mirror of
https://github.com/dragonpilot/dragonpilot.git
synced 2026-06-23 06:52:07 +08:00
Merge panda subtree
This commit is contained in:
Vehicle Researcher
@@ -29,9 +29,13 @@ jobs:
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command: |
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docker run panda_build /bin/bash -c "cd /panda/board; make bin"
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- run:
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name: Build Pedal STM image
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name: Build Honda Pedal STM image
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command: |
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docker run panda_build /bin/bash -c "cd /panda/board/pedal; make obj/comma.bin"
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docker run panda_build /bin/bash -c "cd /panda/board/pedal_honda; make obj/comma.bin"
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- run:
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name: Build Toyota Pedal STM image
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command: |
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docker run panda_build /bin/bash -c "cd /panda/board/pedal_toyota; make obj/comma.bin"
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- run:
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name: Build NEO STM image
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command: |
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+1
-1
@@ -1 +1 @@
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v1.1.8
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v1.2.0
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@@ -559,6 +559,7 @@ int main() {
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usb_init();
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// default to silent mode to prevent issues with Ford
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// hardcode a specific safety mode if you want to force the panda to be in a specific mode
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safety_set_mode(SAFETY_NOOUTPUT, 0);
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can_silent = ALL_CAN_SILENT;
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can_init_all();
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@@ -0,0 +1 @@
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obj/*
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@@ -0,0 +1,58 @@
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# :set noet
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PROJ_NAME = comma
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CFLAGS = -O2 -Wall -std=gnu11 -DPEDAL
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CFLAGS += -mlittle-endian -mthumb -mcpu=cortex-m3
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CFLAGS += -msoft-float -DSTM32F2 -DSTM32F205xx
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CFLAGS += -I ../inc -I ../ -I ../../ -nostdlib
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CFLAGS += -T../stm32_flash.ld
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STARTUP_FILE = startup_stm32f205xx
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CC = arm-none-eabi-gcc
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OBJCOPY = arm-none-eabi-objcopy
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OBJDUMP = arm-none-eabi-objdump
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DFU_UTIL = "dfu-util"
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# pedal only uses the debug cert
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CERT = ../../certs/debug
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CFLAGS += "-DALLOW_DEBUG"
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canflash: obj/$(PROJ_NAME).bin
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../../tests/pedal/enter_canloader.py $<
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usbflash: obj/$(PROJ_NAME).bin
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../../tests/pedal/enter_canloader.py; sleep 0.5
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PYTHONPATH=../../ python -c "from python import Panda; p = [x for x in [Panda(x) for x in Panda.list()] if x.bootstub]; assert(len(p)==1); p[0].flash('obj/$(PROJ_NAME).bin', reconnect=False)"
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recover: obj/bootstub.bin obj/$(PROJ_NAME).bin
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../../tests/pedal/enter_canloader.py --recover; sleep 0.5
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$(DFU_UTIL) -d 0483:df11 -a 0 -s 0x08004000 -D obj/$(PROJ_NAME).bin
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$(DFU_UTIL) -d 0483:df11 -a 0 -s 0x08000000:leave -D obj/bootstub.bin
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obj/main.o: main.c ../*.h
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mkdir -p obj
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$(CC) $(CFLAGS) -o $@ -c $<
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obj/bootstub.o: ../bootstub.c ../*.h
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mkdir -p obj
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$(CC) $(CFLAGS) -o $@ -c $<
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obj/$(STARTUP_FILE).o: ../$(STARTUP_FILE).s
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$(CC) $(CFLAGS) -o $@ -c $<
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obj/%.o: ../../crypto/%.c
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$(CC) $(CFLAGS) -o $@ -c $<
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obj/$(PROJ_NAME).bin: obj/$(STARTUP_FILE).o obj/main.o
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# hack
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$(CC) -Wl,--section-start,.isr_vector=0x8004000 $(CFLAGS) -o obj/$(PROJ_NAME).elf $^
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$(OBJCOPY) -v -O binary obj/$(PROJ_NAME).elf obj/code.bin
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SETLEN=1 ../../crypto/sign.py obj/code.bin $@ $(CERT)
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obj/bootstub.bin: obj/$(STARTUP_FILE).o obj/bootstub.o obj/sha.o obj/rsa.o
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$(CC) $(CFLAGS) -o obj/bootstub.$(PROJ_NAME).elf $^
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$(OBJCOPY) -v -O binary obj/bootstub.$(PROJ_NAME).elf $@
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clean:
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rm -f obj/*
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@@ -0,0 +1,30 @@
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MOVE ALL FILES TO board/pedal TO FLASH
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This is the firmware for the comma pedal. It borrows a lot from panda.
