Merge pull request commaai#29 from palmerit/dkms

Add DKMS support

__init__.py

@@ -1 +1 @@
-from .panda import Panda
+from .panda import Panda, PandaWifiStreaming

board/build.mk

@@ -67,4 +67,4 @@ obj/bootstub.$(PROJ_NAME).bin: obj/$(STARTUP_FILE).o obj/bootstub.$(PROJ_NAME).o
 	$(OBJCOPY) -v -O binary obj/bootstub.$(PROJ_NAME).elf $@
 
 clean:
-	rm -f obj/*
+	@rm -f obj/*

board/drivers/can.h

@@ -193,7 +193,7 @@ void can_init_all() {
 }
 
 void can_set_gmlan(int bus) {
-  if (bus == -1) {
+  if (bus == -1 || bus != can_num_lookup[3]) {
     // GMLAN OFF
     switch (can_num_lookup[3]) {
       case 1:
@@ -213,7 +213,9 @@ void can_set_gmlan(int bus) {
         can_init(2);
         break;
     }
-  } else if (bus == 1) {
+  }
+
+  if (bus == 1) {
     puts("GMLAN on CAN2\n");
     // GMLAN on CAN2
     set_can_mode(1, 1);

board/drivers/spi.h

@@ -83,7 +83,7 @@ void DMA2_Stream2_IRQHandler(void) {
   DMA2->LIFCR = DMA_LIFCR_CTCIF2;
   int *resp_len = (int*)spi_tx_buf;
   memset(spi_tx_buf, 0xaa, 0x44);
-  *resp_len = spi_cb_rx(spi_buf, 0x13, spi_tx_buf+4);
+  *resp_len = spi_cb_rx(spi_buf, 0x14, spi_tx_buf+4);
   #ifdef DEBUG_SPI
     puts("SPI write: ");
     puth(*resp_len);

board/drivers/usb.h

@@ -258,7 +258,6 @@ char to_hex_char(int a) {
 }
 
 void usb_setup() {
-  int i;
   int resp_len;
   // setup packet is ready
   switch (setup.b.bRequest) {
@@ -332,7 +331,7 @@ void usb_setup() {
                 resp[1] = 0x03;
 
                 // 96 bits = 12 bytes
-                for (i = 0; i < 12; i++){
+                for (int i = 0; i < 12; i++){
                   uint8_t cc = ((uint8_t *)UID_BASE)[i];
                   resp[2 + i*4 + 0] = to_hex_char((cc>>4)&0xF);
                   resp[2 + i*4 + 1] = '\0';
@@ -342,7 +341,7 @@ void usb_setup() {
 
                 USB_WritePacket(resp, min(resp[0], setup.b.wLength.w), 0);
               #else
-                USB_WritePacket(string_3_desc, min(sizeof(string_3_desc), setup.b.wLength.w), 0);
+                USB_WritePacket((const uint8_t *)string_3_desc, min(sizeof(string_3_desc), setup.b.wLength.w), 0);
               #endif
               break;
             default:

board/main.c

@@ -397,7 +397,7 @@ int spi_cb_rx(uint8_t *data, int len, uint8_t *data_out) {
 
 #else
 
-int spi_cb_rx(uint8_t *data, int len) { return 0; };
+int spi_cb_rx(uint8_t *data, int len, uint8_t *data_out) { return 0; };
 
 #endif
 

board/safety/safety_honda.h

@@ -27,7 +27,7 @@ static void honda_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
 
   // exit controls on brake press
   if ((to_push->RIR>>21) == 0x17C) {
-    // bit 50
+    // bit 53
     if (to_push->RDHR & 0x200000) {
       controls_allowed = 0;
     }

boardesp/proxy.c

@@ -55,14 +55,16 @@ static int ICACHE_FLASH_ATTR __spi_comm(char *dat, int len, uint32_t *recvData,
   spiData.dataLen = 0x14;
   SPIMasterSendData(SpiNum_HSPI, &spiData);
 
