mirror of
https://github.com/firestar5683/StarPilot.git
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Compare commits
5 Commits
| Author | SHA1 | Date | |
|---|---|---|---|
 Adeeb Shihadeh
|
8369e11417 | ||
|
Vehicle Researcher
|
26bccbdcc8 | ||
|
Adeeb Shihadeh
|
db336329c5 | ||
|
Adeeb Shihadeh
|
7a7f343978 | ||
|
Vehicle Researcher
|
49d82d6ac1 |
+2
-2
@@ -18,7 +18,7 @@ You can test your changes on your machine by running `run_docker_tests.sh`. This
|
||||
|
||||
### Automated Testing
|
||||
|
||||
All PRs and commits are automatically checked by Github Actions. Check out `.github/workflows/` for what Github Actions runs. Any new tests sould be added to Github Actions.
|
||||
All PRs and commits are automatically checked by Github Actions. Check out `.github/workflows/` for what Github Actions runs. Any new tests should be added to Github Actions.
|
||||
|
||||
### Code Style and Linting
|
||||
|
||||
@@ -28,7 +28,7 @@ Code is automatically checked for style by Github Actions as part of the automat
|
||||
|
||||
We've released a [Model Port guide](https://medium.com/@comma_ai/openpilot-port-guide-for-toyota-models-e5467f4b5fe6) for porting to Toyota/Lexus models.
|
||||
|
||||
If you port openpilot to a substantially new car brand, see this more generic [Brand Port guide](https://medium.com/@comma_ai/how-to-write-a-car-port-for-openpilot-7ce0785eda84). You might also be eligible for a bounty. See our bounties at [comma.ai/bounties.html](https://comma.ai/bounties.html)
|
||||
If you port openpilot to a substantially new car brand, see this more generic [Brand Port guide](https://medium.com/@comma_ai/how-to-write-a-car-port-for-openpilot-7ce0785eda84). You might also be eligible for a bounty.
|
||||
|
||||
## Pull Requests
|
||||
|
||||
|
||||
Vendored
+14
-2
@@ -34,6 +34,9 @@ pipeline {
|
||||
COMMA_JWT = credentials('athena-test-jwt')
|
||||
TEST_DIR = "/data/openpilot"
|
||||
}
|
||||
options {
|
||||
timeout(time: 1, unit: 'HOURS')
|
||||
}
|
||||
|
||||
stages {
|
||||
|
||||
@@ -58,7 +61,7 @@ pipeline {
|
||||
when {
|
||||
not {
|
||||
anyOf {
|
||||
branch 'master-ci'; branch 'devel'; branch 'devel-staging'; branch 'release2'; branch 'release2-staging'; branch 'dashcam'; branch 'dashcam-staging'
|
||||
branch 'master-ci'; branch 'devel'; branch 'devel-staging'; branch 'release2'; branch 'release2-staging'; branch 'dashcam'; branch 'dashcam-staging'; branch 'testing-closet*'
|
||||
}
|
||||
}
|
||||
}
|
||||
@@ -70,7 +73,7 @@ pipeline {
|
||||
stage('PC tests') {
|
||||
agent {
|
||||
dockerfile {
|
||||
filename 'Dockerfile.openpilot'
|
||||
filename 'Dockerfile.openpilotci'
|
||||
args '--privileged --shm-size=1G --user=root'
|
||||
}
|
||||
}
|
||||
@@ -132,6 +135,8 @@ pipeline {
|
||||
["build cereal", "SCONS_CACHE=1 scons -j4 cereal/"],
|
||||
["test sounds", "nosetests -s selfdrive/test/test_sounds.py"],
|
||||
["test boardd loopback", "nosetests -s selfdrive/boardd/tests/test_boardd_loopback.py"],
|
||||
["test loggerd", "CI=1 python selfdrive/loggerd/tests/test_loggerd.py"],
|
||||
//["test camerad", "CI=1 python selfdrive/camerad/test/test_camerad.py"], // wait for shelf refactor
|
||||
//["test updater", "python installer/updater/test_updater.py"],
|
||||
])
|
||||
}
|
||||
@@ -140,6 +145,13 @@ pipeline {
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
post {
|
||||
always {
|
||||
cleanWs()
|
||||
}
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
@@ -66,35 +66,35 @@ Supported Cars
|
||||
| ----------| ------------------------------| ------------------| -----------------| -------------------| ------------------|
|
||||
| Acura | ILX 2016-18 | AcuraWatch Plus | openpilot | 25mph<sup>1</sup> | 25mph |
|
||||
| Acura | RDX 2016-18 | AcuraWatch Plus | openpilot | 25mph<sup>1</sup> | 12mph |
|
||||
| Acura | RDX 2020 | AcuraWatch | Stock | 0mph | 3mph |
|
||||
| Honda | Accord 2018-20 | All | Stock | 0mph | 3mph |
|
||||
| Honda | Accord Hybrid 2018-20 | All | Stock | 0mph | 3mph |
|
||||
| Honda | Civic Hatchback 2017-19 | Honda Sensing | Stock | 0mph | 12mph |
|
||||
| Honda | Civic Sedan/Coupe 2016-18 | Honda Sensing | openpilot | 0mph | 12mph |
|
||||
| Honda | Civic Sedan/Coupe 2019-20 | Honda Sensing | Stock | 0mph | 2mph<sup>2</sup> |
|
||||
| Honda | Civic Sedan/Coupe 2019-20 | All | Stock | 0mph | 2mph<sup>2</sup> |
|
||||
| Honda | CR-V 2015-16 | Touring | openpilot | 25mph<sup>1</sup> | 12mph |
|
||||
| Honda | CR-V 2017-20 | Honda Sensing | Stock | 0mph | 12mph |
|
||||
| Honda | CR-V Hybrid 2017-2019 | Honda Sensing | Stock | 0mph | 12mph |
|
||||
| Honda | Fit 2018-19 | Honda Sensing | openpilot | 25mph<sup>1</sup> | 12mph |
|
||||
| Honda | HR-V 2019 | Honda Sensing | openpilot | 25mph<sup>1</sup> | 12mph |
|
||||
| Honda | Insight 2019-20 | Honda Sensing | Stock | 0mph | 3mph |
|
||||
| Honda | Insight 2019-20 | All | Stock | 0mph | 3mph |
|
||||
| Honda | Odyssey 2018-20 | Honda Sensing | openpilot | 25mph<sup>1</sup> | 0mph |
|
||||
| Honda | Passport 2019 | All | openpilot | 25mph<sup>1</sup> | 12mph |
|
||||
| Honda | Pilot 2016-18 | Honda Sensing | openpilot | 25mph<sup>1</sup> | 12mph |
|
||||
| Honda | Pilot 2019 | All | openpilot | 25mph<sup>1</sup> | 12mph |
|
||||
| Honda | Pilot 2016-19 | Honda Sensing | openpilot | 25mph<sup>1</sup> | 12mph |
|
||||
| Honda | Ridgeline 2017-20 | Honda Sensing | openpilot | 25mph<sup>1</sup> | 12mph |
|
||||
| Hyundai | Palisade 2020 | All | Stock | 0mph | 0mph |
|
||||
| Hyundai | Sonata 2020 | All | Stock | 0mph | 0mph |
|
||||
| Lexus | CT Hybrid 2017-18 | All | Stock<sup>3</sup>| 0mph | 0mph |
|
||||
| Lexus | CT Hybrid 2017-18 | LSS | Stock<sup>3</sup>| 0mph | 0mph |
|
||||
| Lexus | ES 2019 | All | openpilot | 0mph | 0mph |
|
||||
| Lexus | ES Hybrid 2019 | All | openpilot | 0mph | 0mph |
|
||||
| Lexus | IS 2017-2019 | All | Stock | 22mph | 0mph |
|
||||
| Lexus | IS Hybrid 2017 | All | Stock | 0mph | 0mph |
|
||||
| Lexus | NX Hybrid 2018 | All | Stock<sup>3</sup>| 0mph | 0mph |
|
||||
| Lexus | RX 2016-17 | All | Stock<sup>3</sup>| 0mph | 0mph |
|
||||
| Lexus | RX 2016-18 | All | Stock<sup>3</sup>| 0mph | 0mph |
|
||||
| Lexus | RX 2020 | All | openpilot | 0mph | 0mph |
|
||||
| Lexus | RX Hybrid 2016-19 | All | Stock<sup>3</sup>| 0mph | 0mph |
|
||||
| Lexus | RX Hybrid 2020 | All | openpilot | 0mph | 0mph |
|
||||
| Toyota | Avalon 2016 | TSS-P | Stock<sup>3</sup>| 20mph<sup>1</sup> | 0mph |
|
||||
| Toyota | Avalon 2017-18 | All | Stock<sup>3</sup>| 20mph<sup>1</sup> | 0mph |
|
||||
| Toyota | Avalon 2016-18 | TSS-P | Stock<sup>3</sup>| 20mph<sup>1</sup> | 0mph |
|
||||
| Toyota | Camry 2018-20 | All | Stock | 0mph<sup>4</sup> | 0mph |
|
||||
| Toyota | Camry Hybrid 2018-19 | All | Stock | 0mph<sup>4</sup> | 0mph |
|
||||
| Toyota | C-HR 2017-19 | All | Stock | 0mph | 0mph |
|
||||
@@ -102,19 +102,16 @@ Supported Cars
|
||||
| Toyota | Corolla 2017-19 | All | Stock<sup>3</sup>| 20mph<sup>1</sup> | 0mph |
|
||||
| Toyota | Corolla 2020 | All | openpilot | 0mph | 0mph |
|
||||
| Toyota | Corolla Hatchback 2019-20 | All | openpilot | 0mph | 0mph |
|
||||
| Toyota | Corolla Hybrid 2020 | All | openpilot | 0mph | 0mph |
|
||||
| Toyota | Corolla Hybrid 2020-21 | All | openpilot | 0mph | 0mph |
|
||||
| Toyota | Highlander 2017-19 | All | Stock<sup>3</sup>| 0mph | 0mph |
|
||||
| Toyota | Highlander Hybrid 2017-19 | All | Stock<sup>3</sup>| 0mph | 0mph |
|
||||
| Toyota | Highlander 2020 | All | openpilot | 0mph | 0mph |
|
||||
| Toyota | Highlander Hybrid 2017-19 | All | Stock<sup>3</sup>| 0mph | 0mph |
|
||||
| Toyota | Highlander Hybrid 2020 | All | openpilot | 0mph | 0mph |
|
||||
| Toyota | Prius 2016 | TSS-P | Stock<sup>3</sup>| 0mph | 0mph |
|
||||
| Toyota | Prius 2017-20 | All | Stock<sup>3</sup>| 0mph | 0mph |
|
||||
| Toyota | Prius 2016-20 | TSS-P | Stock<sup>3</sup>| 0mph | 0mph |
|
||||
| Toyota | Prius Prime 2017-20 | All | Stock<sup>3</sup>| 0mph | 0mph |
|
||||
| Toyota | Rav4 2016 | TSS-P | Stock<sup>3</sup>| 20mph<sup>1</sup> | 0mph |
|
||||
| Toyota | Rav4 2017-18 | All | Stock<sup>3</sup>| 20mph<sup>1</sup> | 0mph |
|
||||
| Toyota | Rav4 2019-20 | All | openpilot | 0mph | 0mph |
|
||||
| Toyota | Rav4 Hybrid 2016 | TSS-P | Stock<sup>3</sup>| 0mph | 0mph |
|
||||
| Toyota | Rav4 Hybrid 2017-18 | All | Stock<sup>3</sup>| 0mph | 0mph |
|
||||
| Toyota | Rav4 2016-18 | TSS-P | Stock<sup>3</sup>| 20mph<sup>1</sup> | 0mph |
|
||||
| Toyota | Rav4 2019-21 | All | openpilot | 0mph | 0mph |
|
||||
| Toyota | Rav4 Hybrid 2016-18 | TSS-P | Stock<sup>3</sup>| 0mph | 0mph |
|
||||
| Toyota | Rav4 Hybrid 2019-20 | All | openpilot | 0mph | 0mph |
|
||||
| Toyota | Sienna 2018-20 | All | Stock<sup>3</sup>| 0mph | 0mph |
|
||||
|
||||
@@ -143,24 +140,22 @@ Community Maintained Cars and Features
|
||||
| Holden | Astra 2017<sup>1</sup> | Adaptive Cruise | openpilot | 0mph | 7mph |
|
||||
| Hyundai | Elantra 2017-19 | SCC + LKAS | Stock | 19mph | 34mph |
|
||||
| Hyundai | Genesis 2015-16 | SCC + LKAS | Stock | 19mph | 37mph |
|
||||
| Hyundai | Ioniq Electric Premium SE 2020| SCC + LKAS | Stock | 0mph | 32mph |
|
||||
| Hyundai | Ioniq Electric Limited 2019 | SCC + LKAS | Stock | 0mph | 32mph |
|
||||
| Hyundai | Ioniq Electric 2019-20 | SCC + LKAS | Stock | 0mph | 32mph |
|
||||
| Hyundai | Kona 2020 | SCC + LKAS | Stock | 0mph | 0mph |
|
||||
| Hyundai | Kona EV 2019 | SCC + LKAS | Stock | 0mph | 0mph |
|
||||
| Hyundai | Palisade 2020 | All | Stock | 0mph | 0mph |
|
||||
| Hyundai | Santa Fe 2019 | All | Stock | 0mph | 0mph |
|
||||
| Hyundai | Sonata 2019 | All | Stock | 0mph | 0mph |
|
||||
| Hyundai | Sonata 2019 | SCC + LKAS | Stock | 0mph | 0mph |
|
||||
| Hyundai | Veloster 2019 | SCC + LKAS | Stock | 5mph | 0mph |
|
||||
| Jeep | Grand Cherokee 2016-18 | Adaptive Cruise | Stock | 0mph | 9mph |
|
||||
| Jeep | Grand Cherokee 2019-20 | Adaptive Cruise | Stock | 0mph | 39mph |
|
||||
| Kia | Forte 2018-19 | SCC + LKAS | Stock | 0mph | 0mph |
|
||||
| Kia | Optima 2017 | SCC + LKAS/LDWS | Stock | 0mph | 32mph |
|
||||
| Kia | Optima 2017 | SCC + LKAS | Stock | 0mph | 32mph |
|
||||
| Kia | Optima 2019 | SCC + LKAS | Stock | 0mph | 0mph |
|
||||
| Kia | Sorento 2018 | SCC + LKAS | Stock | 0mph | 0mph |
|
||||
| Kia | Stinger 2018 | SCC + LKAS | Stock | 0mph | 0mph |
|
||||
| Nissan | Leaf 2018-19 | Propilot | Stock | 0mph | 0mph |
|
||||
| Nissan | Rogue 2019 | Propilot | Stock | 0mph | 0mph |
|
||||
| Nissan | X-Trail 2017 | Propilot | Stock | 0mph | 0mph |
|
||||
| Nissan | Leaf 2018-20 | ProPILOT | Stock | 0mph | 0mph |
|
||||
| Nissan | Rogue 2018-19 | ProPILOT | Stock | 0mph | 0mph |
|
||||
| Nissan | X-Trail 2017 | ProPILOT | Stock | 0mph | 0mph |
|
||||
| Subaru | Ascent 2019 | EyeSight | Stock | 0mph | 0mph |
|
||||
| Subaru | Crosstrek 2018-19 | EyeSight | Stock | 0mph | 0mph |
|
||||
| Subaru | Forester 2019 | EyeSight | Stock | 0mph | 0mph |
|
||||
@@ -274,8 +269,23 @@ Safety and Testing
|
||||
|
||||
Testing on PC
|
||||
------
|
||||
For simplified development and experimentation, openpilot can be run in the CARLA driving simulator, which allows you to develop openpilot without a car. The whole setup should only take a few minutes.
|
||||
|
||||
Steps:
|
||||
1) Start the CARLA server on first terminal
|
||||
```
|
||||
bash -c "$(curl https://raw.githubusercontent.com/commaai/openpilot/master/tools/sim/start_carla.sh)"
|
||||
```
|
||||
2) Start openpilot on second terminal
|
||||
```
|
||||
bash -c "$(curl https://raw.githubusercontent.com/commaai/openpilot/master/tools/sim/start_openpilot_docker.sh)"
|
||||
```
|
||||
3) Press 1 to engage openpilot
|
||||
|
||||
See the full [README](tools/sim/README.md)
|
||||
|
||||
You should also take a look at the tools directory in master: lots of tools you can use to replay driving data, test, and develop openpilot from your PC.
|
||||
|
||||
Check out the tools directory in master: lots of tools you can use to replay driving data, test and develop openpilot from your pc.
|
||||
|
||||
Community and Contributing
|
||||
------
|
||||
@@ -300,7 +310,7 @@ Directory Structure
|
||||
├── phonelibs # Libraries used on NEOS devices
|
||||
├── pyextra # Libraries used on NEOS devices
|
||||
└── selfdrive # Code needed to drive the car
|
||||
├── assets # Fonts, images, and sounds for UI
|
||||
├── assets # Fonts, images and sounds for UI
|
||||
├── athena # Allows communication with the app
|
||||
├── boardd # Daemon to talk to the board
|
||||
├── camerad # Driver to capture images from the camera sensors
|
||||
|
||||
+81
-63
@@ -1,3 +1,21 @@
|
||||
Version 0.7.10 (2020-10-29)
|
||||
========================
|
||||
* Grey panda is deprecated, upgrade to comma two or black panda
|
||||
* NEOS update: update to Python 3.8.2 and lower CPU frequency
|
||||
* Improved thermals due to reduced CPU frequency
|
||||
* Update SNPE to 1.41.0
|
||||
* Reduced offroad power consumption
|
||||
* Various system stability improvements
|
||||
* Acura RDX 2020 support thanks to csouers!
|
||||
|
||||
Version 0.7.9 (2020-10-09)
|
||||
========================
|
||||
* Improved car battery power management
|
||||
* Improved updater robustness
|
||||
* Improved realtime performance
|
||||
* Reduced UI and modeld lags
|
||||
* Increased torque on 2020 Hyundai Sonata and Palisade
|
||||
|
||||
Version 0.7.8 (2020-08-19)
|
||||
========================
|
||||
* New driver monitoring model: improved face detection and better compatibility with sunglasses
|
||||
@@ -21,24 +39,24 @@ Version 0.7.7 (2020-07-20)
|
||||
|
||||
Version 0.7.6.1 (2020-06-16)
|
||||
========================
|
||||
* Hotfix: update kernel on some comma twos (orders #8570-#8680)
|
||||
* Hotfix: update kernel on some comma twos (orders #8570-#8680)
|
||||
|
||||
Version 0.7.6 (2020-06-05)
|
||||
========================
|
||||
* White panda is deprecated, upgrade to comma two or black panda
|
||||
* 2017 Nissan X-Trail, 2018-19 Leaf and 2019 Rogue support thanks to avolmensky!
|
||||
* 2017 Mazda CX-5 support in dashcam mode thanks to Jafaral!
|
||||
* Huge CPU savings in modeld by using thneed!
|
||||
* Lots of code cleanup and refactors
|
||||
* White panda is deprecated, upgrade to comma two or black panda
|
||||
* 2017 Nissan X-Trail, 2018-19 Leaf and 2019 Rogue support thanks to avolmensky!
|
||||
* 2017 Mazda CX-5 support in dashcam mode thanks to Jafaral!
|
||||
* Huge CPU savings in modeld by using thneed!
|
||||
* Lots of code cleanup and refactors
|
||||
|
||||
Version 0.7.5 (2020-05-13)
|
||||
========================
|
||||
* Right-Hand Drive support for both driving and driver monitoring!
|
||||
* New driving model: improved at sharp turns and lead speed estimation
|
||||
* New driver monitoring model: overall improvement on comma two
|
||||
* Driver camera preview in settings to improve mounting position
|
||||
* Added support for many Hyundai, Kia, Genesis models thanks to xx979xx!
|
||||
* Improved lateral tuning for 2020 Toyota Rav 4 (hybrid)
|
||||
* Right-Hand Drive support for both driving and driver monitoring!
|
||||
* New driving model: improved at sharp turns and lead speed estimation
|
||||
* New driver monitoring model: overall improvement on comma two
|
||||
* Driver camera preview in settings to improve mounting position
|
||||
* Added support for many Hyundai, Kia, Genesis models thanks to xx979xx!
|
||||
* Improved lateral tuning for 2020 Toyota Rav 4 (hybrid)
|
||||
|
||||
Version 0.7.4 (2020-03-20)
|
||||
========================
|
||||
@@ -474,96 +492,96 @@ Version 0.3.4 (2017-07-28)
|
||||
|
||||
Version 0.3.3 (2017-06-28)
|
||||
===========================
|
||||
* Improved model trained on more data
|
||||
* Alpha CR-V support thanks to energee and johnnwvs!
|
||||
* Using the opendbc project for DBC files
|
||||
* Minor performance improvements
|
||||
* UI update thanks to pjlao307
|
||||
* Power off button
|
||||
* 6% more torque on the Civic
|
||||
* Improved model trained on more data
|
||||
* Alpha CR-V support thanks to energee and johnnwvs!
|
||||
* Using the opendbc project for DBC files
|
||||
* Minor performance improvements
|
||||
* UI update thanks to pjlao307
|
||||
* Power off button
|
||||
* 6% more torque on the Civic
|
||||
|
||||
Version 0.3.2 (2017-05-22)
|
||||
===========================
|
||||
* Minor stability bugfixes
|
||||
* Added metrics and rear view mirror disable to settings
|
||||
* Update model with more crowdsourced data
|
||||
* Minor stability bugfixes
|
||||
* Added metrics and rear view mirror disable to settings
|
||||
* Update model with more crowdsourced data
|
||||
|
||||
Version 0.3.1 (2017-05-17)
|
||||
===========================
|
||||
* visiond stability bugfix
|
||||
* Add logging for angle and flashing
|
||||
* visiond stability bugfix
|
||||
* Add logging for angle and flashing
|
||||
|
||||
Version 0.3.0 (2017-05-12)
|
||||
===========================
|
||||
* Add CarParams struct to improve the abstraction layer
|
||||
* Refactor visiond IPC to support multiple clients
|
||||
* Add raw GPS and beginning support for navigation
|
||||
* Improve model in visiond using crowdsourced data
|
||||
* Add improved system logging to diagnose instability
|
||||
* Rewrite baseui in React Native
|
||||
* Moved calibration to the cloud
|
||||
* Add CarParams struct to improve the abstraction layer
|
||||
* Refactor visiond IPC to support multiple clients
|
||||
* Add raw GPS and beginning support for navigation
|
||||
* Improve model in visiond using crowdsourced data
|
||||
* Add improved system logging to diagnose instability
|
||||
* Rewrite baseui in React Native
|
||||
* Moved calibration to the cloud
|
||||
|
||||
Version 0.2.9 (2017-03-01)
|
||||
===========================
|
||||
* Retain compatibility with NEOS v1
|
||||
* Retain compatibility with NEOS v1
|
||||
|
||||
Version 0.2.8 (2017-02-27)
|
||||
===========================
|
||||
* Fix bug where frames were being dropped in minute 71
|
||||
* Fix bug where frames were being dropped in minute 71
|
||||
|
||||
Version 0.2.7 (2017-02-08)
|
||||
===========================
|
||||
* Better performance and pictures at night
|
||||
* Fix ptr alignment issue in boardd
|
||||
* Fix brake error light, fix crash if too cold
|
||||
* Better performance and pictures at night
|
||||
* Fix ptr alignment issue in boardd
|
||||
* Fix brake error light, fix crash if too cold
|
||||
|
||||
Version 0.2.6 (2017-01-31)
|
||||
===========================
|
||||
* Fix bug in visiond model execution
|
||||
* Fix bug in visiond model execution
|
||||
|
||||
Version 0.2.5 (2017-01-30)
|
||||
===========================
|
||||
* Fix race condition in manager
|
||||
* Fix race condition in manager
|
||||
|
||||
Version 0.2.4 (2017-01-27)
|
||||
===========================
|
||||
* OnePlus 3T support
|
||||
* Enable installation as NEOS app
|
||||
* Various minor bugfixes
|
||||
* OnePlus 3T support
|
||||
* Enable installation as NEOS app
|
||||
* Various minor bugfixes
|
||||
|
||||
Version 0.2.3 (2017-01-11)
|
||||
===========================
|
||||
* Reduce space usage by 80%
|
||||
* Add better logging
|
||||
* Add Travis CI
|
||||
* Reduce space usage by 80%
|
||||
* Add better logging
|
||||
* Add Travis CI
|
||||
|
||||
Version 0.2.2 (2017-01-10)
|
||||
===========================
|
||||
* Board triggers started signal on CAN messages
|
||||
* Improved autoexposure
|
||||
* Handle out of space, improve upload status
|
||||
* Board triggers started signal on CAN messages
|
||||
* Improved autoexposure
|
||||
* Handle out of space, improve upload status
|
||||
|
||||
Version 0.2.1 (2016-12-14)
|
||||
===========================
|
||||
* Performance improvements, removal of more numpy
|
||||
* Fix boardd process priority
|
||||
* Make counter timer reset on use of steering wheel
|
||||
* Performance improvements, removal of more numpy
|
||||
* Fix boardd process priority
|
||||
* Make counter timer reset on use of steering wheel
|
||||
|
||||
Version 0.2 (2016-12-12)
|
||||
=========================
|
||||
* Car/Radar abstraction layers have shipped, see cereal/car.capnp
|
||||
* controlsd has been refactored
|
||||
* Shipped plant model and testing maneuvers
|
||||
* visiond exits more gracefully now
|
||||
* Hardware encoder in visiond should always init
|
||||
* ui now turns off the screen after 30 seconds
|
||||
* Switch to openpilot release branch for future releases
|
||||
* Added preliminary Docker container to run tests on PC
|
||||
* Car/Radar abstraction layers have shipped, see cereal/car.capnp
|
||||
* controlsd has been refactored
|
||||
* Shipped plant model and testing maneuvers
|
||||
* visiond exits more gracefully now
|
||||
* Hardware encoder in visiond should always init
|
||||
* ui now turns off the screen after 30 seconds
|
||||
* Switch to openpilot release branch for future releases
|
||||
* Added preliminary Docker container to run tests on PC
|
||||
|
||||
Version 0.1 (2016-11-29)
|
||||
=========================
|
||||
* Initial release of openpilot
|
||||
* Adaptive cruise control is working
|
||||
* Lane keep assist is working
|
||||
* Support for Acura ILX 2016 with AcuraWatch Plus
|
||||
* Support for Honda Civic 2016 Touring Edition
|
||||
* Initial release of openpilot
|
||||
* Adaptive cruise control is working
|
||||
* Lane keep assist is working
|
||||
* Support for Acura ILX 2016 with AcuraWatch Plus
|
||||
* Support for Honda Civic 2016 Touring Edition
|
||||
|
||||
+65
-14
@@ -6,6 +6,9 @@ import subprocess
|
||||
import sys
|
||||
import platform
|
||||
|
||||
TICI = os.path.isfile('/TICI')
|
||||
Decider('MD5-timestamp')
|
||||
|
||||
AddOption('--test',
|
||||
action='store_true',
|
||||
help='build test files')
|
||||
@@ -18,13 +21,14 @@ AddOption('--asan',
|
||||
cython_dependencies = [Value(v) for v in (sys.version, distutils.__version__, Cython.__version__)]
|
||||
Export('cython_dependencies')
|
||||
|
||||
arch = subprocess.check_output(["uname", "-m"], encoding='utf8').rstrip()
|
||||
real_arch = arch = subprocess.check_output(["uname", "-m"], encoding='utf8').rstrip()
|
||||
if platform.system() == "Darwin":
|
||||
arch = "Darwin"
|
||||
if arch == "aarch64" and not os.path.isdir("/system"):
|
||||
|
||||
if arch == "aarch64" and TICI:
|
||||
arch = "larch64"
|
||||
|
||||
webcam = bool(ARGUMENTS.get("use_webcam", 0))
|
||||
USE_WEBCAM = os.getenv("USE_WEBCAM") is not None
|
||||
QCOM_REPLAY = arch == "aarch64" and os.getenv("QCOM_REPLAY") is not None
|
||||
|
||||
if arch == "aarch64" or arch == "larch64":
|
||||
@@ -44,7 +48,6 @@ if arch == "aarch64" or arch == "larch64":
|
||||
|
||||
libpath = [
|
||||
"/usr/lib",
|
||||
"/data/data/com.termux/files/usr/lib",
|
||||
"/system/vendor/lib64",
|
||||
"/system/comma/usr/lib",
|
||||
"#phonelibs/nanovg",
|
||||
@@ -62,11 +65,12 @@ if arch == "aarch64" or arch == "larch64":
|
||||
else:
|
||||
libpath += [
|
||||
"#phonelibs/snpe/aarch64",
|
||||
"#phonelibs/libyuv/lib"
|
||||
"#phonelibs/libyuv/lib",
|
||||
"/system/vendor/lib64"
|
||||
]
|
||||
cflags = ["-DQCOM", "-mcpu=cortex-a57"]
|
||||
cxxflags = ["-DQCOM", "-mcpu=cortex-a57"]
|
||||
rpath = ["/system/vendor/lib64"]
|
||||
rpath = []
|
||||
|
||||
if QCOM_REPLAY:
|
||||
cflags += ["-DQCOM_REPLAY"]
|
||||
@@ -105,6 +109,7 @@ else:
|
||||
]
|
||||
|
||||
rpath = [
|
||||
"phonelibs/snpe/x86_64-linux-clang",
|
||||
"external/tensorflow/lib",
|
||||
"cereal",
|
||||
"selfdrive/common"
|
||||
@@ -131,8 +136,12 @@ env = Environment(
|
||||
"-O2",
|
||||
"-Wunused",
|
||||
"-Werror",
|
||||
"-Wno-unknown-warning-option",
|
||||
"-Wno-deprecated-register",
|
||||
"-Wno-register",
|
||||
"-Wno-inconsistent-missing-override",
|
||||
"-Wno-c99-designator",
|
||||
"-Wno-reorder-init-list",
|
||||
] + cflags + ccflags_asan,
|
||||
|
||||
CPPPATH=cpppath + [
|
||||
@@ -143,7 +152,6 @@ env = Environment(
|
||||
"#phonelibs/openmax/include",
|
||||
"#phonelibs/json11",
|
||||
"#phonelibs/curl/include",
|
||||
#"#phonelibs/opencv/include", # use opencv4 instead
|
||||
"#phonelibs/libgralloc/include",
|
||||
"#phonelibs/android_frameworks_native/include",
|
||||
"#phonelibs/android_hardware_libhardware/include",
|
||||
@@ -156,6 +164,8 @@ env = Environment(
|
||||
"#selfdrive/camerad/include",
|
||||
"#selfdrive/loggerd/include",
|
||||
"#selfdrive/modeld",
|
||||
"#selfdrive/sensord",
|
||||
"#selfdrive/ui",
|
||||
"#cereal/messaging",
|
||||
"#cereal",
|
||||
"#opendbc/can",
|
||||
@@ -168,7 +178,7 @@ env = Environment(
|
||||
RPATH=rpath,
|
||||
|
||||
CFLAGS=["-std=gnu11"] + cflags,
|
||||
CXXFLAGS=["-std=c++14"] + cxxflags,
|
||||
CXXFLAGS=["-std=c++1z"] + cxxflags,
|
||||
LIBPATH=libpath + [
|
||||
"#cereal",
|
||||
"#selfdrive/common",
|
||||
@@ -176,6 +186,45 @@ env = Environment(
|
||||
]
|
||||
)
|
||||
|
||||
qt_env = None
|
||||
if arch in ["x86_64", "Darwin", "larch64"]:
|
||||
qt_env = env.Clone()
|
||||
|
||||
if arch == "Darwin":
|
||||
qt_env['QTDIR'] = "/usr/local/opt/qt"
|
||||
QT_BASE = "/usr/local/opt/qt/"
|
||||
qt_dirs = [
|
||||
QT_BASE + "include/",
|
||||
QT_BASE + "include/QtWidgets",
|
||||
QT_BASE + "include/QtGui",
|
||||
QT_BASE + "include/QtCore",
|
||||
QT_BASE + "include/QtDBus",
|
||||
QT_BASE + "include/QtMultimedia",
|
||||
]
|
||||
qt_env["LINKFLAGS"] += ["-F" + QT_BASE + "lib"]
|
||||
else:
|
||||
qt_env['QTDIR'] = "/usr"
|
||||
qt_dirs = [
|
||||
f"/usr/include/{real_arch}-linux-gnu/qt5",
|
||||
f"/usr/include/{real_arch}-linux-gnu/qt5/QtWidgets",
|
||||
f"/usr/include/{real_arch}-linux-gnu/qt5/QtGui",
|
||||
f"/usr/include/{real_arch}-linux-gnu/qt5/QtCore",
|
||||
f"/usr/include/{real_arch}-linux-gnu/qt5/QtDBus",
|
||||
f"/usr/include/{real_arch}-linux-gnu/qt5/QtMultimedia",
|
||||
f"/usr/include/{real_arch}-linux-gnu/qt5/QtGui/5.5.1/QtGui",
|
||||
]
|
||||
|
||||
qt_env.Tool('qt')
|
||||
qt_env['CPPPATH'] += qt_dirs
|
||||
qt_flags = [
|
||||
"-D_REENTRANT",
|
||||
"-DQT_NO_DEBUG",
|
||||
"-DQT_WIDGETS_LIB",
|
||||
"-DQT_GUI_LIB",
|
||||
"-DQT_CORE_LIB"
|
||||
]
|
||||
qt_env['CXXFLAGS'] += qt_flags
|
||||
|
||||
if os.environ.get('SCONS_CACHE'):
|
||||
cache_dir = '/tmp/scons_cache'
|
||||
|
||||
@@ -214,7 +263,7 @@ def abspath(x):
|
||||
|
||||
# still needed for apks
|
||||
zmq = 'zmq'
|
||||
Export('env', 'arch', 'zmq', 'SHARED', 'webcam', 'QCOM_REPLAY')
|
||||
Export('env', 'qt_env', 'arch', 'zmq', 'SHARED', 'USE_WEBCAM', 'QCOM_REPLAY')
|
||||
|
||||
# cereal and messaging are shared with the system
|
||||
SConscript(['cereal/SConscript'])
|
||||
@@ -255,16 +304,18 @@ SConscript(['selfdrive/controls/lib/longitudinal_mpc_model/SConscript'])
|
||||
|
||||
SConscript(['selfdrive/boardd/SConscript'])
|
||||
SConscript(['selfdrive/proclogd/SConscript'])
|
||||
SConscript(['selfdrive/clocksd/SConscript'])
|
||||
|
||||
SConscript(['selfdrive/ui/SConscript'])
|
||||
SConscript(['selfdrive/loggerd/SConscript'])
|
||||
|
||||
SConscript(['selfdrive/locationd/SConscript'])
|
||||
SConscript(['selfdrive/locationd/models/SConscript'])
|
||||
SConscript(['selfdrive/sensord/SConscript'])
|
||||
SConscript(['selfdrive/ui/SConscript'])
|
||||
|
||||
if arch == "aarch64":
|
||||
if arch != "Darwin":
|
||||
SConscript(['selfdrive/logcatd/SConscript'])
|
||||
SConscript(['selfdrive/sensord/SConscript'])
|
||||
SConscript(['selfdrive/clocksd/SConscript'])
|
||||
else:
|
||||
|
||||
|
||||
if arch == "x86_64":
|
||||
SConscript(['tools/lib/index_log/SConscript'])
|
||||
|
||||
Binary file not shown.