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The comma pedal is a gas pedal interceptor for Honda/Acura. It allows you to "virtually" press the pedal.
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This is the open source software. Note that it is not ready to use yet.
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== Test Plan ==
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* Startup
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** Confirm STATE_FAULT_STARTUP
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* Timeout
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** Send value
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** Confirm value is output
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** Stop sending messages
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** Confirm value is passthru after 100ms
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** Confirm STATE_FAULT_TIMEOUT
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* Random values
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** Send random 6 byte messages
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** Confirm random values cause passthru
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** Confirm STATE_FAULT_BAD_CHECKSUM
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* Same message lockout
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** Send same message repeated
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** Confirm timeout behavior
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* Don't set enable
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** Confirm no output
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* Set enable and values
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** Confirm output
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@@ -0,0 +1,291 @@
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//#define DEBUG
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//#define CAN_LOOPBACK_MODE
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//#define USE_INTERNAL_OSC
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#include "../config.h"
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#include "drivers/drivers.h"
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#include "drivers/llgpio.h"
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#include "gpio.h"
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#define CUSTOM_CAN_INTERRUPTS
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#include "libc.h"
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#include "safety.h"
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#include "drivers/adc.h"
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#include "drivers/uart.h"
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#include "drivers/dac.h"
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#include "drivers/can.h"
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#include "drivers/timer.h"
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#define CAN CAN1
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//#define PEDAL_USB
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#ifdef PEDAL_USB
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#include "drivers/usb.h"
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#endif
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#define ENTER_BOOTLOADER_MAGIC 0xdeadbeef
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uint32_t enter_bootloader_mode;
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void __initialize_hardware_early() {
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early();
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}
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// ********************* serial debugging *********************
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void debug_ring_callback(uart_ring *ring) {
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char rcv;
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while (getc(ring, &rcv)) {
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putc(ring, rcv);
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}
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}
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#ifdef PEDAL_USB
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int usb_cb_ep1_in(uint8_t *usbdata, int len, int hardwired) { return 0; }
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void usb_cb_ep2_out(uint8_t *usbdata, int len, int hardwired) {}
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void usb_cb_ep3_out(uint8_t *usbdata, int len, int hardwired) {}
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void usb_cb_enumeration_complete() {}
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int usb_cb_control_msg(USB_Setup_TypeDef *setup, uint8_t *resp, int hardwired) {
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int resp_len = 0;
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uart_ring *ur = NULL;
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switch (setup->b.bRequest) {
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// **** 0xe0: uart read
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case 0xe0:
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ur = get_ring_by_number(setup->b.wValue.w);
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if (!ur) break;
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if (ur == &esp_ring) uart_dma_drain();
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// read
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while ((resp_len < min(setup->b.wLength.w, MAX_RESP_LEN)) &&
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getc(ur, (char*)&resp[resp_len])) {
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++resp_len;
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}
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break;
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}
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return resp_len;
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}
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#endif
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// ***************************** toyota can checksum ****************************
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int can_cksum(uint8_t *dat, uint8_t len, uint16_t addr)
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{
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uint8_t checksum = 0;
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checksum =((addr & 0xFF00) >> 8) + (addr & 0x00FF) + len + 1;
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//uint16_t temp_msg = msg;
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for (int ii = 0; ii < len; ii++)
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{
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checksum += (dat[ii]);
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//temp_msg = temp_msg >> 8;
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}
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//return ((msg & ~0xFF) & (checksum & 0xFF));
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return checksum;
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}
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// ***************************** can port *****************************
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// addresses to be used on CAN
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#define CAN_GAS_INPUT 0x200
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#define CAN_GAS_OUTPUT 0x201
