|
||||
|
||||
- name: Install dependencies
|
||||
run: |
|
||||
python -m pip install --upgrade pip
|
||||
pip install PyGithub
|
||||
|
||||
- name: Check branches exist
|
||||
run: |
|
||||
# Check if source branch exists
|
||||
if ! git ls-remote --heads origin ${{ inputs.source_branch || env.DEFAULT_SOURCE_BRANCH }} | grep -q "${{ inputs.source_branch || env.DEFAULT_SOURCE_BRANCH }}"; then
|
||||
echo "Source branch ${{ inputs.source_branch || env.DEFAULT_SOURCE_BRANCH }} does not exist!"
|
||||
exit 1
|
||||
fi
|
||||
|
||||
# Make sure we have the latest source branch
|
||||
git fetch origin ${{ inputs.source_branch || env.DEFAULT_SOURCE_BRANCH }}
|
||||
|
||||
# Check if target branch exists
|
||||
if ! git ls-remote --heads origin ${{ inputs.target_branch || env.DEFAULT_TARGET_BRANCH }} | grep -q "${{ inputs.target_branch || env.DEFAULT_TARGET_BRANCH }}"; then
|
||||
echo "Target branch ${{ inputs.target_branch || env.DEFAULT_TARGET_BRANCH }} does not exist, creating it from ${{ inputs.source_branch || env.DEFAULT_SOURCE_BRANCH }}"
|
||||
git checkout -b ${{ inputs.target_branch || env.DEFAULT_TARGET_BRANCH }} origin/${{ inputs.source_branch || env.DEFAULT_SOURCE_BRANCH }}
|
||||
git push origin ${{ inputs.target_branch || env.DEFAULT_TARGET_BRANCH }}
|
||||
else
|
||||
# Fetch target branch if it exists
|
||||
git fetch origin ${{ inputs.target_branch || env.DEFAULT_TARGET_BRANCH }}
|
||||
fi
|
||||
|
||||
- name: Reset target branch
|
||||
run: |
|
||||
echo "Resetting ${{ inputs.target_branch || env.DEFAULT_TARGET_BRANCH }} to match ${{ inputs.source_branch || env.DEFAULT_SOURCE_BRANCH }}"
|
||||
# Delete if exists and recreate pointing to source
|
||||
git branch -D ${{ inputs.target_branch || env.DEFAULT_TARGET_BRANCH }} || true
|
||||
git branch ${{ inputs.target_branch || env.DEFAULT_TARGET_BRANCH }} origin/${{ inputs.source_branch || env.DEFAULT_SOURCE_BRANCH }}
|
||||
|
||||
- name: Get PRs to squash
|
||||
id: get-prs
|
||||
run: |
|
||||
# Use GitHub API to get PRs with specific label, ordered by creation date
|
||||
PR_LIST=$(gh api graphql -f query='
|
||||
query($label:String!) {
|
||||
search(query: $label, type:ISSUE, first:100) {
|
||||
nodes {
|
||||
... on PullRequest {
|
||||
number
|
||||
headRefName
|
||||
title
|
||||
createdAt
|
||||
labels(last:10) {
|
||||
nodes {
|
||||
name
|
||||
}
|
||||
}
|
||||
headRepository {
|
||||
name
|
||||
nameWithOwner
|
||||
url
|
||||
isFork
|
||||
}
|
||||
commits(last: 1) {
|
||||
nodes {
|
||||
commit {
|
||||
statusCheckRollup {
|
||||
state
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
}' -F label="is:pr is:open label:${PR_LABEL} draft:false sort:created-asc")
|
||||
|
||||
PR_LIST=${PR_LIST//\'/}
|
||||
echo "PR_LIST=${PR_LIST}" >> $GITHUB_OUTPUT
|
||||
env:
|
||||
GH_TOKEN: ${{ secrets.GITHUB_TOKEN }}
|
||||
|
||||
- name: Process PRs
|
||||
run: |
|
||||
cp ${{ github.workspace }}/release/ci/squash_and_merge.py /tmp/squash_and_merge.py && \
|
||||
chmod +x /tmp/squash_and_merge.py && \
|
||||
python3 ${{ github.workspace }}/release/ci/squash_and_merge_prs.py \
|
||||
--pr-data '${{ steps.get-prs.outputs.PR_LIST }}' \
|
||||
--target-branch ${{ inputs.target_branch || env.DEFAULT_TARGET_BRANCH }} \
|
||||
--squash-script-path '/tmp/squash_and_merge.py'
|
||||
env:
|
||||
GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
|
||||
|
||||
- name: Update LFS Config
|
||||
run: |
|
||||
echo '[lfs]' > .lfsconfig
|
||||
echo ' url = ${{ env.LFS_URL }}' >> .lfsconfig
|
||||
echo ' pushurl = ${{ env.LFS_PUSH_URL }}' >> .lfsconfig
|
||||
echo ' locksverify = false' >> .lfsconfig
|
||||
|
||||
- name: Push changes if there are diffs
|
||||
id: push-changes # Add an id so we can reference this step
|
||||
run: |
|
||||
TARGET_BRANCH="${{ inputs.target_branch || env.DEFAULT_TARGET_BRANCH }}"
|
||||
|
||||
# Fetch the latest from remote
|
||||
git fetch origin $TARGET_BRANCH
|
||||
|
||||
# Check for diffs between local and remote
|
||||
if git diff $TARGET_BRANCH origin/$TARGET_BRANCH --quiet; then
|
||||
echo "No changes to push - local and remote branches are identical"
|
||||
echo "has_changes=false" >> $GITHUB_OUTPUT
|
||||
exit 0
|
||||
fi
|
||||
|
||||
# If we get here, there are diffs, so push
|
||||
if ! git push origin $TARGET_BRANCH --force; then
|
||||
echo "Failed to push changes to $TARGET_BRANCH"
|
||||
exit 1
|
||||
fi
|
||||
|
||||
echo "Branch $TARGET_BRANCH has been reset and updated with squashed PRs"
|
||||
echo "has_changes=true" >> $GITHUB_OUTPUT
|
||||
|
||||
- name: Trigger and wait for selfdrive tests
|
||||
if: steps.push-changes.outputs.has_changes == 'true'
|
||||
run: |
|
||||
echo "Triggering selfdrive tests..."
|
||||
gh workflow run selfdrive_tests.yaml --ref "${{ inputs.target_branch || env.DEFAULT_TARGET_BRANCH }}"
|
||||
|
||||
echo "Sleeping for 120s to give plenty of time for the action to start and then we wait"
|
||||
sleep 120
|
||||
|
||||
echo "Getting latest run ID..."
|
||||
RUN_ID=$(gh run list --workflow=selfdrive_tests.yaml --branch="${{ inputs.target_branch || env.DEFAULT_TARGET_BRANCH }}" --limit=1 --json databaseId --jq '.[0].databaseId')
|
||||
|
||||
echo "Watching run ID: $RUN_ID"
|
||||
gh run watch "$RUN_ID"
|
||||
env:
|
||||
GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
|
||||
|
||||
- name: Trigger prebuilt workflow
|
||||
if: success() && steps.push-changes.outputs.has_changes == 'true'
|
||||
run: |
|
||||
gh workflow run sunnypilot-build-prebuilt.yaml --ref "${{ inputs.target_branch || env.DEFAULT_TARGET_BRANCH }}"
|
||||
env:
|
||||
GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
|
||||
@@ -1,173 +0,0 @@
|
||||
name: "ui preview"
|
||||
on:
|
||||
push:
|
||||
branches:
|
||||
- master
|
||||
pull_request_target:
|
||||
types: [assigned, opened, synchronize, reopened, edited]
|
||||
branches:
|
||||
- 'master'
|
||||
paths:
|
||||
- 'selfdrive/ui/**'
|
||||
workflow_dispatch:
|
||||
|
||||
env:
|
||||
UI_JOB_NAME: "Create UI Report"
|
||||
REPORT_NAME: ${{ github.event_name == 'push' && github.ref == 'refs/heads/master' && 'master' || github.event.number }}
|
||||
SHA: ${{ github.event_name == 'push' && github.ref == 'refs/heads/master' && github.sha || github.event.pull_request.head.sha }}
|
||||
BRANCH_NAME: "openpilot/pr-${{ github.event.number }}"
|
||||
|
||||
jobs:
|
||||
preview:
|
||||
if: github.repository == 'sunnypilot/sunnypilot'
|
||||
name: preview
|
||||
runs-on: ubuntu-latest
|
||||
timeout-minutes: 20
|
||||
permissions:
|
||||
contents: read
|
||||
pull-requests: write
|
||||
actions: read
|
||||
steps:
|
||||
- name: Waiting for ui generation to start
|
||||
run: sleep 30
|
||||
|
||||
- name: Waiting for ui generation to end
|
||||
uses: lewagon/wait-on-check-action@v1.3.4
|
||||
with:
|
||||
ref: ${{ env.SHA }}
|
||||
check-name: ${{ env.UI_JOB_NAME }}
|
||||
repo-token: ${{ secrets.GITHUB_TOKEN }}
|
||||
allowed-conclusions: success
|
||||
wait-interval: 20
|
||||
|
||||
- name: Getting workflow run ID
|
||||
id: get_run_id
|
||||
run: |
|
||||
echo "run_id=$(curl https://api.github.com/repos/${{ github.repository }}/commits/${{ env.SHA }}/check-runs | jq -r '.check_runs[] | select(.name == "${{ env.UI_JOB_NAME }}") | .html_url | capture("(?<number>[0-9]+)") | .number')" >> $GITHUB_OUTPUT
|
||||
|
||||
- name: Getting proposed ui
|
||||
id: download-artifact
|
||||
uses: dawidd6/action-download-artifact@v6
|
||||
with:
|
||||
github_token: ${{ secrets.GITHUB_TOKEN }}
|
||||
run_id: ${{ steps.get_run_id.outputs.run_id }}
|
||||
search_artifacts: true
|
||||
name: report-1-${{ env.REPORT_NAME }}
|
||||
path: ${{ github.workspace }}/pr_ui
|
||||
|
||||
- name: Getting master ui
|
||||
uses: actions/checkout@v4
|
||||
with:
|
||||
repository: sunnypilot/ci-artifacts
|
||||
ssh-key: ${{ secrets.CI_ARTIFACTS_DEPLOY_KEY }}
|
||||
path: ${{ github.workspace }}/master_ui
|
||||
ref: openpilot_master_ui
|
||||
|
||||
- name: Saving new master ui
|
||||
if: github.ref == 'refs/heads/master' && github.event_name == 'push'
|
||||
working-directory: ${{ github.workspace }}/master_ui
|
||||
run: |
|
||||
git checkout --orphan=new_master_ui
|
||||
git rm -rf *
|
||||
git branch -D openpilot_master_ui
|
||||
git branch -m openpilot_master_ui
|
||||
git config user.name "GitHub Actions Bot"
|
||||
git config user.email "<>"
|
||||
mv ${{ github.workspace }}/pr_ui/*.png .
|
||||
git add .
|
||||
git commit -m "screenshots for commit ${{ env.SHA }}"
|
||||
git push origin openpilot_master_ui --force
|
||||
|
||||
- name: Finding diff
|
||||
if: github.event_name == 'pull_request_target'
|
||||
id: find_diff
|
||||
run: >-
|
||||
sudo apt-get update && sudo apt-get install -y imagemagick
|
||||
|
||||
scenes=$(find ${{ github.workspace }}/pr_ui/*.png -type f -printf "%f\n" | cut -d '.' -f 1 | grep -v 'pair_device')
|
||||
A=($scenes)
|
||||
|
||||
DIFF=""
|
||||
TABLE="<details><summary>All Screenshots</summary>"
|
||||
TABLE="${TABLE}<table>"
|
||||
|
||||
for ((i=0; i<${#A[*]}; i=i+1));
|
||||
do
|
||||
# Check if the master file exists
|
||||
if [ ! -f "${{ github.workspace }}/master_ui/${A[$i]}.png" ]; then
|
||||
# This is a new file in PR UI that doesn't exist in master
|
||||
DIFF="${DIFF}<details open>"
|
||||
DIFF="${DIFF}<summary>${A[$i]} : \$\${\\color{cyan}\\text{NEW}}\$\$</summary>"
|
||||
DIFF="${DIFF}<table>"
|
||||
|
||||
DIFF="${DIFF}<tr>"
|
||||
DIFF="${DIFF} <td> <img src=\"https://raw.githubusercontent.com/sunnypilot/ci-artifacts/${{ env.BRANCH_NAME }}/${A[$i]}.png\"> </td>"
|
||||
DIFF="${DIFF}</tr>"
|
||||
|
||||
DIFF="${DIFF}</table>"
|
||||
DIFF="${DIFF}</details>"
|
||||
elif ! compare -fuzz 2% -highlight-color DeepSkyBlue1 -lowlight-color Black -compose Src ${{ github.workspace }}/master_ui/${A[$i]}.png ${{ github.workspace }}/pr_ui/${A[$i]}.png ${{ github.workspace }}/pr_ui/${A[$i]}_diff.png; then
|
||||
convert ${{ github.workspace }}/pr_ui/${A[$i]}_diff.png -transparent black mask.png
|
||||
composite mask.png ${{ github.workspace }}/master_ui/${A[$i]}.png composite_diff.png
|
||||
convert -delay 100 ${{ github.workspace }}/master_ui/${A[$i]}.png composite_diff.png -loop 0 ${{ github.workspace }}/pr_ui/${A[$i]}_diff.gif
|
||||
|
||||
mv ${{ github.workspace }}/master_ui/${A[$i]}.png ${{ github.workspace }}/pr_ui/${A[$i]}_master_ref.png
|
||||
|
||||
DIFF="${DIFF}<details open>"
|
||||
DIFF="${DIFF}<summary>${A[$i]} : \$\${\\color{red}\\text{DIFFERENT}}\$\$</summary>"
|
||||
DIFF="${DIFF}<table>"
|
||||
|
||||
DIFF="${DIFF}<tr>"
|
||||
DIFF="${DIFF} <td> master <img src=\"https://raw.githubusercontent.com/sunnypilot/ci-artifacts/${{ env.BRANCH_NAME }}/${A[$i]}_master_ref.png\"> </td>"
|
||||
DIFF="${DIFF} <td> proposed <img src=\"https://raw.githubusercontent.com/sunnypilot/ci-artifacts/${{ env.BRANCH_NAME }}/${A[$i]}.png\"> </td>"
|
||||
DIFF="${DIFF}</tr>"
|
||||
|
||||
DIFF="${DIFF}<tr>"
|
||||
DIFF="${DIFF} <td> diff <img src=\"https://raw.githubusercontent.com/sunnypilot/ci-artifacts/${{ env.BRANCH_NAME }}/${A[$i]}_diff.png\"> </td>"
|
||||
DIFF="${DIFF} <td> composite diff <img src=\"https://raw.githubusercontent.com/sunnypilot/ci-artifacts/${{ env.BRANCH_NAME }}/${A[$i]}_diff.gif\"> </td>"
|
||||
DIFF="${DIFF}</tr>"
|
||||
|
||||
DIFF="${DIFF}</table>"
|
||||
DIFF="${DIFF}</details>"
|
||||
else
|
||||
rm -f ${{ github.workspace }}/pr_ui/${A[$i]}_diff.png
|
||||
fi
|
||||
|
||||
INDEX=$(($i % 2))
|
||||
if [[ $INDEX -eq 0 ]]; then
|
||||
TABLE="${TABLE}<tr>"
|
||||
fi
|
||||
TABLE="${TABLE} <td> <img src=\"https://raw.githubusercontent.com/sunnypilot/ci-artifacts/${{ env.BRANCH_NAME }}/${A[$i]}.png\"> </td>"
|
||||
if [[ $INDEX -eq 1 || $(($i + 1)) -eq ${#A[*]} ]]; then
|
||||
TABLE="${TABLE}</tr>"
|
||||
fi
|
||||
done
|
||||
|
||||
TABLE="${TABLE}</table></details>"
|
||||
|
||||
echo "DIFF=$DIFF$TABLE" >> "$GITHUB_OUTPUT"
|
||||
|
||||
- name: Saving proposed ui
|
||||
if: github.event_name == 'pull_request_target'
|
||||
working-directory: ${{ github.workspace }}/master_ui
|
||||
run: |
|
||||
git config user.name "GitHub Actions Bot"
|
||||
git config user.email "<>"
|
||||
git checkout --orphan=${{ env.BRANCH_NAME }}
|
||||
git rm -rf *
|
||||
mv ${{ github.workspace }}/pr_ui/* .
|
||||
git add .
|
||||
git commit -m "screenshots for PR #${{ github.event.number }}"
|
||||
git push origin ${{ env.BRANCH_NAME }} --force
|
||||
|
||||
- name: Comment Screenshots on PR
|
||||
if: github.event_name == 'pull_request_target'
|
||||
uses: thollander/actions-comment-pull-request@v2
|
||||
with:
|
||||
message: |
|
||||
<!-- _(run_id_screenshots **${{ github.run_id }}**)_ -->
|
||||
## UI Preview
|
||||
${{ steps.find_diff.outputs.DIFF }}
|
||||
comment_tag: run_id_screenshots
|
||||
pr_number: ${{ github.event.number }}
|
||||
GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
|
||||
@@ -1,52 +0,0 @@
|
||||
name: 'Wait for Tests'
|
||||
description: 'Action to wait for workflow tests to start and complete'
|
||||
inputs:
|
||||
workflow:
|
||||
description: 'The workflow file name to monitor'
|
||||
required: true
|
||||
default: 'selfdrive_tests.yaml'
|
||||
branch:
|
||||
description: 'The branch to monitor (defaults to current branch)'
|
||||
required: false
|
||||
default: ''
|
||||
github-token:
|
||||
description: 'GitHub token for API access'
|
||||
required: true
|
||||
wait-time:
|
||||
description: 'Initial sleep time in seconds before monitoring starts'
|
||||
required: false
|
||||
default: '30'
|
||||
should-wait-for-start:
|
||||
description: 'Whether to wait for tests to start'
|
||||
required: false
|
||||
default: false
|
||||
|
||||
runs:
|
||||
using: 'composite'
|
||||
steps:
|
||||
- name: Wait for tests to start
|
||||
if: inputs.should-wait-for-start == 'true'
|
||||
shell: bash
|
||||
run: |
|
||||
echo "Sleeping for ${{ inputs.wait-time }} seconds to give some time for the action to start and then we'll wait"
|
||||
sleep ${{ inputs.wait-time }}
|
||||
|
||||
- name: Wait for tests to finish
|
||||
shell: bash
|
||||
run: |
|
||||
BRANCH="${{ inputs.branch || github.head_ref || github.ref_name }}"
|
||||
|
||||
echo "Looking for workflow runs of ${{ inputs.workflow }} on branch $BRANCH"
|
||||
RUN_ID=$(gh run list --workflow=${{ inputs.workflow }} --branch="$BRANCH" --limit=1 --json databaseId --jq '.[0].databaseId')
|
||||
echo "Watching run ID: $RUN_ID"
|
||||
gh run watch "$RUN_ID"
|
||||
|
||||
CONCLUSION=$(gh run view "$RUN_ID" --json conclusion --jq '.conclusion')
|
||||
echo "Run concluded with: $CONCLUSION"
|
||||
|
||||
if [[ "$CONCLUSION" != "success" ]]; then
|
||||
echo "❌ Workflow run failed with conclusion: $CONCLUSION"
|
||||
exit 1
|
||||
fi
|
||||
env:
|
||||
GITHUB_TOKEN: ${{ inputs.github-token }}
|
||||
+6
-97
@@ -1,112 +1,21 @@
|
||||
venv/
|
||||
.venv/
|
||||
.ci_cache
|
||||
.env
|
||||
.clang-format
|
||||
.DS_Store
|
||||
.tags
|
||||
.ipynb_checkpoints
|
||||
.idea
|
||||
.overlay_init
|
||||
.overlay_consistent
|
||||
.sconsign.dblite
|
||||
model2.png
|
||||
a.out
|
||||
.hypothesis
|
||||
.cache/
|
||||
|
||||
/docs_site/
|
||||
|
||||
*.mp4
|
||||
*.dylib
|
||||
*.DSYM
|
||||
*.d
|
||||
*.pyc
|
||||
*.pyo
|
||||
.*.swp
|
||||
.*.swo
|
||||
.*.un~
|
||||
*.tmp
|
||||
*.o
|
||||
*.o-*
|
||||
*.os
|
||||
*.os-*
|
||||
*.d
|
||||
*.so
|
||||
*.a
|
||||
*.clb
|
||||
*.class
|
||||
*.pyxbldc
|
||||
*.vcd
|
||||
*.qm
|
||||
*_pyx.cpp
|
||||
config.json
|
||||
clcache
|
||||
compile_commands.json
|
||||
compare_runtime*.html
|
||||
|
||||
persist
|
||||
selfdrive/pandad/pandad
|
||||
cereal/services.h
|
||||
cereal/gen
|
||||
cereal/messaging/bridge
|
||||
selfdrive/mapd/default_speeds_by_region.json
|
||||
system/proclogd/proclogd
|
||||
selfdrive/ui/translations/tmp
|
||||
selfdrive/test/longitudinal_maneuvers/out
|
||||
selfdrive/car/tests/cars_dump
|
||||
system/camerad/camerad
|
||||
system/camerad/test/ae_gray_test
|
||||
board/obj/
|
||||
selfdrive/boardd/boardd
|
||||
selfdrive/logcatd/logcatd
|
||||
selfdrive/sensord/sensord
|
||||
selfdrive/ui/ui
|
||||
|
||||
notebooks
|
||||
hyperthneed
|
||||
provisioning
|
||||
|
||||
.coverage*
|
||||
coverage.xml
|
||||
htmlcov
|
||||
pandaextra
|
||||
|
||||
.mypy_cache/
|
||||
flycheck_*
|
||||
|
||||
cppcheck_report.txt
|
||||
comma*.sh
|
||||
|
||||
selfdrive/modeld/models/*.pkl
|
||||
sunnypilot/modeld*/thneed/compile
|
||||
sunnypilot/modeld*/models/*.thneed
|
||||
sunnypilot/modeld*/models/*.pkl
|
||||
|
||||
*.bz2
|
||||
*.zst
|
||||
|
||||
build/
|
||||
|
||||
!**/.gitkeep
|
||||
|
||||
poetry.toml
|
||||
Pipfile
|
||||
|
||||
### VisualStudioCode ###
|
||||
.vscode/*
|
||||
!.vscode/settings.json
|
||||
!.vscode/tasks.json
|
||||
!.vscode/launch.json
|
||||
!.vscode/extensions.json
|
||||
!.vscode/*.code-snippets
|
||||
|
||||
# Local History for Visual Studio Code
|
||||
.history/
|
||||
|
||||
# Built Visual Studio Code Extensions
|
||||
*.vsix
|
||||
|
||||
### VisualStudioCode Patch ###
|
||||
# Ignore all local history of files
|
||||
.history
|
||||
.ionide
|
||||
|
||||
### JetBrains ###
|
||||
!.idea/customTargets.xml
|
||||
!.idea/tools/*
|
||||
!.run/*
|
||||
|
||||
-21
@@ -1,21 +0,0 @@
|
||||
[submodule "panda"]
|
||||
path = panda
|
||||
url = https://github.com/sunnyhaibin/panda.git
|
||||
[submodule "opendbc"]
|
||||
path = opendbc_repo
|
||||
url = https://github.com/sunnypilot/opendbc.git
|
||||
[submodule "msgq"]
|
||||
path = msgq_repo
|
||||
url = https://github.com/sunnypilot/msgq.git
|
||||
[submodule "rednose_repo"]
|
||||
path = rednose_repo
|
||||
url = https://github.com/commaai/rednose.git
|
||||
[submodule "teleoprtc_repo"]
|
||||
path = teleoprtc_repo
|
||||
url = https://github.com/commaai/teleoprtc
|
||||
[submodule "tinygrad"]
|
||||
path = tinygrad_repo
|
||||
url = https://github.com/tinygrad/tinygrad.git
|
||||
[submodule "sunnypilot/neural_network_data"]
|
||||
path = sunnypilot/neural_network_data
|
||||
url = https://github.com/sunnypilot/neural-network-data.git
|
||||
Generated
-25
@@ -1,25 +0,0 @@
|
||||
<?xml version="1.0" encoding="UTF-8"?>
|
||||
<project version="4">
|
||||
<component name="CLionExternalBuildManager">
|
||||
<target id="a62f99e8-5ec4-434c-8122-49efed5af108" name="uv Scons Build Debug" defaultType="TOOL">
|
||||
<configuration id="b93ec964-16e5-4962-a12e-3ed360ce8f02" name="uv Scons Build Debug">
|
||||
<build type="TOOL">
|
||||
<tool actionId="Tool_External Tools_uv Scons Build Debug" />
|
||||
</build>
|
||||
<clean type="TOOL">
|
||||
<tool actionId="Tool_External Tools_uv Scons Clean" />
|
||||
</clean>
|
||||
</configuration>
|
||||
</target>
|
||||
<target id="edd8ad9d-183b-467c-a355-0d9a0ecab026" name="uv Scons Build Release" defaultType="TOOL">
|
||||
<configuration id="09523339-5ce3-4223-ab9e-904f38ad7752" name="uv Scons Build Release">
|
||||
<build type="TOOL">
|
||||
<tool actionId="Tool_External Tools_uv Scons Build Release" />
|
||||
</build>
|
||||
<clean type="TOOL">
|
||||
<tool actionId="Tool_External Tools_uv Scons Clean" />
|
||||
</clean>
|
||||
</configuration>
|
||||
</target>
|
||||
</component>
|
||||
</project>
|
||||
Generated
-23
@@ -1,23 +0,0 @@
|
||||
<toolSet name="External Tools">
|
||||
<tool name="uv Scons Build Debug" showInMainMenu="false" showInEditor="false" showInProject="false" showInSearchPopup="false" disabled="false" useConsole="true" showConsoleOnStdOut="false" showConsoleOnStdErr="false" synchronizeAfterRun="true">
|
||||
<exec>
|
||||
<option name="COMMAND" value="bash" />
|
||||
<option name="PARAMETERS" value="-c "source .venv/bin/activate && scons -u -j$(nproc) --ccflags=\"-fno-inline\""" />
|
||||
<option name="WORKING_DIRECTORY" value="$ProjectFileDir$" />
|
||||
</exec>
|
||||
</tool>
|
||||
<tool name="uv Scons Clean" showInMainMenu="false" showInEditor="false" showInProject="false" showInSearchPopup="false" disabled="false" useConsole="true" showConsoleOnStdOut="false" showConsoleOnStdErr="false" synchronizeAfterRun="true">
|
||||
<exec>
|
||||
<option name="COMMAND" value="bash" />
|
||||
<option name="PARAMETERS" value="-c "source .venv/bin/activate && scons -c" " />
|
||||
<option name="WORKING_DIRECTORY" value="$ProjectFileDir$" />
|
||||
</exec>
|
||||
</tool>
|
||||
<tool name="uv Scons Build Release" showInMainMenu="false" showInEditor="false" showInProject="false" showInSearchPopup="false" disabled="false" useConsole="true" showConsoleOnStdOut="false" showConsoleOnStdErr="false" synchronizeAfterRun="true">
|
||||
<exec>
|
||||
<option name="COMMAND" value="bash" />
|
||||
<option name="PARAMETERS" value="-c "source .venv/bin/activate && scons -u -j$(nproc)" " />
|
||||
<option name="WORKING_DIRECTORY" value="$ProjectFileDir$" />
|
||||
</exec>
|
||||
</tool>
|
||||
</toolSet>
|
||||
@@ -1,4 +0,0 @@
|
||||
[lfs]
|
||||
url = https://gitlab.com/sunnypilot/public/sunnypilot-new-lfs.git/info/lfs
|
||||
pushurl = ssh://git@gitlab.com/sunnypilot/public/sunnypilot-new-lfs.git
|
||||
locksverify = false
|
||||
@@ -1,4 +0,0 @@
|
||||
[lfs]
|
||||
url = https://gitlab.com/commaai/openpilot-lfs.git/info/lfs
|
||||
pushurl = ssh://git@gitlab.com/commaai/openpilot-lfs.git
|
||||
locksverify = false
|
||||
@@ -1,10 +0,0 @@
|
||||
<component name="ProjectRunConfigurationManager">
|
||||
<configuration default="false" name="Build Debug" type="CLionExternalRunConfiguration" factoryName="Application" REDIRECT_INPUT="false" ELEVATE="false" USE_EXTERNAL_CONSOLE="false" EMULATE_TERMINAL="false" WORKING_DIR="file://$ProjectFileDir$/selfdrive/ui" PASS_PARENT_ENVS_2="true" PROJECT_NAME="sunnypilot" TARGET_NAME="uv Scons Build Debug" CONFIG_NAME="uv Scons Build Debug" RUN_PATH="ui">
|
||||
<envs>
|
||||
<env name="QT_DBL_CLICK_DIST" value="150" />
|
||||
</envs>
|
||||
<method v="2">
|
||||
<option name="CLION.EXTERNAL.BUILD" enabled="true" />
|
||||
</method>
|
||||
</configuration>
|
||||
</component>
|
||||
@@ -1,10 +0,0 @@
|
||||
<component name="ProjectRunConfigurationManager">
|
||||
<configuration default="false" name="Build Release" type="CLionExternalRunConfiguration" factoryName="Application" REDIRECT_INPUT="false" ELEVATE="false" USE_EXTERNAL_CONSOLE="false" EMULATE_TERMINAL="false" WORKING_DIR="file://$ProjectFileDir$/selfdrive/ui" PASS_PARENT_ENVS_2="true" PROJECT_NAME="sunnypilot" TARGET_NAME="uv Scons Build Release" CONFIG_NAME="uv Scons Build Release" RUN_PATH="ui">
|
||||
<envs>
|
||||
<env name="QT_DBL_CLICK_DIST" value="150" />
|
||||
</envs>
|
||||
<method v="2">
|
||||
<option name="CLION.EXTERNAL.BUILD" enabled="true" />
|
||||
</method>
|
||||
</configuration>
|
||||
</component>
|
||||
Vendored
-8
@@ -1,8 +0,0 @@
|
||||
{
|
||||
"recommendations": [
|
||||
"ms-python.python",
|
||||
"ms-vscode.cpptools",
|
||||
"elagil.pre-commit-helper",
|
||||
"charliermarsh.ruff",
|
||||
]
|
||||
}
|
||||
Vendored
-46
@@ -1,46 +0,0 @@
|
||||
{
|
||||
"version": "0.2.0",
|
||||
"inputs": [
|
||||
{
|
||||
"id": "python_process",
|
||||
"type": "pickString",
|
||||
"description": "Select the process to debug",
|
||||
"options": [
|
||||
"selfdrive/controls/controlsd.py",
|
||||
"system/timed/timed.py",
|
||||
"tools/sim/run_bridge.py"
|
||||
]
|
||||
},
|
||||
{
|
||||
"id": "cpp_process",
|
||||
"type": "pickString",
|
||||
"description": "Select the process to debug",
|
||||
"options": [
|
||||
"selfdrive/ui/ui"
|
||||
]
|
||||
},
|
||||
{
|
||||
"id": "args",
|
||||
"description": "Arguments to pass to the process",
|
||||
"type": "promptString"
|
||||
}
|
||||
],
|
||||
"configurations": [
|
||||
{
|
||||
"name": "Python: openpilot Process",
|
||||
"type": "debugpy",
|
||||
"request": "launch",
|
||||
"program": "${input:python_process}",
|
||||
"console": "integratedTerminal",
|
||||
"justMyCode": true,
|
||||
"args": "${input:args}"
|
||||
},
|
||||
{
|
||||
"name": "C++: openpilot Process",
|
||||
"type": "cppdbg",
|
||||
"request": "launch",
|
||||
"program": "${workspaceFolder}/${input:cpp_process}",
|
||||
"cwd": "${workspaceFolder}",
|
||||
}
|
||||
]
|
||||
}
|
||||
Vendored
-27
@@ -1,27 +0,0 @@
|
||||
{
|
||||
"editor.tabSize": 2,
|
||||
"editor.insertSpaces": true,
|
||||
"editor.renderWhitespace": "trailing",
|
||||
"files.trimTrailingWhitespace": true,
|
||||
"search.exclude": {
|
||||
"**/.git": true,
|
||||
"**/.venv": true,
|
||||
"**/__pycache__": true
|
||||
},
|
||||
"files.exclude": {
|
||||
"**/.git": true,
|
||||
"**/.venv": true,
|
||||
"**/__pycache__": true
|
||||
},
|
||||
"python.analysis.exclude": [
|
||||
"**/.git",
|
||||
"**/.venv",
|
||||
"**/__pycache__",
|
||||
// exclude directories that should be using the symlinked version
|
||||
"common/**",
|
||||
"selfdrive/**",
|
||||
"system/**",
|
||||
"third_party/**",
|
||||
"tools/**",
|
||||
]
|
||||
}
|
||||
+14
-7
@@ -1,12 +1,19 @@
|
||||
FROM ghcr.io/commaai/openpilot-base:latest
|
||||
FROM ubuntu:14.04
|
||||
ENV PYTHONUNBUFFERED 1
|
||||
|
||||
ENV PYTHONUNBUFFERED=1
|
||||
RUN apt-get update && apt-get install -y build-essential screen wget bzip2 git libglib2.0-0
|
||||
|
||||
ENV OPENPILOT_PATH=/home/batman/openpilot
|
||||
RUN wget -nv -O /tmp/anaconda.sh https://repo.continuum.io/archive/Anaconda2-4.2.0-Linux-x86_64.sh && \
|
||||
/bin/bash /tmp/anaconda.sh -b -p /opt/conda && \
|
||||
rm /tmp/anaconda.sh
|
||||
|
||||
RUN mkdir -p ${OPENPILOT_PATH}
|
||||
WORKDIR ${OPENPILOT_PATH}
|
||||
ENV PATH /opt/conda/bin:$PATH
|
||||
|
||||
COPY . ${OPENPILOT_PATH}/
|
||||
RUN conda install numpy==1.11.2 && conda install scipy==0.18.1
|
||||
|
||||
RUN scons --cache-readonly -j$(nproc)
|
||||
COPY requirements_openpilot.txt /tmp/
|
||||
RUN pip install -r /tmp/requirements_openpilot.txt
|
||||
|
||||
ENV PYTHONPATH /tmp/openpilot:$PYTHONPATH
|
||||
|
||||
COPY . /tmp/openpilot
|
||||
|
||||
@@ -1,82 +0,0 @@
|
||||
FROM ubuntu:24.04
|
||||
|
||||
ENV PYTHONUNBUFFERED=1
|
||||
|
||||
ENV DEBIAN_FRONTEND=noninteractive
|
||||
RUN apt-get update && \
|
||||
apt-get install -y --no-install-recommends sudo tzdata locales ssh pulseaudio xvfb x11-xserver-utils gnome-screenshot python3-tk python3-dev && \
|
||||
rm -rf /var/lib/apt/lists/*
|
||||
|
||||
RUN sed -i -e 's/# en_US.UTF-8 UTF-8/en_US.UTF-8 UTF-8/' /etc/locale.gen && locale-gen
|
||||
ENV LANG=en_US.UTF-8
|
||||
ENV LANGUAGE=en_US:en
|
||||
ENV LC_ALL=en_US.UTF-8
|
||||
|
||||
COPY tools/install_ubuntu_dependencies.sh /tmp/tools/
|
||||
RUN /tmp/tools/install_ubuntu_dependencies.sh && \
|
||||
rm -rf /var/lib/apt/lists/* /tmp/* && \
|
||||
cd /usr/lib/gcc/arm-none-eabi/* && \
|
||||
rm -rf arm/ thumb/nofp thumb/v6* thumb/v8* thumb/v7+fp thumb/v7-r+fp.sp
|
||||
|
||||
# Add OpenCL
|
||||
RUN apt-get update && apt-get install -y --no-install-recommends \
|
||||
apt-utils \
|
||||
alien \
|
||||
unzip \
|
||||
tar \
|
||||
curl \
|
||||
xz-utils \
|
||||
dbus \
|
||||
gcc-arm-none-eabi \
|
||||
tmux \
|
||||
vim \
|
||||
libx11-6 \
|
||||
wget \
|
||||
&& rm -rf /var/lib/apt/lists/*
|
||||
|
||||
RUN mkdir -p /tmp/opencl-driver-intel && \
|
||||
cd /tmp/opencl-driver-intel && \
|
||||
wget https://github.com/intel/llvm/releases/download/2024-WW14/oclcpuexp-2024.17.3.0.09_rel.tar.gz && \
|
||||
wget https://github.com/oneapi-src/oneTBB/releases/download/v2021.12.0/oneapi-tbb-2021.12.0-lin.tgz && \
|
||||
mkdir -p /opt/intel/oclcpuexp_2024.17.3.0.09_rel && \
|
||||
cd /opt/intel/oclcpuexp_2024.17.3.0.09_rel && \
|
||||
tar -zxvf /tmp/opencl-driver-intel/oclcpuexp-2024.17.3.0.09_rel.tar.gz && \
|
||||
mkdir -p /etc/OpenCL/vendors && \
|
||||
echo /opt/intel/oclcpuexp_2024.17.3.0.09_rel/x64/libintelocl.so > /etc/OpenCL/vendors/intel_expcpu.icd && \
|
||||
cd /opt/intel && \
|
||||
tar -zxvf /tmp/opencl-driver-intel/oneapi-tbb-2021.12.0-lin.tgz && \
|
||||
ln -s /opt/intel/oneapi-tbb-2021.12.0/lib/intel64/gcc4.8/libtbb.so /opt/intel/oclcpuexp_2024.17.3.0.09_rel/x64 && \
|
||||
ln -s /opt/intel/oneapi-tbb-2021.12.0/lib/intel64/gcc4.8/libtbbmalloc.so /opt/intel/oclcpuexp_2024.17.3.0.09_rel/x64 && \
|
||||
ln -s /opt/intel/oneapi-tbb-2021.12.0/lib/intel64/gcc4.8/libtbb.so.12 /opt/intel/oclcpuexp_2024.17.3.0.09_rel/x64 && \
|
||||
ln -s /opt/intel/oneapi-tbb-2021.12.0/lib/intel64/gcc4.8/libtbbmalloc.so.2 /opt/intel/oclcpuexp_2024.17.3.0.09_rel/x64 && \
|
||||
mkdir -p /etc/ld.so.conf.d && \
|
||||
echo /opt/intel/oclcpuexp_2024.17.3.0.09_rel/x64 > /etc/ld.so.conf.d/libintelopenclexp.conf && \
|
||||
ldconfig -f /etc/ld.so.conf.d/libintelopenclexp.conf && \
|
||||
cd / && \
|
||||
rm -rf /tmp/opencl-driver-intel
|
||||
|
||||
ENV NVIDIA_VISIBLE_DEVICES=all
|
||||
ENV NVIDIA_DRIVER_CAPABILITIES=graphics,utility,compute
|
||||
ENV QTWEBENGINE_DISABLE_SANDBOX=1
|
||||
|
||||
RUN dbus-uuidgen > /etc/machine-id
|
||||
RUN apt-get update && apt-get install -y fonts-noto-cjk fonts-noto-color-emoji
|
||||
|
||||
ARG USER=batman
|
||||
ARG USER_UID=1001
|
||||
RUN useradd -m -s /bin/bash -u $USER_UID $USER
|
||||
RUN usermod -aG sudo $USER
|
||||
RUN echo '%sudo ALL=(ALL) NOPASSWD:ALL' >> /etc/sudoers
|
||||
USER $USER
|
||||
|
||||
COPY --chown=$USER pyproject.toml uv.lock /home/$USER
|
||||
COPY --chown=$USER tools/install_python_dependencies.sh /home/$USER/tools/
|
||||
|
||||
ENV VIRTUAL_ENV=/home/$USER/.venv
|
||||
ENV PATH="$VIRTUAL_ENV/bin:$PATH"
|
||||
RUN cd /home/$USER && \
|
||||
tools/install_python_dependencies.sh && \
|
||||
rm -rf tools/ pyproject.toml uv.lock .cache
|
||||
|
||||
USER root
|
||||
RUN sudo git config --global --add safe.directory /tmp/openpilot
|
||||
@@ -1,12 +0,0 @@
|
||||
FROM ghcr.io/sunnypilot/sunnypilot-base:latest
|
||||
|
||||
ENV PYTHONUNBUFFERED=1
|
||||
|
||||
ENV OPENPILOT_PATH=/home/batman/openpilot
|
||||
|
||||
RUN mkdir -p ${OPENPILOT_PATH}
|
||||
WORKDIR ${OPENPILOT_PATH}
|
||||
|
||||
COPY . ${OPENPILOT_PATH}/
|
||||
|
||||
RUN scons --cache-readonly -j$(nproc)
|
||||
@@ -1,83 +0,0 @@
|
||||
FROM ubuntu:24.04
|
||||
|
||||
ENV PYTHONUNBUFFERED=1
|
||||
|
||||
ENV DEBIAN_FRONTEND=noninteractive
|
||||
RUN apt-get update && \
|
||||
apt-get install -y --no-install-recommends sudo tzdata locales ssh pulseaudio xvfb x11-xserver-utils gnome-screenshot python3-tk python3-dev && \
|
||||
rm -rf /var/lib/apt/lists/*
|
||||
|
||||
RUN sed -i -e 's/# en_US.UTF-8 UTF-8/en_US.UTF-8 UTF-8/' /etc/locale.gen && locale-gen
|
||||
ENV LANG=en_US.UTF-8
|
||||
ENV LANGUAGE=en_US:en
|
||||
ENV LC_ALL=en_US.UTF-8
|
||||
|
||||
COPY tools/install_ubuntu_dependencies.sh /tmp/tools/
|
||||
RUN /tmp/tools/install_ubuntu_dependencies.sh && \
|
||||
rm -rf /var/lib/apt/lists/* /tmp/* && \
|
||||
cd /usr/lib/gcc/arm-none-eabi/* && \
|
||||
rm -rf arm/ thumb/nofp thumb/v6* thumb/v8* thumb/v7+fp thumb/v7-r+fp.sp
|
||||
|
||||
# Add OpenCL
|
||||
RUN apt-get update && apt-get install -y --no-install-recommends \
|
||||
apt-utils \
|
||||
alien \
|
||||
unzip \
|
||||
tar \
|
||||
curl \
|
||||
xz-utils \
|
||||
dbus \
|
||||
gcc-arm-none-eabi \
|
||||
tmux \
|
||||
vim \
|
||||
libx11-6 \
|
||||
wget \
|
||||
rsync \
|
||||
&& rm -rf /var/lib/apt/lists/*
|
||||
|
||||
RUN mkdir -p /tmp/opencl-driver-intel && \
|
||||
cd /tmp/opencl-driver-intel && \
|
||||
wget https://github.com/intel/llvm/releases/download/2024-WW14/oclcpuexp-2024.17.3.0.09_rel.tar.gz && \
|
||||
wget https://github.com/oneapi-src/oneTBB/releases/download/v2021.12.0/oneapi-tbb-2021.12.0-lin.tgz && \
|
||||
mkdir -p /opt/intel/oclcpuexp_2024.17.3.0.09_rel && \
|
||||
cd /opt/intel/oclcpuexp_2024.17.3.0.09_rel && \
|
||||
tar -zxvf /tmp/opencl-driver-intel/oclcpuexp-2024.17.3.0.09_rel.tar.gz && \
|
||||
mkdir -p /etc/OpenCL/vendors && \
|
||||
echo /opt/intel/oclcpuexp_2024.17.3.0.09_rel/x64/libintelocl.so > /etc/OpenCL/vendors/intel_expcpu.icd && \
|
||||
cd /opt/intel && \
|
||||
tar -zxvf /tmp/opencl-driver-intel/oneapi-tbb-2021.12.0-lin.tgz && \
|
||||
ln -s /opt/intel/oneapi-tbb-2021.12.0/lib/intel64/gcc4.8/libtbb.so /opt/intel/oclcpuexp_2024.17.3.0.09_rel/x64 && \
|
||||
ln -s /opt/intel/oneapi-tbb-2021.12.0/lib/intel64/gcc4.8/libtbbmalloc.so /opt/intel/oclcpuexp_2024.17.3.0.09_rel/x64 && \
|
||||
ln -s /opt/intel/oneapi-tbb-2021.12.0/lib/intel64/gcc4.8/libtbb.so.12 /opt/intel/oclcpuexp_2024.17.3.0.09_rel/x64 && \
|
||||
ln -s /opt/intel/oneapi-tbb-2021.12.0/lib/intel64/gcc4.8/libtbbmalloc.so.2 /opt/intel/oclcpuexp_2024.17.3.0.09_rel/x64 && \
|
||||
mkdir -p /etc/ld.so.conf.d && \
|
||||
echo /opt/intel/oclcpuexp_2024.17.3.0.09_rel/x64 > /etc/ld.so.conf.d/libintelopenclexp.conf && \
|
||||
ldconfig -f /etc/ld.so.conf.d/libintelopenclexp.conf && \
|
||||
cd / && \
|
||||
rm -rf /tmp/opencl-driver-intel
|
||||
|
||||
ENV NVIDIA_VISIBLE_DEVICES=all
|
||||
ENV NVIDIA_DRIVER_CAPABILITIES=graphics,utility,compute
|
||||
ENV QTWEBENGINE_DISABLE_SANDBOX=1
|
||||
|
||||
RUN dbus-uuidgen > /etc/machine-id
|
||||
RUN apt-get update && apt-get install -y fonts-noto-cjk fonts-noto-color-emoji
|
||||
|
||||
ARG USER=batman
|
||||
ARG USER_UID=1001
|
||||
RUN useradd -m -s /bin/bash -u $USER_UID $USER
|
||||
RUN usermod -aG sudo $USER
|
||||
RUN echo '%sudo ALL=(ALL) NOPASSWD:ALL' >> /etc/sudoers
|
||||
USER $USER
|
||||
|
||||
COPY --chown=$USER pyproject.toml uv.lock /home/$USER
|
||||
COPY --chown=$USER tools/install_python_dependencies.sh /home/$USER/tools/
|
||||
|
||||
ENV VIRTUAL_ENV=/home/$USER/.venv
|
||||
ENV PATH="$VIRTUAL_ENV/bin:$PATH"
|
||||
RUN cd /home/$USER && \
|
||||
tools/install_python_dependencies.sh && \
|
||||
rm -rf tools/ pyproject.toml uv.lock .cache
|
||||
|
||||
USER root
|
||||
RUN sudo git config --global --add safe.directory /tmp/openpilot
|
||||
Vendored
-283
@@ -1,283 +0,0 @@
|
||||
def retryWithDelay(int maxRetries, int delay, Closure body) {
|
||||
for (int i = 0; i < maxRetries; i++) {
|
||||
try {
|
||||
return body()
|
||||
} catch (Exception e) {
|
||||
sleep(delay)
|
||||
}
|
||||
}
|
||||
throw Exception("Failed after ${maxRetries} retries")
|
||||
}
|
||||
|
||||
def device(String ip, String step_label, String cmd) {
|
||||
withCredentials([file(credentialsId: 'id_rsa', variable: 'key_file')]) {
|
||||
def ssh_cmd = """
|
||||
ssh -o ConnectTimeout=5 -o ServerAliveInterval=5 -o ServerAliveCountMax=2 -o BatchMode=yes -o StrictHostKeyChecking=no -i ${key_file} 'comma@${ip}' exec /usr/bin/bash <<'END'
|
||||
|
||||
set -e
|
||||
|
||||
export TERM=xterm-256color
|
||||
|
||||
shopt -s huponexit # kill all child processes when the shell exits
|
||||
|
||||
export CI=1
|
||||
export PYTHONWARNINGS=error
|
||||
export LOGPRINT=debug
|
||||
export TEST_DIR=${env.TEST_DIR}
|
||||
export SOURCE_DIR=${env.SOURCE_DIR}
|
||||
export GIT_BRANCH=${env.GIT_BRANCH}
|
||||
export GIT_COMMIT=${env.GIT_COMMIT}
|
||||
export CI_ARTIFACTS_TOKEN=${env.CI_ARTIFACTS_TOKEN}
|
||||
export GITHUB_COMMENTS_TOKEN=${env.GITHUB_COMMENTS_TOKEN}
|
||||
export AZURE_TOKEN='${env.AZURE_TOKEN}'
|
||||
# only use 1 thread for tici tests since most require HIL
|
||||
export PYTEST_ADDOPTS="-n0 -s"
|
||||
|
||||
|
||||
export GIT_SSH_COMMAND="ssh -i /data/gitkey"
|
||||
|
||||
source ~/.bash_profile
|
||||
if [ -f /TICI ]; then
|
||||
source /etc/profile
|
||||
|
||||
rm -rf /tmp/tmp*
|
||||
rm -rf ~/.commacache
|
||||
rm -rf /dev/shm/*
|
||||
rm -rf /dev/tmp/tmp*
|
||||
|
||||
if ! systemctl is-active --quiet systemd-resolved; then
|
||||
echo "restarting resolved"
|
||||
sudo systemctl start systemd-resolved
|
||||
sleep 3
|
||||
fi
|
||||
|
||||
# restart aux USB
|
||||
if [ -e /sys/bus/usb/drivers/hub/3-0:1.0 ]; then
|
||||
echo "restarting aux usb"
|
||||
echo "3-0:1.0" | sudo tee /sys/bus/usb/drivers/hub/unbind
|
||||
sleep 0.5
|
||||
echo "3-0:1.0" | sudo tee /sys/bus/usb/drivers/hub/bind
|
||||
fi
|
||||
fi
|
||||
if [ -f /data/openpilot/launch_env.sh ]; then
|
||||
source /data/openpilot/launch_env.sh
|
||||
fi
|
||||
|
||||
ln -snf ${env.TEST_DIR} /data/pythonpath
|
||||
|
||||
cd ${env.TEST_DIR} || true
|
||||
time ${cmd}
|
||||
END"""
|
||||
|
||||
sh script: ssh_cmd, label: step_label
|
||||
}
|
||||
}
|
||||
|
||||
def deviceStage(String stageName, String deviceType, List extra_env, def steps) {
|
||||
stage(stageName) {
|
||||
if (currentBuild.result != null) {
|
||||
return
|
||||
}
|
||||
|
||||
if (isReplay()) {
|
||||
error("REPLAYING TESTS IS NOT ALLOWED. FIX THEM INSTEAD.")