+15
-13
@@ -25,7 +25,6 @@ struct CarEvent @0x9b1657f34caf3ad3 {
|
||||
canError @0;
|
||||
steerUnavailable @1;
|
||||
brakeUnavailable @2;
|
||||
gasUnavailable @3;
|
||||
wrongGear @4;
|
||||
doorOpen @5;
|
||||
seatbeltNotLatched @6;
|
||||
@@ -38,7 +37,6 @@ struct CarEvent @0x9b1657f34caf3ad3 {
|
||||
pedalPressed @13;
|
||||
cruiseDisabled @14;
|
||||
radarCanError @15;
|
||||
dataNeededDEPRECATED @16;
|
||||
speedTooLow @17;
|
||||
outOfSpace @18;
|
||||
overheat @19;
|
||||
@@ -49,29 +47,22 @@ struct CarEvent @0x9b1657f34caf3ad3 {
|
||||
pcmDisable @24;
|
||||
noTarget @25;
|
||||
radarFault @26;
|
||||
modelCommIssueDEPRECATED @27;
|
||||
brakeHold @28;
|
||||
parkBrake @29;
|
||||
manualRestart @30;
|
||||
lowSpeedLockout @31;
|
||||
plannerError @32;
|
||||
ipasOverrideDEPRECATED @33;
|
||||
debugAlert @34;
|
||||
steerTempUnavailableMute @35;
|
||||
resumeRequired @36;
|
||||
preDriverDistracted @37;
|
||||
promptDriverDistracted @38;
|
||||
driverDistracted @39;
|
||||
geofenceDEPRECATED @40;
|
||||
driverMonitorOnDEPRECATED @41;
|
||||
driverMonitorOffDEPRECATED @42;
|
||||
preDriverUnresponsive @43;
|
||||
promptDriverUnresponsive @44;
|
||||
driverUnresponsive @45;
|
||||
belowSteerSpeed @46;
|
||||
calibrationProgressDEPRECATED @47;
|
||||
lowBattery @48;
|
||||
invalidGiraffeHondaDEPRECATED @49;
|
||||
vehicleModelInvalid @50;
|
||||
controlsFailed @51;
|
||||
sensorDataInvalid @52;
|
||||
@@ -104,15 +95,26 @@ struct CarEvent @0x9b1657f34caf3ad3 {
|
||||
fcw @79;
|
||||
steerSaturated @80;
|
||||
whitePandaUnsupported @81;
|
||||
startupWhitePanda @82;
|
||||
canErrorPersistentDEPRECATED @83;
|
||||
startupGreyPanda @82;
|
||||
belowEngageSpeed @84;
|
||||
noGps @85;
|
||||
focusRecoverActive @86;
|
||||
wrongCruiseMode @87;
|
||||
neosUpdateRequired @88;
|
||||
modeldLagging @89;
|
||||
deviceFalling @90;
|
||||
fanMalfunction @91;
|
||||
|
||||
gasUnavailableDEPRECATED @3;
|
||||
dataNeededDEPRECATED @16;
|
||||
modelCommIssueDEPRECATED @27;
|
||||
ipasOverrideDEPRECATED @33;
|
||||
geofenceDEPRECATED @40;
|
||||
driverMonitorOnDEPRECATED @41;
|
||||
driverMonitorOffDEPRECATED @42;
|
||||
calibrationProgressDEPRECATED @47;
|
||||
invalidGiraffeHondaDEPRECATED @49;
|
||||
canErrorPersistentDEPRECATED @83;
|
||||
focusRecoverActiveDEPRECATED @86;
|
||||
neosUpdateRequiredDEPRECATED @88;
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
+74
-11
@@ -186,6 +186,7 @@ struct SensorEventData {
|
||||
gyroUncalibrated @12 :SensorVec;
|
||||
proximity @13: Float32;
|
||||
light @14: Float32;
|
||||
temperature @15: Float32;
|
||||
}
|
||||
source @8 :SensorSource;
|
||||
|
||||
@@ -203,6 +204,8 @@ struct SensorEventData {
|
||||
lsm6ds3 @5; # accelerometer (c2)
|
||||
bmp280 @6; # barometer (c2)
|
||||
mmc3416x @7; # magnetometer (c2)
|
||||
bmx055 @8;
|
||||
rpr0521 @9;
|
||||
}
|
||||
}
|
||||
|
||||
@@ -267,14 +270,15 @@ struct CanData {
|
||||
}
|
||||
|
||||
struct ThermalData {
|
||||
cpu0 @0 :UInt16;
|
||||
cpu1 @1 :UInt16;
|
||||
cpu2 @2 :UInt16;
|
||||
cpu3 @3 :UInt16;
|
||||
mem @4 :UInt16;
|
||||
gpu @5 :UInt16;
|
||||
bat @6 :UInt32;
|
||||
pa0 @21 :UInt16;
|
||||
# Deprecated
|
||||
cpu0DEPRECATED @0 :UInt16;
|
||||
cpu1DEPRECATED @1 :UInt16;
|
||||
cpu2DEPRECATED @2 :UInt16;
|
||||
cpu3DEPRECATED @3 :UInt16;
|
||||
memDEPRECATED @4 :UInt16;
|
||||
gpuDEPRECATED @5 :UInt16;
|
||||
batDEPRECATED @6 :UInt32;
|
||||
pa0DEPRECATED @21 :UInt16;
|
||||
|
||||
# not thermal
|
||||
freeSpace @7 :Float32;
|
||||
@@ -286,6 +290,7 @@ struct ThermalData {
|
||||
networkType @22 :NetworkType;
|
||||
offroadPowerUsage @23 :UInt32; # Power usage since going offroad in uWh
|
||||
networkStrength @24 :NetworkStrength;
|
||||
carBatteryCapacity @25 :UInt32; # Estimated remaining car battery capacity in uWh
|
||||
|
||||
fanSpeed @10 :UInt16;
|
||||
started @11 :Bool;
|
||||
@@ -298,6 +303,12 @@ struct ThermalData {
|
||||
memUsedPercent @19 :Int8;
|
||||
cpuPerc @20 :Int8;
|
||||
|
||||
cpu @26 :List(Float32);
|
||||
gpu @27 :List(Float32);
|
||||
mem @28 :Float32;
|
||||
bat @29 :Float32;
|
||||
ambient @30 :Float32;
|
||||
|
||||
enum ThermalStatus {
|
||||
green @0; # all processes run
|
||||
yellow @1; # critical processes run (kill uploader), engage still allowed
|
||||
@@ -373,6 +384,8 @@ struct HealthData {
|
||||
interruptRateTim3 @17;
|
||||
registerDivergent @18;
|
||||
interruptRateKlineInit @19;
|
||||
interruptRateClockSource @20;
|
||||
interruptRateTim9 @21;
|
||||
# Update max fault type in boardd when adding faults
|
||||
}
|
||||
|
||||
@@ -558,7 +571,7 @@ struct ControlsState @0x97ff69c53601abf1 {
|
||||
|
||||
enum AlertStatus {
|
||||
normal @0; # low priority alert for user's convenience
|
||||
userPrompt @1; # mid piority alert that might require user intervention
|
||||
userPrompt @1; # mid priority alert that might require user intervention
|
||||
critical @2; # high priority alert that needs immediate user intervention
|
||||
}
|
||||
|
||||
@@ -602,7 +615,7 @@ struct ControlsState @0x97ff69c53601abf1 {
|
||||
output @3 :Float32;
|
||||
lqrOutput @4 :Float32;
|
||||
saturated @5 :Bool;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
struct LiveEventData {
|
||||
@@ -675,6 +688,52 @@ struct ModelData {
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
struct ModelDataV2 {
|
||||
frameId @0 :UInt32;
|
||||
frameAge @1 :UInt32;
|
||||
frameDropPerc @2 :Float32;
|
||||
timestampEof @3 :UInt64;
|
||||
|
||||
position @4 :XYZTData;
|
||||
orientation @5 :XYZTData;
|
||||
velocity @6 :XYZTData;
|
||||
orientationRate @7 :XYZTData;
|
||||
laneLines @8 :List(XYZTData);
|
||||
laneLineProbs @9 :List(Float32);
|
||||
roadEdges @10 :List(XYZTData);
|
||||
leads @11 :List(LeadDataV2);
|
||||
|
||||
meta @12 :MetaData;
|
||||
|
||||
struct XYZTData {
|
||||
x @0 :List(Float32);
|
||||
y @1 :List(Float32);
|
||||
z @2 :List(Float32);
|
||||
t @3 :List(Float32);
|
||||
xStd @4 :List(Float32);
|
||||
yStd @5 :List(Float32);
|
||||
zStd @6 :List(Float32);
|
||||
}
|
||||
|
||||
struct LeadDataV2 {
|
||||
prob @0 :Float32;
|
||||
t @1 :Float32;
|
||||
xyva @2 :List(Float32);
|
||||
xyvaStd @3 :List(Float32);
|
||||
}
|
||||
|
||||
struct MetaData {
|
||||
engagedProb @0 :Float32;
|
||||
desirePrediction @1 :List(Float32);
|
||||
brakeDisengageProb @2 :Float32;
|
||||
gasDisengageProb @3 :Float32;
|
||||
steerOverrideProb @4 :Float32;
|
||||
desireState @5 :List(Float32);
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
struct CalibrationFeatures {
|
||||
frameId @0 :UInt32;
|
||||
|
||||
@@ -1906,7 +1965,6 @@ struct DMonitoringState {
|
||||
isDistracted @2 :Bool;
|
||||
awarenessStatus @3 :Float32;
|
||||
isRHD @4 :Bool;
|
||||
rhdChecked @5 :Bool;
|
||||
posePitchOffset @6 :Float32;
|
||||
posePitchValidCount @7 :UInt32;
|
||||
poseYawOffset @8 :Float32;
|
||||
@@ -1917,12 +1975,15 @@ struct DMonitoringState {
|
||||
isLowStd @13 :Bool;
|
||||
hiStdCount @14 :UInt32;
|
||||
isPreview @15 :Bool;
|
||||
|
||||
rhdCheckedDEPRECATED @5 :Bool;
|
||||
}
|
||||
|
||||
struct Boot {
|
||||
wallTimeNanos @0 :UInt64;
|
||||
lastKmsg @1 :Data;
|
||||
lastPmsg @2 :Data;
|
||||
launchLog @3 :Text;
|
||||
}
|
||||
|
||||
struct LiveParametersData {
|
||||
@@ -2062,5 +2123,7 @@ struct Event {
|
||||
dMonitoringState @71: DMonitoringState;
|
||||
liveLocationKalman @72 :LiveLocationKalman;
|
||||
sentinel @73 :Sentinel;
|
||||
wideFrame @74: FrameData;
|
||||
modelV2 @75 :ModelDataV2;
|
||||
}
|
||||
}
|
||||
|
||||
@@ -3,6 +3,8 @@ from .messaging_pyx import Context, Poller, SubSocket, PubSocket # pylint: disa
|
||||
from .messaging_pyx import MultiplePublishersError, MessagingError # pylint: disable=no-name-in-module, import-error
|
||||
import capnp
|
||||
|
||||
from typing import Optional, List, Union
|
||||
|
||||
from cereal import log
|
||||
from cereal.services import service_list
|
||||
|
||||
@@ -19,7 +21,7 @@ except ImportError:
|
||||
|
||||
context = Context()
|
||||
|
||||
def new_message(service=None, size=None):
|
||||
def new_message(service: Optional[str] = None, size: Optional[int] = None) -> capnp.lib.capnp._DynamicStructBuilder:
|
||||
dat = log.Event.new_message()
|
||||
dat.logMonoTime = int(sec_since_boot() * 1e9)
|
||||
dat.valid = True
|
||||
@@ -30,15 +32,15 @@ def new_message(service=None, size=None):
|
||||
dat.init(service, size)
|
||||
return dat
|
||||
|
||||
def pub_sock(endpoint):
|
||||
def pub_sock(endpoint: str) -> PubSocket:
|
||||
sock = PubSocket()
|
||||
sock.connect(context, endpoint)
|
||||
return sock
|
||||
|
||||
def sub_sock(endpoint, poller=None, addr="127.0.0.1", conflate=False, timeout=None):
|
||||
def sub_sock(endpoint: str, poller: Optional[Poller] = None, addr: str = "127.0.0.1",
|
||||
conflate: bool = False, timeout: Optional[int] = None) -> SubSocket:
|
||||
sock = SubSocket()
|
||||
addr = addr.encode('utf8')
|
||||
sock.connect(context, endpoint, addr, conflate)
|
||||
sock.connect(context, endpoint, addr.encode('utf8'), conflate)
|
||||
|
||||
if timeout is not None:
|
||||
sock.setTimeout(timeout)
|
||||
@@ -48,9 +50,9 @@ def sub_sock(endpoint, poller=None, addr="127.0.0.1", conflate=False, timeout=No
|
||||
return sock
|
||||
|
||||
|
||||
def drain_sock_raw(sock, wait_for_one=False):
|
||||
def drain_sock_raw(sock: SubSocket, wait_for_one: bool = False) -> List[bytes]:
|
||||
"""Receive all message currently available on the queue"""
|
||||
ret = []
|
||||
ret: List[bytes] = []
|
||||
while 1:
|
||||
if wait_for_one and len(ret) == 0:
|
||||
dat = sock.receive()
|
||||
@@ -64,9 +66,9 @@ def drain_sock_raw(sock, wait_for_one=False):
|
||||
|
||||
return ret
|
||||
|
||||
def drain_sock(sock, wait_for_one=False):
|
||||
def drain_sock(sock: SubSocket, wait_for_one: bool = False) -> List[capnp.lib.capnp._DynamicStructReader]:
|
||||
"""Receive all message currently available on the queue"""
|
||||
ret = []
|
||||
ret: List[capnp.lib.capnp._DynamicStructReader] = []
|
||||
while 1:
|
||||
if wait_for_one and len(ret) == 0:
|
||||
dat = sock.receive()
|
||||
@@ -83,7 +85,7 @@ def drain_sock(sock, wait_for_one=False):
|
||||
|
||||
|
||||
# TODO: print when we drop packets?
|
||||
def recv_sock(sock, wait=False):
|
||||
def recv_sock(sock: SubSocket, wait: bool = False) -> Union[None, capnp.lib.capnp._DynamicStructReader]:
|
||||
"""Same as drain sock, but only returns latest message. Consider using conflate instead."""
|
||||
dat = None
|
||||
|
||||
@@ -103,19 +105,19 @@ def recv_sock(sock, wait=False):
|
||||
|
||||
return dat
|
||||
|
||||
def recv_one(sock):
|
||||
def recv_one(sock: SubSocket) -> Union[None, capnp.lib.capnp._DynamicStructReader]:
|
||||
dat = sock.receive()
|
||||
if dat is not None:
|
||||
dat = log.Event.from_bytes(dat)
|
||||
return dat
|
||||
|
||||
def recv_one_or_none(sock):
|
||||
def recv_one_or_none(sock: SubSocket) -> Union[None, capnp.lib.capnp._DynamicStructReader]:
|
||||
dat = sock.receive(non_blocking=True)
|
||||
if dat is not None:
|
||||
dat = log.Event.from_bytes(dat)
|
||||
return dat
|
||||
|
||||
def recv_one_retry(sock):
|
||||
def recv_one_retry(sock: SubSocket) -> capnp.lib.capnp._DynamicStructReader:
|
||||
"""Keep receiving until we get a message"""
|
||||
while True:
|
||||
dat = sock.receive()
|
||||
@@ -123,8 +125,8 @@ def recv_one_retry(sock):
|
||||
return log.Event.from_bytes(dat)
|
||||
|
||||
class SubMaster():
|
||||
def __init__(self, services, ignore_alive=None, addr="127.0.0.1"):
|
||||
self.poller = Poller()
|
||||
def __init__(self, services: List[str], poll: Optional[List[str]] = None,
|
||||
ignore_alive: Optional[List[str]] = None, addr:str ="127.0.0.1"):
|
||||
self.frame = -1
|
||||
self.updated = {s: False for s in services}
|
||||
self.rcv_time = {s: 0. for s in services}
|
||||
@@ -133,8 +135,12 @@ class SubMaster():
|
||||
self.sock = {}
|
||||
self.freq = {}
|
||||
self.data = {}
|
||||
self.logMonoTime = {}
|
||||
self.valid = {}
|
||||
self.logMonoTime = {}
|
||||
|
||||
self.poller = Poller()
|
||||
self.non_polled_services = [s for s in services if poll is not None and
|
||||
len(poll) and s not in poll]
|
||||
|
||||
if ignore_alive is not None:
|
||||
self.ignore_alive = ignore_alive
|
||||
@@ -143,30 +149,33 @@ class SubMaster():
|
||||
|
||||
for s in services:
|
||||
if addr is not None:
|
||||
self.sock[s] = sub_sock(s, poller=self.poller, addr=addr, conflate=True)
|
||||
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)
|
||||
self.freq[s] = service_list[s].frequency
|
||||
|
||||
try:
|
||||
data = new_message(s)
|
||||
except capnp.lib.capnp.KjException: # pylint: disable=c-extension-no-member
|
||||
# lists
|
||||
data = new_message(s, 0)
|
||||
data = new_message(s, 0) # lists
|
||||
|
||||
self.data[s] = getattr(data, s)
|
||||
self.logMonoTime[s] = 0
|
||||
self.valid[s] = data.valid
|
||||
|
||||
def __getitem__(self, s):
|
||||
def __getitem__(self, s: str) -> capnp.lib.capnp._DynamicStructReader:
|
||||
return self.data[s]
|
||||
|
||||
def update(self, timeout=1000):
|
||||
def update(self, timeout: int = 1000) -> 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(sec_since_boot(), msgs)
|
||||
|
||||
def update_msgs(self, cur_time, msgs):
|
||||
# TODO: add optional input that specify the service to wait for
|
||||
def update_msgs(self, cur_time: float, msgs: List[capnp.lib.capnp._DynamicStructReader]) -> None:
|
||||
self.frame += 1
|
||||
self.updated = dict.fromkeys(self.updated, False)
|
||||
for msg in msgs:
|
||||
@@ -189,30 +198,28 @@ class SubMaster():
|
||||
else:
|
||||
self.alive[s] = True
|
||||
|
||||
def all_alive(self, service_list=None):
|
||||
def all_alive(self, service_list=None) -> bool:
|
||||
if service_list is None: # check all
|
||||
service_list = self.alive.keys()
|
||||
return all(self.alive[s] for s in service_list if s not in self.ignore_alive)
|
||||
|
||||
def all_valid(self, service_list=None):
|
||||
def all_valid(self, service_list=None) -> bool:
|
||||
if service_list is None: # check all
|
||||
service_list = self.valid.keys()
|
||||
return all(self.valid[s] for s in service_list)
|
||||
|
||||
def all_alive_and_valid(self, service_list=None):
|
||||
def all_alive_and_valid(self, service_list=None) -> bool:
|
||||
if service_list is None: # check all
|
||||
service_list = self.alive.keys()
|
||||
return self.all_alive(service_list=service_list) and self.all_valid(service_list=service_list)
|
||||
|
||||
|
||||
class PubMaster():
|
||||
def __init__(self, services):
|
||||
def __init__(self, services: List[str]):
|
||||
self.sock = {}
|
||||
for s in services:
|
||||
self.sock[s] = pub_sock(s)
|
||||
|
||||
def send(self, s, dat):
|
||||
# accept either bytes or capnp builder
|
||||
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)
|
||||
|
||||
@@ -15,6 +15,18 @@ void sig_handler(int signal) {
|
||||
msgq_do_exit = 1;
|
||||
}
|
||||
|
||||
static size_t get_size(std::string endpoint){
|
||||
size_t sz = DEFAULT_SEGMENT_SIZE;
|
||||
|
||||
#if !defined(QCOM) && !defined(QCOM2)
|
||||
if (endpoint == "frame" || endpoint == "frontFrame" || endpoint == "wideFrame"){
|
||||
sz *= 10;
|
||||
}
|
||||
#endif
|
||||
|
||||
return sz;
|
||||
}
|
||||
|
||||
|
||||
MSGQContext::MSGQContext() {
|
||||
}
|
||||
@@ -49,13 +61,12 @@ MSGQMessage::~MSGQMessage() {
|
||||
this->close();
|
||||
}
|
||||
|
||||
|
||||
int MSGQSubSocket::connect(Context *context, std::string endpoint, std::string address, bool conflate){
|
||||
assert(context);
|
||||
assert(address == "127.0.0.1");
|
||||
|
||||
q = new msgq_queue_t;
|
||||
int r = msgq_new_queue(q, endpoint.c_str(), DEFAULT_SEGMENT_SIZE);
|
||||
int r = msgq_new_queue(q, endpoint.c_str(), get_size(endpoint));
|
||||
if (r != 0){
|
||||
return r;
|
||||
}
|
||||
@@ -143,7 +154,7 @@ int MSGQPubSocket::connect(Context *context, std::string endpoint){
|
||||
assert(context);
|
||||
|
||||
q = new msgq_queue_t;
|
||||
int r = msgq_new_queue(q, endpoint.c_str(), DEFAULT_SEGMENT_SIZE);
|
||||
int r = msgq_new_queue(q, endpoint.c_str(), get_size(endpoint));
|
||||
if (r != 0){
|
||||
return r;
|
||||
}
|
||||
|
||||
@@ -6,6 +6,10 @@
|
||||
#include <capnp/serialize.h>
|
||||
#include "../gen/cpp/log.capnp.h"
|
||||
|
||||
#ifdef __APPLE__
|
||||
#define CLOCK_BOOTTIME CLOCK_MONOTONIC
|
||||
#endif
|
||||
|
||||
#define MSG_MULTIPLE_PUBLISHERS 100
|
||||
|
||||
class Context {
|
||||
@@ -82,11 +86,34 @@ private:
|
||||
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>();
|
||||
struct timespec t;
|
||||
clock_gettime(CLOCK_BOOTTIME, &t);
|
||||
uint64_t current_time = t.tv_sec * 1000000000ULL + t.tv_nsec;
|
||||
event.setLogMonoTime(current_time);
|
||||
event.setValid(valid);
|
||||
return event;
|
||||
}
|
||||
|
||||
kj::ArrayPtr<capnp::byte> toBytes() {
|
||||
heapArray_ = capnp::messageToFlatArray(*this);
|
||||
return heapArray_.asBytes();
|
||||
}
|
||||
|
||||
private:
|
||||
kj::Array<capnp::word> heapArray_;
|
||||
};
|
||||
|
||||
class PubMaster {
|
||||
public:
|
||||
PubMaster(const std::initializer_list<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, capnp::MessageBuilder &msg);
|
||||
int send(const char *name, MessageBuilder &msg);
|
||||
~PubMaster();
|
||||
|
||||
private:
|
||||
|
||||
@@ -140,9 +140,9 @@ cdef class PubSocket:
|
||||
else:
|
||||
raise MessagingError
|
||||
|
||||
def send(self, string data):
|
||||
def send(self, bytes data):
|
||||
length = len(data)
|
||||
r = self.socket.send(<char*>data.c_str(), length)
|
||||
r = self.socket.send(<char*>data, length)
|
||||
|
||||
if r != length:
|
||||
if errno.errno == errno.EADDRINUSE:
|
||||
|
||||
@@ -6,6 +6,7 @@ from distutils.core import Extension, setup # pylint: disable=import-error,no-n
|
||||
from Cython.Build import cythonize
|
||||
from Cython.Distutils import build_ext
|
||||
|
||||
TICI = os.path.isfile('/TICI')
|
||||
|
||||
def get_ext_filename_without_platform_suffix(filename):
|
||||
name, ext = os.path.splitext(filename)
|
||||
@@ -30,11 +31,11 @@ class BuildExtWithoutPlatformSuffix(build_ext):
|
||||
|
||||
|
||||
sourcefiles = ['messaging_pyx.pyx']
|
||||
extra_compile_args = ["-std=c++14"]
|
||||
extra_compile_args = ["-std=c++1z", "-Wno-nullability-completeness"]
|
||||
libraries = ['zmq']
|
||||
ARCH = subprocess.check_output(["uname", "-m"], encoding='utf8').rstrip() # pylint: disable=unexpected-keyword-arg
|
||||
|
||||
if ARCH == "aarch64" and os.path.isdir("/system"):
|
||||
if ARCH == "aarch64" and not TICI:
|
||||
# android
|
||||
extra_compile_args += ["-Wno-deprecated-register"]
|
||||
libraries += ['gnustl_shared']
|
||||
|
||||
@@ -21,6 +21,8 @@
|
||||
|
||||
#include <stdio.h>
|
||||
|
||||
#include "services.h"
|
||||
|
||||
#include "msgq.hpp"
|
||||
|
||||
void sigusr2_handler(int signal) {
|
||||
@@ -81,11 +83,20 @@ void msgq_wait_for_subscriber(msgq_queue_t *q){
|
||||
return;
|
||||
}
|
||||
|
||||
|
||||
bool service_exists(std::string path){
|
||||
for (const auto& it : services) {
|
||||
if (it.name == path) {
|
||||
return true;
|
||||
}
|
||||
}
|
||||
return false;
|
||||
}
|
||||
|
||||
int msgq_new_queue(msgq_queue_t * q, const char * path, size_t size){
|
||||
assert(size < 0xFFFFFFFF); // Buffer must be smaller than 2^32 bytes
|
||||
|
||||
if (!service_exists(std::string(path))){
|
||||
std::cout << "Warning, " << std::string(path) << " is not in service list." << std::endl;
|
||||
}
|
||||
std::signal(SIGUSR2, sigusr2_handler);
|
||||
|
||||
const char * prefix = "/dev/shm/";
|
||||
@@ -102,15 +113,16 @@ int msgq_new_queue(msgq_queue_t * q, const char * path, size_t size){
|
||||
delete[] full_path;
|
||||
|
||||
int rc = ftruncate(fd, size + sizeof(msgq_header_t));
|
||||
if (rc < 0)
|
||||
if (rc < 0){
|
||||
close(fd);
|
||||
return -1;
|
||||
|
||||
}
|
||||
char * mem = (char*)mmap(NULL, size + sizeof(msgq_header_t), PROT_READ | PROT_WRITE, MAP_SHARED, fd, 0);
|
||||
close(fd);
|
||||
|
||||
if (mem == NULL)
|
||||
if (mem == NULL){
|
||||
return -1;
|
||||
|
||||
}
|
||||
q->mmap_p = mem;
|
||||
|
||||
msgq_header_t *header = (msgq_header_t *)mem;
|
||||
@@ -418,8 +430,6 @@ int msgq_msg_recv(msgq_msg_t * msg, msgq_queue_t * q){
|
||||
|
||||
|
||||
int msgq_poll(msgq_pollitem_t * items, size_t nitems, int timeout){
|
||||
assert(timeout >= 0);
|
||||
|
||||
int num = 0;
|
||||
|
||||
// Check if messages ready
|
||||
|
||||
@@ -3,10 +3,6 @@
|
||||
#include "messaging.hpp"
|
||||
#include "services.h"
|
||||
|
||||
#ifdef __APPLE__
|
||||
#define CLOCK_BOOTTIME CLOCK_MONOTONIC
|
||||
#endif
|
||||
|
||||
static inline uint64_t nanos_since_boot() {
|
||||
struct timespec t;
|
||||
clock_gettime(CLOCK_BOOTTIME, &t);
|
||||
@@ -164,9 +160,8 @@ PubMaster::PubMaster(const std::initializer_list<const char *> &service_list) {
|
||||
}
|
||||
}
|
||||
|
||||
int PubMaster::send(const char *name, capnp::MessageBuilder &msg) {
|
||||
auto words = capnp::messageToFlatArray(msg);
|
||||
auto bytes = words.asBytes();
|
||||
int PubMaster::send(const char *name, MessageBuilder &msg) {
|
||||
auto bytes = msg.toBytes();
|
||||
return send(name, bytes.begin(), bytes.size());
|
||||
}
|
||||
|
||||
|
||||
@@ -78,6 +78,8 @@ frontFrame: [8072, true, 10.]
|
||||
dMonitoringState: [8073, true, 5., 1]
|
||||
offroadLayout: [8074, false, 0.]
|
||||
wideEncodeIdx: [8075, true, 20.]
|
||||
wideFrame: [8076, true, 20.]
|
||||
modelV2: [8077, true, 20., 20]
|
||||
|
||||
testModel: [8040, false, 0.]
|
||||
testLiveLocation: [8045, false, 0.]