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void CAN1_TX_IRQHandler() {
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// clear interrupt
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CAN->TSR |= CAN_TSR_RQCP0;
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}
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// two independent values
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uint16_t gas_set_0 = 0;
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uint16_t gas_set_1 = 0;
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#define MAX_TIMEOUT 10
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uint32_t timeout = 0;
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#define NO_FAULT 0
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#define FAULT_BAD_CHECKSUM 1
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#define FAULT_SEND 2
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#define FAULT_SCE 3
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#define FAULT_STARTUP 4
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#define FAULT_TIMEOUT 5
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#define FAULT_INVALID 6
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uint8_t state = FAULT_STARTUP;
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void CAN1_RX0_IRQHandler() {
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while (CAN->RF0R & CAN_RF0R_FMP0) {
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#ifdef DEBUG
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puts("CAN RX\n");
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#endif
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uint32_t address = CAN->sFIFOMailBox[0].RIR>>21;
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if (address == CAN_GAS_INPUT) {
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// softloader entry
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if (CAN->sFIFOMailBox[0].RDLR == 0xdeadface) {
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if (CAN->sFIFOMailBox[0].RDHR == 0x0ab00b1e) {
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enter_bootloader_mode = ENTER_SOFTLOADER_MAGIC;
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NVIC_SystemReset();
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} else if (CAN->sFIFOMailBox[0].RDHR == 0x02b00b1e) {
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enter_bootloader_mode = ENTER_BOOTLOADER_MAGIC;
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NVIC_SystemReset();
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}
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}
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// normal packet
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uint8_t *dat = (uint8_t *)&CAN->sFIFOMailBox[0].RDLR;
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uint8_t *dat2 = (uint8_t *)&CAN->sFIFOMailBox[0].RDHR;
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uint16_t value_0 = (dat[0] << 8) | dat[1];
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uint16_t value_1 = (dat[2] << 8) | dat[3];
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uint8_t enable = (dat2[0] >> 7) & 1;
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uint8_t index = 0;
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if (can_cksum(dat, 5, CAN_GAS_INPUT) == dat2[1]) {
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if (index == 0) {
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#ifdef DEBUG
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puts("setting gas ");
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puth(value);
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puts("\n");
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#endif
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if (enable) {
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gas_set_0 = value_0;
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gas_set_1 = value_1;
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} else {
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// clear the fault state if values are 0
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if (value_0 == 0 && value_1 == 0) {
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state = NO_FAULT;
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} else {
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state = FAULT_INVALID;
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}
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gas_set_0 = gas_set_1 = 0;
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}
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// clear the timeout
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timeout = 0;
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}
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} else {
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// wrong checksum = fault
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state = FAULT_BAD_CHECKSUM;
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}
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}
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// next
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CAN->RF0R |= CAN_RF0R_RFOM0;
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}
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}
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void CAN1_SCE_IRQHandler() {
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state = FAULT_SCE;
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can_sce(CAN);
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}
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int pdl0 = 0, pdl1 = 0;
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int led_value = 0;
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void TIM3_IRQHandler() {
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#ifdef DEBUG
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puth(TIM3->CNT);
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puts(" ");
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puth(pdl0);
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puts(" ");
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puth(pdl1);
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puts("\n");
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#endif
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// check timer for sending the user pedal and clearing the CAN
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if ((CAN->TSR & CAN_TSR_TME0) == CAN_TSR_TME0) {
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uint8_t dat[8];
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dat[0] = (pdl0>>8)&0xFF;
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dat[1] = (pdl0>>0)&0xFF;
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dat[2] = (pdl1>>8)&0xFF;
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||||
dat[3] = (pdl1>>0)&0xFF;
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dat[4] = state;
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dat[5] = can_cksum(dat, 5, CAN_GAS_OUTPUT);
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CAN->sTxMailBox[0].TDLR = dat[0] | (dat[1]<<8) | (dat[2]<<16) | (dat[3]<<24);
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CAN->sTxMailBox[0].TDHR = dat[4] | (dat[5]<<8);
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CAN->sTxMailBox[0].TDTR = 6; // len of packet is 5
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CAN->sTxMailBox[0].TIR = (CAN_GAS_OUTPUT << 21) | 1;
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} else {
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||||
// old can packet hasn't sent!