|
||||
}
|
||||
|
||||
def extra = extra_env.collect { "export ${it}" }.join('\n');
|
||||
def branch = env.BRANCH_NAME ?: 'master';
|
||||
def gitDiff = sh returnStdout: true, script: 'curl -s -H "Authorization: Bearer ${GITHUB_COMMENTS_TOKEN}" https://api.github.com/repos/commaai/openpilot/compare/master...${GIT_BRANCH} | jq .files[].filename || echo "/"', label: 'Getting changes'
|
||||
|
||||
lock(resource: "", label: deviceType, inversePrecedence: true, variable: 'device_ip', quantity: 1, resourceSelectStrategy: 'random') {
|
||||
docker.image('ghcr.io/commaai/alpine-ssh').inside('--user=root') {
|
||||
timeout(time: 35, unit: 'MINUTES') {
|
||||
retry (3) {
|
||||
def date = sh(script: 'date', returnStdout: true).trim();
|
||||
device(device_ip, "set time", "date -s '" + date + "'")
|
||||
device(device_ip, "git checkout", extra + "\n" + readFile("selfdrive/test/setup_device_ci.sh"))
|
||||
}
|
||||
steps.each { item ->
|
||||
def name = item[0]
|
||||
def cmd = item[1]
|
||||
|
||||
def args = item[2]
|
||||
def diffPaths = args.diffPaths ?: []
|
||||
def cmdTimeout = args.timeout ?: 9999
|
||||
|
||||
if (branch != "master" && !branch.contains("__jenkins_loop_") && diffPaths && !hasPathChanged(gitDiff, diffPaths)) {
|
||||
println "Skipping ${name}: no changes in ${diffPaths}."
|
||||
return
|
||||
} else {
|
||||
timeout(time: cmdTimeout, unit: 'SECONDS') {
|
||||
device(device_ip, name, cmd)
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
def hasPathChanged(String gitDiff, List<String> paths) {
|
||||
for (path in paths) {
|
||||
if (gitDiff.contains(path)) {
|
||||
return true
|
||||
}
|
||||
}
|
||||
return false
|
||||
}
|
||||
|
||||
def isReplay() {
|
||||
def replayClass = "org.jenkinsci.plugins.workflow.cps.replay.ReplayCause"
|
||||
return currentBuild.rawBuild.getCauses().any{ cause -> cause.toString().contains(replayClass) }
|
||||
}
|
||||
|
||||
def setupCredentials() {
|
||||
withCredentials([
|
||||
string(credentialsId: 'azure_token', variable: 'AZURE_TOKEN'),
|
||||
]) {
|
||||
env.AZURE_TOKEN = "${AZURE_TOKEN}"
|
||||
}
|
||||
|
||||
withCredentials([
|
||||
string(credentialsId: 'ci_artifacts_pat', variable: 'CI_ARTIFACTS_TOKEN'),
|
||||
]) {
|
||||
env.CI_ARTIFACTS_TOKEN = "${CI_ARTIFACTS_TOKEN}"
|
||||
}
|
||||
|
||||
withCredentials([
|
||||
string(credentialsId: 'post_comments_github_pat', variable: 'GITHUB_COMMENTS_TOKEN'),
|
||||
]) {
|
||||
env.GITHUB_COMMENTS_TOKEN = "${GITHUB_COMMENTS_TOKEN}"
|
||||
}
|
||||
}
|
||||
|
||||
def step(String name, String cmd, Map args = [:]) {
|
||||
return [name, cmd, args]
|
||||
}
|
||||
|
||||
node {
|
||||
env.CI = "1"
|
||||
env.PYTHONWARNINGS = "error"
|
||||
env.TEST_DIR = "/data/openpilot"
|
||||
env.SOURCE_DIR = "/data/openpilot_source/"
|
||||
setupCredentials()
|
||||
|
||||
env.GIT_BRANCH = checkout(scm).GIT_BRANCH
|
||||
env.GIT_COMMIT = checkout(scm).GIT_COMMIT
|
||||
|
||||
def excludeBranches = ['__nightly', 'devel', 'devel-staging', 'release3', 'release3-staging',
|
||||
'release-tici', 'testing-closet*', 'hotfix-*']
|
||||
def excludeRegex = excludeBranches.join('|').replaceAll('\\*', '.*')
|
||||
|
||||
if (env.BRANCH_NAME != 'master' && !env.BRANCH_NAME.contains('__jenkins_loop_')) {
|
||||
properties([
|
||||
disableConcurrentBuilds(abortPrevious: true)
|
||||
])
|
||||
}
|
||||
|
||||
try {
|
||||
if (env.BRANCH_NAME == 'devel-staging') {
|
||||
deviceStage("build release3-staging", "tici-needs-can", [], [
|
||||
step("build release3-staging", "RELEASE_BRANCH=release3-staging $SOURCE_DIR/release/build_release.sh"),
|
||||
])
|
||||
}
|
||||
|
||||
if (env.BRANCH_NAME == '__nightly') {
|
||||
parallel (
|
||||
'nightly': {
|
||||
deviceStage("build nightly", "tici-needs-can", [], [
|
||||
step("build nightly", "RELEASE_BRANCH=nightly $SOURCE_DIR/release/build_release.sh"),
|
||||
])
|
||||
},
|
||||
'nightly-dev': {
|
||||
deviceStage("build nightly-dev", "tici-needs-can", [], [
|
||||
step("build nightly-dev", "PANDA_DEBUG_BUILD=1 RELEASE_BRANCH=nightly-dev $SOURCE_DIR/release/build_release.sh"),
|
||||
])
|
||||
},
|
||||
)
|
||||
}
|
||||
|
||||
if (!env.BRANCH_NAME.matches(excludeRegex)) {
|
||||
parallel (
|
||||
// tici tests
|
||||
'onroad tests': {
|
||||
deviceStage("onroad", "tici-needs-can", ["UNSAFE=1"], [
|
||||
step("build openpilot", "cd system/manager && ./build.py"),
|
||||
step("check dirty", "release/check-dirty.sh"),
|
||||
step("onroad tests", "pytest selfdrive/test/test_onroad.py -s", [timeout: 60]),
|
||||
])
|
||||
},
|
||||
'HW + Unit Tests': {
|
||||
deviceStage("tici-hardware", "tici-common", ["UNSAFE=1"], [
|
||||
step("build", "cd system/manager && ./build.py"),
|
||||
step("test pandad", "pytest selfdrive/pandad/tests/test_pandad.py", [diffPaths: ["panda", "selfdrive/pandad/"]]),
|
||||
step("test power draw", "pytest -s system/hardware/tici/tests/test_power_draw.py"),
|
||||
step("test encoder", "LD_LIBRARY_PATH=/usr/local/lib pytest system/loggerd/tests/test_encoder.py", [diffPaths: ["system/loggerd/"]]),
|
||||
step("test pigeond", "pytest system/ubloxd/tests/test_pigeond.py", [diffPaths: ["system/ubloxd/"]]),
|
||||
step("test manager", "pytest system/manager/test/test_manager.py"),
|
||||
])
|
||||
},
|
||||
'loopback': {
|
||||
deviceStage("loopback", "tici-loopback", ["UNSAFE=1"], [
|
||||
step("build openpilot", "cd system/manager && ./build.py"),
|
||||
step("test pandad loopback", "pytest selfdrive/pandad/tests/test_pandad_loopback.py"),
|
||||
])
|
||||
},
|
||||
'camerad AR0231': {
|
||||
deviceStage("AR0231", "tici-ar0231", ["UNSAFE=1"], [
|
||||
step("build", "cd system/manager && ./build.py"),
|
||||
step("test camerad", "pytest system/camerad/test/test_camerad.py", [timeout: 60]),
|
||||
step("test exposure", "pytest system/camerad/test/test_exposure.py"),
|
||||
])
|
||||
},
|
||||
'camerad OX03C10': {
|
||||
deviceStage("OX03C10", "tici-ox03c10", ["UNSAFE=1"], [
|
||||
step("build", "cd system/manager && ./build.py"),
|
||||
step("test camerad", "pytest system/camerad/test/test_camerad.py", [timeout: 60]),
|
||||
step("test exposure", "pytest system/camerad/test/test_exposure.py"),
|
||||
])
|
||||
},
|
||||
'camerad OS04C10': {
|
||||
deviceStage("OS04C10", "tici-os04c10", ["UNSAFE=1"], [
|
||||
step("build", "cd system/manager && ./build.py"),
|
||||
step("test camerad", "pytest system/camerad/test/test_camerad.py", [timeout: 60]),
|
||||
step("test exposure", "pytest system/camerad/test/test_exposure.py"),
|
||||
])
|
||||
},
|
||||
'sensord': {
|
||||
deviceStage("LSM + MMC", "tici-lsmc", ["UNSAFE=1"], [
|
||||
step("build", "cd system/manager && ./build.py"),
|
||||
step("test sensord", "pytest system/sensord/tests/test_sensord.py"),
|
||||
])
|
||||
deviceStage("BMX + LSM", "tici-bmx-lsm", ["UNSAFE=1"], [
|
||||
step("build", "cd system/manager && ./build.py"),
|
||||
step("test sensord", "pytest system/sensord/tests/test_sensord.py"),
|
||||
])
|
||||
},
|
||||
'replay': {
|
||||
deviceStage("model-replay", "tici-replay", ["UNSAFE=1"], [
|
||||
step("build", "cd system/manager && ./build.py", [diffPaths: ["selfdrive/modeld/", "tinygrad_repo", "selfdrive/test/process_replay/model_replay.py"]]),
|
||||
step("model replay", "selfdrive/test/process_replay/model_replay.py", [diffPaths: ["selfdrive/modeld/", "tinygrad_repo", "selfdrive/test/process_replay/model_replay.py"]]),
|
||||
])
|
||||
},
|
||||
'tizi': {
|
||||
deviceStage("tizi", "tizi", ["UNSAFE=1"], [
|
||||
step("build openpilot", "cd system/manager && ./build.py"),
|
||||
step("test pandad loopback", "SINGLE_PANDA=1 pytest selfdrive/pandad/tests/test_pandad_loopback.py"),
|
||||
step("test pandad spi", "pytest selfdrive/pandad/tests/test_pandad_spi.py"),
|
||||
step("test pandad", "pytest selfdrive/pandad/tests/test_pandad.py", [diffPaths: ["panda", "selfdrive/pandad/"]]),
|
||||
step("test amp", "pytest system/hardware/tici/tests/test_amplifier.py"),
|
||||
// TODO: enable once new AGNOS is available
|
||||
// step("test esim", "pytest system/hardware/tici/tests/test_esim.py"),
|
||||
step("test qcomgpsd", "pytest system/qcomgpsd/tests/test_qcomgpsd.py", [diffPaths: ["system/qcomgpsd/"]]),
|
||||
])
|
||||
},
|
||||
|
||||
)
|
||||
}
|
||||
} catch (Exception e) {
|
||||
currentBuild.result = 'FAILED'
|
||||
throw e
|
||||
}
|
||||
}
|
||||
-21
@@ -1,21 +0,0 @@
|
||||
# Custom MIT License
|
||||
|
||||
Copyright (c) 2024, Haibin Wen, SUNNYPILOT LLC
|
||||
|
||||
Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files (the "Software"), to view and modify the Software, subject to the following conditions:
|
||||
|
||||
1. **Permission Required**: Permission Required for Commercial, For-Profit, or Closed Source Use: Use of the Software, in whole or in part, for any commercial purposes, for-profit projects, or in closed source projects requires explicit written permission from the original author(s).
|
||||
|
||||
2. **Redistribution**: Any redistribution of the Software, modified or unmodified, must retain this license notice and the following acknowledgment:
|
||||
"This software is licensed under a custom license requiring permission for use."
|
||||
|
||||
3. **Visibility**: Any project that uses the Software must visibly mention the following acknowledgment:
|
||||
"This project uses software from Haibin Wen and SUNNYPILOT LLC and is licensed under a custom license requiring permission for use."
|
||||
|
||||
4. **No Warranty**: THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
|
||||
|
||||
Contact sunnypilot Support <support@sunnypilot.ai> for permission requests.
|
||||
|
||||
---
|
||||
|
||||
Haibin Wen, SUNNYPILOT LLC
|
||||
@@ -1,4 +1,4 @@
|
||||
Copyright (c) 2018, Comma.ai, Inc.
|
||||
Copyright (c) 2016, Comma.ai, Inc.
|
||||
|
||||
Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files (the "Software"), to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is furnished to do so, subject to the following conditions:
|
||||
|
||||
@@ -1,119 +1,109 @@
|
||||
|
||||
Welcome to openpilot
|
||||
======
|
||||
|
||||
## 🌞 What is sunnypilot?
|
||||
[sunnypilot](https://github.com/sunnyhaibin/sunnypilot) is a fork of comma.ai's openpilot, an open source driver assistance system. sunnypilot offers the user a unique driving experience for over 300+ supported car makes and models with modified behaviors of driving assist engagements. sunnypilot complies with comma.ai's safety rules as accurately as possible.
|
||||
[openpilot](http://github.com/commaai/openpilot) is an open source driving agent.
|
||||
|
||||
## 💭 Join our Discord
|
||||
Join the official sunnypilot Discord server to stay up to date with all the latest features and be a part of shaping the future of sunnypilot!
|
||||
* https://discord.gg/sunnypilot
|
||||
Currently it performs the functions of Adaptive Cruise Control (ACC) and Lane Keeping Assist System (LKAS) for Hondas and Acuras. It's about on par with Tesla Autopilot at launch, and better than [all other manufacturers](http://www.thedrive.com/tech/5707/the-war-for-autonomous-driving-part-iii-us-vs-germany-vs-japan).
|
||||
|
||||
 
|
||||
The openpilot codebase has been written to be concise and enable rapid prototyping. We look forward to your contributions - improving real vehicle automation has never been easier.
|
||||
|
||||
## Documentation
|
||||
https://docs.sunnypilot.ai/ is your one stop shop for everything from features to installation to FAQ about the sunnypilot
|
||||
Hardware
|
||||
------
|
||||
|
||||
## 🚘 Running on a dedicated device in a car
|
||||
* A supported device to run this software
|
||||
* a [comma three](https://comma.ai/shop/products/three) or a [C3X](https://comma.ai/shop/comma-3x)
|
||||
* This software
|
||||
* One of [the 300+ supported cars](https://github.com/commaai/openpilot/blob/master/docs/CARS.md). We support Honda, Toyota, Hyundai, Nissan, Kia, Chrysler, Lexus, Acura, Audi, VW, Ford and more. If your car is not supported but has adaptive cruise control and lane-keeping assist, it's likely able to run sunnypilot.
|
||||
* A [car harness](https://comma.ai/shop/products/car-harness) to connect to your car
|
||||
Right now openpilot supports the [neo research platform](http://github.com/commaai/neo) for vehicle control. We'd like to support [Open Source Car Control](https://github.com/PolySync/OSCC) as well.
|
||||
|
||||
Detailed instructions for [how to mount the device in a car](https://comma.ai/setup).
|
||||
To install it on the NEO:
|
||||
|
||||
## Installation
|
||||
Please refer to [Recommended Branches](#-recommended-branches) to find your preferred/supported branch. This guide will assume you want to install the latest `release-c3` branch.
|
||||
```bash
|
||||
# Requires working adb in PATH
|
||||
cd installation
|
||||
./install.sh
|
||||
```
|
||||
|
||||
* sunnypilot not installed or you installed a version before 0.8.17?
|
||||
1. [Factory reset/uninstall](https://github.com/commaai/openpilot/wiki/FAQ#how-can-i-reset-the-device) the previous software if you have another software/fork installed.
|
||||
2. After factory reset/uninstall and upon reboot, select `Custom Software` when given the option.
|
||||
3. Input the installation URL per [Recommended Branches](#-recommended-branches). Example: ```release-c3.sunnypilot.ai```.
|
||||
4. Complete the rest of the installation following the onscreen instructions.
|
||||
Supported Cars
|
||||
------
|
||||
|
||||
* sunnypilot already installed and you installed a version after 0.8.17?
|
||||
1. On the comma three, go to `Settings` ▶️ `Software`.
|
||||
2. At the `Download` option, press `CHECK`. This will fetch the list of latest branches from sunnypilot.
|
||||
3. At the `Target Branch` option, press `SELECT` to open the Target Branch selector.
|
||||
4. Scroll to select the desired branch per Recommended Branches (see below). Example: `release-c3`
|
||||
- Acura ILX 2016 with AcuraWatch Plus
|
||||
- Limitations: Due to use of the cruise control for gas, it can only be enabled above 25 mph
|
||||
|
||||
| Branch | Installation URL |
|
||||
|:------------:|:--------------------------------:|
|
||||
| `release-c3` | https://release-c3.sunnypilot.ai |
|
||||
| `staging-c3` | https://staging-c3.sunnypilot.ai |
|
||||
| `dev-c3` | https://dev-c3.sunnypilot.ai |
|
||||
- Honda Civic 2016 Touring Edition
|
||||
- Limitations: Due to limitations in steering firmware, steering is disabled below 18 mph
|
||||
|
||||
### If you want to use our newest branches (our rewrite)
|
||||
> [!TIP]
|
||||
>You can see the rewrite state on our [rewrite project board](https://github.com/orgs/sunnypilot/projects/2), and to install the new branches, you can use the following links
|
||||
Directory structure
|
||||
------
|
||||
|
||||
- board -- Code that runs on the USB interface board
|
||||
- cereal -- The messaging spec used for all logs on the phone
|
||||
- common -- Library like functionality we've developed here
|
||||
- dbcs -- Files showing how to interpret data from cars
|
||||
- installation -- Installation on the neo platform
|
||||
- phonelibs -- Libraries used on the phone
|
||||
- selfdrive -- Code needed to drive the car
|
||||
- assets -- Fonts for ui
|
||||
- boardd -- Daemon to talk to the board
|
||||
- calibrationd -- Camera calibration server
|
||||
- car -- Code that talks to the car and implements CarInterface
|
||||
- common -- Shared C/C++ code for the daemons
|
||||
- controls -- Python controls (PID loops etc) for the car
|
||||
- logcatd -- Android logcat as a service
|
||||
- loggerd -- Logger and uploader of car data
|
||||
- radar -- Code that talks to the radar and implements RadarInterface
|
||||
- sensord -- IMU / GPS interface code
|
||||
- test/plant -- Car simulator running code through virtual maneuvers
|
||||
- ui -- The UI
|
||||
- visiond -- embedded vision pipeline
|
||||
|
||||
> [!IMPORTANT]
|
||||
> It is recommended to [re-flash AGNOS](https://flash.comma.ai/) if you intend to downgrade from the new branches.
|
||||
> You can still restore the latest sunnylink backup made on the old branches.
|
||||
To understand how the services interact, see `common/services.py`
|
||||
|
||||
| Branch | Installation URL |
|
||||
|:----------------:|:---------------------------------------------:|
|
||||
| `staging-c3-new` | `https://staging-c3-new.sunnypilot.ai` |
|
||||
| `dev-c3-new` | `https://dev-c3-new.sunnypilot.ai` |
|
||||
| `custom-branch` | `https://install.sunnypilot.ai/{branch_name}` |
|
||||
| `release-c3-new` | **Not yet available**. |
|
||||
Testing on PC
|
||||
------
|
||||
|
||||
> [!TIP]
|
||||
> Do you require further assistance with software installation? Join the [sunnypilot Discord server](https://discord.sunnypilot.com) and message us in the `#installation-help` channel.
|
||||
There is rudimentary infrastructure to run a basic simulation and generate a report of openpilot's behavior in different scenarios.
|
||||
|
||||
## 🎆 Pull Requests
|
||||
We welcome both pull requests and issues on GitHub. Bug fixes are encouraged.
|
||||
```bash
|
||||
# Requires working docker
|
||||
./run_docker_tests.sh
|
||||
```
|
||||
|
||||
Pull requests should be against the most current `master` branch.
|
||||
The results are written to `selfdrive/test/plant/out/index.html`
|
||||
|
||||
## 📊 User Data
|
||||
More extensive testing infrastructure and simulation environments are coming soon.
|
||||
|
||||
By default, sunnypilot uploads the driving data to comma servers. You can also access your data through [comma connect](https://connect.comma.ai/).
|
||||
Adding Car Support
|
||||
------
|
||||
|
||||
sunnypilot is open source software. The user is free to disable data collection if they wish to do so.
|
||||
It should be relatively easy to add support for the Honda CR-V Touring. The brake message is the same. Steering has a slightly different message with a different message id. Sniff CAN while using LKAS to find it.
|
||||
|
||||
sunnypilot logs the road-facing camera, CAN, GPS, IMU, magnetometer, thermal sensors, crashes, and operating system logs.
|
||||
The driver-facing camera and microphone are only logged if you explicitly opt-in in settings.
|
||||
The Honda Accord uses different signaling for the steering and probably requires new hardware.
|
||||
|
||||
By using this software, you understand that use of this software or its related services will generate certain types of user data, which may be logged and stored at the sole discretion of comma. By accepting this agreement, you grant an irrevocable, perpetual, worldwide right to comma for the use of this data.
|
||||
Adding other manufacturers besides Honda/Acura is doable but will be more of an undertaking.
|
||||
|
||||
## Licensing
|
||||
User Data / chffr Account / Crash Reporting
|
||||
------
|
||||
|
||||
sunnypilot is released under the [MIT License](LICENSE). This repository includes original work as well as significant portions of code derived from [openpilot by comma.ai](https://github.com/commaai/openpilot), which is also released under the MIT license with additional disclaimers.
|
||||
By default openpilot creates an account and includes a client for chffr, our dashcam app. We use your data to train better models and improve openpilot for everyone.
|
||||
|
||||
The original openpilot license notice, including comma.ai’s indemnification and alpha software disclaimer, is reproduced below as required:
|
||||
It's open source software, so you are free to disable it if you wish.
|
||||
|
||||
> openpilot is released under the MIT license. Some parts of the software are released under other licenses as specified.
|
||||
>
|
||||
> Any user of this software shall indemnify and hold harmless Comma.ai, Inc. and its directors, officers, employees, agents, stockholders, affiliates, subcontractors and customers from and against all allegations, claims, actions, suits, demands, damages, liabilities, obligations, losses, settlements, judgments, costs and expenses (including without limitation attorneys’ fees and costs) which arise out of, relate to or result from any use of this software by user.
|
||||
>
|
||||
> **THIS IS ALPHA QUALITY SOFTWARE FOR RESEARCH PURPOSES ONLY. THIS IS NOT A PRODUCT.
|
||||
> YOU ARE RESPONSIBLE FOR COMPLYING WITH LOCAL LAWS AND REGULATIONS.
|
||||
> NO WARRANTY EXPRESSED OR IMPLIED.**
|
||||
It logs the road facing camera, CAN, GPS, IMU, magnetometer, thermal sensors, crashes, and operating system logs.
|
||||
It does not log the user facing camera or the microphone.
|
||||
|
||||
For full license terms, please see the [`LICENSE`](LICENSE) file.
|
||||
By using it, you agree to [our privacy policy](https://beta.comma.ai/privacy.html). You understand that use of this software or its related services will generate certain types of user data, which may be logged and stored at the sole discretion of comma.ai. By accepting this agreement, you grant an irrevocable, perpetual, worldwide right to comma.ai for the use of this data.
|
||||
|
||||
## 💰 Support sunnypilot
|
||||
If you find any of the features useful, consider becoming a [sponsor on GitHub](https://github.com/sponsors/sunnyhaibin) to support future feature development and improvements.
|
||||
Contributing
|
||||
------
|
||||
|
||||
We welcome both pull requests and issues on
|
||||
[github](http://github.com/commaai/openpilot). See the TODO file for a list of
|
||||
good places to start.
|
||||
|
||||
By becoming a sponsor, you will gain access to exclusive content, early access to new features, and the opportunity to directly influence the project's development.
|
||||
Want to get paid to work on openpilot? [comma.ai is hiring](http://comma.ai/hiring.html)
|
||||
|
||||
Licensing
|
||||
------
|
||||
|
||||
<h3>GitHub Sponsor</h3>
|
||||
openpilot is released under the MIT license.
|
||||
|
||||
<a href="https://github.com/sponsors/sunnyhaibin">
|
||||
<img src="https://user-images.githubusercontent.com/47793918/244135584-9800acbd-69fd-4b2b-bec9-e5fa2d85c817.png" alt="Become a Sponsor" width="300" style="max-width: 100%; height: auto;">
|
||||
</a>
|
||||
<br>
|
||||
|
||||
<h3>PayPal</h3>
|
||||
|
||||
<a href="https://paypal.me/sunnyhaibin0850" target="_blank">
|
||||
<img src="https://www.paypalobjects.com/en_US/i/btn/btn_donateCC_LG.gif" alt="PayPal this" title="PayPal - The safer, easier way to pay online!" border="0" />
|
||||
</a>
|
||||
<br></br>
|
||||
|
||||
Your continuous love and support are greatly appreciated! Enjoy 🥰
|
||||
|
||||
<span>-</span> Jason, Founder of sunnypilot
|
||||
**THIS IS ALPHA QUALITY SOFTWARE FOR RESEARCH PURPOSES ONLY. THIS IS NOT A PRODUCT.
|
||||
YOU ARE RESPONSIBLE FOR COMPLYING WITH LOCAL LAWS AND REGULATIONS.
|
||||
NO WARRANTY EXPRESSED OR IMPLIED.**
|
||||
|
||||
+20
-1067
File diff suppressed because it is too large
Load Diff
@@ -0,0 +1,36 @@
|
||||
openpilot Safety
|
||||
======
|
||||
|
||||
openpilot is an Adaptive Cruise Control and Lane Keeping Assist System. Like
|
||||
other ACC and LKAS systems, openpilot requires the driver to be alert and to pay
|
||||
attention at all times. We repeat, **driver alertness is necessary, but not
|
||||
sufficient, for openpilot to be used safely**.
|
||||
|
||||
Even with an attentive driver, we must make further efforts for the system to be
|
||||
safe. We have designed openpilot with two other safety considerations.
|
||||
|
||||
1. The vehicle must always be controllable by the driver.
|
||||
2. The vehicle must not alter its trajectory too quickly for the driver to safely
|
||||
react.
|
||||
|
||||
To address these, we came up with two safety principles.
|
||||
|
||||
1. Enforced disengagements. Step on either pedal or press the cancel button to
|
||||
retake manual control of the car immediately.
|
||||
- These are hard enforced by the board, and soft enforced by the software. The
|
||||
green led on the board signifies if the board is allowing control messages.
|
||||
- Honda CAN uses both a counter and a checksum to ensure integrity and prevent
|
||||
replay of the same message.
|
||||
|
||||
2. Actuation limits. While the system is engaged, the actuators are constrained
|
||||
to operate within reasonable limits; the same limits used by the stock system on
|
||||
the Honda.
|
||||
- Without an interceptor, the gas is controlled by the PCM. The PCM limits
|
||||
acceleration to what is reasonable for a cruise control system. With an
|
||||
interceptor, the gas is clipped to 60% in longcontrol.py
|
||||
- The brake is controlled by the 0x1FA CAN message. This message allows full
|
||||
braking, although the board and the software clip it to 1/4th of the max.
|
||||
This is around .3g of braking.
|
||||
- Steering is controlled by the 0xE4 CAN message. The EPS controller in the
|
||||
car limits the torque to a very small amount, so regardless of the message,
|
||||
the controller cannot jerk the wheel.
|
||||
-385
@@ -1,385 +0,0 @@
|
||||
import os
|
||||
import subprocess
|
||||
import sys
|
||||
import sysconfig
|
||||
import platform
|
||||
import numpy as np
|
||||
|
||||
import SCons.Errors
|
||||
|
||||
SCons.Warnings.warningAsException(True)
|
||||
|
||||
# pending upstream fix - https://github.com/SCons/scons/issues/4461
|
||||
#SetOption('warn', 'all')
|
||||
|
||||
TICI = os.path.isfile('/TICI')
|
||||
AGNOS = TICI
|
||||
|
||||
Decider('MD5-timestamp')
|
||||
|
||||
SetOption('num_jobs', max(1, int(os.cpu_count()/2)))
|
||||
|
||||
AddOption('--kaitai',
|
||||
action='store_true',
|
||||
help='Regenerate kaitai struct parsers')
|
||||
|
||||
AddOption('--asan',
|
||||
action='store_true',
|
||||
help='turn on ASAN')
|
||||
|
||||
AddOption('--ubsan',
|
||||
action='store_true',
|
||||
help='turn on UBSan')
|
||||
|
||||
AddOption('--coverage',
|
||||
action='store_true',
|
||||
help='build with test coverage options')
|
||||
|
||||
AddOption('--clazy',
|
||||
action='store_true',
|
||||
help='build with clazy')
|
||||
|
||||
AddOption('--ccflags',
|
||||
action='store',
|
||||
type='string',
|
||||
default='',
|
||||
help='pass arbitrary flags over the command line')
|
||||
|
||||
AddOption('--external-sconscript',
|
||||
action='store',
|
||||
metavar='FILE',
|
||||
dest='external_sconscript',
|
||||
help='add an external SConscript to the build')
|
||||
|
||||
AddOption('--mutation',
|
||||
action='store_true',
|
||||
help='generate mutation-ready code')
|
||||
|
||||
AddOption('--minimal',
|
||||
action='store_false',
|
||||
dest='extras',
|
||||
default=os.path.exists(File('#.lfsconfig').abspath), # minimal by default on release branch (where there's no LFS)
|
||||
help='the minimum build to run openpilot. no tests, tools, etc.')
|
||||
|
||||
AddOption('--stock-ui',
|
||||
action='store_true',
|
||||
dest='stock_ui',
|
||||
default=False,
|
||||
help='Build stock openpilot UI instead of sunnypilot UI')
|
||||
|
||||
## Architecture name breakdown (arch)
|
||||
## - larch64: linux tici aarch64
|
||||
## - aarch64: linux pc aarch64
|
||||
## - x86_64: linux pc x64
|
||||
## - Darwin: mac x64 or arm64
|
||||
real_arch = arch = subprocess.check_output(["uname", "-m"], encoding='utf8').rstrip()
|
||||
if platform.system() == "Darwin":
|
||||
arch = "Darwin"
|
||||
brew_prefix = subprocess.check_output(['brew', '--prefix'], encoding='utf8').strip()
|
||||
elif arch == "aarch64" and AGNOS:
|
||||
arch = "larch64"
|
||||
assert arch in ["larch64", "aarch64", "x86_64", "Darwin"]
|
||||
|
||||
lenv = {
|
||||
"PATH": os.environ['PATH'],
|
||||
"PYTHONPATH": Dir("#").abspath + ':' + Dir(f"#third_party/acados").abspath,
|
||||
|
||||
"ACADOS_SOURCE_DIR": Dir("#third_party/acados").abspath,
|
||||
"ACADOS_PYTHON_INTERFACE_PATH": Dir("#third_party/acados/acados_template").abspath,
|
||||
"TERA_PATH": Dir("#").abspath + f"/third_party/acados/{arch}/t_renderer"
|
||||
}
|
||||
|
||||
rpath = []
|
||||
|
||||
if arch == "larch64":
|
||||
cpppath = [
|
||||
"#third_party/opencl/include",
|
||||
]
|
||||
|
||||
libpath = [
|
||||
"/usr/local/lib",
|
||||
"/system/vendor/lib64",
|
||||
f"#third_party/acados/{arch}/lib",
|
||||
]
|
||||
|
||||
libpath += [
|
||||
"#third_party/snpe/larch64",
|
||||
"#third_party/libyuv/larch64/lib",
|
||||
"/usr/lib/aarch64-linux-gnu"
|
||||
]
|
||||
cflags = ["-DQCOM2", "-mcpu=cortex-a57"]
|
||||
cxxflags = ["-DQCOM2", "-mcpu=cortex-a57"]
|
||||
rpath += ["/usr/local/lib"]
|
||||
else:
|
||||
cflags = []
|
||||
cxxflags = []
|
||||
cpppath = []
|
||||
rpath += []
|
||||
|
||||
# MacOS
|
||||
if arch == "Darwin":
|
||||
libpath = [
|
||||
f"#third_party/libyuv/{arch}/lib",
|
||||
f"#third_party/acados/{arch}/lib",
|
||||
f"{brew_prefix}/lib",
|
||||
f"{brew_prefix}/opt/openssl@3.0/lib",
|
||||
"/System/Library/Frameworks/OpenGL.framework/Libraries",
|
||||
]
|
||||
|
||||
cflags += ["-DGL_SILENCE_DEPRECATION"]
|
||||
cxxflags += ["-DGL_SILENCE_DEPRECATION"]
|
||||
cpppath += [
|
||||
f"{brew_prefix}/include",
|
||||
f"{brew_prefix}/opt/openssl@3.0/include",
|
||||
]
|
||||
# Linux
|
||||
else:
|
||||
libpath = [
|
||||
f"#third_party/acados/{arch}/lib",
|
||||
f"#third_party/libyuv/{arch}/lib",
|
||||
"/usr/lib",
|
||||
"/usr/local/lib",
|
||||
]
|
||||
|
||||
if arch == "x86_64":
|
||||
libpath += [
|
||||
f"#third_party/snpe/{arch}"
|
||||
]
|
||||
rpath += [
|
||||
Dir(f"#third_party/snpe/{arch}").abspath,
|
||||
]
|
||||
|
||||
if GetOption('asan'):
|
||||
ccflags = ["-fsanitize=address", "-fno-omit-frame-pointer"]
|
||||
ldflags = ["-fsanitize=address"]
|
||||
elif GetOption('ubsan'):
|
||||
ccflags = ["-fsanitize=undefined"]
|
||||
ldflags = ["-fsanitize=undefined"]
|
||||
else:
|
||||
ccflags = []
|
||||
ldflags = []
|
||||
|
||||
# no --as-needed on mac linker
|
||||
if arch != "Darwin":
|
||||
ldflags += ["-Wl,--as-needed", "-Wl,--no-undefined"]
|
||||
|
||||
if not GetOption('stock_ui'):
|
||||
cflags += ["-DSUNNYPILOT"]
|
||||
cxxflags += ["-DSUNNYPILOT"]
|
||||
|
||||
ccflags_option = GetOption('ccflags')
|
||||
if ccflags_option:
|
||||
ccflags += ccflags_option.split(' ')
|
||||
|
||||
env = Environment(
|
||||
ENV=lenv,
|
||||
CCFLAGS=[
|
||||
"-g",
|
||||
"-fPIC",
|
||||
"-O2",
|
||||
"-Wunused",
|
||||
"-Werror",
|
||||
"-Wshadow",
|
||||
"-Wno-unknown-warning-option",
|
||||
"-Wno-inconsistent-missing-override",
|
||||
"-Wno-c99-designator",
|
||||
"-Wno-reorder-init-list",
|
||||
"-Wno-vla-cxx-extension",
|
||||
] + cflags + ccflags,
|
||||
|
||||
CPPPATH=cpppath + [
|
||||
"#",
|
||||
"#third_party/acados/include",
|
||||
"#third_party/acados/include/blasfeo/include",
|
||||
"#third_party/acados/include/hpipm/include",
|
||||
"#third_party/catch2/include",
|
||||
"#third_party/libyuv/include",
|
||||
"#third_party/json11",
|
||||
"#third_party/linux/include",
|
||||
"#third_party/snpe/include",
|
||||
"#third_party",
|
||||
"#msgq",
|
||||
],
|
||||
|
||||
CC='clang',
|
||||
CXX='clang++',
|
||||
LINKFLAGS=ldflags,
|
||||
|
||||
RPATH=rpath,
|
||||
|
||||
CFLAGS=["-std=gnu11"] + cflags,
|
||||
CXXFLAGS=["-std=c++1z"] + cxxflags,
|
||||
LIBPATH=libpath + [
|
||||
"#msgq_repo",
|
||||
"#third_party",
|
||||
"#selfdrive/pandad",
|
||||
"#common",
|
||||
"#rednose/helpers",
|
||||
],
|
||||
CYTHONCFILESUFFIX=".cpp",
|
||||
COMPILATIONDB_USE_ABSPATH=True,
|
||||
REDNOSE_ROOT="#",
|
||||
tools=["default", "cython", "compilation_db", "rednose_filter"],
|
||||
toolpath=["#site_scons/site_tools", "#rednose_repo/site_scons/site_tools"],
|
||||
)
|
||||
|
||||
if arch == "Darwin":
|
||||
# RPATH is not supported on macOS, instead use the linker flags
|
||||
darwin_rpath_link_flags = [f"-Wl,-rpath,{path}" for path in env["RPATH"]]
|
||||
env["LINKFLAGS"] += darwin_rpath_link_flags
|
||||
|
||||
env.CompilationDatabase('compile_commands.json')
|
||||
|
||||
# Setup cache dir
|
||||
default_cache_dir = '/data/scons_cache' if AGNOS else '/tmp/scons_cache'
|
||||
cache_dir = ARGUMENTS.get('cache_dir', default_cache_dir)
|
||||
CacheDir(cache_dir)
|
||||
Clean(["."], cache_dir)
|
||||
|
||||
node_interval = 5
|
||||
node_count = 0
|
||||
def progress_function(node):
|
||||
global node_count
|
||||
node_count += node_interval
|
||||
sys.stderr.write("progress: %d\n" % node_count)
|
||||
|
||||
if os.environ.get('SCONS_PROGRESS'):
|
||||
Progress(progress_function, interval=node_interval)
|
||||
|
||||
# Cython build environment
|
||||
py_include = sysconfig.get_paths()['include']
|
||||
envCython = env.Clone()
|
||||
envCython["CPPPATH"] += [py_include, np.get_include()]
|
||||
envCython["CCFLAGS"] += ["-Wno-#warnings", "-Wno-shadow", "-Wno-deprecated-declarations"]
|
||||
envCython["CCFLAGS"].remove("-Werror")
|
||||
|
||||
envCython["LIBS"] = []
|
||||
if arch == "Darwin":
|
||||
envCython["LINKFLAGS"] = ["-bundle", "-undefined", "dynamic_lookup"] + darwin_rpath_link_flags
|
||||
else:
|
||||
envCython["LINKFLAGS"] = ["-pthread", "-shared"]
|
||||
|
||||
np_version = SCons.Script.Value(np.__version__)
|
||||
Export('envCython', 'np_version')
|
||||
|
||||
# Qt build environment
|
||||
qt_env = env.Clone()
|
||||
qt_modules = ["Widgets", "Gui", "Core", "Network", "Concurrent", "DBus", "Xml"]
|
||||
|
||||
qt_libs = []
|
||||
if arch == "Darwin":
|
||||
qt_env['QTDIR'] = f"{brew_prefix}/opt/qt@5"
|
||||
qt_dirs = [
|
||||
os.path.join(qt_env['QTDIR'], "include"),
|
||||
]
|
||||
qt_dirs += [f"{qt_env['QTDIR']}/include/Qt{m}" for m in qt_modules]
|
||||
qt_env["LINKFLAGS"] += ["-F" + os.path.join(qt_env['QTDIR'], "lib")]
|
||||
qt_env["FRAMEWORKS"] += [f"Qt{m}" for m in qt_modules] + ["OpenGL"]
|
||||
qt_env.AppendENVPath('PATH', os.path.join(qt_env['QTDIR'], "bin"))
|
||||
else:
|
||||
qt_install_prefix = subprocess.check_output(['qmake', '-query', 'QT_INSTALL_PREFIX'], encoding='utf8').strip()
|
||||
qt_install_headers = subprocess.check_output(['qmake', '-query', 'QT_INSTALL_HEADERS'], encoding='utf8').strip()
|
||||
|
||||
qt_env['QTDIR'] = qt_install_prefix
|
||||
qt_dirs = [
|
||||
f"{qt_install_headers}",
|
||||
]
|
||||
|
||||
qt_gui_path = os.path.join(qt_install_headers, "QtGui")
|
||||
qt_gui_dirs = [d for d in os.listdir(qt_gui_path) if os.path.isdir(os.path.join(qt_gui_path, d))]
|
||||
qt_dirs += [f"{qt_install_headers}/QtGui/{qt_gui_dirs[0]}/QtGui", ] if qt_gui_dirs else []
|
||||
qt_dirs += [f"{qt_install_headers}/Qt{m}" for m in qt_modules]
|
||||
|
||||
qt_libs = [f"Qt5{m}" for m in qt_modules]
|
||||
if arch == "larch64":
|
||||
qt_libs += ["GLESv2", "wayland-client"]
|
||||
qt_env.PrependENVPath('PATH', Dir("#third_party/qt5/larch64/bin/").abspath)
|
||||
elif arch != "Darwin":
|
||||
qt_libs += ["GL"]
|
||||
qt_env['QT3DIR'] = qt_env['QTDIR']
|
||||
qt_env.Tool('qt3')
|
||||
|
||||
qt_env['CPPPATH'] += qt_dirs + ["#third_party/qrcode"]
|
||||
qt_flags = [
|
||||
"-D_REENTRANT",
|
||||
"-DQT_NO_DEBUG",
|
||||
"-DQT_WIDGETS_LIB",
|
||||
"-DQT_GUI_LIB",
|
||||
"-DQT_CORE_LIB",
|
||||
"-DQT_MESSAGELOGCONTEXT",
|
||||
]
|
||||
qt_env['CXXFLAGS'] += qt_flags
|
||||
qt_env['LIBPATH'] += ['#selfdrive/ui', ]
|
||||
qt_env['LIBS'] = qt_libs
|
||||
|
||||
if GetOption("clazy"):
|
||||
checks = [
|
||||
"level0",
|
||||
"level1",
|
||||
"no-range-loop",
|
||||
"no-non-pod-global-static",
|
||||
]
|
||||
qt_env['CXX'] = 'clazy'
|
||||
qt_env['ENV']['CLAZY_IGNORE_DIRS'] = qt_dirs[0]
|
||||
qt_env['ENV']['CLAZY_CHECKS'] = ','.join(checks)
|
||||
|
||||
Export('env', 'qt_env', 'arch', 'real_arch')
|
||||
|
||||
# Build common module
|
||||
SConscript(['common/SConscript'])
|
||||
Import('_common', '_gpucommon')
|
||||
|
||||
common = [_common, 'json11', 'zmq']
|
||||
gpucommon = [_gpucommon]
|
||||
|
||||
Export('common', 'gpucommon')
|
||||
|
||||
# Build messaging (cereal + msgq + socketmaster + their dependencies)
|
||||
# Enable swaglog include in submodules
|
||||
env_swaglog = env.Clone()
|
||||
env_swaglog['CXXFLAGS'].append('-DSWAGLOG="\\"common/swaglog.h\\""')
|
||||
SConscript(['msgq_repo/SConscript'], exports={'env': env_swaglog})
|
||||
SConscript(['opendbc_repo/SConscript'], exports={'env': env_swaglog})
|
||||
|
||||
SConscript(['cereal/SConscript'])
|
||||
|
||||
Import('socketmaster', 'msgq')
|
||||
messaging = [socketmaster, msgq, 'capnp', 'kj',]
|
||||
Export('messaging')
|
||||
|
||||
|
||||
# Build other submodules
|
||||
SConscript(['panda/SConscript'])
|
||||
|
||||
# Build rednose library
|
||||
SConscript(['rednose/SConscript'])
|
||||
|
||||
# Build system services
|
||||
SConscript([
|
||||
'system/ubloxd/SConscript',
|
||||
'system/loggerd/SConscript',
|
||||
])
|
||||
if arch != "Darwin":
|
||||
SConscript([
|
||||
'system/logcatd/SConscript',
|
||||
'system/proclogd/SConscript',
|
||||
])
|
||||
|
||||
if arch == "larch64":
|
||||
SConscript(['system/camerad/SConscript'])
|
||||
|
||||
# Build openpilot
|
||||
SConscript(['third_party/SConscript'])
|
||||
|
||||
SConscript(['selfdrive/SConscript'])
|
||||
|
||||
SConscript(['sunnypilot/SConscript'])
|
||||
|
||||
if Dir('#tools/cabana/').exists() and GetOption('extras'):
|
||||
SConscript(['tools/replay/SConscript'])
|
||||
if arch != "larch64":
|
||||
SConscript(['tools/cabana/SConscript'])
|
||||
|
||||
external_sconscript = GetOption('external_sconscript')
|
||||
if external_sconscript:
|
||||
SConscript([external_sconscript])
|
||||
@@ -1,5 +0,0 @@
|
||||
# Security Policy
|
||||
|
||||
## Reporting a Vulnerability
|
||||
|
||||
Suspected vulnerabilities can be reported to both `adeeb@comma.ai` and `security@comma.ai`.