|
||||
|
||||
@@ -4,3 +4,11 @@ Import('env', 'cython_dependencies')
|
||||
env.Command(['common_pyx.so', 'clock.cpp'],
|
||||
cython_dependencies + ['common_pyx_setup.py', 'clock.pyx'],
|
||||
"cd common && python3 common_pyx_setup.py build_ext --inplace")
|
||||
|
||||
# Build cython params module
|
||||
env.Command(['params_pyx.so', 'params_pyx.cpp'],
|
||||
cython_dependencies + [
|
||||
'params_pyx_setup.py', 'params_pyx.pyx', 'params_pxd.pxd',
|
||||
'#selfdrive/common/params.cc', '#selfdrive/common/params.h',
|
||||
'#selfdrive/common/util.c', '#selfdrive/common/util.h'],
|
||||
"cd common && python3 params_pyx_setup.py build_ext --inplace")
|
||||
|
||||
@@ -1,286 +0,0 @@
|
||||
import os
|
||||
import binascii
|
||||
import itertools
|
||||
import re
|
||||
import struct
|
||||
import subprocess
|
||||
import random
|
||||
from cereal import log
|
||||
|
||||
NetworkType = log.ThermalData.NetworkType
|
||||
NetworkStrength = log.ThermalData.NetworkStrength
|
||||
|
||||
ANDROID = os.path.isfile('/EON')
|
||||
|
||||
def get_sound_card_online():
|
||||
return (os.path.isfile('/proc/asound/card0/state') and
|
||||
open('/proc/asound/card0/state').read().strip() == 'ONLINE')
|
||||
|
||||
def getprop(key):
|
||||
if not ANDROID:
|
||||
return ""
|
||||
return subprocess.check_output(["getprop", key], encoding='utf8').strip()
|
||||
|
||||
def get_imei(slot):
|
||||
slot = str(slot)
|
||||
if slot not in ("0", "1"):
|
||||
raise ValueError("SIM slot must be 0 or 1")
|
||||
|
||||
ret = parse_service_call_string(service_call(["iphonesubinfo", "3" , "i32", str(slot)]))
|
||||
if not ret:
|
||||
# allow non android to be identified differently
|
||||
ret = "%015d" % random.randint(0, 1 << 32)
|
||||
return ret
|
||||
|
||||
def get_serial():
|
||||
ret = getprop("ro.serialno")
|
||||
if ret == "":
|
||||
ret = "cccccccc"
|
||||
return ret
|
||||
|
||||
def get_subscriber_info():
|
||||
ret = parse_service_call_string(service_call(["iphonesubinfo", "7"]))
|
||||
if ret is None or len(ret) < 8:
|
||||
return ""
|
||||
return ret
|
||||
|
||||
def reboot(reason=None):
|
||||
if reason is None:
|
||||
reason_args = ["null"]
|
||||
else:
|
||||
reason_args = ["s16", reason]
|
||||
|
||||
subprocess.check_output([
|
||||
"service", "call", "power", "16", # IPowerManager.reboot
|
||||
"i32", "0", # no confirmation,
|
||||
*reason_args,
|
||||
"i32", "1" # wait
|
||||
])
|
||||
|
||||
def service_call(call):
|
||||
if not ANDROID:
|
||||
return None
|
||||
|
||||
ret = subprocess.check_output(["service", "call", *call], encoding='utf8').strip()
|
||||
if 'Parcel' not in ret:
|
||||
return None
|
||||
|
||||
return parse_service_call_bytes(ret)
|
||||
|
||||
def parse_service_call_unpack(r, fmt):
|
||||
try:
|
||||
return struct.unpack(fmt, r)[0]
|
||||
except Exception:
|
||||
return None
|
||||
|
||||
def parse_service_call_string(r):
|
||||
try:
|
||||
r = r[8:] # Cut off length field
|
||||
r = r.decode('utf_16_be')
|
||||
|
||||
# All pairs of two characters seem to be swapped. Not sure why
|
||||
result = ""
|
||||
for a, b, in itertools.zip_longest(r[::2], r[1::2], fillvalue='\x00'):
|
||||
result += b + a
|
||||
|
||||
result = result.replace('\x00', '')
|
||||
|
||||
return result
|
||||
except Exception:
|
||||
return None
|
||||
|
||||
def parse_service_call_bytes(ret):
|
||||
try:
|
||||
r = b""
|
||||
for hex_part in re.findall(r'[ (]([0-9a-f]{8})', ret):
|
||||
r += binascii.unhexlify(hex_part)
|
||||
return r
|
||||
except Exception:
|
||||
return None
|
||||
|
||||
def get_network_type():
|
||||
if not ANDROID:
|
||||
return NetworkType.none
|
||||
|
||||
wifi_check = parse_service_call_string(service_call(["connectivity", "2"]))
|
||||
if wifi_check is None:
|
||||
return NetworkType.none
|
||||
elif 'WIFI' in wifi_check:
|
||||
return NetworkType.wifi
|
||||
else:
|
||||
cell_check = parse_service_call_unpack(service_call(['phone', '59']), ">q")
|
||||
# from TelephonyManager.java
|
||||
cell_networks = {
|
||||
0: NetworkType.none,
|
||||
1: NetworkType.cell2G,
|
||||
2: NetworkType.cell2G,
|
||||
3: NetworkType.cell3G,
|
||||
4: NetworkType.cell2G,
|
||||
5: NetworkType.cell3G,
|
||||
6: NetworkType.cell3G,
|
||||
7: NetworkType.cell3G,
|
||||
8: NetworkType.cell3G,
|
||||
9: NetworkType.cell3G,
|
||||
10: NetworkType.cell3G,
|
||||
11: NetworkType.cell2G,
|
||||
12: NetworkType.cell3G,
|
||||
13: NetworkType.cell4G,
|
||||
14: NetworkType.cell4G,
|
||||
15: NetworkType.cell3G,
|
||||
16: NetworkType.cell2G,
|
||||
17: NetworkType.cell3G,
|
||||
18: NetworkType.cell4G,
|
||||
19: NetworkType.cell4G
|
||||
}
|
||||
return cell_networks.get(cell_check, NetworkType.none)
|
||||
|
||||
def get_network_strength(network_type):
|
||||
network_strength = NetworkStrength.unknown
|
||||
|
||||
# from SignalStrength.java
|
||||
def get_lte_level(rsrp, rssnr):
|
||||
INT_MAX = 2147483647
|
||||
if rsrp == INT_MAX:
|
||||
lvl_rsrp = NetworkStrength.unknown
|
||||
elif rsrp >= -95:
|
||||
lvl_rsrp = NetworkStrength.great
|
||||
elif rsrp >= -105:
|
||||
lvl_rsrp = NetworkStrength.good
|
||||
elif rsrp >= -115:
|
||||
lvl_rsrp = NetworkStrength.moderate
|
||||
else:
|
||||
lvl_rsrp = NetworkStrength.poor
|
||||
if rssnr == INT_MAX:
|
||||
lvl_rssnr = NetworkStrength.unknown
|
||||
elif rssnr >= 45:
|
||||
lvl_rssnr = NetworkStrength.great
|
||||
elif rssnr >= 10:
|
||||
lvl_rssnr = NetworkStrength.good
|
||||
elif rssnr >= -30:
|
||||
lvl_rssnr = NetworkStrength.moderate
|
||||
else:
|
||||
lvl_rssnr = NetworkStrength.poor
|
||||
return max(lvl_rsrp, lvl_rssnr)
|
||||
|
||||
def get_tdscdma_level(tdscmadbm):
|
||||
lvl = NetworkStrength.unknown
|
||||
if tdscmadbm > -25:
|
||||
lvl = NetworkStrength.unknown
|
||||
elif tdscmadbm >= -49:
|
||||
lvl = NetworkStrength.great
|
||||
elif tdscmadbm >= -73:
|
||||
lvl = NetworkStrength.good
|
||||
elif tdscmadbm >= -97:
|
||||
lvl = NetworkStrength.moderate
|
||||
elif tdscmadbm >= -110:
|
||||
lvl = NetworkStrength.poor
|
||||
return lvl
|
||||
|
||||
def get_gsm_level(asu):
|
||||
if asu <= 2 or asu == 99:
|
||||
lvl = NetworkStrength.unknown
|
||||
elif asu >= 12:
|
||||
lvl = NetworkStrength.great
|
||||
elif asu >= 8:
|
||||
lvl = NetworkStrength.good
|
||||
elif asu >= 5:
|
||||
lvl = NetworkStrength.moderate
|
||||
else:
|
||||
lvl = NetworkStrength.poor
|
||||
return lvl
|
||||
|
||||
def get_evdo_level(evdodbm, evdosnr):
|
||||
lvl_evdodbm = NetworkStrength.unknown
|
||||
lvl_evdosnr = NetworkStrength.unknown
|
||||
if evdodbm >= -65:
|
||||
lvl_evdodbm = NetworkStrength.great
|
||||
elif evdodbm >= -75:
|
||||
lvl_evdodbm = NetworkStrength.good
|
||||
elif evdodbm >= -90:
|
||||
lvl_evdodbm = NetworkStrength.moderate
|
||||
elif evdodbm >= -105:
|
||||
lvl_evdodbm = NetworkStrength.poor
|
||||
if evdosnr >= 7:
|
||||
lvl_evdosnr = NetworkStrength.great
|
||||
elif evdosnr >= 5:
|
||||
lvl_evdosnr = NetworkStrength.good
|
||||
elif evdosnr >= 3:
|
||||
lvl_evdosnr = NetworkStrength.moderate
|
||||
elif evdosnr >= 1:
|
||||
lvl_evdosnr = NetworkStrength.poor
|
||||
return max(lvl_evdodbm, lvl_evdosnr)
|
||||
|
||||
def get_cdma_level(cdmadbm, cdmaecio):
|
||||
lvl_cdmadbm = NetworkStrength.unknown
|
||||
lvl_cdmaecio = NetworkStrength.unknown
|
||||
if cdmadbm >= -75:
|
||||
lvl_cdmadbm = NetworkStrength.great
|
||||
elif cdmadbm >= -85:
|
||||
lvl_cdmadbm = NetworkStrength.good
|
||||
elif cdmadbm >= -95:
|
||||
lvl_cdmadbm = NetworkStrength.moderate
|
||||
elif cdmadbm >= -100:
|
||||
lvl_cdmadbm = NetworkStrength.poor
|
||||
if cdmaecio >= -90:
|
||||
lvl_cdmaecio = NetworkStrength.great
|
||||
elif cdmaecio >= -110:
|
||||
lvl_cdmaecio = NetworkStrength.good
|
||||
elif cdmaecio >= -130:
|
||||
lvl_cdmaecio = NetworkStrength.moderate
|
||||
elif cdmaecio >= -150:
|
||||
lvl_cdmaecio = NetworkStrength.poor
|
||||
return max(lvl_cdmadbm, lvl_cdmaecio)
|
||||
|
||||
if network_type == NetworkType.none:
|
||||
return network_strength
|
||||
if network_type == NetworkType.wifi:
|
||||
out = subprocess.check_output('dumpsys connectivity', shell=True).decode('utf-8')
|
||||
network_strength = NetworkStrength.unknown
|
||||
for line in out.split('\n'):
|
||||
signal_str = "SignalStrength: "
|
||||
if signal_str in line:
|
||||
lvl_idx_start = line.find(signal_str) + len(signal_str)
|
||||
lvl_idx_end = line.find(']', lvl_idx_start)
|
||||
lvl = int(line[lvl_idx_start : lvl_idx_end])
|
||||
if lvl >= -50:
|
||||
network_strength = NetworkStrength.great
|
||||
elif lvl >= -60:
|
||||
network_strength = NetworkStrength.good
|
||||
elif lvl >= -70:
|
||||
network_strength = NetworkStrength.moderate
|
||||
else:
|
||||
network_strength = NetworkStrength.poor
|
||||
return network_strength
|
||||
else:
|
||||
# check cell strength
|
||||
out = subprocess.check_output('dumpsys telephony.registry', shell=True).decode('utf-8')
|
||||
for line in out.split('\n'):
|
||||
if "mSignalStrength" in line:
|
||||
arr = line.split(' ')
|
||||
ns = 0
|
||||
if ("gsm" in arr[14]):
|
||||
rsrp = int(arr[9])
|
||||
rssnr = int(arr[11])
|
||||
ns = get_lte_level(rsrp, rssnr)
|
||||
if ns == NetworkStrength.unknown:
|
||||
tdscmadbm = int(arr[13])
|
||||
ns = get_tdscdma_level(tdscmadbm)
|
||||
if ns == NetworkStrength.unknown:
|
||||
asu = int(arr[1])
|
||||
ns = get_gsm_level(asu)
|
||||
else:
|
||||
cdmadbm = int(arr[3])
|
||||
cdmaecio = int(arr[4])
|
||||
evdodbm = int(arr[5])
|
||||
evdosnr = int(arr[7])
|
||||
lvl_cdma = get_cdma_level(cdmadbm, cdmaecio)
|
||||
lvl_edmo = get_evdo_level(evdodbm, evdosnr)
|
||||
if lvl_edmo == NetworkStrength.unknown:
|
||||
ns = lvl_cdma
|
||||
elif lvl_cdma == NetworkStrength.unknown:
|
||||
ns = lvl_edmo
|
||||
else:
|
||||
ns = min(lvl_cdma, lvl_edmo)
|
||||
network_strength = max(network_strength, ns)
|
||||
|
||||
return network_strength
|
||||
+11
-3
@@ -31,9 +31,17 @@ def start_offroad():
|
||||
system("am start -n ai.comma.plus.offroad/.MainActivity")
|
||||
|
||||
def set_package_permissions():
|
||||
pm_grant("ai.comma.plus.offroad", "android.permission.ACCESS_FINE_LOCATION")
|
||||
pm_grant("ai.comma.plus.offroad", "android.permission.READ_PHONE_STATE")
|
||||
pm_grant("ai.comma.plus.offroad", "android.permission.READ_EXTERNAL_STORAGE")
|
||||
try:
|
||||
output = subprocess.check_output(['dumpsys', 'package', 'ai.comma.plus.offroad'], encoding="utf-8")
|
||||
given_permissions = output.split("runtime permissions")[1]
|
||||
except Exception:
|
||||
given_permissions = ""
|
||||
|
||||
wanted_permissions = ["ACCESS_FINE_LOCATION", "READ_PHONE_STATE", "READ_EXTERNAL_STORAGE"]
|
||||
for permission in wanted_permissions:
|
||||
if permission not in given_permissions:
|
||||
pm_grant("ai.comma.plus.offroad", "android.permission."+permission)
|
||||
|
||||
appops_set("ai.comma.plus.offroad", "SU", "allow")
|
||||
appops_set("ai.comma.plus.offroad", "WIFI_SCAN", "allow")
|
||||
|
||||
|
||||
+4
-6
@@ -1,10 +1,8 @@
|
||||
import os
|
||||
BASEDIR = os.path.abspath(os.path.join(os.path.dirname(os.path.realpath(__file__)), "../"))
|
||||
|
||||
from common.android import ANDROID
|
||||
if ANDROID:
|
||||
PERSIST = "/persist"
|
||||
PARAMS = "/data/params"
|
||||
else:
|
||||
from common.hardware import PC
|
||||
if PC:
|
||||
PERSIST = os.path.join(BASEDIR, "persist")
|
||||
PARAMS = os.path.join(BASEDIR, "persist", "params")
|
||||
else:
|
||||
PERSIST = "/persist"
|
||||
|
||||
@@ -1,3 +1,4 @@
|
||||
# cython: language_level = 3
|
||||
from posix.time cimport clock_gettime, timespec, CLOCK_MONOTONIC_RAW, clockid_t
|
||||
|
||||
IF UNAME_SYSNAME == "Darwin":
|
||||
|
||||
@@ -4,9 +4,9 @@ from Cython.Build import cythonize
|
||||
from common.cython_hacks import BuildExtWithoutPlatformSuffix
|
||||
|
||||
sourcefiles = ['clock.pyx']
|
||||
extra_compile_args = ["-std=c++11"]
|
||||
extra_compile_args = ["-std=c++1z"]
|
||||
|
||||
setup(name='Common',
|
||||
setup(name='common',
|
||||
cmdclass={'build_ext': BuildExtWithoutPlatformSuffix},
|
||||
ext_modules=cythonize(
|
||||
Extension(
|
||||
@@ -14,7 +14,7 @@ setup(name='Common',
|
||||
language="c++",
|
||||
sources=sourcefiles,
|
||||
extra_compile_args=extra_compile_args,
|
||||
)
|
||||
),
|
||||
nthreads=4,
|
||||
),
|
||||
nthreads=4,
|
||||
)
|
||||
|
||||
@@ -44,7 +44,7 @@ def compile_code(name, c_code, c_header, directory, cflags="", libraries=None):
|
||||
ffibuilder = FFI()
|
||||
ffibuilder.set_source(name, c_code, source_extension='.cpp', libraries=libraries)
|
||||
ffibuilder.cdef(c_header)
|
||||
os.environ['OPT'] = "-fwrapv -O2 -DNDEBUG -std=c++11"
|
||||
os.environ['OPT'] = "-fwrapv -O2 -DNDEBUG -std=c++1z"
|
||||
os.environ['CFLAGS'] = cflags
|
||||
ffibuilder.compile(verbose=True, debug=False, tmpdir=directory)
|
||||
|
||||
|
||||
@@ -0,0 +1,22 @@
|
||||
GPIO_HUB_RST_N = 30
|
||||
GPIO_UBLOX_RST_N = 32
|
||||
GPIO_UBLOX_SAFEBOOT_N = 33
|
||||
GPIO_UBLOX_PWR_EN = 34
|
||||
GPIO_STM_RST_N = 124
|
||||
GPIO_STM_BOOT0 = 134
|
||||
|
||||
|
||||
def gpio_init(pin, output):
|
||||
try:
|
||||
with open(f"/sys/class/gpio/gpio{pin}/direction", 'wb') as f:
|
||||
f.write(b"out" if output else b"in")
|
||||
except Exception as e:
|
||||
print(f"Failed to set gpio {pin} direction: {e}")
|
||||
|
||||
|
||||
def gpio_set(pin, high):
|
||||
try:
|
||||
with open(f"/sys/class/gpio/gpio{pin}/value", 'wb') as f:
|
||||
f.write(b"1" if high else b"0")
|
||||
except Exception as e:
|
||||
print(f"Failed to set gpio {pin} value: {e}")
|
||||
@@ -0,0 +1,57 @@
|
||||
import os
|
||||
import random
|
||||
from typing import cast
|
||||
|
||||
from cereal import log
|
||||
from common.hardware_android import Android
|
||||
from common.hardware_tici import Tici
|
||||
from common.hardware_base import HardwareBase
|
||||
|
||||
EON = os.path.isfile('/EON')
|
||||
TICI = os.path.isfile('/TICI')
|
||||
PC = not (EON or TICI)
|
||||
ANDROID = EON
|
||||
|
||||
|
||||
NetworkType = log.ThermalData.NetworkType
|
||||
NetworkStrength = log.ThermalData.NetworkStrength
|
||||
|
||||
|
||||
class Pc(HardwareBase):
|
||||
def get_sound_card_online(self):
|
||||
return True
|
||||
|
||||
def get_imei(self, slot):
|
||||
return "%015d" % random.randint(0, 1 << 32)
|
||||
|
||||
def get_serial(self):
|
||||
return "cccccccc"
|
||||
|
||||
def get_subscriber_info(self):
|
||||
return ""
|
||||
|
||||
def reboot(self, reason=None):
|
||||
print("REBOOT!")
|
||||
|
||||
def get_network_type(self):
|
||||
return NetworkType.wifi
|
||||
|
||||
def get_sim_info(self):
|
||||
return {
|
||||
'sim_id': '',
|
||||
'mcc_mnc': None,
|
||||
'network_type': ["Unknown"],
|
||||
'sim_state': ["ABSENT"],
|
||||
'data_connected': False
|
||||
}
|
||||
|
||||
def get_network_strength(self, network_type):
|
||||
return NetworkStrength.unknown
|
||||
|
||||
|
||||
if EON:
|
||||
HARDWARE = cast(HardwareBase, Android())
|
||||
elif TICI:
|
||||
HARDWARE = cast(HardwareBase, Tici())
|
||||
else:
|
||||
HARDWARE = cast(HardwareBase, Pc())
|
||||
@@ -0,0 +1,302 @@
|
||||
import binascii
|
||||
import itertools
|
||||
import os
|
||||
import re
|
||||
import struct
|
||||
import subprocess
|
||||
|
||||
from cereal import log
|
||||
from common.hardware_base import HardwareBase
|
||||
|
||||
NetworkType = log.ThermalData.NetworkType
|
||||
NetworkStrength = log.ThermalData.NetworkStrength
|
||||
|
||||
|
||||
def service_call(call):
|
||||
try:
|
||||
ret = subprocess.check_output(["service", "call", *call], encoding='utf8').strip()
|
||||
if 'Parcel' not in ret:
|
||||
return None
|
||||
return parse_service_call_bytes(ret)
|
||||
except subprocess.CalledProcessError:
|
||||
return None
|
||||
|
||||
|
||||
def parse_service_call_unpack(r, fmt):
|
||||
try:
|
||||
return struct.unpack(fmt, r)[0]
|
||||
except Exception:
|
||||
return None
|
||||
|
||||
|
||||
def parse_service_call_string(r):
|
||||
try:
|
||||
r = r[8:] # Cut off length field
|
||||
r = r.decode('utf_16_be')
|
||||
|
||||
# All pairs of two characters seem to be swapped. Not sure why
|
||||
result = ""
|
||||
for a, b, in itertools.zip_longest(r[::2], r[1::2], fillvalue='\x00'):
|
||||
result += b + a
|
||||
|
||||
result = result.replace('\x00', '')
|
||||
|
||||
return result
|
||||
except Exception:
|
||||
return None
|
||||
|
||||
|
||||
def parse_service_call_bytes(ret):
|
||||
try:
|
||||
r = b""
|
||||
for hex_part in re.findall(r'[ (]([0-9a-f]{8})', ret):
|
||||
r += binascii.unhexlify(hex_part)
|
||||
return r
|
||||
except Exception:
|
||||
return None
|
||||
|
||||
|
||||
def getprop(key):
|
||||
return subprocess.check_output(["getprop", key], encoding='utf8').strip()
|
||||
|
||||
|
||||
class Android(HardwareBase):
|
||||
def get_sound_card_online(self):
|
||||
return (os.path.isfile('/proc/asound/card0/state') and
|
||||
open('/proc/asound/card0/state').read().strip() == 'ONLINE')
|
||||
|
||||
def get_imei(self, slot):
|
||||
slot = str(slot)
|
||||
if slot not in ("0", "1"):
|
||||
raise ValueError("SIM slot must be 0 or 1")
|
||||
|
||||
return parse_service_call_string(service_call(["iphonesubinfo", "3", "i32", str(slot)]))
|
||||
|
||||
def get_serial(self):
|
||||
ret = getprop("ro.serialno")
|
||||
if ret == "":
|
||||
ret = "cccccccc"
|
||||
return ret
|
||||
|
||||
def get_subscriber_info(self):
|
||||
ret = parse_service_call_string(service_call(["iphonesubinfo", "7"]))
|
||||
if ret is None or len(ret) < 8:
|
||||
return ""
|
||||
return ret
|
||||
|
||||
def reboot(self, reason=None):
|
||||
# e.g. reason="recovery" to go into recover mode
|
||||
if reason is None:
|
||||
reason_args = ["null"]
|
||||
else:
|
||||
reason_args = ["s16", reason]
|
||||
|
||||
subprocess.check_output([
|
||||
"service", "call", "power", "16", # IPowerManager.reboot
|
||||
"i32", "0", # no confirmation,
|
||||
*reason_args,
|
||||
"i32", "1" # wait
|
||||
])
|
||||
|
||||
def get_sim_info(self):
|
||||
# Used for athena
|
||||
# TODO: build using methods from this class
|
||||
sim_state = getprop("gsm.sim.state").split(",")
|
||||
network_type = getprop("gsm.network.type").split(',')
|
||||
mcc_mnc = getprop("gsm.sim.operator.numeric") or None
|
||||
|
||||
sim_id = parse_service_call_string(service_call(['iphonesubinfo', '11']))
|
||||
cell_data_state = parse_service_call_unpack(service_call(['phone', '46']), ">q")
|
||||
cell_data_connected = (cell_data_state == 2)
|
||||
|
||||
return {
|
||||
'sim_id': sim_id,
|
||||
'mcc_mnc': mcc_mnc,
|
||||
'network_type': network_type,
|
||||
'sim_state': sim_state,
|
||||
'data_connected': cell_data_connected
|
||||
}
|
||||
|
||||
def get_network_type(self):
|
||||
wifi_check = parse_service_call_string(service_call(["connectivity", "2"]))
|
||||
if wifi_check is None:
|
||||
return NetworkType.none
|
||||
elif 'WIFI' in wifi_check:
|
||||
return NetworkType.wifi
|
||||
else:
|
||||
cell_check = parse_service_call_unpack(service_call(['phone', '59']), ">q")
|
||||
# from TelephonyManager.java
|
||||
cell_networks = {
|
||||
0: NetworkType.none,
|
||||
1: NetworkType.cell2G,
|
||||
2: NetworkType.cell2G,
|
||||
3: NetworkType.cell3G,
|
||||
4: NetworkType.cell2G,
|
||||
5: NetworkType.cell3G,
|
||||
6: NetworkType.cell3G,
|
||||
7: NetworkType.cell3G,
|
||||
8: NetworkType.cell3G,
|
||||
9: NetworkType.cell3G,
|
||||
10: NetworkType.cell3G,
|
||||
11: NetworkType.cell2G,
|
||||
12: NetworkType.cell3G,
|
||||
13: NetworkType.cell4G,
|
||||
14: NetworkType.cell4G,
|
||||
15: NetworkType.cell3G,
|
||||
16: NetworkType.cell2G,
|
||||
17: NetworkType.cell3G,
|
||||
18: NetworkType.cell4G,
|
||||
19: NetworkType.cell4G
|
||||
}
|
||||
return cell_networks.get(cell_check, NetworkType.none)
|
||||
|
||||
def get_network_strength(self, network_type):
|
||||
network_strength = NetworkStrength.unknown
|
||||
|
||||
# from SignalStrength.java
|
||||
def get_lte_level(rsrp, rssnr):
|
||||
INT_MAX = 2147483647
|
||||
if rsrp == INT_MAX:
|
||||
lvl_rsrp = NetworkStrength.unknown
|
||||
elif rsrp >= -95:
|
||||
lvl_rsrp = NetworkStrength.great
|
||||
elif rsrp >= -105:
|
||||
lvl_rsrp = NetworkStrength.good
|
||||
elif rsrp >= -115:
|
||||
lvl_rsrp = NetworkStrength.moderate
|
||||
else:
|
||||
lvl_rsrp = NetworkStrength.poor
|
||||
if rssnr == INT_MAX:
|
||||
lvl_rssnr = NetworkStrength.unknown
|
||||
elif rssnr >= 45:
|
||||
lvl_rssnr = NetworkStrength.great
|
||||
elif rssnr >= 10:
|
||||
lvl_rssnr = NetworkStrength.good
|
||||
elif rssnr >= -30:
|
||||
lvl_rssnr = NetworkStrength.moderate
|
||||
else:
|
||||
lvl_rssnr = NetworkStrength.poor
|
||||
return max(lvl_rsrp, lvl_rssnr)
|
||||
|
||||
def get_tdscdma_level(tdscmadbm):
|
||||
lvl = NetworkStrength.unknown
|
||||
if tdscmadbm > -25:
|
||||
lvl = NetworkStrength.unknown
|
||||
elif tdscmadbm >= -49:
|
||||
lvl = NetworkStrength.great
|
||||
elif tdscmadbm >= -73:
|
||||
lvl = NetworkStrength.good
|
||||
elif tdscmadbm >= -97:
|
||||
lvl = NetworkStrength.moderate
|
||||
elif tdscmadbm >= -110:
|
||||
lvl = NetworkStrength.poor
|
||||
return lvl
|
||||
|
||||
def get_gsm_level(asu):
|
||||
if asu <= 2 or asu == 99:
|
||||
lvl = NetworkStrength.unknown
|
||||
elif asu >= 12:
|
||||
lvl = NetworkStrength.great
|
||||
elif asu >= 8:
|
||||
lvl = NetworkStrength.good
|
||||
elif asu >= 5:
|
||||
lvl = NetworkStrength.moderate
|
||||
else:
|
||||
lvl = NetworkStrength.poor
|
||||
return lvl
|
||||
|
||||
def get_evdo_level(evdodbm, evdosnr):
|
||||
lvl_evdodbm = NetworkStrength.unknown
|
||||
lvl_evdosnr = NetworkStrength.unknown
|
||||
if evdodbm >= -65:
|
||||
lvl_evdodbm = NetworkStrength.great
|
||||
elif evdodbm >= -75:
|
||||
lvl_evdodbm = NetworkStrength.good
|
||||
elif evdodbm >= -90:
|
||||
lvl_evdodbm = NetworkStrength.moderate
|
||||
elif evdodbm >= -105:
|
||||
lvl_evdodbm = NetworkStrength.poor
|
||||
if evdosnr >= 7:
|
||||
lvl_evdosnr = NetworkStrength.great
|
||||
elif evdosnr >= 5:
|
||||
lvl_evdosnr = NetworkStrength.good
|
||||
elif evdosnr >= 3:
|
||||
lvl_evdosnr = NetworkStrength.moderate
|
||||
elif evdosnr >= 1:
|
||||
lvl_evdosnr = NetworkStrength.poor
|
||||
return max(lvl_evdodbm, lvl_evdosnr)
|
||||
|
||||
def get_cdma_level(cdmadbm, cdmaecio):
|
||||
lvl_cdmadbm = NetworkStrength.unknown
|
||||
lvl_cdmaecio = NetworkStrength.unknown
|
||||
if cdmadbm >= -75:
|
||||
lvl_cdmadbm = NetworkStrength.great
|
||||
elif cdmadbm >= -85:
|
||||
lvl_cdmadbm = NetworkStrength.good
|
||||
elif cdmadbm >= -95:
|
||||
lvl_cdmadbm = NetworkStrength.moderate
|
||||
elif cdmadbm >= -100:
|
||||
lvl_cdmadbm = NetworkStrength.poor
|
||||
if cdmaecio >= -90:
|
||||
lvl_cdmaecio = NetworkStrength.great
|
||||
elif cdmaecio >= -110:
|
||||
lvl_cdmaecio = NetworkStrength.good
|
||||
elif cdmaecio >= -130:
|
||||
lvl_cdmaecio = NetworkStrength.moderate
|
||||
elif cdmaecio >= -150:
|
||||
lvl_cdmaecio = NetworkStrength.poor
|
||||
return max(lvl_cdmadbm, lvl_cdmaecio)
|
||||
|
||||
if network_type == NetworkType.none:
|
||||
return network_strength
|
||||
if network_type == NetworkType.wifi:
|
||||
out = subprocess.check_output('dumpsys connectivity', shell=True).decode('utf-8')
|
||||
network_strength = NetworkStrength.unknown
|
||||
for line in out.split('\n'):
|
||||
signal_str = "SignalStrength: "
|
||||
if signal_str in line:
|
||||
lvl_idx_start = line.find(signal_str) + len(signal_str)
|
||||
lvl_idx_end = line.find(']', lvl_idx_start)
|
||||
lvl = int(line[lvl_idx_start : lvl_idx_end])
|
||||
if lvl >= -50:
|
||||
network_strength = NetworkStrength.great
|
||||
elif lvl >= -60:
|
||||
network_strength = NetworkStrength.good
|
||||
elif lvl >= -70:
|
||||
network_strength = NetworkStrength.moderate
|
||||
else:
|
||||
network_strength = NetworkStrength.poor
|
||||
return network_strength
|
||||
else:
|
||||
# check cell strength
|
||||
out = subprocess.check_output('dumpsys telephony.registry', shell=True).decode('utf-8')
|
||||
for line in out.split('\n'):
|
||||
if "mSignalStrength" in line:
|
||||
arr = line.split(' ')
|
||||
ns = 0
|
||||
if ("gsm" in arr[14]):
|
||||
rsrp = int(arr[9])
|
||||
rssnr = int(arr[11])
|
||||
ns = get_lte_level(rsrp, rssnr)
|
||||
if ns == NetworkStrength.unknown:
|
||||
tdscmadbm = int(arr[13])
|
||||
ns = get_tdscdma_level(tdscmadbm)
|
||||
if ns == NetworkStrength.unknown:
|
||||
asu = int(arr[1])
|
||||
ns = get_gsm_level(asu)
|
||||
else:
|
||||
cdmadbm = int(arr[3])
|
||||
cdmaecio = int(arr[4])
|
||||
evdodbm = int(arr[5])
|
||||
evdosnr = int(arr[7])
|
||||
lvl_cdma = get_cdma_level(cdmadbm, cdmaecio)
|
||||
lvl_edmo = get_evdo_level(evdodbm, evdosnr)
|
||||
if lvl_edmo == NetworkStrength.unknown:
|
||||
ns = lvl_cdma
|
||||
elif lvl_cdma == NetworkStrength.unknown:
|
||||
ns = lvl_edmo
|
||||
else:
|
||||
ns = min(lvl_cdma, lvl_edmo)
|
||||
network_strength = max(network_strength, ns)
|
||||
|
||||
return network_strength
|
||||
@@ -0,0 +1,41 @@
|
||||
from abc import abstractmethod
|
||||
|
||||
|
||||
class HardwareBase:
|
||||
@staticmethod
|
||||
def get_cmdline():
|
||||
with open('/proc/cmdline') as f:
|
||||
cmdline = f.read()
|
||||
return {kv[0]: kv[1] for kv in [s.split('=') for s in cmdline.split(' ')] if len(kv) == 2}
|
||||
|
||||
@abstractmethod
|
||||
def get_sound_card_online(self):
|
||||
pass
|
||||
|
||||
@abstractmethod
|
||||
def get_imei(self, slot):
|
||||
pass
|
||||
|
||||
@abstractmethod
|
||||
def get_serial(self):
|
||||
pass
|
||||
|
||||
@abstractmethod
|
||||
def get_subscriber_info(self):
|
||||
pass
|
||||
|
||||
@abstractmethod
|
||||
def reboot(self, reason=None):
|
||||
pass
|
||||
|
||||
@abstractmethod
|
||||
def get_network_type(self):
|
||||
pass
|
||||
|
||||
@abstractmethod
|
||||
def get_sim_info(self):
|
||||
pass
|
||||
|
||||
@abstractmethod
|
||||
def get_network_strength(self, network_type):
|
||||
pass
|
||||
@@ -0,0 +1,59 @@
|
||||
import serial
|
||||
|
||||
from common.hardware_base import HardwareBase
|
||||
from cereal import log
|
||||
import subprocess
|
||||
|
||||
|
||||
NetworkType = log.ThermalData.NetworkType
|
||||
NetworkStrength = log.ThermalData.NetworkStrength
|
||||
|
||||
|
||||
def run_at_command(cmd, timeout=0.1):
|
||||
with serial.Serial("/dev/ttyUSB2", timeout=timeout) as ser:
|
||||
ser.write(cmd + b"\r\n")
|
||||
ser.readline() # Modem echos request
|
||||
return ser.readline().decode().rstrip()
|
||||
|
||||
|
||||
class Tici(HardwareBase):
|
||||
def get_sound_card_online(self):
|
||||
return True
|
||||
|
||||
def get_imei(self, slot):
|
||||
if slot != 0:
|
||||
return ""
|
||||
|
||||
for _ in range(10):
|
||||
try:
|
||||
imei = run_at_command(b"AT+CGSN")
|
||||
if len(imei) == 15:
|
||||
return imei
|
||||
except serial.SerialException:
|
||||
pass
|
||||
|
||||
raise RuntimeError("Error getting IMEI")
|
||||
|
||||
def get_serial(self):
|
||||
return self.get_cmdline()['androidboot.serialno']
|
||||
|
||||
def get_subscriber_info(self):
|
||||
return ""
|
||||
|
||||
def reboot(self, reason=None):
|
||||
subprocess.check_output(["sudo", "reboot"])
|
||||
|
||||
def get_network_type(self):
|
||||
return NetworkType.wifi
|
||||
|
||||
def get_sim_info(self):
|
||||
return {
|
||||
'sim_id': '',
|
||||
'mcc_mnc': None,
|
||||
'network_type': ["Unknown"],
|
||||
'sim_state': ["ABSENT"],
|
||||
'data_connected': False
|
||||
}
|
||||
|
||||
def get_network_strength(self, network_type):
|
||||
return NetworkStrength.unknown
|
||||
@@ -1,3 +1,5 @@
|
||||
# cython: language_level = 3
|
||||
|
||||
cdef class KF1D:
|
||||
cdef public:
|
||||
double x0_0
|
||||
@@ -13,4 +15,4 @@ cdef class KF1D:
|
||||
double A_K_0
|
||||
double A_K_1
|
||||
double A_K_2
|
||||
double A_K_3
|
||||
double A_K_3
|
||||
|
||||
@@ -6,4 +6,5 @@ from common.cython_hacks import BuildExtWithoutPlatformSuffix
|
||||
|
||||
setup(name='Simple Kalman Implementation',
|
||||
cmdclass={'build_ext': BuildExtWithoutPlatformSuffix},
|
||||
ext_modules=cythonize(Extension("simple_kalman_impl", ["simple_kalman_impl.pyx"])))
|
||||
ext_modules=cythonize(Extension("simple_kalman_impl",
|
||||
["simple_kalman_impl.pyx"])))
|
||||
|
||||
Executable → Regular
+4
-413
@@ -1,413 +1,4 @@
|
||||
#!/usr/bin/env python3
|
||||
"""ROS has a parameter server, we have files.
|
||||
|
||||
The parameter store is a persistent key value store, implemented as a directory with a writer lock.
|
||||
On Android, we store params under params_dir = /data/params. The writer lock is a file
|
||||
"<params_dir>/.lock" taken using flock(), and data is stored in a directory symlinked to by
|
||||
"<params_dir>/d".
|
||||
|
||||
Each key, value pair is stored as a file with named <key> with contents <value>, located in
|
||||
<params_dir>/d/<key>
|
||||
|
||||
Readers of a single key can just open("<params_dir>/d/<key>") and read the file contents.
|
||||
Readers who want a consistent snapshot of multiple keys should take the lock.
|
||||
|
||||
Writers should take the lock before modifying anything. Writers should also leave the DB in a
|
||||
consistent state after a crash. The implementation below does this by copying all params to a temp
|
||||
directory <params_dir>/<tmp>, then atomically symlinking <params_dir>/<d> to <params_dir>/<tmp>
|
||||
before deleting the old <params_dir>/<d> directory.
|
||||
|
||||
Writers that only modify a single key can simply take the lock, then swap the corresponding value
|
||||
file in place without messing with <params_dir>/d.