|
||||
state = FAULT_SEND;
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#ifdef DEBUG
|
||||
puts("CAN MISS\n");
|
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#endif
|
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}
|
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|
||||
// blink the LED
|
||||
set_led(LED_GREEN, led_value);
|
||||
led_value = !led_value;
|
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TIM3->SR = 0;
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|
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// up timeout for gas set
|
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if (timeout == MAX_TIMEOUT) {
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state = FAULT_TIMEOUT;
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} else {
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timeout += 1;
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||||
}
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||||
}
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||||
// ***************************** main code *****************************
|
||||
|
||||
void pedal() {
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// read/write
|
||||
pdl0 = adc_get(ADCCHAN_ACCEL0);
|
||||
pdl1 = adc_get(ADCCHAN_ACCEL1);
|
||||
|
||||
// write the pedal to the DAC
|
||||
if (state == NO_FAULT) {
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dac_set(0, max(gas_set_0, pdl0));
|
||||
dac_set(1, max(gas_set_1, pdl1));
|
||||
} else {
|
||||
dac_set(0, pdl0);
|
||||
dac_set(1, pdl1);
|
||||
}
|
||||
|
||||
// feed the watchdog
|
||||
IWDG->KR = 0xAAAA;
|
||||
}
|
||||
|
||||
int main() {
|
||||
__disable_irq();
|
||||
|
||||
// init devices
|
||||
clock_init();
|
||||
periph_init();
|
||||
gpio_init();
|
||||
|
||||
#ifdef PEDAL_USB
|
||||
// enable USB
|
||||
usb_init();
|
||||
#endif
|
||||
|
||||
// pedal stuff
|
||||
dac_init();
|
||||
adc_init();
|
||||
|
||||
// init can
|
||||
can_silent = ALL_CAN_LIVE;
|
||||
can_init(0);
|
||||
|
||||
// 48mhz / 65536 ~= 732
|
||||
timer_init(TIM3, 15);
|
||||
NVIC_EnableIRQ(TIM3_IRQn);
|
||||
|
||||
// setup watchdog
|
||||
IWDG->KR = 0x5555;
|
||||
IWDG->PR = 0; // divider /4
|
||||
// 0 = 0.125 ms, let's have a 50ms watchdog
|
||||
IWDG->RLR = 400 - 1;
|
||||
IWDG->KR = 0xCCCC;
|
||||
|
||||
puts("**** INTERRUPTS ON ****\n");
|
||||
__enable_irq();
|
||||
|
||||
// main pedal loop
|
||||
while (1) {
|
||||
pedal();
|
||||
}
|
||||
|
||||
return 0;
|
||||
}
|
||||
@@ -57,12 +57,14 @@ int controls_allowed = 0;
|
||||
#ifdef PANDA
|
||||
#include "safety/safety_toyota_ipas.h"
|
||||
#include "safety/safety_tesla.h"
|
||||
#include "safety/safety_gm_ascm.h"
|
||||
#endif
|
||||
#include "safety/safety_gm.h"
|
||||
#include "safety/safety_ford.h"
|
||||
#include "safety/safety_cadillac.h"
|
||||
#include "safety/safety_hyundai.h"
|
||||
#include "safety/safety_chrysler.h"
|
||||
#include "safety/safety_subaru.h"
