diff --git a/README.md b/README.md
index 75424f9ce64a38..85de25c905f14f 100644
--- a/README.md
+++ b/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
------
diff --git a/VERSION b/VERSION
index ef6a92d3044403..77e86d42394402 100644
--- a/VERSION
+++ b/VERSION
@@ -1 +1 @@
-v1.0.7
\ No newline at end of file
+v1.0.9
\ No newline at end of file
diff --git a/board/bootstub.c b/board/bootstub.c
index 147d75a010ab7f..4e516110c5d4bb 100644
--- a/board/bootstub.c
+++ b/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) {}
diff --git a/board/build.mk b/board/build.mk
index 069a00e1a04058..d662f6b1419ad6 100644
--- a/board/build.mk
+++ b/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
diff --git a/board/drivers/can.h b/board/drivers/can.h
index 422da965cfeba4..b094d2b4cea57d 100644
--- a/board/drivers/can.h
+++ b/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) {
diff --git a/board/drivers/drivers.h b/board/drivers/drivers.h
index ce1e860ceb8a80..d3409d60994eed 100644
--- a/board/drivers/drivers.h
+++ b/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 *********************
diff --git a/board/drivers/usb.h b/board/drivers/usb.h
index 14c2ae7cdf9ff8..c43a8ce4008c68 100644
--- a/board/drivers/usb.h
+++ b/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;
diff --git a/board/get_sdk.sh b/board/get_sdk.sh
index 2248d1b9ec49ba..7b8d1f9154c0ac 100755
--- a/board/get_sdk.sh
+++ b/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
diff --git a/board/get_sdk_mac.sh b/board/get_sdk_mac.sh
index 1c4c74ff8c037b..a6f641dce12116 100644
--- a/board/get_sdk_mac.sh
+++ b/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
diff --git a/board/gpio.h b/board/gpio.h
index 775a88df54c00c..7b2812e7b4a1e7 100644
--- a/board/gpio.h
+++ b/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();
}
diff --git a/board/pedal/.gitignore b/board/pedal/.gitignore
new file mode 100644
index 00000000000000..94053f2925089b
--- /dev/null
+++ b/board/pedal/.gitignore
@@ -0,0 +1 @@
+obj/*
diff --git a/board/pedal/Makefile b/board/pedal/Makefile
new file mode 100644
index 00000000000000..9917e381503b03
--- /dev/null
+++ b/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/*
+
diff --git a/board/pedal/README b/board/pedal/README
new file mode 100644
index 00000000000000..cf779db258fe14
--- /dev/null
+++ b/board/pedal/README
@@ -0,0 +1,28 @@
+This is the firmware for the comma pedal. It borrows a lot from panda.
+
+The comma pedal is a gas pedal interceptor for Honda/Acura. It allows you to "virtually" press the pedal.
+
+This is the open source software. Note that it is not ready to use yet.
+
+== Test Plan ==
+
+* Startup
+** Confirm STATE_FAULT_STARTUP
+* Timeout
+** Send value
+** Confirm value is output
+** Stop sending messages
+** Confirm value is passthru after 100ms
+** Confirm STATE_FAULT_TIMEOUT
+* Random values
+** Send random 6 byte messages
+** Confirm random values cause passthru
+** Confirm STATE_FAULT_BAD_CHECKSUM
+* Same message lockout
+** Send same message repeated
+** Confirm timeout behavior
+* Don't set enable
+** Confirm no output
+* Set enable and values
+** Confirm output
+
diff --git a/board/pedal/main.c b/board/pedal/main.c
new file mode 100644
index 00000000000000..5d5264791ccf54
--- /dev/null
+++ b/board/pedal/main.c
@@ -0,0 +1,295 @@
+//#define DEBUG
+//#define CAN_LOOPBACK_MODE
+//#define USE_INTERNAL_OSC
+
+#include "../config.h"
+
+#include "drivers/drivers.h"
+#include "drivers/llgpio.h"
+#include "gpio.h"
+
+#define CUSTOM_CAN_INTERRUPTS
+
+#include "libc.h"
+#include "safety.h"
+#include "drivers/adc.h"
+#include "drivers/uart.h"
+#include "drivers/dac.h"
+#include "drivers/can.h"
+#include "drivers/timer.h"
+
+#define CAN CAN1
+
+//#define PEDAL_USB
+
+#ifdef PEDAL_USB
+ #include "drivers/usb.h"
+#endif
+
+#define ENTER_BOOTLOADER_MAGIC 0xdeadbeef
+uint32_t enter_bootloader_mode;
+
+void __initialize_hardware_early() {
+ early();
+}
+
+// ********************* serial debugging *********************
+
+void debug_ring_callback(uart_ring *ring) {
+ char rcv;
+ while (getc(ring, &rcv)) {
+ putc(ring, rcv);
+ }
+}
+
+#ifdef PEDAL_USB
+
+int usb_cb_ep1_in(uint8_t *usbdata, int len, int hardwired) { return 0; }
+void usb_cb_ep2_out(uint8_t *usbdata, int len, int hardwired) {}
+void usb_cb_ep3_out(uint8_t *usbdata, int len, int hardwired) {}
+void usb_cb_enumeration_complete() {}
+
+int usb_cb_control_msg(USB_Setup_TypeDef *setup, uint8_t *resp, int hardwired) {
+ int resp_len = 0;
+ uart_ring *ur = NULL;
+ switch (setup->b.bRequest) {
+ // **** 0xe0: uart read
+ case 0xe0:
+ ur = get_ring_by_number(setup->b.wValue.w);
+ if (!ur) break;
+ if (ur == &esp_ring) uart_dma_drain();
+ // read
