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Merge panda subtree

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This commit is contained in:
Vehicle Researcher
2019-07-22 19:15:27 +00:00
parent 53413fa019 1ff59baea7
commit c8b4633cd1
78 changed files with 6702 additions and 5856 deletions
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panda/board/main.c
+104 -83
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@@ -33,7 +33,7 @@
void debug_ring_callback(uart_ring *ring) {
char rcv;
while (getc(ring, &rcv)) {
putc(ring, rcv);
(void)putc(ring, rcv); // misra-c2012-17.7: cast to void is ok: debug function
// jump to DFU flash
if (rcv == 'z') {
@@ -69,9 +69,10 @@ bool is_gpio_started(void) {
return (GPIOA->IDR & (1U << 1)) == 0;
}
// cppcheck-suppress unusedFunction ; used in headers not included in cppcheck
void EXTI1_IRQHandler(void) {
volatile int pr = EXTI->PR & (1U << 1);
if ((pr & (1U << 1)) != 0) {
volatile unsigned int pr = EXTI->PR & (1U << 1);
if ((pr & (1U << 1)) != 0U) {
#ifdef DEBUG
puts("got started interrupt\n");
#endif
@@ -98,13 +99,14 @@ void started_interrupt_init(void) {
int get_health_pkt(void *dat) {
struct __attribute__((packed)) {
uint32_t voltage;
uint32_t current;
uint8_t started;
uint8_t controls_allowed;
uint8_t gas_interceptor_detected;
uint8_t started_signal_detected;
uint8_t started_alt;
uint32_t voltage_pkt;
uint32_t current_pkt;
uint8_t started_pkt;
uint8_t controls_allowed_pkt;
uint8_t gas_interceptor_detected_pkt;
uint32_t can_send_errs_pkt;
uint32_t can_fwd_errs_pkt;
uint32_t gmlan_send_errs_pkt;
} *health = dat;
//Voltage will be measured in mv. 5000 = 5V
@@ -117,29 +119,28 @@ int get_health_pkt(void *dat) {
// s = 1000/((4095/3.3)*(1/11)) = 8.8623046875
// Avoid needing floating point math
health->voltage = (voltage * 8862) / 1000;
health->voltage_pkt = (voltage * 8862U) / 1000U;
health->current = adc_get(ADCCHAN_CURRENT);
health->current_pkt = adc_get(ADCCHAN_CURRENT);
int safety_ignition = safety_ignition_hook();
if (safety_ignition < 0) {
//Use the GPIO pin to determine ignition
health->started = is_gpio_started();
health->started_pkt = is_gpio_started();
} else {
//Current safety hooks want to determine ignition (ex: GM)
health->started = safety_ignition;
health->started_pkt = safety_ignition;
}
health->controls_allowed = controls_allowed;
health->gas_interceptor_detected = gas_interceptor_detected;
// DEPRECATED
health->started_alt = 0;
health->started_signal_detected = 0;
health->controls_allowed_pkt = controls_allowed;
health->gas_interceptor_detected_pkt = gas_interceptor_detected;
health->can_send_errs_pkt = can_send_errs;
health->can_fwd_errs_pkt = can_fwd_errs;
health->gmlan_send_errs_pkt = gmlan_send_errs;
return sizeof(*health);
}
int usb_cb_ep1_in(uint8_t *usbdata, int len, bool hardwired) {
int usb_cb_ep1_in(void *usbdata, int len, bool hardwired) {
UNUSED(hardwired);
CAN_FIFOMailBox_TypeDef *reply = (CAN_FIFOMailBox_TypeDef *)usbdata;
int ilen = 0;
@@ -150,13 +151,14 @@ int usb_cb_ep1_in(uint8_t *usbdata, int len, bool hardwired) {
}
// send on serial, first byte to select the ring
void usb_cb_ep2_out(uint8_t *usbdata, int len, bool hardwired) {
void usb_cb_ep2_out(void *usbdata, int len, bool hardwired) {
UNUSED(hardwired);
uart_ring *ur = get_ring_by_number(usbdata[0]);
uint8_t *usbdata8 = (uint8_t *)usbdata;
uart_ring *ur = get_ring_by_number(usbdata8[0]);