|
||||
@@ -0,0 +1,43 @@
|
||||
# :set noet
|
||||
PROJ_NAME = comma
|
||||
|
||||
CFLAGS = -g -O0 -Wall
|
||||
CFLAGS += -mlittle-endian -mthumb -mcpu=cortex-m3
|
||||
CFLAGS += -msoft-float -DSTM32F2 -DSTM32F205xx
|
||||
CFLAGS += -I inc -nostdlib
|
||||
CFLAGS += -Tstm32_flash.ld
|
||||
|
||||
CC = arm-none-eabi-gcc
|
||||
OBJCOPY = arm-none-eabi-objcopy
|
||||
OBJDUMP = arm-none-eabi-objdump
|
||||
|
||||
MACHINE = $(shell uname -m)
|
||||
|
||||
all: obj/$(PROJ_NAME).bin
|
||||
#$(OBJDUMP) -d obj/$(PROJ_NAME).elf
|
||||
./tools/enter_download_mode.py
|
||||
./tools/dfu-util-$(MACHINE) -a 0 -s 0x08000000 -D $<
|
||||
./tools/dfu-util-$(MACHINE) --reset-stm32 -a 0 -s 0x08000000
|
||||
|
||||
ifneq ($(wildcard ../.git/HEAD),)
|
||||
obj/gitversion.h: ../.git/HEAD ../.git/index
|
||||
echo "const uint8_t gitversion[] = \"$(shell git rev-parse HEAD)\";" > $@
|
||||
else
|
||||
obj/gitversion.h:
|
||||
echo "const uint8_t gitversion[] = \"RELEASE\";" > $@
|
||||
endif
|
||||
|
||||
obj/main.o: main.c *.h obj/gitversion.h
|
||||
$(CC) $(CFLAGS) -o $@ -c $<
|
||||
|
||||
obj/startup_stm32f205xx.o: startup_stm32f205xx.s
|
||||
mkdir -p obj
|
||||
$(CC) $(CFLAGS) -o $@ -c $<
|
||||
|
||||
obj/$(PROJ_NAME).bin: obj/startup_stm32f205xx.o obj/main.o
|
||||
$(CC) $(CFLAGS) -o obj/$(PROJ_NAME).elf $^
|
||||
$(OBJCOPY) -v -O binary obj/$(PROJ_NAME).elf $@
|
||||
|
||||
clean:
|
||||
rm -f obj/*
|
||||
|
||||
+38
@@ -0,0 +1,38 @@
|
||||
// ACCEL1 = ADC10
|
||||
// ACCEL2 = ADC11
|
||||
// VOLT_S = ADC12
|
||||
// CURR_S = ADC13
|
||||
|
||||
#define ADCCHAN_ACCEL0 10
|
||||
#define ADCCHAN_ACCEL1 11
|
||||
#define ADCCHAN_VOLTAGE 12
|
||||
#define ADCCHAN_CURRENT 13
|
||||
|
||||
void adc_init() {
|
||||
// global setup
|
||||
ADC->CCR = ADC_CCR_TSVREFE | ADC_CCR_VBATE;
|
||||
//ADC1->CR2 = ADC_CR2_ADON | ADC_CR2_EOCS | ADC_CR2_DDS;
|
||||
ADC1->CR2 = ADC_CR2_ADON;
|
||||
|
||||
// long
|
||||
ADC1->SMPR1 = ADC_SMPR1_SMP10 | ADC_SMPR1_SMP11 | ADC_SMPR1_SMP12 | ADC_SMPR1_SMP13;
|
||||
}
|
||||
|
||||
uint32_t adc_get(int channel) {
|
||||
|
||||
// includes length
|
||||
//ADC1->SQR1 = 0;
|
||||
|
||||
// select channel
|
||||
ADC1->JSQR = channel << 15;
|
||||
|
||||
//ADC1->CR1 = ADC_CR1_DISCNUM_0;
|
||||
//ADC1->CR1 = ADC_CR1_EOCIE;
|
||||
|
||||
ADC1->SR &= ~(ADC_SR_JEOC);
|
||||
ADC1->CR2 |= ADC_CR2_JSWSTART;
|
||||
while (!(ADC1->SR & ADC_SR_JEOC));
|
||||
|
||||
return ADC1->JDR1;
|
||||
}
|
||||
|
||||
+75
@@ -0,0 +1,75 @@
|
||||
void can_init(CAN_TypeDef *CAN) {
|
||||
CAN->MCR = CAN_MCR_TTCM | CAN_MCR_INRQ;
|
||||
while((CAN->MSR & CAN_MSR_INAK) != CAN_MSR_INAK);
|
||||
puts("CAN initting\n");
|
||||
|
||||
// PCLK = 24000000, 500000 is 48 clocks
|
||||
// from http://www.bittiming.can-wiki.ino/
|
||||
CAN->BTR = 0x001c0002;
|
||||
|
||||
// loopback mode for debugging
|
||||
#ifdef CAN_LOOPBACK_MODE
|
||||
CAN->BTR |= CAN_BTR_SILM | CAN_BTR_LBKM;
|
||||
#endif
|
||||
|
||||
// reset
|
||||
CAN->MCR = CAN_MCR_TTCM;
|
||||
while((CAN->MSR & CAN_MSR_INAK) == CAN_MSR_INAK);
|
||||
puts("CAN init done\n");
|
||||
|
||||
// accept all filter
|
||||
CAN->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 | (1 << 14);
|
||||
|
||||
CAN->FMR &= ~(CAN_FMR_FINIT);
|
||||
|
||||
// enable all CAN interrupts
|
||||
CAN->IER = 0xFFFFFFFF;
|
||||
//CAN->IER = CAN_IER_TMEIE | CAN_IER_FMPIE0 | CAN_IER_FMPIE1;
|
||||
}
|
||||
|
||||
// CAN error
|
||||
void can_sce(CAN_TypeDef *CAN) {
|
||||
#ifdef DEBUG
|
||||
puts("MSR:");
|
||||
puth(CAN->MSR);
|
||||
puts(" TSR:");
|
||||
puth(CAN->TSR);
|
||||
puts(" RF0R:");
|
||||
puth(CAN->RF0R);
|
||||
puts(" RF1R:");
|
||||
puth(CAN->RF1R);
|
||||
puts(" ESR:");
|
||||
puth(CAN->ESR);
|
||||
puts("\n");
|
||||
#endif
|
||||
|
||||
// clear
|
||||
//CAN->sTxMailBox[0].TIR &= ~(CAN_TI0R_TXRQ);
|
||||
CAN->TSR |= CAN_TSR_ABRQ0;
|
||||
//CAN->ESR |= CAN_ESR_LEC;
|
||||
//CAN->MSR &= ~(CAN_MSR_ERRI);
|
||||
CAN->MSR = CAN->MSR;
|
||||
}
|
||||
|
||||
int can_cksum(uint8_t *dat, int len, int addr, int idx) {
|
||||
int i;
|
||||
int s = 0;
|
||||
for (i = 0; i < len; i++) {
|
||||
s += (dat[i] >> 4);
|
||||
s += dat[i] & 0xF;
|
||||
}
|
||||
s += (addr>>0)&0xF;
|
||||
s += (addr>>4)&0xF;
|
||||
s += (addr>>8)&0xF;
|
||||
s += idx;
|
||||
s = 8-s;
|
||||
return s&0xF;
|
||||
}
|
||||
|
||||
+16
@@ -0,0 +1,16 @@
|
||||
void dac_init() {
|
||||
// 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;
|
||||
DAC->DHR12R2 = 0;
|
||||
DAC->CR = DAC_CR_EN1 | DAC_CR_EN2;
|
||||
}
|
||||
|
||||
void dac_set(int channel, uint32_t value) {
|
||||
if (channel == 0) {
|
||||
DAC->DHR12R1 = value;
|
||||
} else if (channel == 1) {
|
||||
DAC->DHR12R2 = value;
|
||||
}
|
||||
}
|
||||
|
||||
File diff suppressed because it is too large
Load Diff
@@ -0,0 +1,609 @@
|
||||
/**************************************************************************//**
|
||||
* @file core_cmFunc.h
|
||||
* @brief CMSIS Cortex-M Core Function Access Header File
|
||||
* @version V2.10
|
||||
* @date 26. July 2011
|
||||
*
|
||||
* @note
|
||||
* Copyright (C) 2009-2011 ARM Limited. All rights reserved.
|
||||
*
|
||||
* @par
|
||||
* ARM Limited (ARM) is supplying this software for use with Cortex-M
|
||||
* processor based microcontrollers. This file can be freely distributed
|
||||
* within development tools that are supporting such ARM based processors.
|
||||
*
|
||||
* @par
|
||||
* THIS SOFTWARE IS PROVIDED "AS IS". NO WARRANTIES, WHETHER EXPRESS, IMPLIED
|
||||
* OR STATUTORY, INCLUDING, BUT NOT LIMITED TO, IMPLIED WARRANTIES OF
|
||||
* MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE APPLY TO THIS SOFTWARE.
|
||||
* ARM SHALL NOT, IN ANY CIRCUMSTANCES, BE LIABLE FOR SPECIAL, INCIDENTAL, OR
|
||||
* CONSEQUENTIAL DAMAGES, FOR ANY REASON WHATSOEVER.
|
||||
*
|
||||
******************************************************************************/
|
||||
|
||||
#ifndef __CORE_CMFUNC_H
|
||||
#define __CORE_CMFUNC_H
|
||||
|
||||
|
||||
/* ########################### Core Function Access ########################### */
|
||||
/** \ingroup CMSIS_Core_FunctionInterface
|
||||
\defgroup CMSIS_Core_RegAccFunctions CMSIS Core Register Access Functions
|
||||
@{
|
||||
*/
|
||||
|
||||
#if defined ( __CC_ARM ) /*------------------RealView Compiler -----------------*/
|
||||
/* ARM armcc specific functions */
|
||||
|
||||
#if (__ARMCC_VERSION < 400677)
|
||||
#error "Please use ARM Compiler Toolchain V4.0.677 or later!"
|
||||
#endif
|
||||
|
||||
/* intrinsic void __enable_irq(); */
|
||||
/* intrinsic void __disable_irq(); */
|
||||
|
||||
/** \brief Get Control Register
|
||||
|
||||
This function returns the content of the Control Register.
|
||||
|
||||
\return Control Register value
|
||||
*/
|
||||
static __INLINE uint32_t __get_CONTROL(void)
|
||||
{
|
||||
register uint32_t __regControl __ASM("control");
|
||||
return(__regControl);
|
||||
}
|
||||
|
||||
|
||||
/** \brief Set Control Register
|
||||
|
||||
This function writes the given value to the Control Register.
|
||||
|
||||
\param [in] control Control Register value to set
|
||||
*/
|
||||
static __INLINE void __set_CONTROL(uint32_t control)
|
||||
{
|
||||
register uint32_t __regControl __ASM("control");
|
||||
__regControl = control;
|
||||
}
|
||||
|
||||
|
||||
/** \brief Get ISPR Register
|
||||
|
||||
This function returns the content of the ISPR Register.
|
||||
|
||||
\return ISPR Register value
|
||||
*/
|
||||
static __INLINE uint32_t __get_IPSR(void)
|
||||
{
|
||||
register uint32_t __regIPSR __ASM("ipsr");
|
||||
return(__regIPSR);
|
||||
}
|
||||
|
||||
|
||||
/** \brief Get APSR Register
|
||||
|
||||
This function returns the content of the APSR Register.
|
||||
|
||||
\return APSR Register value
|
||||
*/
|
||||
static __INLINE uint32_t __get_APSR(void)
|
||||
{
|
||||
register uint32_t __regAPSR __ASM("apsr");
|
||||
return(__regAPSR);
|
||||
}
|
||||
|
||||
|
||||
/** \brief Get xPSR Register
|
||||
|
||||
This function returns the content of the xPSR Register.
|
||||
|
||||
\return xPSR Register value
|
||||
*/
|
||||
static __INLINE uint32_t __get_xPSR(void)
|
||||
{
|
||||
register uint32_t __regXPSR __ASM("xpsr");
|
||||
return(__regXPSR);
|
||||
}
|
||||
|
||||
|
||||
/** \brief Get Process Stack Pointer
|
||||
|
||||
This function returns the current value of the Process Stack Pointer (PSP).
|
||||
|
||||
\return PSP Register value
|
||||
*/
|
||||
static __INLINE uint32_t __get_PSP(void)
|
||||
{
|
||||
register uint32_t __regProcessStackPointer __ASM("psp");
|
||||
return(__regProcessStackPointer);
|
||||
}
|
||||
|
||||
|
||||
/** \brief Set Process Stack Pointer
|
||||
|
||||
This function assigns the given value to the Process Stack Pointer (PSP).
|
||||
|
||||
\param [in] topOfProcStack Process Stack Pointer value to set
|
||||
*/
|
||||
static __INLINE void __set_PSP(uint32_t topOfProcStack)
|
||||
{
|
||||
register uint32_t __regProcessStackPointer __ASM("psp");
|
||||
__regProcessStackPointer = topOfProcStack;
|
||||
}
|
||||
|
||||
|
||||
/** \brief Get Main Stack Pointer
|
||||
|
||||
This function returns the current value of the Main Stack Pointer (MSP).
|
||||
|
||||
\return MSP Register value
|
||||
*/
|
||||
static __INLINE uint32_t __get_MSP(void)
|
||||
{
|
||||
register uint32_t __regMainStackPointer __ASM("msp");
|
||||
return(__regMainStackPointer);
|
||||
}
|
||||
|
||||
|
||||
/** \brief Set Main Stack Pointer
|
||||
|
||||
This function assigns the given value to the Main Stack Pointer (MSP).
|
||||
|
||||
\param [in] topOfMainStack Main Stack Pointer value to set
|
||||
*/
|
||||
static __INLINE void __set_MSP(uint32_t topOfMainStack)
|
||||
{
|
||||
register uint32_t __regMainStackPointer __ASM("msp");
|
||||
__regMainStackPointer = topOfMainStack;
|
||||
}
|
||||
|
||||
|
||||
/** \brief Get Priority Mask
|
||||
|
||||
This function returns the current state of the priority mask bit from the Priority Mask Register.
|
||||
|
||||
\return Priority Mask value
|
||||
*/
|
||||
static __INLINE uint32_t __get_PRIMASK(void)
|
||||
{
|
||||
register uint32_t __regPriMask __ASM("primask");
|
||||
return(__regPriMask);
|
||||
}
|
||||
|
||||
|
||||
/** \brief Set Priority Mask
|
||||
|
||||
This function assigns the given value to the Priority Mask Register.
|
||||
|
||||
\param [in] priMask Priority Mask
|
||||
*/
|
||||
static __INLINE void __set_PRIMASK(uint32_t priMask)
|
||||
{
|
||||
register uint32_t __regPriMask __ASM("primask");
|
||||
__regPriMask = (priMask);
|
||||
}
|
||||
|
||||
|
||||
#if (__CORTEX_M >= 0x03)
|
||||
|
||||
/** \brief Enable FIQ
|
||||
|
||||
This function enables FIQ interrupts by clearing the F-bit in the CPSR.
|
||||
Can only be executed in Privileged modes.
|
||||
*/
|
||||
#define __enable_fault_irq __enable_fiq
|
||||
|
||||
|
||||
/** \brief Disable FIQ
|
||||
|
||||
This function disables FIQ interrupts by setting the F-bit in the CPSR.
|
||||
Can only be executed in Privileged modes.
|
||||
*/
|
||||
#define __disable_fault_irq __disable_fiq
|
||||
|
||||
|
||||
/** \brief Get Base Priority
|
||||
|
||||
This function returns the current value of the Base Priority register.
|
||||
|
||||
\return Base Priority register value
|
||||
*/
|
||||
static __INLINE uint32_t __get_BASEPRI(void)
|
||||
{
|
||||
register uint32_t __regBasePri __ASM("basepri");
|
||||
return(__regBasePri);
|
||||
}
|
||||
|
||||
|
||||
/** \brief Set Base Priority
|
||||
|
||||
This function assigns the given value to the Base Priority register.
|
||||
|
||||
\param [in] basePri Base Priority value to set
|
||||
*/
|
||||
static __INLINE void __set_BASEPRI(uint32_t basePri)
|
||||
{
|
||||
register uint32_t __regBasePri __ASM("basepri");
|
||||
__regBasePri = (basePri & 0xff);
|
||||
}
|
||||
|
||||
|
||||
/** \brief Get Fault Mask
|
||||
|
||||
This function returns the current value of the Fault Mask register.
|
||||
|
||||
\return Fault Mask register value
|
||||
*/
|
||||
static __INLINE uint32_t __get_FAULTMASK(void)
|
||||
{
|
||||
register uint32_t __regFaultMask __ASM("faultmask");
|
||||
return(__regFaultMask);
|
||||
}
|
||||
|
||||
|
||||
/** \brief Set Fault Mask
|
||||
|
||||
This function assigns the given value to the Fault Mask register.
|
||||
|
||||
\param [in] faultMask Fault Mask value to set
|
||||
*/
|
||||
static __INLINE void __set_FAULTMASK(uint32_t faultMask)
|
||||
{
|
||||
register uint32_t __regFaultMask __ASM("faultmask");
|
||||
__regFaultMask = (faultMask & (uint32_t)1);
|
||||
}
|
||||
|
||||
#endif /* (__CORTEX_M >= 0x03) */
|
||||
|
||||
|
||||
#if (__CORTEX_M == 0x04)
|
||||
|
||||
/** \brief Get FPSCR
|
||||
|
||||
This function returns the current value of the Floating Point Status/Control register.
|
||||
|
||||
\return Floating Point Status/Control register value
|
||||
*/
|
||||
static __INLINE uint32_t __get_FPSCR(void)
|
||||
{
|
||||
#if (__FPU_PRESENT == 1) && (__FPU_USED == 1)
|
||||
register uint32_t __regfpscr __ASM("fpscr");
|
||||
return(__regfpscr);
|
||||
#else
|
||||
return(0);
|
||||
#endif
|
||||
}
|
||||
|
||||
|
||||
/** \brief Set FPSCR
|
||||
|
||||
This function assigns the given value to the Floating Point Status/Control register.
|
||||
|
||||
\param [in] fpscr Floating Point Status/Control value to set
|
||||
*/
|
||||
static __INLINE void __set_FPSCR(uint32_t fpscr)
|
||||
{
|
||||
#if (__FPU_PRESENT == 1) && (__FPU_USED == 1)
|
||||
register uint32_t __regfpscr __ASM("fpscr");
|
||||
__regfpscr = (fpscr);
|
||||
#endif
|
||||
}
|
||||
|
||||
#endif /* (__CORTEX_M == 0x04) */
|
||||
|
||||
|
||||
#elif defined ( __ICCARM__ ) /*------------------ ICC Compiler -------------------*/
|
||||
/* IAR iccarm specific functions */
|
||||
|
||||
#include <cmsis_iar.h>
|
||||
|
||||
#elif defined ( __GNUC__ ) /*------------------ GNU Compiler ---------------------*/
|
||||
/* GNU gcc specific functions */
|
||||
|
||||
/** \brief Enable IRQ Interrupts
|
||||
|
||||
This function enables IRQ interrupts by clearing the I-bit in the CPSR.
|
||||
Can only be executed in Privileged modes.
|
||||
*/
|
||||
__attribute__( ( always_inline ) ) static __INLINE void __enable_irq(void)
|
||||
{
|
||||
__ASM volatile ("cpsie i");
|
||||
}
|
||||
|
||||
|
||||
/** \brief Disable IRQ Interrupts
|
||||
|
||||
This function disables IRQ interrupts by setting the I-bit in the CPSR.
|
||||
Can only be executed in Privileged modes.
|
||||
*/
|
||||
__attribute__( ( always_inline ) ) static __INLINE void __disable_irq(void)
|
||||
{
|
||||
__ASM volatile ("cpsid i");
|
||||
}
|
||||
|
||||
|
||||
/** \brief Get Control Register
|
||||
|
||||
This function returns the content of the Control Register.
|
||||
|
||||
\return Control Register value
|
||||
*/
|
||||
__attribute__( ( always_inline ) ) static __INLINE uint32_t __get_CONTROL(void)
|
||||
{
|
||||
uint32_t result;
|
||||
|
||||
__ASM volatile ("MRS %0, control" : "=r" (result) );
|
||||
return(result);
|
||||
}
|
||||
|
||||
|
||||
/** \brief Set Control Register
|
||||
|
||||
This function writes the given value to the Control Register.
|
||||
|
||||
\param [in] control Control Register value to set
|
||||
*/
|
||||
__attribute__( ( always_inline ) ) static __INLINE void __set_CONTROL(uint32_t control)
|
||||
{
|
||||
__ASM volatile ("MSR control, %0" : : "r" (control) );
|
||||
}
|
||||
|
||||
|
||||
/** \brief Get ISPR Register
|
||||
|
||||
This function returns the content of the ISPR Register.
|
||||
|
||||
\return ISPR Register value
|
||||
*/
|
||||
__attribute__( ( always_inline ) ) static __INLINE uint32_t __get_IPSR(void)
|
||||
{
|
||||
uint32_t result;
|
||||
|
||||
__ASM volatile ("MRS %0, ipsr" : "=r" (result) );
|
||||
return(result);
|
||||
}
|
||||
|
||||
|
||||
/** \brief Get APSR Register
|
||||
|
||||
This function returns the content of the APSR Register.
|
||||
|
||||
\return APSR Register value
|
||||
*/
|
||||
__attribute__( ( always_inline ) ) static __INLINE uint32_t __get_APSR(void)
|
||||
{
|
||||
uint32_t result;
|
||||
|
||||
__ASM volatile ("MRS %0, apsr" : "=r" (result) );
|
||||
return(result);
|
||||
}
|
||||
|
||||
|
||||
/** \brief Get xPSR Register
|
||||
|
||||
This function returns the content of the xPSR Register.
|
||||
|
||||
\return xPSR Register value
|
||||
*/
|
||||
__attribute__( ( always_inline ) ) static __INLINE uint32_t __get_xPSR(void)
|
||||
{
|
||||
uint32_t result;
|
||||
|
||||
__ASM volatile ("MRS %0, xpsr" : "=r" (result) );
|
||||
return(result);
|
||||
}
|
||||
|
||||
|
||||
/** \brief Get Process Stack Pointer
|
||||
|
||||
This function returns the current value of the Process Stack Pointer (PSP).
|
||||
|
||||
\return PSP Register value
|
||||
*/
|
||||
__attribute__( ( always_inline ) ) static __INLINE uint32_t __get_PSP(void)
|
||||
{
|
||||
register uint32_t result;
|
||||
|
||||
__ASM volatile ("MRS %0, psp\n" : "=r" (result) );
|
||||
return(result);
|
||||
}
|
||||
|
||||
|
||||
/** \brief Set Process Stack Pointer
|
||||
|
||||
This function assigns the given value to the Process Stack Pointer (PSP).
|
||||
|
||||
\param [in] topOfProcStack Process Stack Pointer value to set
|
||||
*/
|
||||
__attribute__( ( always_inline ) ) static __INLINE void __set_PSP(uint32_t topOfProcStack)
|
||||
{
|
||||
__ASM volatile ("MSR psp, %0\n" : : "r" (topOfProcStack) );
|
||||
}
|
||||
|
||||
|
||||
/** \brief Get Main Stack Pointer
|
||||
|
||||
This function returns the current value of the Main Stack Pointer (MSP).
|
||||
|
||||
\return MSP Register value
|
||||
*/
|
||||
__attribute__( ( always_inline ) ) static __INLINE uint32_t __get_MSP(void)
|
||||
{
|
||||
register uint32_t result;
|
||||
|
||||
__ASM volatile ("MRS %0, msp\n" : "=r" (result) );
|
||||
return(result);
|
||||
}
|
||||
|
||||
|
||||
/** \brief Set Main Stack Pointer
|
||||
|
||||
This function assigns the given value to the Main Stack Pointer (MSP).
|
||||
|
||||
\param [in] topOfMainStack Main Stack Pointer value to set
|
||||
*/
|
||||
__attribute__( ( always_inline ) ) static __INLINE void __set_MSP(uint32_t topOfMainStack)
|
||||
{
|
||||
__ASM volatile ("MSR msp, %0\n" : : "r" (topOfMainStack) );
|
||||
}
|
||||
|
||||
|
||||
/** \brief Get Priority Mask
|
||||
|
||||
This function returns the current state of the priority mask bit from the Priority Mask Register.
|
||||
|
||||
\return Priority Mask value
|
||||
*/
|
||||
__attribute__( ( always_inline ) ) static __INLINE uint32_t __get_PRIMASK(void)
|
||||
{
|
||||
uint32_t result;
|
||||
|
||||
__ASM volatile ("MRS %0, primask" : "=r" (result) );
|
||||
return(result);
|
||||
}
|
||||
|
||||
|
||||
/** \brief Set Priority Mask
|
||||
|
||||
This function assigns the given value to the Priority Mask Register.
|
||||
|
||||
\param [in] priMask Priority Mask
|
||||
*/
|
||||
__attribute__( ( always_inline ) ) static __INLINE void __set_PRIMASK(uint32_t priMask)
|
||||
{
|
||||
__ASM volatile ("MSR primask, %0" : : "r" (priMask) );
|
||||
}
|
||||
|
||||
|
||||
#if (__CORTEX_M >= 0x03)
|
||||
|
||||
/** \brief Enable FIQ
|
||||
|
||||
This function enables FIQ interrupts by clearing the F-bit in the CPSR.
|
||||
Can only be executed in Privileged modes.
|
||||
*/
|
||||
__attribute__( ( always_inline ) ) static __INLINE void __enable_fault_irq(void)
|
||||
{
|
||||
__ASM volatile ("cpsie f");
|
||||
}
|
||||
|
||||
|
||||
/** \brief Disable FIQ
|
||||
|
||||
This function disables FIQ interrupts by setting the F-bit in the CPSR.
|
||||
Can only be executed in Privileged modes.
|
||||
*/
|
||||
__attribute__( ( always_inline ) ) static __INLINE void __disable_fault_irq(void)
|
||||
{
|
||||
__ASM volatile ("cpsid f");
|
||||
}
|
||||
|
||||
|
||||
/** \brief Get Base Priority
|
||||
|
||||
This function returns the current value of the Base Priority register.
|
||||
|
||||
\return Base Priority register value
|
||||
*/
|
||||
__attribute__( ( always_inline ) ) static __INLINE uint32_t __get_BASEPRI(void)
|
||||
{
|
||||
uint32_t result;
|
||||
|
||||
__ASM volatile ("MRS %0, basepri_max" : "=r" (result) );
|
||||
return(result);
|
||||
}
|
||||
|
||||
|
||||
/** \brief Set Base Priority
|
||||
|
||||
This function assigns the given value to the Base Priority register.
|
||||
|
||||
\param [in] basePri Base Priority value to set
|
||||
*/
|
||||
__attribute__( ( always_inline ) ) static __INLINE void __set_BASEPRI(uint32_t value)
|
||||
{
|
||||
__ASM volatile ("MSR basepri, %0" : : "r" (value) );
|
||||
}
|
||||
|
||||
|
||||
/** \brief Get Fault Mask
|
||||
|
||||
This function returns the current value of the Fault Mask register.
|
||||
|
||||
\return Fault Mask register value
|
||||
*/
|
||||
__attribute__( ( always_inline ) ) static __INLINE uint32_t __get_FAULTMASK(void)
|
||||
{
|
||||
uint32_t result;
|
||||
|
||||
__ASM volatile ("MRS %0, faultmask" : "=r" (result) );
|
||||
return(result);
|
||||
}
|
||||
|
||||
|
||||
/** \brief Set Fault Mask
|
||||
|
||||
This function assigns the given value to the Fault Mask register.
|
||||
|
||||
\param [in] faultMask Fault Mask value to set
|
||||
*/
|
||||
__attribute__( ( always_inline ) ) static __INLINE void __set_FAULTMASK(uint32_t faultMask)
|
||||
{
|
||||
__ASM volatile ("MSR faultmask, %0" : : "r" (faultMask) );
|
||||
}
|
||||
|
||||
#endif /* (__CORTEX_M >= 0x03) */
|
||||
|
||||
|
||||
#if (__CORTEX_M == 0x04)
|
||||
|
||||
/** \brief Get FPSCR
|
||||
|
||||
This function returns the current value of the Floating Point Status/Control register.
|
||||
|
||||
\return Floating Point Status/Control register value
|
||||
*/
|
||||
__attribute__( ( always_inline ) ) static __INLINE uint32_t __get_FPSCR(void)
|
||||
{
|
||||
#if (__FPU_PRESENT == 1) && (__FPU_USED == 1)
|
||||
uint32_t result;
|
||||
|
||||
__ASM volatile ("VMRS %0, fpscr" : "=r" (result) );
|
||||
return(result);
|
||||
#else
|
||||
return(0);
|
||||
#endif
|
||||
}
|
||||
|
||||
|
||||
/** \brief Set FPSCR
|
||||
|
||||
This function assigns the given value to the Floating Point Status/Control register.
|
||||
|
||||
\param [in] fpscr Floating Point Status/Control value to set
|
||||
*/
|
||||
__attribute__( ( always_inline ) ) static __INLINE void __set_FPSCR(uint32_t fpscr)
|
||||
{
|
||||
#if (__FPU_PRESENT == 1) && (__FPU_USED == 1)
|
||||
__ASM volatile ("VMSR fpscr, %0" : : "r" (fpscr) );
|
||||
#endif
|
||||
}
|
||||
|
||||
#endif /* (__CORTEX_M == 0x04) */
|
||||
|
||||
|
||||
#elif defined ( __TASKING__ ) /*------------------ TASKING Compiler --------------*/
|
||||
/* TASKING carm specific functions */
|
||||
|
||||
/*
|
||||
* The CMSIS functions have been implemented as intrinsics in the compiler.
|
||||
* Please use "carm -?i" to get an up to date list of all instrinsics,
|
||||
* Including the CMSIS ones.
|
||||
*/
|
||||
|
||||
#endif
|
||||
|
||||
/*@} end of CMSIS_Core_RegAccFunctions */
|
||||
|
||||
|
||||
#endif /* __CORE_CMFUNC_H */
|
||||
@@ -0,0 +1,585 @@
|
||||
/**************************************************************************//**
|
||||
* @file core_cmInstr.h
|
||||
* @brief CMSIS Cortex-M Core Instruction Access Header File
|
||||
* @version V2.10
|
||||
* @date 19. July 2011
|
||||
*
|
||||
* @note
|
||||
* Copyright (C) 2009-2011 ARM Limited. All rights reserved.
|
||||
*
|
||||
* @par
|
||||
* ARM Limited (ARM) is supplying this software for use with Cortex-M
|
||||
* processor based microcontrollers. This file can be freely distributed
|
||||
* within development tools that are supporting such ARM based processors.
|
||||
*
|
||||
* @par
|
||||
* THIS SOFTWARE IS PROVIDED "AS IS". NO WARRANTIES, WHETHER EXPRESS, IMPLIED
|
||||
* OR STATUTORY, INCLUDING, BUT NOT LIMITED TO, IMPLIED WARRANTIES OF
|
||||
* MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE APPLY TO THIS SOFTWARE.
|
||||
* ARM SHALL NOT, IN ANY CIRCUMSTANCES, BE LIABLE FOR SPECIAL, INCIDENTAL, OR
|
||||
* CONSEQUENTIAL DAMAGES, FOR ANY REASON WHATSOEVER.
|
||||
*
|
||||
******************************************************************************/
|
||||
|
||||
#ifndef __CORE_CMINSTR_H
|
||||
#define __CORE_CMINSTR_H
|
||||
|
||||
|
||||
/* ########################## Core Instruction Access ######################### */
|
||||
/** \defgroup CMSIS_Core_InstructionInterface CMSIS Core Instruction Interface
|
||||
Access to dedicated instructions
|
||||
@{
|
||||
*/
|
||||
|
||||
#if defined ( __CC_ARM ) /*------------------RealView Compiler -----------------*/
|
||||
/* ARM armcc specific functions */
|
||||
|
||||
#if (__ARMCC_VERSION < 400677)
|
||||
#error "Please use ARM Compiler Toolchain V4.0.677 or later!"
|
||||
#endif
|
||||
|
||||
|
||||
/** \brief No Operation
|
||||
|
||||
No Operation does nothing. This instruction can be used for code alignment purposes.
|
||||
*/
|
||||
#define __NOP __nop
|
||||
|
||||
|
||||
/** \brief Wait For Interrupt
|
||||
|
||||
Wait For Interrupt is a hint instruction that suspends execution
|
||||
until one of a number of events occurs.
|
||||
*/
|
||||
#define __WFI __wfi
|
||||
|
||||
|
||||
/** \brief Wait For Event
|
||||
|
||||
Wait For Event is a hint instruction that permits the processor to enter
|
||||
a low-power state until one of a number of events occurs.
|
||||
*/
|
||||
#define __WFE __wfe
|
||||
|
||||
|
||||
/** \brief Send Event
|
||||
|
||||
Send Event is a hint instruction. It causes an event to be signaled to the CPU.
|
||||
*/
|
||||
#define __SEV __sev
|
||||
|
||||
|
||||
/** \brief Instruction Synchronization Barrier
|
||||
|
||||
Instruction Synchronization Barrier flushes the pipeline in the processor,
|
||||
so that all instructions following the ISB are fetched from cache or
|
||||
memory, after the instruction has been completed.
|
||||
*/
|
||||
#define __ISB() __isb(0xF)
|
||||
|
||||
|
||||
/** \brief Data Synchronization Barrier
|
||||
|
||||
This function acts as a special kind of Data Memory Barrier.
|
||||
It completes when all explicit memory accesses before this instruction complete.
|
||||
*/
|
||||
#define __DSB() __dsb(0xF)
|
||||
|
||||
|
||||
/** \brief Data Memory Barrier
|
||||
|
||||
This function ensures the apparent order of the explicit memory operations before
|
||||
and after the instruction, without ensuring their completion.
|
||||
*/
|
||||
#define __DMB() __dmb(0xF)
|
||||
|
||||
|
||||
/** \brief Reverse byte order (32 bit)
|
||||
|
||||
This function reverses the byte order in integer value.
|
||||
|
||||
\param [in] value Value to reverse
|
||||
\return Reversed value
|
||||
*/
|
||||
#define __REV __rev
|
||||
|
||||
|
||||
/** \brief Reverse byte order (16 bit)
|
||||
|
||||
This function reverses the byte order in two unsigned short values.
|
||||
|
||||
\param [in] value Value to reverse
|
||||
\return Reversed value
|
||||
*/
|
||||
static __INLINE __ASM uint32_t __REV16(uint32_t value)
|
||||
{
|
||||
rev16 r0, r0
|
||||
bx lr
|
||||
}
|
||||
|
||||
|
||||
/** \brief Reverse byte order in signed short value
|
||||
|
||||
This function reverses the byte order in a signed short value with sign extension to integer.
|
||||
|
||||
\param [in] value Value to reverse
|
||||
\return Reversed value
|
||||
*/
|
||||
static __INLINE __ASM int32_t __REVSH(int32_t value)
|
||||
{
|
||||
revsh r0, r0
|
||||
bx lr
|
||||
}
|
||||
|
||||
|
||||
#if (__CORTEX_M >= 0x03)
|
||||
|
||||
/** \brief Reverse bit order of value
|
||||
|
||||
This function reverses the bit order of the given value.
|
||||
|
||||
\param [in] value Value to reverse
|
||||
\return Reversed value
|
||||
*/
|
||||
#define __RBIT __rbit
|
||||
|
||||
|
||||
/** \brief LDR Exclusive (8 bit)
|
||||
|
||||
This function performs a exclusive LDR command for 8 bit value.
|
||||
|
||||
\param [in] ptr Pointer to data
|
||||
\return value of type uint8_t at (*ptr)
|
||||
*/
|
||||
#define __LDREXB(ptr) ((uint8_t ) __ldrex(ptr))
|
||||
|
||||
|
||||
/** \brief LDR Exclusive (16 bit)
|
||||
|
||||
This function performs a exclusive LDR command for 16 bit values.
|
||||
|
||||
\param [in] ptr Pointer to data
|
||||
\return value of type uint16_t at (*ptr)
|
||||
*/
|
||||
#define __LDREXH(ptr) ((uint16_t) __ldrex(ptr))
|
||||
|
||||
|
||||
/** \brief LDR Exclusive (32 bit)
|
||||
|
||||
This function performs a exclusive LDR command for 32 bit values.
|
||||
|
||||
\param [in] ptr Pointer to data
|
||||
\return value of type uint32_t at (*ptr)
|
||||
*/
|
||||
#define __LDREXW(ptr) ((uint32_t ) __ldrex(ptr))
|
||||
|
||||
|
||||
/** \brief STR Exclusive (8 bit)
|
||||
|
||||
This function performs a exclusive STR command for 8 bit values.
|
||||
|
||||
\param [in] value Value to store
|
||||
\param [in] ptr Pointer to location
|
||||
\return 0 Function succeeded
|
||||
\return 1 Function failed
|
||||
*/
|
||||
#define __STREXB(value, ptr) __strex(value, ptr)
|
||||
|
||||
|
||||
/** \brief STR Exclusive (16 bit)
|
||||
|
||||
This function performs a exclusive STR command for 16 bit values.
|
||||
|
||||
\param [in] value Value to store
|
||||
\param [in] ptr Pointer to location
|
||||
\return 0 Function succeeded
|
||||
\return 1 Function failed
|
||||
*/
|
||||
#define __STREXH(value, ptr) __strex(value, ptr)
|
||||
|
||||
|
||||
/** \brief STR Exclusive (32 bit)
|
||||
|
||||
This function performs a exclusive STR command for 32 bit values.
|
||||
|
||||
\param [in] value Value to store
|
||||
\param [in] ptr Pointer to location
|
||||
\return 0 Function succeeded
|
||||
\return 1 Function failed
|
||||
*/
|
||||
#define __STREXW(value, ptr) __strex(value, ptr)
|
||||
|
||||
|
||||
/** \brief Remove the exclusive lock
|
||||
|
||||
This function removes the exclusive lock which is created by LDREX.
|
||||
|
||||
*/
|
||||
#define __CLREX __clrex
|
||||
|
||||
|
||||
/** \brief Signed Saturate
|
||||
|
||||
This function saturates a signed value.
|
||||
|
||||
\param [in] value Value to be saturated
|
||||
\param [in] sat Bit position to saturate to (1..32)
|
||||
\return Saturated value
|
||||
*/
|
||||
#define __SSAT __ssat
|
||||
|
||||
|
||||
/** \brief Unsigned Saturate
|
||||
|
||||
This function saturates an unsigned value.
|
||||
|
||||
\param [in] value Value to be saturated
|
||||
\param [in] sat Bit position to saturate to (0..31)
|
||||
\return Saturated value
|
||||
*/
|
||||
#define __USAT __usat
|
||||
|
||||
|
||||
/** \brief Count leading zeros
|
||||
|
||||
This function counts the number of leading zeros of a data value.
|
||||
|
||||
\param [in] value Value to count the leading zeros
|
||||
\return number of leading zeros in value
|
||||
*/
|
||||
#define __CLZ __clz
|
||||
|
||||
#endif /* (__CORTEX_M >= 0x03) */
|
||||
|
||||
|
||||
|
||||
#elif defined ( __ICCARM__ ) /*------------------ ICC Compiler -------------------*/
|
||||
/* IAR iccarm specific functions */
|
||||
|
||||
#include <cmsis_iar.h>
|
||||
|
||||
|
||||
#elif defined ( __GNUC__ ) /*------------------ GNU Compiler ---------------------*/
|
||||
/* GNU gcc specific functions */
|
||||
|
||||
/** \brief No Operation
|
||||
|
||||
No Operation does nothing. This instruction can be used for code alignment purposes.
|
||||
*/
|
||||
__attribute__( ( always_inline ) ) static __INLINE void __NOP(void)
|
||||
{
|
||||
__ASM volatile ("nop");
|
||||
}
|
||||
|
||||
|
||||
/** \brief Wait For Interrupt
|
||||
|
||||
Wait For Interrupt is a hint instruction that suspends execution
|
||||
until one of a number of events occurs.
|
||||
*/
|
||||
__attribute__( ( always_inline ) ) static __INLINE void __WFI(void)
|
||||
{
|
||||
__ASM volatile ("wfi");
|
||||
}
|
||||
|
||||
|
||||
/** \brief Wait For Event
|
||||
|
||||
Wait For Event is a hint instruction that permits the processor to enter
|
||||
a low-power state until one of a number of events occurs.
|
||||
*/
|
||||
__attribute__( ( always_inline ) ) static __INLINE void __WFE(void)
|
||||
{
|
||||
__ASM volatile ("wfe");
|
||||
}
|
||||
|
||||
|
||||
/** \brief Send Event
|
||||
|
||||
Send Event is a hint instruction. It causes an event to be signaled to the CPU.
|
||||
*/
|
||||
__attribute__( ( always_inline ) ) static __INLINE void __SEV(void)
|
||||
{
|
||||
__ASM volatile ("sev");
|
||||
}
|
||||
|
||||
|
||||
/** \brief Instruction Synchronization Barrier
|
||||
|
||||
Instruction Synchronization Barrier flushes the pipeline in the processor,
|
||||
so that all instructions following the ISB are fetched from cache or
|
||||
memory, after the instruction has been completed.
|
||||
*/
|
||||
__attribute__( ( always_inline ) ) static __INLINE void __ISB(void)
|
||||
{
|
||||
__ASM volatile ("isb");
|
||||
}
|
||||
|
||||
|
||||
/** \brief Data Synchronization Barrier
|
||||
|
||||
This function acts as a special kind of Data Memory Barrier.