+ while ((resp_len < min(setup->b.wLength.w, MAX_RESP_LEN)) &&
+ getc(ur, (char*)&resp[resp_len])) {
+ ++resp_len;
+ }
+ break;
+ }
+ return resp_len;
+}
+
+#endif
+
+// ***************************** honda can checksum *****************************
+
+int can_cksum(uint8_t *dat, int len, int addr, int idx) {
+ int i;
+ int s = 0;
+ for (i = 0; i < len; i++) {
+ s += (dat[i] >> 4);
+ s += dat[i] & 0xF;
+ }
+ s += (addr>>0)&0xF;
+ s += (addr>>4)&0xF;
+ s += (addr>>8)&0xF;
+ s += idx;
+ s = 8-s;
+ return s&0xF;
+}
+
+// ***************************** can port *****************************
+
+// addresses to be used on CAN
+#define CAN_GAS_INPUT 0x200
+#define CAN_GAS_OUTPUT 0x201
+
+void CAN1_TX_IRQHandler() {
+ // clear interrupt
+ CAN->TSR |= CAN_TSR_RQCP0;
+}
+
+// two independent values
+uint16_t gas_set_0 = 0;
+uint16_t gas_set_1 = 0;
+
+#define MAX_TIMEOUT 10
+uint32_t timeout = 0;
+uint32_t current_index = 0;
+
+#define NO_FAULT 0
+#define FAULT_BAD_CHECKSUM 1
+#define FAULT_SEND 2
+#define FAULT_SCE 3
+#define FAULT_STARTUP 4
+#define FAULT_TIMEOUT 5
+#define FAULT_INVALID 6
+uint8_t state = FAULT_STARTUP;
+
+void CAN1_RX0_IRQHandler() {
+ while (CAN->RF0R & CAN_RF0R_FMP0) {
+ #ifdef DEBUG
+ puts("CAN RX\n");
+ #endif
+ uint32_t address = CAN->sFIFOMailBox[0].RIR>>21;
+ if (address == CAN_GAS_INPUT) {
+ // softloader entry
+ if (CAN->sFIFOMailBox[0].RDLR == 0xdeadface) {
+ if (CAN->sFIFOMailBox[0].RDHR == 0x0ab00b1e) {
+ enter_bootloader_mode = ENTER_SOFTLOADER_MAGIC;
+ NVIC_SystemReset();
+ } else if (CAN->sFIFOMailBox[0].RDHR == 0x02b00b1e) {
+ enter_bootloader_mode = ENTER_BOOTLOADER_MAGIC;
+ NVIC_SystemReset();
+ }
+ }
+
+ // normal packet
+ uint8_t *dat = (uint8_t *)&CAN->sFIFOMailBox[0].RDLR;
+ uint8_t *dat2 = (uint8_t *)&CAN->sFIFOMailBox[0].RDHR;
+ uint16_t value_0 = (dat[0] << 8) | dat[1];
+ uint16_t value_1 = (dat[2] << 8) | dat[3];
+ uint8_t enable = (dat2[0] >> 7) & 1;
+ uint8_t index = (dat2[1] >> 4) & 3;
+ if (can_cksum(dat, 5, CAN_GAS_INPUT, index) == (dat2[1] & 0xF)) {
+ if (((current_index+1)&3) == index) {
+ #ifdef DEBUG
+ puts("setting gas ");
+ puth(value);
+ puts("\n");
+ #endif
+ if (enable) {
+ gas_set_0 = value_0;
+ gas_set_1 = value_1;
+ } else {
+ // clear the fault state if values are 0
+ if (value_0 == 0 && value_1 == 0) {
+ state = NO_FAULT;
+ } else {
+ state = FAULT_INVALID;
+ }
+ gas_set_0 = gas_set_1 = 0;
+ }
+ // clear the timeout
+ timeout = 0;
+ }
+ current_index = index;
+ } else {
+ // wrong checksum = fault
+ state = FAULT_BAD_CHECKSUM;
+ }
+ }
+ // next
+ CAN->RF0R |= CAN_RF0R_RFOM0;
+ }
+}
+
+void CAN1_SCE_IRQHandler() {
+ state = FAULT_SCE;
+ can_sce(CAN);
+}
+
+int pdl0 = 0, pdl1 = 0;
+int pkt_idx = 0;
+
+int led_value = 0;
+
+void TIM3_IRQHandler() {
+ #ifdef DEBUG
+ puth(TIM3->CNT);
+ puts(" ");
+ puth(pdl0);
+ puts(" ");
+ puth(pdl1);
+ puts("\n");
+ #endif
+
+ // check timer for sending the user pedal and clearing the CAN
+ if ((CAN->TSR & CAN_TSR_TME0) == CAN_TSR_TME0) {
+ uint8_t dat[8];
+ dat[0] = (pdl0>>8)&0xFF;
+ dat[1] = (pdl0>>0)&0xFF;
+ dat[2] = (pdl1>>8)&0xFF;
+ dat[3] = (pdl1>>0)&0xFF;
+ dat[4] = state;
+ dat[5] = can_cksum(dat, 5, CAN_GAS_OUTPUT, pkt_idx) | (pkt_idx<<4);
+ CAN->sTxMailBox[0].TDLR = dat[0] | (dat[1]<<8) | (dat[2]<<16) | (dat[3]<<24);
+ CAN->sTxMailBox[0].TDHR = dat[4] | (dat[5]<<8);
+ CAN->sTxMailBox[0].TDTR = 6; // len of packet is 5
+ CAN->sTxMailBox[0].TIR = (CAN_GAS_OUTPUT << 21) | 1;
+ ++pkt_idx;
+ pkt_idx &= 3;
+ } else {
+ // old can packet hasn't sent!
+ state = FAULT_SEND;
+ #ifdef DEBUG
+ puts("CAN MISS\n");
+ #endif
+ }
+
+ // blink the LED
+ set_led(LED_GREEN, led_value);
+ led_value = !led_value;
+
+ TIM3->SR = 0;
+
+ // up timeout for gas set
+ if (timeout == MAX_TIMEOUT) {
+ state = FAULT_TIMEOUT;
+ } else {
+ timeout += 1;
+ }
+}
+
+// ***************************** main code *****************************
+
+void pedal() {
+ // read/write
+ pdl0 = adc_get(ADCCHAN_ACCEL0);
+ pdl1 = adc_get(ADCCHAN_ACCEL1);
+
+ // write the pedal to the DAC
+ if (state == NO_FAULT) {
+ 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;
+}
+
diff --git a/board/safety.h b/board/safety.h
index 8842141544a686..3e0b0cf38a1386 100644
--- a/board/safety.h
+++ b/board/safety.h
@@ -6,12 +6,14 @@ typedef void (*safety_hook_init)(int16_t param);
typedef void (*rx_hook)(CAN_FIFOMailBox_TypeDef *to_push);
typedef int (*tx_hook)(CAN_FIFOMailBox_TypeDef *to_send);
typedef int (*tx_lin_hook)(int lin_num, uint8_t *data, int len);
+typedef int (*fwd_hook)(int bus_num, CAN_FIFOMailBox_TypeDef *to_fwd);
typedef struct {
safety_hook_init init;
rx_hook rx;
tx_hook tx;
tx_lin_hook tx_lin;
+ fwd_hook fwd;
} safety_hooks;
// This can be set by the safety hooks.
