Squashed 'panda/' changes from 98f29a4..67d5208

67d5208 fix signedness issue in toyota safety
fe15d3f bump pandacan
11c2b08 add fault invalid
2c26e45 add sleep
27c7637 forgot the counter
3a6d7db don't hang
bfa7d2e canloader works
b259e2a can flasher is close to working
83f2edf isotp can support in softloader
7ae7c79 typo
e85cc47 forgot the selfs
190b4f6 start work on canflasher
5c655c9 add recover support
ae3457f usbflash is reliable
f7a0ab0 pedal usbflash works
585d0f9 add way to call isotp
be82899 despite it being bad code, move isotp
000715b start work on pedal canloader
626e312 pedal has a bootstub now
3662d1e redundant check
81e6b0d fix bug
083cd12 should have bounty to refactor that ish
b65d30c bad asserts
b2e6c3f isotp untested support for subaddr
30fd66a Merge pull request #93 from vntarasov/volt
06f5109 Merge pull request #94 from gregjhogan/can-printer-hex
c7d098c Merge pull request #95 from gregjhogan/setup-script
22fe250 Merge pull request #99 from gregjhogan/bit-transition-example
ba16ba3 Merge pull request #100 from gregjhogan/j2534-troubleshooting-instructions
ad08ea4 Merge pull request #90 from gregjhogan/can-forwarding
f3b6f5d added j2534 troubleshooting instructions
858d150 added script to find bits that transition from 0 to 1
c6acac8 added checking pedal interceptor message length
f7226ff added brake safety checks
d0c2634 added gas safety checks
d378e4a removed bosch safety forwarding restriction on 29 bit addresses
5c7ef9e added bosch safety hooks and forwarding
90c64b6 add note
23de8d4 Merge pull request #97 from commaai/pedal_improvements
0261641 added missing python packages
b92b235 fix bytearray encode issue
2434f1c Tweak Volt's brake pedal stickiness
e2f73d2 enable has a whole byte to itself
d5a9e1e correct checksum
f8ed9fa better names
986a14c don't alias pointers
9b8472e add watchdog support
8f0add9 handle faults
1d917f8 split gas set into 2 values, and have a fault state
1b77026 j2534 isn't alpha anymore
fbcc872 Merge pull request #92 from commaai/pedal
8a6f44b pedal is sending messages
08f464c python 3 bro is bad bro
9390961 kline checksum algo was broken...
3b7c33b add kline debug support
aa622bc init values
631ea9f better refactor
eb1fd75 add PEDAL adc sets
ccaa310 don't build with usb
8d4d763 debug console works
bd09883 comma pedal is building
75a29d5 Merge pull request #84 from gregjhogan/j2534-hds
eece37d only the panda has gmlan
9f43abe Merge pull request #89 from vntarasov/volt
5364d43 Merge pull request #88 from vntarasov/smaller-firmware
377a1ec bump version for descriptor fix
4fabdf0 Merge pull request #87 from gregjhogan/usb-multi-packet-control
8580773 fix sending WinUSB Extended Properties Feature Descriptor
6908feb Chevy Volt safety
786a004 Enable optimization to reduce firmware size
d70f43b hack to fix thinkpad
95ab1ae fixed flow control message padding
bbd04d1 updated installer
62216d0 single standalone DLL for J2534 driver
5c9138d fixed 11 bit address issue
f3b0ad2 fix LOOPBACK getting set when DATA_RATE is set
b750d36 updated README
a9a097f lowered CPU utilization
7c26a70 TIS needs unsupported protocols to return an error
42692b4 TIS doesn't like ChannelID being zero
cf126bb SET_CONFIG return error for reserved parameters
2e99dbf fix HDS issues
8203cc8 add is_grey
e946a54 add insecure_okay flag
4363b3e check webpage
4f59ded add secure mode note
6b11fb5 add autosecuring to tests
b27d185 Merge pull request #86 from commaai/better_pairing
4b53b42 elm wifi isn't an automated test
99f85cb Merge pull request #85 from gregjhogan/usb-wcid
0d38060 auto-install WinUSB device driver
c6653ca from python import
38cc0ee add wifi_secure_mode, boots in insecure mode