|
||||
#include "safety/safety_elm327.h"
|
||||
|
||||
const safety_hooks *current_hooks = &nooutput_hooks;
|
||||
@@ -104,6 +106,8 @@ typedef struct {
|
||||
#define SAFETY_HYUNDAI 7
|
||||
#define SAFETY_TESLA 8
|
||||
#define SAFETY_CHRYSLER 9
|
||||
#define SAFETY_SUBARU 10
|
||||
#define SAFETY_GM_ASCM 0x1334
|
||||
#define SAFETY_TOYOTA_IPAS 0x1335
|
||||
#define SAFETY_TOYOTA_NOLIMITS 0x1336
|
||||
#define SAFETY_ALLOUTPUT 0x1337
|
||||
@@ -119,9 +123,11 @@ const safety_hook_config safety_hook_registry[] = {
|
||||
{SAFETY_CADILLAC, &cadillac_hooks},
|
||||
{SAFETY_HYUNDAI, &hyundai_hooks},
|
||||
{SAFETY_CHRYSLER, &chrysler_hooks},
|
||||
{SAFETY_SUBARU, &subaru_hooks},
|
||||
{SAFETY_TOYOTA_NOLIMITS, &toyota_nolimits_hooks},
|
||||
#ifdef PANDA
|
||||
{SAFETY_TOYOTA_IPAS, &toyota_ipas_hooks},
|
||||
{SAFETY_GM_ASCM, &gm_ascm_hooks},
|
||||
{SAFETY_TESLA, &tesla_hooks},
|
||||
#endif
|
||||
{SAFETY_ALLOUTPUT, &alloutput_hooks},
|
||||
|
||||
@@ -0,0 +1,52 @@
|
||||
// BUS 0 is on the LKAS module (ASCM) side
|
||||
// BUS 2 is on the actuator (EPS) side
|
||||
|
||||
static int gm_ascm_fwd_hook(int bus_num, CAN_FIFOMailBox_TypeDef *to_fwd) {
|
||||
|
||||
uint32_t addr = to_fwd->RIR>>21;
|
||||
|
||||
if (bus_num == 0) {
|
||||
|
||||
// do not propagate lkas messages from ascm to actuators
|
||||
// block 0x152 and 0x154, which are the lkas command from ASCM1 and ASCM2
|
||||
// block 0x315 and 0x2cb, which are the brake and accel commands from ASCM1
|
||||
//if ((addr == 0x152) || (addr == 0x154) || (addr == 0x315) || (addr == 0x2cb)) {
|
||||
if ((addr == 0x152) || (addr == 0x154)) {
|
||||
int supercruise_on = (to_fwd->RDHR>>4) & 0x1; // bit 36
|
||||
if (!supercruise_on) return -1;
|
||||
}
|
||||
|
||||
// on the chassis bus, the OBDII port is on the module side, so we need to read
|
||||
// the lkas messages sent by openpilot (put on unused 0x151 ane 0x153 addrs) and send it to
|
||||
// the actuator as 0x152 and 0x154
|
||||
if (addr == 0x151) {
|
||||
to_fwd->RIR = (0x152 << 21) | (to_fwd->RIR & 0x1fffff);
|
||||
}
|
||||
if (addr == 0x153) {
|
||||
to_fwd->RIR = (0x154 << 21) | (to_fwd->RIR & 0x1fffff);
|
||||
}
|
||||
|
||||
// brake
|
||||
if (addr == 0x314) {
|
||||
to_fwd->RIR = (0x315 << 21) | (to_fwd->RIR & 0x1fffff);
|
||||
}
|
||||
|
||||
return 2;
|
||||
}
|
||||
|
||||
if (bus_num == 2) {
|
||||
return 0;
|
||||
}
|
||||
|
||||
return -1;
|
||||
}
|
||||
|
||||
const safety_hooks gm_ascm_hooks = {
|
||||
.init = nooutput_init,
|
||||
.rx = default_rx_hook,
|
||||
.tx = alloutput_tx_hook,
|
||||
.tx_lin = nooutput_tx_lin_hook,
|
||||
.ignition = default_ign_hook,
|
||||
.fwd = gm_ascm_fwd_hook,
|
||||
};
|
||||
|
||||
@@ -1,4 +1,4 @@
|
||||
const int HYUNDAI_MAX_STEER = 250;
|
||||
const int HYUNDAI_MAX_STEER = 255; // like stock
|
||||
const int HYUNDAI_MAX_RT_DELTA = 112; // max delta torque allowed for real time checks
|
||||
const int32_t HYUNDAI_RT_INTERVAL = 250000; // 250ms between real time checks