@@ -21,6 +23,7 @@ int controls_allowed = 0;
#include "safety/safety_defaults.h"
#include "safety/safety_honda.h"
#include "safety/safety_toyota.h"
+#include "safety/safety_gm.h"
#include "safety/safety_elm327.h"
const safety_hooks *current_hooks = &nooutput_hooks;
@@ -37,6 +40,10 @@ int safety_tx_lin_hook(int lin_num, uint8_t *data, int len){
return current_hooks->tx_lin(lin_num, data, len);
}
+int safety_fwd_hook(int bus_num, CAN_FIFOMailBox_TypeDef *to_fwd) {
+ return current_hooks->fwd(bus_num, to_fwd);
+}
+
typedef struct {
uint16_t id;
const safety_hooks *hooks;
@@ -46,14 +53,18 @@ typedef struct {
#define SAFETY_HONDA 1
#define SAFETY_TOYOTA 2
#define SAFETY_TOYOTA_NOLIMITS 0x1336
+#define SAFETY_GM 3
+#define SAFETY_HONDA_BOSCH 4
#define SAFETY_ALLOUTPUT 0x1337
#define SAFETY_ELM327 0xE327
const safety_hook_config safety_hook_registry[] = {
{SAFETY_NOOUTPUT, &nooutput_hooks},
{SAFETY_HONDA, &honda_hooks},
+ {SAFETY_HONDA_BOSCH, &honda_bosch_hooks},
{SAFETY_TOYOTA, &toyota_hooks},
{SAFETY_TOYOTA_NOLIMITS, &toyota_nolimits_hooks},
+ {SAFETY_GM, &gm_hooks},
{SAFETY_ALLOUTPUT, &alloutput_hooks},
{SAFETY_ELM327, &elm327_hooks},
};
diff --git a/board/safety/safety_defaults.h b/board/safety/safety_defaults.h
index b7b4d37295c9c9..2411a41628e540 100644
--- a/board/safety/safety_defaults.h
+++ b/board/safety/safety_defaults.h
@@ -14,11 +14,16 @@ static int nooutput_tx_lin_hook(int lin_num, uint8_t *data, int len) {
return false;
}
+static int nooutput_fwd_hook(int bus_num, CAN_FIFOMailBox_TypeDef *to_fwd) {
+ return -1;
+}
+
const safety_hooks nooutput_hooks = {
.init = nooutput_init,
.rx = default_rx_hook,
.tx = nooutput_tx_hook,
.tx_lin = nooutput_tx_lin_hook,
+ .fwd = nooutput_fwd_hook,
};
// *** all output safety mode ***
@@ -35,10 +40,15 @@ static int alloutput_tx_lin_hook(int lin_num, uint8_t *data, int len) {
return true;
}
+static int alloutput_fwd_hook(int bus_num, CAN_FIFOMailBox_TypeDef *to_fwd) {
+ return -1;
+}
+
const safety_hooks alloutput_hooks = {
.init = alloutput_init,
.rx = default_rx_hook,
.tx = alloutput_tx_hook,
.tx_lin = alloutput_tx_lin_hook,
+ .fwd = alloutput_fwd_hook,
};
diff --git a/board/safety/safety_elm327.h b/board/safety/safety_elm327.h
index b9af35ebdc5016..3a0efe6e6b5c8a 100644
--- a/board/safety/safety_elm327.h
+++ b/board/safety/safety_elm327.h
@@ -31,9 +31,14 @@ static void elm327_init(int16_t param) {
controls_allowed = 1;
}
+static int elm327_fwd_hook(int bus_num, CAN_FIFOMailBox_TypeDef *to_fwd) {
+ return -1;
+}
+
const safety_hooks elm327_hooks = {
.init = elm327_init,
.rx = elm327_rx_hook,
.tx = elm327_tx_hook,
.tx_lin = elm327_tx_lin_hook,
+ .fwd = elm327_fwd_hook,
};
diff --git a/board/safety/safety_gm.h b/board/safety/safety_gm.h
new file mode 100644
index 00000000000000..f5fbbfe8fe248b
--- /dev/null
+++ b/board/safety/safety_gm.h
@@ -0,0 +1,186 @@
+// board enforces
+// in-state
+// accel set/resume
+// out-state
+// cancel button
+// regen paddle
+// accel rising edge
+// brake rising edge
+// brake > 0mph
+
+// gm_: poor man's namespacing
+int gm_brake_prev = 0;
+int gm_gas_prev = 0;
+int gm_speed = 0;
+
+// silence everything if stock ECUs are still online
+int gm_ascm_detected = 0;
+
+static void gm_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
+
+ uint32_t addr;
+ if (to_push->RIR & 4) {
+ // Extended
+ // Not looked at, but have to be separated
+ // to avoid address collision
+ addr = to_push->RIR >> 3;
+ } else {
+ // Normal
+ addr = to_push->RIR >> 21;
+ }
+
+ // sample speed, really only care if car is moving or not
+ // rear left wheel speed
+ if (addr == 842) {
+ gm_speed = to_push->RDLR & 0xFFFF;
+ }
+
+ // check if stock ASCM ECU is still online
+ int bus_number = (to_push->RDTR >> 4) & 0xFF;
+ if (bus_number == 0 && addr == 715) {
+ gm_ascm_detected = 1;
+ controls_allowed = 0;
+ }
+
+ // ACC steering wheel buttons
+ if (addr == 481) {
+ int buttons = (to_push->RDHR >> 12) & 0x7;
+ // res/set - enable, cancel button - disable
+ if (buttons == 2 || buttons == 3) {
+ controls_allowed = 1;
+ } else if (buttons == 6) {
+ controls_allowed = 0;
+ }
+ }
+
+ // exit controls on rising edge of brake press or on brake press when
+ // speed > 0
+ if (addr == 241) {
+ int brake = (to_push->RDLR & 0xFF00) >> 8;
+ // Brake pedal's potentiometer returns near-zero reading
+ // even when pedal is not pressed
+ if (brake < 10) {
+ brake = 0;
+ }
+ if (brake && (!gm_brake_prev || gm_speed)) {
+ controls_allowed = 0;
+ }
+ gm_brake_prev = brake;
+ }
+
+ // exit controls on rising edge of gas press
+ if (addr == 417) {
+ int gas = to_push->RDHR & 0xFF0000;
+ if (gas && !gm_gas_prev) {
+ controls_allowed = 0;
+ }
+ gm_gas_prev = gas;
+ }
+
+ // exit controls on regen paddle
+ if (addr == 189) {
+ int regen = to_push->RDLR & 0x20;
+ if (regen) {
+ controls_allowed = 0;
+ }
+ }
+}
+
+// all commands: gas/regen, friction brake and steering
+// if controls_allowed and no pedals pressed