if ((len != 0) && (ur != NULL)) {
if ((usbdata[0] < 2) || safety_tx_lin_hook(usbdata[0]-2, usbdata+1, len-1)) {
if ((usbdata8[0] < 2U) || safety_tx_lin_hook(usbdata8[0] - 2U, usbdata8 + 1, len - 1)) {
for (int i = 1; i < len; i++) {
while (!putc(ur, usbdata[i])) {
while (!putc(ur, usbdata8[i])) {
// wait
}
}
@@ -165,18 +167,16 @@ void usb_cb_ep2_out(uint8_t *usbdata, int len, bool hardwired) {
}
// send on CAN
void usb_cb_ep3_out(uint8_t *usbdata, int len, bool hardwired) {
void usb_cb_ep3_out(void *usbdata, int len, bool hardwired) {
UNUSED(hardwired);
int dpkt = 0;
for (dpkt = 0; dpkt < len; dpkt += 0x10) {
uint32_t *tf = (uint32_t*)(&usbdata[dpkt]);
// make a copy
uint32_t *d32 = (uint32_t *)usbdata;
for (dpkt = 0; dpkt < (len / 4); dpkt += 4) {
CAN_FIFOMailBox_TypeDef to_push;
to_push.RDHR = tf[3];
to_push.RDLR = tf[2];
to_push.RDTR = tf[1];
to_push.RIR = tf[0];
to_push.RDHR = d32[dpkt + 3];
to_push.RDLR = d32[dpkt + 2];
to_push.RDTR = d32[dpkt + 1];
to_push.RIR = d32[dpkt];
uint8_t bus_number = (to_push.RDTR >> 4) & CAN_BUS_NUM_MASK;
can_send(&to_push, bus_number);
@@ -191,7 +191,7 @@ void usb_cb_enumeration_complete() {
}
int usb_cb_control_msg(USB_Setup_TypeDef *setup, uint8_t *resp, bool hardwired) {
int resp_len = 0;
unsigned int resp_len = 0;
uart_ring *ur = NULL;
int i;
switch (setup->b.bRequest) {
@@ -211,8 +211,8 @@ int usb_cb_control_msg(USB_Setup_TypeDef *setup, uint8_t *resp, bool hardwired)
// **** 0xd0: fetch serial number
case 0xd0:
// addresses are OTP
if (setup->b.wValue.w == 1) {
memcpy(resp, (void *)0x1fff79c0, 0x10);
if (setup->b.wValue.w == 1U) {
(void)memcpy(resp, (uint8_t *)0x1fff79c0, 0x10);
resp_len = 0x10;
} else {
get_provision_chunk(resp);
@@ -248,8 +248,8 @@ int usb_cb_control_msg(USB_Setup_TypeDef *setup, uint8_t *resp, bool hardwired)
// **** 0xd6: get version
case 0xd6:
COMPILE_TIME_ASSERT(sizeof(gitversion) <= MAX_RESP_LEN);
memcpy(resp, gitversion, sizeof(gitversion));
resp_len = sizeof(gitversion)-1;
(void)memcpy(resp, gitversion, sizeof(gitversion));
resp_len = sizeof(gitversion) - 1U;
break;
// **** 0xd8: reset ST
case 0xd8:
@@ -257,9 +257,9 @@ int usb_cb_control_msg(USB_Setup_TypeDef *setup, uint8_t *resp, bool hardwired)
break;
// **** 0xd9: set ESP power
case 0xd9:
if (setup->b.wValue.w == 1) {
if (setup->b.wValue.w == 1U) {
set_esp_mode(ESP_ENABLED);
} else if (setup->b.wValue.w == 2) {
} else if (setup->b.wValue.w == 2U) {
set_esp_mode(ESP_BOOTMODE);
} else {
set_esp_mode(ESP_DISABLED);
@@ -269,7 +269,7 @@ int usb_cb_control_msg(USB_Setup_TypeDef *setup, uint8_t *resp, bool hardwired)
case 0xda:
set_esp_mode(ESP_DISABLED);
delay(1000000);
if (setup->b.wValue.w == 1) {
if (setup->b.wValue.w == 1U) {
set_esp_mode(ESP_BOOTMODE);
} else {
set_esp_mode(ESP_ENABLED);
@@ -279,12 +279,14 @@ int usb_cb_control_msg(USB_Setup_TypeDef *setup, uint8_t *resp, bool hardwired)
break;
// **** 0xdb: set GMLAN multiplexing mode
case 0xdb:
if (setup->b.wValue.w == 1) {
if (setup->b.wValue.w == 1U) {
// GMLAN ON
if (setup->b.wIndex.w == 1) {
if (setup->b.wIndex.w == 1U) {
can_set_gmlan(1);
} else if (setup->b.wIndex.w == 2) {
} else if (setup->b.wIndex.w == 2U) {
can_set_gmlan(2);
} else {
puts("Invalid bus num for GMLAN CAN set\n");
}
} else {
can_set_gmlan(-1);
@@ -296,27 +298,33 @@ int usb_cb_control_msg(USB_Setup_TypeDef *setup, uint8_t *resp, bool hardwired)
// and it's blocked over WiFi
// Allow ELM security mode to be set over wifi.