+  #define SPI_TIMEOUT 50000
   // give the ST time to be ready, up to 500ms
-  for (int i = 0;(gpio_input_get() & (1 << 4)) && i < 50000; i++) {
+  int i;
+  for (i = 0; (gpio_input_get() & (1 << 4)) && i < SPI_TIMEOUT; i++) {
     os_delay_us(10);
     system_soft_wdt_feed();
   }
 
   // TODO: handle this better
-  if (gpio_input_get() & (1 << 4)) os_printf("ERROR: SPI receive failed\n");
+  if (i == SPI_TIMEOUT) os_printf("ERROR: SPI receive failed\n");
 
   // blank out recvData
   memset(recvData, 0xBB, 0x44);
@@ -152,28 +154,47 @@ void ICACHE_FLASH_ATTR poll_can(void *arg) {
   }
 }
 
-int udp_sending = 0;
+int udp_countdown = 0;
 
-static volatile os_timer_t udp_timeout;
-void ICACHE_FLASH_ATTR udp_timeout_func(void *arg) {
-  udp_sending = 0;
+static volatile os_timer_t udp_callback;
+void ICACHE_FLASH_ATTR udp_callback_func(void *arg) {
+  if (queue_send_len == -1) {
+    poll_can(NULL);
+  } else {
+    int ret = espconn_sendto(&inter_conn, buf, queue_send_len);
+    if (ret == 0) {
+      queue_send_len = -1;
+    }
+  }
+  if (udp_countdown > 0) {
+    os_timer_arm(&udp_callback, 5, 0);
+    udp_countdown--;
+  } else {
+    os_printf("UDP timeout\n");
+  }
 }
 
 void ICACHE_FLASH_ATTR inter_recv_cb(void *arg, char *pusrdata, unsigned short length) {
-  os_printf("UDP recv\n");
   remot_info *premot = NULL;
   if (espconn_get_connection_info(&inter_conn,&premot,0) == ESPCONN_OK) {
-		udp_sending = 1;
 		inter_conn.proto.udp->remote_port = premot->remote_port;
 		inter_conn.proto.udp->remote_ip[0] = premot->remote_ip[0];
 		inter_conn.proto.udp->remote_ip[1] = premot->remote_ip[1];
 		inter_conn.proto.udp->remote_ip[2] = premot->remote_ip[2];
 		inter_conn.proto.udp->remote_ip[3] = premot->remote_ip[3];
 
-    // start 5 second timer
-    os_timer_disarm(&udp_timeout);
-    os_timer_setfn(&udp_timeout, (os_timer_func_t *)udp_timeout_func, NULL);
-    os_timer_arm(&udp_timeout, 5*1000, 0);
+
+    if (udp_countdown == 0) {
+      os_printf("UDP recv\n");
+      udp_countdown = 200*5;
+
+      // start 5 second timer
+      os_timer_disarm(&udp_callback);
+      os_timer_setfn(&udp_callback, (os_timer_func_t *)udp_callback_func, NULL);
+      os_timer_arm(&udp_callback, 5, 0);
+    } else {
+      udp_countdown = 200*5;
+    }
   }
 }
 
@@ -255,8 +276,7 @@ void loop();
 void ICACHE_FLASH_ATTR web_init();
 void ICACHE_FLASH_ATTR elm327_init();
 
-void ICACHE_FLASH_ATTR user_init()
-{
+void ICACHE_FLASH_ATTR user_init() {
   // init gpio subsystem
   gpio_init();
 