|
||||
It completes when all explicit memory accesses before this instruction complete.
|
||||
*/
|
||||
__attribute__( ( always_inline ) ) static __INLINE void __DSB(void)
|
||||
{
|
||||
__ASM volatile ("dsb");
|
||||
}
|
||||
|
||||
|
||||
/** \brief Data Memory Barrier
|
||||
|
||||
This function ensures the apparent order of the explicit memory operations before
|
||||
and after the instruction, without ensuring their completion.
|
||||
*/
|
||||
__attribute__( ( always_inline ) ) static __INLINE void __DMB(void)
|
||||
{
|
||||
__ASM volatile ("dmb");
|
||||
}
|
||||
|
||||
|
||||
/** \brief Reverse byte order (32 bit)
|
||||
|
||||
This function reverses the byte order in integer value.
|
||||
|
||||
\param [in] value Value to reverse
|
||||
\return Reversed value
|
||||
*/
|
||||
__attribute__( ( always_inline ) ) static __INLINE uint32_t __REV(uint32_t value)
|
||||
{
|
||||
uint32_t result;
|
||||
|
||||
__ASM volatile ("rev %0, %1" : "=r" (result) : "r" (value) );
|
||||
return(result);
|
||||
}
|
||||
|
||||
|
||||
/** \brief Reverse byte order (16 bit)
|
||||
|
||||
This function reverses the byte order in two unsigned short values.
|
||||
|
||||
\param [in] value Value to reverse
|
||||
\return Reversed value
|
||||
*/
|
||||
__attribute__( ( always_inline ) ) static __INLINE uint32_t __REV16(uint32_t value)
|
||||
{
|
||||
uint32_t result;
|
||||
|
||||
__ASM volatile ("rev16 %0, %1" : "=r" (result) : "r" (value) );
|
||||
return(result);
|
||||
}
|
||||
|
||||
|
||||
/** \brief Reverse byte order in signed short value
|
||||
|
||||
This function reverses the byte order in a signed short value with sign extension to integer.
|
||||
|
||||
\param [in] value Value to reverse
|
||||
\return Reversed value
|
||||
*/
|
||||
__attribute__( ( always_inline ) ) static __INLINE int32_t __REVSH(int32_t value)
|
||||
{
|
||||
uint32_t result;
|
||||
|
||||
__ASM volatile ("revsh %0, %1" : "=r" (result) : "r" (value) );
|
||||
return((int32_t)result);
|
||||
}
|
||||
|
||||
|
||||
#if (__CORTEX_M >= 0x03)
|
||||
|
||||
/** \brief Reverse bit order of value
|
||||
|
||||
This function reverses the bit order of the given value.
|
||||
|
||||
\param [in] value Value to reverse
|
||||
\return Reversed value
|
||||
*/
|
||||
__attribute__( ( always_inline ) ) static __INLINE uint32_t __RBIT(uint32_t value)
|
||||
{
|
||||
uint32_t result;
|
||||
|
||||
__ASM volatile ("rbit %0, %1" : "=r" (result) : "r" (value) );
|
||||
return(result);
|
||||
}
|
||||
|
||||
|
||||
/** \brief LDR Exclusive (8 bit)
|
||||
|
||||
This function performs a exclusive LDR command for 8 bit value.
|
||||
|
||||
\param [in] ptr Pointer to data
|
||||
\return value of type uint8_t at (*ptr)
|
||||
*/
|
||||
__attribute__( ( always_inline ) ) static __INLINE uint8_t __LDREXB(volatile uint8_t *addr)
|
||||
{
|
||||
uint8_t result;
|
||||
|
||||
__ASM volatile ("ldrexb %0, [%1]" : "=r" (result) : "r" (addr) );
|
||||
return(result);
|
||||
}
|
||||
|
||||
|
||||
/** \brief LDR Exclusive (16 bit)
|
||||
|
||||
This function performs a exclusive LDR command for 16 bit values.
|
||||
|
||||
\param [in] ptr Pointer to data
|
||||
\return value of type uint16_t at (*ptr)
|
||||
*/
|
||||
__attribute__( ( always_inline ) ) static __INLINE uint16_t __LDREXH(volatile uint16_t *addr)
|
||||
{
|
||||
uint16_t result;
|
||||
|
||||
__ASM volatile ("ldrexh %0, [%1]" : "=r" (result) : "r" (addr) );
|
||||
return(result);
|
||||
}
|
||||
|
||||
|
||||
/** \brief LDR Exclusive (32 bit)
|
||||
|
||||
This function performs a exclusive LDR command for 32 bit values.
|
||||
|
||||
\param [in] ptr Pointer to data
|
||||
\return value of type uint32_t at (*ptr)
|
||||
*/
|
||||
__attribute__( ( always_inline ) ) static __INLINE uint32_t __LDREXW(volatile uint32_t *addr)
|
||||
{
|
||||
uint32_t result;
|
||||
|
||||
__ASM volatile ("ldrex %0, [%1]" : "=r" (result) : "r" (addr) );
|
||||
return(result);
|
||||
}
|
||||
|
||||
|
||||
/** \brief STR Exclusive (8 bit)
|
||||
|
||||
This function performs a exclusive STR command for 8 bit values.
|
||||
|
||||
\param [in] value Value to store
|
||||
\param [in] ptr Pointer to location
|
||||
\return 0 Function succeeded
|
||||
\return 1 Function failed
|
||||
*/
|
||||
__attribute__( ( always_inline ) ) static __INLINE uint32_t __STREXB(uint8_t value, volatile uint8_t *addr)
|
||||
{
|
||||
uint32_t result;
|
||||
|
||||
__ASM volatile ("strexb %0, %2, [%1]" : "=r" (result) : "r" (addr), "r" (value) );
|
||||
return(result);
|
||||
}
|
||||
|
||||
|
||||
/** \brief STR Exclusive (16 bit)
|
||||
|
||||
This function performs a exclusive STR command for 16 bit values.
|
||||
|
||||
\param [in] value Value to store
|
||||
\param [in] ptr Pointer to location
|
||||
\return 0 Function succeeded
|
||||
\return 1 Function failed
|
||||
*/
|
||||
__attribute__( ( always_inline ) ) static __INLINE uint32_t __STREXH(uint16_t value, volatile uint16_t *addr)
|
||||
{
|
||||
uint32_t result;
|
||||
|
||||
__ASM volatile ("strexh %0, %2, [%1]" : "=r" (result) : "r" (addr), "r" (value) );
|
||||
return(result);
|
||||
}
|
||||
|
||||
|
||||
/** \brief STR Exclusive (32 bit)
|
||||
|
||||
This function performs a exclusive STR command for 32 bit values.
|
||||
|
||||
\param [in] value Value to store
|
||||
\param [in] ptr Pointer to location
|
||||
\return 0 Function succeeded
|
||||
\return 1 Function failed
|
||||
*/
|
||||
__attribute__( ( always_inline ) ) static __INLINE uint32_t __STREXW(uint32_t value, volatile uint32_t *addr)
|
||||
{
|
||||
uint32_t result;
|
||||
|
||||
__ASM volatile ("strex %0, %2, [%1]" : "=r" (result) : "r" (addr), "r" (value) );
|
||||
return(result);
|
||||
}
|
||||
|
||||
|
||||
/** \brief Remove the exclusive lock
|
||||
|
||||
This function removes the exclusive lock which is created by LDREX.
|
||||
|
||||
*/
|
||||
__attribute__( ( always_inline ) ) static __INLINE void __CLREX(void)
|
||||
{
|
||||
__ASM volatile ("clrex");
|
||||
}
|
||||
|
||||
|
||||
/** \brief Signed Saturate
|
||||
|
||||
This function saturates a signed value.
|
||||
|
||||
\param [in] value Value to be saturated
|
||||
\param [in] sat Bit position to saturate to (1..32)
|
||||
\return Saturated value
|
||||
*/
|
||||
#define __SSAT(ARG1,ARG2) \
|
||||
({ \
|
||||
uint32_t __RES, __ARG1 = (ARG1); \
|
||||
__ASM ("ssat %0, %1, %2" : "=r" (__RES) : "I" (ARG2), "r" (__ARG1) ); \
|
||||
__RES; \
|
||||
})
|
||||
|
||||
|
||||
/** \brief Unsigned Saturate
|
||||
|
||||
This function saturates an unsigned value.
|
||||
|
||||
\param [in] value Value to be saturated
|
||||
\param [in] sat Bit position to saturate to (0..31)
|
||||
\return Saturated value
|
||||
*/
|
||||
#define __USAT(ARG1,ARG2) \
|
||||
({ \
|
||||
uint32_t __RES, __ARG1 = (ARG1); \
|
||||
__ASM ("usat %0, %1, %2" : "=r" (__RES) : "I" (ARG2), "r" (__ARG1) ); \
|
||||
__RES; \
|
||||
})
|
||||
|
||||
|
||||
/** \brief Count leading zeros
|
||||
|
||||
This function counts the number of leading zeros of a data value.
|
||||
|
||||
\param [in] value Value to count the leading zeros
|
||||
\return number of leading zeros in value
|
||||
*/
|
||||
__attribute__( ( always_inline ) ) static __INLINE uint8_t __CLZ(uint32_t value)
|
||||
{
|
||||
uint8_t result;
|
||||
|
||||
__ASM volatile ("clz %0, %1" : "=r" (result) : "r" (value) );
|
||||
return(result);
|
||||
}
|
||||
|
||||
#endif /* (__CORTEX_M >= 0x03) */
|
||||
|
||||
|
||||
|
||||
|
||||
#elif defined ( __TASKING__ ) /*------------------ TASKING Compiler --------------*/
|
||||
/* TASKING carm specific functions */
|
||||
|
||||
/*
|
||||
* The CMSIS functions have been implemented as intrinsics in the compiler.
|
||||
* Please use "carm -?i" to get an up to date list of all intrinsics,
|
||||
* Including the CMSIS ones.
|
||||
*/
|
||||
|
||||
#endif
|
||||
|
||||
/*@}*/ /* end of group CMSIS_Core_InstructionInterface */
|
||||
|
||||
#endif /* __CORE_CMINSTR_H */
|
||||
File diff suppressed because it is too large
Load Diff
@@ -0,0 +1,197 @@
|
||||
/**
|
||||
******************************************************************************
|
||||
* @file stm32f2xx.h
|
||||
* @author MCD Application Team
|
||||
* @version V2.0.1
|
||||
* @date 25-March-2014
|
||||
* @brief CMSIS STM32F2xx Device Peripheral Access Layer Header File.
|
||||
*
|
||||
* The file is the unique include file that the application programmer
|
||||
* is using in the C source code, usually in main.c. This file contains:
|
||||
* - Configuration section that allows to select:
|
||||
* - The STM32F2xx device used in the target application
|
||||
* - To use or not the peripheral's drivers in application code(i.e.
|
||||
* code will be based on direct access to peripheral's registers
|
||||
* rather than drivers API), this option is controlled by
|
||||
* "#define USE_HAL_DRIVER"
|
||||
*
|
||||
******************************************************************************
|
||||
* @attention
|
||||
*
|
||||
* <h2><center>© COPYRIGHT(c) 2014 STMicroelectronics</center></h2>
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without modification,
|
||||
* are permitted provided that the following conditions are met:
|
||||
* 1. Redistributions of source code must retain the above copyright notice,
|
||||
* this list of conditions and the following disclaimer.
|
||||
* 2. Redistributions in binary form must reproduce the above copyright notice,
|
||||
* this list of conditions and the following disclaimer in the documentation
|
||||
* and/or other materials provided with the distribution.
|
||||
* 3. Neither the name of STMicroelectronics nor the names of its contributors
|
||||
* may be used to endorse or promote products derived from this software
|
||||
* without specific prior written permission.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
|
||||
* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
|
||||
* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
|
||||
* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
|
||||
* FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
|
||||
* DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
|
||||
* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
|
||||
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
|
||||
* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
|
||||
* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
|
||||
*
|
||||
******************************************************************************
|
||||
*/
|
||||
|
||||
/** @addtogroup CMSIS
|
||||
* @{
|
||||
*/
|
||||
|
||||
/** @addtogroup stm32f2xx
|
||||
* @{
|
||||
*/
|
||||
|
||||
#ifndef __STM32F2xx_H
|
||||
#define __STM32F2xx_H
|
||||
|
||||
#ifdef __cplusplus
|
||||
extern "C" {
|
||||
#endif /* __cplusplus */
|
||||
|
||||
/** @addtogroup Library_configuration_section
|
||||
* @{
|
||||
*/
|
||||
|
||||
/* Uncomment the line below according to the target STM32 device used in your
|
||||
application
|
||||
*/
|
||||
|
||||
#if !defined (STM32F205xx) && !defined (STM32F215xx) && !defined (STM32F207xx) && !defined (STM32F217xx)
|
||||
|
||||
/* #define STM32F205xx */ /*!< STM32Fxx Devices */
|
||||
/* #define STM32F215xx */ /*!< STM32Fxx Devices */
|
||||
/* #define STM32F207xx */ /*!< STM32Fxx Devices */
|
||||
/* #define STM32F217xx */ /*!< STM32Fxx Devices */
|
||||
|
||||
#endif
|
||||
|
||||
/* Tip: To avoid modifying this file each time you need to switch between these
|
||||
devices, you can define the device in your toolchain compiler preprocessor.
|
||||
*/
|
||||
#if !defined (USE_HAL_DRIVER)
|
||||
/**
|
||||
* @brief Comment the line below if you will not use the peripherals drivers.
|
||||
In this case, these drivers will not be included and the application code will
|
||||
be based on direct access to peripherals registers
|
||||
*/
|
||||
/*#define USE_HAL_DRIVER */
|
||||
#endif /* USE_HAL_DRIVER */
|
||||
|
||||
/**
|
||||
* @brief CMSIS Device version number V2.0.1
|
||||
*/
|
||||
#define __STM32F2xx_CMSIS_DEVICE_VERSION_MAIN (0x02) /*!< [31:24] main version */
|
||||
#define __STM32F2xx_CMSIS_DEVICE_VERSION_SUB1 (0x00) /*!< [23:16] sub1 version */
|
||||
#define __STM32F2xx_CMSIS_DEVICE_VERSION_SUB2 (0x00) /*!< [15:8] sub2 version */
|
||||
#define __STM32F2xx_CMSIS_DEVICE_VERSION_RC (0x00) /*!< [7:0] release candidate */
|
||||
#define __STM32F2xx_CMSIS_DEVICE_VERSION ((__CMSIS_DEVICE_VERSION_MAIN << 24)\
|
||||
|(__CMSIS_DEVICE_HAL_VERSION_SUB1 << 16)\
|
||||
|(__CMSIS_DEVICE_HAL_VERSION_SUB2 << 8 )\
|
||||
|(__CMSIS_DEVICE_HAL_VERSION_RC))
|
||||
|
||||
/**
|
||||
* @}
|
||||
*/
|
||||
|
||||
/** @addtogroup Device_Included
|
||||
* @{
|
||||
*/
|
||||
|
||||
#if defined(STM32F205xx)
|
||||
#include "stm32f205xx.h"
|
||||
#elif defined(STM32F215xx)
|
||||
#include "stm32f215xx.h"
|
||||
#elif defined(STM32F207xx)
|
||||
#include "stm32f207xx.h"
|
||||
#elif defined(STM32F217xx)
|
||||
#include "stm32f217xx.h"
|
||||
#else
|
||||
#error "Please select first the target STM32F2xx device used in your application (in stm32f2xx.h file)"
|
||||
#endif
|
||||
|
||||
/**
|
||||
* @}
|
||||
*/
|
||||
|
||||
/** @addtogroup Exported_types
|
||||
* @{
|
||||
*/
|
||||
typedef enum
|
||||
{
|
||||
RESET = 0,
|
||||
SET = !RESET
|
||||
} FlagStatus, ITStatus;
|
||||
|
||||
typedef enum
|
||||
{
|
||||
DISABLE = 0,
|
||||
ENABLE = !DISABLE
|
||||
} FunctionalState;
|
||||
#define IS_FUNCTIONAL_STATE(STATE) (((STATE) == DISABLE) || ((STATE) == ENABLE))
|
||||
|
||||
typedef enum
|
||||
{
|
||||
ERROR = 0,
|
||||
SUCCESS = !ERROR
|
||||
} ErrorStatus;
|
||||
|
||||
/**
|
||||
* @}
|
||||
*/
|
||||
|
||||
|
||||
/** @addtogroup Exported_macro
|
||||
* @{
|
||||
*/
|
||||
#define SET_BIT(REG, BIT) ((REG) |= (BIT))
|
||||
|
||||
#define CLEAR_BIT(REG, BIT) ((REG) &= ~(BIT))
|
||||
|
||||
#define READ_BIT(REG, BIT) ((REG) & (BIT))
|
||||
|
||||
#define CLEAR_REG(REG) ((REG) = (0x0))
|
||||
|
||||
#define WRITE_REG(REG, VAL) ((REG) = (VAL))
|
||||
|
||||
#define READ_REG(REG) ((REG))
|
||||
|
||||
#define MODIFY_REG(REG, CLEARMASK, SETMASK) WRITE_REG((REG), (((READ_REG(REG)) & (~(CLEARMASK))) | (SETMASK)))
|
||||
|
||||
#define POSITION_VAL(VAL) (__CLZ(__RBIT(VAL)))
|
||||
|
||||
|
||||
/**
|
||||
* @}
|
||||
*/
|
||||
|
||||
|
||||
#ifdef __cplusplus
|
||||
}
|
||||
#endif /* __cplusplus */
|
||||
|
||||
#endif /* __STM32F2xx_H */
|
||||
|
||||
/**
|
||||
* @}
|
||||
*/
|
||||
|
||||
/**
|
||||
* @}
|
||||
*/
|
||||
|
||||
|
||||
|
||||
|
||||
/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
|
||||
@@ -0,0 +1,99 @@
|
||||
/**
|
||||
******************************************************************************
|
||||
* @file system_stm32f2xx.h
|
||||
* @author MCD Application Team
|
||||
* @version V1.0.0
|
||||
* @date 18-April-2011
|
||||
* @brief CMSIS Cortex-M3 Device Peripheral Access Layer System Header File.
|
||||
******************************************************************************
|
||||
* @attention
|
||||
*
|
||||
* THE PRESENT FIRMWARE WHICH IS FOR GUIDANCE ONLY AIMS AT PROVIDING CUSTOMERS
|
||||
* WITH CODING INFORMATION REGARDING THEIR PRODUCTS IN ORDER FOR THEM TO SAVE
|
||||
* TIME. AS A RESULT, STMICROELECTRONICS SHALL NOT BE HELD LIABLE FOR ANY
|
||||
* DIRECT, INDIRECT OR CONSEQUENTIAL DAMAGES WITH RESPECT TO ANY CLAIMS ARISING
|
||||
* FROM THE CONTENT OF SUCH FIRMWARE AND/OR THE USE MADE BY CUSTOMERS OF THE
|
||||
* CODING INFORMATION CONTAINED HEREIN IN CONNECTION WITH THEIR PRODUCTS.
|
||||
*
|
||||
* <h2><center>© COPYRIGHT 2011 STMicroelectronics</center></h2>
|
||||
******************************************************************************
|
||||
*/
|
||||
|
||||
/** @addtogroup CMSIS
|
||||
* @{
|
||||
*/
|
||||
|
||||
/** @addtogroup stm32f2xx_system
|
||||
* @{
|
||||
*/
|
||||
|
||||
/**
|
||||
* @brief Define to prevent recursive inclusion
|
||||
*/
|
||||
#ifndef __SYSTEM_STM32F2XX_H
|
||||
#define __SYSTEM_STM32F2XX_H
|
||||
|
||||
#ifdef __cplusplus
|
||||
extern "C" {
|
||||
#endif
|
||||
|
||||
/** @addtogroup STM32F2xx_System_Includes
|
||||
* @{
|
||||
*/
|
||||
|
||||
/**
|
||||
* @}
|
||||
*/
|
||||
|
||||
|
||||
/** @addtogroup STM32F2xx_System_Exported_types
|
||||
* @{
|
||||
*/
|
||||
|
||||
extern uint32_t SystemCoreClock; /*!< System Clock Frequency (Core Clock) */
|
||||
|
||||
|
||||
/**
|
||||
* @}
|
||||
*/
|
||||
|
||||
/** @addtogroup STM32F2xx_System_Exported_Constants
|
||||
* @{
|
||||
*/
|
||||
|
||||
/**
|
||||
* @}
|
||||
*/
|
||||
|
||||
/** @addtogroup STM32F2xx_System_Exported_Macros
|
||||
* @{
|
||||
*/
|
||||
|
||||
/**
|
||||
* @}
|
||||
*/
|
||||
|
||||
/** @addtogroup STM32F2xx_System_Exported_Functions
|
||||
* @{
|
||||
*/
|
||||
|
||||
extern void SystemInit(void);
|
||||
extern void SystemCoreClockUpdate(void);
|
||||
/**
|
||||
* @}
|
||||
*/
|
||||
|
||||
#ifdef __cplusplus
|
||||
}
|
||||
#endif
|
||||
|
||||
#endif /*__SYSTEM_STM32F2XX_H */
|
||||
|
||||
/**
|
||||
* @}
|
||||
*/
|
||||
|
||||
/**
|
||||
* @}
|
||||
*/
|
||||
/******************* (C) COPYRIGHT 2011 STMicroelectronics *****END OF FILE****/
|
||||
+226
@@ -0,0 +1,226 @@
|
||||
#define min(a,b) \
|
||||
({ __typeof__ (a) _a = (a); \
|
||||
__typeof__ (b) _b = (b); \
|
||||
_a < _b ? _a : _b; })
|
||||
|
||||
#define max(a,b) \
|
||||
({ __typeof__ (a) _a = (a); \
|
||||
__typeof__ (b) _b = (b); \
|
||||
_a > _b ? _a : _b; })
|
||||
|
||||
#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 GPIO_AF2_TIM3 ((uint8_t)0x02) /* TIM3 Alternate Function mapping */
|
||||
#define GPIO_AF7_USART2 ((uint8_t)0x07) /* USART2 Alternate Function mapping */
|
||||
#define GPIO_AF7_USART3 ((uint8_t)0x07) /* USART3 Alternate Function mapping */
|
||||
#define GPIO_AF9_CAN1 ((uint8_t)0x09) /* CAN1 Alternate Function mapping */
|
||||
#define GPIO_AF10_OTG_FS ((uint8_t)0xA) /* OTG_FS Alternate Function mapping */
|
||||
#define GPIO_AF12_OTG_HS_FS ((uint8_t)0xC) /* OTG HS configured in FS */
|
||||
|
||||
#ifdef OLD_BOARD
|
||||
#define USART USART2
|
||||
#else
|
||||
#define USART USART3
|
||||
#endif
|
||||
|
||||
|
||||
// **** shitty libc ****
|
||||
|
||||
void clock_init() {
|
||||
#ifdef USE_INTERNAL_OSC
|
||||
// enable internal oscillator
|
||||
RCC->CR |= RCC_CR_HSION;
|
||||
while ((RCC->CR & RCC_CR_HSIRDY) == 0);
|
||||
#else
|
||||
// enable external oscillator
|
||||
RCC->CR |= RCC_CR_HSEON;
|
||||
while ((RCC->CR & RCC_CR_HSERDY) == 0);
|
||||
#endif
|
||||
|
||||
// divide shit
|
||||
RCC->CFGR = RCC_CFGR_HPRE_DIV1 | RCC_CFGR_PPRE2_DIV2 | RCC_CFGR_PPRE1_DIV4;
|
||||
#ifdef USE_INTERNAL_OSC
|
||||
RCC->PLLCFGR = RCC_PLLCFGR_PLLQ_2 | RCC_PLLCFGR_PLLM_3 |
|
||||
RCC_PLLCFGR_PLLN_6 | RCC_PLLCFGR_PLLN_5 | RCC_PLLCFGR_PLLSRC_HSI;
|
||||
#else
|
||||
RCC->PLLCFGR = RCC_PLLCFGR_PLLQ_2 | RCC_PLLCFGR_PLLM_3 |
|
||||
RCC_PLLCFGR_PLLN_7 | RCC_PLLCFGR_PLLN_6 | RCC_PLLCFGR_PLLSRC_HSE;
|
||||
#endif
|
||||
|
||||
// start PLL
|
||||
RCC->CR |= RCC_CR_PLLON;
|
||||
while ((RCC->CR & RCC_CR_PLLRDY) == 0);
|
||||
|
||||
// Configure Flash prefetch, Instruction cache, Data cache and wait state
|
||||
// *** without this, it breaks ***
|
||||
FLASH->ACR = FLASH_ACR_ICEN | FLASH_ACR_DCEN | FLASH_ACR_LATENCY_5WS;
|
||||
|
||||
// switch to PLL
|
||||
RCC->CFGR |= RCC_CFGR_SW_PLL;
|
||||
while ((RCC->CFGR & RCC_CFGR_SWS) != RCC_CFGR_SWS_PLL);
|
||||
|
||||
// *** running on PLL ***
|
||||
|
||||
// enable GPIOB, UART2, CAN, USB clock
|
||||
RCC->AHB1ENR |= RCC_AHB1ENR_GPIOAEN;
|
||||
RCC->AHB1ENR |= RCC_AHB1ENR_GPIOBEN;
|
||||
RCC->AHB1ENR |= RCC_AHB1ENR_GPIOCEN;
|
||||
RCC->APB1ENR |= RCC_APB1ENR_USART2EN;
|
||||
RCC->APB1ENR |= RCC_APB1ENR_USART3EN;
|
||||
RCC->APB1ENR |= RCC_APB1ENR_CAN1EN;
|
||||
RCC->APB1ENR |= RCC_APB1ENR_CAN2EN;
|
||||
RCC->APB1ENR |= RCC_APB1ENR_DACEN;
|
||||
RCC->APB1ENR |= RCC_APB1ENR_TIM3EN;
|
||||
RCC->AHB2ENR |= RCC_AHB2ENR_OTGFSEN;
|
||||
//RCC->APB2ENR |= RCC_APB2ENR_TIM1EN;
|
||||
RCC->APB2ENR |= RCC_APB2ENR_ADC1EN;
|
||||
|
||||
// turn on alt USB
|
||||
RCC->AHB1ENR |= RCC_AHB1ENR_OTGHSEN;
|
||||
|
||||
// fix interrupt vectors
|
||||
}
|
||||
|
||||
// board specific
|
||||
void gpio_init() {
|
||||
// analog mode
|
||||
GPIOC->MODER = GPIO_MODER_MODER3 | GPIO_MODER_MODER2 |
|
||||
GPIO_MODER_MODER1 | GPIO_MODER_MODER0;
|
||||
|
||||
// FAN on C9, aka TIM3_CH4
|
||||
#ifdef OLD_BOARD
|
||||
GPIOC->MODER |= GPIO_MODER_MODER9_1;
|
||||
GPIOC->AFR[1] = GPIO_AF2_TIM3 << ((9-8)*4);
|
||||
#else
|
||||
GPIOC->MODER |= GPIO_MODER_MODER8_1;
|
||||
GPIOC->AFR[1] = GPIO_AF2_TIM3 << ((8-8)*4);
|
||||
#endif
|
||||
// IGNITION on C13
|
||||
|
||||
// set mode for LEDs and CAN
|
||||
GPIOB->MODER = GPIO_MODER_MODER10_0 | GPIO_MODER_MODER11_0;
|
||||
// CAN 2
|
||||
GPIOB->MODER |= GPIO_MODER_MODER5_1 | GPIO_MODER_MODER6_1;
|
||||
// CAN 1
|
||||
GPIOB->MODER |= GPIO_MODER_MODER8_1 | GPIO_MODER_MODER9_1;
|
||||
// CAN enables
|
||||
GPIOB->MODER |= GPIO_MODER_MODER3_0 | GPIO_MODER_MODER4_0;
|
||||
|
||||
// set mode for SERIAL and USB (DAC should be configured to in)
|
||||
GPIOA->MODER = GPIO_MODER_MODER2_1 | GPIO_MODER_MODER3_1;
|
||||
GPIOA->AFR[0] = GPIO_AF7_USART2 << (2*4) | GPIO_AF7_USART2 << (3*4);
|
||||
|
||||
// GPIOC USART3
|
||||
GPIOC->MODER |= GPIO_MODER_MODER10_1 | GPIO_MODER_MODER11_1;
|
||||
GPIOC->AFR[1] |= GPIO_AF7_USART3 << ((10-8)*4) | GPIO_AF7_USART3 << ((11-8)*4);
|
||||
|
||||
if (USBx == USB_OTG_FS) {
|
||||
GPIOA->MODER |= GPIO_MODER_MODER11_1 | GPIO_MODER_MODER12_1;
|
||||
GPIOA->OSPEEDR = GPIO_OSPEEDER_OSPEEDR11 | GPIO_OSPEEDER_OSPEEDR12;
|
||||
GPIOA->AFR[1] = GPIO_AF10_OTG_FS << ((11-8)*4) | GPIO_AF10_OTG_FS << ((12-8)*4);
|
||||
}
|
||||
|
||||
GPIOA->PUPDR = GPIO_PUPDR_PUPDR2_0 | GPIO_PUPDR_PUPDR3_0;
|
||||
|
||||
// set mode for CAN / USB_HS pins
|
||||
GPIOB->AFR[0] = GPIO_AF9_CAN1 << (5*4) | GPIO_AF9_CAN1 << (6*4);
|
||||
GPIOB->AFR[1] = GPIO_AF9_CAN1 << ((8-8)*4) | GPIO_AF9_CAN1 << ((9-8)*4);
|
||||
|
||||
if (USBx == USB_OTG_HS) {
|
||||
GPIOB->AFR[1] |= GPIO_AF12_OTG_HS_FS << ((15-8)*4) | GPIO_AF12_OTG_HS_FS << ((14-8)*4);
|
||||
GPIOB->MODER |= GPIO_MODER_MODER14_1 | GPIO_MODER_MODER15_1;
|
||||
}
|
||||
|
||||
GPIOB->OSPEEDR = GPIO_OSPEEDER_OSPEEDR14 | GPIO_OSPEEDER_OSPEEDR15;
|
||||
|
||||
// enable CAN busses
|
||||
GPIOB->ODR |= (1 << 3) | (1 << 4);
|
||||
|
||||
// enable OTG out tied to ground
|
||||
GPIOA->ODR = 0;
|
||||
GPIOA->MODER |= GPIO_MODER_MODER1_0;
|
||||
|
||||
// enable USB power tied to +
|
||||
GPIOA->ODR |= 1;
|
||||
GPIOA->MODER |= GPIO_MODER_MODER0_0;
|
||||
}
|
||||
|
||||
void uart_init() {
|
||||
// enable uart and tx+rx mode
|
||||
USART->CR1 = USART_CR1_UE;
|
||||
USART->BRR = __USART_BRR(24000000, 115200);
|
||||
USART->CR1 |= USART_CR1_TE | USART_CR1_RE;
|
||||
USART->CR2 = USART_CR2_STOP_0 | USART_CR2_STOP_1;
|
||||
// ** UART is ready to work **
|
||||
|
||||
// enable interrupts
|
||||
USART->CR1 |= USART_CR1_RXNEIE;
|
||||
}
|
||||
|
||||
void delay(int a) {
|
||||
volatile int i;
|
||||
for (i=0;i<a;i++);
|
||||
}
|
||||
|
||||
void putch(const char a) {
|
||||
while (!(USART->SR & USART_SR_TXE));
|
||||
USART->DR = a;
|
||||
}
|
||||
|
||||
int puts(const char *a) {
|
||||
for (;*a;a++) {
|
||||
if (*a == '\n') putch('\r');
|
||||
putch(*a);
|
||||
}
|
||||
return 0;
|
||||
}
|
||||
|
||||
void puth(unsigned int i) {
|
||||
int pos;
|
||||
char c[] = "0123456789abcdef";
|
||||
for (pos = 28; pos != -4; pos -= 4) {
|
||||
putch(c[(i >> pos) & 0xF]);
|
||||
}
|
||||
}
|
||||
|
||||
void puth2(unsigned int i) {
|
||||
int pos;
|
||||
char c[] = "0123456789abcdef";
|
||||
for (pos = 4; pos != -4; pos -= 4) {
|
||||
putch(c[(i >> pos) & 0xF]);
|
||||
}
|
||||
}
|
||||
|
||||
void hexdump(void *a, int l) {
|
||||
int i;
|
||||
for (i=0;i<l;i++) {
|
||||
if (i != 0 && (i&0xf) == 0) puts("\n");
|
||||
puth2(((unsigned char*)a)[i]);
|
||||
puts(" ");
|
||||
}
|
||||
puts("\n");
|
||||
}
|
||||
|
||||
void *memset(void *str, int c, unsigned int n) {
|
||||
int i;
|
||||
for (i = 0; i < n; i++) {
|
||||
*((uint8_t*)str) = c;
|
||||
++str;
|
||||
}
|
||||
return str;
|
||||
}
|
||||
|
||||
void *memcpy(void *dest, const void *src, unsigned int n) {
|
||||
int i;
|
||||
// TODO: make not slow
|
||||
for (i = 0; i < n; i++) {
|
||||
((uint8_t*)dest)[i] = *(uint8_t*)src;
|
||||
++src;
|
||||
}
|
||||
return dest;
|
||||
}
|
||||
|
||||
|
||||
+526
@@ -0,0 +1,526 @@
|
||||
//#define DEBUG
|
||||
//#define CAN_LOOPBACK_MODE
|
||||
//#define USE_INTERNAL_OSC
|
||||
//#define OLD_BOARD
|
||||
//#define ENABLE_CURRENT_SENSOR
|
||||
|
||||
#define USB_VID 0xbbaa
|
||||
#define USB_PID 0xddcc
|
||||
|
||||
// *** end config ***
|
||||
|
||||
#include "stm32f2xx.h"
|
||||
#include "obj/gitversion.h"
|
||||
|
||||
#define ENTER_BOOTLOADER_MAGIC 0xdeadbeef
|
||||
uint32_t enter_bootloader_mode;
|
||||
|
||||
USB_OTG_GlobalTypeDef *USBx = USB_OTG_FS;
|
||||
|
||||
#include "libc.h"
|
||||
#include "adc.h"
|
||||
#include "timer.h"
|
||||
#include "usb.h"
|
||||
#include "can.h"
|
||||
|
||||
// debug safety check: is controls allowed?
|
||||
int controls_allowed = 0;
|
||||
int started = 0;
|
||||
int can_live = 0, pending_can_live = 0;
|
||||
|
||||
// optional features
|
||||
int gas_interceptor_detected = 0;
|
||||
int started_signal_detected = 0;
|
||||
|
||||
// ********************* instantiate queues *********************
|
||||
|
||||
#define FIFO_SIZE 0x100
|
||||
typedef struct {
|
||||
uint8_t w_ptr;
|
||||
uint8_t r_ptr;
|
||||
CAN_FIFOMailBox_TypeDef elems[FIFO_SIZE];
|
||||
} can_ring;
|
||||
|
||||
can_ring can_rx_q = { .w_ptr = 0, .r_ptr = 0 };
|
||||
can_ring can_tx1_q = { .w_ptr = 0, .r_ptr = 0 };
|
||||
can_ring can_tx2_q = { .w_ptr = 0, .r_ptr = 0 };
|
||||
|
||||
// ********************* interrupt safe queue *********************
|
||||
|
||||
inline int pop(can_ring *q, CAN_FIFOMailBox_TypeDef *elem) {
|
||||
if (q->w_ptr != q->r_ptr) {
|
||||
*elem = q->elems[q->r_ptr];
|
||||
q->r_ptr += 1;
|
||||
return 1;
|
||||
}
|
||||
return 0;
|
||||
}
|
||||
|
||||
inline int push(can_ring *q, CAN_FIFOMailBox_TypeDef *elem) {
|
||||
uint8_t next_w_ptr = q->w_ptr + 1;
|
||||
if (next_w_ptr != q->r_ptr) {
|
||||
q->elems[q->w_ptr] = *elem;
|
||||
q->w_ptr = next_w_ptr;
|
||||
return 1;
|
||||
}
|
||||
return 0;
|
||||
}
|
||||
|
||||
// ***************************** CAN *****************************
|
||||
|
||||
void process_can(CAN_TypeDef *CAN, can_ring *can_q, int can_number) {
|
||||
#ifdef DEBUG
|
||||
puts("process CAN TX\n");
|
||||
#endif
|
||||
|
||||
// add successfully transmitted message to my fifo
|
||||
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_number+2) << 4);
|
||||
to_push.RDLR = CAN->sTxMailBox[0].TDLR;
|
||||
to_push.RDHR = CAN->sTxMailBox[0].TDHR;
|
||||
push(&can_rx_q, &to_push);
|
||||
}
|
||||
|
||||
// check for empty mailbox
|
||||
CAN_FIFOMailBox_TypeDef to_send;
|
||||
if ((CAN->TSR & CAN_TSR_TME0) == CAN_TSR_TME0) {
|
||||
if (pop(can_q, &to_send)) {
|
||||
|
||||
// BRAKE: safety check
|
||||
if ((to_send.RIR>>21) == 0x1FA) {
|
||||
if (controls_allowed) {
|
||||
to_send.RDLR &= 0xFFFFFF3F;
|
||||
} else {
|
||||
to_send.RDLR &= 0xFFFF0000;
|
||||
}
|
||||
}
|
||||
|
||||
// STEER: safety check
|
||||
if ((to_send.RIR>>21) == 0xE4) {
|
||||
if (controls_allowed) {
|
||||
to_send.RDLR &= 0xFFFFFFFF;
|
||||
} else {
|
||||
to_send.RDLR &= 0xFFFF0000;
|
||||
}
|
||||
}
|
||||
|
||||
// GAS: safety check
|
||||
if ((to_send.RIR>>21) == 0x200) {
|
||||
if (controls_allowed) {
|
||||
to_send.RDLR &= 0xFFFFFFFF;
|
||||
} else {
|
||||
to_send.RDLR &= 0xFFFF0000;
|
||||
}
|
||||
}
|
||||
|
||||
// only send if we have received a packet
|
||||
CAN->sTxMailBox[0].TDLR = to_send.RDLR;
|
||||
CAN->sTxMailBox[0].TDHR = to_send.RDHR;
|
||||
CAN->sTxMailBox[0].TDTR = to_send.RDTR;
|
||||
CAN->sTxMailBox[0].TIR = to_send.RIR;
|
||||
}
|
||||
}
|
||||
|
||||
// clear interrupt
|
||||
CAN->TSR |= CAN_TSR_RQCP0;
|
||||
}
|
||||
|
||||
// send more, possible for these to not trigger?
|
||||
void CAN1_TX_IRQHandler() {
|
||||
process_can(CAN1, &can_tx1_q, 1);
|
||||
}
|
||||
|
||||
void CAN2_TX_IRQHandler() {
|
||||
process_can(CAN2, &can_tx2_q, 0);
|
||||
}
|
||||
|
||||
// board enforces
|
||||
// in-state
|
||||
// accel set/resume
|
||||
// out-state
|
||||
// cancel button
|
||||
|
||||
|
||||
// all commands: brake and steering
|
||||
// if controls_allowed
|
||||
// allow all commands up to limit
|
||||
// else
|
||||
// block all commands that produce actuation
|
||||
|
||||
// CAN receive handlers
|
||||
void can_rx(CAN_TypeDef *CAN, int can_number) {
|
||||
while (CAN->RF0R & CAN_RF0R_FMP0) {
|
||||
// can is live
|
||||
pending_can_live = 1;
|
||||
|
||||
// add to my fifo
|
||||
CAN_FIFOMailBox_TypeDef to_push;
|
||||
to_push.RIR = CAN->sFIFOMailBox[0].RIR;
|
||||
// top 16-bits is the timestamp
|
||||
to_push.RDTR = (CAN->sFIFOMailBox[0].RDTR & 0xFFFF000F) | (can_number << 4);
|
||||
to_push.RDLR = CAN->sFIFOMailBox[0].RDLR;
|
||||
to_push.RDHR = CAN->sFIFOMailBox[0].RDHR;
|
||||
|
||||
// state machine to enter and exit controls
|
||||
// 0x1A6 for the ILX, 0x296 for the Civic Touring
|
||||
if ((to_push.RIR>>21) == 0x1A6 || (to_push.RIR>>21) == 0x296) {
|
||||
int buttons = (to_push.RDLR & 0xE0) >> 5;
|
||||
if (buttons == 4 || buttons == 3) {
|
||||
controls_allowed = 1;
|
||||
} else if (buttons == 2) {
|
||||
controls_allowed = 0;
|
||||
}
|
||||
}
|
||||
|
||||
// exit controls on brake press
|
||||
if ((to_push.RIR>>21) == 0x17C) {
|
||||
// bit 50
|
||||
if (to_push.RDHR & 0x200000) {
|
||||
controls_allowed = 0;
|
||||
}
|
||||
}
|
||||
|
||||
// exit controls on gas press if interceptor
|
||||
if ((to_push.RIR>>21) == 0x201) {
|
||||
gas_interceptor_detected = 1;
|
||||
int gas = ((to_push.RDLR & 0xFF) << 8) | ((to_push.RDLR & 0xFF00) >> 8);
|
||||
if (gas > 328) {
|
||||
controls_allowed = 0;
|
||||
}
|
||||
}
|
||||
|
||||
// exit controls on gas press if no interceptor
|
||||
if (!gas_interceptor_detected) {
|
||||
if ((to_push.RIR>>21) == 0x17C) {
|
||||
if (to_push.RDLR & 0xFF) {
|
||||
controls_allowed = 0;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
push(&can_rx_q, &to_push);
|
||||
|
||||
// next
|
||||
CAN->RF0R |= CAN_RF0R_RFOM0;
|
||||
}
|
||||
}
|
||||
|
||||
void CAN1_RX0_IRQHandler() {
|
||||
//puts("CANRX1");
|
||||
//delay(10000);
|
||||
can_rx(CAN1, 1);
|
||||
}
|
||||
|
||||
void CAN2_RX0_IRQHandler() {
|
||||
//puts("CANRX0");
|
||||
//delay(10000);
|
||||
can_rx(CAN2, 0);
|
||||
}
|
||||
|
||||
void CAN1_SCE_IRQHandler() {
|
||||
//puts("CAN1_SCE\n");
|
||||
can_sce(CAN1);
|
||||
}
|
||||
|
||||
void CAN2_SCE_IRQHandler() {
|
||||
//puts("CAN2_SCE\n");
|
||||
can_sce(CAN2);
|
||||
}
|
||||
|
||||
// ***************************** serial port *****************************
|
||||
|
||||
void USART_IRQHandler(void) {
|
||||
puts("S");
|
||||
|
||||
// echo characters
|
||||
if (USART->SR & USART_SR_RXNE) {
|
||||
char rcv = USART->DR;
|
||||
putch(rcv);
|
||||
|
||||
// jump to DFU flash
|
||||
if (rcv == 'z') {
|
||||
enter_bootloader_mode = ENTER_BOOTLOADER_MAGIC;
|
||||
NVIC_SystemReset();
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
void USART2_IRQHandler(void) {
|
||||
USART_IRQHandler();
|
||||
}
|
||||
|
||||
void USART3_IRQHandler(void) {
|
||||
USART_IRQHandler();
|
||||
}
|
||||
|
||||
// ***************************** USB port *****************************
|
||||
|
||||
int get_health_pkt(void *dat) {
|
||||
struct {
|
||||
uint32_t voltage;
|
||||
uint32_t current;
|
||||
uint8_t started;
|
||||
uint8_t controls_allowed;
|
||||
uint8_t gas_interceptor_detected;
|
||||
uint8_t started_signal_detected;
|
||||
} *health = dat;
|
||||
health->voltage = adc_get(ADCCHAN_VOLTAGE);
|
||||
#ifdef ENABLE_CURRENT_SENSOR
|
||||
health->current = adc_get(ADCCHAN_CURRENT);
|
||||
#else
|
||||
health->current = 0;
|
||||
#endif
|
||||
health->started = started;
|
||||
|
||||
health->controls_allowed = controls_allowed;
|
||||
|
||||
health->gas_interceptor_detected = gas_interceptor_detected;
|
||||
health->started_signal_detected = started_signal_detected;
|
||||
return sizeof(*health);
|
||||
}
|
||||
|
||||
void set_fan_speed(int fan_speed) {
|
||||
#ifdef OLD_BOARD
|
||||
TIM3->CCR4 = fan_speed;
|
||||
#else
|
||||
TIM3->CCR3 = fan_speed;
|
||||
#endif
|
||||
}
|
||||
|
||||
void usb_cb_ep1_in(int len) {
|
||||
CAN_FIFOMailBox_TypeDef reply[4];
|
||||
|
||||
int ilen = 0;
|
||||
while (ilen < min(len/0x10, 4) && pop(&can_rx_q, &reply[ilen])) ilen++;
|
||||
|
||||
#ifdef DEBUG
|
||||
puts("FIFO SENDING ");
|
||||
puth(ilen);
|
||||
puts("\n");
|
||||
#endif
|
||||
|
||||
USB_WritePacket((void *)reply, ilen*0x10, 1);
|
||||
}
|
||||
|
||||
void usb_cb_ep2_out(uint8_t *usbdata, int len) {
|
||||
}
|
||||
|
||||
// send on CAN
|
||||
void usb_cb_ep3_out(uint8_t *usbdata, int len) {
|
||||
int dpkt = 0;
|
||||
for (dpkt = 0; dpkt < len; dpkt += 0x10) {
|
||||
uint32_t *tf = (uint32_t*)(&usbdata[dpkt]);
|
||||
|
||||
int flags = tf[1] >> 4;
|
||||
CAN_TypeDef *CAN;
|
||||
can_ring *can_q;
|
||||
int can_number = 0;
|
||||
if (flags & 1) {
|
||||
CAN=CAN1;
|
||||
can_q = &can_tx1_q;
|
||||
can_number = 1;
|
||||
} else {
|
||||
CAN=CAN2;
|
||||
can_q = &can_tx2_q;
|
||||
}
|
||||
|
||||
// add CAN packet to send queue
|
||||
CAN_FIFOMailBox_TypeDef to_push;
|
||||
to_push.RDHR = tf[3];
|
||||
to_push.RDLR = tf[2];
|
||||
to_push.RDTR = tf[1] & 0xF;
|
||||
to_push.RIR = tf[0];
|
||||
push(can_q, &to_push);
|
||||
|
||||
process_can(CAN, can_q, can_number);
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
void usb_cb_control_msg() {
|
||||
uint8_t resp[0x20];
|
||||
int resp_len;
|
||||
switch (setup.b.bRequest) {
|
||||
case 0xd1:
|
||||
enter_bootloader_mode = ENTER_BOOTLOADER_MAGIC;
|
||||
NVIC_SystemReset();
|
||||
break;
|
||||
case 0xd2:
|
||||
resp_len = get_health_pkt(resp);
|
||||
USB_WritePacket(resp, resp_len, 0);
|
||||
USBx_OUTEP(0)->DOEPCTL |= USB_OTG_DOEPCTL_CNAK;
|
||||
break;
|
||||
case 0xd3:
|
||||
set_fan_speed(setup.b.wValue.w);
|
||||
USB_WritePacket(0, 0, 0);
|
||||
USBx_OUTEP(0)->DOEPCTL |= USB_OTG_DOEPCTL_CNAK;
|
||||
break;
|
||||
case 0xd6: // GET_VERSION
|
||||
USB_WritePacket(gitversion, min(sizeof(gitversion), setup.b.wLength.w), 0);
|
||||
USBx_OUTEP(0)->DOEPCTL |= USB_OTG_DOEPCTL_CNAK;
|
||||
break;
|
||||
case 0xd8: // RESET
|
||||
NVIC_SystemReset();
|
||||
break;
|
||||
default:
|
||||
puts("NO HANDLER ");
|
||||
puth(setup.b.bRequest);
|
||||
puts("\n");
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
void OTG_FS_IRQHandler(void) {
|
||||
NVIC_DisableIRQ(OTG_FS_IRQn);
|
||||
//__disable_irq();
|
||||
usb_irqhandler();
|
||||
//__enable_irq();
|
||||
NVIC_EnableIRQ(OTG_FS_IRQn);
|
||||
}
|
||||
|
||||
void OTG_HS_IRQHandler(void) {
|
||||
//puts("HS_IRQ\n");
|
||||
NVIC_DisableIRQ(OTG_FS_IRQn);
|
||||
//__disable_irq();
|
||||
usb_irqhandler();
|
||||
//__enable_irq();
|
||||
NVIC_EnableIRQ(OTG_FS_IRQn);
|
||||
}
|
||||
|
||||
void ADC_IRQHandler(void) {
|
||||
puts("ADC_IRQ\n");
|
||||
}
|
||||
|
||||
// ***************************** main code *****************************
|
||||
|
||||
void __initialize_hardware_early() {
|
||||
// set USB power + and OTG mode
|
||||
RCC->AHB1ENR |= RCC_AHB1ENR_GPIOAEN;
|
||||
|
||||
// enable OTG out tied to ground
|
||||
GPIOA->ODR = 0;
|
||||
GPIOA->MODER |= GPIO_MODER_MODER1_0;
|
||||
|
||||
// enable USB power tied to +
|
||||
GPIOA->ODR |= 1;
|
||||
GPIOA->MODER |= GPIO_MODER_MODER0_0;
|
||||
|
||||
// enable pull DOWN on OTG_FS_DP
|
||||
// must be done a while before reading it
|
||||
GPIOA->PUPDR = GPIO_PUPDR_PUPDR12_1;
|
||||
|
||||
if (enter_bootloader_mode == ENTER_BOOTLOADER_MAGIC) {
|
||||
enter_bootloader_mode = 0;
|
||||
void (*bootloader)(void) = (void (*)(void)) (*((uint32_t *)0x1fff0004));
|
||||
|
||||
// jump to bootloader
|
||||
bootloader();
|
||||
|
||||
// LOOP
|
||||
while(1);
|
||||
}
|
||||
}
|
||||
|
||||
int main() {
|
||||
// init devices
|
||||
clock_init();
|
||||
|
||||
// test the USB choice before GPIO init
|
||||
if (GPIOA->IDR & (1 << 12)) {
|
||||
USBx = USB_OTG_HS;
|
||||
}
|
||||
|
||||
gpio_init();
|
||||
uart_init();
|
||||
usb_init();
|
||||
can_init(CAN1);
|
||||
can_init(CAN2);
|
||||
adc_init();
|
||||
|
||||
// timer for fan PWM
|
||||
#ifdef OLD_BOARD
|
||||
TIM3->CCMR2 = TIM_CCMR2_OC4M_2 | TIM_CCMR2_OC4M_1;
|
||||
TIM3->CCER = TIM_CCER_CC4E;
|
||||
#else
|
||||
TIM3->CCMR2 = TIM_CCMR2_OC3M_2 | TIM_CCMR2_OC3M_1;
|
||||
TIM3->CCER = TIM_CCER_CC3E;
|
||||
#endif
|
||||
|
||||
// max value of the timer
|
||||
// 64 makes it above the audible range
|
||||
//TIM3->ARR = 64;
|
||||
|
||||
// 10 prescale makes it below the audible range
|
||||
timer_init(TIM3, 10);
|
||||
|
||||
// set PWM
|
||||
set_fan_speed(65535);
|
||||
|
||||
puts("**** INTERRUPTS ON ****\n");
|
||||
__disable_irq();
|
||||
NVIC_EnableIRQ(USART2_IRQn);
|
||||
NVIC_EnableIRQ(USART3_IRQn);
|
||||
NVIC_EnableIRQ(OTG_FS_IRQn);
|
||||
NVIC_EnableIRQ(OTG_HS_IRQn);
|
||||
NVIC_EnableIRQ(ADC_IRQn);
|
||||
// CAN has so many interrupts!