|
||||
"""
|
||||
import time
|
||||
import os
|
||||
import errno
|
||||
import shutil
|
||||
import fcntl
|
||||
import tempfile
|
||||
import threading
|
||||
from enum import Enum
|
||||
from common.basedir import PARAMS
|
||||
|
||||
|
||||
def mkdirs_exists_ok(path):
|
||||
try:
|
||||
os.makedirs(path)
|
||||
except OSError:
|
||||
if not os.path.isdir(path):
|
||||
raise
|
||||
|
||||
|
||||
class TxType(Enum):
|
||||
PERSISTENT = 1
|
||||
CLEAR_ON_MANAGER_START = 2
|
||||
CLEAR_ON_PANDA_DISCONNECT = 3
|
||||
|
||||
|
||||
class UnknownKeyName(Exception):
|
||||
pass
|
||||
|
||||
|
||||
keys = {
|
||||
"AccessToken": [TxType.CLEAR_ON_MANAGER_START],
|
||||
"AthenadPid": [TxType.PERSISTENT],
|
||||
"CalibrationParams": [TxType.PERSISTENT],
|
||||
"CarParams": [TxType.CLEAR_ON_MANAGER_START, TxType.CLEAR_ON_PANDA_DISCONNECT],
|
||||
"CarParamsCache": [TxType.CLEAR_ON_MANAGER_START, TxType.CLEAR_ON_PANDA_DISCONNECT],
|
||||
"CarVin": [TxType.CLEAR_ON_MANAGER_START, TxType.CLEAR_ON_PANDA_DISCONNECT],
|
||||
"CommunityFeaturesToggle": [TxType.PERSISTENT],
|
||||
"CompletedTrainingVersion": [TxType.PERSISTENT],
|
||||
"ControlsParams": [TxType.PERSISTENT],
|
||||
"DisablePowerDown": [TxType.PERSISTENT],
|
||||
"DisableUpdates": [TxType.PERSISTENT],
|
||||
"DoUninstall": [TxType.CLEAR_ON_MANAGER_START],
|
||||
"DongleId": [TxType.PERSISTENT],
|
||||
"GitBranch": [TxType.PERSISTENT],
|
||||
"GitCommit": [TxType.PERSISTENT],
|
||||
"GitRemote": [TxType.PERSISTENT],
|
||||
"GithubSshKeys": [TxType.PERSISTENT],
|
||||
"HasAcceptedTerms": [TxType.PERSISTENT],
|
||||
"HasCompletedSetup": [TxType.PERSISTENT],
|
||||
"IsDriverViewEnabled": [TxType.CLEAR_ON_MANAGER_START],
|
||||
"IsLdwEnabled": [TxType.PERSISTENT],
|
||||
"IsGeofenceEnabled": [TxType.PERSISTENT],
|
||||
"IsMetric": [TxType.PERSISTENT],
|
||||
"IsOffroad": [TxType.CLEAR_ON_MANAGER_START],
|
||||
"IsRHD": [TxType.PERSISTENT],
|
||||
"IsTakingSnapshot": [TxType.CLEAR_ON_MANAGER_START],
|
||||
"IsUpdateAvailable": [TxType.CLEAR_ON_MANAGER_START],
|
||||
"IsUploadRawEnabled": [TxType.PERSISTENT],
|
||||
"LastAthenaPingTime": [TxType.PERSISTENT],
|
||||
"LastUpdateTime": [TxType.PERSISTENT],
|
||||
"LastUpdateException": [TxType.PERSISTENT],
|
||||
"LimitSetSpeed": [TxType.PERSISTENT],
|
||||
"LimitSetSpeedNeural": [TxType.PERSISTENT],
|
||||
"LiveParameters": [TxType.PERSISTENT],
|
||||
"LongitudinalControl": [TxType.PERSISTENT],
|
||||
"OpenpilotEnabledToggle": [TxType.PERSISTENT],
|
||||
"LaneChangeEnabled": [TxType.PERSISTENT],
|
||||
"PandaFirmware": [TxType.CLEAR_ON_MANAGER_START, TxType.CLEAR_ON_PANDA_DISCONNECT],
|
||||
"PandaFirmwareHex": [TxType.CLEAR_ON_MANAGER_START, TxType.CLEAR_ON_PANDA_DISCONNECT],
|
||||
"PandaDongleId": [TxType.CLEAR_ON_MANAGER_START, TxType.CLEAR_ON_PANDA_DISCONNECT],
|
||||
"Passive": [TxType.PERSISTENT],
|
||||
"RecordFront": [TxType.PERSISTENT],
|
||||
"ReleaseNotes": [TxType.PERSISTENT],
|
||||
"ShouldDoUpdate": [TxType.CLEAR_ON_MANAGER_START],
|
||||
"SpeedLimitOffset": [TxType.PERSISTENT],
|
||||
"SubscriberInfo": [TxType.PERSISTENT],
|
||||
"TermsVersion": [TxType.PERSISTENT],
|
||||
"TrainingVersion": [TxType.PERSISTENT],
|
||||
"UpdateAvailable": [TxType.CLEAR_ON_MANAGER_START],
|
||||
"UpdateFailedCount": [TxType.CLEAR_ON_MANAGER_START],
|
||||
"Version": [TxType.PERSISTENT],
|
||||
"Offroad_ChargeDisabled": [TxType.CLEAR_ON_MANAGER_START, TxType.CLEAR_ON_PANDA_DISCONNECT],
|
||||
"Offroad_ConnectivityNeeded": [TxType.CLEAR_ON_MANAGER_START],
|
||||
"Offroad_ConnectivityNeededPrompt": [TxType.CLEAR_ON_MANAGER_START],
|
||||
"Offroad_TemperatureTooHigh": [TxType.CLEAR_ON_MANAGER_START],
|
||||
"Offroad_PandaFirmwareMismatch": [TxType.CLEAR_ON_MANAGER_START, TxType.CLEAR_ON_PANDA_DISCONNECT],
|
||||
"Offroad_InvalidTime": [TxType.CLEAR_ON_MANAGER_START],
|
||||
"Offroad_IsTakingSnapshot": [TxType.CLEAR_ON_MANAGER_START],
|
||||
"Offroad_NeosUpdate": [TxType.CLEAR_ON_MANAGER_START],
|
||||
"Offroad_UpdateFailed": [TxType.CLEAR_ON_MANAGER_START],
|
||||
}
|
||||
|
||||
|
||||
def fsync_dir(path):
|
||||
fd = os.open(path, os.O_RDONLY)
|
||||
try:
|
||||
os.fsync(fd)
|
||||
finally:
|
||||
os.close(fd)
|
||||
|
||||
|
||||
class FileLock():
|
||||
def __init__(self, path, create):
|
||||
self._path = path
|
||||
self._create = create
|
||||
self._fd = None
|
||||
|
||||
def acquire(self):
|
||||
self._fd = os.open(self._path, os.O_CREAT if self._create else 0)
|
||||
fcntl.flock(self._fd, fcntl.LOCK_EX)
|
||||
|
||||
def release(self):
|
||||
if self._fd is not None:
|
||||
os.close(self._fd)
|
||||
self._fd = None
|
||||
|
||||
|
||||
class DBAccessor():
|
||||
def __init__(self, path):
|
||||
self._path = path
|
||||
self._vals = None
|
||||
|
||||
def keys(self):
|
||||
self._check_entered()
|
||||
return self._vals.keys()
|
||||
|
||||
def get(self, key):
|
||||
self._check_entered()
|
||||
|
||||
if self._vals is None:
|
||||
return None
|
||||
|
||||
try:
|
||||
return self._vals[key]
|
||||
except KeyError:
|
||||
return None
|
||||
|
||||
def _get_lock(self, create):
|
||||
lock = FileLock(os.path.join(self._path, ".lock"), create)
|
||||
lock.acquire()
|
||||
return lock
|
||||
|
||||
def _read_values_locked(self):
|
||||
"""Callers should hold a lock while calling this method."""
|
||||
vals = {}
|
||||
try:
|
||||
data_path = self._data_path()
|
||||
keys = os.listdir(data_path)
|
||||
for key in keys:
|
||||
with open(os.path.join(data_path, key), "rb") as f:
|
||||
vals[key] = f.read()
|
||||
except (OSError, IOError) as e:
|
||||
# Either the DB hasn't been created yet, or somebody wrote a bug and left the DB in an
|
||||
# inconsistent state. Either way, return empty.
|
||||
if e.errno == errno.ENOENT:
|
||||
return {}
|
||||
|
||||
return vals
|
||||
|
||||
def _data_path(self):
|
||||
return os.path.join(self._path, "d")
|
||||
|
||||
def _check_entered(self):
|
||||
if self._vals is None:
|
||||
raise Exception("Must call __enter__ before using DB")
|
||||
|
||||
|
||||
class DBReader(DBAccessor):
|
||||
def __enter__(self):
|
||||
try:
|
||||
lock = self._get_lock(False)
|
||||
except OSError as e:
|
||||
# Do not create lock if it does not exist.
|
||||
if e.errno == errno.ENOENT:
|
||||
self._vals = {}
|
||||
return self
|
||||
|
||||
try:
|
||||
# Read everything.
|
||||
self._vals = self._read_values_locked()
|
||||
return self
|
||||
finally:
|
||||
lock.release()
|
||||
|
||||
def __exit__(self, exc_type, exc_value, traceback):
|
||||
pass
|
||||
|
||||
|
||||
class DBWriter(DBAccessor):
|
||||
def __init__(self, path):
|
||||
super(DBWriter, self).__init__(path)
|
||||
self._lock = None
|
||||
self._prev_umask = None
|
||||
|
||||
def put(self, key, value):
|
||||
self._vals[key] = value
|
||||
|
||||
def delete(self, key):
|
||||
self._vals.pop(key, None)
|
||||
|
||||
def __enter__(self):
|
||||
mkdirs_exists_ok(self._path)
|
||||
|
||||
# Make sure we can write and that permissions are correct.
|
||||
self._prev_umask = os.umask(0)
|
||||
|
||||
try:
|
||||
os.chmod(self._path, 0o777)
|
||||
self._lock = self._get_lock(True)
|
||||
self._vals = self._read_values_locked()
|
||||
except Exception:
|
||||
os.umask(self._prev_umask)
|
||||
self._prev_umask = None
|
||||
raise
|
||||
|
||||
return self
|
||||
|
||||
def __exit__(self, exc_type, exc_value, traceback):
|
||||
self._check_entered()
|
||||
|
||||
try:
|
||||
# data_path refers to the externally used path to the params. It is a symlink.
|
||||
# old_data_path is the path currently pointed to by data_path.
|
||||
# tempdir_path is a path where the new params will go, which the new data path will point to.
|
||||
# new_data_path is a temporary symlink that will atomically overwrite data_path.
|
||||
#
|
||||
# The current situation is:
|
||||
# data_path -> old_data_path
|
||||
# We're going to write params data to tempdir_path
|
||||
# tempdir_path -> params data
|
||||
# Then point new_data_path to tempdir_path
|
||||
# new_data_path -> tempdir_path
|
||||
# Then atomically overwrite data_path with new_data_path
|
||||
# data_path -> tempdir_path
|
||||
old_data_path = None
|
||||
new_data_path = None
|
||||
tempdir_path = tempfile.mkdtemp(prefix=".tmp", dir=self._path)
|
||||
|
||||
try:
|
||||
# Write back all keys.
|
||||
os.chmod(tempdir_path, 0o777)
|
||||
for k, v in self._vals.items():
|
||||
with open(os.path.join(tempdir_path, k), "wb") as f:
|
||||
f.write(v)
|
||||
f.flush()
|
||||
os.fsync(f.fileno())
|
||||
fsync_dir(tempdir_path)
|
||||
|
||||
data_path = self._data_path()
|
||||
try:
|
||||
old_data_path = os.path.join(self._path, os.readlink(data_path))
|
||||
except (OSError, IOError):
|
||||
# NOTE(mgraczyk): If other DB implementations have bugs, this could cause
|
||||
# copies to be left behind, but we still want to overwrite.
|
||||
pass
|
||||
|
||||
new_data_path = "{}.link".format(tempdir_path)
|
||||
os.symlink(os.path.basename(tempdir_path), new_data_path)
|
||||
os.rename(new_data_path, data_path)
|
||||
fsync_dir(self._path)
|
||||
finally:
|
||||
# If the rename worked, we can delete the old data. Otherwise delete the new one.
|
||||
success = new_data_path is not None and os.path.exists(data_path) and (
|
||||
os.readlink(data_path) == os.path.basename(tempdir_path))
|
||||
|
||||
if success:
|
||||
if old_data_path is not None:
|
||||
shutil.rmtree(old_data_path)
|
||||
else:
|
||||
shutil.rmtree(tempdir_path)
|
||||
|
||||
# Regardless of what happened above, there should be no link at new_data_path.
|
||||
if new_data_path is not None and os.path.islink(new_data_path):
|
||||
os.remove(new_data_path)
|
||||
finally:
|
||||
os.umask(self._prev_umask)
|
||||
self._prev_umask = None
|
||||
|
||||
# Always release the lock.
|
||||
self._lock.release()
|
||||
self._lock = None
|
||||
|
||||
|
||||
def read_db(params_path, key):
|
||||
path = "%s/d/%s" % (params_path, key)
|
||||
try:
|
||||
with open(path, "rb") as f:
|
||||
return f.read()
|
||||
except IOError:
|
||||
return None
|
||||
|
||||
|
||||
def write_db(params_path, key, value):
|
||||
if isinstance(value, str):
|
||||
value = value.encode('utf8')
|
||||
|
||||
prev_umask = os.umask(0)
|
||||
lock = FileLock(params_path + "/.lock", True)
|
||||
lock.acquire()
|
||||
|
||||
try:
|
||||
tmp_path = tempfile.NamedTemporaryFile(mode="wb", prefix=".tmp", dir=params_path, delete=False)
|
||||
with tmp_path as f:
|
||||
f.write(value)
|
||||
f.flush()
|
||||
os.fsync(f.fileno())
|
||||
os.chmod(tmp_path.name, 0o666)
|
||||
|
||||
path = "%s/d/%s" % (params_path, key)
|
||||
os.rename(tmp_path.name, path)
|
||||
fsync_dir(os.path.dirname(path))
|
||||
finally:
|
||||
os.umask(prev_umask)
|
||||
lock.release()
|
||||
|
||||
|
||||
class Params():
|
||||
def __init__(self, db=PARAMS):
|
||||
self.db = db
|
||||
|
||||
# create the database if it doesn't exist...
|
||||
if not os.path.exists(self.db + "/d"):
|
||||
with self.transaction(write=True):
|
||||
pass
|
||||
|
||||
def clear_all(self):
|
||||
shutil.rmtree(self.db, ignore_errors=True)
|
||||
with self.transaction(write=True):
|
||||
pass
|
||||
|
||||
def transaction(self, write=False):
|
||||
if write:
|
||||
return DBWriter(self.db)
|
||||
else:
|
||||
return DBReader(self.db)
|
||||
|
||||
def _clear_keys_with_type(self, tx_type):
|
||||
with self.transaction(write=True) as txn:
|
||||
for key in keys:
|
||||
if tx_type in keys[key]:
|
||||
txn.delete(key)
|
||||
|
||||
def manager_start(self):
|
||||
self._clear_keys_with_type(TxType.CLEAR_ON_MANAGER_START)
|
||||
|
||||
def panda_disconnect(self):
|
||||
self._clear_keys_with_type(TxType.CLEAR_ON_PANDA_DISCONNECT)
|
||||
|
||||
def delete(self, key):
|
||||
with self.transaction(write=True) as txn:
|
||||
txn.delete(key)
|
||||
|
||||
def get(self, key, block=False, encoding=None):
|
||||
if key not in keys:
|
||||
raise UnknownKeyName(key)
|
||||
|
||||
while 1:
|
||||
ret = read_db(self.db, key)
|
||||
if not block or ret is not None:
|
||||
break
|
||||
# is polling really the best we can do?
|
||||
time.sleep(0.05)
|
||||
|
||||
if ret is not None and encoding is not None:
|
||||
ret = ret.decode(encoding)
|
||||
|
||||
return ret
|
||||
|
||||
def put(self, key, dat):
|
||||
"""
|
||||
Warning: This function blocks until the param is written to disk!
|
||||
In very rare cases this can take over a second, and your code will hang.
|
||||
|
||||
Use the put_nonblocking helper function in time sensitive code, but
|
||||
in general try to avoid writing params as much as possible.
|
||||
"""
|
||||
|
||||
if key not in keys:
|
||||
raise UnknownKeyName(key)
|
||||
|
||||
write_db(self.db, key, dat)
|
||||
|
||||
|
||||
def put_nonblocking(key, val):
|
||||
def f(key, val):
|
||||
params = Params()
|
||||
params.put(key, val)
|
||||
|
||||
t = threading.Thread(target=f, args=(key, val))
|
||||
t.start()
|
||||
return t
|
||||
from common.params_pyx import Params, UnknownKeyName, put_nonblocking # pylint: disable=no-name-in-module, import-error
|
||||
assert Params
|
||||
assert UnknownKeyName
|
||||
assert put_nonblocking
|
||||
|
||||
@@ -0,0 +1,16 @@
|
||||
from libcpp.string cimport string
|
||||
from libcpp cimport bool
|
||||
|
||||
cdef extern from "selfdrive/common/params.cc":
|
||||
pass
|
||||
|
||||
cdef extern from "selfdrive/common/util.c":
|
||||
pass
|
||||
|
||||
cdef extern from "selfdrive/common/params.h":
|
||||
cdef cppclass Params:
|
||||
Params(bool)
|
||||
Params(string)
|
||||
string get(string, bool) nogil
|
||||
int delete_db_value(string)
|
||||
int write_db_value(string, string)
|
||||
Executable
+160
@@ -0,0 +1,160 @@
|
||||
# distutils: language = c++
|
||||
# cython: language_level = 3
|
||||
from libcpp cimport bool
|
||||
from libcpp.string cimport string
|
||||
from params_pxd cimport Params as c_Params
|
||||
|
||||
import os
|
||||
import threading
|
||||
from common.basedir import BASEDIR
|
||||
|
||||
cdef enum TxType:
|
||||
PERSISTENT = 1
|
||||
CLEAR_ON_MANAGER_START = 2
|
||||
CLEAR_ON_PANDA_DISCONNECT = 3
|
||||
|
||||
keys = {
|
||||
b"AccessToken": [TxType.CLEAR_ON_MANAGER_START],
|
||||
b"AthenadPid": [TxType.PERSISTENT],
|
||||
b"CalibrationParams": [TxType.PERSISTENT],
|
||||
b"CarBatteryCapacity": [TxType.PERSISTENT],
|
||||
b"CarParams": [TxType.CLEAR_ON_MANAGER_START, TxType.CLEAR_ON_PANDA_DISCONNECT],
|
||||
b"CarParamsCache": [TxType.CLEAR_ON_MANAGER_START, TxType.CLEAR_ON_PANDA_DISCONNECT],
|
||||
b"CarVin": [TxType.CLEAR_ON_MANAGER_START, TxType.CLEAR_ON_PANDA_DISCONNECT],
|
||||
b"CommunityFeaturesToggle": [TxType.PERSISTENT],
|
||||
b"CompletedTrainingVersion": [TxType.PERSISTENT],
|
||||
b"DisablePowerDown": [TxType.PERSISTENT],
|
||||
b"DisableUpdates": [TxType.PERSISTENT],
|
||||
b"DoUninstall": [TxType.CLEAR_ON_MANAGER_START],
|
||||
b"DongleId": [TxType.PERSISTENT],
|
||||
b"GitBranch": [TxType.PERSISTENT],
|
||||
b"GitCommit": [TxType.PERSISTENT],
|
||||
b"GitRemote": [TxType.PERSISTENT],
|
||||
b"GithubSshKeys": [TxType.PERSISTENT],
|
||||
b"HasAcceptedTerms": [TxType.PERSISTENT],
|
||||
b"HasCompletedSetup": [TxType.PERSISTENT],
|
||||
b"IsDriverViewEnabled": [TxType.CLEAR_ON_MANAGER_START],
|
||||
b"IsLdwEnabled": [TxType.PERSISTENT],
|
||||
b"IsMetric": [TxType.PERSISTENT],
|
||||
b"IsOffroad": [TxType.CLEAR_ON_MANAGER_START],
|
||||
b"IsRHD": [TxType.PERSISTENT],
|
||||
b"IsTakingSnapshot": [TxType.CLEAR_ON_MANAGER_START],
|
||||
b"IsUpdateAvailable": [TxType.CLEAR_ON_MANAGER_START],
|
||||
b"IsUploadRawEnabled": [TxType.PERSISTENT],
|
||||
b"LastAthenaPingTime": [TxType.PERSISTENT],
|
||||
b"LastUpdateTime": [TxType.PERSISTENT],
|
||||
b"LastUpdateException": [TxType.PERSISTENT],
|
||||
b"LiveParameters": [TxType.PERSISTENT],
|
||||
b"OpenpilotEnabledToggle": [TxType.PERSISTENT],
|
||||
b"LaneChangeEnabled": [TxType.PERSISTENT],
|
||||
b"PandaFirmware": [TxType.CLEAR_ON_MANAGER_START, TxType.CLEAR_ON_PANDA_DISCONNECT],
|
||||
b"PandaFirmwareHex": [TxType.CLEAR_ON_MANAGER_START, TxType.CLEAR_ON_PANDA_DISCONNECT],
|
||||
b"PandaDongleId": [TxType.CLEAR_ON_MANAGER_START, TxType.CLEAR_ON_PANDA_DISCONNECT],
|
||||
b"Passive": [TxType.PERSISTENT],
|
||||
b"RecordFront": [TxType.PERSISTENT],
|
||||
b"ReleaseNotes": [TxType.PERSISTENT],
|
||||
b"ShouldDoUpdate": [TxType.CLEAR_ON_MANAGER_START],
|
||||
b"SubscriberInfo": [TxType.PERSISTENT],
|
||||
b"TermsVersion": [TxType.PERSISTENT],
|
||||
b"TrainingVersion": [TxType.PERSISTENT],
|
||||
b"UpdateAvailable": [TxType.CLEAR_ON_MANAGER_START],
|
||||
b"UpdateFailedCount": [TxType.CLEAR_ON_MANAGER_START],
|
||||
b"Version": [TxType.PERSISTENT],
|
||||
b"Offroad_ChargeDisabled": [TxType.CLEAR_ON_MANAGER_START, TxType.CLEAR_ON_PANDA_DISCONNECT],
|
||||
b"Offroad_ConnectivityNeeded": [TxType.CLEAR_ON_MANAGER_START],
|
||||
b"Offroad_ConnectivityNeededPrompt": [TxType.CLEAR_ON_MANAGER_START],
|
||||
b"Offroad_TemperatureTooHigh": [TxType.CLEAR_ON_MANAGER_START],
|
||||
b"Offroad_PandaFirmwareMismatch": [TxType.CLEAR_ON_MANAGER_START, TxType.CLEAR_ON_PANDA_DISCONNECT],
|
||||
b"Offroad_InvalidTime": [TxType.CLEAR_ON_MANAGER_START],
|
||||
b"Offroad_IsTakingSnapshot": [TxType.CLEAR_ON_MANAGER_START],
|
||||
b"Offroad_NeosUpdate": [TxType.CLEAR_ON_MANAGER_START],
|
||||
b"Offroad_UpdateFailed": [TxType.CLEAR_ON_MANAGER_START],
|
||||
}
|
||||
|
||||
def ensure_bytes(v):
|
||||
if isinstance(v, str):
|
||||
return v.encode()
|
||||
else:
|
||||
return v
|
||||
|
||||
|
||||
class UnknownKeyName(Exception):
|
||||
pass
|
||||
|
||||
cdef class Params:
|
||||
cdef c_Params* p
|
||||
|
||||
def __cinit__(self, d=None, bool persistent_params=False):
|
||||
if d is None:
|
||||
self.p = new c_Params(persistent_params)
|
||||
else:
|
||||
self.p = new c_Params(<string>d.encode())
|
||||
|
||||
def __dealloc__(self):
|
||||
del self.p
|
||||
|
||||
def clear_all(self, tx_type=None):
|
||||
for key in keys:
|
||||
if tx_type is None or tx_type in keys[key]:
|
||||
self.delete(key)
|
||||
|
||||
def manager_start(self):
|
||||
self.clear_all(TxType.CLEAR_ON_MANAGER_START)
|
||||
|
||||
def panda_disconnect(self):
|
||||
self.clear_all(TxType.CLEAR_ON_PANDA_DISCONNECT)
|
||||
|
||||
def get(self, key, block=False, encoding=None):
|
||||
key = ensure_bytes(key)
|
||||
|
||||
if key not in keys:
|
||||
raise UnknownKeyName(key)
|
||||
|
||||
cdef string k = key
|
||||
cdef bool b = block
|
||||
|
||||
cdef string val
|
||||
with nogil:
|
||||
val = self.p.get(k, b)
|
||||
|
||||
if val == b"":
|
||||
if block:
|
||||
# If we got no value while running in blocked mode
|
||||
# it means we got an interrupt while waiting
|
||||
raise KeyboardInterrupt
|
||||
else:
|
||||
return None
|
||||
|
||||
if encoding is not None:
|
||||
return val.decode(encoding)
|
||||
else:
|
||||
return val
|
||||
|
||||
def put(self, key, dat):
|
||||
"""
|
||||
Warning: This function blocks until the param is written to disk!
|
||||
In very rare cases this can take over a second, and your code will hang.
|
||||
Use the put_nonblocking helper function in time sensitive code, but
|
||||
in general try to avoid writing params as much as possible.
|
||||
"""
|
||||
key = ensure_bytes(key)
|
||||
dat = ensure_bytes(dat)
|
||||
|
||||
if key not in keys:
|
||||
raise UnknownKeyName(key)
|
||||
|
||||
self.p.write_db_value(key, dat)
|
||||
|
||||
def delete(self, key):
|
||||
key = ensure_bytes(key)
|
||||
self.p.delete_db_value(key)
|
||||
|
||||
|
||||
def put_nonblocking(key, val, d=None):
|
||||
def f(key, val):
|
||||
params = Params(d)
|
||||
params.put(key, val)
|
||||
|
||||
t = threading.Thread(target=f, args=(key, val))
|
||||
t.start()
|
||||
return t
|
||||
@@ -0,0 +1,33 @@
|
||||
import os
|
||||
import subprocess
|
||||
from distutils.core import Extension, setup
|
||||
from Cython.Build import cythonize
|
||||
|
||||
from common.cython_hacks import BuildExtWithoutPlatformSuffix
|
||||
from common.basedir import BASEDIR
|
||||
from common.hardware import TICI
|
||||
|
||||
ARCH = subprocess.check_output(["uname", "-m"], encoding='utf8').rstrip() # pylint: disable=unexpected-keyword-arg
|
||||
|
||||
sourcefiles = ['params_pyx.pyx']
|
||||
extra_compile_args = ["-std=c++11"]
|
||||
|
||||
if ARCH == "aarch64":
|
||||
if TICI:
|
||||
extra_compile_args += ["-DQCOM2"]
|
||||
else:
|
||||
extra_compile_args += ["-DQCOM"]
|
||||
|
||||
|
||||
setup(name='common',
|
||||
cmdclass={'build_ext': BuildExtWithoutPlatformSuffix},
|
||||
ext_modules=cythonize(
|
||||
Extension(
|
||||
"params_pyx",
|
||||
language="c++",
|
||||
sources=sourcefiles,
|
||||
include_dirs=[BASEDIR, os.path.join(BASEDIR, 'selfdrive')],
|
||||
extra_compile_args=extra_compile_args
|
||||
)
|
||||
)
|
||||
)
|
||||
+3
-3
@@ -36,10 +36,10 @@ class Profiler():
|
||||
if not self.enabled:
|
||||
return
|
||||
self.iter += 1
|
||||
print("******* Profiling *******")
|
||||
print("******* Profiling %d *******" % self.iter)
|
||||
for n, ms in sorted(self.cp.items(), key=lambda x: -x[1]):
|
||||
if n in self.cp_ignored:
|
||||
print("%30s: %9.2f percent: %3.0f IGNORED" % (n, ms*1000.0, ms/self.tot*100))
|
||||
print("%30s: %9.2f avg: %7.2f percent: %3.0f IGNORED" % (n, ms*1000.0, ms*1000.0/self.iter, ms/self.tot*100))
|
||||
else:
|
||||
print("%30s: %9.2f percent: %3.0f" % (n, ms*1000.0, ms/self.tot*100))
|
||||
print("%30s: %9.2f avg: %7.2f percent: %3.0f" % (n, ms*1000.0, ms*1000.0/self.iter, ms/self.tot*100))
|
||||
print("Iter clock: %2.6f TOTAL: %2.2f" % (self.tot/self.iter, self.tot))
|
||||
|
||||
+15
-28
@@ -1,12 +1,10 @@
|
||||
"""Utilities for reading real time clocks and keeping soft real time constraints."""
|
||||
import gc
|
||||
import os
|
||||
import time
|
||||
import platform
|
||||
import subprocess
|
||||
import multiprocessing
|
||||
from cffi import FFI
|
||||
|
||||
from common.android import ANDROID
|
||||
from common.hardware import PC
|
||||
from common.common_pyx import sec_since_boot # pylint: disable=no-name-in-module, import-error
|
||||
|
||||
|
||||
@@ -17,37 +15,26 @@ DT_DMON = 0.1 # driver monitoring
|
||||
DT_TRML = 0.5 # thermald and manager
|
||||
|
||||
|
||||
ffi = FFI()
|
||||
ffi.cdef("long syscall(long number, ...);")
|
||||
libc = ffi.dlopen(None)
|
||||
|
||||
def _get_tid():
|
||||
if platform.machine() == "x86_64":
|
||||
NR_gettid = 186
|
||||
elif platform.machine() == "aarch64":
|
||||
NR_gettid = 178
|
||||
else:
|
||||
raise NotImplementedError
|
||||
|
||||
return libc.syscall(NR_gettid)
|
||||
class Priority:
|
||||
MIN_REALTIME = 52 # highest android process priority is 51
|
||||
CTRL_LOW = MIN_REALTIME
|
||||
CTRL_HIGH = MIN_REALTIME + 1
|
||||
|
||||
|
||||
def set_realtime_priority(level):
|
||||
if os.getuid() != 0:
|
||||
print("not setting priority, not root")
|
||||
return
|
||||
if not PC:
|
||||
os.sched_setscheduler(0, os.SCHED_FIFO, os.sched_param(level))
|
||||
|
||||
return subprocess.call(['chrt', '-f', '-p', str(level), str(_get_tid())])
|
||||
|
||||
def set_core_affinity(core):
|
||||
if os.getuid() != 0:
|
||||
print("not setting affinity, not root")
|
||||
return
|
||||
if not PC:
|
||||
os.sched_setaffinity(0, [core,])
|
||||
|
||||
if ANDROID:
|
||||
return subprocess.call(['taskset', '-p', str(core), str(_get_tid())])
|
||||
else:
|
||||
return -1
|
||||
|
||||
def config_realtime_process(core, priority):
|
||||
gc.disable()
|
||||
set_realtime_priority(priority)
|
||||
set_core_affinity(core)
|
||||
|
||||
|
||||
class Ratekeeper():
|
||||
|
||||
@@ -5,7 +5,7 @@ import subprocess
|
||||
from common.basedir import BASEDIR
|
||||
|
||||
|
||||
class TextWindow():
|
||||
class TextWindow:
|
||||
def __init__(self, s, noop=False):
|
||||
# text window is only implemented for android currently
|
||||
self.text_proc = None
|
||||
|
||||
@@ -1,42 +1,20 @@
|
||||
import os
|
||||
import numpy
|
||||
import sysconfig
|
||||
|
||||
from Cython.Build import cythonize
|
||||
from Cython.Distutils import build_ext
|
||||
from distutils.core import Extension, setup # pylint: disable=import-error,no-name-in-module
|
||||
|
||||
def get_ext_filename_without_platform_suffix(filename):
|
||||
name, ext = os.path.splitext(filename)
|
||||
ext_suffix = sysconfig.get_config_var('EXT_SUFFIX')
|
||||
|
||||
if ext_suffix == ext:
|
||||
return filename
|
||||
|
||||
ext_suffix = ext_suffix.replace(ext, '')
|
||||
idx = name.find(ext_suffix)
|
||||
|
||||
if idx == -1:
|
||||
return filename
|
||||
else:
|
||||
return name[:idx] + ext
|
||||
|
||||
|
||||
class BuildExtWithoutPlatformSuffix(build_ext):
|
||||
def get_ext_filename(self, ext_name):
|
||||
filename = super().get_ext_filename(ext_name)
|
||||
return get_ext_filename_without_platform_suffix(filename)
|
||||
|
||||
from common.cython_hacks import BuildExtWithoutPlatformSuffix
|
||||
|
||||
setup(
|
||||
name='Cython transformations wrapper',
|
||||
cmdclass={'build_ext': BuildExtWithoutPlatformSuffix},
|
||||
ext_modules=cythonize(
|
||||
Extension(
|
||||
"transformations",
|
||||
sources=["transformations.pyx"],
|
||||
language="c++",
|
||||
extra_compile_args=["-std=c++14"],
|
||||
include_dirs=[numpy.get_include()],
|
||||
Extension(
|
||||
"transformations",
|
||||
sources=["transformations.pyx"],
|
||||
language="c++",
|
||||
extra_compile_args=["-std=c++1z", "-Wno-cpp"],
|
||||
include_dirs=[numpy.get_include()],
|
||||
),
|
||||
nthreads=4,
|
||||
)
|
||||
))
|
||||
)
|
||||
|
||||
@@ -1,3 +1,4 @@
|
||||
#cython: language_level=3
|
||||
from libcpp cimport bool
|
||||
|
||||
cdef extern from "orientation.cc":
|
||||
|
||||
@@ -26,7 +26,7 @@ cdef np.ndarray[double, ndim=2] matrix2numpy(Matrix3 m):
|
||||
[m(2, 0), m(2, 1), m(2, 2)],
|
||||
])
|
||||
|
||||
cdef Matrix3 numpy2matrix (np.ndarray[double, ndim=2, mode="fortran"] m):
|
||||
cdef Matrix3 numpy2matrix(np.ndarray[double, ndim=2, mode="fortran"] m):
|
||||
assert m.shape[0] == 3
|
||||
assert m.shape[1] == 3
|
||||
return Matrix3(<double*>m.data)
|
||||
|
||||
@@ -10,7 +10,7 @@ WARN_FLAGS = -Werror=implicit-function-declaration \
|
||||
-Werror=format-extra-args
|
||||
|
||||
CFLAGS = -std=gnu11 -g -fPIC -O2 $(WARN_FLAGS)
|
||||
CXXFLAGS = -std=c++11 -g -fPIC -O2 $(WARN_FLAGS)
|
||||
CXXFLAGS = -std=c++1z -g -fPIC -O2 $(WARN_FLAGS)
|
||||
|
||||
CURL_FLAGS = -I$(PHONELIBS)/curl/include
|
||||
CURL_LIBS = $(PHONELIBS)/curl/lib/libcurl.a \
|
||||
@@ -34,6 +34,7 @@ all: updater
|
||||
OBJS = opensans_regular.ttf.o \
|
||||
opensans_semibold.ttf.o \
|
||||
opensans_bold.ttf.o \
|
||||
../../selfdrive/common/util.o \
|
||||
../../selfdrive/common/touch.o \
|
||||
../../selfdrive/common/framebuffer.o \
|
||||
$(PHONELIBS)/json11/json11.o \
|
||||
|
||||
@@ -1,7 +1,7 @@
|
||||
{
|
||||
"ota_url": "https://commadist.azureedge.net/neosupdate/ota-signed-efdf7de63b1aef63d68301e6175930991bf9a5927d16ec6fcc69287e2ee7ca4a.zip",
|
||||
"ota_hash": "efdf7de63b1aef63d68301e6175930991bf9a5927d16ec6fcc69287e2ee7ca4a",
|
||||
"recovery_url": "https://commadist.azureedge.net/neosupdate/recovery-97c27e6ed04ed6bb0608b845a2d4100912093f9380c3f2ba6b56bccd608e5f6e.img",
|
||||
"recovery_len": 15861036,
|
||||
"recovery_hash": "97c27e6ed04ed6bb0608b845a2d4100912093f9380c3f2ba6b56bccd608e5f6e"
|
||||
"ota_url": "https://commadist.azureedge.net/neosupdate/ota-signed-e85f507777cb6b22f88ba1c8be6bbaa2630c484b971344b645fca2d1c461cd47.zip",
|
||||
"ota_hash": "e85f507777cb6b22f88ba1c8be6bbaa2630c484b971344b645fca2d1c461cd47",
|
||||
"recovery_url": "https://commadist.azureedge.net/neosupdate/recovery-db31ffe79dfd60be966fba6d1525a5081a920062b883644dc8f5734bcc6806bb.img",
|
||||
"recovery_len": 15926572,
|
||||
"recovery_hash": "db31ffe79dfd60be966fba6d1525a5081a920062b883644dc8f5734bcc6806bb"
|
||||
}
|
||||
|
||||
@@ -1,7 +0,0 @@
|
||||
{
|
||||
"ota_url": "https://commadist.azureedge.net/neosupdate/ota-signed-3bd2b3bdd6a501569e00b8f12786d65e0fd2788c0dd238f8c986e3e2e504683a-kernel.zip",
|
||||
"ota_hash": "3bd2b3bdd6a501569e00b8f12786d65e0fd2788c0dd238f8c986e3e2e504683a",
|
||||
"recovery_url": "https://commadist.azureedge.net/neosupdate/recovery-97c27e6ed04ed6bb0608b845a2d4100912093f9380c3f2ba6b56bccd608e5f6e.img",
|
||||
"recovery_len": 15861036,
|
||||
"recovery_hash": "97c27e6ed04ed6bb0608b845a2d4100912093f9380c3f2ba6b56bccd608e5f6e"
|
||||
}
|
||||
Binary file not shown.