git-subtree-dir: panda
git-subtree-split: 67d5208

README.md

@@ -45,7 +45,7 @@ As a universal car interface, it should support every reasonable software interf
 - User space ([done](https://github.com/commaai/panda/tree/master/python))
 - socketcan in kernel ([alpha](https://github.com/commaai/panda/tree/master/drivers/linux))
 - ELM327 ([done](https://github.com/commaai/panda/blob/master/boardesp/elm327.c))
-- Windows J2534 ([alpha](https://github.com/commaai/panda/tree/master/drivers/windows))
+- Windows J2534 ([done](https://github.com/commaai/panda/tree/master/drivers/windows))
 
 Directory structure
 ------

VERSION

@@ -1 +1 @@
-v1.0.7
+v1.0.9

board/bootstub.c

@@ -24,6 +24,12 @@
 #include "drivers/usb.h"
 //#include "drivers/uart.h"
 
+#ifdef PEDAL
+#define CUSTOM_CAN_INTERRUPTS
+#include "safety.h"
+#include "drivers/can.h"
+#endif
+
 int puts(const char *a) { return 0; }
 void puth(unsigned int i) {}
 

board/build.mk

@@ -1,4 +1,4 @@
-CFLAGS += -I inc -I ../ -nostdlib -fno-builtin -std=gnu11 -O0
+CFLAGS += -I inc -I ../ -nostdlib -fno-builtin -std=gnu11 -O2
 CFLAGS += -Tstm32_flash.ld
 
 CC = arm-none-eabi-gcc

board/drivers/can.h

@@ -199,6 +199,7 @@ void can_init_all() {
 }
 
 void can_set_gmlan(int bus) {
+  #ifdef PANDA
   if (bus == -1 || bus != can_num_lookup[3]) {
     // GMLAN OFF
     switch (can_num_lookup[3]) {
@@ -238,6 +239,7 @@ void can_set_gmlan(int bus) {
     can_num_lookup[3] = 2;
     can_init(2);
   }
+  #endif
 }
 
 // CAN error
@@ -346,13 +348,14 @@ void can_rx(uint8_t can_number) {
 
     // forwarding (panda only)
     #ifdef PANDA
-      if (can_forwarding[bus_number] != -1) {
+      int bus_fwd_num = can_forwarding[bus_number] != -1 ? can_forwarding[bus_number] : safety_fwd_hook(bus_number, &to_push);
+      if (bus_fwd_num != -1) {
         CAN_FIFOMailBox_TypeDef to_send;
         to_send.RIR = to_push.RIR | 1; // TXRQ
         to_send.RDTR = to_push.RDTR;
         to_send.RDLR = to_push.RDLR;
         to_send.RDHR = to_push.RDHR;
-        can_send(&to_send, can_forwarding[bus_number]);
+        can_send(&to_send, bus_fwd_num);
       }
     #endif
 
@@ -370,6 +373,8 @@ void can_rx(uint8_t can_number) {
   }
 }
 
+#ifndef CUSTOM_CAN_INTERRUPTS
+
 void CAN1_TX_IRQHandler() { process_can(0); }
 void CAN1_RX0_IRQHandler() { can_rx(0); }
 void CAN1_SCE_IRQHandler() { can_sce(CAN1); }
@@ -384,6 +389,8 @@ void CAN3_RX0_IRQHandler() { can_rx(2); }
 void CAN3_SCE_IRQHandler() { can_sce(CAN3); }
 #endif
 