|
||||
|
||||
NVIC_EnableIRQ(CAN1_TX_IRQn);
|
||||
NVIC_EnableIRQ(CAN1_RX0_IRQn);
|
||||
NVIC_EnableIRQ(CAN1_SCE_IRQn);
|
||||
|
||||
NVIC_EnableIRQ(CAN2_TX_IRQn);
|
||||
NVIC_EnableIRQ(CAN2_RX0_IRQn);
|
||||
NVIC_EnableIRQ(CAN2_SCE_IRQn);
|
||||
__enable_irq();
|
||||
|
||||
|
||||
// LED should keep on blinking all the time
|
||||
while (1) {
|
||||
can_live = pending_can_live;
|
||||
pending_can_live = 0;
|
||||
|
||||
#ifdef DEBUG
|
||||
puts("** blink ");
|
||||
puth(can_rx_q.r_ptr); puts(" "); puth(can_rx_q.w_ptr); puts(" ");
|
||||
puth(can_tx1_q.r_ptr); puts(" "); puth(can_tx1_q.w_ptr); puts(" ");
|
||||
puth(can_tx2_q.r_ptr); puts(" "); puth(can_tx2_q.w_ptr); puts("\n");
|
||||
#endif
|
||||
|
||||
/*puts("voltage: "); puth(adc_get(ADCCHAN_VOLTAGE)); puts(" ");
|
||||
puts("current: "); puth(adc_get(ADCCHAN_CURRENT)); puts("\n");*/
|
||||
|
||||
// set LED to be controls allowed
|
||||
GPIOB->ODR = (GPIOB->ODR | (1 << 11)) & ~(controls_allowed << 11);
|
||||
|
||||
// blink the other LED if in FS mode
|
||||
if (USBx == USB_OTG_FS) {
|
||||
GPIOB->ODR |= (1 << 10);
|
||||
}
|
||||
delay(1000000);
|
||||
GPIOB->ODR &= ~(1 << 10);
|
||||
delay(1000000);
|
||||
|
||||
// started logic
|
||||
int started_signal = (GPIOC->IDR & (1 << 13)) != 0;
|
||||
if (started_signal) { started_signal_detected = 1; }
|
||||
|
||||
if (started_signal || (!started_signal_detected && can_live)) {
|
||||
started = 1;
|
||||
|
||||
// turn on fan at half speed
|
||||
set_fan_speed(32768);
|
||||
} else {
|
||||
started = 0;
|
||||
|
||||
// turn off fan
|
||||
set_fan_speed(0);
|
||||
}
|
||||
}
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
||||
@@ -0,0 +1,511 @@
|
||||
/**
|
||||
******************************************************************************
|
||||
* @file startup_stm32f205xx.s
|
||||
* @author MCD Application Team
|
||||
* @version V2.0.1
|
||||
* @date 25-March-2014
|
||||
* @brief STM32F205xx Devices vector table for Atollic TrueSTUDIO toolchain.
|
||||
* This module performs:
|
||||
* - Set the initial SP
|
||||
* - Set the initial PC == Reset_Handler,
|
||||
* - Set the vector table entries with the exceptions ISR address
|
||||
* - Branches to main in the C library (which eventually
|
||||
* calls main()).
|
||||
* After Reset the Cortex-M3 processor is in Thread mode,
|
||||
* priority is Privileged, and the Stack is set to Main.
|
||||
******************************************************************************
|
||||
* @attention
|
||||
*
|
||||
* <h2><center>© COPYRIGHT 2014 STMicroelectronics</center></h2>
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without modification,
|
||||
* are permitted provided that the following conditions are met:
|
||||
* 1. Redistributions of source code must retain the above copyright notice,
|
||||
* this list of conditions and the following disclaimer.
|
||||
* 2. Redistributions in binary form must reproduce the above copyright notice,
|
||||
* this list of conditions and the following disclaimer in the documentation
|
||||
* and/or other materials provided with the distribution.
|
||||
* 3. Neither the name of STMicroelectronics nor the names of its contributors
|
||||
* may be used to endorse or promote products derived from this software
|
||||
* without specific prior written permission.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
|
||||
* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
|
||||
* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
|
||||
* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
|
||||
* FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
|
||||
* DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
|
||||
* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
|
||||
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
|
||||
* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
|
||||
* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
|
||||
*
|
||||
******************************************************************************
|
||||
*/
|
||||
|
||||
.syntax unified
|
||||
.cpu cortex-m3
|
||||
.thumb
|
||||
|
||||
.global g_pfnVectors
|
||||
.global Default_Handler
|
||||
|
||||
/* 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 */
|
||||
.word _sdata
|
||||
/* end address for the .data section. defined in linker script */
|
||||
.word _edata
|
||||
/* start address for the .bss section. defined in linker script */
|
||||
.word _sbss
|
||||
/* end address for the .bss section. defined in linker script */
|
||||
.word _ebss
|
||||
/* stack used for SystemInit_ExtMemCtl; always internal RAM used */
|
||||
|
||||
/**
|
||||
* @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.
|
||||
* @param None
|
||||
* @retval : None
|
||||
*/
|
||||
|
||||
.section .text.Reset_Handler
|
||||
.weak Reset_Handler
|
||||
.type Reset_Handler, %function
|
||||
Reset_Handler:
|
||||
bl __initialize_hardware_early
|
||||
ldr sp, =_estack /* set stack pointer */
|
||||
|
||||
/* Copy the data segment initializers from flash to SRAM */
|
||||
movs r1, #0
|
||||
b LoopCopyDataInit
|
||||
|
||||
CopyDataInit:
|
||||
ldr r3, =_sidata
|
||||
ldr r3, [r3, r1]
|
||||
str r3, [r0, r1]
|
||||
adds r1, r1, #4
|
||||
|
||||
LoopCopyDataInit:
|
||||
ldr r0, =_sdata
|
||||
ldr r3, =_edata
|
||||
adds r2, r0, r1
|
||||
cmp r2, r3
|
||||
bcc CopyDataInit
|
||||
ldr r2, =_sbss
|
||||
b LoopFillZerobss
|
||||
/* Zero fill the bss segment. */
|
||||
FillZerobss:
|
||||
movs r3, #0
|
||||
str r3, [r2], #4
|
||||
|
||||
LoopFillZerobss:
|
||||
ldr r3, = _ebss
|
||||
cmp r2, r3
|
||||
bcc FillZerobss
|
||||
|
||||
/* Call the clock system intitialization function.*/
|
||||
/* bl SystemInit */
|
||||
/* Call static constructors */
|
||||
/* bl __libc_init_array */
|
||||
/* Call the application's entry point.*/
|
||||
bl main
|
||||
bx lr
|
||||
.size Reset_Handler, .-Reset_Handler
|
||||
|
||||
/**
|
||||
* @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
|
||||
*/
|
||||
.section .text.Default_Handler,"ax",%progbits
|
||||
Default_Handler:
|
||||
Infinite_Loop:
|
||||
b Infinite_Loop
|
||||
.size Default_Handler, .-Default_Handler
|
||||
/******************************************************************************
|
||||
*
|
||||
* 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
|
||||
|
||||
.word NMI_Handler
|
||||
.word HardFault_Handler
|
||||
.word MemManage_Handler
|
||||
.word BusFault_Handler
|
||||
.word UsageFault_Handler
|
||||
.word 0
|
||||
.word 0
|
||||
.word 0
|
||||
.word 0
|
||||
.word SVC_Handler
|
||||
.word DebugMon_Handler
|
||||
.word 0
|
||||
.word PendSV_Handler
|
||||
.word SysTick_Handler
|
||||
|
||||
/* External Interrupts */
|
||||
.word WWDG_IRQHandler /* Window WatchDog */
|
||||
.word PVD_IRQHandler /* PVD through EXTI Line detection */
|
||||
.word TAMP_STAMP_IRQHandler /* Tamper and TimeStamps through the EXTI line */
|
||||
.word RTC_WKUP_IRQHandler /* RTC Wakeup through the EXTI line */
|
||||
.word FLASH_IRQHandler /* FLASH */
|
||||
.word RCC_IRQHandler /* RCC */
|
||||
.word EXTI0_IRQHandler /* EXTI Line0 */
|
||||
.word EXTI1_IRQHandler /* EXTI Line1 */
|
||||
.word EXTI2_IRQHandler /* EXTI Line2 */
|
||||
.word EXTI3_IRQHandler /* EXTI Line3 */
|
||||
.word EXTI4_IRQHandler /* EXTI Line4 */
|
||||
.word DMA1_Stream0_IRQHandler /* DMA1 Stream 0 */
|
||||
.word DMA1_Stream1_IRQHandler /* DMA1 Stream 1 */
|
||||
.word DMA1_Stream2_IRQHandler /* DMA1 Stream 2 */
|
||||
.word DMA1_Stream3_IRQHandler /* DMA1 Stream 3 */
|
||||
.word DMA1_Stream4_IRQHandler /* DMA1 Stream 4 */
|
||||
.word DMA1_Stream5_IRQHandler /* DMA1 Stream 5 */
|
||||
.word DMA1_Stream6_IRQHandler /* DMA1 Stream 6 */
|
||||
.word ADC_IRQHandler /* ADC1, ADC2 and ADC3s */
|
||||
.word CAN1_TX_IRQHandler /* CAN1 TX */
|
||||
.word CAN1_RX0_IRQHandler /* CAN1 RX0 */
|
||||
.word CAN1_RX1_IRQHandler /* CAN1 RX1 */
|
||||
.word CAN1_SCE_IRQHandler /* CAN1 SCE */
|
||||
.word EXTI9_5_IRQHandler /* External Line[9:5]s */
|
||||
.word TIM1_BRK_TIM9_IRQHandler /* TIM1 Break and TIM9 */
|
||||
.word TIM1_UP_TIM10_IRQHandler /* TIM1 Update and TIM10 */
|
||||
.word TIM1_TRG_COM_TIM11_IRQHandler /* TIM1 Trigger and Commutation and TIM11 */
|
||||
.word TIM1_CC_IRQHandler /* TIM1 Capture Compare */
|
||||
.word TIM2_IRQHandler /* TIM2 */
|
||||
.word TIM3_IRQHandler /* TIM3 */
|
||||
.word TIM4_IRQHandler /* TIM4 */
|
||||
.word I2C1_EV_IRQHandler /* I2C1 Event */
|
||||
.word I2C1_ER_IRQHandler /* I2C1 Error */
|
||||
.word I2C2_EV_IRQHandler /* I2C2 Event */
|
||||
.word I2C2_ER_IRQHandler /* I2C2 Error */
|
||||
.word SPI1_IRQHandler /* SPI1 */
|
||||
.word SPI2_IRQHandler /* SPI2 */
|
||||
.word USART1_IRQHandler /* USART1 */
|
||||
.word USART2_IRQHandler /* USART2 */
|
||||
.word USART3_IRQHandler /* USART3 */
|
||||
.word EXTI15_10_IRQHandler /* External Line[15:10]s */
|
||||
.word RTC_Alarm_IRQHandler /* RTC Alarm (A and B) through EXTI Line */
|
||||
.word OTG_FS_WKUP_IRQHandler /* USB OTG FS Wakeup through EXTI line */
|
||||
.word TIM8_BRK_TIM12_IRQHandler /* TIM8 Break and TIM12 */
|
||||
.word TIM8_UP_TIM13_IRQHandler /* TIM8 Update and TIM13 */
|
||||
.word TIM8_TRG_COM_TIM14_IRQHandler /* TIM8 Trigger and Commutation and TIM14 */
|
||||
.word TIM8_CC_IRQHandler /* TIM8 Capture Compare */
|
||||
.word DMA1_Stream7_IRQHandler /* DMA1 Stream7 */
|
||||
.word FSMC_IRQHandler /* FSMC */
|
||||
.word SDIO_IRQHandler /* SDIO */
|
||||
.word TIM5_IRQHandler /* TIM5 */
|
||||
.word SPI3_IRQHandler /* SPI3 */
|
||||
.word UART4_IRQHandler /* UART4 */
|
||||
.word UART5_IRQHandler /* UART5 */
|
||||
.word TIM6_DAC_IRQHandler /* TIM6 and DAC1&2 underrun errors */
|
||||
.word TIM7_IRQHandler /* TIM7 */
|
||||
.word DMA2_Stream0_IRQHandler /* DMA2 Stream 0 */
|
||||
.word DMA2_Stream1_IRQHandler /* DMA2 Stream 1 */
|
||||
.word DMA2_Stream2_IRQHandler /* DMA2 Stream 2 */
|
||||
.word DMA2_Stream3_IRQHandler /* DMA2 Stream 3 */
|
||||
.word DMA2_Stream4_IRQHandler /* DMA2 Stream 4 */
|
||||
.word 0 /* Reserved */
|
||||
.word 0 /* Reserved */
|
||||
.word CAN2_TX_IRQHandler /* CAN2 TX */
|
||||
.word CAN2_RX0_IRQHandler /* CAN2 RX0 */
|
||||
.word CAN2_RX1_IRQHandler /* CAN2 RX1 */
|
||||
.word CAN2_SCE_IRQHandler /* CAN2 SCE */
|
||||
.word OTG_FS_IRQHandler /* USB OTG FS */
|
||||
.word DMA2_Stream5_IRQHandler /* DMA2 Stream 5 */
|
||||
.word DMA2_Stream6_IRQHandler /* DMA2 Stream 6 */
|
||||
.word DMA2_Stream7_IRQHandler /* DMA2 Stream 7 */
|
||||
.word USART6_IRQHandler /* USART6 */
|
||||
.word I2C3_EV_IRQHandler /* I2C3 event */
|
||||
.word I2C3_ER_IRQHandler /* I2C3 error */
|
||||
.word OTG_HS_EP1_OUT_IRQHandler /* USB OTG HS End Point 1 Out */
|
||||
.word OTG_HS_EP1_IN_IRQHandler /* USB OTG HS End Point 1 In */
|
||||
.word OTG_HS_WKUP_IRQHandler /* USB OTG HS Wakeup through EXTI */
|
||||
.word OTG_HS_IRQHandler /* USB OTG HS */
|
||||
.word 0 /* Reserved */
|
||||
.word 0 /* Reserved */
|
||||
.word HASH_RNG_IRQHandler /* Hash and Rng */
|
||||
|
||||
/*******************************************************************************
|
||||
*
|
||||
* 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
|
||||
|
||||
.weak HardFault_Handler
|
||||
.thumb_set HardFault_Handler,Default_Handler
|
||||
|
||||
.weak MemManage_Handler
|
||||
.thumb_set MemManage_Handler,Default_Handler
|
||||
|
||||
.weak BusFault_Handler
|
||||
.thumb_set BusFault_Handler,Default_Handler
|
||||
|
||||
.weak UsageFault_Handler
|
||||
.thumb_set UsageFault_Handler,Default_Handler
|
||||
|
||||
.weak SVC_Handler
|
||||
.thumb_set SVC_Handler,Default_Handler
|
||||
|
||||
.weak DebugMon_Handler
|
||||
.thumb_set DebugMon_Handler,Default_Handler
|
||||
|
||||
.weak PendSV_Handler
|
||||
.thumb_set PendSV_Handler,Default_Handler
|
||||
|
||||
.weak SysTick_Handler
|
||||
.thumb_set SysTick_Handler,Default_Handler
|
||||
|
||||
.weak WWDG_IRQHandler
|
||||
.thumb_set WWDG_IRQHandler,Default_Handler
|
||||
|
||||
.weak PVD_IRQHandler
|
||||
.thumb_set PVD_IRQHandler,Default_Handler
|
||||
|
||||
.weak TAMP_STAMP_IRQHandler
|
||||
.thumb_set TAMP_STAMP_IRQHandler,Default_Handler
|
||||
|
||||
.weak RTC_WKUP_IRQHandler
|
||||
.thumb_set RTC_WKUP_IRQHandler,Default_Handler
|
||||
|
||||
.weak FLASH_IRQHandler
|
||||
.thumb_set FLASH_IRQHandler,Default_Handler
|
||||
|
||||
.weak RCC_IRQHandler
|
||||
.thumb_set RCC_IRQHandler,Default_Handler
|
||||
|
||||
.weak EXTI0_IRQHandler
|
||||
.thumb_set EXTI0_IRQHandler,Default_Handler
|
||||
|
||||
.weak EXTI1_IRQHandler
|
||||
.thumb_set EXTI1_IRQHandler,Default_Handler
|
||||
|
||||
.weak EXTI2_IRQHandler
|
||||
.thumb_set EXTI2_IRQHandler,Default_Handler
|
||||
|
||||
.weak EXTI3_IRQHandler
|
||||
.thumb_set EXTI3_IRQHandler,Default_Handler
|
||||
|
||||
.weak EXTI4_IRQHandler
|
||||
.thumb_set EXTI4_IRQHandler,Default_Handler
|
||||
|
||||
.weak DMA1_Stream0_IRQHandler
|
||||
.thumb_set DMA1_Stream0_IRQHandler,Default_Handler
|
||||
|
||||
.weak DMA1_Stream1_IRQHandler
|
||||
.thumb_set DMA1_Stream1_IRQHandler,Default_Handler
|
||||
|
||||
.weak DMA1_Stream2_IRQHandler
|
||||
.thumb_set DMA1_Stream2_IRQHandler,Default_Handler
|
||||
|
||||
.weak DMA1_Stream3_IRQHandler
|
||||
.thumb_set DMA1_Stream3_IRQHandler,Default_Handler
|
||||
|
||||
.weak DMA1_Stream4_IRQHandler
|
||||
.thumb_set DMA1_Stream4_IRQHandler,Default_Handler
|
||||
|
||||
.weak DMA1_Stream5_IRQHandler
|
||||
.thumb_set DMA1_Stream5_IRQHandler,Default_Handler
|
||||
|
||||
.weak DMA1_Stream6_IRQHandler
|
||||
.thumb_set DMA1_Stream6_IRQHandler,Default_Handler
|
||||
|
||||
.weak ADC_IRQHandler
|
||||
.thumb_set ADC_IRQHandler,Default_Handler
|
||||
|
||||
.weak CAN1_TX_IRQHandler
|
||||
.thumb_set CAN1_TX_IRQHandler,Default_Handler
|
||||
|
||||
.weak CAN1_RX0_IRQHandler
|
||||
.thumb_set CAN1_RX0_IRQHandler,Default_Handler
|
||||
|
||||
.weak CAN1_RX1_IRQHandler
|
||||
.thumb_set CAN1_RX1_IRQHandler,Default_Handler
|
||||
|
||||
.weak CAN1_SCE_IRQHandler
|
||||
.thumb_set CAN1_SCE_IRQHandler,Default_Handler
|
||||
|
||||
.weak EXTI9_5_IRQHandler
|
||||
.thumb_set EXTI9_5_IRQHandler,Default_Handler
|
||||
|
||||
.weak TIM1_BRK_TIM9_IRQHandler
|
||||
.thumb_set TIM1_BRK_TIM9_IRQHandler,Default_Handler
|
||||
|
||||
.weak TIM1_UP_TIM10_IRQHandler
|
||||
.thumb_set TIM1_UP_TIM10_IRQHandler,Default_Handler
|
||||
|
||||
.weak TIM1_TRG_COM_TIM11_IRQHandler
|
||||
.thumb_set TIM1_TRG_COM_TIM11_IRQHandler,Default_Handler
|
||||
|
||||
.weak TIM1_CC_IRQHandler
|
||||
.thumb_set TIM1_CC_IRQHandler,Default_Handler
|
||||
|
||||
.weak TIM2_IRQHandler
|
||||
.thumb_set TIM2_IRQHandler,Default_Handler
|
||||
|
||||
.weak TIM3_IRQHandler
|
||||
.thumb_set TIM3_IRQHandler,Default_Handler
|
||||
|
||||
.weak TIM4_IRQHandler
|
||||
.thumb_set TIM4_IRQHandler,Default_Handler
|
||||
|
||||
.weak I2C1_EV_IRQHandler
|
||||
.thumb_set I2C1_EV_IRQHandler,Default_Handler
|
||||
|
||||
.weak I2C1_ER_IRQHandler
|
||||
.thumb_set I2C1_ER_IRQHandler,Default_Handler
|
||||
|
||||
.weak I2C2_EV_IRQHandler
|
||||
.thumb_set I2C2_EV_IRQHandler,Default_Handler
|
||||
|
||||
.weak I2C2_ER_IRQHandler
|
||||
.thumb_set I2C2_ER_IRQHandler,Default_Handler
|
||||
|
||||
.weak SPI1_IRQHandler
|
||||
.thumb_set SPI1_IRQHandler,Default_Handler
|
||||
|
||||
.weak SPI2_IRQHandler
|
||||
.thumb_set SPI2_IRQHandler,Default_Handler
|
||||
|
||||
.weak USART1_IRQHandler
|
||||
.thumb_set USART1_IRQHandler,Default_Handler
|
||||
|
||||
.weak USART2_IRQHandler
|
||||
.thumb_set USART2_IRQHandler,Default_Handler
|
||||
|
||||
.weak USART3_IRQHandler
|
||||
.thumb_set USART3_IRQHandler,Default_Handler
|
||||
|
||||
.weak EXTI15_10_IRQHandler
|
||||
.thumb_set EXTI15_10_IRQHandler,Default_Handler
|
||||
|
||||
.weak RTC_Alarm_IRQHandler
|
||||
.thumb_set RTC_Alarm_IRQHandler,Default_Handler
|
||||
|
||||
.weak OTG_FS_WKUP_IRQHandler
|
||||
.thumb_set OTG_FS_WKUP_IRQHandler,Default_Handler
|
||||
|
||||
.weak TIM8_BRK_TIM12_IRQHandler
|
||||
.thumb_set TIM8_BRK_TIM12_IRQHandler,Default_Handler
|
||||
|
||||
.weak TIM8_UP_TIM13_IRQHandler
|
||||
.thumb_set TIM8_UP_TIM13_IRQHandler,Default_Handler
|
||||
|
||||
.weak TIM8_TRG_COM_TIM14_IRQHandler
|
||||
.thumb_set TIM8_TRG_COM_TIM14_IRQHandler,Default_Handler
|
||||
|
||||
.weak TIM8_CC_IRQHandler
|
||||
.thumb_set TIM8_CC_IRQHandler,Default_Handler
|
||||
|
||||
.weak DMA1_Stream7_IRQHandler
|
||||
.thumb_set DMA1_Stream7_IRQHandler,Default_Handler
|
||||
|
||||
.weak FSMC_IRQHandler
|
||||
.thumb_set FSMC_IRQHandler,Default_Handler
|
||||
|
||||
.weak SDIO_IRQHandler
|
||||
.thumb_set SDIO_IRQHandler,Default_Handler
|
||||
|
||||
.weak TIM5_IRQHandler
|
||||
.thumb_set TIM5_IRQHandler,Default_Handler
|
||||
|
||||
.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
|
||||
|
||||
.weak TIM6_DAC_IRQHandler
|
||||
.thumb_set TIM6_DAC_IRQHandler,Default_Handler
|
||||
|
||||
.weak TIM7_IRQHandler
|
||||
.thumb_set TIM7_IRQHandler,Default_Handler
|
||||
|
||||
.weak DMA2_Stream0_IRQHandler
|
||||
.thumb_set DMA2_Stream0_IRQHandler,Default_Handler
|
||||
|
||||
.weak DMA2_Stream1_IRQHandler
|
||||
.thumb_set DMA2_Stream1_IRQHandler,Default_Handler
|
||||
|
||||
.weak DMA2_Stream2_IRQHandler
|
||||
.thumb_set DMA2_Stream2_IRQHandler,Default_Handler
|
||||
|
||||
.weak DMA2_Stream3_IRQHandler
|
||||
.thumb_set DMA2_Stream3_IRQHandler,Default_Handler
|
||||
|
||||
.weak DMA2_Stream4_IRQHandler
|
||||
.thumb_set DMA2_Stream4_IRQHandler,Default_Handler
|
||||
|
||||
.weak CAN2_TX_IRQHandler
|
||||
.thumb_set CAN2_TX_IRQHandler,Default_Handler
|
||||
|
||||
.weak CAN2_RX0_IRQHandler
|
||||
.thumb_set CAN2_RX0_IRQHandler,Default_Handler
|
||||
|
||||
.weak CAN2_RX1_IRQHandler
|
||||
.thumb_set CAN2_RX1_IRQHandler,Default_Handler
|
||||
|
||||
.weak CAN2_SCE_IRQHandler
|
||||
.thumb_set CAN2_SCE_IRQHandler,Default_Handler
|
||||
|
||||
.weak OTG_FS_IRQHandler
|
||||
.thumb_set OTG_FS_IRQHandler,Default_Handler
|
||||
|
||||
.weak DMA2_Stream5_IRQHandler
|
||||
.thumb_set DMA2_Stream5_IRQHandler,Default_Handler
|
||||
|
||||
.weak DMA2_Stream6_IRQHandler
|
||||
.thumb_set DMA2_Stream6_IRQHandler,Default_Handler
|
||||
|
||||
.weak DMA2_Stream7_IRQHandler
|
||||
.thumb_set DMA2_Stream7_IRQHandler,Default_Handler
|
||||
|
||||
.weak USART6_IRQHandler
|
||||
.thumb_set USART6_IRQHandler,Default_Handler
|
||||
|
||||
.weak I2C3_EV_IRQHandler
|
||||
.thumb_set I2C3_EV_IRQHandler,Default_Handler
|
||||
|
||||
.weak I2C3_ER_IRQHandler
|
||||
.thumb_set I2C3_ER_IRQHandler,Default_Handler
|
||||
|
||||
.weak OTG_HS_EP1_OUT_IRQHandler
|
||||
.thumb_set OTG_HS_EP1_OUT_IRQHandler,Default_Handler
|
||||
|
||||
.weak OTG_HS_EP1_IN_IRQHandler
|
||||
.thumb_set OTG_HS_EP1_IN_IRQHandler,Default_Handler
|
||||
|
||||
.weak OTG_HS_WKUP_IRQHandler
|
||||
.thumb_set OTG_HS_WKUP_IRQHandler,Default_Handler
|
||||
|
||||
.weak OTG_HS_IRQHandler
|
||||
.thumb_set OTG_HS_IRQHandler,Default_Handler
|
||||
|
||||
.weak HASH_RNG_IRQHandler
|
||||
.thumb_set HASH_RNG_IRQHandler,Default_Handler
|
||||
|
||||
/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
|
||||
@@ -0,0 +1,163 @@
|
||||
/*
|
||||
*****************************************************************************
|
||||
**
|
||||
** File : stm32_flash.ld
|
||||
**
|
||||
** Abstract : Linker script for STM32F407VG Device with
|
||||
** 1024KByte FLASH, 192KByte RAM
|
||||
**
|
||||
** Set heap size, stack size and stack location according
|
||||
** to application requirements.
|
||||
**
|
||||
** Set memory bank area and size if external memory is used.
|
||||
**
|
||||
** Target : STMicroelectronics STM32
|
||||
**
|
||||
** Environment : Atollic TrueSTUDIO(R)
|
||||
**
|
||||
** Distribution: The file is distributed “as is,” without any warranty
|
||||
** of any kind.
|
||||
**
|
||||
** (c)Copyright Atollic AB.
|
||||
** You may use this file as-is or modify it according to the needs of your
|
||||
** project. Distribution of this file (unmodified or modified) is not
|
||||
** permitted. Atollic AB permit registered Atollic TrueSTUDIO(R) users the
|
||||
** rights to distribute the assembled, compiled & linked contents of this
|
||||
** file as part of an application binary file, provided that it is built
|
||||
** using the Atollic TrueSTUDIO(R) toolchain.
|
||||
**
|
||||
*****************************************************************************
|
||||
*/
|
||||
|
||||
/* Entry Point */
|
||||
ENTRY(Reset_Handler)
|
||||
|
||||
/* Highest address of the user mode stack */
|
||||
_estack = 0x20020000; /* end of 128K RAM on AHB bus*/
|
||||
|
||||
/* Generate a link error if heap and stack don't fit into RAM */
|
||||
_Min_Heap_Size = 0; /* required amount of heap */
|
||||
_Min_Stack_Size = 0x400; /* required amount of stack */
|
||||
|
||||
/* Specify the memory areas */
|
||||
MEMORY
|
||||
{
|
||||
FLASH (rx) : ORIGIN = 0x08000000, LENGTH = 128K
|
||||
RAM (xrw) : ORIGIN = 0x20000000, LENGTH = 128K
|
||||
MEMORY_B1 (rx) : ORIGIN = 0x60000000, LENGTH = 0K
|
||||
}
|
||||
|
||||
/* Define output sections */
|
||||
SECTIONS
|
||||
{
|
||||
/* The startup code goes first into FLASH */
|
||||
.isr_vector :
|
||||
{
|
||||
. = ALIGN(4);
|
||||
KEEP(*(.isr_vector)) /* Startup code */
|
||||
. = ALIGN(4);
|
||||
} >FLASH
|
||||
|
||||
/* The program code and other data goes into FLASH */
|
||||
.text :
|
||||
{
|
||||
. = ALIGN(4);
|
||||
*(.text) /* .text sections (code) */
|
||||
*(.text*) /* .text* sections (code) */
|
||||
*(.rodata) /* .rodata sections (constants, strings, etc.) */
|
||||
*(.rodata*) /* .rodata* sections (constants, strings, etc.) */
|
||||
*(.glue_7) /* glue arm to thumb code */
|
||||
*(.glue_7t) /* glue thumb to arm code */
|
||||
*(.eh_frame)
|
||||
|
||||
KEEP (*(.init))
|
||||
KEEP (*(.fini))
|
||||
|
||||
. = ALIGN(4);
|
||||
_etext = .; /* define a global symbols at end of code */
|
||||
_exit = .;
|
||||
} >FLASH
|
||||
|
||||
|
||||
.ARM.extab : { *(.ARM.extab* .gnu.linkonce.armextab.*) } >FLASH
|
||||
.ARM : {
|
||||
__exidx_start = .;
|
||||
*(.ARM.exidx*)
|
||||
__exidx_end = .;
|
||||
} >FLASH
|
||||
|
||||
.preinit_array :
|
||||
{
|
||||
PROVIDE_HIDDEN (__preinit_array_start = .);
|
||||
KEEP (*(.preinit_array*))
|
||||
PROVIDE_HIDDEN (__preinit_array_end = .);
|
||||
} >FLASH
|
||||
.init_array :
|
||||
{
|
||||
PROVIDE_HIDDEN (__init_array_start = .);
|
||||
KEEP (*(SORT(.init_array.*)))
|
||||
KEEP (*(.init_array*))
|
||||
PROVIDE_HIDDEN (__init_array_end = .);
|
||||
} >FLASH
|
||||
.fini_array :
|
||||
{
|
||||
PROVIDE_HIDDEN (__fini_array_start = .);
|
||||
KEEP (*(.fini_array*))
|
||||
KEEP (*(SORT(.fini_array.*)))
|
||||
PROVIDE_HIDDEN (__fini_array_end = .);
|
||||
} >FLASH
|
||||
|
||||
/* used by the startup to initialize data */
|
||||
_sidata = .;
|
||||
|
||||
/* Initialized data sections goes into RAM, load LMA copy after code */
|
||||
.data : AT ( _sidata )
|
||||
{
|
||||
. = ALIGN(4);
|
||||
_sdata = .; /* create a global symbol at data start */
|
||||
*(.data) /* .data sections */
|
||||
*(.data*) /* .data* sections */
|
||||
|
||||
. = ALIGN(4);
|
||||
_edata = .; /* define a global symbol at data end */
|
||||
} >RAM
|
||||
|
||||
/* Uninitialized data section */
|
||||
. = ALIGN(4);
|
||||
.bss :
|
||||
{
|
||||
/* This is used by the startup in order to initialize the .bss secion */
|
||||
_sbss = .; /* define a global symbol at bss start */
|
||||
__bss_start__ = _sbss;
|
||||
*(.bss)
|
||||
*(.bss*)
|
||||
*(COMMON)
|
||||
|
||||
. = ALIGN(4);
|
||||
_ebss = .; /* define a global symbol at bss end */
|
||||
__bss_end__ = _ebss;
|
||||
} >RAM
|
||||
|
||||
/* User_heap_stack section, used to check that there is enough RAM left */
|
||||
._user_heap_stack :
|
||||
{
|
||||
. = ALIGN(4);
|
||||
PROVIDE ( end = . );
|
||||
PROVIDE ( _end = . );
|
||||
. = . + _Min_Heap_Size;
|
||||
. = . + _Min_Stack_Size;
|
||||
. = ALIGN(4);
|
||||
} >RAM
|
||||
|
||||
/* MEMORY_bank1 section, code must be located here explicitly */
|
||||
/* Example: extern int foo(void) __attribute__ ((section (".mb1text"))); */
|
||||
.memory_b1_text :
|
||||
{
|
||||
*(.mb1text) /* .mb1text sections (code) */
|
||||
*(.mb1text*) /* .mb1text* sections (code) */
|
||||
*(.mb1rodata) /* read-only data (constants) */
|
||||
*(.mb1rodata*)
|
||||
} >MEMORY_B1
|
||||
|
||||
.ARM.attributes 0 : { *(.ARM.attributes) }
|
||||
}
|
||||
@@ -0,0 +1,7 @@
|
||||
void timer_init(TIM_TypeDef *TIM, int psc) {
|
||||
TIM->PSC = psc-1;
|
||||
TIM->DIER = TIM_DIER_UIE;
|
||||
TIM->CR1 = TIM_CR1_CEN;
|
||||
TIM->SR = 0;
|
||||
}
|
||||
|
||||
Executable
BIN
Binary file not shown.
Executable
BIN
Binary file not shown.