@@ -231,6 +231,8 @@ struct Updater {
|
||||
&fb_w, &fb_h);
|
||||
assert(fb);
|
||||
|
||||
framebuffer_set_power(fb, HWC_POWER_MODE_NORMAL);
|
||||
|
||||
vg = nvgCreateGLES3(NVG_ANTIALIAS | NVG_STENCIL_STROKES | NVG_DEBUG);
|
||||
assert(vg);
|
||||
|
||||
|
||||
+56
-50
@@ -8,6 +8,56 @@ source "$BASEDIR/launch_env.sh"
|
||||
|
||||
DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null && pwd )"
|
||||
|
||||
function two_init {
|
||||
# Restrict Android and other system processes to the first two cores
|
||||
echo 0-1 > /dev/cpuset/background/cpus
|
||||
echo 0-1 > /dev/cpuset/system-background/cpus
|
||||
echo 0-1 > /dev/cpuset/foreground/cpus
|
||||
echo 0-1 > /dev/cpuset/foreground/boost/cpus
|
||||
echo 0-1 > /dev/cpuset/android/cpus
|
||||
|
||||
# openpilot gets all the cores
|
||||
echo 0-3 > /dev/cpuset/app/cpus
|
||||
|
||||
# Collect RIL and other possibly long-running I/O interrupts onto CPU 1
|
||||
echo 1 > /proc/irq/78/smp_affinity_list # qcom,smd-modem (LTE radio)
|
||||
echo 1 > /proc/irq/33/smp_affinity_list # ufshcd (flash storage)
|
||||
echo 1 > /proc/irq/35/smp_affinity_list # wifi (wlan_pci)
|
||||
# USB traffic needs realtime handling on cpu 3
|
||||
[ -d "/proc/irq/733" ] && echo 3 > /proc/irq/733/smp_affinity_list # USB for LeEco
|
||||
[ -d "/proc/irq/736" ] && echo 3 > /proc/irq/736/smp_affinity_list # USB for OP3T
|
||||
|
||||
|
||||
# Check for NEOS update
|
||||
if [ $(< /VERSION) != "$REQUIRED_NEOS_VERSION" ]; then
|
||||
if [ -f "$DIR/scripts/continue.sh" ]; then
|
||||
cp "$DIR/scripts/continue.sh" "/data/data/com.termux/files/continue.sh"
|
||||
fi
|
||||
|
||||
if [ ! -f "$BASEDIR/prebuilt" ]; then
|
||||
# Clean old build products, but preserve the scons cache
|
||||
cd $DIR
|
||||
scons --clean
|
||||
git clean -xdf
|
||||
git submodule foreach --recursive git clean -xdf
|
||||
fi
|
||||
|
||||
"$DIR/installer/updater/updater" "file://$DIR/installer/updater/update.json"
|
||||
fi
|
||||
|
||||
# One-time fix for a subset of OP3T with gyro orientation offsets.
|
||||
# Remove and regenerate qcom sensor registry. Only done on OP3T mainboards.
|
||||
# Performed exactly once. The old registry is preserved just-in-case, and
|
||||
# doubles as a flag denoting we've already done the reset.
|
||||
if ! $(grep -q "letv" /proc/cmdline) && [ ! -f "/persist/comma/op3t-sns-reg-backup" ]; then
|
||||
echo "Performing OP3T sensor registry reset"
|
||||
mv /persist/sensors/sns.reg /persist/comma/op3t-sns-reg-backup &&
|
||||
rm -f /persist/sensors/sensors_settings /persist/sensors/error_log /persist/sensors/gyro_sensitity_cal &&
|
||||
echo "restart" > /sys/kernel/debug/msm_subsys/slpi &&
|
||||
sleep 5 # Give Android sensor subsystem a moment to recover
|
||||
fi
|
||||
}
|
||||
|
||||
function launch {
|
||||
# Wifi scan
|
||||
wpa_cli IFNAME=wlan0 SCAN
|
||||
@@ -54,62 +104,18 @@ function launch {
|
||||
fi
|
||||
fi
|
||||
|
||||
# Android and other system processes are not permitted to run on CPU 3
|
||||
# NEOS installed app processes can run anywhere
|
||||
echo 0-2 > /dev/cpuset/background/cpus
|
||||
echo 0-2 > /dev/cpuset/system-background/cpus
|
||||
[ -d "/dev/cpuset/foreground/boost/cpus" ] && echo 0-2 > /dev/cpuset/foreground/boost/cpus # Not present in < NEOS 15
|
||||
echo 0-2 > /dev/cpuset/foreground/cpus
|
||||
echo 0-2 > /dev/cpuset/android/cpus
|
||||
echo 0-3 > /dev/cpuset/app/cpus
|
||||
|
||||
# Collect RIL and other possibly long-running I/O interrupts onto CPU 1
|
||||
echo 1 > /proc/irq/78/smp_affinity_list # qcom,smd-modem (LTE radio)
|
||||
echo 1 > /proc/irq/33/smp_affinity_list # ufshcd (flash storage)
|
||||
echo 1 > /proc/irq/35/smp_affinity_list # wifi (wlan_pci)
|
||||
# USB traffic needs realtime handling on cpu 3
|
||||
[ -d "/proc/irq/733" ] && echo 3 > /proc/irq/733/smp_affinity_list # USB for LeEco
|
||||
[ -d "/proc/irq/736" ] && echo 3 > /proc/irq/736/smp_affinity_list # USB for OP3T
|
||||
|
||||
|
||||
# Check for NEOS update
|
||||
if [ $(< /VERSION) != "$REQUIRED_NEOS_VERSION" ]; then
|
||||
if [ -f "$DIR/scripts/continue.sh" ]; then
|
||||
cp "$DIR/scripts/continue.sh" "/data/data/com.termux/files/continue.sh"
|
||||
fi
|
||||
|
||||
if [ ! -f "$BASEDIR/prebuilt" ]; then
|
||||
# Clean old build products, but preserve the scons cache
|
||||
cd $DIR
|
||||
scons --clean
|
||||
git clean -xdf
|
||||
git submodule foreach --recursive git clean -xdf
|
||||
fi
|
||||
|
||||
"$DIR/installer/updater/updater" "file://$DIR/installer/updater/update.json"
|
||||
else
|
||||
if [[ $(uname -v) == "#1 SMP PREEMPT Wed Jun 10 12:40:53 PDT 2020" ]]; then
|
||||
"$DIR/installer/updater/updater" "file://$DIR/installer/updater/update_kernel.json"
|
||||
fi
|
||||
fi
|
||||
|
||||
# One-time fix for a subset of OP3T with gyro orientation offsets.
|
||||
# Remove and regenerate qcom sensor registry. Only done on OP3T mainboards.
|
||||
# Performed exactly once. The old registry is preserved just-in-case, and
|
||||
# doubles as a flag denoting we've already done the reset.
|
||||
# TODO: we should really grow per-platform detect and setup routines
|
||||
if ! $(grep -q "letv" /proc/cmdline) && [ ! -f "/persist/comma/op3t-sns-reg-backup" ]; then
|
||||
echo "Performing OP3T sensor registry reset"
|
||||
mv /persist/sensors/sns.reg /persist/comma/op3t-sns-reg-backup &&
|
||||
rm -f /persist/sensors/sensors_settings /persist/sensors/error_log /persist/sensors/gyro_sensitity_cal &&
|
||||
echo "restart" > /sys/kernel/debug/msm_subsys/slpi &&
|
||||
sleep 5 # Give Android sensor subsystem a moment to recover
|
||||
# comma two init
|
||||
if [ -f /EON ]; then
|
||||
two_init
|
||||
fi
|
||||
|
||||
# handle pythonpath
|
||||
ln -sfn $(pwd) /data/pythonpath
|
||||
export PYTHONPATH="$PWD"
|
||||
|
||||
# write tmux scrollback to a file
|
||||
tmux capture-pane -pq -S-1000 > /tmp/launch_log
|
||||
|
||||
# start manager
|
||||
cd selfdrive
|
||||
./manager.py
|
||||
|
||||
+1
-1
@@ -7,7 +7,7 @@ export OPENBLAS_NUM_THREADS=1
|
||||
export VECLIB_MAXIMUM_THREADS=1
|
||||
|
||||
if [ -z "$REQUIRED_NEOS_VERSION" ]; then
|
||||
export REQUIRED_NEOS_VERSION="14"
|
||||
export REQUIRED_NEOS_VERSION="15-1"
|
||||
fi
|
||||
|
||||
if [ -z "$PASSIVE" ]; then
|
||||
|
||||
@@ -0,0 +1,433 @@
|
||||
CM_ "AUTOGENERATED FILE, DO NOT EDIT"
|
||||
|
||||
|
||||
CM_ "Imported file _bosch_2020.dbc starts here"
|
||||
VERSION ""
|
||||
|
||||
|
||||
NS_ :
|
||||
NS_DESC_
|
||||
CM_
|
||||
BA_DEF_
|
||||
BA_
|
||||
VAL_
|
||||
CAT_DEF_
|
||||
CAT_
|
||||
FILTER
|
||||
BA_DEF_DEF_
|
||||
EV_DATA_
|
||||
ENVVAR_DATA_
|
||||
SGTYPE_
|
||||
SGTYPE_VAL_
|
||||
BA_DEF_SGTYPE_
|
||||
BA_SGTYPE_
|
||||
SIG_TYPE_REF_
|
||||
VAL_TABLE_
|
||||
SIG_GROUP_
|
||||
SIG_VALTYPE_
|
||||
SIGTYPE_VALTYPE_
|
||||
BO_TX_BU_
|
||||
BA_DEF_REL_
|
||||
BA_REL_
|
||||
BA_DEF_DEF_REL_
|
||||
BU_SG_REL_
|
||||
BU_EV_REL_
|
||||
BU_BO_REL_
|
||||
SG_MUL_VAL_
|
||||
|
||||
BU_: EBCM EON CAM RADAR PCM EPS VSA SCM BDY XXX EPB
|
||||
|
||||
BO_ 148 KINEMATICS: 8 XXX
|
||||
SG_ LAT_ACCEL : 7|10@0+ (-0.035,17.92) [-20|20] "m/s2" EON
|
||||
SG_ LONG_ACCEL : 25|10@0+ (-0.035,17.92) [-20|20] "m/s2" EON
|
||||
SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
|
||||
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
|
||||
|
||||
BO_ 228 STEERING_CONTROL: 5 EON
|
||||
SG_ STEER_TORQUE_REQUEST : 23|1@0+ (1,0) [0|1] "" EPS
|
||||
SG_ SET_ME_X00 : 22|7@0+ (1,0) [0|127] "" EPS
|
||||
SG_ SET_ME_X00_2 : 31|8@0+ (1,0) [0|0] "" EPS
|
||||
SG_ STEER_TORQUE : 7|16@0- (1,0) [-4096|4096] "" EPS
|
||||
SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" EPS
|
||||
SG_ CHECKSUM : 35|4@0+ (1,0) [0|15] "" EPS
|
||||
|
||||
BO_ 229 BOSCH_SUPPLEMENTAL_1: 8 XXX
|
||||
SG_ SET_ME_X04 : 0|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ SET_ME_X00 : 8|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ SET_ME_X80 : 16|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ SET_ME_X10 : 24|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
|
||||
SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
|
||||
|
||||
BO_ 232 BRAKE_HOLD: 7 XXX
|
||||
SG_ XMISSION_SPEED : 7|14@0- (1,0) [1|0] "" XXX
|
||||
SG_ COMPUTER_BRAKE : 39|16@0+ (1,0) [0|0] "" XXX
|
||||
SG_ COMPUTER_BRAKE_REQUEST : 29|1@0+ (1,0) [0|0] "" XXX
|
||||
SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" XXX
|
||||
SG_ CHECKSUM : 51|4@0+ (1,0) [0|15] "" XXX
|
||||
|
||||
BO_ 342 STEERING_SENSORS: 6 EPS
|
||||
SG_ STEER_ANGLE : 7|16@0- (-0.1,0) [-500|500] "deg" EON
|
||||
SG_ STEER_ANGLE_RATE : 23|16@0- (1,0) [-3000|3000] "deg/s" EON
|
||||
SG_ COUNTER : 45|2@0+ (1,0) [0|3] "" EON
|
||||
SG_ CHECKSUM : 43|4@0+ (1,0) [0|15] "" EON
|
||||
|
||||
BO_ 344 ENGINE_DATA: 8 PCM
|
||||
SG_ XMISSION_SPEED : 7|16@0+ (0.01,0) [0|250] "kph" EON
|
||||
SG_ ENGINE_RPM : 23|16@0+ (1,0) [0|15000] "rpm" EON
|
||||
SG_ XMISSION_SPEED2 : 39|16@0+ (0.01,0) [0|250] "kph" EON
|
||||
SG_ ODOMETER : 55|8@0+ (10,0) [0|2550] "m" XXX
|
||||
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
|
||||
SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
|
||||
|
||||
BO_ 380 POWERTRAIN_DATA: 8 PCM
|
||||
SG_ PEDAL_GAS : 7|8@0+ (1,0) [0|255] "" EON
|
||||
SG_ ENGINE_RPM : 23|16@0+ (1,0) [0|15000] "rpm" EON
|
||||
SG_ GAS_PRESSED : 39|1@0+ (1,0) [0|1] "" EON
|
||||
SG_ ACC_STATUS : 38|1@0+ (1,0) [0|1] "" EON
|
||||
SG_ BOH_17C : 37|5@0+ (1,0) [0|1] "" EON
|
||||
SG_ BRAKE_SWITCH : 32|1@0+ (1,0) [0|1] "" EON
|
||||
SG_ BOH2_17C : 47|10@0+ (1,0) [0|1] "" EON
|
||||
SG_ BRAKE_PRESSED : 53|1@0+ (1,0) [0|1] "" EON
|
||||
SG_ BOH3_17C : 52|5@0+ (1,0) [0|1] "" EON
|
||||
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
|
||||
SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
|
||||
|
||||
BO_ 399 STEER_STATUS: 7 EPS
|
||||
SG_ STEER_TORQUE_SENSOR : 7|16@0- (-1,0) [-31000|31000] "tbd" EON
|
||||
SG_ STEER_ANGLE_RATE : 23|16@0- (-0.1,0) [-31000|31000] "deg/s" EON
|
||||
SG_ STEER_STATUS : 39|4@0+ (1,0) [0|15] "" EON
|
||||
SG_ STEER_CONTROL_ACTIVE : 35|1@0+ (1,0) [0|1] "" EON
|
||||
SG_ STEER_CONFIG_INDEX : 43|4@0+ (1,0) [0|15] "" EON
|
||||
SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON
|
||||
SG_ CHECKSUM : 51|4@0+ (1,0) [0|15] "" EON
|
||||
|
||||
BO_ 420 VSA_STATUS: 8 VSA
|
||||
SG_ ESP_DISABLED : 28|1@0+ (1,0) [0|1] "" EON
|
||||
SG_ USER_BRAKE : 7|16@0+ (0.015625,-1.609375) [0|1000] "" EON
|
||||
SG_ BRAKE_HOLD_ACTIVE : 46|1@0+ (1,0) [0|1] "" EON
|
||||
SG_ BRAKE_HOLD_ENABLED : 45|1@0+ (1,0) [0|1] "" EON
|
||||
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
|
||||
SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
|
||||
|
||||
BO_ 427 STEER_MOTOR_TORQUE: 3 EPS
|
||||
SG_ CONFIG_VALID : 7|1@0+ (1,0) [0|1] "" EON
|
||||
SG_ MOTOR_TORQUE : 1|10@0+ (1,0) [0|256] "" EON
|
||||
SG_ OUTPUT_DISABLED : 22|1@0+ (1,0) [0|1] "" EON
|
||||
SG_ COUNTER : 21|2@0+ (1,0) [0|3] "" EON
|
||||
SG_ CHECKSUM : 19|4@0+ (1,0) [0|15] "" EON
|
||||
|
||||
BO_ 450 EPB_STATUS: 8 EPB
|
||||
SG_ EPB_ACTIVE : 3|1@0+ (1,0) [0|1] "" EON
|
||||
SG_ EPB_STATE : 29|2@0+ (1,0) [0|3] "" EON
|
||||
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
|
||||
SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
|
||||
|
||||
BO_ 464 WHEEL_SPEEDS: 8 VSA
|
||||
SG_ WHEEL_SPEED_FL : 7|15@0+ (0.01,0) [0|250] "kph" EON
|
||||
SG_ WHEEL_SPEED_FR : 8|15@0+ (0.01,0) [0|250] "kph" EON
|
||||
SG_ WHEEL_SPEED_RL : 25|15@0+ (0.01,0) [0|250] "kph" EON
|
||||
SG_ WHEEL_SPEED_RR : 42|15@0+ (0.01,0) [0|250] "kph" EON
|
||||
SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
|
||||
|
||||
BO_ 479 ACC_CONTROL: 8 EON
|
||||
SG_ SET_TO_0 : 20|5@0+ (1,0) [0|1] "" XXX
|
||||
SG_ CONTROL_ON : 23|3@0+ (1,0) [0|5] "" XXX
|
||||
SG_ GAS_COMMAND : 7|16@0- (1,0) [0|0] "" XXX
|
||||
SG_ ACCEL_COMMAND : 31|11@0- (0.01,0) [0|0] "m/s2" XXX
|
||||
SG_ BRAKE_LIGHTS : 62|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ BRAKE_REQUEST : 34|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ STANDSTILL : 35|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ STANDSTILL_RELEASE : 36|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ AEB_STATUS : 33|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ AEB_BRAKING : 47|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ AEB_PREPARE : 43|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
|
||||
SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
|
||||
|
||||
BO_ 490 VEHICLE_DYNAMICS: 8 VSA
|
||||
SG_ LAT_ACCEL : 7|16@0- (0.0015,0) [-20|20] "m/s2" EON
|
||||
SG_ LONG_ACCEL : 23|16@0- (0.0015,0) [-20|20] "m/s2" EON
|
||||
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
|
||||
SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
|
||||
|
||||
BO_ 495 ACC_CONTROL_ON: 8 XXX
|
||||
SG_ SET_TO_75 : 31|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ SET_TO_30 : 39|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ ZEROS_BOH : 23|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ ZEROS_BOH2 : 47|16@0+ (1,0) [0|255] "" XXX
|
||||
SG_ SET_TO_FF : 15|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ SET_TO_3 : 6|7@0+ (1,0) [0|4095] "" XXX
|
||||
SG_ CONTROL_ON : 7|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
|
||||
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
|
||||
|
||||
BO_ 545 XXX_16: 6 SCM
|
||||
SG_ ECON_ON : 23|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ DRIVE_MODE : 37|2@0+ (1,0) [0|3] "" XXX
|
||||
SG_ COUNTER : 45|2@0+ (1,0) [0|3] "" BDY
|
||||
SG_ CHECKSUM : 43|4@0+ (1,0) [0|15] "" BDY
|
||||
|
||||
BO_ 576 LEFT_LANE_LINE_1: 8 CAM
|
||||
SG_ LINE_DISTANCE_VISIBLE : 39|9@0+ (1,0) [0|1] "" XXX
|
||||
SG_ LINE_PROBABILITY : 46|6@0+ (0.015625,0) [0|1] "" XXX
|
||||
SG_ LINE_OFFSET : 23|12@0+ (0.004,-8.192) [0|1] "Meters" XXX
|
||||
SG_ LINE_ANGLE : 7|12@0+ (0.0005,-1.024) [0|1] "" XXX
|
||||
SG_ FRAME_INDEX : 8|4@1+ (1,0) [0|15] "" XXX
|
||||
SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX
|
||||
SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 577 LEFT_LANE_LINE_2: 8 CAM
|
||||
SG_ LINE_FAR_EDGE_POSITION : 55|8@0+ (1,-128) [0|1] "" XXX
|
||||
SG_ LINE_SOLID : 13|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ LINE_DASHED : 14|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ LINE_CURVATURE : 23|12@0+ (0.00001,-0.02048) [0|1] "" XXX
|
||||
SG_ LINE_PARAMETER : 39|12@0+ (1,0) [0|1] "" XXX
|
||||
SG_ FRAME_INDEX : 7|4@0+ (1,0) [0|15] "" XXX
|
||||
SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX
|
||||
SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 579 RIGHT_LANE_LINE_1: 8 CAM
|
||||
SG_ LINE_DISTANCE_VISIBLE : 39|9@0+ (1,0) [0|1] "" XXX
|
||||
SG_ LINE_PROBABILITY : 46|6@0+ (0.015625,0) [0|1] "" XXX
|
||||
SG_ LINE_OFFSET : 23|12@0+ (0.004,-8.192) [0|1] "Meters" XXX
|
||||
SG_ LINE_ANGLE : 7|12@0+ (0.0005,-1.024) [0|1] "" XXX
|
||||
SG_ FRAME_INDEX : 8|4@1+ (1,0) [0|15] "" XXX
|
||||
SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX
|
||||
SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 580 RIGHT_LANE_LINE_2: 8 CAM
|
||||
SG_ LINE_FAR_EDGE_POSITION : 55|8@0+ (1,-128) [0|1] "" XXX
|
||||
SG_ LINE_SOLID : 13|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ LINE_DASHED : 14|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ LINE_CURVATURE : 23|12@0+ (0.00001,-0.02048) [0|1] "" XXX
|
||||
SG_ LINE_PARAMETER : 39|12@0+ (1,0) [0|1] "" XXX
|
||||
SG_ FRAME_INDEX : 7|4@0+ (1,0) [0|15] "" XXX
|
||||
SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX
|
||||
SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 582 ADJACENT_LEFT_LANE_LINE_1: 8 CAM
|
||||
SG_ LINE_DISTANCE_VISIBLE : 39|9@0+ (1,0) [0|1] "" XXX
|
||||
SG_ LINE_PROBABILITY : 46|6@0+ (0.015625,0) [0|1] "" XXX
|
||||
SG_ LINE_OFFSET : 23|12@0+ (0.004,-8.192) [0|1] "Meters" XXX
|
||||
SG_ LINE_ANGLE : 7|12@0+ (0.0005,-1.024) [0|1] "" XXX
|
||||
SG_ FRAME_INDEX : 8|4@1+ (1,0) [0|15] "" XXX
|
||||
SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX
|
||||
SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 583 ADJACENT_LEFT_LANE_LINE_2: 8 CAM
|
||||
SG_ LINE_FAR_EDGE_POSITION : 55|8@0+ (1,-128) [0|1] "" XXX
|
||||
SG_ LINE_SOLID : 13|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ LINE_DASHED : 14|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ LINE_CURVATURE : 23|12@0+ (0.00001,-0.02048) [0|1] "" XXX
|
||||
SG_ LINE_PARAMETER : 39|12@0+ (1,0) [0|1] "" XXX
|
||||
SG_ FRAME_INDEX : 7|4@0+ (1,0) [0|15] "" XXX
|
||||
SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX
|
||||
SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 585 ADJACENT_RIGHT_LANE_LINE_1: 8 CAM
|
||||
SG_ LINE_DISTANCE_VISIBLE : 39|9@0+ (1,0) [0|1] "" XXX
|
||||
SG_ LINE_PROBABILITY : 46|6@0+ (0.015625,0) [0|1] "" XXX
|
||||
SG_ LINE_OFFSET : 23|12@0+ (0.004,-8.192) [0|1] "Meters" XXX
|
||||
SG_ LINE_ANGLE : 7|12@0+ (0.0005,-1.024) [0|1] "" XXX
|
||||
SG_ FRAME_INDEX : 8|4@1+ (1,0) [0|15] "" XXX
|
||||
SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX
|
||||
SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 586 ADJACENT_RIGHT_LANE_LINE_2: 8 CAM
|
||||
SG_ LINE_FAR_EDGE_POSITION : 55|8@0+ (1,-128) [0|1] "" XXX
|
||||
SG_ LINE_SOLID : 13|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ LINE_DASHED : 14|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ LINE_CURVATURE : 23|12@0+ (0.00001,-0.02048) [0|1] "" XXX
|
||||
SG_ LINE_PARAMETER : 39|12@0+ (1,0) [0|1] "" XXX
|
||||
SG_ FRAME_INDEX : 7|4@0+ (1,0) [0|15] "" XXX
|
||||
SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX
|
||||
SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 597 ROUGH_WHEEL_SPEED: 8 VSA
|
||||
SG_ WHEEL_SPEED_FL : 7|8@0+ (1,0) [0|255] "mph" EON
|
||||
SG_ WHEEL_SPEED_FR : 15|8@0+ (1,0) [0|255] "mph" EON
|
||||
SG_ WHEEL_SPEED_RL : 23|8@0+ (1,0) [0|255] "mph" EON
|
||||
SG_ WHEEL_SPEED_RR : 31|8@0+ (1,0) [0|255] "mph" EON
|
||||
SG_ SET_TO_X55 : 39|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ SET_TO_X55_2 : 47|8@0+ (1,0) [0|255] "" EON
|
||||
SG_ LONG_COUNTER : 55|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
|
||||
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
|
||||
|
||||
BO_ 662 SCM_BUTTONS: 4 SCM
|
||||
SG_ CRUISE_BUTTONS : 7|3@0+ (1,0) [0|7] "" EON
|
||||
SG_ CRUISE_SETTING : 3|2@0+ (1,0) [0|3] "" EON
|
||||
SG_ COUNTER : 29|2@0+ (1,0) [0|3] "" EON
|
||||
SG_ CHECKSUM : 27|4@0+ (1,0) [0|15] "" EON
|
||||
|
||||
BO_ 773 SEATBELT_STATUS: 7 BDY
|
||||
SG_ SEATBELT_DRIVER_LAMP : 7|1@0+ (1,0) [0|1] "" EON
|
||||
SG_ SEATBELT_PASS_UNLATCHED : 10|1@0+ (1,0) [0|1] "" EON
|
||||
SG_ SEATBELT_PASS_LATCHED : 11|1@0+ (1,0) [0|1] "" EON
|
||||
SG_ SEATBELT_DRIVER_UNLATCHED : 12|1@0+ (1,0) [0|1] "" EON
|
||||
SG_ SEATBELT_DRIVER_LATCHED : 13|1@0+ (1,0) [0|1] "" EON
|
||||
SG_ PASS_AIRBAG_OFF : 14|1@0+ (1,0) [0|1] "" EON
|
||||
SG_ PASS_AIRBAG_ON : 15|1@0+ (1,0) [0|1] "" EON
|
||||
SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON
|
||||
SG_ CHECKSUM : 51|4@0+ (1,0) [0|3] "" EON
|
||||
|
||||
BO_ 777 CAR_SPEED: 8 PCM
|
||||
SG_ ROUGH_CAR_SPEED : 23|8@0+ (1,0) [0|255] "mph" XXX
|
||||
SG_ CAR_SPEED : 7|16@0+ (0.01,0) [0|65535] "kph" XXX
|
||||
SG_ ROUGH_CAR_SPEED_3 : 39|16@0+ (0.01,0) [0|65535] "kph" XXX
|
||||
SG_ ROUGH_CAR_SPEED_2 : 31|8@0+ (1,0) [0|255] "mph" XXX
|
||||
SG_ LOCK_STATUS : 55|2@0+ (1,0) [0|255] "" XXX
|
||||
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
|
||||
SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
|
||||
|
||||
BO_ 780 ACC_HUD: 8 ADAS
|
||||
SG_ CRUISE_SPEED : 31|8@0+ (1,0) [0|255] "kph" BDY
|
||||
SG_ DTC_MODE : 39|1@0+ (1,0) [0|1] "" BDY
|
||||
SG_ BOH : 38|1@0+ (1,0) [0|1] "" BDY
|
||||
SG_ FCM_PROBLEM : 34|1@0+ (1,0) [0|1] "" BDY
|
||||
SG_ RADAR_OBSTRUCTED : 33|1@0+ (1,0) [0|1] "" BDY
|
||||
SG_ ENABLE_MINI_CAR : 32|1@0+ (1,0) [0|1] "" BDY
|
||||
SG_ BOH_3 : 43|1@0+ (1,0) [0|3] "" BDY
|
||||
SG_ BOH_4 : 42|1@0+ (1,0) [0|3] "" BDY
|
||||
SG_ BOH_5 : 41|1@0+ (1,0) [0|3] "" BDY
|
||||
SG_ CRUISE_CONTROL_LABEL : 40|1@0+ (1,0) [0|3] "" BDY
|
||||
SG_ ZEROS_BOH : 7|24@0+ (0.002759506,0) [0|100] "m/s" BDY
|
||||
SG_ FCM_OFF : 35|1@0+ (1,0) [0|1] "" BDY
|
||||
SG_ SET_TO_1 : 36|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ HUD_DISTANCE : 47|2@0+ (1,0) [0|3] "" BDY
|
||||
SG_ HUD_LEAD : 45|2@0+ (1,0) [0|3] "" BDY
|
||||
SG_ ACC_PROBLEM : 37|1@0+ (1,0) [0|1] "" BDY
|
||||
SG_ ACC_ON : 52|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ BOH_6 : 51|4@0+ (1,0) [0|15] "" XXX
|
||||
SG_ SET_TO_X1 : 55|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ IMPERIAL_UNIT : 54|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
|
||||
SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
|
||||
|
||||
BO_ 804 CRUISE: 8 PCM
|
||||
SG_ TRIP_FUEL_CONSUMED : 23|16@0+ (1,0) [0|255] "" EON
|
||||
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
|
||||
SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
|
||||
|
||||
BO_ 806 SCM_FEEDBACK: 8 SCM
|
||||
SG_ DRIVERS_DOOR_OPEN : 17|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ MAIN_ON : 28|1@0+ (1,0) [0|1] "" EON
|
||||
SG_ RIGHT_BLINKER : 27|1@0+ (1,0) [0|1] "" EON
|
||||
SG_ LEFT_BLINKER : 26|1@0+ (1,0) [0|1] "" EON
|
||||
SG_ CMBS_STATES : 22|2@0+ (1,0) [0|3] "" EON
|
||||
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
|
||||
SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
|
||||
|
||||
BO_ 829 LKAS_HUD: 5 ADAS
|
||||
SG_ CAM_TEMP_HIGH : 7|1@0+ (1,0) [0|255] "" BDY
|
||||
SG_ SET_ME_X41 : 6|7@0+ (1,0) [0|127] "" BDY
|
||||
SG_ BOH : 6|7@0+ (1,0) [0|127] "" BDY
|
||||
SG_ DASHED_LANES : 14|1@0+ (1,0) [0|1] "" BDY
|
||||
SG_ DTC : 13|1@0+ (1,0) [0|1] "" BDY
|
||||
SG_ LKAS_PROBLEM : 12|1@0+ (1,0) [0|1] "" BDY
|
||||
SG_ LKAS_OFF : 11|1@0+ (1,0) [0|1] "" BDY
|
||||
SG_ SOLID_LANES : 10|1@0+ (1,0) [0|1] "" BDY
|
||||
SG_ LDW_RIGHT : 9|1@0+ (1,0) [0|1] "" BDY
|
||||
SG_ STEERING_REQUIRED : 8|1@0+ (1,0) [0|1] "" BDY
|
||||
SG_ BOH : 23|2@0+ (1,0) [0|4] "" BDY
|
||||
SG_ LDW_PROBLEM : 21|1@0+ (1,0) [0|1] "" BDY
|
||||
SG_ BEEP : 17|2@0+ (1,0) [0|1] "" BDY
|
||||
SG_ LDW_ON : 28|1@0+ (1,0) [0|1] "" BDY
|
||||
SG_ LDW_OFF : 27|1@0+ (1,0) [0|1] "" BDY
|
||||
SG_ CLEAN_WINDSHIELD : 26|1@0+ (1,0) [0|1] "" BDY
|
||||
SG_ SET_ME_X48 : 31|8@0+ (1,0) [0|255] "" BDY
|
||||
SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" BDY
|
||||
SG_ CHECKSUM : 35|4@0+ (1,0) [0|15] "" BDY
|
||||
|
||||
BO_ 862 CAMERA_MESSAGES: 8 CAM
|
||||
SG_ ZEROS_BOH : 7|50@0+ (1,0) [0|127] "" BDY
|
||||
SG_ AUTO_HIGHBEAMS_ACTIVE : 53|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ HIGHBEAMS_ON : 52|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ ZEROS_BOH_2 : 51|4@0+ (1,0) [0|15] "" XXX
|
||||
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
|
||||
SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
|
||||
|
||||
BO_ 884 STALK_STATUS: 8 XXX
|
||||
SG_ AUTO_HEADLIGHTS : 46|1@0+ (1,0) [0|1] "" EON
|
||||
SG_ HIGH_BEAM_HOLD : 47|1@0+ (1,0) [0|1] "" EON
|
||||
SG_ HIGH_BEAM_FLASH : 45|1@0+ (1,0) [0|1] "" EON
|
||||
SG_ HEADLIGHTS_ON : 54|1@0+ (1,0) [0|1] "" EON
|
||||
SG_ WIPER_SWITCH : 53|2@0+ (1,0) [0|3] "" XXX
|
||||
SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
|
||||
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
|
||||
|
||||
BO_ 891 STALK_STATUS_2: 8 XXX
|
||||
SG_ WIPERS : 17|2@0+ (1,0) [0|3] "" EON
|
||||
SG_ LOW_BEAMS : 35|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ HIGH_BEAMS : 34|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ PARK_LIGHTS : 36|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
|
||||
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
|
||||
|
||||
CM_ SG_ 479 AEB_STATUS "set for the duration of AEB event";
|
||||
CM_ SG_ 479 AEB_BRAKING "set when braking is commanded during AEB event";
|
||||
CM_ SG_ 479 AEB_PREPARE "set 1s before AEB";
|
||||
CM_ SG_ 576 LINE_DISTANCE_VISIBLE "Length of line visible, undecoded";
|
||||
CM_ SG_ 577 LINE_FAR_EDGE_POSITION "Appears to be a measure of line thickness, indicates location of the portion of the line furthest from the car, undecoded";
|
||||
CM_ SG_ 577 LINE_PARAMETER "Unclear if this is low quality line curvature rate or if this is something else, but it is correlated with line curvature, undecoded";
|
||||
CM_ SG_ 577 LINE_DASHED "1 = line is dashed";
|
||||
CM_ SG_ 577 LINE_SOLID "1 = line is solid";
|
||||
VAL_ 399 STEER_STATUS 6 "tmp_fault" 5 "fault_1" 4 "no_torque_alert_2" 3 "low_speed_lockout" 2 "no_torque_alert_1" 0 "normal" ;
|
||||
|
||||
CM_ "acura_rdx_2020_can.dbc starts here"
|
||||
|
||||
|
||||
BO_ 304 GAS_PEDAL_2: 8 PCM
|
||||
SG_ ENGINE_TORQUE_ESTIMATE : 7|16@0- (1,0) [-1000|1000] "Nm" EON
|
||||
SG_ ENGINE_TORQUE_REQUEST : 23|16@0- (1,0) [-1000|1000] "Nm" EON
|
||||
SG_ CAR_GAS : 39|8@0+ (1,0) [0|255] "" EON
|
||||
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
|
||||
SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
|
||||
|
||||
BO_ 419 GEARBOX: 8 PCM
|
||||
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
|
||||
SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
|
||||
SG_ GEAR_SHIFTER : 29|6@0+ (1,0) [0|63] "" EON
|
||||
SG_ GEAR : 7|8@0+ (1,0) [0|255] "" EON
|
||||
|
||||
BO_ 432 STANDSTILL: 7 VSA
|
||||
SG_ BRAKE_ERROR_1 : 11|1@0+ (1,0) [0|1] "" EON
|
||||
SG_ BRAKE_ERROR_2 : 9|1@0+ (1,0) [0|1] "" EON
|
||||
SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON
|
||||
SG_ CHECKSUM : 51|4@0+ (1,0) [0|15] "" EON
|
||||
|
||||
BO_ 446 BRAKE_MODULE: 3 VSA
|
||||
SG_ BRAKE_PRESSED : 4|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ COUNTER : 21|2@0+ (1,0) [0|3] "" XXX
|
||||
SG_ CHECKSUM : 19|4@0+ (1,0) [0|15] "" XXX
|
||||
|
||||
BO_ 927 RADAR_HUD: 8 RADAR
|
||||