+#endif
+
 void can_send(CAN_FIFOMailBox_TypeDef *to_push, uint8_t bus_number) {
   if (safety_tx_hook(to_push)) {
     if (bus_number < BUS_MAX) {

board/drivers/drivers.h

@@ -88,7 +88,7 @@ uint32_t adc_get(int channel);
 // ********************* DAC *********************
 
 void dac_init();
-uint32_t dac_set(int channel, uint32_t value);
+void dac_set(int channel, uint32_t value);
 
 
 // ********************* TIMER *********************

board/drivers/usb.h

@@ -71,12 +71,15 @@ uint8_t resp[MAX_RESP_LEN];
 #define ENDPOINT_TYPE_BULK 2
 #define ENDPOINT_TYPE_INT 3
 
+// This is an arbitrary value used in bRequest
+#define  MS_VENDOR_CODE 0x20
+
 //Convert machine byte order to USB byte order
 #define TOUSBORDER(num)\
   (num&0xFF), ((num>>8)&0xFF)
 
 uint8_t device_desc[] = {
-  DSCR_DEVICE_LEN, DSCR_DEVICE_TYPE, 0x00, 0x01, //Length, Type, bcdUSB
+  DSCR_DEVICE_LEN, DSCR_DEVICE_TYPE, 0x00, 0x02, //Length, Type, bcdUSB
   0xFF, 0xFF, 0xFF, 0x40, // Class, Subclass, Protocol, Max Packet Size
   TOUSBORDER(USB_VID), // idVendor
   TOUSBORDER(USB_PID), // idProduct
@@ -165,9 +168,47 @@ uint16_t string_3_desc[] = {
   'n', 'o', 'n', 'e'
 };
 
+#ifdef PANDA
+// WCID (auto install WinUSB driver)
+// https://github.com/pbatard/libwdi/wiki/WCID-Devices
+// https://docs.microsoft.com/en-us/windows-hardware/drivers/usbcon/winusb-installation#automatic-installation-of--winusb-without-an-inf-file
+uint8_t string_238_desc[] = {
+  0x12, 0x03, // bLength, bDescriptorType
+  'M',0, 'S',0, 'F',0, 'T',0, '1',0, '0',0, '0',0, // qwSignature (MSFT100)
+  MS_VENDOR_CODE, 0x00 // bMS_VendorCode, bPad
+};
+uint8_t winusb_ext_compatid_os_desc[] = {
+  0x28, 0x00, 0x00, 0x00, // dwLength
+  0x00, 0x01, // bcdVersion
+  0x04, 0x00, // wIndex
+  0x01, // bCount
+  0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, // Reserved
+  0x00, // bFirstInterfaceNumber
+  0x00, // Reserved
+  'W', 'I', 'N', 'U', 'S', 'B', 0x00, 0x00, // compatible ID (WINUSB)
+  0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, // subcompatible ID (none)
+  0x00, 0x00, 0x00, 0x00, 0x00, 0x00 // Reserved
+};
+uint8_t winusb_ext_prop_os_desc[] = {
+  0x8e, 0x00, 0x00, 0x00, // dwLength
+  0x00, 0x01, // bcdVersion
+  0x05, 0x00, // wIndex
+  0x01, 0x00, // wCount
+  // first property
+  0x84, 0x00, 0x00, 0x00, // dwSize
+  0x01, 0x00, 0x00, 0x00, // dwPropertyDataType
+  0x28, 0x00, // wPropertyNameLength
+  'D',0, 'e',0, 'v',0, 'i',0, 'c',0, 'e',0, 'I',0, 'n',0, 't',0, 'e',0, 'r',0, 'f',0, 'a',0, 'c',0, 'e',0, 'G',0, 'U',0, 'I',0, 'D',0, 0, 0, // bPropertyName (DeviceInterfaceGUID)
+  0x4e, 0x00, 0x00, 0x00, // dwPropertyDataLength
+  '{',0, 'c',0, 'c',0, 'e',0, '5',0, '2',0, '9',0, '1',0, 'c',0, '-',0, 'a',0, '6',0, '9',0, 'f',0, '-',0, '4',0 ,'9',0 ,'9',0 ,'5',0 ,'-',0, 'a',0, '4',0, 'c',0, '2',0, '-',0, '2',0, 'a',0, 'e',0, '5',0, '7',0, 'a',0, '5',0, '1',0, 'a',0, 'd',0, 'e',0, '9',0, '}',0, 0, 0, // bPropertyData ({CCE5291C-A69F-4995-A4C2-2AE57A51ADE9})
+};
+#endif
+
 // current packet
 USB_Setup_TypeDef setup;
 uint8_t usbdata[0x100];
+uint8_t* ep0_txdata = NULL;
+uint16_t ep0_txlen = 0;
 