Executable
+20
@@ -0,0 +1,20 @@
|
||||
#!/usr/bin/env python
|
||||
import usb1
|
||||
import time
|
||||
import traceback
|
||||
|
||||
if __name__ == "__main__":
|
||||
context = usb1.USBContext()
|
||||
|
||||
for device in context.getDeviceList(skip_on_error=True):
|
||||
if device.getVendorID() == 0xbbaa and device.getProductID()&0xFF00 == 0xdd00:
|
||||
print "found device"
|
||||
handle = device.open()
|
||||
handle.claimInterface(0)
|
||||
|
||||
try:
|
||||
handle.controlWrite(usb1.TYPE_VENDOR | usb1.RECIPIENT_DEVICE, 0xd1, 0, 0, '')
|
||||
except Exception:
|
||||
traceback.print_exc()
|
||||
print "expected error, exiting cleanly"
|
||||
time.sleep(1)
|
||||
+510
@@ -0,0 +1,510 @@
|
||||
// **** supporting defines ****
|
||||
|
||||
typedef struct
|
||||
{
|
||||
__IO uint32_t HPRT;
|
||||
}
|
||||
USB_OTG_HostPortTypeDef;
|
||||
|
||||
#define USBx_HOST ((USB_OTG_HostTypeDef *)((uint32_t)USBx + USB_OTG_HOST_BASE))
|
||||
#define USBx_HOST_PORT ((USB_OTG_HostPortTypeDef *)((uint32_t)USBx + USB_OTG_HOST_PORT_BASE))
|
||||
#define USBx_DEVICE ((USB_OTG_DeviceTypeDef *)((uint32_t)USBx + USB_OTG_DEVICE_BASE))
|
||||
#define USBx_INEP(i) ((USB_OTG_INEndpointTypeDef *)((uint32_t)USBx + USB_OTG_IN_ENDPOINT_BASE + (i)*USB_OTG_EP_REG_SIZE))
|
||||
#define USBx_OUTEP(i) ((USB_OTG_OUTEndpointTypeDef *)((uint32_t)USBx + USB_OTG_OUT_ENDPOINT_BASE + (i)*USB_OTG_EP_REG_SIZE))
|
||||
#define USBx_DFIFO(i) *(__IO uint32_t *)((uint32_t)USBx + USB_OTG_FIFO_BASE + (i) * USB_OTG_FIFO_SIZE)
|
||||
#define USBx_PCGCCTL *(__IO uint32_t *)((uint32_t)USBx + USB_OTG_PCGCCTL_BASE)
|
||||
|
||||
#define USB_REQ_GET_STATUS 0x00
|
||||
#define USB_REQ_CLEAR_FEATURE 0x01
|
||||
#define USB_REQ_SET_FEATURE 0x03
|
||||
#define USB_REQ_SET_ADDRESS 0x05
|
||||
#define USB_REQ_GET_DESCRIPTOR 0x06
|
||||
#define USB_REQ_SET_DESCRIPTOR 0x07
|
||||
#define USB_REQ_GET_CONFIGURATION 0x08
|
||||
#define USB_REQ_SET_CONFIGURATION 0x09
|
||||
#define USB_REQ_GET_INTERFACE 0x0A
|
||||
#define USB_REQ_SET_INTERFACE 0x0B
|
||||
#define USB_REQ_SYNCH_FRAME 0x0C
|
||||
|
||||
#define USB_DESC_TYPE_DEVICE 1
|
||||
#define USB_DESC_TYPE_CONFIGURATION 2
|
||||
#define USB_DESC_TYPE_STRING 3
|
||||
#define USB_DESC_TYPE_INTERFACE 4
|
||||
#define USB_DESC_TYPE_ENDPOINT 5
|
||||
#define USB_DESC_TYPE_DEVICE_QUALIFIER 6
|
||||
#define USB_DESC_TYPE_OTHER_SPEED_CONFIGURATION 7
|
||||
|
||||
#define STS_GOUT_NAK 1
|
||||
#define STS_DATA_UPDT 2
|
||||
#define STS_XFER_COMP 3
|
||||
#define STS_SETUP_COMP 4
|
||||
#define STS_SETUP_UPDT 6
|
||||
|
||||
#define USBD_FS_TRDT_VALUE 5
|
||||
|
||||
// interfaces
|
||||
void usb_cb_control_msg();
|
||||
void usb_cb_ep1_in(int len);
|
||||
void usb_cb_ep2_out(uint8_t *usbdata, int len);
|
||||
void usb_cb_ep3_out(uint8_t *usbdata, int len);
|
||||
|
||||
uint8_t device_desc[] = {
|
||||
0x12,0x01,0x00,0x01,
|
||||
0xFF,0xFF,0xFF,0x40,
|
||||
(USB_VID>>0)&0xFF,(USB_VID>>8)&0xFF,
|
||||
(USB_PID>>0)&0xFF,(USB_PID>>8)&0xFF,
|
||||
0x00,0x22,0x00,0x00,
|
||||
0x00,0x01};
|
||||
|
||||
uint8_t configuration_desc[] = {
|
||||
0x09, 0x02, 0x27, 0x00,
|
||||
0x01, 0x01, 0x00, 0xc0,
|
||||
0x32,
|
||||
// interface 0
|
||||
0x09, 0x04, 0x00, 0x00,
|
||||
0x03, 0xff, 0xFF, 0xFF,
|
||||
0x00,
|
||||
// endpoint 1, read CAN
|
||||
0x07, 0x05, 0x81, 0x02, 0x40, 0x00, 0x00,
|
||||
// endpoint 2, AES load
|
||||
0x07, 0x05, 0x02, 0x02, 0x10, 0x00, 0x00,
|
||||
// endpoint 3, send CAN
|
||||
0x07, 0x05, 0x03, 0x02, 0x40, 0x00, 0x00,
|
||||
};
|
||||
|
||||
typedef union
|
||||
{
|
||||
uint16_t w;
|
||||
struct BW
|
||||
{
|
||||
uint8_t msb;
|
||||
uint8_t lsb;
|
||||
}
|
||||
bw;
|
||||
}
|
||||
uint16_t_uint8_t;
|
||||
|
||||
|
||||
typedef union _USB_Setup
|
||||
{
|
||||
uint32_t d8[2];
|
||||
|
||||
struct _SetupPkt_Struc
|
||||
{
|
||||
uint8_t bmRequestType;
|
||||
uint8_t bRequest;
|
||||
uint16_t_uint8_t wValue;
|
||||
uint16_t_uint8_t wIndex;
|
||||
uint16_t_uint8_t wLength;
|
||||
} b;
|
||||
}
|
||||
USB_Setup_TypeDef;
|
||||
|
||||
// current packet
|
||||
USB_Setup_TypeDef setup;
|
||||
uint8_t usbdata[0x100];
|
||||
|
||||
// packet read and write
|
||||
|
||||
void *USB_ReadPacket(void *dest, uint16_t len) {
|
||||
uint32_t i=0;
|
||||
uint32_t count32b = (len + 3) / 4;
|
||||
|
||||
for ( i = 0; i < count32b; i++, dest += 4 ) {
|
||||
// packed?
|
||||
*(__attribute__((__packed__)) uint32_t *)dest = USBx_DFIFO(0);
|
||||
}
|
||||
return ((void *)dest);
|
||||
}
|
||||
|
||||
void USB_WritePacket(const uint8_t *src, uint16_t len, uint32_t ep) {
|
||||
#ifdef DEBUG
|
||||
puts("writing ");
|
||||
hexdump(src, len);
|
||||
#endif
|
||||
uint32_t count32b = 0, i = 0;
|
||||
count32b = (len + 3) / 4;
|
||||
|
||||
// bullshit
|
||||
USBx_INEP(ep)->DIEPTSIZ = (USB_OTG_DIEPTSIZ_PKTCNT & (1 << 19)) | (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++, src += 4) {
|
||||
USBx_DFIFO(ep) = *((__attribute__((__packed__)) uint32_t *)src);
|
||||
}
|
||||
}
|
||||
|
||||
void usb_reset() {
|
||||
// unmask endpoint interrupts, so many sets
|
||||
USBx_DEVICE->DAINT = 0xFFFFFFFF;
|
||||
USBx_DEVICE->DAINTMSK = 0xFFFFFFFF;
|
||||
//USBx_DEVICE->DOEPMSK = (USB_OTG_DOEPMSK_STUPM | USB_OTG_DOEPMSK_XFRCM | USB_OTG_DOEPMSK_EPDM);
|
||||
//USBx_DEVICE->DIEPMSK = (USB_OTG_DIEPMSK_TOM | USB_OTG_DIEPMSK_XFRCM | USB_OTG_DIEPMSK_EPDM | USB_OTG_DIEPMSK_ITTXFEMSK);
|
||||
//USBx_DEVICE->DIEPMSK = (USB_OTG_DIEPMSK_TOM | USB_OTG_DIEPMSK_XFRCM | USB_OTG_DIEPMSK_EPDM);
|
||||
|
||||
// all interrupts for debugging
|
||||
USBx_DEVICE->DIEPMSK = 0xFFFFFFFF;
|
||||
USBx_DEVICE->DOEPMSK = 0xFFFFFFFF;
|
||||
|
||||
// clear interrupts
|
||||
USBx_INEP(0)->DIEPINT = 0xFF;
|
||||
USBx_OUTEP(0)->DOEPINT = 0xFF;
|
||||
|
||||
// unset the address
|
||||
USBx_DEVICE->DCFG &= ~USB_OTG_DCFG_DAD;
|
||||
|
||||
// set up USB FIFOs
|
||||
// RX start address is fixed to 0
|
||||
USBx->GRXFSIZ = 0x40;
|
||||
|
||||
// 0x100 to offset past GRXFSIZ
|
||||
USBx->DIEPTXF0_HNPTXFSIZ = (0x40 << 16) | 0x40;
|
||||
|
||||
// EP1, massive
|
||||
USBx->DIEPTXF[0] = (0x40 << 16) | 0x80;
|
||||
|
||||
// flush TX fifo
|
||||
USBx->GRSTCTL = USB_OTG_GRSTCTL_TXFFLSH | USB_OTG_GRSTCTL_TXFNUM_4;
|
||||
while ((USBx->GRSTCTL & USB_OTG_GRSTCTL_TXFFLSH) == USB_OTG_GRSTCTL_TXFFLSH);
|
||||
// flush RX FIFO
|
||||
USBx->GRSTCTL = USB_OTG_GRSTCTL_RXFFLSH;
|
||||
while ((USBx->GRSTCTL & USB_OTG_GRSTCTL_RXFFLSH) == USB_OTG_GRSTCTL_RXFFLSH);
|
||||
|
||||
// no global NAK
|
||||
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);
|
||||
}
|
||||
|
||||
void usb_setup() {
|
||||
uint8_t resp[0x20];
|
||||
// setup packet is ready
|
||||
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) |
|
||||
USB_OTG_DIEPCTL_SD0PID_SEVNFRM | USB_OTG_DIEPCTL_USBAEP;
|
||||
USBx_INEP(1)->DIEPINT = 0xFF;
|
||||
|
||||
USBx_OUTEP(2)->DOEPTSIZ = (1 << 19) | 0x10;
|
||||
USBx_OUTEP(2)->DOEPCTL = (0x10 & USB_OTG_DOEPCTL_MPSIZ) | (2 << 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) |
|
||||
USB_OTG_DOEPCTL_SD0PID_SEVNFRM | USB_OTG_DOEPCTL_USBAEP;
|
||||
USBx_OUTEP(3)->DOEPINT = 0xFF;
|
||||
|
||||
// mark ready to receive
|
||||
USBx_OUTEP(2)->DOEPCTL |= USB_OTG_DOEPCTL_EPENA | USB_OTG_DOEPCTL_CNAK;
|
||||
USBx_OUTEP(3)->DOEPCTL |= USB_OTG_DOEPCTL_EPENA | USB_OTG_DOEPCTL_CNAK;
|
||||
|
||||
USB_WritePacket(0, 0, 0);
|
||||
USBx_OUTEP(0)->DOEPCTL |= USB_OTG_DOEPCTL_CNAK;
|
||||
break;
|
||||
case USB_REQ_SET_ADDRESS:
|
||||
// set now?
|
||||
USBx_DEVICE->DCFG |= ((setup.b.wValue.w & 0x7f) << 4);
|
||||
|
||||
#ifdef DEBUG
|
||||
puts(" set address\n");
|
||||
#endif
|
||||
|
||||
|
||||
USB_WritePacket(0, 0, 0);
|
||||
USBx_OUTEP(0)->DOEPCTL |= USB_OTG_DOEPCTL_CNAK;
|
||||
|
||||
break;
|
||||
case USB_REQ_GET_DESCRIPTOR:
|
||||
switch (setup.b.wValue.bw.lsb) {
|
||||
case USB_DESC_TYPE_DEVICE:
|
||||
//puts(" writing device descriptor\n");
|
||||
|
||||
// setup transfer
|
||||
USB_WritePacket(device_desc, min(sizeof(device_desc), setup.b.wLength.w), 0);
|
||||
USBx_OUTEP(0)->DOEPCTL |= USB_OTG_DOEPCTL_CNAK;
|
||||
|
||||
//puts("D");
|
||||
break;
|
||||
case USB_DESC_TYPE_CONFIGURATION:
|
||||
USB_WritePacket(configuration_desc, min(sizeof(configuration_desc), setup.b.wLength.w), 0);
|
||||
USBx_OUTEP(0)->DOEPCTL |= USB_OTG_DOEPCTL_CNAK;
|
||||
break;
|
||||
default:
|
||||
// nothing here?
|
||||
USB_WritePacket(0, 0, 0);
|
||||
USBx_OUTEP(0)->DOEPCTL |= USB_OTG_DOEPCTL_CNAK;
|
||||
break;
|
||||
}
|
||||
break;
|
||||
case USB_REQ_GET_STATUS:
|
||||
// empty resp?
|
||||
resp[0] = 0;
|
||||
resp[1] = 0;
|
||||
USB_WritePacket((void*)&resp, 2, 0);
|
||||
USBx_OUTEP(0)->DOEPCTL |= USB_OTG_DOEPCTL_CNAK;
|
||||
break;
|
||||
default:
|
||||
usb_cb_control_msg();
|
||||
}
|
||||
}
|
||||
|
||||
void usb_init() {
|
||||
// internal PHY set before reset
|
||||
USBx->GUSBCFG |= USB_OTG_GUSBCFG_PHYSEL;
|
||||
|
||||
// full speed PHY, do reset and remove power down
|
||||
puth(USBx->GRSTCTL);
|
||||
puts(" resetting PHY\n");
|
||||
while ((USBx->GRSTCTL & USB_OTG_GRSTCTL_AHBIDL) == 0);
|
||||
puts("AHB idle\n");
|
||||
|
||||
// reset PHY here?
|
||||
USBx->GRSTCTL |= USB_OTG_GRSTCTL_CSRST;
|
||||
while ((USBx->GRSTCTL & USB_OTG_GRSTCTL_CSRST) == USB_OTG_GRSTCTL_CSRST);
|
||||
puts("reset done\n");
|
||||
|
||||
// power up the PHY
|
||||
USBx->GCCFG = USB_OTG_GCCFG_PWRDWN | USB_OTG_GCCFG_NOVBUSSENS;
|
||||
|
||||
// be a device, slowest timings
|
||||
//USBx->GUSBCFG = USB_OTG_GUSBCFG_FDMOD | USB_OTG_GUSBCFG_PHYSEL | USB_OTG_GUSBCFG_TRDT | USB_OTG_GUSBCFG_TOCAL;
|
||||
USBx->GUSBCFG = USB_OTG_GUSBCFG_FDMOD | USB_OTG_GUSBCFG_PHYSEL;
|
||||
USBx->GUSBCFG |= (uint32_t)((USBD_FS_TRDT_VALUE << 10) & USB_OTG_GUSBCFG_TRDT);
|
||||
//USBx->GUSBCFG = USB_OTG_GUSBCFG_PHYSEL | USB_OTG_GUSBCFG_TRDT | USB_OTG_GUSBCFG_TOCAL;
|
||||
|
||||
// **** for debugging, doesn't seem to work ****
|
||||
//USBx->GUSBCFG |= USB_OTG_GUSBCFG_CTXPKT;
|
||||
|
||||
// reset PHY clock
|
||||
USBx_PCGCCTL = 0;
|
||||
|
||||
// enable the fancy OTG things
|
||||
USBx->GUSBCFG |= USB_OTG_GUSBCFG_HNPCAP | USB_OTG_GUSBCFG_SRPCAP;
|
||||
|
||||
USBx_DEVICE->DCFG = USB_OTG_DCFG_NZLSOHSK | USB_OTG_DCFG_DSPD;
|
||||
//USBx_DEVICE->DCFG = USB_OTG_DCFG_DSPD;
|
||||
|
||||
// setup USB interrupts
|
||||
// all interrupts except TXFIFO EMPTY
|
||||
//USBx->GINTMSK = 0xFFFFFFFF & ~(USB_OTG_GINTMSK_NPTXFEM | USB_OTG_GINTMSK_PTXFEM | USB_OTG_GINTSTS_SOF | USB_OTG_GINTSTS_EOPF);
|
||||
USBx->GINTMSK = 0xFFFFFFFF & ~(USB_OTG_GINTMSK_NPTXFEM | USB_OTG_GINTMSK_PTXFEM);
|
||||
|
||||
USBx->GAHBCFG = USB_OTG_GAHBCFG_GINT;
|
||||
USBx->GINTSTS = 0;
|
||||
}
|
||||
|
||||
// ***************************** USB port *****************************
|
||||
|
||||
void usb_irqhandler(void) {
|
||||
USBx->GINTMSK = 0;
|
||||
|
||||
unsigned int gintsts = USBx->GINTSTS;
|
||||
|
||||
// gintsts SUSPEND? 04008428
|
||||
#ifdef DEBUG
|
||||
unsigned int daint = USBx_DEVICE->DAINT;
|
||||
puth(gintsts);
|
||||
puts(" ep ");
|
||||
puth(daint);
|
||||
puts(" USB interrupt!\n");
|
||||
#endif
|
||||
|
||||
if (gintsts & USB_OTG_GINTSTS_ESUSP) {
|
||||
puts("ESUSP detected\n");
|
||||
}
|
||||
|
||||
if (gintsts & USB_OTG_GINTSTS_USBRST) {
|
||||
puts("USB reset\n");
|
||||
usb_reset();
|
||||
}
|
||||
|
||||
if (gintsts & USB_OTG_GINTSTS_ENUMDNE) {
|
||||
puts("enumeration done ");
|
||||
// Full speed, ENUMSPD
|
||||
puth(USBx_DEVICE->DSTS);
|
||||
puts("\n");
|
||||
}
|
||||
|
||||
if (gintsts & USB_OTG_GINTSTS_OTGINT) {
|
||||
puts("OTG int:");
|
||||
puth(USBx->GOTGINT);
|
||||
puts("\n");
|
||||
|
||||
// getting ADTOCHG
|
||||
USBx->GOTGINT = USBx->GOTGINT;
|
||||
}
|
||||
|
||||
// RX FIFO first
|
||||
if (gintsts & USB_OTG_GINTSTS_RXFLVL) {
|
||||
// 1. Read the Receive status pop register
|
||||
volatile unsigned int rxst = USBx->GRXSTSP;
|
||||
|
||||
#ifdef DEBUG
|
||||
puts(" RX FIFO:");
|
||||
puth(rxst);
|
||||
puts(" status: ");
|
||||
puth((rxst & USB_OTG_GRXSTSP_PKTSTS) >> 17);
|
||||
puts(" len: ");
|
||||
puth((rxst & USB_OTG_GRXSTSP_BCNT) >> 4);
|
||||
puts("\n");
|
||||
#endif
|
||||
|
||||
|
||||
if (((rxst & USB_OTG_GRXSTSP_PKTSTS) >> 17) == STS_DATA_UPDT) {
|
||||
int endpoint = (rxst & USB_OTG_GRXSTSP_EPNUM);
|
||||
int len = (rxst & USB_OTG_GRXSTSP_BCNT) >> 4;
|
||||
USB_ReadPacket(&usbdata, len);
|
||||
#ifdef DEBUG
|
||||
puts(" data ");
|
||||
puth(len);
|
||||
puts("\n");
|
||||
hexdump(&usbdata, len);
|
||||
#endif
|
||||
|
||||
if (endpoint == 2) {
|
||||
usb_cb_ep2_out(usbdata, len);
|
||||
}
|
||||
|
||||
if (endpoint == 3) {
|
||||
usb_cb_ep3_out(usbdata, len);
|
||||
}
|
||||
} else if (((rxst & USB_OTG_GRXSTSP_PKTSTS) >> 17) == STS_SETUP_UPDT) {
|
||||
USB_ReadPacket(&setup, 8);
|
||||
#ifdef DEBUG
|
||||
puts(" setup ");
|
||||
hexdump(&setup, 8);
|
||||
puts("\n");
|
||||
#endif
|
||||
}
|
||||
}
|
||||
|
||||
if (gintsts & USB_OTG_GINTSTS_HPRTINT) {
|
||||
// host
|
||||
puts("HPRT:");
|
||||
puth(USBx_HOST_PORT->HPRT);
|
||||
puts("\n");
|
||||
if (USBx_HOST_PORT->HPRT & USB_OTG_HPRT_PCDET) {
|
||||
USBx_HOST_PORT->HPRT |= USB_OTG_HPRT_PRST;
|
||||
USBx_HOST_PORT->HPRT |= USB_OTG_HPRT_PCDET;
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
if (gintsts & USB_OTG_GINTSTS_BOUTNAKEFF) {
|
||||
// no global NAK, why is this getting set?
|
||||
#ifdef DEBUG
|
||||
puts("GLOBAL NAK\n");
|
||||
#endif
|
||||
USBx_DEVICE->DCTL |= USB_OTG_DCTL_CGONAK | USB_OTG_DCTL_CGINAK;
|
||||
}
|
||||
|
||||
if (gintsts & USB_OTG_GINTSTS_SRQINT) {
|
||||
// we want to do "A-device host negotiation protocol" since we are the A-device
|
||||
puts("start request\n");
|
||||
//USBx->GUSBCFG |= USB_OTG_GUSBCFG_FDMOD;
|
||||
//USBx_HOST_PORT->HPRT = USB_OTG_HPRT_PPWR | USB_OTG_HPRT_PENA;
|
||||
}
|
||||
|
||||
// out endpoint hit
|
||||
if (gintsts & USB_OTG_GINTSTS_OEPINT) {
|
||||
#ifdef DEBUG
|
||||
puts(" 0:");
|
||||
puth(USBx_OUTEP(0)->DOEPINT);
|
||||
puts(" 2:");
|
||||
puth(USBx_OUTEP(2)->DOEPINT);
|
||||
puts(" 3:");
|
||||
puth(USBx_OUTEP(3)->DOEPINT);
|
||||
puts(" ");
|
||||
puth(USBx_OUTEP(3)->DOEPCTL);
|
||||
puts(" 4:");
|
||||
puth(USBx_OUTEP(4)->DOEPINT);
|
||||
puts(" OUT ENDPOINT\n");
|
||||
#endif
|
||||
|
||||
if (USBx_OUTEP(2)->DOEPINT & USB_OTG_DOEPINT_XFRC) {
|
||||
#ifdef DEBUG
|
||||
puts(" OUT2 PACKET XFRC\n");
|
||||
#endif
|
||||
USBx_OUTEP(2)->DOEPTSIZ = (1 << 19) | 0x10;
|
||||
USBx_OUTEP(2)->DOEPCTL |= USB_OTG_DOEPCTL_EPENA | USB_OTG_DOEPCTL_CNAK;
|
||||
}
|
||||
|
||||
if (USBx_OUTEP(3)->DOEPINT & USB_OTG_DOEPINT_XFRC) {
|
||||
#ifdef DEBUG
|
||||
puts(" OUT3 PACKET XFRC\n");
|
||||
#endif
|
||||
USBx_OUTEP(3)->DOEPTSIZ = (1 << 19) | 0x40;
|
||||
USBx_OUTEP(3)->DOEPCTL |= USB_OTG_DOEPCTL_EPENA | USB_OTG_DOEPCTL_CNAK;
|
||||
} else if (USBx_OUTEP(3)->DOEPINT & 0x2000) {
|
||||
#ifdef DEBUG
|
||||
puts(" OUT3 PACKET WTF\n");
|
||||
#endif
|
||||
// if NAK was set trigger this, unknown interrupt
|
||||
USBx_OUTEP(3)->DOEPTSIZ = (1 << 19) | 0x40;
|
||||
USBx_OUTEP(3)->DOEPCTL |= USB_OTG_DOEPCTL_CNAK;
|
||||
} else if (USBx_OUTEP(3)->DOEPINT) {
|
||||
puts("OUTEP3 error ");
|
||||
puth(USBx_OUTEP(3)->DOEPINT);
|
||||
puts("\n");
|
||||
}
|
||||
|
||||
if (USBx_OUTEP(0)->DOEPINT & USB_OTG_DIEPINT_XFRC) {
|
||||
// ready for next packet
|
||||
USBx_OUTEP(0)->DOEPTSIZ = USB_OTG_DOEPTSIZ_STUPCNT | (USB_OTG_DOEPTSIZ_PKTCNT & (1 << 19)) | (1 * 8);
|
||||
}
|
||||
|
||||
// respond to setup packets
|
||||
if (USBx_OUTEP(0)->DOEPINT & USB_OTG_DOEPINT_STUP) {
|
||||
usb_setup();
|
||||
}
|
||||
|
||||
USBx_OUTEP(0)->DOEPINT = USBx_OUTEP(0)->DOEPINT;
|
||||
USBx_OUTEP(2)->DOEPINT = USBx_OUTEP(2)->DOEPINT;
|
||||
USBx_OUTEP(3)->DOEPINT = USBx_OUTEP(3)->DOEPINT;
|
||||
}
|
||||
|
||||
|
||||
// in endpoint hit
|
||||
if (gintsts & USB_OTG_GINTSTS_IEPINT) {
|
||||
#ifdef DEBUG
|
||||
puts(" ");
|
||||
puth(USBx_INEP(0)->DIEPINT);
|
||||
puts(" ");
|
||||
puth(USBx_INEP(1)->DIEPINT);
|
||||
puts(" IN ENDPOINT\n");
|
||||
#endif
|
||||
|
||||
// this happens first
|
||||
if (USBx_INEP(1)->DIEPINT & USB_OTG_DIEPINT_XFRC) {
|
||||
#ifdef DEBUG
|
||||
puts(" IN PACKET SEND\n");
|
||||
#endif
|
||||
//USBx_DEVICE->DIEPEMPMSK = ~(1 << 1);
|
||||
}
|
||||
|
||||
// *** IN token received when TxFIFO is empty
|
||||
if (USBx_INEP(1)->DIEPINT & USB_OTG_DIEPMSK_ITTXFEMSK) {
|
||||
#ifdef DEBUG
|
||||
puts(" IN PACKET QUEUE\n");
|
||||
#endif
|
||||
// TODO: always assuming max len, can we get the length?
|
||||
usb_cb_ep1_in(0x40);
|
||||
}
|
||||
|
||||
// clear interrupts
|
||||
USBx_INEP(0)->DIEPINT = USBx_INEP(0)->DIEPINT;
|
||||
USBx_INEP(1)->DIEPINT = USBx_INEP(1)->DIEPINT;
|
||||
}
|
||||
|
||||
|
||||
// clear all interrupts
|
||||
USBx_DEVICE->DAINT = USBx_DEVICE->DAINT;
|
||||
USBx->GINTSTS = USBx->GINTSTS;
|
||||
|
||||
USBx->GINTMSK = 0xFFFFFFFF & ~(USB_OTG_GINTMSK_NPTXFEM | USB_OTG_GINTMSK_PTXFEM | USB_OTG_GINTSTS_SOF | USB_OTG_GINTSTS_EOPF);
|
||||
}
|
||||
|
||||
@@ -1,95 +0,0 @@
|
||||
# What is cereal?
|
||||
|
||||
cereal is the messaging system for openpilot. It uses [msgq](https://github.com/commaai/msgq) as a pub/sub backend, and [Cap'n proto](https://capnproto.org/capnp-tool.html) for serialization of the structs.
|
||||
|
||||
|
||||
## Messaging Spec
|
||||
|
||||
You'll find the message types in [log.capnp](log.capnp). It uses [Cap'n proto](https://capnproto.org/capnp-tool.html) and defines one struct called `Event`.
|
||||
|
||||
All `Events` have a `logMonoTime` and a `valid`. Then a big union defines the packet type.
|
||||
|
||||
### Best Practices
|
||||
|
||||
- **All fields must describe quantities in SI units**, unless otherwise specified in the field name.
|
||||
- In the context of the message they are in, field names should be completely unambiguous.
|
||||
- All values should be easy to plot and be human-readable with minimal parsing.
|
||||
|
||||
### Maintaining backwards-compatibility
|
||||
|
||||
When making changes to the messaging spec you want to maintain backwards-compatibility, such that old logs can
|
||||
be parsed with a new version of cereal. Adding structs and adding members to structs is generally safe, most other
|
||||
things are not. Read more details [here](https://capnproto.org/language.html).
|
||||
|
||||
### Custom forks
|
||||
|
||||
Forks of [openpilot](https://github.com/commaai/openpilot) might want to add things to the messaging
|
||||
spec, however this could conflict with future changes made in mainline cereal/openpilot. Rebasing against mainline openpilot
|
||||
then means breaking backwards-compatibility with all old logs of your fork. So we added reserved events in
|
||||
[custom.capnp](custom.capnp) that we will leave empty in mainline cereal/openpilot. **If you only modify those, you can ensure your
|
||||
fork will remain backwards-compatible with all versions of mainline openpilot and your fork.**
|
||||
|
||||
An example of compatible changes:
|
||||
```diff
|
||||
diff --git a/cereal/custom.capnp b/cereal/custom.capnp
|
||||
index 3348e859e..3365c7b98 100644
|
||||
--- a/cereal/custom.capnp
|
||||
+++ b/cereal/custom.capnp
|
||||
@@ -10,7 +10,11 @@ $Cxx.namespace("cereal");
|
||||
# DO rename the structs
|
||||
# DON'T change the identifier (e.g. @0x81c2f05a394cf4af)
|
||||
|
||||
-struct CustomReserved0 @0x81c2f05a394cf4af {
|
||||
+struct SteeringInfo @0x81c2f05a394cf4af {
|
||||
+ active @0 :Bool;
|
||||
+ steeringAngleDeg @1 :Float32;
|
||||
+ steeringRateDeg @2 :Float32;
|
||||
+ steeringAccelDeg @3 :Float32;
|
||||
}
|
||||
|
||||
struct CustomReserved1 @0xaedffd8f31e7b55d {
|
||||
diff --git a/cereal/log.capnp b/cereal/log.capnp
|
||||
index 1209f3fd9..b189f58b6 100644
|
||||
--- a/cereal/log.capnp
|
||||
+++ b/cereal/log.capnp
|
||||
@@ -2558,14 +2558,14 @@ struct Event {
|
||||
|
||||
# DO change the name of the field
|
||||
# DON'T change anything after the "@"
|
||||
- customReservedRawData0 @124 :Data;
|
||||
+ rawCanData @124 :Data;
|
||||
customReservedRawData1 @125 :Data;
|
||||
customReservedRawData2 @126 :Data;
|
||||
|
||||
# DO change the name of the field and struct
|
||||
# DON'T change the ID (e.g. @107)
|
||||
# DON'T change which struct it points to
|
||||
- customReserved0 @107 :Custom.CustomReserved0;
|
||||
+ steeringInfo @107 :Custom.SteeringInfo;
|
||||
customReserved1 @108 :Custom.CustomReserved1;
|
||||
customReserved2 @109 :Custom.CustomReserved2;
|
||||
customReserved3 @110 :Custom.CustomReserved3;
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
Example
|
||||
---
|
||||
```python
|
||||
import cereal.messaging as messaging
|
||||
|
||||
# in subscriber
|
||||
sm = messaging.SubMaster(['sensorEvents'])
|
||||
while 1:
|
||||
sm.update()
|
||||
print(sm['sensorEvents'])
|
||||
|
||||
```
|
||||
|
||||
```python
|
||||
# in publisher
|
||||
pm = messaging.PubMaster(['sensorEvents'])
|
||||
dat = messaging.new_message('sensorEvents', size=1)
|
||||
dat.sensorEvents[0] = {"gyro": {"v": [0.1, -0.1, 0.1]}}
|
||||
pm.send('sensorEvents', dat)
|
||||
```
|
||||
@@ -1,20 +0,0 @@
|
||||
Import('env', 'common', 'msgq')
|
||||
|
||||
cereal_dir = Dir('.')
|
||||
gen_dir = Dir('gen')
|
||||
|
||||
# Build cereal
|
||||
schema_files = ['log.capnp', 'car.capnp', 'legacy.capnp', 'custom.capnp']
|
||||
env.Command([f'gen/cpp/{s}.c++' for s in schema_files] + [f'gen/cpp/{s}.h' for s in schema_files],
|
||||
schema_files,
|
||||
f"capnpc --src-prefix={cereal_dir.path} $SOURCES -o c++:{gen_dir.path}/cpp/")
|
||||
|
||||
cereal = env.Library('cereal', [f'gen/cpp/{s}.c++' for s in schema_files])
|
||||
|
||||
# Build messaging
|
||||
services_h = env.Command(['services.h'], ['services.py'], 'python3 ' + cereal_dir.path + '/services.py > $TARGET')
|
||||
env.Program('messaging/bridge', ['messaging/bridge.cc', 'messaging/msgq_to_zmq.cc'], LIBS=[msgq, common, 'pthread'])
|
||||
|
||||
socketmaster = env.Library('socketmaster', ['messaging/socketmaster.cc'])
|
||||
|
||||
Export('cereal', 'socketmaster')
|
||||
+4
-7
@@ -1,11 +1,8 @@
|
||||
import os
|
||||
import capnp
|
||||
from importlib.resources import as_file, files
|
||||
|
||||
capnp.remove_import_hook()
|
||||
|
||||
with as_file(files("cereal")) as fspath:
|
||||
CEREAL_PATH = fspath.as_posix()
|
||||
log = capnp.load(os.path.join(CEREAL_PATH, "log.capnp"))
|
||||
car = capnp.load(os.path.join(CEREAL_PATH, "car.capnp"))
|
||||
custom = capnp.load(os.path.join(CEREAL_PATH, "custom.capnp"))
|
||||
CEREAL_PATH = os.path.dirname(os.path.abspath(__file__))
|
||||
log = capnp.load(os.path.join(CEREAL_PATH, "log.capnp"))
|
||||
car = capnp.load(os.path.join(CEREAL_PATH, "car.capnp"))
|
||||
|
||||
|
||||
@@ -1 +0,0 @@
|
||||
../opendbc_repo/opendbc/car/car.capnp
|
||||
@@ -0,0 +1,172 @@
|
||||
using Cxx = import "c++.capnp";
|
||||
$Cxx.namespace("cereal");
|
||||
|
||||
@0x8e2af1e708af8b8d;
|
||||
|
||||
# ******* main car state @ 100hz *******
|
||||
# all speeds in m/s
|
||||
|
||||
struct CarState {
|
||||
errors @0: List(Error);
|
||||
|
||||
# car speed
|
||||
vEgo @1 :Float32; # best estimate of speed
|
||||
wheelSpeeds @2 :WheelSpeeds;
|
||||
|
||||
# gas pedal, 0.0-1.0
|
||||
gas @3 :Float32; # this is user + computer
|
||||
gasPressed @4 :Bool; # this is user pedal only
|
||||
|
||||
# brake pedal, 0.0-1.0
|
||||
brake @5 :Float32; # this is user pedal only
|
||||
brakePressed @6 :Bool; # this is user pedal only
|
||||
|
||||
# steering wheel
|
||||
steeringAngle @7 :Float32; # deg
|
||||
steeringTorque @8 :Float32; # TODO: standardize units
|
||||
steeringPressed @9 :Bool; # if the user is using the steering wheel
|
||||
|
||||
# cruise state
|
||||
cruiseState @10 :CruiseState;
|
||||
|
||||
# button presses
|
||||
buttonEvents @11 :List(ButtonEvent);
|
||||
|
||||
# which packets this state came from
|
||||
canMonoTimes @12: List(UInt64);
|
||||
|
||||
struct WheelSpeeds {
|
||||
# optional wheel speeds
|
||||
fl @0 :Float32;
|
||||
fr @1 :Float32;
|
||||
rl @2 :Float32;
|
||||
rr @3 :Float32;
|
||||
}
|
||||
|
||||
struct CruiseState {
|
||||
enabled @0: Bool;
|
||||
speed @1: Float32;
|
||||
}
|
||||
|
||||
enum Error {
|
||||
# TODO: copy from error list
|
||||
commIssue @0;
|
||||
steerUnavailable @1;
|
||||
brakeUnavailable @2;
|
||||
gasUnavailable @3;
|
||||
wrongGear @4;
|
||||
doorOpen @5;
|
||||
seatbeltNotLatched @6;
|
||||
espDisabled @7;
|
||||
wrongCarMode @8;
|
||||
steerTemporarilyUnavailable @9;
|
||||
reverseGear @10;
|
||||
# ...
|
||||
}
|
||||
|
||||
# send on change
|
||||
struct ButtonEvent {
|
||||
pressed @0: Bool;
|
||||
type @1: Type;
|
||||
|
||||
enum Type {
|
||||
unknown @0;
|
||||
leftBlinker @1;
|
||||
rightBlinker @2;
|
||||
accelCruise @3;
|
||||
decelCruise @4;
|
||||
cancel @5;
|
||||
altButton1 @6;
|
||||
altButton2 @7;
|
||||
altButton3 @8;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
# ******* radar state @ 20hz *******
|
||||
|
||||
struct RadarState {
|
||||
errors @0: List(Error);
|
||||
points @1: List(RadarPoint);
|
||||
|
||||
# which packets this state came from
|
||||
canMonoTimes @2: List(UInt64);
|
||||
|
||||
enum Error {
|
||||
notValid @0;
|
||||
}
|
||||
|
||||
# similar to LiveTracks
|
||||
# is one timestamp valid for all? I think so
|
||||
struct RadarPoint {
|
||||
trackId @0: UInt64; # no trackId reuse
|
||||
|
||||
# these 3 are the minimum required
|
||||
dRel @1: Float32; # m from the front bumper of the car
|
||||
yRel @2: Float32; # m
|
||||
vRel @3: Float32; # m/s
|
||||
|
||||
# these are optional and valid if they are not NaN
|
||||
aRel @4: Float32; # m/s^2
|
||||
yvRel @5: Float32; # m/s
|
||||
}
|
||||
}
|
||||
|
||||
# ******* car controls @ 100hz *******
|
||||
|
||||
struct CarControl {
|
||||
# must be true for any actuator commands to work
|
||||
enabled @0: Bool;
|
||||
|
||||
# range from 0.0 - 1.0
|
||||
gas @1: Float32;
|
||||
brake @2: Float32;
|
||||
|
||||
# range from -1.0 - 1.0
|
||||
steeringTorque @3 :Float32;
|
||||
|
||||
cruiseControl @4: CruiseControl;
|
||||
hudControl @5: HUDControl;
|
||||
|
||||
struct CruiseControl {
|
||||
cancel @0: Bool;
|
||||
override @1: Bool;
|
||||
speedOverride @2: Float32;
|
||||
accelOverride @3: Float32;
|
||||
}
|
||||
|
||||
struct HUDControl {
|
||||
speedVisible @0: Bool;
|
||||
setSpeed @1: Float32;
|
||||
lanesVisible @2: Bool;
|
||||
leadVisible @3: Bool;
|
||||
visualAlert @4: VisualAlert;
|
||||
audibleAlert @5: AudibleAlert;
|
||||
|
||||
enum VisualAlert {
|
||||
# these are the choices from the Honda
|
||||
# map as good as you can for your car
|
||||
none @0;
|
||||
fcw @1;
|
||||
steerRequired @2;
|
||||
brakePressed @3;
|
||||
wrongGear @4;
|
||||
seatbeltUnbuckled @5;
|
||||
speedTooHigh @6;
|
||||
}
|
||||
|
||||
enum AudibleAlert {
|
||||
# these are the choices from the Honda
|
||||
# map as good as you can for your car
|
||||
none @0;
|
||||
beepSingle @1;
|
||||
beepTriple @2;
|
||||
beepRepeated @3;
|
||||
chimeSingle @4;
|
||||
chimeDouble @5;
|
||||
chimeRepeated @6;
|
||||
chimeContinuous @7;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
@@ -1,292 +0,0 @@
|
||||
using Cxx = import "./include/c++.capnp";
|
||||
$Cxx.namespace("cereal");
|
||||
|
||||
@0xb526ba661d550a59;