@@ -316,16 +336,6 @@ void ICACHE_FLASH_ATTR user_init()
 
 
 void ICACHE_FLASH_ATTR loop(os_event_t *events) {
-  if (udp_sending) {
-    if (queue_send_len == -1) {
-      poll_can(NULL);
-    } else {
-      int ret = espconn_sendto(&inter_conn, buf, queue_send_len);
-      if (ret == 0) {
-        queue_send_len = -1;
-      }
-    }
-  }
   system_os_post(LOOP_PRIO, 0, 0);
 }
 

drivers/linux/Makefile

@@ -1,6 +1,18 @@
+VERSION=0.0.1
 obj-m+=panda.o
 
-all:
-	make -C /lib/modules/$(shell uname -r)/build/ M=$(PWD) modules
-clean:
-	make -C /lib/modules/$(shell uname -r)/build/ M=$(PWD) clean
+link:
+	sudo dkms add `pwd`
+
+build:
+	sudo dkms build panda/$(VERSION)
+
+install:
+	sudo dkms install panda/$(VERSION)
+
+all:	build install
+
+uninstall:
+	sudo dkms uninstall panda/$(VERSION)
+	sudo dkms remove panda/$(VERSION) --all
+

drivers/linux/README.md

@@ -0,0 +1,16 @@
+Installs the panda linux kernel driver using DKMS.
+
+This will allow the panda to work with tools such as `can-utils`
+
+prerequisites:
+ - apt-get install dkms gcc linux-headers-$(uname -r) make sudo
+
+installation:
+ - make link (only needed the first time. It will report an error on subsequent attempts to link)
+ - make all
+ - make install
+
+uninstall:
+ - make uninstall
+
+

drivers/linux/dkms.conf

@@ -0,0 +1,6 @@
+PACKAGE_NAME="panda"
+PACKAGE_VERSION="0.0.1"
+BUILT_MODULE_NAME[0]="panda"
+DEST_MODULE_LOCATION[0]="/kernel/drivers/net/panda/"
+AUTOINSTALL="yes"
+

panda/__init__.py

@@ -7,6 +7,7 @@
 import usb1
 import os
 import time
+import traceback
 
 __version__ = '0.0.3'
 
@@ -28,10 +29,14 @@ def parse_can_buffer(dat):
 class PandaWifiStreaming(object):
   def __init__(self, ip="192.168.0.10", port=1338):
     self.sock = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
-    self.sock.sendto("hello", (ip, port))
     self.sock.setblocking(0)
     self.ip = ip
     self.port = port
+    self.kick()
+
+  def kick(self):
+    # must be called at least every 5 seconds
+    self.sock.sendto("hello", (self.ip, self.port))
 
   def can_recv(self):
     ret = []
@@ -40,7 +45,9 @@ def can_recv(self):
         dat, addr = self.sock.recvfrom(0x200*0x10)
         if addr == (self.ip, self.port):
           ret += parse_can_buffer(dat)
-      except socket.error:
+      except socket.error as e:
+        if e.errno != 35:
+          traceback.print_exc()
         break
     return ret
 
@@ -156,9 +163,10 @@ def flash(self, fn=None):
     assert(self.bootstub)
 
     if fn is None:
-      ret = os.system("cd %s && make clean && make -f %s bin" % (os.path.join(BASEDIR, "board"),
-                      "Makefile.legacy" if self.legacy else "Makefile"))
-      fn = os.path.join(BASEDIR, "board", "obj", "code.bin" if self.legacy else "panda.bin")
+      ret = os.system("cd %s && make clean && make -f %s %s" % (os.path.join(BASEDIR, "board"),
+                      "Makefile.legacy" if self.legacy else "Makefile",
+                      "obj/comma.bin" if self.legacy else "obj/panda.bin"))
+      fn = os.path.join(BASEDIR, "board", "obj", "comma.bin" if self.legacy else "panda.bin")
 
     with open(fn) as f:
       dat = f.read()

run_automated_tests.sh

@@ -1,3 +1,3 @@
 #!/bin/bash
-nosetests -x -s tests/automated/*.py
+nosetests -x -s tests/automated/$1*.py
 