 // Store the current interface alt setting.
 int current_int0_alt_setting = 0;
@@ -206,6 +247,26 @@ void USB_WritePacket(const uint8_t *src, uint16_t len, uint32_t ep) {
   }
 }
 
+// IN EP 0 TX FIFO has a max size of 127 bytes (much smaller than the rest)
+// so use TX FIFO empty interrupt to send larger amounts of data
+void USB_WritePacket_EP0(uint8_t *src, uint16_t len) {
+  #ifdef DEBUG_USB
+  puts("writing ");
+  hexdump(src, len);
+  #endif
+
+  uint16_t wplen = min(len, 0x40);
+  USB_WritePacket(src, wplen, 0);
+
+  if (wplen < len) {
+    ep0_txdata = src + wplen;
+    ep0_txlen = len - wplen;
+    USBx_DEVICE->DIEPEMPMSK |= 1;
+  } else {
+    USBx_OUTEP(0)->DOEPCTL |= USB_OTG_DOEPCTL_CNAK;
+  }
+}
+
 void usb_reset() {
   // unmask endpoint interrupts, so many sets
   USBx_DEVICE->DAINT = 0xFFFFFFFF;
@@ -345,6 +406,11 @@ void usb_setup() {
                 USB_WritePacket((const uint8_t *)string_3_desc, min(sizeof(string_3_desc), setup.b.wLength.w), 0);
               #endif
               break;
+            #ifdef PANDA
+            case 238:
+              USB_WritePacket((uint8_t*)string_238_desc, min(sizeof(string_238_desc), setup.b.wLength.w), 0);
+              break;
+            #endif
             default:
               // nothing
               USB_WritePacket(0, 0, 0);
@@ -372,6 +438,22 @@ void usb_setup() {
       USB_WritePacket(0, 0, 0);
       USBx_OUTEP(0)->DOEPCTL |= USB_OTG_DOEPCTL_CNAK;
       break;
+    #ifdef PANDA
+    case MS_VENDOR_CODE:
+      switch (setup.b.wIndex.w) {
+        // Extended Compat ID OS Descriptor
+        case 4:
+          USB_WritePacket_EP0((uint8_t*)winusb_ext_compatid_os_desc, min(sizeof(winusb_ext_compatid_os_desc), setup.b.wLength.w));
+          break;
+        // Extended Properties OS Descriptor
+        case 5:
+          USB_WritePacket_EP0((uint8_t*)winusb_ext_prop_os_desc, min(sizeof(winusb_ext_prop_os_desc), setup.b.wLength.w));
+          break;
+        default:
+          USB_WritePacket_EP0(0, 0);
+      }
+      break;
+    #endif
     default:
       resp_len = usb_cb_control_msg(&setup, resp, 1);
       USB_WritePacket(resp, min(resp_len, setup.b.wLength.w), 0);
@@ -682,6 +764,24 @@ void usb_irqhandler(void) {
         break;
     }
 