+// allow all commands up to limit
+// else
+// block all commands that produce actuation
+
+static int gm_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
+
+ // There can be only one! (ASCM)
+ if (gm_ascm_detected) {
+ return 0;
+ }
+
+ // disallow actuator commands if gas or brake (with vehicle moving) are pressed
+ // and the the latching controls_allowed flag is True
+ int pedal_pressed = gm_gas_prev || (gm_brake_prev && gm_speed);
+ int current_controls_allowed = controls_allowed && !pedal_pressed;
+
+ uint32_t addr;
+ if (to_send->RIR & 4) {
+ // Extended
+ addr = to_send->RIR >> 3;
+ } else {
+ // Normal
+ addr = to_send->RIR >> 21;
+ }
+
+ // BRAKE: safety check
+ if (addr == 789) {
+ int rdlr = to_send->RDLR;
+ int brake = ((rdlr & 0xF) << 8) + ((rdlr & 0xFF00) >> 8);
+ brake = (0x1000 - brake) & 0xFFF;
+ if (current_controls_allowed) {
+ if (brake > 255) return 0;
+ } else {
+ if (brake != 0) return 0;
+ }
+ }
+
+ // LKA STEER: safety check
+ if (addr == 384) {
+ int rdlr = to_send->RDLR;
+ int steer = ((rdlr & 0x7) << 8) + ((rdlr & 0xFF00) >> 8);
+ int max_steer = 255;
+ if (current_controls_allowed) {
+ // Signed arithmetic
+ if (steer & 0x400) {
+ if (steer < (0x800 - max_steer)) return 0;
+ } else {
+ if (steer > max_steer) return 0;
+ }
+ } else {
+ if (steer != 0) return 0;
+ }
+ }
+
+ // PARK ASSIST STEER: unlimited torque, no thanks
+ if (addr == 823) return 0;
+
+ // GAS/REGEN: safety check
+ if (addr == 715) {
+ int rdlr = to_send->RDLR;
+ int gas_regen = ((rdlr & 0x7F0000) >> 11) + ((rdlr & 0xF8000000) >> 27);
+ int apply = rdlr & 1;
+ if (current_controls_allowed) {
+ if (gas_regen > 3072) return 0;
+ } else {
+ // Disabled message is !engaed with gas
+ // value that corresponds to max regen.
+ if (apply || gas_regen != 1404) return 0;
+ }
+ }
+
+ // 1 allows the message through
+ return true;
+}
+
+static int gm_tx_lin_hook(int lin_num, uint8_t *data, int len) {
+ // LIN is not used in Volt
+ return false;
+}
+
+static void gm_init(int16_t param) {
+ controls_allowed = 0;
+}
+
+static int gm_fwd_hook(int bus_num, CAN_FIFOMailBox_TypeDef *to_fwd) {
+ return -1;
+}
+
+const safety_hooks gm_hooks = {
+ .init = gm_init,
+ .rx = gm_rx_hook,
+ .tx = gm_tx_hook,
+ .tx_lin = gm_tx_lin_hook,
+ .fwd = gm_fwd_hook,
+};
+
diff --git a/board/safety/safety_honda.h b/board/safety/safety_honda.h
index bf30d847079e09..73330639451458 100644
--- a/board/safety/safety_honda.h
+++ b/board/safety/safety_honda.h
@@ -13,6 +13,8 @@ int brake_prev = 0;
int gas_prev = 0;
int gas_interceptor_prev = 0;
int ego_speed = 0;
+// TODO: auto-detect bosch hardware based on CAN messages?
+bool bosch_hardware = false;
static void honda_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
@@ -33,19 +35,24 @@ static void honda_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
}
}
+ // user brake signal is different for nidec vs bosch hardware
+ // nidec hardware: 0x17C bit 53
+ // bosch hardware: 0x1BE bit 4
+ #define IS_USER_BRAKE_MSG(to_push) (!bosch_hardware ? to_push->RIR>>21 == 0x17C : to_push->RIR>>21 == 0x1BE)
+ #define USER_BRAKE_VALUE(to_push) (!bosch_hardware ? to_push->RDHR & 0x200000 : to_push->RDLR & 0x10)
// exit controls on rising edge of brake press or on brake press when
// speed > 0
- if ((to_push->RIR>>21) == 0x17C) {
- // bit 53
- int brake = to_push->RDHR & 0x200000;
+ if (IS_USER_BRAKE_MSG(to_push)) {
+ int brake = USER_BRAKE_VALUE(to_push);
if (brake && (!(brake_prev) || ego_speed)) {
controls_allowed = 0;
}
brake_prev = brake;
}
- // exit controls on rising edge of gas press if interceptor
- if ((to_push->RIR>>21) == 0x201) {
+ // exit controls on rising edge of gas press if interceptor (0x201 w/ len = 6)
+ // length check because bosch hardware also uses this id (0x201 w/ len = 8)
+ if ((to_push->RIR>>21) == 0x201 && (to_push->RDTR & 0xf) == 6) {
gas_interceptor_detected = 1;
int gas_interceptor = ((to_push->RDLR & 0xFF) << 8) | ((to_push->RDLR & 0xFF00) >> 8);
if ((gas_interceptor > 328) && (gas_interceptor_prev <= 328)) {
@@ -117,6 +124,11 @@ static int honda_tx_lin_hook(int lin_num, uint8_t *data, int len) {
static void honda_init(int16_t param) {
controls_allowed = 0;
+ bosch_hardware = false;
+}
+
+static int honda_fwd_hook(int bus_num, CAN_FIFOMailBox_TypeDef *to_fwd) {
+ return -1;
}
const safety_hooks honda_hooks = {
@@ -124,5 +136,26 @@ const safety_hooks honda_hooks = {
.rx = honda_rx_hook,
.tx = honda_tx_hook,
.tx_lin = honda_tx_lin_hook,
+ .fwd = honda_fwd_hook,
};
+static void honda_bosch_init(int16_t param) {
+ controls_allowed = 0;
+ bosch_hardware = true;
+}
+
+static int honda_bosch_fwd_hook(int bus_num, CAN_FIFOMailBox_TypeDef *to_fwd) {
+ if (bus_num == 1 || bus_num == 2) {
+ int addr = to_fwd->RIR>>21;
+ return addr != 0xE4 && addr != 0x33D ? (uint8_t)(~bus_num & 0x3) : -1;
+ }
+ return -1;
+}
+
+const safety_hooks honda_bosch_hooks = {
+ .init = honda_bosch_init,