SG_ ZEROS_BOH : 7|10@0+ (1,0) [0|127] "" BDY
|
||||
SG_ CMBS_OFF : 12|1@0+ (1,0) [0|1] "" BDY
|
||||
SG_ RESUME_INSTRUCTION : 21|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ SET_TO_1 : 13|1@0+ (1,0) [0|1] "" BDY
|
||||
SG_ ZEROS_BOH2 : 11|4@0+ (1,0) [0|1] "" XXX
|
||||
SG_ APPLY_BRAKES_FOR_CANC : 23|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ ACC_ALERTS : 20|5@0+ (1,0) [0|1] "" BDY
|
||||
SG_ SET_TO_0 : 22|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ LEAD_DISTANCE : 39|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ BOH : 40|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ BOH_2 : 30|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
|
||||
SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
|
||||
|
||||
BO_ 1302 ODOMETER: 8 XXX
|
||||
SG_ ODOMETER : 7|24@0+ (1,0) [0|16777215] "km" EON
|
||||
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
|
||||
SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
|
||||
|
||||
VAL_ 419 GEAR_SHIFTER 32 "D" 8 "R" 4 "P" ;
|
||||
VAL_ 545 ECON_ON_2 0 "off" 3 "on" ;
|
||||
VAL_ 662 CRUISE_BUTTONS 7 "tbd" 6 "tbd" 5 "tbd" 4 "accel_res" 3 "decel_set" 2 "cancel" 1 "main" 0 "none" ;
|
||||
VAL_ 662 CRUISE_SETTING 3 "distance_adj" 2 "tbd" 1 "lkas_button" 0 "none" ;
|
||||
VAL_ 806 CMBS_BUTTON 3 "pressed" 0 "released" ;
|
||||
VAL_ 891 WIPERS 4 "High" 2 "Low" 0 "Off" ;
|
||||
VAL_ 829 BEEP 3 "single_beep" 2 "triple_beep" 1 "repeated_beep" 0 "no_beep" ;
|
||||
|
||||
CM_ "CHFFR_METRIC 330 STEER_ANGLE STEER_ANGLE 0.36 180; CHFFR_METRIC 380 ENGINE_RPM ENGINE_RPM 1 0; CHFFR_METRIC 804 ENGINE_TEMPERATURE ENGINE_TEMPERATURE 1 0";
|
||||
@@ -34,7 +34,7 @@ class BuildExtWithoutPlatformSuffix(build_ext):
|
||||
return get_ext_filename_without_platform_suffix(filename)
|
||||
|
||||
|
||||
extra_compile_args = ["-std=c++14"]
|
||||
extra_compile_args = ["-std=c++1z", "-Wno-nullability-completeness"]
|
||||
ARCH = subprocess.check_output(["uname", "-m"], encoding='utf8').rstrip() # pylint: disable=unexpected-keyword-arg
|
||||
if ARCH == "aarch64":
|
||||
extra_compile_args += ["-Wno-deprecated-register"]
|
||||
|
||||
@@ -20,9 +20,11 @@ cdef class CANPacker:
|
||||
map[int, int] address_to_size
|
||||
|
||||
def __init__(self, dbc_name):
|
||||
self.packer = new cpp_CANPacker(dbc_name)
|
||||
self.dbc = dbc_lookup(dbc_name)
|
||||
|
||||
if not self.dbc:
|
||||
raise RuntimeError("Can't lookup" + dbc_name)
|
||||
|
||||
self.packer = new cpp_CANPacker(dbc_name)
|
||||
num_msgs = self.dbc[0].num_msgs
|
||||
for i in range(num_msgs):
|
||||
msg = self.dbc[0].msgs[i]
|
||||
@@ -37,7 +39,7 @@ cdef class CANPacker:
|
||||
|
||||
for name, value in values.iteritems():
|
||||
n = name.encode('utf8')
|
||||
names.append(n) # TODO: find better way to keep reference to temp string arround
|
||||
names.append(n) # TODO: find better way to keep reference to temp string around
|
||||
|
||||
spv.name = n
|
||||
spv.value = value
|
||||
|
||||
@@ -187,7 +187,7 @@ void CANParser::UpdateCans(uint64_t sec, const capnp::List<cereal::CanData>::Rea
|
||||
continue;
|
||||
}
|
||||
|
||||
if (cmsg.getDat().size() > 8) continue; //shouldnt ever happen
|
||||
if (cmsg.getDat().size() > 8) continue; //shouldn't ever happen
|
||||
uint8_t dat[8] = {0};
|
||||
memcpy(dat, cmsg.getDat().begin(), cmsg.getDat().size());
|
||||
|
||||
|
||||
@@ -1,2 +1,2 @@
|
||||
from opendbc.can.parser_pyx import CANParser # pylint: disable=no-name-in-module, import-error
|
||||
assert CANParser
|
||||
from opendbc.can.parser_pyx import CANParser, CANDefine # pylint: disable=no-name-in-module, import-error
|
||||
assert CANParser, CANDefine
|
||||
|
||||
@@ -17,7 +17,6 @@ from collections import defaultdict
|
||||
|
||||
cdef int CAN_INVALID_CNT = 5
|
||||
|
||||
|
||||
cdef class CANParser:
|
||||
cdef:
|
||||
cpp_CANParser *can
|
||||
@@ -37,10 +36,11 @@ cdef class CANParser:
|
||||
def __init__(self, dbc_name, signals, checks=None, bus=0):
|
||||
if checks is None:
|
||||
checks = []
|
||||
|
||||
self.can_valid = True
|
||||
self.dbc_name = dbc_name
|
||||
self.dbc = dbc_lookup(dbc_name)
|
||||
if not self.dbc:
|
||||
raise RuntimeError("Can't lookup" + dbc_name)
|
||||
self.vl = {}
|
||||
self.ts = {}
|
||||
|
||||
@@ -110,7 +110,7 @@ cdef class CANParser:
|
||||
|
||||
|
||||
for cv in can_values:
|
||||
# Cast char * directly to unicde
|
||||
# Cast char * directly to unicode
|
||||
name = <unicode>self.address_to_msg_name[cv.address].c_str()
|
||||
cv_name = <unicode>cv.name
|
||||
|
||||
@@ -148,7 +148,9 @@ cdef class CANDefine():
|
||||
def __init__(self, dbc_name):
|
||||
self.dbc_name = dbc_name
|
||||
self.dbc = dbc_lookup(dbc_name)
|
||||
|
||||
if not self.dbc:
|
||||
raise RuntimeError("Can't lookup" + dbc_name)
|
||||
|
||||
num_vals = self.dbc[0].num_vals
|
||||
|
||||
address_to_msg_name = {}
|
||||
|
||||
@@ -81,7 +81,7 @@ def process(in_fn, out_fn):
|
||||
if sig.start_bit % 8 != checksum_start_bit:
|
||||
sys.exit("%s: CHECKSUM starts at wrong bit" % dbc_msg_name)
|
||||
if little_endian != sig.is_little_endian:
|
||||
sys.exit("%s: CHECKSUM has wrong endianess" % dbc_msg_name)
|
||||
sys.exit("%s: CHECKSUM has wrong endianness" % dbc_msg_name)
|
||||
# counter rules
|
||||
if sig.name == "COUNTER":
|
||||
if counter_size is not None and sig.size != counter_size:
|
||||
@@ -90,7 +90,7 @@ def process(in_fn, out_fn):
|
||||
print(counter_start_bit, sig.start_bit)
|
||||
sys.exit("%s: COUNTER starts at wrong bit" % dbc_msg_name)
|
||||
if little_endian != sig.is_little_endian:
|
||||
sys.exit("%s: COUNTER has wrong endianess" % dbc_msg_name)
|
||||
sys.exit("%s: COUNTER has wrong endianness" % dbc_msg_name)
|
||||
# pedal rules
|
||||
if address in [0x200, 0x201]:
|
||||
if sig.name == "COUNTER_PEDAL" and sig.size != 4:
|
||||
|
||||
@@ -409,7 +409,7 @@ CM_ SG_ 571 CHECKSUM "standard checksum";
|
||||
CM_ SG_ 825 BEEP_339 "sent every 0.5s. 0050 is no beep. To beep send 4355 or 4155. Used by ParkSense warning.";
|
||||
CM_ SG_ 270 ELECTRIC_MOTOR "0x7fff indicates electric motor not in use";
|
||||
CM_ SG_ 291 ENERGY_GAIN_LOSS "unsure what this actually is";
|
||||
CM_ SG_ 291 ENERGY_SMOOTHER_CURVE "unusre what it is, but smoother";
|
||||
CM_ SG_ 291 ENERGY_SMOOTHER_CURVE "unsure what it is, but smoother";
|
||||
CM_ SG_ 308 ACCEL_134 "only set when human presses accel pedal";
|
||||
CM_ SG_ 532 NOISY_SLOWLY_DECREASING "perhaps battery but do not know";
|
||||
CM_ SG_ 816 TRACTION_OFF "set when traction off button is enabled";
|
||||
|
||||
@@ -37,7 +37,7 @@ BU_: K109_FCM B233B_LRR NEO VIS_FO VIS2_FO K124_ASCM Vector__XXX EOCM_F_FO EOCM2
|
||||
VAL_TABLE_ RangeMode 1 "Active" 0 "Inactive" ;
|
||||
VAL_TABLE_ TrkConf 3 "Confident" 2 "Speculative" 1 "Highly speculative" 0 "Invalid" ;
|
||||
VAL_TABLE_ TrkMeasStatus 3 "Measured current cycle" 2 "Latent track not detected" 1 "New object" 0 "No object" ;
|
||||
VAL_TABLE_ TrkDynProp 4 "Moving in opposite direction" 3 "Moving in same direction" 2 "Has moved but currenty stopped" 1 "Has never moved," 0 "Unkown" ;
|
||||
VAL_TABLE_ TrkDynProp 4 "Moving in opposite direction" 3 "Moving in same direction" 2 "Has moved but currently stopped" 1 "Has never moved," 0 "Unknown" ;
|
||||
VAL_TABLE_ FrntVsnInPthVehBrkNwSt 10 "Active" 5 "Inactive" ;
|
||||
VAL_TABLE_ FrntVsnClostPedBrkNwSt 10 "Active" 5 "Inactive" ;
|
||||
VAL_TABLE_ LaneSnsLLnPosValid 1 "Invalid" 0 "Valid" ;
|
||||
|
||||
@@ -388,7 +388,7 @@ BO_ 304 GAS_PEDAL_2: 8 PCM
|
||||
SG_ CAR_GAS : 39|8@0+ (1,0) [0|255] "" EON
|
||||
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
|
||||
SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
|
||||
|
||||
|
||||
BO_ 401 GEARBOX: 8 PCM
|
||||
SG_ GEAR_SHIFTER : 5|6@0+ (1,0) [0|63] "" EON
|
||||
SG_ BOH : 45|6@0+ (1,0) [0|63] "" XXX
|
||||
@@ -405,6 +405,11 @@ BO_ 432 STANDSTILL: 7 VSA
|
||||
SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON
|
||||
SG_ CHECKSUM : 51|4@0+ (1,0) [0|15] "" EON
|
||||
|
||||
BO_ 506 LEGACY_BRAKE_COMMAND: 8 ADAS
|
||||
SG_ CHIME : 40|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
|
||||
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
|
||||
|
||||
BO_ 892 CRUISE_PARAMS: 8 PCM
|
||||
SG_ CRUISE_SPEED_OFFSET : 31|8@0- (0.1,0) [-128|127] "kph" EON
|
||||
SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
|
||||
|
||||
@@ -400,6 +400,11 @@ BO_ 432 STANDSTILL: 7 VSA
|
||||
SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON
|
||||
SG_ CHECKSUM : 51|4@0+ (1,0) [0|15] "" EON
|
||||
|
||||
BO_ 506 LEGACY_BRAKE_COMMAND: 8 ADAS
|
||||
SG_ CHIME : 40|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
|
||||
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
|
||||
|
||||
BO_ 892 CRUISE_PARAMS: 8 PCM
|
||||
SG_ CRUISE_SPEED_OFFSET : 31|8@0- (0.1,0) [-128|127] "kph" EON
|
||||
SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
|
||||
|
||||
@@ -311,7 +311,7 @@ CM_ SG_ 36 STEERING_TORQUE "does not seem the steer torque, tbd";
|
||||
CM_ SG_ 37 STEER_FRACTION "1/15th of the signal STEER_ANGLE, which is 1.5 deg; note that 0x8 is never set";
|
||||
CM_ SG_ 37 STEER_RATE "factor is tbd";
|
||||
CM_ SG_ 466 ACCEL_NET "net acceleration produced by the system, given ACCEL_CMD, road grade and other factors";
|
||||
CM_ SG_ 467 SET_SPEED "43 kph are shown as 28mph, so conversion isnt perfect";
|
||||
CM_ SG_ 467 SET_SPEED "43 kph are shown as 28mph, so conversion isn't perfect";
|
||||
CM_ SG_ 467 LOW_SPEED_LOCKOUT "in low speed lockout, system would always disengage below 28mph";
|
||||
CM_ SG_ 560 BRAKE_PRESSED "another brake pressed?";
|
||||
CM_ SG_ 608 STEER_TORQUE_DRIVER "driver torque";
|
||||
|
||||
@@ -311,7 +311,7 @@ CM_ SG_ 36 STEERING_TORQUE "does not seem the steer torque, tbd";
|
||||
CM_ SG_ 37 STEER_FRACTION "1/15th of the signal STEER_ANGLE, which is 1.5 deg; note that 0x8 is never set";
|
||||
CM_ SG_ 37 STEER_RATE "factor is tbd";
|
||||
CM_ SG_ 466 ACCEL_NET "net acceleration produced by the system, given ACCEL_CMD, road grade and other factors";
|
||||
CM_ SG_ 467 SET_SPEED "43 kph are shown as 28mph, so conversion isnt perfect";
|
||||
CM_ SG_ 467 SET_SPEED "43 kph are shown as 28mph, so conversion isn't perfect";
|
||||
CM_ SG_ 467 LOW_SPEED_LOCKOUT "in low speed lockout, system would always disengage below 28mph";
|
||||
CM_ SG_ 560 BRAKE_PRESSED "another brake pressed?";
|
||||
CM_ SG_ 608 STEER_TORQUE_DRIVER "driver torque";
|
||||
|
||||
@@ -311,7 +311,7 @@ CM_ SG_ 36 STEERING_TORQUE "does not seem the steer torque, tbd";
|
||||
CM_ SG_ 37 STEER_FRACTION "1/15th of the signal STEER_ANGLE, which is 1.5 deg; note that 0x8 is never set";
|
||||
CM_ SG_ 37 STEER_RATE "factor is tbd";
|
||||
CM_ SG_ 466 ACCEL_NET "net acceleration produced by the system, given ACCEL_CMD, road grade and other factors";
|
||||
CM_ SG_ 467 SET_SPEED "43 kph are shown as 28mph, so conversion isnt perfect";
|
||||
CM_ SG_ 467 SET_SPEED "43 kph are shown as 28mph, so conversion isn't perfect";
|
||||
CM_ SG_ 467 LOW_SPEED_LOCKOUT "in low speed lockout, system would always disengage below 28mph";
|
||||
CM_ SG_ 560 BRAKE_PRESSED "another brake pressed?";
|
||||
CM_ SG_ 608 STEER_TORQUE_DRIVER "driver torque";
|
||||
|
||||
@@ -311,7 +311,7 @@ CM_ SG_ 36 STEERING_TORQUE "does not seem the steer torque, tbd";
|
||||
CM_ SG_ 37 STEER_FRACTION "1/15th of the signal STEER_ANGLE, which is 1.5 deg; note that 0x8 is never set";
|
||||
CM_ SG_ 37 STEER_RATE "factor is tbd";
|
||||
CM_ SG_ 466 ACCEL_NET "net acceleration produced by the system, given ACCEL_CMD, road grade and other factors";
|
||||
CM_ SG_ 467 SET_SPEED "43 kph are shown as 28mph, so conversion isnt perfect";
|
||||
CM_ SG_ 467 SET_SPEED "43 kph are shown as 28mph, so conversion isn't perfect";
|
||||
CM_ SG_ 467 LOW_SPEED_LOCKOUT "in low speed lockout, system would always disengage below 28mph";
|
||||
CM_ SG_ 560 BRAKE_PRESSED "another brake pressed?";
|
||||
CM_ SG_ 608 STEER_TORQUE_DRIVER "driver torque";
|
||||
|
||||
@@ -311,7 +311,7 @@ CM_ SG_ 36 STEERING_TORQUE "does not seem the steer torque, tbd";
|
||||
CM_ SG_ 37 STEER_FRACTION "1/15th of the signal STEER_ANGLE, which is 1.5 deg; note that 0x8 is never set";
|
||||
CM_ SG_ 37 STEER_RATE "factor is tbd";
|
||||
CM_ SG_ 466 ACCEL_NET "net acceleration produced by the system, given ACCEL_CMD, road grade and other factors";
|
||||
CM_ SG_ 467 SET_SPEED "43 kph are shown as 28mph, so conversion isnt perfect";
|
||||
CM_ SG_ 467 SET_SPEED "43 kph are shown as 28mph, so conversion isn't perfect";
|
||||
CM_ SG_ 467 LOW_SPEED_LOCKOUT "in low speed lockout, system would always disengage below 28mph";
|
||||
CM_ SG_ 560 BRAKE_PRESSED "another brake pressed?";
|
||||
CM_ SG_ 608 STEER_TORQUE_DRIVER "driver torque";
|
||||
|
||||
@@ -311,7 +311,7 @@ CM_ SG_ 36 STEERING_TORQUE "does not seem the steer torque, tbd";
|
||||
CM_ SG_ 37 STEER_FRACTION "1/15th of the signal STEER_ANGLE, which is 1.5 deg; note that 0x8 is never set";
|
||||
CM_ SG_ 37 STEER_RATE "factor is tbd";
|
||||
CM_ SG_ 466 ACCEL_NET "net acceleration produced by the system, given ACCEL_CMD, road grade and other factors";
|
||||
CM_ SG_ 467 SET_SPEED "43 kph are shown as 28mph, so conversion isnt perfect";
|
||||
CM_ SG_ 467 SET_SPEED "43 kph are shown as 28mph, so conversion isn't perfect";
|
||||
CM_ SG_ 467 LOW_SPEED_LOCKOUT "in low speed lockout, system would always disengage below 28mph";
|
||||
CM_ SG_ 560 BRAKE_PRESSED "another brake pressed?";
|
||||
CM_ SG_ 608 STEER_TORQUE_DRIVER "driver torque";
|
||||
|
||||
@@ -311,7 +311,7 @@ CM_ SG_ 36 STEERING_TORQUE "does not seem the steer torque, tbd";
|
||||
CM_ SG_ 37 STEER_FRACTION "1/15th of the signal STEER_ANGLE, which is 1.5 deg; note that 0x8 is never set";
|
||||
CM_ SG_ 37 STEER_RATE "factor is tbd";
|
||||
CM_ SG_ 466 ACCEL_NET "net acceleration produced by the system, given ACCEL_CMD, road grade and other factors";
|
||||
CM_ SG_ 467 SET_SPEED "43 kph are shown as 28mph, so conversion isnt perfect";
|
||||
CM_ SG_ 467 SET_SPEED "43 kph are shown as 28mph, so conversion isn't perfect";
|
||||
CM_ SG_ 467 LOW_SPEED_LOCKOUT "in low speed lockout, system would always disengage below 28mph";
|
||||
CM_ SG_ 560 BRAKE_PRESSED "another brake pressed?";
|
||||
CM_ SG_ 608 STEER_TORQUE_DRIVER "driver torque";
|
||||
|
||||
@@ -311,7 +311,7 @@ CM_ SG_ 36 STEERING_TORQUE "does not seem the steer torque, tbd";
|
||||
CM_ SG_ 37 STEER_FRACTION "1/15th of the signal STEER_ANGLE, which is 1.5 deg; note that 0x8 is never set";
|
||||
CM_ SG_ 37 STEER_RATE "factor is tbd";
|
||||
CM_ SG_ 466 ACCEL_NET "net acceleration produced by the system, given ACCEL_CMD, road grade and other factors";
|
||||
CM_ SG_ 467 SET_SPEED "43 kph are shown as 28mph, so conversion isnt perfect";
|
||||
CM_ SG_ 467 SET_SPEED "43 kph are shown as 28mph, so conversion isn't perfect";
|
||||
CM_ SG_ 467 LOW_SPEED_LOCKOUT "in low speed lockout, system would always disengage below 28mph";
|
||||
CM_ SG_ 560 BRAKE_PRESSED "another brake pressed?";
|
||||
CM_ SG_ 608 STEER_TORQUE_DRIVER "driver torque";
|
||||
@@ -375,7 +375,7 @@ BO_ 705 GAS_PEDAL: 8 XXX
|
||||
SG_ GAS_PEDAL : 55|8@0+ (0.005,0) [0|1] "" XXX
|
||||
|
||||
BO_ 608 STEER_TORQUE_SENSOR: 8 XXX
|
||||
SG_ STEER_TORQUE_EPS : 47|16@0- (1.0,0) [-20000|20000] "" XXX
|
||||
SG_ STEER_TORQUE_EPS : 47|16@0- (0.88,0) [-20000|20000] "" XXX
|
||||
SG_ STEER_TORQUE_DRIVER : 15|16@0- (1,0) [-32768|32767] "" XXX
|
||||
SG_ STEER_OVERRIDE : 0|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
@@ -311,7 +311,7 @@ CM_ SG_ 36 STEERING_TORQUE "does not seem the steer torque, tbd";
|
||||
CM_ SG_ 37 STEER_FRACTION "1/15th of the signal STEER_ANGLE, which is 1.5 deg; note that 0x8 is never set";
|
||||
CM_ SG_ 37 STEER_RATE "factor is tbd";
|
||||
CM_ SG_ 466 ACCEL_NET "net acceleration produced by the system, given ACCEL_CMD, road grade and other factors";
|
||||
CM_ SG_ 467 SET_SPEED "43 kph are shown as 28mph, so conversion isnt perfect";
|
||||
CM_ SG_ 467 SET_SPEED "43 kph are shown as 28mph, so conversion isn't perfect";
|
||||
CM_ SG_ 467 LOW_SPEED_LOCKOUT "in low speed lockout, system would always disengage below 28mph";
|
||||
CM_ SG_ 560 BRAKE_PRESSED "another brake pressed?";
|
||||
CM_ SG_ 608 STEER_TORQUE_DRIVER "driver torque";
|
||||
|
||||
@@ -311,7 +311,7 @@ CM_ SG_ 36 STEERING_TORQUE "does not seem the steer torque, tbd";
|
||||
CM_ SG_ 37 STEER_FRACTION "1/15th of the signal STEER_ANGLE, which is 1.5 deg; note that 0x8 is never set";
|
||||
CM_ SG_ 37 STEER_RATE "factor is tbd";
|
||||
CM_ SG_ 466 ACCEL_NET "net acceleration produced by the system, given ACCEL_CMD, road grade and other factors";
|
||||
CM_ SG_ 467 SET_SPEED "43 kph are shown as 28mph, so conversion isnt perfect";
|
||||
CM_ SG_ 467 SET_SPEED "43 kph are shown as 28mph, so conversion isn't perfect";
|
||||
CM_ SG_ 467 LOW_SPEED_LOCKOUT "in low speed lockout, system would always disengage below 28mph";
|
||||
CM_ SG_ 560 BRAKE_PRESSED "another brake pressed?";
|
||||
CM_ SG_ 608 STEER_TORQUE_DRIVER "driver torque";
|
||||
|
||||
@@ -328,7 +328,7 @@ CM_ SG_ 36 STEERING_TORQUE "does not seem the steer torque, tbd";
|
||||
CM_ SG_ 37 STEER_FRACTION "1/15th of the signal STEER_ANGLE, which is 1.5 deg; note that 0x8 is never set";
|
||||
CM_ SG_ 37 STEER_RATE "factor is tbd";
|
||||
CM_ SG_ 466 ACCEL_NET "net acceleration produced by the system, given ACCEL_CMD, road grade and other factors";
|
||||
CM_ SG_ 467 SET_SPEED "43 kph are shown as 28mph, so conversion isnt perfect";
|
||||
CM_ SG_ 467 SET_SPEED "43 kph are shown as 28mph, so conversion isn't perfect";
|
||||
CM_ SG_ 467 LOW_SPEED_LOCKOUT "in low speed lockout, system would always disengage below 28mph";
|
||||
CM_ SG_ 560 BRAKE_PRESSED "another brake pressed?";
|
||||
CM_ SG_ 608 STEER_TORQUE_DRIVER "driver torque";
|
||||
|
||||
@@ -328,7 +328,7 @@ CM_ SG_ 36 STEERING_TORQUE "does not seem the steer torque, tbd";
|
||||
CM_ SG_ 37 STEER_FRACTION "1/15th of the signal STEER_ANGLE, which is 1.5 deg; note that 0x8 is never set";
|
||||
CM_ SG_ 37 STEER_RATE "factor is tbd";
|
||||
CM_ SG_ 466 ACCEL_NET "net acceleration produced by the system, given ACCEL_CMD, road grade and other factors";
|
||||
CM_ SG_ 467 SET_SPEED "43 kph are shown as 28mph, so conversion isnt perfect";
|
||||
CM_ SG_ 467 SET_SPEED "43 kph are shown as 28mph, so conversion isn't perfect";
|
||||
CM_ SG_ 467 LOW_SPEED_LOCKOUT "in low speed lockout, system would always disengage below 28mph";
|
||||
CM_ SG_ 560 BRAKE_PRESSED "another brake pressed?";
|
||||
CM_ SG_ 608 STEER_TORQUE_DRIVER "driver torque";
|
||||
@@ -424,6 +424,14 @@ BO_ 956 GEAR_PACKET: 8 XXX
|
||||
SG_ GEAR : 13|6@0+ (1,0) [0|63] "" XXX
|
||||
SG_ ECON_ON : 40|1@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 1653 Date_Time: 8 XXX
|
||||
SG_ Year : 23|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ Month : 31|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ Day : 39|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ Hour : 47|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ Minute : 55|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ Second : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
CM_ SG_ 548 BRAKE_PRESSURE "seems prop to pedal force";
|
||||
CM_ SG_ 548 BRAKE_POSITION "seems proportional to pedal displacement, unclear the max value of 0x1c8";
|
||||
CM_ SG_ 610 TYPE "seems 1 on Corolla, 0 on all others";
|
||||
|
||||
@@ -311,7 +311,7 @@ CM_ SG_ 36 STEERING_TORQUE "does not seem the steer torque, tbd";
|
||||
CM_ SG_ 37 STEER_FRACTION "1/15th of the signal STEER_ANGLE, which is 1.5 deg; note that 0x8 is never set";
|
||||
CM_ SG_ 37 STEER_RATE "factor is tbd";
|
||||
CM_ SG_ 466 ACCEL_NET "net acceleration produced by the system, given ACCEL_CMD, road grade and other factors";
|
||||
CM_ SG_ 467 SET_SPEED "43 kph are shown as 28mph, so conversion isnt perfect";
|
||||
CM_ SG_ 467 SET_SPEED "43 kph are shown as 28mph, so conversion isn't perfect";
|
||||
CM_ SG_ 467 LOW_SPEED_LOCKOUT "in low speed lockout, system would always disengage below 28mph";
|
||||
CM_ SG_ 560 BRAKE_PRESSED "another brake pressed?";
|
||||
CM_ SG_ 608 STEER_TORQUE_DRIVER "driver torque";
|
||||
|
||||
@@ -311,7 +311,7 @@ CM_ SG_ 36 STEERING_TORQUE "does not seem the steer torque, tbd";
|
||||
CM_ SG_ 37 STEER_FRACTION "1/15th of the signal STEER_ANGLE, which is 1.5 deg; note that 0x8 is never set";
|
||||
CM_ SG_ 37 STEER_RATE "factor is tbd";
|
||||
CM_ SG_ 466 ACCEL_NET "net acceleration produced by the system, given ACCEL_CMD, road grade and other factors";
|
||||
CM_ SG_ 467 SET_SPEED "43 kph are shown as 28mph, so conversion isnt perfect";
|
||||
CM_ SG_ 467 SET_SPEED "43 kph are shown as 28mph, so conversion isn't perfect";
|
||||
CM_ SG_ 467 LOW_SPEED_LOCKOUT "in low speed lockout, system would always disengage below 28mph";
|
||||
CM_ SG_ 560 BRAKE_PRESSED "another brake pressed?";
|
||||
CM_ SG_ 608 STEER_TORQUE_DRIVER "driver torque";
|
||||
|
||||
@@ -311,7 +311,7 @@ CM_ SG_ 36 STEERING_TORQUE "does not seem the steer torque, tbd";
|
||||
CM_ SG_ 37 STEER_FRACTION "1/15th of the signal STEER_ANGLE, which is 1.5 deg; note that 0x8 is never set";
|
||||
CM_ SG_ 37 STEER_RATE "factor is tbd";
|
||||
CM_ SG_ 466 ACCEL_NET "net acceleration produced by the system, given ACCEL_CMD, road grade and other factors";
|
||||
CM_ SG_ 467 SET_SPEED "43 kph are shown as 28mph, so conversion isnt perfect";
|
||||
CM_ SG_ 467 SET_SPEED "43 kph are shown as 28mph, so conversion isn't perfect";
|
||||
CM_ SG_ 467 LOW_SPEED_LOCKOUT "in low speed lockout, system would always disengage below 28mph";
|
||||
CM_ SG_ 560 BRAKE_PRESSED "another brake pressed?";
|
||||
CM_ SG_ 608 STEER_TORQUE_DRIVER "driver torque";
|
||||
|
||||
@@ -311,7 +311,7 @@ CM_ SG_ 36 STEERING_TORQUE "does not seem the steer torque, tbd";
|
||||
CM_ SG_ 37 STEER_FRACTION "1/15th of the signal STEER_ANGLE, which is 1.5 deg; note that 0x8 is never set";
|
||||
CM_ SG_ 37 STEER_RATE "factor is tbd";
|
||||
CM_ SG_ 466 ACCEL_NET "net acceleration produced by the system, given ACCEL_CMD, road grade and other factors";
|
||||
CM_ SG_ 467 SET_SPEED "43 kph are shown as 28mph, so conversion isnt perfect";
|
||||
CM_ SG_ 467 SET_SPEED "43 kph are shown as 28mph, so conversion isn't perfect";
|
||||
CM_ SG_ 467 LOW_SPEED_LOCKOUT "in low speed lockout, system would always disengage below 28mph";
|
||||
CM_ SG_ 560 BRAKE_PRESSED "another brake pressed?";
|
||||
CM_ SG_ 608 STEER_TORQUE_DRIVER "driver torque";
|
||||
|
||||
+1
-1
@@ -1,3 +1,3 @@
|
||||
# flake8: noqa
|
||||
# pylint: skip-file
|
||||
from .python import Panda, PandaWifiStreaming, PandaDFU, ESPROM, CesantaFlasher, flash_release, BASEDIR, ensure_st_up_to_date, build_st, PandaSerial
|
||||
from .python import Panda, PandaWifiStreaming, PandaDFU, flash_release, BASEDIR, ensure_st_up_to_date, build_st, PandaSerial
|
||||
|
||||
+2
-13
@@ -9,6 +9,7 @@
|
||||
#ifdef PANDA
|
||||
#include "drivers/fan.h"
|
||||
#include "drivers/rtc.h"
|
||||
#include "drivers/clock_source.h"
|
||||
#include "boards/white.h"
|
||||
#include "boards/grey.h"
|
||||
#include "boards/black.h"
|
||||
@@ -23,7 +24,7 @@ void detect_board_type(void) {
|
||||
// SPI lines floating: white (TODO: is this reliable? Not really, we have to enable ESP/GPS to be able to detect this on the UART)
|
||||
set_gpio_output(GPIOC, 14, 1);
|
||||
set_gpio_output(GPIOC, 5, 1);
|
||||
if(!detect_with_pull(GPIOB, 1, PULL_UP) && detect_with_pull(GPIOB, 15, PULL_UP)){
|
||||
if(!detect_with_pull(GPIOB, 1, PULL_UP) && !detect_with_pull(GPIOB, 7, PULL_UP)){
|
||||
hw_type = HW_TYPE_DOS;
|
||||
current_board = &board_dos;
|
||||
} else if((detect_with_pull(GPIOA, 4, PULL_DOWN)) || (detect_with_pull(GPIOA, 5, PULL_DOWN)) || (detect_with_pull(GPIOA, 6, PULL_DOWN)) || (detect_with_pull(GPIOA, 7, PULL_DOWN))){
|
||||
@@ -53,22 +54,10 @@ void detect_board_type(void) {
|
||||
|
||||
// ///// Configuration detection ///// //
|
||||
bool has_external_debug_serial = 0;
|
||||
bool is_entering_bootmode = 0;
|
||||
|
||||
void detect_configuration(void) {
|
||||
// detect if external serial debugging is present
|
||||
has_external_debug_serial = detect_with_pull(GPIOA, 3, PULL_DOWN);
|
||||
|
||||
#ifdef PANDA
|
||||
if(hw_type == HW_TYPE_WHITE_PANDA) {
|
||||
// check if the ESP is trying to put me in boot mode
|
||||
is_entering_bootmode = !detect_with_pull(GPIOB, 0, PULL_UP);
|
||||
} else {
|
||||
is_entering_bootmode = 0;
|
||||
}
|
||||
#else
|
||||
is_entering_bootmode = 0;
|
||||
#endif
|
||||
}
|
||||
|
||||
// ///// Board functions ///// //
|
||||
|
||||
@@ -1,10 +1,10 @@
|
||||
// ******************** Prototypes ********************
|
||||
typedef void (*board_init)(void);
|
||||
typedef void (*board_enable_can_transciever)(uint8_t transciever, bool enabled);
|
||||
typedef void (*board_enable_can_transcievers)(bool enabled);
|
||||
typedef void (*board_enable_can_transceiver)(uint8_t transceiver, bool enabled);
|
||||
typedef void (*board_enable_can_transceivers)(bool enabled);
|
||||
typedef void (*board_set_led)(uint8_t color, bool enabled);
|
||||
typedef void (*board_set_usb_power_mode)(uint8_t mode);
|
||||
typedef void (*board_set_esp_gps_mode)(uint8_t mode);
|
||||
typedef void (*board_set_gps_mode)(uint8_t mode);
|
||||
typedef void (*board_set_can_mode)(uint8_t mode);
|
||||
typedef void (*board_usb_power_mode_tick)(uint32_t uptime);
|
||||
typedef bool (*board_check_ignition)(void);
|
||||
@@ -12,16 +12,18 @@ typedef uint32_t (*board_read_current)(void);
|
||||
typedef void (*board_set_ir_power)(uint8_t percentage);
|
||||