+    if (USBx_INEP(0)->DIEPINT & USB_OTG_DIEPMSK_ITTXFEMSK) {
+      #ifdef DEBUG_USB
+      puts("  IN PACKET QUEUE\n");
+      #endif
+
+      if (ep0_txlen != 0 && (USBx_INEP(0)->DTXFSTS & USB_OTG_DTXFSTS_INEPTFSAV) >= 0x40) {
+        uint16_t len = min(ep0_txlen, 0x40);
+        USB_WritePacket(ep0_txdata, len, 0);
+        ep0_txdata += len;
+        ep0_txlen -= len;
+        if (ep0_txlen == 0) {
+          ep0_txdata = NULL;
+          USBx_DEVICE->DIEPEMPMSK &= ~1;
+          USBx_OUTEP(0)->DOEPCTL |= USB_OTG_DOEPCTL_CNAK;
+        }
+      }
+    }
+
     // clear interrupts
     USBx_INEP(0)->DIEPINT = USBx_INEP(0)->DIEPINT; // Why ep0?
     USBx_INEP(1)->DIEPINT = USBx_INEP(1)->DIEPINT;

board/get_sdk.sh

@@ -1,3 +1,3 @@
 #!/bin/bash
 sudo apt-get install gcc-arm-none-eabi python-pip
-sudo pip2 install libusb1
+sudo pip2 install libusb1 pycrypto requests

board/get_sdk_mac.sh

@@ -2,4 +2,4 @@
 # Need formula for gcc
 brew tap ArmMbed/homebrew-formulae
 brew install python dfu-util arm-none-eabi-gcc
-pip2 install libusb1
+pip2 install libusb1 pycrypto requests

board/gpio.h

@@ -72,8 +72,15 @@ void clock_init() {
     RCC->PLLCFGR = RCC_PLLCFGR_PLLQ_2 | RCC_PLLCFGR_PLLM_3 |
                    RCC_PLLCFGR_PLLN_6 | RCC_PLLCFGR_PLLN_5 | RCC_PLLCFGR_PLLSRC_HSE;
   #else
-    RCC->PLLCFGR = RCC_PLLCFGR_PLLQ_2 | RCC_PLLCFGR_PLLM_3 |
-                   RCC_PLLCFGR_PLLN_7 | RCC_PLLCFGR_PLLN_6 | RCC_PLLCFGR_PLLSRC_HSE;
+    #ifdef PEDAL
+      // comma pedal has a 16mhz crystal
+      RCC->PLLCFGR = RCC_PLLCFGR_PLLQ_2 | RCC_PLLCFGR_PLLM_3 |
+                     RCC_PLLCFGR_PLLN_6 | RCC_PLLCFGR_PLLN_5 | RCC_PLLCFGR_PLLSRC_HSE;
+    #else
+      // NEO board has a 8mhz crystal
+      RCC->PLLCFGR = RCC_PLLCFGR_PLLQ_2 | RCC_PLLCFGR_PLLM_3 |
+                     RCC_PLLCFGR_PLLN_7 | RCC_PLLCFGR_PLLN_6 | RCC_PLLCFGR_PLLSRC_HSE;
+    #endif
   #endif
 
   // start PLL
@@ -132,8 +139,13 @@ void set_can_enable(CAN_TypeDef *CAN, int enabled) {
       // CAN1_EN
       set_gpio_output(GPIOC, 1, !enabled);
     #else
-      // CAN1_EN
-      set_gpio_output(GPIOB, 3, enabled);
+      #ifdef PEDAL
+        // CAN1_EN (not flipped)
+        set_gpio_output(GPIOB, 3, !enabled);
+      #else
+        // CAN1_EN
+        set_gpio_output(GPIOB, 3, enabled);
+      #endif
     #endif
   } else if (CAN == CAN2) {
     #ifdef PANDA
@@ -285,6 +297,14 @@ void gpio_init() {
   set_gpio_mode(GPIOC, 2, MODE_ANALOG);
   set_gpio_mode(GPIOC, 3, MODE_ANALOG);
 