+ .rx = honda_rx_hook,
+ .tx = honda_tx_hook,
+ .tx_lin = honda_tx_lin_hook,
+ .fwd = honda_bosch_fwd_hook,
+};
diff --git a/board/safety/safety_toyota.h b/board/safety/safety_toyota.h
index 9ddaf172bb47ee..78aaa36973c6fa 100644
--- a/board/safety/safety_toyota.h
+++ b/board/safety/safety_toyota.h
@@ -32,10 +32,10 @@ uint32_t ts_last = 0;
static void toyota_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
// get eps motor torque (0.66 factor in dbc)
if ((to_push->RIR>>21) == 0x260) {
- int torque_meas_new = (((to_push->RDHR) & 0xFF00) | ((to_push->RDHR >> 16) & 0xFF));
+ int16_t torque_meas_new_16 = (((to_push->RDHR) & 0xFF00) | ((to_push->RDHR >> 16) & 0xFF));
// increase torque_meas by 1 to be conservative on rounding
- torque_meas_new = (torque_meas_new * dbc_eps_torque_factor / 100) + (torque_meas_new > 0 ? 1 : -1);
+ int torque_meas_new = ((int)(torque_meas_new_16) * dbc_eps_torque_factor / 100) + (torque_meas_new_16 > 0 ? 1 : -1);
// shift the array
for (int i = sizeof(torque_meas)/sizeof(torque_meas[0]) - 1; i > 0; i--) {
@@ -161,11 +161,16 @@ static void toyota_init(int16_t param) {
dbc_eps_torque_factor = param;
}
+static int toyota_fwd_hook(int bus_num, CAN_FIFOMailBox_TypeDef *to_fwd) {
+ return -1;
+}
+
const safety_hooks toyota_hooks = {
.init = toyota_init,
.rx = toyota_rx_hook,
.tx = toyota_tx_hook,
.tx_lin = toyota_tx_lin_hook,
+ .fwd = toyota_fwd_hook,
};
static void toyota_nolimits_init(int16_t param) {
@@ -179,4 +184,5 @@ const safety_hooks toyota_nolimits_hooks = {
.rx = toyota_rx_hook,
.tx = toyota_tx_hook,
.tx_lin = toyota_tx_lin_hook,
+ .fwd = toyota_fwd_hook,
};
diff --git a/board/spi_flasher.h b/board/spi_flasher.h
index 5d979a09d244c8..179a095b970ef9 100644
--- a/board/spi_flasher.h
+++ b/board/spi_flasher.h
@@ -130,6 +130,120 @@ int spi_cb_rx(uint8_t *data, int len, uint8_t *data_out) {
return resp_len;
}
+#ifdef PEDAL
+
+#define CAN CAN1
+
+#define CAN_BL_INPUT 0x1
+#define CAN_BL_OUTPUT 0x2
+
+void CAN1_TX_IRQHandler() {
+ // clear interrupt
+ CAN->TSR |= CAN_TSR_RQCP0;
+}
+
+#define ISOTP_BUF_SIZE 0x110
+
+uint8_t isotp_buf[ISOTP_BUF_SIZE];
+uint8_t *isotp_buf_ptr = NULL;
+int isotp_buf_remain = 0;
+
+uint8_t isotp_buf_out[ISOTP_BUF_SIZE];
+uint8_t *isotp_buf_out_ptr = NULL;
+int isotp_buf_out_remain = 0;
+int isotp_buf_out_idx = 0;
+
+void bl_can_send(uint8_t *odat) {
+ // wait for send
+ while (!(CAN->TSR & CAN_TSR_TME0));
+
+ // send continue
+ CAN->sTxMailBox[0].TDLR = ((uint32_t*)odat)[0];
+ CAN->sTxMailBox[0].TDHR = ((uint32_t*)odat)[1];
+ CAN->sTxMailBox[0].TDTR = 8;
+ CAN->sTxMailBox[0].TIR = (CAN_BL_OUTPUT << 21) | 1;
+}
+
+void CAN1_RX0_IRQHandler() {
+ while (CAN->RF0R & CAN_RF0R_FMP0) {
+ if ((CAN->sFIFOMailBox[0].RIR>>21) == CAN_BL_INPUT) {
+ uint8_t dat[8];
+ ((uint32_t*)dat)[0] = CAN->sFIFOMailBox[0].RDLR;
+ ((uint32_t*)dat)[1] = CAN->sFIFOMailBox[0].RDHR;
+ uint8_t odat[8];
+ uint8_t type = dat[0] & 0xF0;
+ if (type == 0x30) {
+ // continue
+ while (isotp_buf_out_remain > 0) {
+ // wait for send
+ while (!(CAN->TSR & CAN_TSR_TME0));
+
+ odat[0] = 0x20 | isotp_buf_out_idx;
+ memcpy(odat+1, isotp_buf_out_ptr, 7);
+ isotp_buf_out_remain -= 7;
+ isotp_buf_out_ptr += 7;
+ isotp_buf_out_idx++;
+
+ bl_can_send(odat);
+ }
+ } else if (type == 0x20) {
+ if (isotp_buf_remain > 0) {
+ memcpy(isotp_buf_ptr, dat+1, 7);
+ isotp_buf_ptr += 7;
+ isotp_buf_remain -= 7;
+ }
+ if (isotp_buf_remain <= 0) {
+ int len = isotp_buf_ptr - isotp_buf + isotp_buf_remain;
+
+ // call the function
+ memset(isotp_buf_out, 0, ISOTP_BUF_SIZE);
+ isotp_buf_out_remain = spi_cb_rx(isotp_buf, len, isotp_buf_out);
+ isotp_buf_out_ptr = isotp_buf_out;
+ isotp_buf_out_idx = 0;
+
+ // send initial
+ if (isotp_buf_out_remain <= 7) {
+ odat[0] = isotp_buf_out_remain;
+ memcpy(odat+1, isotp_buf_out_ptr, isotp_buf_out_remain);
+ } else {
+ odat[0] = 0x10 | (isotp_buf_out_remain>>8);
+ odat[1] = isotp_buf_out_remain & 0xFF;
+ memcpy(odat+2, isotp_buf_out_ptr, 6);
+ isotp_buf_out_remain -= 6;
+ isotp_buf_out_ptr += 6;
+ isotp_buf_out_idx++;
+ }
+
+ bl_can_send(odat);
+ }
+ } else if (type == 0x10) {
+ int len = ((dat[0]&0xF)<<8) | dat[1];
+
+ // setup buffer
+ isotp_buf_ptr = isotp_buf;
+ memcpy(isotp_buf_ptr, dat+2, 6);
+
+ if (len < (ISOTP_BUF_SIZE-0x10)) {
+ isotp_buf_ptr += 6;
+ isotp_buf_remain = len-6;
+ }
+
+ memset(odat, 0, 8);
+ odat[0] = 0x30;
+ bl_can_send(odat);
+ }
+ }
+ // next
+ CAN->RF0R |= CAN_RF0R_RFOM0;
+ }
+}
+
+void CAN1_SCE_IRQHandler() {
+ can_sce(CAN);
+}
+
+#endif
+
void soft_flasher_start() {
puts("\n\n\n************************ FLASHER START ************************\n");
@@ -140,6 +254,20 @@ void soft_flasher_start() {
RCC->AHB2ENR |= RCC_AHB2ENR_OTGFSEN;
RCC->APB1ENR |= RCC_APB1ENR_USART2EN;
+// pedal has the canloader
+#ifdef PEDAL
+ RCC->APB1ENR |= RCC_APB1ENR_CAN1EN;
+
+ // B8,B9: CAN 1
+ set_gpio_alternate(GPIOB, 8, GPIO_AF9_CAN1);
+ set_gpio_alternate(GPIOB, 9, GPIO_AF9_CAN1);
+ set_can_enable(CAN1, 1);