typedef void (*board_set_fan_power)(uint8_t percentage);
|
||||
typedef void (*board_set_phone_power)(bool enabled);
|
||||
typedef void (*board_set_clock_source_mode)(uint8_t mode);
|
||||
typedef void (*board_set_siren)(bool enabled);
|
||||
|
||||
struct board {
|
||||
const char *board_type;
|
||||
const harness_configuration *harness_config;
|
||||
board_init init;
|
||||
board_enable_can_transciever enable_can_transciever;
|
||||
board_enable_can_transcievers enable_can_transcievers;
|
||||
board_enable_can_transceiver enable_can_transceiver;
|
||||
board_enable_can_transceivers enable_can_transceivers;
|
||||
board_set_led set_led;
|
||||
board_set_usb_power_mode set_usb_power_mode;
|
||||
board_set_esp_gps_mode set_esp_gps_mode;
|
||||
board_set_gps_mode set_gps_mode;
|
||||
board_set_can_mode set_can_mode;
|
||||
board_usb_power_mode_tick usb_power_mode_tick;
|
||||
board_check_ignition check_ignition;
|
||||
@@ -29,6 +31,8 @@ struct board {
|
||||
board_set_ir_power set_ir_power;
|
||||
board_set_fan_power set_fan_power;
|
||||
board_set_phone_power set_phone_power;
|
||||
board_set_clock_source_mode set_clock_source_mode;
|
||||
board_set_siren set_siren;
|
||||
};
|
||||
|
||||
// ******************* Definitions ********************
|
||||
@@ -52,10 +56,10 @@ struct board {
|
||||
#define USB_POWER_CDP 2U
|
||||
#define USB_POWER_DCP 3U
|
||||
|
||||
// ESP modes
|
||||
#define ESP_GPS_DISABLED 0U
|
||||
#define ESP_GPS_ENABLED 1U
|
||||
#define ESP_GPS_BOOTMODE 2U
|
||||
// GPS modes
|
||||
#define GPS_DISABLED 0U
|
||||
#define GPS_ENABLED 1U
|
||||
#define GPS_BOOTMODE 2U
|
||||
|
||||
// CAN modes
|
||||
#define CAN_MODE_NORMAL 0U
|
||||
@@ -72,4 +76,4 @@ bool board_has_gmlan(void);
|
||||
bool board_has_obd(void);
|
||||
bool board_has_lin(void);
|
||||
bool board_has_rtc(void);
|
||||
bool board_has_relay(void);
|
||||
bool board_has_relay(void);
|
||||
|
||||
+28
-18
@@ -2,8 +2,8 @@
|
||||
// Black Panda + Harness //
|
||||
// ///////////////////// //
|
||||
|
||||
void black_enable_can_transciever(uint8_t transciever, bool enabled) {
|
||||
switch (transciever){
|
||||
void black_enable_can_transceiver(uint8_t transceiver, bool enabled) {
|
||||
switch (transceiver){
|
||||
case 1U:
|
||||
set_gpio_output(GPIOC, 1, !enabled);
|
||||
break;
|
||||
@@ -17,18 +17,18 @@ void black_enable_can_transciever(uint8_t transciever, bool enabled) {
|
||||
set_gpio_output(GPIOB, 10, !enabled);
|
||||
break;
|
||||
default:
|
||||
puts("Invalid CAN transciever ("); puth(transciever); puts("): enabling failed\n");
|
||||
puts("Invalid CAN transceiver ("); puth(transceiver); puts("): enabling failed\n");
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
void black_enable_can_transcievers(bool enabled) {
|
||||
void black_enable_can_transceivers(bool enabled) {
|
||||
for(uint8_t i=1U; i<=4U; i++){
|
||||
// Leave main CAN always on for CAN-based ignition detection
|
||||
if((car_harness_status == HARNESS_STATUS_FLIPPED) ? (i == 3U) : (i == 1U)){
|
||||
black_enable_can_transciever(i, true);
|
||||
black_enable_can_transceiver(i, true);
|
||||
} else {
|
||||
black_enable_can_transciever(i, enabled);
|
||||
black_enable_can_transceiver(i, enabled);
|
||||
}
|
||||
}
|
||||
}
|
||||
@@ -77,24 +77,24 @@ void black_set_usb_power_mode(uint8_t mode) {
|
||||
}
|
||||
}
|
||||
|
||||
void black_set_esp_gps_mode(uint8_t mode) {
|
||||
void black_set_gps_mode(uint8_t mode) {
|
||||
switch (mode) {
|
||||
case ESP_GPS_DISABLED:
|
||||
case GPS_DISABLED:
|
||||
// GPS OFF
|
||||
set_gpio_output(GPIOC, 14, 0);
|
||||
set_gpio_output(GPIOC, 5, 0);
|
||||
break;
|
||||
case ESP_GPS_ENABLED:
|
||||
case GPS_ENABLED:
|
||||
// GPS ON
|
||||
set_gpio_output(GPIOC, 14, 1);
|
||||
set_gpio_output(GPIOC, 5, 1);
|
||||
break;
|
||||
case ESP_GPS_BOOTMODE:
|
||||
case GPS_BOOTMODE:
|
||||
set_gpio_output(GPIOC, 14, 1);
|
||||
set_gpio_output(GPIOC, 5, 0);
|
||||
break;
|
||||
default:
|
||||
puts("Invalid ESP/GPS mode\n");
|
||||
puts("Invalid GPS mode\n");
|
||||
break;
|
||||
}
|
||||
}
|
||||
@@ -154,6 +154,14 @@ void black_set_phone_power(bool enabled){
|
||||
UNUSED(enabled);
|
||||
}
|
||||
|
||||
void black_set_clock_source_mode(uint8_t mode){
|
||||
UNUSED(mode);
|
||||
}
|
||||
|
||||
void black_set_siren(bool enabled){
|
||||
UNUSED(enabled);
|
||||
}
|
||||
|
||||
void black_init(void) {
|
||||
common_init_gpio();
|
||||
|
||||
@@ -167,7 +175,7 @@ void black_init(void) {
|
||||
set_gpio_mode(GPIOC, 3, MODE_ANALOG);
|
||||
|
||||
// Set default state of GPS
|
||||
current_board->set_esp_gps_mode(ESP_GPS_ENABLED);
|
||||
current_board->set_gps_mode(GPS_ENABLED);
|
||||
|
||||
// C10: OBD_SBU1_RELAY (harness relay driving output)
|
||||
// C11: OBD_SBU2_RELAY (harness relay driving output)
|
||||
@@ -190,8 +198,8 @@ void black_init(void) {
|
||||
// Initialize harness
|
||||
harness_init();
|
||||
|
||||
// Enable CAN transcievers
|
||||
black_enable_can_transcievers(true);
|
||||
// Enable CAN transceivers
|
||||
black_enable_can_transceivers(true);
|
||||
|
||||
// Disable LEDs
|
||||
black_set_led(LED_RED, false);
|
||||
@@ -228,16 +236,18 @@ const board board_black = {
|
||||
.board_type = "Black",
|
||||
.harness_config = &black_harness_config,
|
||||
.init = black_init,
|
||||
.enable_can_transciever = black_enable_can_transciever,
|
||||
.enable_can_transcievers = black_enable_can_transcievers,
|
||||
.enable_can_transceiver = black_enable_can_transceiver,
|
||||
.enable_can_transceivers = black_enable_can_transceivers,
|
||||
.set_led = black_set_led,
|
||||
.set_usb_power_mode = black_set_usb_power_mode,
|
||||
.set_esp_gps_mode = black_set_esp_gps_mode,
|
||||
.set_gps_mode = black_set_gps_mode,
|
||||
.set_can_mode = black_set_can_mode,
|
||||
.usb_power_mode_tick = black_usb_power_mode_tick,
|
||||
.check_ignition = black_check_ignition,
|
||||
.read_current = black_read_current,
|
||||
.set_fan_power = black_set_fan_power,
|
||||
.set_ir_power = black_set_ir_power,
|
||||
.set_phone_power = black_set_phone_power
|
||||
.set_phone_power = black_set_phone_power,
|
||||
.set_clock_source_mode = black_set_clock_source_mode,
|
||||
.set_siren = black_set_siren
|
||||
};
|
||||
|
||||
@@ -23,7 +23,7 @@ void common_init_gpio(void){
|
||||
set_gpio_alternate(GPIOA, 12, GPIO_AF10_OTG_FS);
|
||||
GPIOA->OSPEEDR = GPIO_OSPEEDER_OSPEEDR11 | GPIO_OSPEEDER_OSPEEDR12;
|
||||
|
||||
// A9,A10: USART 1 for talking to the ESP / GPS
|
||||
// A9,A10: USART 1 for talking to the GPS
|
||||
set_gpio_alternate(GPIOA, 9, GPIO_AF7_USART1);
|
||||
set_gpio_alternate(GPIOA, 10, GPIO_AF7_USART1);
|
||||
|
||||
@@ -65,7 +65,7 @@ void peripherals_init(void){
|
||||
RCC->APB1ENR |= RCC_APB1ENR_PWREN; // for RTC config
|
||||
RCC->APB2ENR |= RCC_APB2ENR_USART1EN;
|
||||
RCC->AHB2ENR |= RCC_AHB2ENR_OTGFSEN;
|
||||
//RCC->APB2ENR |= RCC_APB2ENR_TIM1EN;
|
||||
RCC->APB2ENR |= RCC_APB2ENR_TIM1EN; // clock source timer
|
||||
RCC->APB2ENR |= RCC_APB2ENR_ADC1EN;
|
||||
RCC->APB2ENR |= RCC_APB2ENR_SPI1EN;
|
||||
RCC->APB2ENR |= RCC_APB2ENR_SYSCFGEN;
|
||||
@@ -81,4 +81,4 @@ bool detect_with_pull(GPIO_TypeDef *GPIO, int pin, int mode) {
|
||||
bool ret = get_gpio_input(GPIO, pin);
|
||||
set_gpio_pullup(GPIO, pin, PULL_NONE);
|
||||
return ret;
|
||||
}
|
||||
}
|
||||
|
||||
+28
-22
@@ -2,8 +2,8 @@
|
||||
// Dos + Harness //
|
||||
// ///////////// //
|
||||
|
||||
void dos_enable_can_transciever(uint8_t transciever, bool enabled) {
|
||||
switch (transciever){
|
||||
void dos_enable_can_transceiver(uint8_t transceiver, bool enabled) {
|
||||
switch (transceiver){
|
||||
case 1U:
|
||||
set_gpio_output(GPIOC, 1, !enabled);
|
||||
break;
|
||||
@@ -17,18 +17,18 @@ void dos_enable_can_transciever(uint8_t transciever, bool enabled) {
|
||||
set_gpio_output(GPIOB, 10, !enabled);
|
||||
break;
|
||||
default:
|
||||
puts("Invalid CAN transciever ("); puth(transciever); puts("): enabling failed\n");
|
||||
puts("Invalid CAN transceiver ("); puth(transceiver); puts("): enabling failed\n");
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
void dos_enable_can_transcievers(bool enabled) {
|
||||
void dos_enable_can_transceivers(bool enabled) {
|
||||
for(uint8_t i=1U; i<=4U; i++){
|
||||
// Leave main CAN always on for CAN-based ignition detection
|
||||
if((car_harness_status == HARNESS_STATUS_FLIPPED) ? (i == 3U) : (i == 1U)){
|
||||
uno_enable_can_transciever(i, true);
|
||||
uno_enable_can_transceiver(i, true);
|
||||
} else {
|
||||
uno_enable_can_transciever(i, enabled);
|
||||
uno_enable_can_transceiver(i, enabled);
|
||||
}
|
||||
}
|
||||
}
|
||||
@@ -54,20 +54,18 @@ void dos_set_gps_load_switch(bool enabled) {
|
||||
}
|
||||
|
||||
void dos_set_bootkick(bool enabled){
|
||||
UNUSED(enabled);
|
||||
set_gpio_output(GPIOC, 4, !enabled);
|
||||
}
|
||||
|
||||
void dos_bootkick(void) {}
|
||||
|
||||
void dos_set_phone_power(bool enabled){
|
||||
UNUSED(enabled);
|
||||
}
|
||||
|
||||
void dos_set_usb_power_mode(uint8_t mode) {
|
||||
UNUSED(mode);
|
||||
dos_set_bootkick(mode == USB_POWER_CDP);
|
||||
}
|
||||
|
||||
void dos_set_esp_gps_mode(uint8_t mode) {
|
||||
void dos_set_gps_mode(uint8_t mode) {
|
||||
UNUSED(mode);
|
||||
}
|
||||
|
||||
@@ -101,11 +99,6 @@ void dos_set_can_mode(uint8_t mode){
|
||||
|
||||
void dos_usb_power_mode_tick(uint32_t uptime){
|
||||
UNUSED(uptime);
|
||||
if(bootkick_timer != 0U){
|
||||
bootkick_timer--;
|
||||
} else {
|
||||
dos_set_bootkick(false);
|
||||
}
|
||||
}
|
||||
|
||||
bool dos_check_ignition(void){
|
||||
@@ -132,6 +125,14 @@ uint32_t dos_read_current(void){
|
||||
return 0U;
|
||||
}
|
||||
|
||||
void dos_set_clock_source_mode(uint8_t mode){
|
||||
clock_source_init(mode);
|
||||
}
|
||||
|
||||
void dos_set_siren(bool enabled){
|
||||
set_gpio_output(GPIOC, 12, enabled);
|
||||
}
|
||||
|
||||
void dos_init(void) {
|
||||
common_init_gpio();
|
||||
|
||||
@@ -171,8 +172,8 @@ void dos_init(void) {
|
||||
// Initialize RTC
|
||||
rtc_init();
|
||||
|
||||
// Enable CAN transcievers
|
||||
dos_enable_can_transcievers(true);
|
||||
// Enable CAN transceivers
|
||||
dos_enable_can_transceivers(true);
|
||||
|
||||
// Disable LEDs
|
||||
dos_set_led(LED_RED, false);
|
||||
@@ -189,6 +190,9 @@ void dos_init(void) {
|
||||
|
||||
// init multiplexer
|
||||
can_set_obd(car_harness_status, false);
|
||||
|
||||
// Init clock source as internal free running
|
||||
dos_set_clock_source_mode(CLOCK_SOURCE_MODE_FREE_RUNNING);
|
||||
}
|
||||
|
||||
const harness_configuration dos_harness_config = {
|
||||
@@ -209,16 +213,18 @@ const board board_dos = {
|
||||
.board_type = "Dos",
|
||||
.harness_config = &dos_harness_config,
|
||||
.init = dos_init,
|
||||
.enable_can_transciever = dos_enable_can_transciever,
|
||||
.enable_can_transcievers = dos_enable_can_transcievers,
|
||||
.enable_can_transceiver = dos_enable_can_transceiver,
|
||||
.enable_can_transceivers = dos_enable_can_transceivers,
|
||||
.set_led = dos_set_led,
|
||||
.set_usb_power_mode = dos_set_usb_power_mode,
|
||||
.set_esp_gps_mode = dos_set_esp_gps_mode,
|
||||
.set_gps_mode = dos_set_gps_mode,
|
||||
.set_can_mode = dos_set_can_mode,
|
||||
.usb_power_mode_tick = dos_usb_power_mode_tick,
|
||||
.check_ignition = dos_check_ignition,
|
||||
.read_current = dos_read_current,
|
||||
.set_fan_power = dos_set_fan_power,
|
||||
.set_ir_power = dos_set_ir_power,
|
||||
.set_phone_power = dos_set_phone_power
|
||||
.set_phone_power = dos_set_phone_power,
|
||||
.set_clock_source_mode = dos_set_clock_source_mode,
|
||||
.set_siren = dos_set_siren
|
||||
};
|
||||
|
||||
+12
-10
@@ -8,22 +8,22 @@ void grey_init(void) {
|
||||
white_grey_common_init();
|
||||
|
||||
// Set default state of GPS
|
||||
current_board->set_esp_gps_mode(ESP_GPS_ENABLED);
|
||||
current_board->set_gps_mode(GPS_ENABLED);
|
||||
}
|
||||
|
||||
void grey_set_esp_gps_mode(uint8_t mode) {
|
||||
void grey_set_gps_mode(uint8_t mode) {
|
||||
switch (mode) {
|
||||
case ESP_GPS_DISABLED:
|
||||
case GPS_DISABLED:
|
||||
// GPS OFF
|
||||
set_gpio_output(GPIOC, 14, 0);
|
||||
set_gpio_output(GPIOC, 5, 0);
|
||||
break;
|
||||
case ESP_GPS_ENABLED:
|
||||
case GPS_ENABLED:
|
||||
// GPS ON
|
||||
set_gpio_output(GPIOC, 14, 1);
|
||||
set_gpio_output(GPIOC, 5, 1);
|
||||
break;
|
||||
case ESP_GPS_BOOTMODE:
|
||||
case GPS_BOOTMODE:
|
||||
set_gpio_output(GPIOC, 14, 1);
|
||||
set_gpio_output(GPIOC, 5, 0);
|
||||
break;
|
||||
@@ -37,16 +37,18 @@ const board board_grey = {
|
||||
.board_type = "Grey",
|
||||
.harness_config = &white_harness_config,
|
||||
.init = grey_init,
|
||||
.enable_can_transciever = white_enable_can_transciever,
|
||||
.enable_can_transcievers = white_enable_can_transcievers,
|
||||
.enable_can_transceiver = white_enable_can_transceiver,
|
||||
.enable_can_transceivers = white_enable_can_transceivers,
|
||||
.set_led = white_set_led,
|
||||
.set_usb_power_mode = white_set_usb_power_mode,
|
||||
.set_esp_gps_mode = grey_set_esp_gps_mode,
|
||||
.set_gps_mode = grey_set_gps_mode,
|
||||
.set_can_mode = white_set_can_mode,
|
||||
.usb_power_mode_tick = white_usb_power_mode_tick,
|
||||
.check_ignition = white_check_ignition,
|
||||
.read_current = white_read_current,
|
||||
.set_fan_power = white_set_fan_power,
|
||||
.set_ir_power = white_set_ir_power,
|
||||
.set_phone_power = white_set_phone_power
|
||||
};
|
||||
.set_phone_power = white_set_phone_power,
|
||||
.set_clock_source_mode = white_set_clock_source_mode,
|
||||
.set_siren = white_set_siren
|
||||
};
|
||||
|
||||
+23
-13
@@ -2,19 +2,19 @@
|
||||
// Pedal //
|
||||
// ///// //
|
||||
|
||||
void pedal_enable_can_transciever(uint8_t transciever, bool enabled) {
|
||||
switch (transciever){
|
||||
void pedal_enable_can_transceiver(uint8_t transceiver, bool enabled) {
|
||||
switch (transceiver){
|
||||
case 1:
|
||||
set_gpio_output(GPIOB, 3, !enabled);
|
||||
break;
|
||||
default:
|
||||
puts("Invalid CAN transciever ("); puth(transciever); puts("): enabling failed\n");
|
||||
puts("Invalid CAN transceiver ("); puth(transceiver); puts("): enabling failed\n");
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
void pedal_enable_can_transcievers(bool enabled) {
|
||||
pedal_enable_can_transciever(1U, enabled);
|
||||
void pedal_enable_can_transceivers(bool enabled) {
|
||||
pedal_enable_can_transceiver(1U, enabled);
|
||||
}
|
||||
|
||||
void pedal_set_led(uint8_t color, bool enabled) {
|
||||
@@ -35,7 +35,7 @@ void pedal_set_usb_power_mode(uint8_t mode){
|
||||
puts("Trying to set USB power mode on pedal. This is not supported.\n");
|
||||
}
|
||||
|
||||
void pedal_set_esp_gps_mode(uint8_t mode) {
|
||||
void pedal_set_gps_mode(uint8_t mode) {
|
||||
UNUSED(mode);
|
||||
puts("Trying to set ESP/GPS mode on pedal. This is not supported.\n");
|
||||
}
|
||||
@@ -77,6 +77,14 @@ void pedal_set_phone_power(bool enabled){
|
||||
UNUSED(enabled);
|
||||
}
|
||||
|
||||
void pedal_set_clock_source_mode(uint8_t mode){
|
||||
UNUSED(mode);
|
||||
}
|
||||
|
||||
void pedal_set_siren(bool enabled){
|
||||
UNUSED(enabled);
|
||||
}
|
||||
|
||||
void pedal_init(void) {
|
||||
common_init_gpio();
|
||||
|
||||
@@ -86,8 +94,8 @@ void pedal_init(void) {
|
||||
// DAC outputs on A4 and A5
|
||||
// apparently they don't need GPIO setup
|
||||
|
||||
// Enable transciever
|
||||
pedal_enable_can_transcievers(true);
|
||||
// Enable transceiver
|
||||
pedal_enable_can_transceivers(true);
|
||||
|
||||
// Disable LEDs
|
||||
pedal_set_led(LED_RED, false);
|
||||
@@ -102,16 +110,18 @@ const board board_pedal = {
|
||||
.board_type = "Pedal",
|
||||
.harness_config = &pedal_harness_config,
|
||||
.init = pedal_init,
|
||||
.enable_can_transciever = pedal_enable_can_transciever,
|
||||
.enable_can_transcievers = pedal_enable_can_transcievers,
|
||||
.enable_can_transceiver = pedal_enable_can_transceiver,
|
||||
.enable_can_transceivers = pedal_enable_can_transceivers,
|
||||
.set_led = pedal_set_led,
|
||||
.set_usb_power_mode = pedal_set_usb_power_mode,
|
||||
.set_esp_gps_mode = pedal_set_esp_gps_mode,
|
||||
.set_gps_mode = pedal_set_gps_mode,
|
||||
.set_can_mode = pedal_set_can_mode,
|
||||
.usb_power_mode_tick = pedal_usb_power_mode_tick,
|
||||
.check_ignition = pedal_check_ignition,
|
||||
.read_current = pedal_read_current,
|
||||
.set_fan_power = pedal_set_fan_power,
|
||||
.set_ir_power = pedal_set_ir_power,
|
||||
.set_phone_power = pedal_set_phone_power
|
||||
};
|
||||
.set_phone_power = pedal_set_phone_power,
|
||||
.set_clock_source_mode = pedal_set_clock_source_mode,
|
||||
.set_siren = pedal_set_siren
|
||||
};
|
||||
|
||||
+27
-17
@@ -4,8 +4,8 @@
|
||||
#define BOOTKICK_TIME 3U
|
||||
uint8_t bootkick_timer = 0U;
|
||||
|
||||
void uno_enable_can_transciever(uint8_t transciever, bool enabled) {
|
||||
switch (transciever){
|
||||
void uno_enable_can_transceiver(uint8_t transceiver, bool enabled) {
|
||||
switch (transceiver){
|
||||
case 1U:
|
||||
set_gpio_output(GPIOC, 1, !enabled);
|
||||
break;
|
||||
@@ -19,18 +19,18 @@ void uno_enable_can_transciever(uint8_t transciever, bool enabled) {
|
||||
set_gpio_output(GPIOB, 10, !enabled);
|
||||
break;
|
||||
default:
|
||||
puts("Invalid CAN transciever ("); puth(transciever); puts("): enabling failed\n");
|
||||
puts("Invalid CAN transceiver ("); puth(transceiver); puts("): enabling failed\n");
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
void uno_enable_can_transcievers(bool enabled) {
|
||||
void uno_enable_can_transceivers(bool enabled) {
|
||||
for(uint8_t i=1U; i<=4U; i++){
|
||||
// Leave main CAN always on for CAN-based ignition detection
|
||||
if((car_harness_status == HARNESS_STATUS_FLIPPED) ? (i == 3U) : (i == 1U)){
|
||||
uno_enable_can_transciever(i, true);
|
||||
uno_enable_can_transceiver(i, true);
|
||||
} else {
|
||||
uno_enable_can_transciever(i, enabled);
|
||||
uno_enable_can_transceiver(i, enabled);
|
||||
}
|
||||
}
|
||||
}
|
||||
@@ -89,21 +89,21 @@ void uno_set_usb_power_mode(uint8_t mode) {
|
||||
}
|
||||
}
|
||||
|
||||
void uno_set_esp_gps_mode(uint8_t mode) {
|
||||
void uno_set_gps_mode(uint8_t mode) {
|
||||
switch (mode) {
|
||||
case ESP_GPS_DISABLED:
|
||||
case GPS_DISABLED:
|
||||
// GPS OFF
|
||||
set_gpio_output(GPIOB, 1, 0);
|
||||
set_gpio_output(GPIOC, 5, 0);
|
||||
uno_set_gps_load_switch(false);
|
||||
break;
|
||||
case ESP_GPS_ENABLED:
|
||||
case GPS_ENABLED:
|
||||
// GPS ON
|
||||
set_gpio_output(GPIOB, 1, 1);
|
||||
set_gpio_output(GPIOC, 5, 1);
|
||||
uno_set_gps_load_switch(true);
|
||||
break;
|
||||
case ESP_GPS_BOOTMODE:
|
||||
case GPS_BOOTMODE:
|
||||
set_gpio_output(GPIOB, 1, 1);
|
||||
set_gpio_output(GPIOC, 5, 0);
|
||||
uno_set_gps_load_switch(true);
|
||||
@@ -175,6 +175,14 @@ uint32_t uno_read_current(void){
|
||||
return 0U;
|
||||
}
|
||||
|
||||
void uno_set_clock_source_mode(uint8_t mode){
|
||||
UNUSED(mode);
|
||||
}
|
||||
|
||||
void uno_set_siren(bool enabled){
|
||||
UNUSED(enabled);
|
||||
}
|
||||
|
||||
void uno_init(void) {
|
||||
common_init_gpio();
|
||||
|
||||
@@ -188,7 +196,7 @@ void uno_init(void) {
|
||||
set_gpio_mode(GPIOC, 3, MODE_ANALOG);
|
||||
|
||||
// Set default state of GPS
|
||||
current_board->set_esp_gps_mode(ESP_GPS_ENABLED);
|
||||
current_board->set_gps_mode(GPS_ENABLED);
|
||||
|
||||
// C10: OBD_SBU1_RELAY (harness relay driving output)
|
||||
// C11: OBD_SBU2_RELAY (harness relay driving output)
|
||||
@@ -223,8 +231,8 @@ void uno_init(void) {
|
||||
// Initialize RTC
|
||||
rtc_init();
|
||||
|
||||
// Enable CAN transcievers
|
||||
uno_enable_can_transcievers(true);
|
||||
// Enable CAN transceivers
|
||||
uno_enable_can_transceivers(true);
|
||||
|
||||
// Disable LEDs
|
||||
uno_set_led(LED_RED, false);
|
||||
@@ -271,16 +279,18 @@ const board board_uno = {
|
||||
.board_type = "Uno",
|
||||
.harness_config = &uno_harness_config,
|
||||
.init = uno_init,
|
||||
.enable_can_transciever = uno_enable_can_transciever,
|
||||
.enable_can_transcievers = uno_enable_can_transcievers,
|
||||
.enable_can_transceiver = uno_enable_can_transceiver,
|
||||
.enable_can_transceivers = uno_enable_can_transceivers,
|
||||
.set_led = uno_set_led,
|
||||
.set_usb_power_mode = uno_set_usb_power_mode,
|
||||
.set_esp_gps_mode = uno_set_esp_gps_mode,
|
||||
.set_gps_mode = uno_set_gps_mode,
|
||||
.set_can_mode = uno_set_can_mode,
|
||||
.usb_power_mode_tick = uno_usb_power_mode_tick,
|
||||
.check_ignition = uno_check_ignition,
|
||||
.read_current = uno_read_current,
|
||||
.set_fan_power = uno_set_fan_power,
|
||||
.set_ir_power = uno_set_ir_power,
|
||||
.set_phone_power = uno_set_phone_power
|
||||
.set_phone_power = uno_set_phone_power,
|
||||
.set_clock_source_mode = uno_set_clock_source_mode,
|
||||
.set_siren = uno_set_siren
|
||||
};
|
||||
|
||||
+28
-22
@@ -2,8 +2,8 @@
|
||||
// White Panda //
|
||||
// /////////// //
|
||||
|
||||
void white_enable_can_transciever(uint8_t transciever, bool enabled) {
|
||||
switch (transciever){
|
||||
void white_enable_can_transceiver(uint8_t transceiver, bool enabled) {
|
||||
switch (transceiver){
|
||||
case 1U:
|
||||
set_gpio_output(GPIOC, 1, !enabled);
|
||||
break;
|
||||
@@ -14,15 +14,15 @@ void white_enable_can_transciever(uint8_t transciever, bool enabled) {
|
||||
set_gpio_output(GPIOA, 0, !enabled);
|
||||
break;
|
||||
default:
|
||||
puts("Invalid CAN transciever ("); puth(transciever); puts("): enabling failed\n");
|
||||
puts("Invalid CAN transceiver ("); puth(transceiver); puts("): enabling failed\n");
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
void white_enable_can_transcievers(bool enabled) {
|
||||
uint8_t t1 = enabled ? 1U : 2U; // leave transciever 1 enabled to detect CAN ignition
|
||||
void white_enable_can_transceivers(bool enabled) {
|
||||
uint8_t t1 = enabled ? 1U : 2U; // leave transceiver 1 enabled to detect CAN ignition
|
||||
for(uint8_t i=t1; i<=3U; i++) {
|
||||
white_enable_can_transciever(i, enabled);
|
||||
white_enable_can_transceiver(i, enabled);
|
||||
}
|
||||
}
|
||||
|
||||
@@ -71,21 +71,21 @@ void white_set_usb_power_mode(uint8_t mode){
|
||||
}
|
||||
}
|
||||
|
||||
void white_set_esp_gps_mode(uint8_t mode) {
|
||||
void white_set_gps_mode(uint8_t mode) {
|
||||
switch (mode) {
|
||||
case ESP_GPS_DISABLED:
|
||||
case GPS_DISABLED:
|
||||
// ESP OFF
|
||||
set_gpio_output(GPIOC, 14, 0);
|
||||
set_gpio_output(GPIOC, 5, 0);
|
||||
break;
|
||||
#ifndef EON
|
||||
case ESP_GPS_ENABLED:
|
||||
case GPS_ENABLED:
|
||||
// ESP ON
|
||||
set_gpio_output(GPIOC, 14, 1);
|
||||
set_gpio_output(GPIOC, 5, 1);
|
||||
break;
|
||||
#endif
|
||||
case ESP_GPS_BOOTMODE:
|
||||
case GPS_BOOTMODE:
|
||||
set_gpio_output(GPIOC, 14, 1);
|
||||
set_gpio_output(GPIOC, 5, 0);
|
||||
break;
|
||||
@@ -242,6 +242,14 @@ void white_set_phone_power(bool enabled){
|
||||
UNUSED(enabled);
|
||||
}
|
||||
|
||||
void white_set_clock_source_mode(uint8_t mode){
|
||||
UNUSED(mode);
|
||||
}
|
||||
|
||||
void white_set_siren(bool enabled){
|
||||
UNUSED(enabled);
|
||||
}
|
||||
|
||||
void white_grey_common_init(void) {
|
||||
common_init_gpio();
|
||||
|
||||
@@ -291,8 +299,8 @@ void white_grey_common_init(void) {
|
||||
set_gpio_alternate(GPIOC, 11, GPIO_AF7_USART3);
|
||||
set_gpio_pullup(GPIOC, 11, PULL_UP);
|
||||
|
||||
// Enable CAN transcievers
|
||||
white_enable_can_transcievers(true);
|
||||
// Enable CAN transceivers
|
||||
white_enable_can_transceivers(true);
|
||||
|
||||
// Disable LEDs
|
||||
white_set_led(LED_RED, false);
|
||||
@@ -316,12 +324,8 @@ void white_grey_common_init(void) {
|
||||
void white_init(void) {
|
||||
white_grey_common_init();
|
||||
|
||||
// Set default state of ESP
|
||||
#ifdef EON
|
||||
current_board->set_esp_gps_mode(ESP_GPS_DISABLED);
|
||||
#else
|
||||
current_board->set_esp_gps_mode(ESP_GPS_ENABLED);
|
||||
#endif
|
||||
// Set ESP off by default
|
||||
current_board->set_gps_mode(GPS_DISABLED);
|
||||
}
|
||||
|
||||
const harness_configuration white_harness_config = {
|
||||
@@ -332,16 +336,18 @@ const board board_white = {
|
||||
.board_type = "White",
|
||||
.harness_config = &white_harness_config,
|
||||
.init = white_init,
|
||||
.enable_can_transciever = white_enable_can_transciever,
|
||||
.enable_can_transcievers = white_enable_can_transcievers,
|
||||
.enable_can_transceiver = white_enable_can_transceiver,
|
||||
.enable_can_transceivers = white_enable_can_transceivers,
|
||||
.set_led = white_set_led,
|
||||
.set_usb_power_mode = white_set_usb_power_mode,
|
||||
.set_esp_gps_mode = white_set_esp_gps_mode,
|
||||
.set_gps_mode = white_set_gps_mode,
|
||||
.set_can_mode = white_set_can_mode,
|
||||
.usb_power_mode_tick = white_usb_power_mode_tick,
|
||||
.check_ignition = white_check_ignition,
|
||||
.read_current = white_read_current,
|
||||
.set_fan_power = white_set_fan_power,
|
||||
.set_ir_power = white_set_ir_power,
|
||||
.set_phone_power = white_set_phone_power
|
||||
.set_phone_power = white_set_phone_power,
|
||||
.set_clock_source_mode = white_set_clock_source_mode,
|
||||
.set_siren = white_set_siren
|
||||
};
|
||||
|
||||
@@ -0,0 +1,100 @@
|
||||
|
||||
#define CLOCK_SOURCE_MODE_DISABLED 0U
|
||||
#define CLOCK_SOURCE_MODE_FREE_RUNNING 1U
|
||||
#define CLOCK_SOURCE_MODE_EXTERNAL_SYNC 2U
|
||||
|
||||
#define CLOCK_SOURCE_PERIOD_MS 50U
|
||||
#define CLOCK_SOURCE_PULSE_LEN_MS 2U
|
||||
|
||||
uint8_t clock_source_mode = CLOCK_SOURCE_MODE_DISABLED;
|
||||
|
||||
void EXTI0_IRQ_Handler(void) {
|
||||
volatile unsigned int pr = EXTI->PR & (1U << 0);
|
||||
if (pr != 0U) {
|
||||
if(clock_source_mode == CLOCK_SOURCE_MODE_EXTERNAL_SYNC){
|
||||
// TODO: Implement!