|
||||
|
||||
# custom.capnp: a home for empty structs reserved for custom forks
|
||||
# These structs are guaranteed to remain reserved and empty in mainline
|
||||
# cereal, so use these if you want custom events in your fork.
|
||||
|
||||
# DO rename the structs
|
||||
# DON'T change the identifier (e.g. @0x81c2f05a394cf4af)
|
||||
|
||||
struct ModularAssistiveDrivingSystem {
|
||||
state @0 :ModularAssistiveDrivingSystemState;
|
||||
enabled @1 :Bool;
|
||||
active @2 :Bool;
|
||||
available @3 :Bool;
|
||||
|
||||
enum ModularAssistiveDrivingSystemState {
|
||||
disabled @0;
|
||||
paused @1;
|
||||
enabled @2;
|
||||
softDisabling @3;
|
||||
overriding @4;
|
||||
}
|
||||
}
|
||||
|
||||
# Same struct as Log.RadarState.LeadData
|
||||
struct LeadData {
|
||||
dRel @0 :Float32;
|
||||
yRel @1 :Float32;
|
||||
vRel @2 :Float32;
|
||||
aRel @3 :Float32;
|
||||
vLead @4 :Float32;
|
||||
dPath @6 :Float32;
|
||||
vLat @7 :Float32;
|
||||
vLeadK @8 :Float32;
|
||||
aLeadK @9 :Float32;
|
||||
fcw @10 :Bool;
|
||||
status @11 :Bool;
|
||||
aLeadTau @12 :Float32;
|
||||
modelProb @13 :Float32;
|
||||
radar @14 :Bool;
|
||||
radarTrackId @15 :Int32 = -1;
|
||||
|
||||
aLeadDEPRECATED @5 :Float32;
|
||||
}
|
||||
|
||||
struct SelfdriveStateSP @0x81c2f05a394cf4af {
|
||||
mads @0 :ModularAssistiveDrivingSystem;
|
||||
}
|
||||
|
||||
struct ModelManagerSP @0xaedffd8f31e7b55d {
|
||||
activeBundle @0 :ModelBundle;
|
||||
selectedBundle @1 :ModelBundle;
|
||||
availableBundles @2 :List(ModelBundle);
|
||||
|
||||
struct DownloadUri {
|
||||
uri @0 :Text;
|
||||
sha256 @1 :Text;
|
||||
}
|
||||
|
||||
enum DownloadStatus {
|
||||
notDownloading @0;
|
||||
downloading @1;
|
||||
downloaded @2;
|
||||
cached @3;
|
||||
failed @4;
|
||||
}
|
||||
|
||||
struct DownloadProgress {
|
||||
status @0 :DownloadStatus;
|
||||
progress @1 :Float32;
|
||||
eta @2 :UInt32;
|
||||
}
|
||||
|
||||
struct Artifact {
|
||||
fileName @0 :Text;
|
||||
downloadUri @1 :DownloadUri;
|
||||
downloadProgress @2 :DownloadProgress;
|
||||
}
|
||||
|
||||
struct Model {
|
||||
type @0 :Type;
|
||||
artifact @1 :Artifact; # Main artifact
|
||||
metadata @2 :Artifact; # Metadata artifact
|
||||
|
||||
enum Type {
|
||||
supercombo @0;
|
||||
navigation @1;
|
||||
vision @2;
|
||||
policy @3;
|
||||
}
|
||||
}
|
||||
|
||||
enum Runner {
|
||||
snpe @0;
|
||||
tinygrad @1;
|
||||
stock @2;
|
||||
}
|
||||
|
||||
struct Override {
|
||||
key @0 :Text;
|
||||
value @1 :Text;
|
||||
}
|
||||
|
||||
struct ModelBundle {
|
||||
index @0 :UInt32;
|
||||
internalName @1 :Text;
|
||||
displayName @2 :Text;
|
||||
models @3 :List(Model);
|
||||
status @4 :DownloadStatus;
|
||||
generation @5 :UInt32;
|
||||
environment @6 :Text;
|
||||
runner @7 :Runner;
|
||||
is20hz @8 :Bool;
|
||||
ref @9 :Text;
|
||||
minimumSelectorVersion @10 :UInt32;
|
||||
overrides @11 :List(Override);
|
||||
}
|
||||
}
|
||||
|
||||
struct LongitudinalPlanSP @0xf35cc4560bbf6ec2 {
|
||||
dec @0 :DynamicExperimentalControl;
|
||||
|
||||
struct DynamicExperimentalControl {
|
||||
state @0 :DynamicExperimentalControlState;
|
||||
enabled @1 :Bool;
|
||||
active @2 :Bool;
|
||||
|
||||
enum DynamicExperimentalControlState {
|
||||
acc @0;
|
||||
blended @1;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
struct OnroadEventSP @0xda96579883444c35 {
|
||||
events @0 :List(Event);
|
||||
|
||||
struct Event {
|
||||
name @0 :EventName;
|
||||
|
||||
# event types
|
||||
enable @1 :Bool;
|
||||
noEntry @2 :Bool;
|
||||
warning @3 :Bool; # alerts presented only when enabled or soft disabling
|
||||
userDisable @4 :Bool;
|
||||
softDisable @5 :Bool;
|
||||
immediateDisable @6 :Bool;
|
||||
preEnable @7 :Bool;
|
||||
permanent @8 :Bool; # alerts presented regardless of openpilot state
|
||||
overrideLateral @10 :Bool;
|
||||
overrideLongitudinal @9 :Bool;
|
||||
}
|
||||
|
||||
enum EventName {
|
||||
lkasEnable @0;
|
||||
lkasDisable @1;
|
||||
manualSteeringRequired @2;
|
||||
manualLongitudinalRequired @3;
|
||||
silentLkasEnable @4;
|
||||
silentLkasDisable @5;
|
||||
silentBrakeHold @6;
|
||||
silentWrongGear @7;
|
||||
silentReverseGear @8;
|
||||
silentDoorOpen @9;
|
||||
silentSeatbeltNotLatched @10;
|
||||
silentParkBrake @11;
|
||||
controlsMismatchLateral @12;
|
||||
hyundaiRadarTracksConfirmed @13;
|
||||
experimentalModeSwitched @14;
|
||||
wrongCarModeAlertOnly @15;
|
||||
pedalPressedAlertOnly @16;
|
||||
}
|
||||
}
|
||||
|
||||
struct CarParamsSP @0x80ae746ee2596b11 {
|
||||
flags @0 :UInt32; # flags for car specific quirks in sunnypilot
|
||||
safetyParam @1 : Int16; # flags for sunnypilot's custom safety flags
|
||||
|
||||
neuralNetworkLateralControl @2 :NeuralNetworkLateralControl;
|
||||
|
||||
struct NeuralNetworkLateralControl {
|
||||
model @0 :Model;
|
||||
fuzzyFingerprint @1 :Bool;
|
||||
|
||||
struct Model {
|
||||
path @0 :Text;
|
||||
name @1 :Text;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
struct CarControlSP @0xa5cd762cd951a455 {
|
||||
mads @0 :ModularAssistiveDrivingSystem;
|
||||
params @1 :List(Param);
|
||||
leadOne @2 :LeadData;
|
||||
leadTwo @3 :LeadData;
|
||||
|
||||
struct Param {
|
||||
key @0 :Text;
|
||||
value @1 :Text;
|
||||
}
|
||||
}
|
||||
|
||||
struct BackupManagerSP @0xf98d843bfd7004a3 {
|
||||
backupStatus @0 :Status;
|
||||
restoreStatus @1 :Status;
|
||||
backupProgress @2 :Float32;
|
||||
restoreProgress @3 :Float32;
|
||||
lastError @4 :Text;
|
||||
currentBackup @5 :BackupInfo;
|
||||
backupHistory @6 :List(BackupInfo);
|
||||
|
||||
enum Status {
|
||||
idle @0;
|
||||
inProgress @1;
|
||||
completed @2;
|
||||
failed @3;
|
||||
}
|
||||
|
||||
struct Version {
|
||||
major @0 :UInt16;
|
||||
minor @1 :UInt16;
|
||||
patch @2 :UInt16;
|
||||
build @3 :UInt16;
|
||||
branch @4 :Text;
|
||||
}
|
||||
|
||||
struct MetadataEntry {
|
||||
key @0 :Text;
|
||||
value @1 :Text;
|
||||
tags @2 :List(Text);
|
||||
}
|
||||
|
||||
struct BackupInfo {
|
||||
deviceId @0 :Text;
|
||||
version @1 :UInt32;
|
||||
config @2 :Text;
|
||||
isEncrypted @3 :Bool;
|
||||
createdAt @4 :Text; # ISO timestamp
|
||||
updatedAt @5 :Text; # ISO timestamp
|
||||
sunnypilotVersion @6 :Version;
|
||||
backupMetadata @7 :List(MetadataEntry);
|
||||
}
|
||||
}
|
||||
|
||||
struct CarStateSP @0xb86e6369214c01c8 {
|
||||
}
|
||||
|
||||
struct LiveMapDataSP @0xf416ec09499d9d19 {
|
||||
speedLimitValid @0 :Bool;
|
||||
speedLimit @1 :Float32;
|
||||
speedLimitAheadValid @2 :Bool;
|
||||
speedLimitAhead @3 :Float32;
|
||||
speedLimitAheadDistance @4 :Float32;
|
||||
roadName @5 :Text;
|
||||
}
|
||||
|
||||
struct CustomReserved9 @0xa1680744031fdb2d {
|
||||
}
|
||||
|
||||
struct CustomReserved10 @0xcb9fd56c7057593a {
|
||||
}
|
||||
|
||||
struct CustomReserved11 @0xc2243c65e0340384 {
|
||||
}
|
||||
|
||||
struct CustomReserved12 @0x9ccdc8676701b412 {
|
||||
}
|
||||
|
||||
struct CustomReserved13 @0xcd96dafb67a082d0 {
|
||||
}
|
||||
|
||||
struct CustomReserved14 @0xb057204d7deadf3f {
|
||||
}
|
||||
|
||||
struct CustomReserved15 @0xbd443b539493bc68 {
|
||||
}
|
||||
|
||||
struct CustomReserved16 @0xfc6241ed8877b611 {
|
||||
}
|
||||
|
||||
struct CustomReserved17 @0xa30662f84033036c {
|
||||
}
|
||||
|
||||
struct CustomReserved18 @0xc86a3d38d13eb3ef {
|
||||
}
|
||||
|
||||
struct CustomReserved19 @0xa4f1eb3323f5f582 {
|
||||
}
|
||||
File diff suppressed because it is too large
Load Diff
@@ -0,0 +1,669 @@
|
||||
#ifndef CAPN_F3B1F17E25A4285B
|
||||
#define CAPN_F3B1F17E25A4285B
|
||||
/* AUTO GENERATED - DO NOT EDIT */
|
||||
#include <capnp_c.h>
|
||||
|
||||
#if CAPN_VERSION != 1
|
||||
#error "version mismatch between capnp_c.h and generated code"
|
||||
#endif
|
||||
|
||||
#include "c++.capnp.h"
|
||||
|
||||
#ifdef __cplusplus
|
||||
extern "C" {
|
||||
#endif
|
||||
|
||||
struct cereal_InitData;
|
||||
struct cereal_FrameData;
|
||||
struct cereal_GPSNMEAData;
|
||||
struct cereal_SensorEventData;
|
||||
struct cereal_SensorEventData_SensorVec;
|
||||
struct cereal_CanData;
|
||||
struct cereal_ThermalData;
|
||||
struct cereal_HealthData;
|
||||
struct cereal_LiveUI;
|
||||
struct cereal_Live20Data;
|
||||
struct cereal_Live20Data_LeadData;
|
||||
struct cereal_LiveCalibrationData;
|
||||
struct cereal_LiveTracks;
|
||||
struct cereal_Live100Data;
|
||||
struct cereal_LiveEventData;
|
||||
struct cereal_ModelData;
|
||||
struct cereal_ModelData_PathData;
|
||||
struct cereal_ModelData_LeadData;
|
||||
struct cereal_ModelData_ModelSettings;
|
||||
struct cereal_CalibrationFeatures;
|
||||
struct cereal_EncodeIndex;
|
||||
struct cereal_AndroidLogEntry;
|
||||
struct cereal_LogRotate;
|
||||
struct cereal_Event;
|
||||
|
||||
typedef struct {capn_ptr p;} cereal_InitData_ptr;
|
||||
typedef struct {capn_ptr p;} cereal_FrameData_ptr;
|
||||
typedef struct {capn_ptr p;} cereal_GPSNMEAData_ptr;
|
||||
typedef struct {capn_ptr p;} cereal_SensorEventData_ptr;
|
||||
typedef struct {capn_ptr p;} cereal_SensorEventData_SensorVec_ptr;
|
||||
typedef struct {capn_ptr p;} cereal_CanData_ptr;
|
||||
typedef struct {capn_ptr p;} cereal_ThermalData_ptr;
|
||||
typedef struct {capn_ptr p;} cereal_HealthData_ptr;
|
||||
typedef struct {capn_ptr p;} cereal_LiveUI_ptr;
|
||||
typedef struct {capn_ptr p;} cereal_Live20Data_ptr;
|
||||
typedef struct {capn_ptr p;} cereal_Live20Data_LeadData_ptr;
|
||||
typedef struct {capn_ptr p;} cereal_LiveCalibrationData_ptr;
|
||||
typedef struct {capn_ptr p;} cereal_LiveTracks_ptr;
|
||||
typedef struct {capn_ptr p;} cereal_Live100Data_ptr;
|
||||
typedef struct {capn_ptr p;} cereal_LiveEventData_ptr;
|
||||
typedef struct {capn_ptr p;} cereal_ModelData_ptr;
|
||||
typedef struct {capn_ptr p;} cereal_ModelData_PathData_ptr;
|
||||
typedef struct {capn_ptr p;} cereal_ModelData_LeadData_ptr;
|
||||
typedef struct {capn_ptr p;} cereal_ModelData_ModelSettings_ptr;
|
||||
typedef struct {capn_ptr p;} cereal_CalibrationFeatures_ptr;
|
||||
typedef struct {capn_ptr p;} cereal_EncodeIndex_ptr;
|
||||
typedef struct {capn_ptr p;} cereal_AndroidLogEntry_ptr;
|
||||
typedef struct {capn_ptr p;} cereal_LogRotate_ptr;
|
||||
typedef struct {capn_ptr p;} cereal_Event_ptr;
|
||||
|
||||
typedef struct {capn_ptr p;} cereal_InitData_list;
|
||||
typedef struct {capn_ptr p;} cereal_FrameData_list;
|
||||
typedef struct {capn_ptr p;} cereal_GPSNMEAData_list;
|
||||
typedef struct {capn_ptr p;} cereal_SensorEventData_list;
|
||||
typedef struct {capn_ptr p;} cereal_SensorEventData_SensorVec_list;
|
||||
typedef struct {capn_ptr p;} cereal_CanData_list;
|
||||
typedef struct {capn_ptr p;} cereal_ThermalData_list;
|
||||
typedef struct {capn_ptr p;} cereal_HealthData_list;
|
||||
typedef struct {capn_ptr p;} cereal_LiveUI_list;
|
||||
typedef struct {capn_ptr p;} cereal_Live20Data_list;
|
||||
typedef struct {capn_ptr p;} cereal_Live20Data_LeadData_list;
|
||||
typedef struct {capn_ptr p;} cereal_LiveCalibrationData_list;
|
||||
typedef struct {capn_ptr p;} cereal_LiveTracks_list;
|
||||
typedef struct {capn_ptr p;} cereal_Live100Data_list;
|
||||
typedef struct {capn_ptr p;} cereal_LiveEventData_list;
|
||||
typedef struct {capn_ptr p;} cereal_ModelData_list;
|
||||
typedef struct {capn_ptr p;} cereal_ModelData_PathData_list;
|
||||
typedef struct {capn_ptr p;} cereal_ModelData_LeadData_list;
|
||||
typedef struct {capn_ptr p;} cereal_ModelData_ModelSettings_list;
|
||||
typedef struct {capn_ptr p;} cereal_CalibrationFeatures_list;
|
||||
typedef struct {capn_ptr p;} cereal_EncodeIndex_list;
|
||||
typedef struct {capn_ptr p;} cereal_AndroidLogEntry_list;
|
||||
typedef struct {capn_ptr p;} cereal_LogRotate_list;
|
||||
typedef struct {capn_ptr p;} cereal_Event_list;
|
||||
|
||||
enum cereal_EncodeIndex_Type {
|
||||
cereal_EncodeIndex_Type_bigBoxLossless = 0,
|
||||
cereal_EncodeIndex_Type_fullHEVC = 1,
|
||||
cereal_EncodeIndex_Type_bigBoxHEVC = 2
|
||||
};
|
||||
extern int32_t cereal_logVersion;
|
||||
|
||||
struct cereal_InitData {
|
||||
capn_ptr kernelArgs;
|
||||
capn_text gctx;
|
||||
capn_text dongleId;
|
||||
};
|
||||
|
||||
static const size_t cereal_InitData_word_count = 0;
|
||||
|
||||
static const size_t cereal_InitData_pointer_count = 3;
|
||||
|
||||
static const size_t cereal_InitData_struct_bytes_count = 24;
|
||||
|
||||
struct cereal_FrameData {
|
||||
uint32_t frameId;
|
||||
uint32_t encodeId;
|
||||
uint64_t timestampEof;
|
||||
int32_t frameLength;
|
||||
int32_t integLines;
|
||||
int32_t globalGain;
|
||||
capn_data image;
|
||||
};
|
||||
|
||||
static const size_t cereal_FrameData_word_count = 4;
|
||||
|
||||
static const size_t cereal_FrameData_pointer_count = 1;
|
||||
|
||||
static const size_t cereal_FrameData_struct_bytes_count = 40;
|
||||
|
||||
struct cereal_GPSNMEAData {
|
||||
int64_t timestamp;
|
||||
uint64_t localWallTime;
|
||||
capn_text nmea;
|
||||
};
|
||||
|
||||
static const size_t cereal_GPSNMEAData_word_count = 2;
|
||||
|
||||
static const size_t cereal_GPSNMEAData_pointer_count = 1;
|
||||
|
||||
static const size_t cereal_GPSNMEAData_struct_bytes_count = 24;
|
||||
enum cereal_SensorEventData_which {
|
||||
cereal_SensorEventData_acceleration = 0,
|
||||
cereal_SensorEventData_magnetic = 1,
|
||||
cereal_SensorEventData_orientation = 2,
|
||||
cereal_SensorEventData_gyro = 3
|
||||
};
|
||||
|
||||
struct cereal_SensorEventData {
|
||||
int32_t version;
|
||||
int32_t sensor;
|
||||
int32_t type;
|
||||
int64_t timestamp;
|
||||
enum cereal_SensorEventData_which which;
|
||||
union {
|
||||
cereal_SensorEventData_SensorVec_ptr acceleration;
|
||||
cereal_SensorEventData_SensorVec_ptr magnetic;
|
||||
cereal_SensorEventData_SensorVec_ptr orientation;
|
||||
cereal_SensorEventData_SensorVec_ptr gyro;
|
||||
};
|
||||
};
|
||||
|
||||
static const size_t cereal_SensorEventData_word_count = 3;
|
||||
|
||||
static const size_t cereal_SensorEventData_pointer_count = 1;
|
||||
|
||||
static const size_t cereal_SensorEventData_struct_bytes_count = 32;
|
||||
|
||||
struct cereal_SensorEventData_SensorVec {
|
||||
capn_list32 v;
|
||||
int8_t status;
|
||||
};
|
||||
|
||||
static const size_t cereal_SensorEventData_SensorVec_word_count = 1;
|
||||
|
||||
static const size_t cereal_SensorEventData_SensorVec_pointer_count = 1;
|
||||
|
||||
static const size_t cereal_SensorEventData_SensorVec_struct_bytes_count = 16;
|
||||
|
||||
struct cereal_CanData {
|
||||
uint32_t address;
|
||||
uint16_t busTime;
|
||||
capn_data dat;
|
||||
int8_t src;
|
||||
};
|
||||
|
||||
static const size_t cereal_CanData_word_count = 1;
|
||||
|
||||
static const size_t cereal_CanData_pointer_count = 1;
|
||||
|
||||
static const size_t cereal_CanData_struct_bytes_count = 16;
|
||||
|
||||
struct cereal_ThermalData {
|
||||
uint16_t cpu0;
|
||||
uint16_t cpu1;
|
||||
uint16_t cpu2;
|
||||
uint16_t cpu3;
|
||||
uint16_t mem;
|
||||
uint16_t gpu;
|
||||
uint32_t bat;
|
||||
float freeSpace;
|
||||
};
|
||||
|
||||
static const size_t cereal_ThermalData_word_count = 3;
|
||||
|
||||
static const size_t cereal_ThermalData_pointer_count = 0;
|
||||
|
||||
static const size_t cereal_ThermalData_struct_bytes_count = 24;
|
||||
|
||||
struct cereal_HealthData {
|
||||
uint32_t voltage;
|
||||
uint32_t current;
|
||||
unsigned started : 1;
|
||||
unsigned controlsAllowed : 1;
|
||||
unsigned gasInterceptorDetected : 1;
|
||||
unsigned startedSignalDetected : 1;
|
||||
};
|
||||
|
||||
static const size_t cereal_HealthData_word_count = 2;
|
||||
|
||||
static const size_t cereal_HealthData_pointer_count = 0;
|
||||
|
||||
static const size_t cereal_HealthData_struct_bytes_count = 16;
|
||||
|
||||
struct cereal_LiveUI {
|
||||
unsigned rearViewCam : 1;
|
||||
capn_text alertText1;
|
||||
capn_text alertText2;
|
||||
float awarenessStatus;
|
||||
};
|
||||
|
||||
static const size_t cereal_LiveUI_word_count = 1;
|
||||
|
||||
static const size_t cereal_LiveUI_pointer_count = 2;
|
||||
|
||||
static const size_t cereal_LiveUI_struct_bytes_count = 24;
|
||||
|
||||
struct cereal_Live20Data {
|
||||
capn_list64 canMonoTimes;
|
||||
uint64_t mdMonoTime;
|
||||
uint64_t ftMonoTime;
|
||||
capn_list32 warpMatrixDEPRECATED;
|
||||
float angleOffsetDEPRECATED;
|
||||
int8_t calStatusDEPRECATED;
|
||||
int32_t calCycleDEPRECATED;
|
||||
int8_t calPercDEPRECATED;
|
||||
cereal_Live20Data_LeadData_ptr leadOne;
|
||||
cereal_Live20Data_LeadData_ptr leadTwo;
|
||||
float cumLagMs;
|
||||
};
|
||||
|
||||
static const size_t cereal_Live20Data_word_count = 4;
|
||||
|
||||
static const size_t cereal_Live20Data_pointer_count = 4;
|
||||
|
||||
static const size_t cereal_Live20Data_struct_bytes_count = 64;
|
||||
|
||||
struct cereal_Live20Data_LeadData {
|
||||
float dRel;
|
||||
float yRel;
|
||||
float vRel;
|
||||
float aRel;
|
||||
float vLead;
|
||||
float aLead;
|
||||
float dPath;
|
||||
float vLat;
|
||||
float vLeadK;
|
||||
float aLeadK;
|
||||
unsigned fcw : 1;
|
||||
unsigned status : 1;
|
||||
};
|
||||
|
||||
static const size_t cereal_Live20Data_LeadData_word_count = 6;
|
||||
|
||||
static const size_t cereal_Live20Data_LeadData_pointer_count = 0;
|
||||
|
||||
static const size_t cereal_Live20Data_LeadData_struct_bytes_count = 48;
|
||||
|
||||
struct cereal_LiveCalibrationData {
|
||||
capn_list32 warpMatrix;
|
||||
int8_t calStatus;
|
||||
int32_t calCycle;
|
||||
int8_t calPerc;
|
||||
};
|
||||
|
||||
static const size_t cereal_LiveCalibrationData_word_count = 1;
|
||||
|
||||
static const size_t cereal_LiveCalibrationData_pointer_count = 1;
|
||||
|
||||
static const size_t cereal_LiveCalibrationData_struct_bytes_count = 16;
|
||||
|
||||
struct cereal_LiveTracks {
|
||||
int32_t trackId;
|
||||
float dRel;
|
||||
float yRel;
|
||||
float vRel;
|
||||
float aRel;
|
||||
float timeStamp;
|
||||
float status;
|
||||
float currentTime;
|
||||
unsigned stationary : 1;
|
||||
unsigned oncoming : 1;
|
||||
};
|
||||
|
||||
static const size_t cereal_LiveTracks_word_count = 5;
|
||||
|
||||
static const size_t cereal_LiveTracks_pointer_count = 0;
|
||||
|
||||
static const size_t cereal_LiveTracks_struct_bytes_count = 40;
|
||||
|
||||
struct cereal_Live100Data {
|
||||
uint64_t canMonoTime;
|
||||
capn_list64 canMonoTimes;
|
||||
uint64_t l20MonoTime;
|
||||
uint64_t mdMonoTime;
|
||||
float vEgo;
|
||||
float aEgoDEPRECATED;
|
||||
float vPid;
|
||||
float vTargetLead;
|
||||
float upAccelCmd;
|
||||
float uiAccelCmd;
|
||||
float yActual;
|
||||
float yDes;
|
||||
float upSteer;
|
||||
float uiSteer;
|
||||
float aTargetMin;
|
||||
float aTargetMax;
|
||||
float jerkFactor;
|
||||
float angleSteers;
|
||||
int32_t hudLeadDEPRECATED;
|
||||
float cumLagMs;
|
||||
unsigned enabled : 1;
|
||||
unsigned steerOverride : 1;
|
||||
float vCruise;
|
||||
unsigned rearViewCam : 1;
|
||||
capn_text alertText1;
|
||||
capn_text alertText2;
|
||||
float awarenessStatus;
|
||||
};
|
||||
|
||||
static const size_t cereal_Live100Data_word_count = 13;
|
||||
|
||||
static const size_t cereal_Live100Data_pointer_count = 3;
|
||||
|
||||
static const size_t cereal_Live100Data_struct_bytes_count = 128;
|
||||
|
||||
struct cereal_LiveEventData {
|
||||
capn_text name;
|
||||
int32_t value;
|
||||
};
|
||||
|
||||
static const size_t cereal_LiveEventData_word_count = 1;
|
||||
|
||||
static const size_t cereal_LiveEventData_pointer_count = 1;
|
||||
|
||||
static const size_t cereal_LiveEventData_struct_bytes_count = 16;
|
||||
|
||||
struct cereal_ModelData {
|
||||
uint32_t frameId;
|
||||
cereal_ModelData_PathData_ptr path;
|
||||
cereal_ModelData_PathData_ptr leftLane;
|
||||
cereal_ModelData_PathData_ptr rightLane;
|
||||
cereal_ModelData_LeadData_ptr lead;
|
||||
cereal_ModelData_ModelSettings_ptr settings;
|
||||
};
|
||||
|
||||
static const size_t cereal_ModelData_word_count = 1;
|
||||
|
||||
static const size_t cereal_ModelData_pointer_count = 5;
|
||||
|
||||
static const size_t cereal_ModelData_struct_bytes_count = 48;
|
||||
|
||||
struct cereal_ModelData_PathData {
|
||||
capn_list32 points;
|
||||
float prob;
|
||||
float std;
|
||||
};
|
||||
|
||||
static const size_t cereal_ModelData_PathData_word_count = 1;
|
||||
|
||||
static const size_t cereal_ModelData_PathData_pointer_count = 1;
|
||||
|
||||
static const size_t cereal_ModelData_PathData_struct_bytes_count = 16;
|
||||
|
||||
struct cereal_ModelData_LeadData {
|
||||
float dist;
|
||||
float prob;
|
||||
float std;
|
||||
};
|
||||
|
||||
static const size_t cereal_ModelData_LeadData_word_count = 2;
|
||||
|
||||
static const size_t cereal_ModelData_LeadData_pointer_count = 0;
|
||||
|
||||
static const size_t cereal_ModelData_LeadData_struct_bytes_count = 16;
|
||||
|
||||
struct cereal_ModelData_ModelSettings {
|
||||
uint16_t bigBoxX;
|
||||
uint16_t bigBoxY;
|
||||
uint16_t bigBoxWidth;
|
||||
uint16_t bigBoxHeight;
|
||||
capn_list32 boxProjection;
|
||||
capn_list32 yuvCorrection;
|
||||
};
|
||||
|
||||
static const size_t cereal_ModelData_ModelSettings_word_count = 1;
|
||||
|
||||
static const size_t cereal_ModelData_ModelSettings_pointer_count = 2;
|
||||
|
||||
static const size_t cereal_ModelData_ModelSettings_struct_bytes_count = 24;
|
||||
|
||||
struct cereal_CalibrationFeatures {
|
||||
uint32_t frameId;
|
||||
capn_list32 p0;
|
||||
capn_list32 p1;
|
||||
capn_list8 status;
|
||||
};
|
||||
|
||||
static const size_t cereal_CalibrationFeatures_word_count = 1;
|
||||
|
||||
static const size_t cereal_CalibrationFeatures_pointer_count = 3;
|
||||
|
||||
static const size_t cereal_CalibrationFeatures_struct_bytes_count = 32;
|
||||
|
||||
struct cereal_EncodeIndex {
|
||||
uint32_t frameId;
|
||||
enum cereal_EncodeIndex_Type type;
|
||||
uint32_t encodeId;
|
||||
int32_t segmentNum;
|
||||
uint32_t segmentId;
|
||||
};
|
||||
|
||||
static const size_t cereal_EncodeIndex_word_count = 3;
|
||||
|
||||
static const size_t cereal_EncodeIndex_pointer_count = 0;
|
||||
|
||||
static const size_t cereal_EncodeIndex_struct_bytes_count = 24;
|
||||
|
||||
struct cereal_AndroidLogEntry {
|
||||
uint8_t id;
|
||||
uint64_t ts;
|
||||
uint8_t priority;
|
||||
int32_t pid;
|
||||
int32_t tid;
|
||||
capn_text tag;
|
||||
capn_text message;
|
||||
};
|
||||
|
||||
static const size_t cereal_AndroidLogEntry_word_count = 3;
|
||||
|
||||
static const size_t cereal_AndroidLogEntry_pointer_count = 2;
|
||||
|
||||
static const size_t cereal_AndroidLogEntry_struct_bytes_count = 40;
|
||||
|
||||
struct cereal_LogRotate {
|
||||
int32_t segmentNum;
|
||||
capn_text path;
|
||||
};
|
||||
|
||||
static const size_t cereal_LogRotate_word_count = 1;
|
||||
|
||||
static const size_t cereal_LogRotate_pointer_count = 1;
|
||||
|
||||
static const size_t cereal_LogRotate_struct_bytes_count = 16;
|
||||
enum cereal_Event_which {
|
||||
cereal_Event_initData = 0,
|
||||
cereal_Event_frame = 1,
|
||||
cereal_Event_gpsNMEA = 2,
|
||||
cereal_Event_sensorEventDEPRECATED = 3,
|
||||
cereal_Event_can = 4,
|
||||
cereal_Event_thermal = 5,
|
||||
cereal_Event_live100 = 6,
|
||||
cereal_Event_liveEventDEPRECATED = 7,
|
||||
cereal_Event_model = 8,
|
||||
cereal_Event_features = 9,
|
||||
cereal_Event_sensorEvents = 10,
|
||||
cereal_Event_health = 11,
|
||||
cereal_Event_live20 = 12,
|
||||
cereal_Event_liveUIDEPRECATED = 13,
|
||||
cereal_Event_encodeIdx = 14,
|
||||
cereal_Event_liveTracks = 15,
|
||||
cereal_Event_sendcan = 16,
|
||||
cereal_Event_logMessage = 17,
|
||||
cereal_Event_liveCalibration = 18,
|
||||
cereal_Event_androidLogEntry = 19
|
||||
};
|
||||
|
||||
struct cereal_Event {
|
||||
uint64_t logMonoTime;
|
||||
enum cereal_Event_which which;
|
||||
union {
|
||||
cereal_InitData_ptr initData;
|
||||
cereal_FrameData_ptr frame;
|
||||
cereal_GPSNMEAData_ptr gpsNMEA;
|
||||
cereal_SensorEventData_ptr sensorEventDEPRECATED;
|
||||
cereal_CanData_list can;
|
||||
cereal_ThermalData_ptr thermal;
|
||||
cereal_Live100Data_ptr live100;
|
||||
cereal_LiveEventData_list liveEventDEPRECATED;
|
||||
cereal_ModelData_ptr model;
|
||||
cereal_CalibrationFeatures_ptr features;
|
||||
cereal_SensorEventData_list sensorEvents;
|
||||
cereal_HealthData_ptr health;
|
||||
cereal_Live20Data_ptr live20;
|
||||
cereal_LiveUI_ptr liveUIDEPRECATED;
|
||||
cereal_EncodeIndex_ptr encodeIdx;
|
||||
cereal_LiveTracks_list liveTracks;
|
||||
cereal_CanData_list sendcan;
|
||||
capn_text logMessage;
|
||||
cereal_LiveCalibrationData_ptr liveCalibration;
|
||||
cereal_AndroidLogEntry_ptr androidLogEntry;
|
||||
};
|
||||
};
|
||||
|
||||
static const size_t cereal_Event_word_count = 2;
|
||||
|
||||
static const size_t cereal_Event_pointer_count = 1;
|
||||
|
||||
static const size_t cereal_Event_struct_bytes_count = 24;
|
||||
|
||||
cereal_InitData_ptr cereal_new_InitData(struct capn_segment*);
|
||||
cereal_FrameData_ptr cereal_new_FrameData(struct capn_segment*);
|
||||
cereal_GPSNMEAData_ptr cereal_new_GPSNMEAData(struct capn_segment*);
|
||||
cereal_SensorEventData_ptr cereal_new_SensorEventData(struct capn_segment*);
|
||||
cereal_SensorEventData_SensorVec_ptr cereal_new_SensorEventData_SensorVec(struct capn_segment*);
|
||||
cereal_CanData_ptr cereal_new_CanData(struct capn_segment*);
|
||||
cereal_ThermalData_ptr cereal_new_ThermalData(struct capn_segment*);
|
||||
cereal_HealthData_ptr cereal_new_HealthData(struct capn_segment*);
|
||||
cereal_LiveUI_ptr cereal_new_LiveUI(struct capn_segment*);
|
||||
cereal_Live20Data_ptr cereal_new_Live20Data(struct capn_segment*);
|
||||
cereal_Live20Data_LeadData_ptr cereal_new_Live20Data_LeadData(struct capn_segment*);
|
||||
cereal_LiveCalibrationData_ptr cereal_new_LiveCalibrationData(struct capn_segment*);
|
||||
cereal_LiveTracks_ptr cereal_new_LiveTracks(struct capn_segment*);
|
||||
cereal_Live100Data_ptr cereal_new_Live100Data(struct capn_segment*);
|
||||
cereal_LiveEventData_ptr cereal_new_LiveEventData(struct capn_segment*);
|
||||
cereal_ModelData_ptr cereal_new_ModelData(struct capn_segment*);
|
||||
cereal_ModelData_PathData_ptr cereal_new_ModelData_PathData(struct capn_segment*);
|
||||
cereal_ModelData_LeadData_ptr cereal_new_ModelData_LeadData(struct capn_segment*);
|
||||
cereal_ModelData_ModelSettings_ptr cereal_new_ModelData_ModelSettings(struct capn_segment*);
|
||||
cereal_CalibrationFeatures_ptr cereal_new_CalibrationFeatures(struct capn_segment*);
|
||||
cereal_EncodeIndex_ptr cereal_new_EncodeIndex(struct capn_segment*);
|
||||
cereal_AndroidLogEntry_ptr cereal_new_AndroidLogEntry(struct capn_segment*);
|
||||
cereal_LogRotate_ptr cereal_new_LogRotate(struct capn_segment*);
|
||||
cereal_Event_ptr cereal_new_Event(struct capn_segment*);
|
||||
|
||||
cereal_InitData_list cereal_new_InitData_list(struct capn_segment*, int len);
|
||||
cereal_FrameData_list cereal_new_FrameData_list(struct capn_segment*, int len);
|
||||
cereal_GPSNMEAData_list cereal_new_GPSNMEAData_list(struct capn_segment*, int len);
|
||||
cereal_SensorEventData_list cereal_new_SensorEventData_list(struct capn_segment*, int len);
|
||||
cereal_SensorEventData_SensorVec_list cereal_new_SensorEventData_SensorVec_list(struct capn_segment*, int len);
|
||||
cereal_CanData_list cereal_new_CanData_list(struct capn_segment*, int len);
|
||||
cereal_ThermalData_list cereal_new_ThermalData_list(struct capn_segment*, int len);
|
||||
cereal_HealthData_list cereal_new_HealthData_list(struct capn_segment*, int len);
|
||||
cereal_LiveUI_list cereal_new_LiveUI_list(struct capn_segment*, int len);
|
||||
cereal_Live20Data_list cereal_new_Live20Data_list(struct capn_segment*, int len);
|
||||
cereal_Live20Data_LeadData_list cereal_new_Live20Data_LeadData_list(struct capn_segment*, int len);
|
||||
cereal_LiveCalibrationData_list cereal_new_LiveCalibrationData_list(struct capn_segment*, int len);
|
||||
cereal_LiveTracks_list cereal_new_LiveTracks_list(struct capn_segment*, int len);
|
||||
cereal_Live100Data_list cereal_new_Live100Data_list(struct capn_segment*, int len);
|
||||
cereal_LiveEventData_list cereal_new_LiveEventData_list(struct capn_segment*, int len);
|
||||
cereal_ModelData_list cereal_new_ModelData_list(struct capn_segment*, int len);
|
||||
cereal_ModelData_PathData_list cereal_new_ModelData_PathData_list(struct capn_segment*, int len);
|
||||
cereal_ModelData_LeadData_list cereal_new_ModelData_LeadData_list(struct capn_segment*, int len);
|
||||
cereal_ModelData_ModelSettings_list cereal_new_ModelData_ModelSettings_list(struct capn_segment*, int len);
|
||||
cereal_CalibrationFeatures_list cereal_new_CalibrationFeatures_list(struct capn_segment*, int len);
|
||||
cereal_EncodeIndex_list cereal_new_EncodeIndex_list(struct capn_segment*, int len);
|
||||
cereal_AndroidLogEntry_list cereal_new_AndroidLogEntry_list(struct capn_segment*, int len);
|
||||
cereal_LogRotate_list cereal_new_LogRotate_list(struct capn_segment*, int len);
|
||||
cereal_Event_list cereal_new_Event_list(struct capn_segment*, int len);
|
||||
|
||||
void cereal_read_InitData(struct cereal_InitData*, cereal_InitData_ptr);
|
||||
void cereal_read_FrameData(struct cereal_FrameData*, cereal_FrameData_ptr);
|
||||
void cereal_read_GPSNMEAData(struct cereal_GPSNMEAData*, cereal_GPSNMEAData_ptr);
|
||||
void cereal_read_SensorEventData(struct cereal_SensorEventData*, cereal_SensorEventData_ptr);
|
||||
void cereal_read_SensorEventData_SensorVec(struct cereal_SensorEventData_SensorVec*, cereal_SensorEventData_SensorVec_ptr);
|
||||
void cereal_read_CanData(struct cereal_CanData*, cereal_CanData_ptr);
|
||||
void cereal_read_ThermalData(struct cereal_ThermalData*, cereal_ThermalData_ptr);
|
||||
void cereal_read_HealthData(struct cereal_HealthData*, cereal_HealthData_ptr);
|
||||
void cereal_read_LiveUI(struct cereal_LiveUI*, cereal_LiveUI_ptr);
|
||||
void cereal_read_Live20Data(struct cereal_Live20Data*, cereal_Live20Data_ptr);
|
||||
void cereal_read_Live20Data_LeadData(struct cereal_Live20Data_LeadData*, cereal_Live20Data_LeadData_ptr);
|
||||
void cereal_read_LiveCalibrationData(struct cereal_LiveCalibrationData*, cereal_LiveCalibrationData_ptr);
|
||||
void cereal_read_LiveTracks(struct cereal_LiveTracks*, cereal_LiveTracks_ptr);
|
||||
void cereal_read_Live100Data(struct cereal_Live100Data*, cereal_Live100Data_ptr);
|
||||
void cereal_read_LiveEventData(struct cereal_LiveEventData*, cereal_LiveEventData_ptr);
|
||||
void cereal_read_ModelData(struct cereal_ModelData*, cereal_ModelData_ptr);
|
||||
void cereal_read_ModelData_PathData(struct cereal_ModelData_PathData*, cereal_ModelData_PathData_ptr);
|
||||
void cereal_read_ModelData_LeadData(struct cereal_ModelData_LeadData*, cereal_ModelData_LeadData_ptr);
|
||||
void cereal_read_ModelData_ModelSettings(struct cereal_ModelData_ModelSettings*, cereal_ModelData_ModelSettings_ptr);
|
||||
void cereal_read_CalibrationFeatures(struct cereal_CalibrationFeatures*, cereal_CalibrationFeatures_ptr);
|
||||
void cereal_read_EncodeIndex(struct cereal_EncodeIndex*, cereal_EncodeIndex_ptr);
|
||||
void cereal_read_AndroidLogEntry(struct cereal_AndroidLogEntry*, cereal_AndroidLogEntry_ptr);
|
||||
void cereal_read_LogRotate(struct cereal_LogRotate*, cereal_LogRotate_ptr);
|
||||
void cereal_read_Event(struct cereal_Event*, cereal_Event_ptr);
|
||||
|
||||
void cereal_write_InitData(const struct cereal_InitData*, cereal_InitData_ptr);
|
||||
void cereal_write_FrameData(const struct cereal_FrameData*, cereal_FrameData_ptr);
|
||||
void cereal_write_GPSNMEAData(const struct cereal_GPSNMEAData*, cereal_GPSNMEAData_ptr);
|
||||
void cereal_write_SensorEventData(const struct cereal_SensorEventData*, cereal_SensorEventData_ptr);
|
||||
void cereal_write_SensorEventData_SensorVec(const struct cereal_SensorEventData_SensorVec*, cereal_SensorEventData_SensorVec_ptr);
|
||||
void cereal_write_CanData(const struct cereal_CanData*, cereal_CanData_ptr);
|
||||
void cereal_write_ThermalData(const struct cereal_ThermalData*, cereal_ThermalData_ptr);
|
||||
void cereal_write_HealthData(const struct cereal_HealthData*, cereal_HealthData_ptr);
|
||||
void cereal_write_LiveUI(const struct cereal_LiveUI*, cereal_LiveUI_ptr);
|
||||
void cereal_write_Live20Data(const struct cereal_Live20Data*, cereal_Live20Data_ptr);
|
||||
void cereal_write_Live20Data_LeadData(const struct cereal_Live20Data_LeadData*, cereal_Live20Data_LeadData_ptr);
|
||||
void cereal_write_LiveCalibrationData(const struct cereal_LiveCalibrationData*, cereal_LiveCalibrationData_ptr);
|
||||
void cereal_write_LiveTracks(const struct cereal_LiveTracks*, cereal_LiveTracks_ptr);
|
||||
void cereal_write_Live100Data(const struct cereal_Live100Data*, cereal_Live100Data_ptr);
|
||||
void cereal_write_LiveEventData(const struct cereal_LiveEventData*, cereal_LiveEventData_ptr);
|
||||
void cereal_write_ModelData(const struct cereal_ModelData*, cereal_ModelData_ptr);
|
||||
void cereal_write_ModelData_PathData(const struct cereal_ModelData_PathData*, cereal_ModelData_PathData_ptr);
|
||||
void cereal_write_ModelData_LeadData(const struct cereal_ModelData_LeadData*, cereal_ModelData_LeadData_ptr);
|
||||
void cereal_write_ModelData_ModelSettings(const struct cereal_ModelData_ModelSettings*, cereal_ModelData_ModelSettings_ptr);
|
||||
void cereal_write_CalibrationFeatures(const struct cereal_CalibrationFeatures*, cereal_CalibrationFeatures_ptr);
|
||||
void cereal_write_EncodeIndex(const struct cereal_EncodeIndex*, cereal_EncodeIndex_ptr);
|
||||
void cereal_write_AndroidLogEntry(const struct cereal_AndroidLogEntry*, cereal_AndroidLogEntry_ptr);
|
||||
void cereal_write_LogRotate(const struct cereal_LogRotate*, cereal_LogRotate_ptr);
|
||||
void cereal_write_Event(const struct cereal_Event*, cereal_Event_ptr);
|
||||
|
||||
void cereal_get_InitData(struct cereal_InitData*, cereal_InitData_list, int i);
|
||||
void cereal_get_FrameData(struct cereal_FrameData*, cereal_FrameData_list, int i);
|
||||
void cereal_get_GPSNMEAData(struct cereal_GPSNMEAData*, cereal_GPSNMEAData_list, int i);
|
||||
void cereal_get_SensorEventData(struct cereal_SensorEventData*, cereal_SensorEventData_list, int i);
|
||||
void cereal_get_SensorEventData_SensorVec(struct cereal_SensorEventData_SensorVec*, cereal_SensorEventData_SensorVec_list, int i);
|
||||
void cereal_get_CanData(struct cereal_CanData*, cereal_CanData_list, int i);
|
||||
void cereal_get_ThermalData(struct cereal_ThermalData*, cereal_ThermalData_list, int i);
|
||||
void cereal_get_HealthData(struct cereal_HealthData*, cereal_HealthData_list, int i);
|
||||
void cereal_get_LiveUI(struct cereal_LiveUI*, cereal_LiveUI_list, int i);
|
||||
void cereal_get_Live20Data(struct cereal_Live20Data*, cereal_Live20Data_list, int i);
|
||||
void cereal_get_Live20Data_LeadData(struct cereal_Live20Data_LeadData*, cereal_Live20Data_LeadData_list, int i);
|
||||
void cereal_get_LiveCalibrationData(struct cereal_LiveCalibrationData*, cereal_LiveCalibrationData_list, int i);
|
||||
void cereal_get_LiveTracks(struct cereal_LiveTracks*, cereal_LiveTracks_list, int i);
|
||||
void cereal_get_Live100Data(struct cereal_Live100Data*, cereal_Live100Data_list, int i);
|
||||
void cereal_get_LiveEventData(struct cereal_LiveEventData*, cereal_LiveEventData_list, int i);
|
||||
void cereal_get_ModelData(struct cereal_ModelData*, cereal_ModelData_list, int i);
|
||||
void cereal_get_ModelData_PathData(struct cereal_ModelData_PathData*, cereal_ModelData_PathData_list, int i);
|
||||
void cereal_get_ModelData_LeadData(struct cereal_ModelData_LeadData*, cereal_ModelData_LeadData_list, int i);
|
||||
void cereal_get_ModelData_ModelSettings(struct cereal_ModelData_ModelSettings*, cereal_ModelData_ModelSettings_list, int i);
|
||||
void cereal_get_CalibrationFeatures(struct cereal_CalibrationFeatures*, cereal_CalibrationFeatures_list, int i);
|
||||
void cereal_get_EncodeIndex(struct cereal_EncodeIndex*, cereal_EncodeIndex_list, int i);
|
||||
void cereal_get_AndroidLogEntry(struct cereal_AndroidLogEntry*, cereal_AndroidLogEntry_list, int i);
|
||||
void cereal_get_LogRotate(struct cereal_LogRotate*, cereal_LogRotate_list, int i);
|
||||
void cereal_get_Event(struct cereal_Event*, cereal_Event_list, int i);
|
||||
|
||||
void cereal_set_InitData(const struct cereal_InitData*, cereal_InitData_list, int i);
|
||||
void cereal_set_FrameData(const struct cereal_FrameData*, cereal_FrameData_list, int i);
|
||||
void cereal_set_GPSNMEAData(const struct cereal_GPSNMEAData*, cereal_GPSNMEAData_list, int i);
|
||||
void cereal_set_SensorEventData(const struct cereal_SensorEventData*, cereal_SensorEventData_list, int i);
|
||||
void cereal_set_SensorEventData_SensorVec(const struct cereal_SensorEventData_SensorVec*, cereal_SensorEventData_SensorVec_list, int i);
|
||||
void cereal_set_CanData(const struct cereal_CanData*, cereal_CanData_list, int i);
|
||||
void cereal_set_ThermalData(const struct cereal_ThermalData*, cereal_ThermalData_list, int i);
|
||||
void cereal_set_HealthData(const struct cereal_HealthData*, cereal_HealthData_list, int i);
|
||||
void cereal_set_LiveUI(const struct cereal_LiveUI*, cereal_LiveUI_list, int i);
|
||||
void cereal_set_Live20Data(const struct cereal_Live20Data*, cereal_Live20Data_list, int i);
|
||||
void cereal_set_Live20Data_LeadData(const struct cereal_Live20Data_LeadData*, cereal_Live20Data_LeadData_list, int i);
|
||||
void cereal_set_LiveCalibrationData(const struct cereal_LiveCalibrationData*, cereal_LiveCalibrationData_list, int i);
|
||||
void cereal_set_LiveTracks(const struct cereal_LiveTracks*, cereal_LiveTracks_list, int i);
|
||||
void cereal_set_Live100Data(const struct cereal_Live100Data*, cereal_Live100Data_list, int i);
|
||||
void cereal_set_LiveEventData(const struct cereal_LiveEventData*, cereal_LiveEventData_list, int i);
|
||||
void cereal_set_ModelData(const struct cereal_ModelData*, cereal_ModelData_list, int i);
|
||||
void cereal_set_ModelData_PathData(const struct cereal_ModelData_PathData*, cereal_ModelData_PathData_list, int i);
|
||||
void cereal_set_ModelData_LeadData(const struct cereal_ModelData_LeadData*, cereal_ModelData_LeadData_list, int i);
|
||||
void cereal_set_ModelData_ModelSettings(const struct cereal_ModelData_ModelSettings*, cereal_ModelData_ModelSettings_list, int i);
|
||||
void cereal_set_CalibrationFeatures(const struct cereal_CalibrationFeatures*, cereal_CalibrationFeatures_list, int i);
|
||||
void cereal_set_EncodeIndex(const struct cereal_EncodeIndex*, cereal_EncodeIndex_list, int i);
|
||||
void cereal_set_AndroidLogEntry(const struct cereal_AndroidLogEntry*, cereal_AndroidLogEntry_list, int i);
|
||||
void cereal_set_LogRotate(const struct cereal_LogRotate*, cereal_LogRotate_list, int i);
|
||||
void cereal_set_Event(const struct cereal_Event*, cereal_Event_list, int i);
|
||||
|
||||
#ifdef __cplusplus
|
||||
}
|
||||
#endif
|
||||
#endif
|
||||
File diff suppressed because it is too large
Load Diff
File diff suppressed because it is too large
Load Diff
@@ -1,574 +0,0 @@
|
||||
using Cxx = import "./include/c++.capnp";
|
||||
$Cxx.namespace("cereal");
|
||||
|
||||
@0x80ef1ec4889c2a63;
|
||||
|
||||
# legacy.capnp: a home for deprecated structs
|
||||
|
||||
struct LogRotate @0x9811e1f38f62f2d1 {
|
||||
segmentNum @0 :Int32;
|
||||
path @1 :Text;
|
||||
}
|
||||
|
||||
struct LiveUI @0xc08240f996aefced {
|
||||
rearViewCam @0 :Bool;
|
||||
alertText1 @1 :Text;
|
||||
alertText2 @2 :Text;
|
||||
awarenessStatus @3 :Float32;
|
||||
}
|
||||
|
||||
struct UiLayoutState @0x88dcce08ad29dda0 {
|
||||
activeApp @0 :App;
|
||||
sidebarCollapsed @1 :Bool;
|
||||
mapEnabled @2 :Bool;
|
||||
mockEngaged @3 :Bool;
|
||||
|
||||
enum App @0x9917470acf94d285 {
|
||||
home @0;
|
||||
music @1;
|
||||
nav @2;
|
||||
settings @3;
|
||||
none @4;
|
||||
}
|
||||
}
|
||||
|
||||
struct OrbslamCorrection @0x8afd33dc9b35e1aa {
|
||||
correctionMonoTime @0 :UInt64;
|
||||
prePositionECEF @1 :List(Float64);
|
||||
postPositionECEF @2 :List(Float64);
|
||||
prePoseQuatECEF @3 :List(Float32);
|
||||
postPoseQuatECEF @4 :List(Float32);
|
||||
numInliers @5 :UInt32;
|
||||
}
|
||||
|
||||
struct EthernetPacket @0xa99a9d5b33cf5859 {
|
||||
pkt @0 :Data;
|
||||
ts @1 :Float32;
|
||||
}
|
||||
|
||||
struct CellInfo @0xcff7566681c277ce {
|
||||
timestamp @0 :UInt64;
|
||||
repr @1 :Text; # android toString() for now
|
||||
}
|
||||
|
||||
struct WifiScan @0xd4df5a192382ba0b {
|
||||
bssid @0 :Text;
|
||||
ssid @1 :Text;
|
||||
capabilities @2 :Text;
|
||||
frequency @3 :Int32;
|
||||
level @4 :Int32;
|
||||
timestamp @5 :Int64;
|
||||
|
||||
centerFreq0 @6 :Int32;
|
||||
centerFreq1 @7 :Int32;
|
||||
channelWidth @8 :ChannelWidth;
|
||||
operatorFriendlyName @9 :Text;
|
||||
venueName @10 :Text;
|
||||
is80211mcResponder @11 :Bool;
|
||||
passpoint @12 :Bool;
|
||||
|
||||
distanceCm @13 :Int32;
|
||||
distanceSdCm @14 :Int32;
|
||||
|
||||
enum ChannelWidth @0xcb6a279f015f6b51 {
|
||||
w20Mhz @0;
|
||||
w40Mhz @1;
|
||||
w80Mhz @2;
|
||||
w160Mhz @3;
|
||||
w80Plus80Mhz @4;
|
||||
}
|
||||
}
|
||||
|
||||
struct LiveEventData @0x94b7baa90c5c321e {
|
||||
name @0 :Text;
|
||||
value @1 :Int32;
|
||||
}
|
||||
|
||||
struct ModelData @0xb8aad62cffef28a9 {
|
||||
frameId @0 :UInt32;
|
||||
frameAge @12 :UInt32;
|
||||
frameDropPerc @13 :Float32;
|
||||
timestampEof @9 :UInt64;
|
||||
modelExecutionTime @14 :Float32;
|
||||
gpuExecutionTime @16 :Float32;
|
||||
rawPred @15 :Data;
|
||||
|
||||
path @1 :PathData;
|
||||
leftLane @2 :PathData;
|
||||
rightLane @3 :PathData;
|
||||
lead @4 :LeadData;
|
||||
freePath @6 :List(Float32);
|
||||
|
||||
settings @5 :ModelSettings;
|
||||
leadFuture @7 :LeadData;
|
||||
speed @8 :List(Float32);
|
||||
meta @10 :MetaData;
|
||||
longitudinal @11 :LongitudinalData;
|
||||
|
||||
struct PathData @0x8817eeea389e9f08 {
|
||||
points @0 :List(Float32);
|
||||
prob @1 :Float32;
|
||||
std @2 :Float32;
|
||||
stds @3 :List(Float32);
|
||||
poly @4 :List(Float32);
|
||||
validLen @5 :Float32;
|
||||
}
|
||||
|
||||
struct LeadData @0xd1c9bef96d26fa91 {
|
||||
dist @0 :Float32;
|
||||
prob @1 :Float32;
|
||||
std @2 :Float32;
|
||||
relVel @3 :Float32;
|
||||
relVelStd @4 :Float32;
|
||||
relY @5 :Float32;
|
||||
relYStd @6 :Float32;
|
||||
relA @7 :Float32;
|
||||
relAStd @8 :Float32;
|
||||
}
|
||||
|
||||
struct ModelSettings @0xa26e3710efd3e914 {
|
||||
bigBoxX @0 :UInt16;
|
||||
bigBoxY @1 :UInt16;
|
||||
bigBoxWidth @2 :UInt16;
|
||||
bigBoxHeight @3 :UInt16;
|
||||
boxProjection @4 :List(Float32);
|
||||
yuvCorrection @5 :List(Float32);
|
||||
inputTransform @6 :List(Float32);
|
||||
}
|
||||
|
||||
struct MetaData @0x9744f25fb60f2bf8 {
|
||||
engagedProb @0 :Float32;
|
||||
desirePrediction @1 :List(Float32);
|
||||
brakeDisengageProb @2 :Float32;
|
||||
gasDisengageProb @3 :Float32;
|
||||
steerOverrideProb @4 :Float32;
|
||||
desireState @5 :List(Float32);
|
||||
}
|
||||
|
||||
struct LongitudinalData @0xf98f999c6a071122 {
|
||||
distances @2 :List(Float32);
|
||||
speeds @0 :List(Float32);
|
||||
accelerations @1 :List(Float32);
|
||||
}
|
||||
}
|
||||
|
||||
struct ECEFPoint @0xc25bbbd524983447 {
|
||||
x @0 :Float64;
|
||||
y @1 :Float64;
|
||||
z @2 :Float64;
|
||||
}
|
||||
|
||||
struct ECEFPointDEPRECATED @0xe10e21168db0c7f7 {
|
||||
x @0 :Float32;
|
||||
y @1 :Float32;
|
||||
z @2 :Float32;
|
||||
}
|
||||
|
||||
struct GPSPlannerPoints @0xab54c59699f8f9f3 {
|
||||
curPosDEPRECATED @0 :ECEFPointDEPRECATED;
|
||||
pointsDEPRECATED @1 :List(ECEFPointDEPRECATED);
|
||||
curPos @6 :ECEFPoint;
|
||||
points @7 :List(ECEFPoint);
|
||||
valid @2 :Bool;
|
||||
trackName @3 :Text;
|
||||
speedLimit @4 :Float32;
|
||||
accelTarget @5 :Float32;
|
||||
}
|
||||
|
||||
struct GPSPlannerPlan @0xf5ad1d90cdc1dd6b {
|
||||
valid @0 :Bool;
|
||||
poly @1 :List(Float32);
|
||||
trackName @2 :Text;
|
||||
speed @3 :Float32;
|
||||
acceleration @4 :Float32;
|
||||
pointsDEPRECATED @5 :List(ECEFPointDEPRECATED);
|
||||
points @6 :List(ECEFPoint);
|
||||
xLookahead @7 :Float32;
|
||||
}
|
||||
|
||||
struct UiNavigationEvent @0x90c8426c3eaddd3b {
|
||||
type @0: Type;
|
||||
status @1: Status;
|
||||
distanceTo @2: Float32;
|
||||
endRoadPointDEPRECATED @3: ECEFPointDEPRECATED;
|
||||
endRoadPoint @4: ECEFPoint;
|
||||
|
||||
enum Type @0xe8db07dcf8fcea05 {
|
||||
none @0;
|
||||
laneChangeLeft @1;
|
||||
laneChangeRight @2;
|
||||
mergeLeft @3;
|
||||
mergeRight @4;
|
||||
turnLeft @5;
|
||||
turnRight @6;
|
||||
}
|
||||
|
||||
enum Status @0xb9aa88c75ef99a1f {
|
||||
none @0;
|
||||
passive @1;
|
||||
approaching @2;
|
||||
active @3;
|
||||
}
|
||||
}
|
||||
|
||||
struct LiveLocationData @0xb99b2bc7a57e8128 {
|
||||
status @0 :UInt8;
|
||||
|
||||
# 3D fix
|
||||
lat @1 :Float64;
|
||||
lon @2 :Float64;
|
||||
alt @3 :Float32; # m
|
||||
|
||||
# speed
|
||||
speed @4 :Float32; # m/s
|
||||
|
||||
# NED velocity components
|
||||
vNED @5 :List(Float32);
|
||||
|
||||
# roll, pitch, heading (x,y,z)
|
||||
roll @6 :Float32; # WRT to center of earth?