+
+ // init can
+ can_silent = ALL_CAN_LIVE;
+ can_init(0);
+#endif
+
// A4,A5,A6,A7: setup SPI
set_gpio_alternate(GPIOA, 4, GPIO_AF5_SPI1);
set_gpio_alternate(GPIOA, 5, GPIO_AF5_SPI1);
diff --git a/boardesp/proxy.c b/boardesp/proxy.c
index 02e3473a53634f..35493869fde893 100644
--- a/boardesp/proxy.c
+++ b/boardesp/proxy.c
@@ -20,6 +20,9 @@
_a > _b ? _a : _b; })
char ssid[32];
+char password[] = "testing123";
+int wifi_secure_mode = 0;
+
static const int pin = 2;
// Structure holding the TCP connection information.
@@ -218,11 +221,50 @@ void ICACHE_FLASH_ATTR inter_recv_cb(void *arg, char *pusrdata, unsigned short l
}
}
+void ICACHE_FLASH_ATTR wifi_configure(int secure) {
+ wifi_secure_mode = secure;
+
+ // start wifi AP
+ wifi_set_opmode(SOFTAP_MODE);
+ struct softap_config config = {0};
+ wifi_softap_get_config(&config);
+ strcpy(config.ssid, ssid);
+ if (wifi_secure_mode == 0) strcat(config.ssid, "-pair");
+ strcpy(config.password, password);
+ config.ssid_len = strlen(config.ssid);
+ config.authmode = wifi_secure_mode ? AUTH_WPA2_PSK : AUTH_OPEN;
+ config.beacon_interval = 100;
+ config.max_connection = 4;
+ wifi_softap_set_config(&config);
+
+ if (wifi_secure_mode) {
+ // setup tcp server
+ tcp_proto.local_port = 1337;
+ tcp_conn.type = ESPCONN_TCP;
+ tcp_conn.state = ESPCONN_NONE;
+ tcp_conn.proto.tcp = &tcp_proto;
+ espconn_regist_connectcb(&tcp_conn, tcp_connect_cb);
+ espconn_accept(&tcp_conn);
+ espconn_regist_time(&tcp_conn, 60, 0); // 60s timeout for all connections
+
+ // setup inter server
+ inter_proto.local_port = 1338;
+ const char udp_remote_ip[4] = {255, 255, 255, 255};
+ os_memcpy(inter_proto.remote_ip, udp_remote_ip, 4);
+ inter_proto.remote_port = 1338;
+
+ inter_conn.type = ESPCONN_UDP;
+ inter_conn.proto.udp = &inter_proto;
+
+ espconn_regist_recvcb(&inter_conn, inter_recv_cb);
+ espconn_create(&inter_conn);
+ }
+}
+
void ICACHE_FLASH_ATTR wifi_init() {
// default ssid and password
memset(ssid, 0, 32);
os_sprintf(ssid, "panda-%08x-BROKEN", system_get_chip_id());
- char password[] = "testing123";
// fetch secure ssid and password
// update, try 20 times, for 1 second
@@ -242,19 +284,7 @@ void ICACHE_FLASH_ATTR wifi_init() {
os_delay_us(50000);
}
- // start wifi AP
- wifi_set_opmode(SOFTAP_MODE);
- struct softap_config config;
- wifi_softap_get_config(&config);
- strcpy(config.ssid, ssid);
- strcpy(config.password, password);
- config.ssid_len = strlen(ssid);
- config.authmode = AUTH_WPA2_PSK;
- config.beacon_interval = 100;
- config.max_connection = 4;
- wifi_softap_set_config(&config);
-
- //set IP
+ // set IP
wifi_softap_dhcps_stop(); //stop DHCP before setting static IP
struct ip_info ip_config;
IP4_ADDR(&ip_config.ip, 192, 168, 0, 10);
@@ -265,27 +295,7 @@ void ICACHE_FLASH_ATTR wifi_init() {
wifi_softap_set_dhcps_offer_option(OFFER_ROUTER, &stupid_gateway);
wifi_softap_dhcps_start();
- // setup tcp server
- tcp_proto.local_port = 1337;
- tcp_conn.type = ESPCONN_TCP;
- tcp_conn.state = ESPCONN_NONE;
- tcp_conn.proto.tcp = &tcp_proto;
- espconn_regist_connectcb(&tcp_conn, tcp_connect_cb);
- espconn_accept(&tcp_conn);
- espconn_regist_time(&tcp_conn, 60, 0); // 60s timeout for all connections
-
- // setup inter server
- inter_proto.local_port = 1338;
- const char udp_remote_ip[4] = {255, 255, 255, 255};
- os_memcpy(inter_proto.remote_ip, udp_remote_ip, 4);
- inter_proto.remote_port = 1338;
-
- inter_conn.type = ESPCONN_UDP;
- inter_conn.proto.udp = &inter_proto;
-
- espconn_regist_recvcb(&inter_conn, inter_recv_cb);
-
- espconn_create(&inter_conn);
+ wifi_configure(0);
}
#define LOOP_PRIO 2
diff --git a/boardesp/webserver.c b/boardesp/webserver.c
index 66b1185fefd719..9266b08f70f605 100644
--- a/boardesp/webserver.c
+++ b/boardesp/webserver.c
@@ -40,6 +40,7 @@ char OK_header[] = "HTTP/1.0 200 OK\nContent-Type: text/html\n\n";
static struct espconn web_conn;
static esp_tcp web_proto;
extern char ssid[];
+extern int wifi_secure_mode;
char *st_firmware;
int real_content_length, content_length = 0;
@@ -205,6 +206,12 @@ static void ICACHE_FLASH_ATTR web_rx_cb(void *arg, char *data, uint16_t len) {
} else {
ets_strcat(resp, "\nesp flash file: user1.bin");
}
+
+ if (wifi_secure_mode) {
+ ets_strcat(resp, "\nin secure mode");
+ } else {
+ ets_strcat(resp, "\nin INSECURE mode...secure it");
+ }
ets_strcat(resp,"\nSet USB Mode:"
""
@@ -215,8 +222,9 @@ static void ICACHE_FLASH_ATTR web_rx_cb(void *arg, char *data, uint16_t len) {
espconn_send_string(&web_conn, resp);
espconn_disconnect(conn);
-
- } else if (memcmp(data, "GET /set_property?usb_mode=", 27) == 0) {
+ } else if (memcmp(data, "GET /secure", 11) == 0 && !wifi_secure_mode) {
+ wifi_configure(1);
+ } else if (memcmp(data, "GET /set_property?usb_mode=", 27) == 0 && wifi_secure_mode) {
char mode_value = data[27] - '0';
if (mode_value >= '\x00' && mode_value <= '\x02') {
memset(resp, 0, MAX_RESP);