tests/automated/0_builds.py

@@ -0,0 +1,19 @@
+import os
+
+BASEDIR = os.path.join(os.path.dirname(os.path.realpath(__file__)), "../")
+
+def build(target, mkfile="Makefile"):
+  assert(os.system('cd %s && make -f %s clean && make -f %s %s >/dev/null' % (os.path.join(BASEDIR, "../board"), mkfile, mkfile, target)) == 0)
+
+def test_build_legacy():
+  build("obj/comma.bin", "Makefile.legacy")
+
+def test_build_bootstub_legacy():
+  build("obj/bootstub.comma.bin", "Makefile.legacy")
+
+def test_build_panda():
+  build("obj/panda.bin")
+
+def test_build_bootstub_panda():
+  build("obj/bootstub.panda.bin")
+

tests/automated/2_usb_to_can.py

@@ -6,6 +6,9 @@
 from nose.tools import timed, assert_equal, assert_less, assert_greater
 from helpers import time_many_sends, connect_wo_esp
 
+SPEED_NORMAL = 500
+SPEED_GMLAN = 33.3
+
 def test_can_loopback():
   p = connect_wo_esp()
 
@@ -129,9 +132,6 @@ def test_gmlan():
   # enable CAN loopback mode
   p.set_can_loopback(True)
 
-  SPEED_NORMAL = 500
-  SPEED_GMLAN = 33.3
-
   p.set_can_speed_kbps(1, SPEED_NORMAL)
   p.set_can_speed_kbps(2, SPEED_NORMAL)
   p.set_can_speed_kbps(3, SPEED_GMLAN)
@@ -150,6 +150,33 @@ def test_gmlan():
 
     print("%d: %.2f kbps vs %.2f kbps" % (bus, comp_kbps_gmlan, comp_kbps_normal))
 
+def test_gmlan_bad_toggle():
+  p = connect_wo_esp()
+
+  if p.legacy:
+    return
+
+  # enable output mode
+  p.set_safety_mode(Panda.SAFETY_ALLOUTPUT)
+
+  # enable CAN loopback mode
+  p.set_can_loopback(True)
+
+  # GMLAN_CAN2
+  for bus in [Panda.GMLAN_CAN2, Panda.GMLAN_CAN3]:
+    p.set_gmlan(bus)
+    comp_kbps_gmlan = time_many_sends(p, 3)
+    assert_greater(comp_kbps_gmlan, 0.6 * SPEED_GMLAN)
+    assert_less(comp_kbps_gmlan, 1.0 * SPEED_GMLAN)
+
+  # normal
+  for bus in [Panda.GMLAN_CAN2, Panda.GMLAN_CAN3]:
+    p.set_gmlan(None)
+    comp_kbps_normal = time_many_sends(p, bus)
+    assert_greater(comp_kbps_normal, 0.6 * SPEED_NORMAL)
+    assert_less(comp_kbps_normal, 1.0 * SPEED_NORMAL)
+
+
 # this will fail if you have hardware serial connected
 def test_serial_debug():
   p = connect_wo_esp()

tests/automated/4_wifi_functionality.py

@@ -36,4 +36,18 @@ def test_throughput():
 
     print("WIFI loopback 100 messages at speed %d, comp speed is %.2f, percent %.2f" % (speed, comp_kbps, saturation_pct))
 
+def test_recv_only():
+  p = Panda()
+  p.set_safety_mode(Panda.SAFETY_ALLOUTPUT)
+  p.set_can_loopback(True)
+  pwifi = Panda("WIFI")
+
+  # TODO: msg_count=1000 drops packets, is this fixable?
+  for msg_count in [10,100,200]:
+    speed = 500
+    p.set_can_speed_kbps(0, speed)
+    comp_kbps = time_many_sends(p, 0, pwifi, msg_count)
+    saturation_pct = (comp_kbps/speed) * 100.0
+
+    print("HT WIFI loopback %d messages at speed %d, comp speed is %.2f, percent %.2f" % (msg_count, speed, comp_kbps, saturation_pct))