|
||||
const int HYUNDAI_MAX_RATE_UP = 3;
|
||||
|
||||
@@ -0,0 +1,49 @@
|
||||
void subaru_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {}
|
||||
|
||||
// FIXME
|
||||
// *** all output safety mode ***
|
||||
|
||||
static void subaru_init(int16_t param) {
|
||||
controls_allowed = 1;
|
||||
}
|
||||
|
||||
static int subaru_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
|
||||
return true;
|
||||
}
|
||||
|
||||
static int subaru_fwd_hook(int bus_num, CAN_FIFOMailBox_TypeDef *to_fwd) {
|
||||
|
||||
// shifts bits 29 > 11
|
||||
int32_t addr = to_fwd->RIR >> 21;
|
||||
|
||||
// forward CAN 0 > 1
|
||||
if (bus_num == 0) {
|
||||
return 1; // ES CAN
|
||||
}
|
||||
// forward CAN 1 > 0, except ES_LKAS
|
||||
else if (bus_num == 1) {
|
||||
|
||||
// outback 2015
|
||||
if (addr == 0x164) {
|
||||
return -1;
|
||||
}
|
||||
// global platform
|
||||
if (addr == 0x122) {
|
||||
return -1;
|
||||
}
|
||||
|
||||
return 0; // Main CAN
|
||||
}
|
||||
|
||||
// fallback to do not forward
|
||||
return -1;
|
||||
}
|
||||
|
||||
const safety_hooks subaru_hooks = {
|
||||
.init = subaru_init,
|
||||
.rx = subaru_rx_hook,
|
||||
.tx = subaru_tx_hook,
|
||||
.tx_lin = nooutput_tx_lin_hook,
|
||||
.ignition = default_ign_hook,
|
||||
.fwd = subaru_fwd_hook,
|
||||
};
|
||||
+30
-4
@@ -127,10 +127,36 @@ const uint8_t* SHA_final(SHA_CTX* ctx) {
|
||||
while ((ctx->count & 63) != 56) {
|
||||
SHA_update(ctx, (uint8_t*)"\0", 1);
|
||||
}
|
||||
for (i = 0; i < 8; ++i) {
|
||||
uint8_t tmp = (uint8_t) (cnt >> ((7 - i) * 8));
|
||||
SHA_update(ctx, &tmp, 1);
|
||||
}
|
||||
|
||||
/* Hack - right shift operator with non const argument requires
|
||||
* libgcc.a which is missing in EON
|
||||
* thus expanding for loop from
|
||||
|
||||
for (i = 0; i < 8; ++i) {
|
||||
uint8_t tmp = (uint8_t) (cnt >> ((7 - i) * 8));
|
||||
SHA_update(ctx, &tmp, 1);
|
||||
}
|
||||
|
||||
to
|
||||
*/
|
||||
|
||||
uint8_t tmp = 0;
|
||||
tmp = (uint8_t) (cnt >> ((7 - 0) * 8));
|
||||
SHA_update(ctx, &tmp, 1);
|
||||
tmp = (uint8_t) (cnt >> ((7 - 1) * 8));
|
||||
SHA_update(ctx, &tmp, 1);
|
||||
tmp = (uint8_t) (cnt >> ((7 - 2) * 8));
|
||||
SHA_update(ctx, &tmp, 1);
|
||||
tmp = (uint8_t) (cnt >> ((7 - 3) * 8));
|
||||
SHA_update(ctx, &tmp, 1);
|
||||
tmp = (uint8_t) (cnt >> ((7 - 4) * 8));
|
||||
SHA_update(ctx, &tmp, 1);
|
||||
tmp = (uint8_t) (cnt >> ((7 - 5) * 8));
|
||||
SHA_update(ctx, &tmp, 1);
|
||||
tmp = (uint8_t) (cnt >> ((7 - 6) * 8));
|
||||
SHA_update(ctx, &tmp, 1);
|
||||
tmp = (uint8_t) (cnt >> ((7 - 7) * 8));
|
||||
SHA_update(ctx, &tmp, 1);
|
||||
|
||||
for (i = 0; i < 5; i++) {
|
||||
uint32_t tmp = ctx->state[i];
|
||||
|
||||
@@ -5,7 +5,7 @@ import libpandasafety_py
|
||||
|
||||
MAX_RATE_UP = 3
|
||||
MAX_RATE_DOWN = 7
|
||||
MAX_STEER = 250
|
||||
MAX_STEER = 255
|
||||
|
||||
MAX_RT_DELTA = 112
|
||||
RT_INTERVAL = 250000
|
||||
|
||||
Reference in New Issue
Block a user