@@ -228,7 +236,7 @@ static void ICACHE_FLASH_ATTR web_rx_cb(void *arg, char *data, uint16_t len) {
espconn_send_string(&web_conn, resp);
espconn_disconnect(conn);
}
- } else if (memcmp(data, "PUT /stupdate ", 14) == 0) {
+ } else if (memcmp(data, "PUT /stupdate ", 14) == 0 && wifi_secure_mode) {
os_printf("init st firmware\n");
char *cl = strstr(data, "Content-Length: ");
if (cl != NULL) {
@@ -244,8 +252,8 @@ static void ICACHE_FLASH_ATTR web_rx_cb(void *arg, char *data, uint16_t len) {
state = RECEIVING_ST_FIRMWARE;
}
- } else if ((memcmp(data, "PUT /espupdate1 ", 16) == 0) ||
- (memcmp(data, "PUT /espupdate2 ", 16) == 0)) {
+ } else if (((memcmp(data, "PUT /espupdate1 ", 16) == 0) ||
+ (memcmp(data, "PUT /espupdate2 ", 16) == 0)) && wifi_secure_mode) {
// 0x1000 = user1.bin
// 0x81000 = user2.bin
// 0x3FE000 = blank.bin
diff --git a/drivers/windows/ECUsim DLL/ECUsim.h b/drivers/windows/ECUsim DLL/ECUsim.h
index 7378e2c5811d84..2f5fe0f7ad4865 100644
--- a/drivers/windows/ECUsim DLL/ECUsim.h
+++ b/drivers/windows/ECUsim DLL/ECUsim.h
@@ -1,7 +1,7 @@
#pragma once
#include
-#include "panda\panda.h"
+#include "panda_shared/panda.h"
#include
// The following ifdef block is the standard way of creating macros which make exporting
diff --git a/drivers/windows/README.md b/drivers/windows/README.md
index 7219abda2485e5..c36e6abdc8a13f 100644
--- a/drivers/windows/README.md
+++ b/drivers/windows/README.md
@@ -56,10 +56,8 @@ features.
# Building the Project:
-This project was developed with Visual Studio 2015, the Windows SDK,
-and the Windows Driver Kit (WDK). At the time of writing, there is not
-a stable WDK for Visual Studio 2017, but this project should build
-with the new WDK and Visual Studio when it is available.
+This project is developed with Visual Studio 2017, the Windows SDK,
+and the Windows Driver Kit (WDK).
The WDK is only required for creating the signed WinUSB inf file. The
WDK may also provide the headers for WinUSB.
@@ -102,50 +100,18 @@ A simple tool for testing J2534 drivers is DrewTech's 'J2534-1 Bus Analysis
Tool' available in the 'Other Support Applications' section of their
[Download Page](http://www.drewtech.com/downloads/).
-# Dealing with self signed drivers:
+# Installing WinUSB driver:
-Installation would be straightforward were it not for the USB Driver
-that needs to be setup. The driver itself is only a WinUSB inf file
-(no actual driver), but it still needs to be signed.
+Installation automatically happens for Windows 8 and Windows 10 because the panda
+firmware contains the USB descriptors necessary to auto-install the WinUSB driver.
-Driver signing is a requirement of Windows starting in 8 (64 bit
-versions only for some reason). If your Windows refuses to install
-the driver, there are three choices:
+Windows 7 will not auto-install the WinUSB driver. You can use Zadig to install
+the WinUSB driver. This software is not tested on anything before 7.
-- Self Sign the Driver.
-- Disable Driver Signature Verification
-- Purchase a certificate signed by a trusted authority.
-
-Since self signed certificates have no chain of trust to a known
-certificate authority, if you self sign, you will have to add your
-cert to the root certificate store of your Windows' installation. This
-is dangerous because it means anything signed with your cert will be
-trusted. If you make your own cert, add a password so someone can't
-copy it and screw with your computer's trust.
-
-Disabling Signature Verification allows you to temporarily install
-drivers without a trusted signature. Once you reboot, new drivers will
-need to be verified again, but any installed drivers will stay where
-they are. This option is irritating if you are installing and
-uninstalling the inf driver multiple times, but overall, is safer than
-the custom root certificate described above.
-
-Purchasing a signed certificate is the best long term option, but it
-is not useful for open source contributors, since the certificate will
-be kept safe by the comma.ai team. Developers should use one of the
-other two options.
-
-**Note that certificate issues apply no matter if you are building
- from source or running an insaller .exe file.**
-
-Some people have reported that the driver installs without needing to
-disable driver signing, or that visual studio correctly sets up a
-temporary signing key for them. I call witchcraft because I have not
-had that happen to me. The signed certificate is still the correct
-thing to do in the end.
-
-Windows 7 will not force driver signing. This software is not tested
-on anything before 7.
+More details here:
+[WinUSB (Winusb.sys) Installation](https://docs.microsoft.com/en-us/windows-hardware/drivers/usbcon/winusb-installation)
+[WCID Devices](https://github.com/pbatard/libwdi/wiki/WCID-Devices)
+[Zadig for installing libusb compatible driver](https://github.com/pbatard/libwdi/wiki/Zadig)
# Developing:
@@ -154,8 +120,6 @@ on anything before 7.