if (hardwired || (setup->b.wValue.w == SAFETY_NOOUTPUT) || (setup->b.wValue.w == SAFETY_ELM327)) {
safety_set_mode(setup->b.wValue.w, (int16_t)setup->b.wIndex.w);
if (safety_ignition_hook() != -1) {
// if the ignition hook depends on something other than the started GPIO
// we have to disable power savings (fix for GM and Tesla)
set_power_save_state(POWER_SAVE_STATUS_DISABLED);
}
#ifndef EON
// always LIVE on EON
switch (setup->b.wValue.w) {
case SAFETY_NOOUTPUT:
can_silent = ALL_CAN_SILENT;
break;
case SAFETY_ELM327:
can_silent = ALL_CAN_BUT_MAIN_SILENT;
break;
default:
can_silent = ALL_CAN_LIVE;
break;
int err = safety_set_mode(setup->b.wValue.w, (int16_t)setup->b.wIndex.w);
if (err == -1) {
puts("Error: safety set mode failed\n");
} else {
#ifndef EON
// always LIVE on EON
switch (setup->b.wValue.w) {
case SAFETY_NOOUTPUT:
can_silent = ALL_CAN_SILENT;
break;
case SAFETY_ELM327:
can_silent = ALL_CAN_BUT_MAIN_SILENT;
break;
default:
can_silent = ALL_CAN_LIVE;
break;
}
#endif
if (safety_ignition_hook() != -1) {
// if the ignition hook depends on something other than the started GPIO
// we have to disable power savings (fix for GM and Tesla)
set_power_save_state(POWER_SAVE_STATUS_DISABLED);
} else {
// power mode is already POWER_SAVE_STATUS_DISABLED and CAN TXs are active
}
#endif
can_init_all();
can_init_all();
}
}
break;
// **** 0xdd: enable can forwarding
@@ -326,8 +334,10 @@ int usb_cb_control_msg(USB_Setup_TypeDef *setup, uint8_t *resp, bool hardwired)
if ((setup->b.wValue.w < BUS_MAX) && (setup->b.wIndex.w < BUS_MAX) &&
(setup->b.wValue.w != setup->b.wIndex.w)) { // set forwarding
can_set_forwarding(setup->b.wValue.w, setup->b.wIndex.w & CAN_BUS_NUM_MASK);
} else if((setup->b.wValue.w < BUS_MAX) && (setup->b.wIndex.w == 0xFF)){ //Clear Forwarding
} else if((setup->b.wValue.w < BUS_MAX) && (setup->b.wIndex.w == 0xFFU)){ //Clear Forwarding
can_set_forwarding(setup->b.wValue.w, -1);
} else {
puts("Invalid CAN bus forwarding\n");
}
break;
// **** 0xde: set can bitrate
@@ -340,7 +350,7 @@ int usb_cb_control_msg(USB_Setup_TypeDef *setup, uint8_t *resp, bool hardwired)
// **** 0xdf: set long controls allowed
case 0xdf:
if (hardwired) {
long_controls_allowed = setup->b.wValue.w & 1;
long_controls_allowed = setup->b.wValue.w & 1U;
}
break;
// **** 0xe0: uart read
@@ -401,15 +411,15 @@ int usb_cb_control_msg(USB_Setup_TypeDef *setup, uint8_t *resp, bool hardwired)
break;
// **** 0xe5: set CAN loopback (for testing)
case 0xe5:
can_loopback = (setup->b.wValue.w > 0);
can_loopback = (setup->b.wValue.w > 0U);
can_init_all();
break;
// **** 0xe6: set USB power
case 0xe6:
if (setup->b.wValue.w == 1) {
if (setup->b.wValue.w == 1U) {
puts("user setting CDP mode\n");
set_usb_power_mode(USB_POWER_CDP);
} else if (setup->b.wValue.w == 2) {
} else if (setup->b.wValue.w == 2U) {
puts("user setting DCP mode\n");
set_usb_power_mode(USB_POWER_DCP);
} else {
@@ -419,7 +429,7 @@ int usb_cb_control_msg(USB_Setup_TypeDef *setup, uint8_t *resp, bool hardwired)
break;
// **** 0xf0: do k-line wValue pulse on uart2 for Acura
case 0xf0:
if (setup->b.wValue.w == 1) {
if (setup->b.wValue.w == 1U) {
GPIOC->ODR &= ~(1U << 10);
GPIOC->MODER &= ~GPIO_MODER_MODER10_1;
GPIOC->MODER |= GPIO_MODER_MODER10_0;
@@ -431,7 +441,7 @@ int usb_cb_control_msg(USB_Setup_TypeDef *setup, uint8_t *resp, bool hardwired)
for (i = 0; i < 80; i++) {
delay(8000);
if (setup->b.wValue.w == 1) {
if (setup->b.wValue.w == 1U) {
GPIOC->ODR |= (1U << 10);
GPIOC->ODR &= ~(1U << 10);
} else {
@@ -440,7 +450,7 @@ int usb_cb_control_msg(USB_Setup_TypeDef *setup, uint8_t *resp, bool hardwired)
}
}
if (setup->b.wValue.w == 1) {
if (setup->b.wValue.w == 1U) {
GPIOC->MODER &= ~GPIO_MODER_MODER10_0;
GPIOC->MODER |= GPIO_MODER_MODER10_1;
} else {
@@ -452,12 +462,14 @@ int usb_cb_control_msg(USB_Setup_TypeDef *setup, uint8_t *resp, bool hardwired)
break;
// **** 0xf1: Clear CAN ring buffer.