|
||||
pitch @7 :Float32; # WRT to center of earth?
|
||||
heading @8 :Float32; # WRT to north?
|
||||
|
||||
# what are these?
|
||||
wanderAngle @9 :Float32;
|
||||
trackAngle @10 :Float32;
|
||||
|
||||
# car frame -- https://upload.wikimedia.org/wikipedia/commons/f/f5/RPY_angles_of_cars.png
|
||||
|
||||
# gyro, in car frame, deg/s
|
||||
gyro @11 :List(Float32);
|
||||
|
||||
# accel, in car frame, m/s^2
|
||||
accel @12 :List(Float32);
|
||||
|
||||
accuracy @13 :Accuracy;
|
||||
|
||||
source @14 :SensorSource;
|
||||
# if we are fixing a location in the past
|
||||
fixMonoTime @15 :UInt64;
|
||||
|
||||
gpsWeek @16 :Int32;
|
||||
timeOfWeek @17 :Float64;
|
||||
|
||||
positionECEF @18 :List(Float64);
|
||||
poseQuatECEF @19 :List(Float32);
|
||||
pitchCalibration @20 :Float32;
|
||||
yawCalibration @21 :Float32;
|
||||
imuFrame @22 :List(Float32);
|
||||
|
||||
struct Accuracy @0x943dc4625473b03f {
|
||||
pNEDError @0 :List(Float32);
|
||||
vNEDError @1 :List(Float32);
|
||||
rollError @2 :Float32;
|
||||
pitchError @3 :Float32;
|
||||
headingError @4 :Float32;
|
||||
ellipsoidSemiMajorError @5 :Float32;
|
||||
ellipsoidSemiMinorError @6 :Float32;
|
||||
ellipsoidOrientationError @7 :Float32;
|
||||
}
|
||||
|
||||
enum SensorSource @0xc871d3cc252af657 {
|
||||
applanix @0;
|
||||
kalman @1;
|
||||
orbslam @2;
|
||||
timing @3;
|
||||
dummy @4;
|
||||
}
|
||||
}
|
||||
|
||||
struct OrbOdometry @0xd7700859ed1f5b76 {
|
||||
# timing first
|
||||
startMonoTime @0 :UInt64;
|
||||
endMonoTime @1 :UInt64;
|
||||
|
||||
# fundamental matrix and error
|
||||
f @2: List(Float64);
|
||||
err @3: Float64;
|
||||
|
||||
# number of inlier points
|
||||
inliers @4: Int32;
|
||||
|
||||
# for debug only
|
||||
# indexed by endMonoTime features
|
||||
# value is startMonoTime feature match
|
||||
# -1 if no match
|
||||
matches @5: List(Int16);
|
||||
}
|
||||
|
||||
struct OrbFeatures @0xcd60164a8a0159ef {
|
||||
timestampEof @0 :UInt64;
|
||||
# transposed arrays of normalized image coordinates
|
||||
# len(xs) == len(ys) == len(descriptors) * 32
|
||||
xs @1 :List(Float32);
|
||||
ys @2 :List(Float32);
|
||||
descriptors @3 :Data;
|
||||
octaves @4 :List(Int8);
|
||||
|
||||
# match index to last OrbFeatures
|
||||
# -1 if no match
|
||||
timestampLastEof @5 :UInt64;
|
||||
matches @6: List(Int16);
|
||||
}
|
||||
|
||||
struct OrbFeaturesSummary @0xd500d30c5803fa4f {
|
||||
timestampEof @0 :UInt64;
|
||||
timestampLastEof @1 :UInt64;
|
||||
|
||||
featureCount @2 :UInt16;
|
||||
matchCount @3 :UInt16;
|
||||
computeNs @4 :UInt64;
|
||||
}
|
||||
|
||||
struct OrbKeyFrame @0xc8233c0345e27e24 {
|
||||
# this is a globally unique id for the KeyFrame
|
||||
id @0: UInt64;
|
||||
|
||||
# this is the location of the KeyFrame
|
||||
pos @1: ECEFPoint;
|
||||
|
||||
# these are the features in the world
|
||||
# len(dpos) == len(descriptors) * 32
|
||||
dpos @2 :List(ECEFPoint);
|
||||
descriptors @3 :Data;
|
||||
}
|
||||
|
||||
struct KalmanOdometry @0x92e21bb7ea38793a {
|
||||
trans @0 :List(Float32); # m/s in device frame
|
||||
rot @1 :List(Float32); # rad/s in device frame
|
||||
transStd @2 :List(Float32); # std m/s in device frame
|
||||
rotStd @3 :List(Float32); # std rad/s in device frame
|
||||
}
|
||||
|
||||
struct OrbObservation @0x9b326d4e436afec7 {
|
||||
observationMonoTime @0 :UInt64;
|
||||
normalizedCoordinates @1 :List(Float32);
|
||||
locationECEF @2 :List(Float64);
|
||||
matchDistance @3: UInt32;
|
||||
}
|
||||
|
||||
struct CalibrationFeatures @0x8fdfadb254ea867a {
|
||||
frameId @0 :UInt32;
|
||||
|
||||
p0 @1 :List(Float32);
|
||||
p1 @2 :List(Float32);
|
||||
status @3 :List(Int8);
|
||||
}
|
||||
|
||||
struct NavStatus @0xbd8822120928120c {
|
||||
isNavigating @0 :Bool;
|
||||
currentAddress @1 :Address;
|
||||
|
||||
struct Address @0xce7cd672cacc7814 {
|
||||
title @0 :Text;
|
||||
lat @1 :Float64;
|
||||
lng @2 :Float64;
|
||||
house @3 :Text;
|
||||
address @4 :Text;
|
||||
street @5 :Text;
|
||||
city @6 :Text;
|
||||
state @7 :Text;
|
||||
country @8 :Text;
|
||||
}
|
||||
}
|
||||
|
||||
struct NavUpdate @0xdb98be6565516acb {
|
||||
isNavigating @0 :Bool;
|
||||
curSegment @1 :Int32;
|
||||
segments @2 :List(Segment);
|
||||
|
||||
struct LatLng @0x9eaef9187cadbb9b {
|
||||
lat @0 :Float64;
|
||||
lng @1 :Float64;
|
||||
}
|
||||
|
||||
struct Segment @0xa5b39b4fc4d7da3f {
|
||||
from @0 :LatLng;
|
||||
to @1 :LatLng;
|
||||
updateTime @2 :Int32;
|
||||
distance @3 :Int32;
|
||||
crossTime @4 :Int32;
|
||||
exitNo @5 :Int32;
|
||||
instruction @6 :Instruction;
|
||||
|
||||
parts @7 :List(LatLng);
|
||||
|
||||
enum Instruction @0xc5417a637451246f {
|
||||
turnLeft @0;
|
||||
turnRight @1;
|
||||
keepLeft @2;
|
||||
keepRight @3;
|
||||
straight @4;
|
||||
roundaboutExitNumber @5;
|
||||
roundaboutExit @6;
|
||||
roundaboutTurnLeft @7;
|
||||
unkn8 @8;
|
||||
roundaboutStraight @9;
|
||||
unkn10 @10;
|
||||
roundaboutTurnRight @11;
|
||||
unkn12 @12;
|
||||
roundaboutUturn @13;
|
||||
unkn14 @14;
|
||||
arrive @15;
|
||||
exitLeft @16;
|
||||
exitRight @17;
|
||||
unkn18 @18;
|
||||
uturn @19;
|
||||
# ...
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
struct TrafficEvent @0xacfa74a094e62626 {
|
||||
type @0 :Type;
|
||||
distance @1 :Float32;
|
||||
action @2 :Action;
|
||||
resuming @3 :Bool;
|
||||
|
||||
enum Type @0xd85d75253435bf4b {
|
||||
stopSign @0;
|
||||
lightRed @1;
|
||||
lightYellow @2;
|
||||
lightGreen @3;
|
||||
stopLight @4;
|
||||
}
|
||||
|
||||
enum Action @0xa6f6ce72165ccb49 {
|
||||
none @0;
|
||||
yield @1;
|
||||
stop @2;
|
||||
resumeReady @3;
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
|
||||
struct AndroidGnss @0xdfdf30d03fc485bd {
|
||||
union {
|
||||
measurements @0 :Measurements;
|
||||
navigationMessage @1 :NavigationMessage;
|
||||
}
|
||||
|
||||
struct Measurements @0xa20710d4f428d6cd {
|
||||
clock @0 :Clock;
|
||||
measurements @1 :List(Measurement);
|
||||
|
||||
struct Clock @0xa0e27b453a38f450 {
|
||||
timeNanos @0 :Int64;
|
||||
hardwareClockDiscontinuityCount @1 :Int32;
|
||||
|
||||
hasTimeUncertaintyNanos @2 :Bool;
|
||||
timeUncertaintyNanos @3 :Float64;
|
||||
|
||||
hasLeapSecond @4 :Bool;
|
||||
leapSecond @5 :Int32;
|
||||
|
||||
hasFullBiasNanos @6 :Bool;
|
||||
fullBiasNanos @7 :Int64;
|
||||
|
||||
hasBiasNanos @8 :Bool;
|
||||
biasNanos @9 :Float64;
|
||||
|
||||
hasBiasUncertaintyNanos @10 :Bool;
|
||||
biasUncertaintyNanos @11 :Float64;
|
||||
|
||||
hasDriftNanosPerSecond @12 :Bool;
|
||||
driftNanosPerSecond @13 :Float64;
|
||||
|
||||
hasDriftUncertaintyNanosPerSecond @14 :Bool;
|
||||
driftUncertaintyNanosPerSecond @15 :Float64;
|
||||
}
|
||||
|
||||
struct Measurement @0xd949bf717d77614d {
|
||||
svId @0 :Int32;
|
||||
constellation @1 :Constellation;
|
||||
|
||||
timeOffsetNanos @2 :Float64;
|
||||
state @3 :Int32;
|
||||
receivedSvTimeNanos @4 :Int64;
|
||||
receivedSvTimeUncertaintyNanos @5 :Int64;
|
||||
cn0DbHz @6 :Float64;
|
||||
pseudorangeRateMetersPerSecond @7 :Float64;
|
||||
pseudorangeRateUncertaintyMetersPerSecond @8 :Float64;
|
||||
accumulatedDeltaRangeState @9 :Int32;
|
||||
accumulatedDeltaRangeMeters @10 :Float64;
|
||||
accumulatedDeltaRangeUncertaintyMeters @11 :Float64;
|
||||
|
||||
hasCarrierFrequencyHz @12 :Bool;
|
||||
carrierFrequencyHz @13 :Float32;
|
||||
hasCarrierCycles @14 :Bool;
|
||||
carrierCycles @15 :Int64;
|
||||
hasCarrierPhase @16 :Bool;
|
||||
carrierPhase @17 :Float64;
|
||||
hasCarrierPhaseUncertainty @18 :Bool;
|
||||
carrierPhaseUncertainty @19 :Float64;
|
||||
hasSnrInDb @20 :Bool;
|
||||
snrInDb @21 :Float64;
|
||||
|
||||
multipathIndicator @22 :MultipathIndicator;
|
||||
|
||||
enum Constellation @0x9ef1f3ff0deb5ffb {
|
||||
unknown @0;
|
||||
gps @1;
|
||||
sbas @2;
|
||||
glonass @3;
|
||||
qzss @4;
|
||||
beidou @5;
|
||||
galileo @6;
|
||||
}
|
||||
|
||||
enum State @0xcbb9490adce12d72 {
|
||||
unknown @0;
|
||||
codeLock @1;
|
||||
bitSync @2;
|
||||
subframeSync @3;
|
||||
towDecoded @4;
|
||||
msecAmbiguous @5;
|
||||
symbolSync @6;
|
||||
gloStringSync @7;
|
||||
gloTodDecoded @8;
|
||||
bdsD2BitSync @9;
|
||||
bdsD2SubframeSync @10;
|
||||
galE1bcCodeLock @11;
|
||||
galE1c2ndCodeLock @12;
|
||||
galE1bPageSync @13;
|
||||
sbasSync @14;
|
||||
}
|
||||
|
||||
enum MultipathIndicator @0xc04e7b6231d4caa8 {
|
||||
unknown @0;
|
||||
detected @1;
|
||||
notDetected @2;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
struct NavigationMessage @0xe2517b083095fd4e {
|
||||
type @0 :Int32;
|
||||
svId @1 :Int32;
|
||||
messageId @2 :Int32;
|
||||
submessageId @3 :Int32;
|
||||
data @4 :Data;
|
||||
status @5 :Status;
|
||||
|
||||
enum Status @0xec1ff7996b35366f {
|
||||
unknown @0;
|
||||
parityPassed @1;
|
||||
parityRebuilt @2;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
struct LidarPts @0xe3d6685d4e9d8f7a {
|
||||
r @0 :List(UInt16); # uint16 m*500.0
|
||||
theta @1 :List(UInt16); # uint16 deg*100.0
|
||||
reflect @2 :List(UInt8); # uint8 0-255
|
||||
|
||||
# For storing out of file.
|
||||
idx @3 :UInt64;
|
||||
|
||||
# For storing in file
|
||||
pkt @4 :Data;
|
||||
}
|
||||
|
||||
|
||||
+127
-2542
File diff suppressed because it is too large
Load Diff
@@ -1,257 +0,0 @@
|
||||
# must be built with scons
|
||||
from msgq.ipc_pyx import Context, Poller, SubSocket, PubSocket, SocketEventHandle, toggle_fake_events, \
|
||||
set_fake_prefix, get_fake_prefix, delete_fake_prefix, wait_for_one_event
|
||||
from msgq.ipc_pyx import MultiplePublishersError, IpcError
|
||||
from msgq import fake_event_handle, pub_sock, sub_sock, drain_sock_raw
|
||||
import msgq
|
||||
|
||||
import os
|
||||
import capnp
|
||||
import time
|
||||
|
||||
from typing import Optional, List, Union, Dict
|
||||
|
||||
from cereal import log
|
||||
from cereal.services import SERVICE_LIST
|
||||
from openpilot.common.util import MovingAverage
|
||||
|
||||
NO_TRAVERSAL_LIMIT = 2**64-1
|
||||
|
||||
|
||||
def reset_context():
|
||||
msgq.context = Context()
|
||||
|
||||
|
||||
def log_from_bytes(dat: bytes, struct: capnp.lib.capnp._StructModule = log.Event) -> capnp.lib.capnp._DynamicStructReader:
|
||||
with struct.from_bytes(dat, traversal_limit_in_words=NO_TRAVERSAL_LIMIT) as msg:
|
||||
return msg
|
||||
|
||||
|
||||
def new_message(service: Optional[str], size: Optional[int] = None, **kwargs) -> capnp.lib.capnp._DynamicStructBuilder:
|
||||
args = {
|
||||
'valid': False,
|
||||
'logMonoTime': int(time.monotonic() * 1e9),
|
||||
**kwargs
|
||||
}
|
||||
dat = log.Event.new_message(**args)
|
||||
if service is not None:
|
||||
if size is None:
|
||||
dat.init(service)
|
||||
else:
|
||||
dat.init(service, size)
|
||||
return dat
|
||||
|
||||
|
||||
def drain_sock(sock: SubSocket, wait_for_one: bool = False) -> List[capnp.lib.capnp._DynamicStructReader]:
|
||||
"""Receive all message currently available on the queue"""
|
||||
msgs = drain_sock_raw(sock, wait_for_one=wait_for_one)
|
||||
return [log_from_bytes(m) for m in msgs]
|
||||
|
||||
|
||||
# TODO: print when we drop packets?
|
||||
def recv_sock(sock: SubSocket, wait: bool = False) -> Optional[capnp.lib.capnp._DynamicStructReader]:
|
||||
"""Same as drain sock, but only returns latest message. Consider using conflate instead."""
|
||||
dat = None
|
||||
|
||||
while 1:
|
||||
if wait and dat is None:
|
||||
recv = sock.receive()
|
||||
else:
|
||||
recv = sock.receive(non_blocking=True)
|
||||
|
||||
if recv is None: # Timeout hit
|
||||
break
|
||||
|
||||
dat = recv
|
||||
|
||||
if dat is not None:
|
||||
dat = log_from_bytes(dat)
|
||||
|
||||
return dat
|
||||
|
||||
|
||||
def recv_one(sock: SubSocket) -> Optional[capnp.lib.capnp._DynamicStructReader]:
|
||||
dat = sock.receive()
|
||||
if dat is not None:
|
||||
dat = log_from_bytes(dat)
|
||||
return dat
|
||||
|
||||
|
||||
def recv_one_or_none(sock: SubSocket) -> Optional[capnp.lib.capnp._DynamicStructReader]:
|
||||
dat = sock.receive(non_blocking=True)
|
||||
if dat is not None:
|
||||
dat = log_from_bytes(dat)
|
||||
return dat
|
||||
|
||||
|
||||
def recv_one_retry(sock: SubSocket) -> capnp.lib.capnp._DynamicStructReader:
|
||||
"""Keep receiving until we get a message"""
|
||||
while True:
|
||||
dat = sock.receive()
|
||||
if dat is not None:
|
||||
return log_from_bytes(dat)
|
||||
|
||||
|
||||
class FrequencyTracker:
|
||||
def __init__(self, service_freq: float, update_freq: float, is_poll: bool):
|
||||
freq = max(min(service_freq, update_freq), 1.)
|
||||
if is_poll:
|
||||
min_freq = max_freq = freq
|
||||
else:
|
||||
max_freq = min(freq, update_freq)
|
||||
if service_freq >= 2 * update_freq:
|
||||
min_freq = update_freq
|
||||
elif update_freq >= 2* service_freq:
|
||||
min_freq = freq
|
||||
else:
|
||||
min_freq = min(freq, freq / 2.)
|
||||
|
||||
self.min_freq = min_freq * 0.8
|
||||
self.max_freq = max_freq * 1.2
|
||||
self.avg_dt = MovingAverage(int(10 * freq))
|
||||
self.recent_avg_dt = MovingAverage(int(freq))
|
||||
self.prev_time = 0.0
|
||||
|
||||
def record_recv_time(self, cur_time: float) -> None:
|
||||
# TODO: Handle case where cur_time is less than prev_time
|
||||
if self.prev_time > 1e-5:
|
||||
dt = cur_time - self.prev_time
|
||||
|
||||
self.avg_dt.add_value(dt)
|
||||
self.recent_avg_dt.add_value(dt)
|
||||
|
||||
self.prev_time = cur_time
|
||||
|
||||
@property
|
||||
def valid(self) -> bool:
|
||||
if self.avg_dt.count == 0:
|
||||
return False
|
||||
|
||||
avg_freq = 1.0 / self.avg_dt.get_average()
|
||||
if self.min_freq <= avg_freq <= self.max_freq:
|
||||
return True
|
||||
|
||||
avg_freq_recent = 1.0 / self.recent_avg_dt.get_average()
|
||||
return self.min_freq <= avg_freq_recent <= self.max_freq
|
||||
|
||||
|
||||
class SubMaster:
|
||||
def __init__(self, services: List[str], poll: Optional[str] = None,
|
||||
ignore_alive: Optional[List[str]] = None, ignore_avg_freq: Optional[List[str]] = None,
|
||||
ignore_valid: Optional[List[str]] = None, addr: str = "127.0.0.1", frequency: Optional[float] = None):
|
||||
self.frame = -1
|
||||
self.services = services
|
||||
self.seen = {s: False for s in services}
|
||||
self.updated = {s: False for s in services}
|
||||
self.recv_time = {s: 0. for s in services}
|
||||
self.recv_frame = {s: 0 for s in services}
|
||||
self.sock = {}
|
||||
self.data = {}
|
||||
self.logMonoTime = {s: 0 for s in services}
|
||||
|
||||
# zero-frequency / on-demand services are always alive and presumed valid; all others must pass checks
|
||||
on_demand = {s: SERVICE_LIST[s].frequency <= 1e-5 for s in services}
|
||||
self.static_freq_services = set(s for s in services if not on_demand[s])
|
||||
self.alive = {s: on_demand[s] for s in services}
|
||||
self.freq_ok = {s: on_demand[s] for s in services}
|
||||
self.valid = {s: on_demand[s] for s in services}
|
||||
|
||||
self.freq_tracker: Dict[str, FrequencyTracker] = {}
|
||||
self.poller = Poller()
|
||||
polled_services = set([poll, ] if poll is not None else services)
|
||||
self.non_polled_services = set(services) - polled_services
|
||||
|
||||
self.ignore_average_freq = [] if ignore_avg_freq is None else ignore_avg_freq
|
||||
self.ignore_alive = [] if ignore_alive is None else ignore_alive
|
||||
self.ignore_valid = [] if ignore_valid is None else ignore_valid
|
||||
|
||||
self.simulation = bool(int(os.getenv("SIMULATION", "0")))
|
||||
|
||||
# if freq and poll aren't specified, assume the max to be conservative
|
||||
assert frequency is None or poll is None, "Do not specify 'frequency' - frequency of the polled service will be used."
|
||||
self.update_freq = frequency or max([SERVICE_LIST[s].frequency for s in polled_services])
|
||||
|
||||
for s in services:
|
||||
p = self.poller if s not in self.non_polled_services else None
|
||||
self.sock[s] = sub_sock(s, poller=p, addr=addr, conflate=True)
|
||||
|
||||
try:
|
||||
data = new_message(s)
|
||||
except capnp.lib.capnp.KjException:
|
||||
data = new_message(s, 0) # lists
|
||||
|
||||
self.data[s] = getattr(data.as_reader(), s)
|
||||
self.freq_tracker[s] = FrequencyTracker(SERVICE_LIST[s].frequency, self.update_freq, s == poll)
|
||||
|
||||
def __getitem__(self, s: str) -> capnp.lib.capnp._DynamicStructReader:
|
||||
return self.data[s]
|
||||
|
||||
def _check_avg_freq(self, s: str) -> bool:
|
||||
return SERVICE_LIST[s].frequency > 0.99 and (s not in self.ignore_average_freq) and (s not in self.ignore_alive)
|
||||
|
||||
def update(self, timeout: int = 100) -> None:
|
||||
msgs = []
|
||||
for sock in self.poller.poll(timeout):
|
||||
msgs.append(recv_one_or_none(sock))
|
||||
|
||||
# non-blocking receive for non-polled sockets
|
||||
for s in self.non_polled_services:
|
||||
msgs.append(recv_one_or_none(self.sock[s]))
|
||||
self.update_msgs(time.monotonic(), msgs)
|
||||
|
||||
def update_msgs(self, cur_time: float, msgs: List[capnp.lib.capnp._DynamicStructReader]) -> None:
|
||||
self.frame += 1
|
||||
self.updated = dict.fromkeys(self.services, False)
|
||||
for msg in msgs:
|
||||
if msg is None:
|
||||
continue
|
||||
|
||||
s = msg.which()
|
||||
self.seen[s] = True
|
||||
self.updated[s] = True
|
||||
|
||||
self.freq_tracker[s].record_recv_time(cur_time)
|
||||
self.recv_time[s] = cur_time
|
||||
self.recv_frame[s] = self.frame
|
||||
self.data[s] = getattr(msg, s)
|
||||
self.logMonoTime[s] = msg.logMonoTime
|
||||
self.valid[s] = msg.valid
|
||||
|
||||
for s in self.static_freq_services:
|
||||
# alive if delay is within 10x the expected frequency; checks relaxed in simulator
|
||||
self.alive[s] = (cur_time - self.recv_time[s]) < (10. / SERVICE_LIST[s].frequency) or (self.seen[s] and self.simulation)
|
||||
self.freq_ok[s] = self.freq_tracker[s].valid or self.simulation
|
||||
|
||||
def all_alive(self, service_list: Optional[List[str]] = None) -> bool:
|
||||
return all(self.alive[s] for s in (service_list or self.services) if s not in self.ignore_alive)
|
||||
|
||||
def all_freq_ok(self, service_list: Optional[List[str]] = None) -> bool:
|
||||
return all(self.freq_ok[s] for s in (service_list or self.services) if self._check_avg_freq(s))
|
||||
|
||||
def all_valid(self, service_list: Optional[List[str]] = None) -> bool:
|
||||
return all(self.valid[s] for s in (service_list or self.services) if s not in self.ignore_valid)
|
||||
|
||||
def all_checks(self, service_list: Optional[List[str]] = None) -> bool:
|
||||
return self.all_alive(service_list) and self.all_freq_ok(service_list) and self.all_valid(service_list)
|
||||
|
||||
|
||||
class PubMaster:
|
||||
def __init__(self, services: List[str]):
|
||||
self.sock = {}
|
||||
for s in services:
|
||||
self.sock[s] = pub_sock(s)
|
||||
|
||||
def send(self, s: str, dat: Union[bytes, capnp.lib.capnp._DynamicStructBuilder]) -> None:
|
||||
if not isinstance(dat, bytes):
|
||||
dat = dat.to_bytes()
|
||||
self.sock[s].send(dat)
|
||||
|
||||
def wait_for_readers_to_update(self, s: str, timeout: int, dt: float = 0.05) -> bool:
|
||||
for _ in range(int(timeout*(1./dt))):
|
||||
if self.sock[s].all_readers_updated():
|
||||
return True
|
||||
time.sleep(dt)
|
||||
return False
|
||||
|
||||
def all_readers_updated(self, s: str) -> bool:
|
||||
return self.sock[s].all_readers_updated() # type: ignore
|
||||
@@ -1,71 +0,0 @@
|
||||
#include <cassert>
|
||||
|
||||
#include "cereal/messaging/msgq_to_zmq.h"
|
||||
#include "cereal/services.h"
|
||||
#include "common/util.h"
|
||||
|
||||
ExitHandler do_exit;
|
||||
|
||||
static std::vector<std::string> get_services(const std::string &whitelist_str, bool zmq_to_msgq) {
|
||||
std::vector<std::string> service_list;
|
||||
for (const auto& it : services) {
|
||||
std::string name = it.second.name;
|
||||
bool in_whitelist = whitelist_str.find(name) != std::string::npos;
|
||||
if (zmq_to_msgq && !in_whitelist) {
|
||||
continue;
|
||||
}
|
||||
service_list.push_back(name);
|
||||
}
|
||||
return service_list;
|
||||
}
|
||||
|
||||
void msgq_to_zmq(const std::vector<std::string> &endpoints, const std::string &ip) {
|
||||
MsgqToZmq bridge;
|
||||
bridge.run(endpoints, ip);
|
||||
}
|
||||
|
||||
void zmq_to_msgq(const std::vector<std::string> &endpoints, const std::string &ip) {
|
||||
auto poller = std::make_unique<ZMQPoller>();
|
||||
auto pub_context = std::make_unique<MSGQContext>();
|
||||
auto sub_context = std::make_unique<ZMQContext>();
|
||||
std::map<SubSocket *, PubSocket *> sub2pub;
|
||||
|
||||
for (auto endpoint : endpoints) {
|
||||
auto pub_sock = new MSGQPubSocket();
|
||||
auto sub_sock = new ZMQSubSocket();
|
||||
pub_sock->connect(pub_context.get(), endpoint);
|
||||
sub_sock->connect(sub_context.get(), endpoint, ip, false);
|
||||
|
||||
poller->registerSocket(sub_sock);
|
||||
sub2pub[sub_sock] = pub_sock;
|
||||
}
|
||||
|
||||
while (!do_exit) {
|
||||
for (auto sub_sock : poller->poll(100)) {
|
||||
std::unique_ptr<Message> msg(sub_sock->receive(true));
|
||||
if (msg) {
|
||||
sub2pub[sub_sock]->sendMessage(msg.get());
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
// Clean up allocated sockets
|
||||
for (auto &[sub_sock, pub_sock] : sub2pub) {
|
||||
delete sub_sock;
|
||||
delete pub_sock;
|
||||
}
|
||||
}
|
||||
|
||||
int main(int argc, char **argv) {
|
||||
bool is_zmq_to_msgq = argc > 2;
|
||||
std::string ip = is_zmq_to_msgq ? argv[1] : "127.0.0.1";
|
||||
std::string whitelist_str = is_zmq_to_msgq ? std::string(argv[2]) : "";
|
||||
std::vector<std::string> endpoints = get_services(whitelist_str, is_zmq_to_msgq);
|
||||
|
||||
if (is_zmq_to_msgq) {
|
||||
zmq_to_msgq(endpoints, ip);
|
||||
} else {
|
||||
msgq_to_zmq(endpoints, ip);
|
||||
}
|
||||
return 0;
|
||||
}
|
||||
@@ -1,102 +0,0 @@
|
||||
#pragma once
|
||||
|
||||
#include <cstddef>
|
||||
#include <map>
|
||||
#include <string>
|
||||
#include <vector>
|
||||
#include <utility>
|
||||
|
||||
#include <capnp/serialize.h>
|
||||
|
||||
#include "cereal/gen/cpp/log.capnp.h"
|
||||
#include "common/timing.h"
|
||||
#include "msgq/ipc.h"
|
||||
|
||||
class SubMaster {
|
||||
public:
|
||||
SubMaster(const std::vector<const char *> &service_list, const std::vector<const char *> &poll = {},
|
||||
const char *address = nullptr, const std::vector<const char *> &ignore_alive = {});
|
||||
void update(int timeout = 1000);
|
||||
void update_msgs(uint64_t current_time, const std::vector<std::pair<std::string, cereal::Event::Reader>> &messages);
|
||||
inline bool allAlive(const std::vector<const char *> &service_list = {}) { return all_(service_list, false, true); }
|
||||
inline bool allValid(const std::vector<const char *> &service_list = {}) { return all_(service_list, true, false); }
|
||||
inline bool allAliveAndValid(const std::vector<const char *> &service_list = {}) { return all_(service_list, true, true); }
|
||||
void drain();
|
||||
~SubMaster();
|
||||
|
||||
uint64_t frame = 0;
|
||||
bool updated(const char *name) const;
|
||||
bool alive(const char *name) const;
|
||||
bool valid(const char *name) const;
|
||||
uint64_t rcv_frame(const char *name) const;
|
||||
uint64_t rcv_time(const char *name) const;
|
||||
cereal::Event::Reader &operator[](const char *name) const;
|
||||
|
||||
private:
|
||||
bool all_(const std::vector<const char *> &service_list, bool valid, bool alive);
|
||||
Poller *poller_ = nullptr;
|
||||
struct SubMessage;
|
||||
std::map<SubSocket *, SubMessage *> messages_;
|
||||
std::map<std::string, SubMessage *> services_;
|
||||
};
|
||||
|
||||
class MessageBuilder : public capnp::MallocMessageBuilder {
|
||||
public:
|
||||
MessageBuilder() = default;
|
||||
|
||||
cereal::Event::Builder initEvent(bool valid = true) {
|
||||
cereal::Event::Builder event = initRoot<cereal::Event>();
|
||||
event.setLogMonoTime(nanos_since_boot());
|
||||
event.setValid(valid);
|
||||
return event;
|
||||
}
|
||||
|
||||
kj::ArrayPtr<capnp::byte> toBytes() {
|
||||
heapArray_ = capnp::messageToFlatArray(*this);
|
||||
return heapArray_.asBytes();
|
||||
}
|
||||
|
||||
size_t getSerializedSize() {
|
||||
return capnp::computeSerializedSizeInWords(*this) * sizeof(capnp::word);
|
||||
}
|
||||
|
||||
int serializeToBuffer(unsigned char *buffer, size_t buffer_size) {
|
||||
size_t serialized_size = getSerializedSize();
|
||||
if (serialized_size > buffer_size) { return -1; }
|
||||
kj::ArrayOutputStream out(kj::ArrayPtr<capnp::byte>(buffer, buffer_size));
|
||||
capnp::writeMessage(out, *this);
|
||||
return serialized_size;
|
||||
}
|
||||
|
||||
private:
|
||||
kj::Array<capnp::word> heapArray_;
|
||||
};
|
||||
|
||||
class PubMaster {
|
||||
public:
|
||||
PubMaster(const std::vector<const char *> &service_list);
|
||||
inline int send(const char *name, capnp::byte *data, size_t size) { return sockets_.at(name)->send((char *)data, size); }
|
||||
int send(const char *name, MessageBuilder &msg);
|
||||
~PubMaster();
|
||||
|
||||
private:
|
||||
std::map<std::string, PubSocket *> sockets_;
|
||||
};
|
||||
|
||||
class AlignedBuffer {
|
||||
public:
|
||||
kj::ArrayPtr<const capnp::word> align(const char *data, const size_t size) {
|
||||
words_size = size / sizeof(capnp::word) + 1;
|
||||
if (aligned_buf.size() < words_size) {
|
||||
aligned_buf = kj::heapArray<capnp::word>(words_size < 512 ? 512 : words_size);
|
||||
}
|
||||
memcpy(aligned_buf.begin(), data, size);
|
||||
return aligned_buf.slice(0, words_size);
|
||||
}
|
||||
inline kj::ArrayPtr<const capnp::word> align(Message *m) {
|
||||
return align(m->getData(), m->getSize());
|
||||
}
|
||||
private:
|
||||
kj::Array<capnp::word> aligned_buf;
|
||||
size_t words_size;
|
||||
};
|
||||
@@ -1,144 +0,0 @@
|
||||
#include "cereal/messaging/msgq_to_zmq.h"
|
||||
|
||||
#include <cassert>
|
||||
|
||||
#include "common/util.h"
|
||||
|
||||
extern ExitHandler do_exit;
|
||||
|
||||
// Max messages to process per socket per poll
|
||||
constexpr int MAX_MESSAGES_PER_SOCKET = 50;
|
||||
|
||||
static std::string recv_zmq_msg(void *sock) {
|
||||
zmq_msg_t msg;
|
||||
zmq_msg_init(&msg);
|
||||
std::string ret;
|
||||
if (zmq_msg_recv(&msg, sock, 0) > 0) {
|
||||
ret.assign((char *)zmq_msg_data(&msg), zmq_msg_size(&msg));
|
||||
}
|
||||
zmq_msg_close(&msg);
|
||||
return ret;
|
||||
}
|
||||
|
||||
void MsgqToZmq::run(const std::vector<std::string> &endpoints, const std::string &ip) {
|
||||
zmq_context = std::make_unique<ZMQContext>();
|
||||
msgq_context = std::make_unique<MSGQContext>();
|
||||
|
||||
// Create ZMQPubSockets for each endpoint
|
||||
for (const auto &endpoint : endpoints) {
|
||||
auto &socket_pair = socket_pairs.emplace_back();
|
||||
socket_pair.endpoint = endpoint;
|
||||
socket_pair.pub_sock = std::make_unique<ZMQPubSocket>();
|
||||
int ret = socket_pair.pub_sock->connect(zmq_context.get(), endpoint);
|
||||
if (ret != 0) {
|
||||
printf("Failed to create ZMQ publisher for [%s]: %s\n", endpoint.c_str(), zmq_strerror(zmq_errno()));
|
||||
return;
|
||||
}
|
||||
}
|
||||
|
||||
// Start ZMQ monitoring thread to monitor socket events
|
||||
std::thread thread(&MsgqToZmq::zmqMonitorThread, this);
|
||||
|
||||
// Main loop for processing messages
|
||||
while (!do_exit) {
|
||||
{
|
||||
std::unique_lock lk(mutex);
|
||||
cv.wait(lk, [this]() { return do_exit || !sub2pub.empty(); });
|
||||
if (do_exit) break;
|
||||
|
||||
for (auto sub_sock : msgq_poller->poll(100)) {
|
||||
// Process messages for each socket
|
||||
ZMQPubSocket *pub_sock = sub2pub.at(sub_sock);
|
||||
for (int i = 0; i < MAX_MESSAGES_PER_SOCKET; ++i) {
|
||||
auto msg = std::unique_ptr<Message>(sub_sock->receive(true));
|
||||
if (!msg) break;
|
||||
|
||||
while (pub_sock->sendMessage(msg.get()) == -1) {
|
||||
if (errno != EINTR) break;
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
util::sleep_for(1); // Give zmqMonitorThread a chance to acquire the mutex
|
||||
}
|
||||
|
||||
thread.join();
|
||||
}
|
||||
|
||||
void MsgqToZmq::zmqMonitorThread() {
|
||||
std::vector<zmq_pollitem_t> pollitems;
|
||||
|
||||
// Set up ZMQ monitor for each pub socket
|
||||
for (int i = 0; i < socket_pairs.size(); ++i) {
|
||||
std::string addr = "inproc://op-bridge-monitor-" + std::to_string(i);
|
||||
zmq_socket_monitor(socket_pairs[i].pub_sock->sock, addr.c_str(), ZMQ_EVENT_ACCEPTED | ZMQ_EVENT_DISCONNECTED);
|
||||
|
||||
void *monitor_socket = zmq_socket(zmq_context->getRawContext(), ZMQ_PAIR);
|
||||
zmq_connect(monitor_socket, addr.c_str());
|
||||
pollitems.emplace_back(zmq_pollitem_t{.socket = monitor_socket, .events = ZMQ_POLLIN});
|
||||
}
|
||||
|
||||
while (!do_exit) {
|
||||
int ret = zmq_poll(pollitems.data(), pollitems.size(), 1000);
|
||||
if (ret < 0) {
|
||||
if (errno == EINTR) {
|
||||
// Due to frequent EINTR signals from msgq, introduce a brief delay (200 ms)
|
||||
// to reduce CPU usage during retry attempts.
|
||||
util::sleep_for(200);
|
||||
}
|
||||
continue;
|
||||
}
|
||||
|
||||
for (int i = 0; i < pollitems.size(); ++i) {
|
||||
if (pollitems[i].revents & ZMQ_POLLIN) {
|
||||
// First frame in message contains event number and value
|
||||
std::string frame = recv_zmq_msg(pollitems[i].socket);
|
||||
if (frame.empty()) continue;
|
||||
|
||||
uint16_t event_type = *(uint16_t *)(frame.data());
|
||||
|
||||
// Second frame in message contains event address
|
||||
frame = recv_zmq_msg(pollitems[i].socket);
|
||||
if (frame.empty()) continue;
|
||||
|
||||
std::unique_lock lk(mutex);
|
||||
auto &pair = socket_pairs[i];
|
||||
if (event_type & ZMQ_EVENT_ACCEPTED) {
|
||||
printf("socket [%s] connected\n", pair.endpoint.c_str());
|
||||
if (++pair.connected_clients == 1) {
|
||||
// Create new MSGQ subscriber socket and map to ZMQ publisher
|
||||
pair.sub_sock = std::make_unique<MSGQSubSocket>();
|
||||
pair.sub_sock->connect(msgq_context.get(), pair.endpoint, "127.0.0.1");
|
||||
sub2pub[pair.sub_sock.get()] = pair.pub_sock.get();
|
||||
registerSockets();
|
||||
}
|
||||
} else if (event_type & ZMQ_EVENT_DISCONNECTED) {
|
||||
printf("socket [%s] disconnected\n", pair.endpoint.c_str());
|
||||
if (pair.connected_clients == 0 || --pair.connected_clients == 0) {
|
||||
// Remove MSGQ subscriber socket from mapping and reset it
|
||||
sub2pub.erase(pair.sub_sock.get());
|
||||
pair.sub_sock.reset(nullptr);
|
||||
registerSockets();
|
||||
}
|
||||
}
|
||||
cv.notify_one();
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
// Clean up monitor sockets
|
||||
for (int i = 0; i < pollitems.size(); ++i) {
|
||||
zmq_socket_monitor(socket_pairs[i].pub_sock->sock, nullptr, 0);
|
||||
zmq_close(pollitems[i].socket);
|
||||
}
|
||||
cv.notify_one();
|
||||
}
|
||||
|
||||
void MsgqToZmq::registerSockets() {
|
||||
msgq_poller = std::make_unique<MSGQPoller>();
|
||||
for (const auto &socket_pair : socket_pairs) {
|
||||
if (socket_pair.sub_sock) {
|
||||
msgq_poller->registerSocket(socket_pair.sub_sock.get());
|
||||
}
|
||||
}
|
||||
}
|
||||
@@ -1,37 +0,0 @@
|
||||
#pragma once
|
||||
|
||||
#include <condition_variable>
|
||||
#include <map>
|
||||
#include <memory>
|
||||
#include <mutex>
|
||||
#include <string>
|
||||
#include <vector>
|
||||
|
||||
#define private public
|
||||
#include "msgq/impl_msgq.h"
|
||||
#include "msgq/impl_zmq.h"
|
||||
|
||||
class MsgqToZmq {
|
||||
public:
|
||||
MsgqToZmq() {}
|
||||
void run(const std::vector<std::string> &endpoints, const std::string &ip);
|
||||
|
||||
protected:
|
||||
void registerSockets();
|
||||
void zmqMonitorThread();
|
||||
|
||||
struct SocketPair {
|
||||
std::string endpoint;
|
||||
std::unique_ptr<ZMQPubSocket> pub_sock;
|
||||
std::unique_ptr<MSGQSubSocket> sub_sock;
|
||||
int connected_clients = 0;
|
||||
};
|
||||
|
||||
std::unique_ptr<MSGQContext> msgq_context;
|
||||
std::unique_ptr<ZMQContext> zmq_context;
|
||||
std::mutex mutex;
|
||||
std::condition_variable cv;
|
||||
std::unique_ptr<MSGQPoller> msgq_poller;
|
||||
std::map<SubSocket *, ZMQPubSocket *> sub2pub;
|
||||
std::vector<SocketPair> socket_pairs;
|
||||
};
|
||||
Some files were not shown because too many files have changed in this diff Show More
Reference in New Issue
Block a user