|
||||
}
|
||||
}
|
||||
EXTI->PR = (1U << 0);
|
||||
}
|
||||
|
||||
void TIM1_UP_TIM10_IRQ_Handler(void) {
|
||||
if((TIM1->SR & TIM_SR_UIF) != 0) {
|
||||
if(clock_source_mode != CLOCK_SOURCE_MODE_DISABLED) {
|
||||
// Start clock pulse
|
||||
set_gpio_output(GPIOB, 14, true);
|
||||
set_gpio_output(GPIOB, 15, true);
|
||||
}
|
||||
|
||||
// Reset interrupt
|
||||
TIM1->SR &= ~(TIM_SR_UIF);
|
||||
}
|
||||
}
|
||||
|
||||
void TIM1_CC_IRQ_Handler(void) {
|
||||
if((TIM1->SR & TIM_SR_CC1IF) != 0) {
|
||||
if(clock_source_mode != CLOCK_SOURCE_MODE_DISABLED) {
|
||||
// End clock pulse
|
||||
set_gpio_output(GPIOB, 14, false);
|
||||
set_gpio_output(GPIOB, 15, false);
|
||||
}
|
||||
|
||||
// Reset interrupt
|
||||
TIM1->SR &= ~(TIM_SR_CC1IF);
|
||||
}
|
||||
}
|
||||
|
||||
void clock_source_init(uint8_t mode){
|
||||
// Setup external clock signal interrupt
|
||||
REGISTER_INTERRUPT(EXTI0_IRQn, EXTI0_IRQ_Handler, 110U, FAULT_INTERRUPT_RATE_CLOCK_SOURCE)
|
||||
register_set(&(SYSCFG->EXTICR[0]), SYSCFG_EXTICR1_EXTI0_PB, 0xFU);
|
||||
register_set_bits(&(EXTI->IMR), (1U << 0));
|
||||
register_set_bits(&(EXTI->RTSR), (1U << 0));
|
||||
register_clear_bits(&(EXTI->FTSR), (1U << 0));
|
||||
|
||||
// Setup timer
|
||||
REGISTER_INTERRUPT(TIM1_UP_TIM10_IRQn, TIM1_UP_TIM10_IRQ_Handler, (1200U / CLOCK_SOURCE_PERIOD_MS) , FAULT_INTERRUPT_RATE_TIM1)
|
||||
REGISTER_INTERRUPT(TIM1_CC_IRQn, TIM1_CC_IRQ_Handler, (1200U / CLOCK_SOURCE_PERIOD_MS) , FAULT_INTERRUPT_RATE_TIM1)
|
||||
register_set(&(TIM1->PSC), (9600-1), 0xFFFFU); // Tick on 0.1 ms
|
||||
register_set(&(TIM1->ARR), ((CLOCK_SOURCE_PERIOD_MS*10U) - 1U), 0xFFFFU); // Period
|
||||
register_set(&(TIM1->CCMR1), 0U, 0xFFFFU); // No output on compare
|
||||
register_set_bits(&(TIM1->CCER), TIM_CCER_CC1E); // Enable compare 1
|
||||
register_set(&(TIM1->CCR1), (CLOCK_SOURCE_PULSE_LEN_MS*10U), 0xFFFFU); // Compare 1 value
|
||||
register_set_bits(&(TIM1->DIER), TIM_DIER_UIE | TIM_DIER_CC1IE); // Enable interrupts
|
||||
register_set(&(TIM1->CR1), TIM_CR1_CEN, 0x3FU); // Enable timer
|
||||
|
||||
// Set mode
|
||||
switch(mode) {
|
||||
case CLOCK_SOURCE_MODE_DISABLED:
|
||||
// No clock signal
|
||||
NVIC_DisableIRQ(EXTI0_IRQn);
|
||||
NVIC_DisableIRQ(TIM1_UP_TIM10_IRQn);
|
||||
NVIC_DisableIRQ(TIM1_CC_IRQn);
|
||||
|
||||
// Disable pulse if we were in the middle of it
|
||||
set_gpio_output(GPIOB, 14, false);
|
||||
set_gpio_output(GPIOB, 15, false);
|
||||
|
||||
clock_source_mode = CLOCK_SOURCE_MODE_DISABLED;
|
||||
break;
|
||||
case CLOCK_SOURCE_MODE_FREE_RUNNING:
|
||||
// Clock signal is based on internal timer
|
||||
NVIC_DisableIRQ(EXTI0_IRQn);
|
||||
NVIC_EnableIRQ(TIM1_UP_TIM10_IRQn);
|
||||
NVIC_EnableIRQ(TIM1_CC_IRQn);
|
||||
|
||||
clock_source_mode = CLOCK_SOURCE_MODE_FREE_RUNNING;
|
||||
break;
|
||||
case CLOCK_SOURCE_MODE_EXTERNAL_SYNC:
|
||||
// Clock signal is based on external timer
|
||||
NVIC_EnableIRQ(EXTI0_IRQn);
|
||||
NVIC_EnableIRQ(TIM1_UP_TIM10_IRQn);
|
||||
NVIC_EnableIRQ(TIM1_CC_IRQn);
|
||||
|
||||
clock_source_mode = CLOCK_SOURCE_MODE_EXTERNAL_SYNC;
|
||||
break;
|
||||
default:
|
||||
puts("Unknown clock source mode: "); puth(mode); puts("\n");
|
||||
break;
|
||||
}
|
||||
}
|
||||
@@ -50,8 +50,8 @@ void debug_ring_callback(uart_ring *ring);
|
||||
|
||||
// ******************************** UART buffers ********************************
|
||||
|
||||
// esp_gps = USART1
|
||||
UART_BUFFER(esp_gps, FIFO_SIZE_DMA, FIFO_SIZE_INT, USART1, NULL, true)
|
||||
// gps = USART1
|
||||
UART_BUFFER(gps, FIFO_SIZE_DMA, FIFO_SIZE_INT, USART1, NULL, true)
|
||||
|
||||
// lin1, K-LINE = UART5
|
||||
// lin2, L-LINE = USART3
|
||||
@@ -68,7 +68,7 @@ uart_ring *get_ring_by_number(int a) {
|
||||
ring = &uart_ring_debug;
|
||||
break;
|
||||
case 1:
|
||||
ring = &uart_ring_esp_gps;
|
||||
ring = &uart_ring_gps;
|
||||
break;
|
||||
case 2:
|
||||
ring = &uart_ring_lin1;
|
||||
@@ -185,8 +185,8 @@ void uart_interrupt_handler(uart_ring *q) {
|
||||
// Reset IDLE flag
|
||||
UART_READ_DR(q->uart)
|
||||
|
||||
if(q == &uart_ring_esp_gps){
|
||||
dma_pointer_handler(&uart_ring_esp_gps, DMA2_Stream5->NDTR);
|
||||
if(q == &uart_ring_gps){
|
||||
dma_pointer_handler(&uart_ring_gps, DMA2_Stream5->NDTR);
|
||||
} else {
|
||||
#ifdef DEBUG_UART
|
||||
puts("No IDLE dma_pointer_handler implemented for this UART.");
|
||||
@@ -197,7 +197,7 @@ void uart_interrupt_handler(uart_ring *q) {
|
||||
EXIT_CRITICAL();
|
||||
}
|
||||
|
||||
void USART1_IRQ_Handler(void) { uart_interrupt_handler(&uart_ring_esp_gps); }
|
||||
void USART1_IRQ_Handler(void) { uart_interrupt_handler(&uart_ring_gps); }
|
||||
void USART2_IRQ_Handler(void) { uart_interrupt_handler(&uart_ring_debug); }
|
||||
void USART3_IRQ_Handler(void) { uart_interrupt_handler(&uart_ring_lin2); }
|
||||
void UART5_IRQ_Handler(void) { uart_interrupt_handler(&uart_ring_lin1); }
|
||||
@@ -219,7 +219,7 @@ void DMA2_Stream5_IRQ_Handler(void) {
|
||||
}
|
||||
|
||||
// Re-calculate write pointer and reset flags
|
||||
dma_pointer_handler(&uart_ring_esp_gps, DMA2_Stream5->NDTR);
|
||||
dma_pointer_handler(&uart_ring_gps, DMA2_Stream5->NDTR);
|
||||
DMA2->HIFCR = DMA_HIFCR_CTCIF5 | DMA_HIFCR_CHTIF5;
|
||||
|
||||
EXIT_CRITICAL();
|
||||
@@ -229,7 +229,7 @@ void DMA2_Stream5_IRQ_Handler(void) {
|
||||
|
||||
void dma_rx_init(uart_ring *q) {
|
||||
// Initialization is UART-dependent
|
||||
if(q == &uart_ring_esp_gps){
|
||||
if(q == &uart_ring_gps){
|
||||
// DMA2, stream 5, channel 4
|
||||
|
||||
// Disable FIFO mode (enable direct)
|
||||
|
||||
+22
-20
@@ -3,26 +3,28 @@
|
||||
#define FAULT_STATUS_PERMANENT 2U
|
||||
|
||||
// Fault types
|
||||
#define FAULT_RELAY_MALFUNCTION (1U << 0)
|
||||
#define FAULT_UNUSED_INTERRUPT_HANDLED (1U << 1)
|
||||
#define FAULT_INTERRUPT_RATE_CAN_1 (1U << 2)
|
||||
#define FAULT_INTERRUPT_RATE_CAN_2 (1U << 3)
|
||||
#define FAULT_INTERRUPT_RATE_CAN_3 (1U << 4)
|
||||
#define FAULT_INTERRUPT_RATE_TACH (1U << 5)
|
||||
#define FAULT_INTERRUPT_RATE_GMLAN (1U << 6)
|
||||
#define FAULT_INTERRUPT_RATE_INTERRUPTS (1U << 7)
|
||||
#define FAULT_INTERRUPT_RATE_SPI_DMA (1U << 8)
|
||||
#define FAULT_INTERRUPT_RATE_SPI_CS (1U << 9)
|
||||
#define FAULT_INTERRUPT_RATE_UART_1 (1U << 10)
|
||||
#define FAULT_INTERRUPT_RATE_UART_2 (1U << 11)
|
||||
#define FAULT_INTERRUPT_RATE_UART_3 (1U << 12)
|
||||
#define FAULT_INTERRUPT_RATE_UART_5 (1U << 13)
|
||||
#define FAULT_INTERRUPT_RATE_UART_DMA (1U << 14)
|
||||
#define FAULT_INTERRUPT_RATE_USB (1U << 15)
|
||||
#define FAULT_INTERRUPT_RATE_TIM1 (1U << 16)
|
||||
#define FAULT_INTERRUPT_RATE_TIM3 (1U << 17)
|
||||
#define FAULT_REGISTER_DIVERGENT (1U << 18)
|
||||
#define FAULT_INTERRUPT_RATE_KLINE_INIT (1U << 19)
|
||||
#define FAULT_RELAY_MALFUNCTION (1U << 0)
|
||||
#define FAULT_UNUSED_INTERRUPT_HANDLED (1U << 1)
|
||||
#define FAULT_INTERRUPT_RATE_CAN_1 (1U << 2)
|
||||
#define FAULT_INTERRUPT_RATE_CAN_2 (1U << 3)
|
||||
#define FAULT_INTERRUPT_RATE_CAN_3 (1U << 4)
|
||||
#define FAULT_INTERRUPT_RATE_TACH (1U << 5)
|
||||
#define FAULT_INTERRUPT_RATE_GMLAN (1U << 6)
|
||||
#define FAULT_INTERRUPT_RATE_INTERRUPTS (1U << 7)
|
||||
#define FAULT_INTERRUPT_RATE_SPI_DMA (1U << 8)
|
||||
#define FAULT_INTERRUPT_RATE_SPI_CS (1U << 9)
|
||||
#define FAULT_INTERRUPT_RATE_UART_1 (1U << 10)
|
||||
#define FAULT_INTERRUPT_RATE_UART_2 (1U << 11)
|
||||
#define FAULT_INTERRUPT_RATE_UART_3 (1U << 12)
|
||||
#define FAULT_INTERRUPT_RATE_UART_5 (1U << 13)
|
||||
#define FAULT_INTERRUPT_RATE_UART_DMA (1U << 14)
|
||||
#define FAULT_INTERRUPT_RATE_USB (1U << 15)
|
||||
#define FAULT_INTERRUPT_RATE_TIM1 (1U << 16)
|
||||
#define FAULT_INTERRUPT_RATE_TIM3 (1U << 17)
|
||||
#define FAULT_REGISTER_DIVERGENT (1U << 18)
|
||||
#define FAULT_INTERRUPT_RATE_KLINE_INIT (1U << 19)
|
||||
#define FAULT_INTERRUPT_RATE_CLOCK_SOURCE (1U << 20)
|
||||
#define FAULT_INTERRUPT_RATE_TIM9 (1U << 21)
|
||||
|
||||
// Permanent faults
|
||||
#define PERMANENT_FAULTS 0U
|
||||
|
||||
+2
-6
@@ -64,13 +64,9 @@ void early(void) {
|
||||
|
||||
if (enter_bootloader_mode == ENTER_BOOTLOADER_MAGIC) {
|
||||
#ifdef PANDA
|
||||
current_board->set_esp_gps_mode(ESP_GPS_DISABLED);
|
||||
current_board->set_gps_mode(GPS_DISABLED);
|
||||
#endif
|
||||
current_board->set_led(LED_GREEN, 1);
|
||||
jump_to_bootloader();
|
||||
}
|
||||
|
||||
if (is_entering_bootmode) {
|
||||
enter_bootloader_mode = ENTER_SOFTLOADER_MAGIC;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
+101
-84
@@ -400,24 +400,24 @@ int usb_cb_control_msg(USB_Setup_TypeDef *setup, uint8_t *resp, bool hardwired)
|
||||
// **** 0xd9: set ESP power
|
||||
case 0xd9:
|
||||
if (setup->b.wValue.w == 1U) {
|
||||
current_board->set_esp_gps_mode(ESP_GPS_ENABLED);
|
||||
current_board->set_gps_mode(GPS_ENABLED);
|
||||
} else if (setup->b.wValue.w == 2U) {
|
||||
current_board->set_esp_gps_mode(ESP_GPS_BOOTMODE);
|
||||
current_board->set_gps_mode(GPS_BOOTMODE);
|
||||
} else {
|
||||
current_board->set_esp_gps_mode(ESP_GPS_DISABLED);
|
||||
current_board->set_gps_mode(GPS_DISABLED);
|
||||
}
|
||||
break;
|
||||
// **** 0xda: reset ESP, with optional boot mode
|
||||
case 0xda:
|
||||
current_board->set_esp_gps_mode(ESP_GPS_DISABLED);
|
||||
current_board->set_gps_mode(GPS_DISABLED);
|
||||
delay(1000000);
|
||||
if (setup->b.wValue.w == 1U) {
|
||||
current_board->set_esp_gps_mode(ESP_GPS_BOOTMODE);
|
||||
current_board->set_gps_mode(GPS_BOOTMODE);
|
||||
} else {
|
||||
current_board->set_esp_gps_mode(ESP_GPS_ENABLED);
|
||||
current_board->set_gps_mode(GPS_ENABLED);
|
||||
}
|
||||
delay(1000000);
|
||||
current_board->set_esp_gps_mode(ESP_GPS_ENABLED);
|
||||
current_board->set_gps_mode(GPS_ENABLED);
|
||||
break;
|
||||
// **** 0xdb: set GMLAN (white/grey) or OBD CAN (black) multiplexing mode
|
||||
case 0xdb:
|
||||
@@ -493,7 +493,7 @@ int usb_cb_control_msg(USB_Setup_TypeDef *setup, uint8_t *resp, bool hardwired)
|
||||
}
|
||||
|
||||
// TODO: Remove this again and fix boardd code to hande the message bursts instead of single chars
|
||||
if (ur == &uart_ring_esp_gps) {
|
||||
if (ur == &uart_ring_gps) {
|
||||
dma_pointer_handler(ur, DMA2_Stream5->NDTR);
|
||||
}
|
||||
|
||||
@@ -606,6 +606,14 @@ int usb_cb_control_msg(USB_Setup_TypeDef *setup, uint8_t *resp, bool hardwired)
|
||||
}
|
||||
}
|
||||
break;
|
||||
// **** 0xf5: set clock source mode
|
||||
case 0xf5:
|
||||
current_board->set_clock_source_mode(setup->b.wValue.w);
|
||||
break;
|
||||
// **** 0xf6: set siren enabled
|
||||
case 0xf6:
|
||||
siren_enabled = (setup->b.wValue.w != 0U);
|
||||
break;
|
||||
default:
|
||||
puts("NO HANDLER ");
|
||||
puth(setup->b.bRequest);
|
||||
@@ -663,87 +671,97 @@ void __attribute__ ((noinline)) enable_fpu(void) {
|
||||
#define EON_HEARTBEAT_IGNITION_CNT_ON 5U
|
||||
#define EON_HEARTBEAT_IGNITION_CNT_OFF 2U
|
||||
|
||||
// called at 1Hz
|
||||
// called at 8Hz
|
||||
uint8_t loop_counter = 0U;
|
||||
void TIM1_BRK_TIM9_IRQ_Handler(void) {
|
||||
if (TIM9->SR != 0) {
|
||||
can_live = pending_can_live;
|
||||
// siren
|
||||
current_board->set_siren((loop_counter & 1U) && siren_enabled);
|
||||
|
||||
current_board->usb_power_mode_tick(uptime_cnt);
|
||||
// decimated to 1Hz
|
||||
if(loop_counter == 0U){
|
||||
can_live = pending_can_live;
|
||||
|
||||
//puth(usart1_dma); puts(" "); puth(DMA2_Stream5->M0AR); puts(" "); puth(DMA2_Stream5->NDTR); puts("\n");
|
||||
current_board->usb_power_mode_tick(uptime_cnt);
|
||||
|
||||
// reset this every 16th pass
|
||||
if ((uptime_cnt & 0xFU) == 0U) {
|
||||
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
|
||||
//puth(usart1_dma); puts(" "); puth(DMA2_Stream5->M0AR); puts(" "); puth(DMA2_Stream5->NDTR); puts("\n");
|
||||
|
||||
// Tick drivers
|
||||
fan_tick();
|
||||
|
||||
// set green LED to be controls allowed
|
||||
current_board->set_led(LED_GREEN, controls_allowed);
|
||||
|
||||
// turn off the blue LED, turned on by CAN
|
||||
// unless we are in power saving mode
|
||||
current_board->set_led(LED_BLUE, (uptime_cnt & 1U) && (power_save_status == POWER_SAVE_STATUS_ENABLED));
|
||||
|
||||
// increase heartbeat counter and cap it at the uint32 limit
|
||||
if (heartbeat_counter < __UINT32_MAX__) {
|
||||
heartbeat_counter += 1U;
|
||||
}
|
||||
|
||||
#ifdef EON
|
||||
// check heartbeat counter if we are running EON code.
|
||||
// if the heartbeat has been gone for a while, go to SILENT safety mode and enter power save
|
||||
if (heartbeat_counter >= (check_started() ? EON_HEARTBEAT_IGNITION_CNT_ON : EON_HEARTBEAT_IGNITION_CNT_OFF)) {
|
||||
puts("EON hasn't sent a heartbeat for 0x");
|
||||
puth(heartbeat_counter);
|
||||
puts(" seconds. Safety is set to SILENT mode.\n");
|
||||
if (current_safety_mode != SAFETY_SILENT) {
|
||||
set_safety_mode(SAFETY_SILENT, 0U);
|
||||
// reset this every 16th pass
|
||||
if ((uptime_cnt & 0xFU) == 0U) {
|
||||
pending_can_live = 0;
|
||||
}
|
||||
if (power_save_status != POWER_SAVE_STATUS_ENABLED) {
|
||||
set_power_save_state(POWER_SAVE_STATUS_ENABLED);
|
||||
#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
|
||||
|
||||
// Tick drivers
|
||||
fan_tick();
|
||||
|
||||
// set green LED to be controls allowed
|
||||
current_board->set_led(LED_GREEN, controls_allowed);
|
||||
|
||||
// turn off the blue LED, turned on by CAN
|
||||
// unless we are in power saving mode
|
||||
current_board->set_led(LED_BLUE, (uptime_cnt & 1U) && (power_save_status == POWER_SAVE_STATUS_ENABLED));
|
||||
|
||||
// increase heartbeat counter and cap it at the uint32 limit
|
||||
if (heartbeat_counter < __UINT32_MAX__) {
|
||||
heartbeat_counter += 1U;
|
||||
}
|
||||
|
||||
// Also disable IR when the heartbeat goes missing
|
||||
current_board->set_ir_power(0U);
|
||||
#ifdef EON
|
||||
// check heartbeat counter if we are running EON code.
|
||||
// if the heartbeat has been gone for a while, go to SILENT safety mode and enter power save
|
||||
if (heartbeat_counter >= (check_started() ? EON_HEARTBEAT_IGNITION_CNT_ON : EON_HEARTBEAT_IGNITION_CNT_OFF)) {
|
||||
puts("EON hasn't sent a heartbeat for 0x");
|
||||
puth(heartbeat_counter);
|
||||
puts(" seconds. Safety is set to SILENT mode.\n");
|
||||
if (current_safety_mode != SAFETY_SILENT) {
|
||||
set_safety_mode(SAFETY_SILENT, 0U);
|
||||
}
|
||||
if (power_save_status != POWER_SAVE_STATUS_ENABLED) {
|
||||
set_power_save_state(POWER_SAVE_STATUS_ENABLED);
|
||||
}
|
||||
|
||||
// If enumerated but no heartbeat (phone up, boardd not running), turn the fan on to cool the device
|
||||
if(usb_enumerated()){
|
||||
current_board->set_fan_power(50U);
|
||||
} else {
|
||||
current_board->set_fan_power(0U);
|
||||
// Also disable IR when the heartbeat goes missing
|
||||
current_board->set_ir_power(0U);
|
||||
|
||||
// If enumerated but no heartbeat (phone up, boardd not running), turn the fan on to cool the device
|
||||
if(usb_enumerated()){
|
||||
current_board->set_fan_power(50U);
|
||||
} else {
|
||||
current_board->set_fan_power(0U);
|
||||
}
|
||||
}
|
||||
|
||||
// enter CDP mode when car starts to ensure we are charging a turned off EON
|
||||
if (check_started() && (usb_power_mode != USB_POWER_CDP)) {
|
||||
current_board->set_usb_power_mode(USB_POWER_CDP);
|
||||
}
|
||||
#endif
|
||||
|
||||
// check registers
|
||||
check_registers();
|
||||
|
||||
// set ignition_can to false after 2s of no CAN seen
|
||||
if (ignition_can_cnt > 2U) {
|
||||
ignition_can = false;
|
||||
};
|
||||
|
||||
// on to the next one
|
||||
uptime_cnt += 1U;
|
||||
safety_mode_cnt += 1U;
|
||||
ignition_can_cnt += 1U;
|
||||
|
||||
// synchronous safety check
|
||||
safety_tick(current_hooks);
|
||||
}
|
||||
|
||||
// enter CDP mode when car starts to ensure we are charging a turned off EON
|
||||
if (check_started() && (usb_power_mode != USB_POWER_CDP)) {
|
||||
current_board->set_usb_power_mode(USB_POWER_CDP);
|
||||
}
|
||||
#endif
|
||||
|
||||
// check registers
|
||||
check_registers();
|
||||
|
||||
// set ignition_can to false after 2s of no CAN seen
|
||||
if (ignition_can_cnt > 2U) {
|
||||
ignition_can = false;
|
||||
};
|
||||
|
||||
// on to the next one
|
||||
uptime_cnt += 1U;
|
||||
safety_mode_cnt += 1U;
|
||||
ignition_can_cnt += 1U;
|
||||
|
||||
// synchronous safety check
|
||||
safety_tick(current_hooks);
|
||||
loop_counter++;
|
||||
loop_counter %= 8U;
|
||||
}
|
||||
TIM9->SR = 0;
|
||||
}
|
||||
@@ -753,8 +771,8 @@ int main(void) {
|
||||
// Init interrupt table
|
||||
init_interrupts(true);
|
||||
|
||||
// 1s timer
|
||||
REGISTER_INTERRUPT(TIM1_BRK_TIM9_IRQn, TIM1_BRK_TIM9_IRQ_Handler, 2U, FAULT_INTERRUPT_RATE_TIM1)
|
||||
// 8Hz timer
|
||||
REGISTER_INTERRUPT(TIM1_BRK_TIM9_IRQn, TIM1_BRK_TIM9_IRQ_Handler, 10U, FAULT_INTERRUPT_RATE_TIM9)
|
||||
|
||||
// shouldn't have interrupts here, but just in case
|
||||
disable_interrupts();
|
||||
@@ -778,7 +796,6 @@ int main(void) {
|
||||
puts("Config:\n");
|
||||
puts(" Board type: "); puts(current_board->board_type); puts("\n");
|
||||
puts(has_external_debug_serial ? " Real serial\n" : " USB serial\n");
|
||||
puts(is_entering_bootmode ? " ESP wants bootmode\n" : " No bootmode\n");
|
||||
|
||||
// init board
|
||||
current_board->init();
|
||||
@@ -794,10 +811,10 @@ int main(void) {
|
||||
}
|
||||
|
||||
if (board_has_gps()) {
|
||||
uart_init(&uart_ring_esp_gps, 9600);
|
||||
uart_init(&uart_ring_gps, 9600);
|
||||
} else {
|
||||
// enable ESP uart
|
||||
uart_init(&uart_ring_esp_gps, 115200);
|
||||
uart_init(&uart_ring_gps, 115200);
|
||||
}
|
||||
|
||||
if(board_has_lin()){
|
||||
@@ -820,14 +837,14 @@ int main(void) {
|
||||
set_safety_mode(SAFETY_SILENT, 0);
|
||||
|
||||
// enable CAN TXs
|
||||
current_board->enable_can_transcievers(true);
|
||||
current_board->enable_can_transceivers(true);
|
||||
|
||||
#ifndef EON
|
||||
spi_init();
|
||||
#endif
|
||||
|
||||
// 1hz
|
||||
timer_init(TIM9, 1464);
|
||||
// 8hz
|
||||
timer_init(TIM9, 183);
|
||||
NVIC_EnableIRQ(TIM1_BRK_TIM9_IRQn);
|
||||
|
||||
#ifdef DEBUG
|
||||
|
||||
@@ -13,3 +13,4 @@ const board *current_board;
|
||||
bool is_enumerated = 0;
|
||||
uint32_t heartbeat_counter = 0;
|
||||
uint32_t uptime_cnt = 0;
|
||||
bool siren_enabled = false;
|
||||
|
||||
@@ -28,13 +28,13 @@ void set_power_save_state(int state) {
|
||||
enable = true;
|
||||
}
|
||||
|
||||
current_board->enable_can_transcievers(enable);
|
||||
current_board->enable_can_transceivers(enable);
|
||||
|
||||
// Switch EPS/GPS
|
||||
if (enable) {
|
||||
current_board->set_esp_gps_mode(ESP_GPS_ENABLED);
|
||||
current_board->set_gps_mode(GPS_ENABLED);
|
||||
} else {
|
||||
current_board->set_esp_gps_mode(ESP_GPS_DISABLED);
|
||||
current_board->set_gps_mode(GPS_DISABLED);
|
||||
}
|
||||
|
||||
if(board_has_gmlan()){
|
||||
|
||||
@@ -1,4 +1,4 @@
|
||||
const int HYUNDAI_MAX_STEER = 255; // like stock
|
||||
const int HYUNDAI_MAX_STEER = 384; // like stock
|
||||
const int HYUNDAI_MAX_RT_DELTA = 112; // max delta torque allowed for real time checks
|
||||
const uint32_t HYUNDAI_RT_INTERVAL = 250000; // 250ms between real time checks
|
||||
const int HYUNDAI_MAX_RATE_UP = 3;
|
||||
|
||||
@@ -290,7 +290,7 @@ void soft_flasher_start(void) {
|
||||
// B8,B9: CAN 1
|
||||
set_gpio_alternate(GPIOB, 8, GPIO_AF9_CAN1);
|
||||
set_gpio_alternate(GPIOB, 9, GPIO_AF9_CAN1);
|
||||
current_board->enable_can_transciever(1, true);
|
||||
current_board->enable_can_transceiver(1, true);
|
||||
|
||||
// init can
|
||||
llcan_set_speed(CAN1, 5000, false, false);
|
||||
|
||||
@@ -1,15 +0,0 @@
|
||||
-----BEGIN RSA PRIVATE KEY-----
|
||||
MIICXAIBAAKBgQCjIHvrSCWN0Nec6ozbImYik30PIF7JSWgdwDKTxSJ05RM3pj5E
|
||||
LQEGt3qcaVrTokO68tpt5Gu1p6ZsNqWg7iVTW9M7Qj7IH45YDzQP/PSRjgSosQA6
|
||||
6f5Gokba5QrW38myqimvj+0p+YH+CNGCBRlTUQGCO8uLCspMZneRSLPW9QIDAQAB
|
||||
AoGADaUn+HRef9BaWMvd4G6uMHI54cwJYbj8NpDfKjExQqnuw5bqWnWRQmiSnwbJ
|
||||
DC7kj3zE/LBAuj890ot3q1CAWqh47ZICZfoX9Qbi5TpvIHFCGy6YkOliF6iIQhR2
|
||||
4+zNKTAA0zNKskOM25PdI+grK1Ni/bEofSA6TrqvEwsmxnkCQQDVp9FUUor2Bo/h
|
||||
/3oAIP51LTw7vfpztYbJr+BDV63czV2DLXzSwzeNrwH4sA3oy1mjUgMBBgAarNGE
|
||||
DYlc4H5jAkEAw3UCHzzXPlxkw2QGp7nBly5y3p80Uqc31NuYz8rdX/U8KTngi2No
|
||||
Ft/SGCEXNpeYbToj+WK3RJJ2Ey0mK8+IxwJAcpGd/5CPsaQNLcw4WK9Yo+8Q2Jxk
|
||||
G/4gfDCSmqn+smNxnLEcuUwzkwdgkEGgA9BfjeOhdsAH+EXpx90WZrZ/LwJBAK0k
|
||||
jq+rTqUQZbZsejTEKYjJ/bnV4BzDwoKN0Q1pkLc7X4LJoW74rTFuLgdv8MdMfRtt
|
||||
IIb/eoeFEpGkMicnHesCQHgR7BTUGBM6Uxam7RCdsgVsxoHBma21E/44ivWUMZzN
|
||||
3oVt0mPnjS4speOlqwED5pCJ7yw7jwLPFMs8kNxuIKU=
|
||||
-----END RSA PRIVATE KEY-----
|
||||
@@ -1 +0,0 @@
|
||||
ssh-rsa AAAAB3NzaC1yc2EAAAADAQABAAAAgQCjIHvrSCWN0Nec6ozbImYik30PIF7JSWgdwDKTxSJ05RM3pj5ELQEGt3qcaVrTokO68tpt5Gu1p6ZsNqWg7iVTW9M7Qj7IH45YDzQP/PSRjgSosQA66f5Gokba5QrW38myqimvj+0p+YH+CNGCBRlTUQGCO8uLCspMZneRSLPW9Q== batman@y840
|
||||
@@ -1 +0,0 @@
|
||||
ssh-rsa AAAAB3NzaC1yc2EAAAADAQABAAAAgQDN4pVyGuJJSde1l3Fjay8qPxog09DsAJZtYPk+armoYO1L6YKReUTcMNyHQYZZMZFmhCdgjCgTIF2QYWMoP4KSe8l6JF04YPP51dIgefc6UXjtlSI8Pyutr0v9xXjSfsVm3RAJxDSHgzs9AoMsluKCL+LhAR1nd7cuHXITJ80O4w== batman@y840
|
||||
@@ -10,7 +10,6 @@ import traceback
|
||||
import subprocess
|
||||
import sys
|
||||
from .dfu import PandaDFU # pylint: disable=import-error
|
||||
from .esptool import ESPROM, CesantaFlasher # noqa pylint: disable=import-error
|
||||
from .flash_release import flash_release # noqa pylint: disable=import-error
|
||||
from .update import ensure_st_up_to_date # noqa pylint: disable=import-error
|
||||
from .serial import PandaSerial # noqa pylint: disable=import-error
|
||||
@@ -148,6 +147,10 @@ class Panda(object):
|
||||
HW_TYPE_PEDAL = b'\x04'
|
||||
HW_TYPE_UNO = b'\x05'
|
||||
|
||||
CLOCK_SOURCE_MODE_DISABLED = 0
|
||||
CLOCK_SOURCE_MODE_FREE_RUNNING = 1
|
||||
CLOCK_SOURCE_MODE_EXTERNAL_SYNC = 2
|
||||
|
||||
def __init__(self, serial=None, claim=True):
|
||||
self._serial = serial
|
||||
self._handle = None
|
||||
@@ -458,7 +461,7 @@ class Panda(object):
|
||||
self._handle.controlWrite(Panda.REQUEST_OUT, 0xe5, int(enable), 0, b'')
|
||||
|
||||
def set_can_enable(self, bus_num, enable):
|
||||
# sets the can transciever enable pin
|
||||
# sets the can transceiver enable pin
|
||||
self._handle.controlWrite(Panda.REQUEST_OUT, 0xf4, int(bus_num), int(enable), b'')
|
||||
|
||||
def set_can_speed_kbps(self, bus, speed):
|
||||
@@ -665,3 +668,11 @@ class Panda(object):
|
||||
# ****************** Phone *****************
|
||||
def set_phone_power(self, enabled):
|
||||
self._handle.controlWrite(Panda.REQUEST_OUT, 0xb3, int(enabled), 0, b'')
|
||||
|
||||
# ************** Clock Source **************
|
||||
def set_clock_source_mode(self, mode):
|
||||
self._handle.controlWrite(Panda.REQUEST_OUT, 0xf5, int(mode), 0, b'')
|
||||
|
||||
# ****************** Siren *****************
|
||||
def set_siren(self, enabled):
|
||||
self._handle.controlWrite(Panda.REQUEST_OUT, 0xf6, int(enabled), 0, b'')
|
||||
|
||||
+1
-1
@@ -24,7 +24,7 @@ class PandaDFU(object):
|
||||
self._handle = device.open()
|
||||
self.legacy = "07*128Kg" in self._handle.getASCIIStringDescriptor(4)
|
||||
return
|
||||
raise Exception("failed to open " + dfu_serial)
|
||||
raise Exception("failed to open " + dfu_serial if dfu_serial is not None else "DFU device")
|
||||
|
||||
@staticmethod
|
||||
def list():
|
||||
|
||||
File diff suppressed because it is too large
Load Diff
@@ -7,7 +7,7 @@ import json
|
||||
import io
|
||||
|
||||
def flash_release(path=None, st_serial=None):
|
||||
from panda import Panda, PandaDFU, ESPROM, CesantaFlasher
|
||||
from panda import Panda, PandaDFU
|
||||
from zipfile import ZipFile
|
||||
|
||||
def status(x):
|
||||
@@ -23,33 +23,28 @@ def flash_release(path=None, st_serial=None):
|
||||
st_serial = panda_list[0]
|
||||
print("Using panda with serial %s" % st_serial)
|
||||
|
||||
if path is not None:
|
||||
if path is None:
|
||||
print("Fetching latest firmware from github.com/commaai/panda-artifacts")
|
||||
r = requests.get("https://raw.githubusercontent.com/commaai/panda-artifacts/master/latest.json")
|
||||
url = json.loads(r.text)['url']
|
||||
r = requests.get(url)
|
||||
print("Fetching firmware from %s" % url)
|
||||
path = io.StringIO(r.content)
|
||||
path = io.BytesIO(r.content)
|
||||
|
||||
zf = ZipFile(path)
|
||||
zf.printdir()
|
||||
|
||||
version = zf.read("version")
|
||||
status("0. Preparing to flash " + version)
|
||||
version = zf.read("version").decode()
|
||||
status("0. Preparing to flash " + str(version))
|
||||
|
||||
code_bootstub = zf.read("bootstub.panda.bin")
|
||||
code_panda = zf.read("panda.bin")
|
||||
|
||||
code_boot_15 = zf.read("boot_v1.5.bin")
|
||||
code_boot_15 = code_boot_15[0:2] + "\x00\x30" + code_boot_15[4:]
|
||||
|
||||
code_user1 = zf.read("user1.bin")
|
||||
code_user2 = zf.read("user2.bin")
|
||||
|
||||
# enter DFU mode
|
||||
status("1. Entering DFU mode")
|
||||
panda = Panda(st_serial)
|
||||
panda.enter_bootloader()
|
||||
panda.reset(enter_bootstub=True)
|
||||
panda.reset(enter_bootloader=True)
|
||||
time.sleep(1)
|
||||
|
||||
# program bootstub
|
||||
@@ -64,29 +59,8 @@ def flash_release(path=None, st_serial=None):
|
||||
panda.flash(code=code_panda)
|
||||
panda.close()
|
||||
|
||||
# flashing ESP
|
||||
if panda.is_white():
|
||||
status("4. Flashing ESP (slow!)")
|
||||
|
||||
def align(x, sz=0x1000):
|
||||
x + "\xFF" * ((sz - len(x)) % sz)
|
||||
|
||||
esp = ESPROM(st_serial)
|
||||
esp.connect()
|
||||
flasher = CesantaFlasher(esp, 230400)
|
||||
flasher.flash_write(0x0, align(code_boot_15), True)
|
||||
flasher.flash_write(0x1000, align(code_user1), True)
|
||||
flasher.flash_write(0x81000, align(code_user2), True)
|
||||
flasher.flash_write(0x3FE000, "\xFF" * 0x1000)
|
||||
flasher.boot_fw()
|
||||
del flasher
|
||||
del esp
|
||||
time.sleep(1)
|
||||
else:
|
||||
status("4. No ESP in non-white panda")
|
||||
|
||||
# check for connection
|
||||
status("5. Verifying version")
|
||||
status("4. Verifying version")
|
||||
panda = Panda(st_serial)
|
||||
my_version = panda.get_version()
|
||||
print("dongle id: %s" % panda.get_serial()[0])
|
||||
|
||||
Some files were not shown because too many files have changed in this diff Show More
Reference in New Issue
Block a user