case 0xf1:
if (setup->b.wValue.w == 0xFFFF) {
if (setup->b.wValue.w == 0xFFFFU) {
puts("Clearing CAN Rx queue\n");
can_clear(&can_rx_q);
} else if (setup->b.wValue.w < BUS_MAX) {
puts("Clearing CAN Tx queue\n");
can_clear(can_queues[setup->b.wValue.w]);
} else {
puts("Clearing CAN CAN ring buffer failed: wrong bus number\n");
}
break;
// **** 0xf2: Clear UART ring buffer.
@@ -479,6 +491,7 @@ int usb_cb_control_msg(USB_Setup_TypeDef *setup, uint8_t *resp, bool hardwired)
return resp_len;
}
#ifndef EON
int spi_cb_rx(uint8_t *data, int len, uint8_t *data_out) {
// data[0] = endpoint
// data[2] = length
@@ -508,26 +521,28 @@ int spi_cb_rx(uint8_t *data, int len, uint8_t *data_out) {
}
return resp_len;
}
#endif
// ***************************** main code *****************************
// cppcheck-suppress unusedFunction ; used in headers not included in cppcheck
void __initialize_hardware_early(void) {
early();
}
void __attribute__ ((noinline)) enable_fpu(void) {
// enable the FPU
SCB->CPACR |= ((3UL << (10U * 2)) | (3UL << (11U * 2)));
SCB->CPACR |= ((3UL << (10U * 2U)) | (3UL << (11U * 2U)));
}
uint64_t tcnt = 0;
uint64_t marker = 0;
// called once per second
// cppcheck-suppress unusedFunction ; used in headers not included in cppcheck
void TIM3_IRQHandler(void) {
#define CURRENT_THRESHOLD 0xF00
#define CLICKS 5 // 5 seconds to switch modes
#define CURRENT_THRESHOLD 0xF00U
#define CLICKS 5U // 5 seconds to switch modes
if (TIM3->SR != 0) {
can_live = pending_can_live;
@@ -538,7 +553,7 @@ void TIM3_IRQHandler(void) {
switch (usb_power_mode) {
case USB_POWER_CLIENT:
if ((tcnt-marker) >= CLICKS) {
if ((tcnt - marker) >= CLICKS) {
if (!is_enumerated) {
puts("USBP: didn't enumerate, switching to CDP mode\n");
// switch to CDP
@@ -594,7 +609,7 @@ void TIM3_IRQHandler(void) {
puts("\n");*/
// reset this every 16th pass
if ((tcnt&0xF) == 0) {
if ((tcnt & 0xFU) == 0U) {
pending_can_live = 0;
}
#ifdef DEBUG
@@ -609,10 +624,10 @@ void TIM3_IRQHandler(void) {
// turn off the blue LED, turned on by CAN
// unless we are in power saving mode
set_led(LED_BLUE, (tcnt & 1) && (power_save_status == POWER_SAVE_STATUS_ENABLED));
set_led(LED_BLUE, (tcnt & 1U) && (power_save_status == POWER_SAVE_STATUS_ENABLED));
// on to the next one
tcnt += 1;
tcnt += 1U;
}
TIM3->SR = 0;
}
@@ -680,7 +695,13 @@ int main(void) {
// default to silent mode to prevent issues with Ford
// hardcode a specific safety mode if you want to force the panda to be in a specific mode
safety_set_mode(SAFETY_NOOUTPUT, 0);
int err = safety_set_mode(SAFETY_NOOUTPUT, 0);
if (err == -1) {
puts("Failed to set safety mode\n");
while (true) {
// if SAFETY_NOOUTPUT isn't succesfully set, we can't continue
}
}
#ifdef EON
// if we're on an EON, it's fine for CAN to be live for fingerprinting
can_silent = ALL_CAN_LIVE;