+#ifdef PEDAL
+  // comma pedal has inputs on C0 and C1
+  set_gpio_mode(GPIOC, 0, MODE_ANALOG);
+  set_gpio_mode(GPIOC, 1, MODE_ANALOG);
+  // DAC outputs on A4 and A5
+  //   apparently they don't need GPIO setup
+#endif
+
   // C8: FAN aka TIM3_CH4
   set_gpio_alternate(GPIOC, 8, GPIO_AF2_TIM3);
 
@@ -443,9 +463,10 @@ void early() {
 
 
   if (enter_bootloader_mode == ENTER_BOOTLOADER_MAGIC) {
+  #ifdef PANDA
     set_esp_mode(ESP_DISABLED);
+  #endif
     set_led(LED_GREEN, 1);
-
     jump_to_bootloader();
   }
 

board/pedal/.gitignore

@@ -0,0 +1 @@
+obj/*

board/pedal/Makefile

@@ -0,0 +1,59 @@
+# :set noet
+PROJ_NAME = comma
+
+CFLAGS  = -O2 -Wall -std=gnu11 -DPEDAL
+CFLAGS += -mlittle-endian -mthumb -mcpu=cortex-m3
+CFLAGS += -msoft-float -DSTM32F2 -DSTM32F205xx
+CFLAGS += -I ../inc -I ../ -I ../../ -nostdlib
+CFLAGS += -T../stm32_flash.ld
+
+STARTUP_FILE = startup_stm32f205xx
+
+CC = arm-none-eabi-gcc
+OBJCOPY = arm-none-eabi-objcopy
+OBJDUMP = arm-none-eabi-objdump
+DFU_UTIL = "dfu-util"
+
+# pedal only uses the debug cert
+CERT = ../../certs/debug
+CFLAGS += "-DALLOW_DEBUG"
+
+canflash: obj/$(PROJ_NAME).bin
+	../../tests/pedal/enter_canloader.py $<
+
+usbflash: obj/$(PROJ_NAME).bin
+	../../tests/pedal/enter_canloader.py; sleep 0.5
+	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/$(PROJ_NAME).bin', reconnect=False)"
+
+recover: obj/bootstub.bin obj/$(PROJ_NAME).bin
+	../../tests/pedal/enter_canloader.py --recover; sleep 0.5
+	$(DFU_UTIL) -d 0483:df11 -a 0 -s 0x08004000 -D obj/$(PROJ_NAME).bin
+	$(DFU_UTIL) -d 0483:df11 -a 0 -s 0x08000000:leave -D obj/bootstub.bin
+
+obj/main.o: main.c ../*.h
+	mkdir -p obj
+	$(CC) $(CFLAGS) -o $@ -c $<
+
+obj/bootstub.o: ../bootstub.c ../*.h
+	mkdir -p obj
+	$(CC) $(CFLAGS) -o $@ -c $<
+
+obj/$(STARTUP_FILE).o: ../$(STARTUP_FILE).s
+	$(CC) $(CFLAGS) -o $@ -c $<
+
+obj/%.o: ../../crypto/%.c
+	$(CC) $(CFLAGS) -o $@ -c $<
+
+obj/$(PROJ_NAME).bin: obj/$(STARTUP_FILE).o obj/main.o
+  # hack
+	$(CC) -Wl,--section-start,.isr_vector=0x8004000 $(CFLAGS) -o obj/$(PROJ_NAME).elf $^
+	$(OBJCOPY) -v -O binary obj/$(PROJ_NAME).elf obj/code.bin
+	SETLEN=1 ../../crypto/sign.py obj/code.bin $@ $(CERT)
+
+obj/bootstub.bin: obj/$(STARTUP_FILE).o obj/bootstub.o obj/sha.o obj/rsa.o
+	$(CC) $(CFLAGS) -o obj/bootstub.$(PROJ_NAME).elf $^
+	$(OBJCOPY) -v -O binary obj/bootstub.$(PROJ_NAME).elf $@
+
+clean:
+	rm -f obj/*
+