# ToDo Items:
-- Get official signing key for WinUSB driver inf file.
-- Implement TxClear and RxClear. (Requires reading vague specifications).
- Apply a style-guide and consistent naming convention for Classes/Functions/Variables.
- Send multiple messages (each with a different address) from a given connection at the same time.
- Implement ISO14230/KWP2000 FAST (LIN communication is already supported with the raw panda USB driver).
@@ -173,5 +137,14 @@ on anything before 7.
relaxed to allow serialization of messages based on their address
(making multiple queues, effectively one queue per address).
+# Troubleshooting:
+troubleshooting:
+1. Install DrewTech J2534-1 Bus Analysis Tool
+http://www.drewtech.com/downloads/tools/Drew%20Technologies%20Tool%20for%20J2534-1%20API%20v1.07.msi
+2. Open DrewTech tool and make sure it shows "panda" as a device listed (this means registry settings are correct)
+3. When DrewTech tool attempts to load the driver it will show an error if it fails
+4. To figure out why the driver fails to load install Process Monitor and filter by the appropriate process name
+https://docs.microsoft.com/en-us/sysinternals/downloads/procmon
+
# Other:
Panda head ASCII art by dcau
\ No newline at end of file
diff --git a/drivers/windows/panda.sln b/drivers/windows/panda.sln
index a74e4022bf600c..39c8a63e28d23f 100644
--- a/drivers/windows/panda.sln
+++ b/drivers/windows/panda.sln
@@ -1,90 +1,92 @@
-
-Microsoft Visual Studio Solution File, Format Version 12.00
-# Visual Studio 14
-VisualStudioVersion = 14.0.25420.1
-MinimumVisualStudioVersion = 10.0.40219.1
-Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "pandaJ2534DLL", "pandaJ2534DLL\pandaJ2534DLL.vcxproj", "{A2BB18A5-F26B-48D6-BBB5-B83D64473C77}"
- ProjectSection(ProjectDependencies) = postProject
- {5528AEFB-638D-49AF-B9D4-965154E7D531} = {5528AEFB-638D-49AF-B9D4-965154E7D531}
- EndProjectSection
-EndProject
-Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "panda", "panda\panda.vcxproj", "{5528AEFB-638D-49AF-B9D4-965154E7D531}"
-EndProject
-Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "panda_playground", "panda_playground\panda_playground.vcxproj", "{691DB635-C272-4B98-897E-0505B970DCA9}"
- ProjectSection(ProjectDependencies) = postProject
- {5528AEFB-638D-49AF-B9D4-965154E7D531} = {5528AEFB-638D-49AF-B9D4-965154E7D531}
- EndProjectSection
-EndProject
-Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "panda Driver Package", "panda Driver Package\panda Driver Package.vcxproj", "{BD34DB24-F5DC-4992-A74F-05FAF731ABED}"
-EndProject
-Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "Tests", "pandaJ2534DLL Test\pandaJ2534DLL Test.vcxproj", "{7912F978-B48C-4C5D-8BFD-5D1E22158E47}"
-EndProject
-Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "ECUsim DLL", "ECUsim DLL\ECUsim DLL.vcxproj", "{96E0E646-EE76-444D-9A77-A0CD7F781DEB}"
-EndProject
-Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "ECUsim CLI", "ECUsim CLI\ECUsim CLI.vcxproj", "{D99E2FCD-21A4-4065-949A-31E34E0E69D1}"
-EndProject
-Global
- GlobalSection(SolutionConfigurationPlatforms) = preSolution
- Debug|x64 = Debug|x64
- Debug|x86 = Debug|x86
- Release|x64 = Release|x64
- Release|x86 = Release|x86
- EndGlobalSection
- GlobalSection(ProjectConfigurationPlatforms) = postSolution
- {A2BB18A5-F26B-48D6-BBB5-B83D64473C77}.Debug|x64.ActiveCfg = Debug|Win32
- {A2BB18A5-F26B-48D6-BBB5-B83D64473C77}.Debug|x86.ActiveCfg = Debug|Win32
- {A2BB18A5-F26B-48D6-BBB5-B83D64473C77}.Debug|x86.Build.0 = Debug|Win32
- {A2BB18A5-F26B-48D6-BBB5-B83D64473C77}.Release|x64.ActiveCfg = Release|Win32
- {A2BB18A5-F26B-48D6-BBB5-B83D64473C77}.Release|x86.ActiveCfg = Release|Win32
- {A2BB18A5-F26B-48D6-BBB5-B83D64473C77}.Release|x86.Build.0 = Release|Win32
- {5528AEFB-638D-49AF-B9D4-965154E7D531}.Debug|x64.ActiveCfg = Debug|x64
- {5528AEFB-638D-49AF-B9D4-965154E7D531}.Debug|x64.Build.0 = Debug|x64
- {5528AEFB-638D-49AF-B9D4-965154E7D531}.Debug|x86.ActiveCfg = Debug|Win32
- {5528AEFB-638D-49AF-B9D4-965154E7D531}.Debug|x86.Build.0 = Debug|Win32
- {5528AEFB-638D-49AF-B9D4-965154E7D531}.Release|x64.ActiveCfg = Release|x64
- {5528AEFB-638D-49AF-B9D4-965154E7D531}.Release|x64.Build.0 = Release|x64
- {5528AEFB-638D-49AF-B9D4-965154E7D531}.Release|x86.ActiveCfg = Release|Win32
- {5528AEFB-638D-49AF-B9D4-965154E7D531}.Release|x86.Build.0 = Release|Win32
- {691DB635-C272-4B98-897E-0505B970DCA9}.Debug|x64.ActiveCfg = Debug|x64
- {691DB635-C272-4B98-897E-0505B970DCA9}.Debug|x64.Build.0 = Debug|x64
- {691DB635-C272-4B98-897E-0505B970DCA9}.Debug|x86.ActiveCfg = Debug|Win32
- {691DB635-C272-4B98-897E-0505B970DCA9}.Debug|x86.Build.0 = Debug|Win32
- {691DB635-C272-4B98-897E-0505B970DCA9}.Release|x64.ActiveCfg = Release|x64
- {691DB635-C272-4B98-897E-0505B970DCA9}.Release|x64.Build.0 = Release|x64
- {691DB635-C272-4B98-897E-0505B970DCA9}.Release|x86.ActiveCfg = Release|Win32
- {691DB635-C272-4B98-897E-0505B970DCA9}.Release|x86.Build.0 = Release|Win32
- {BD34DB24-F5DC-4992-A74F-05FAF731ABED}.Debug|x64.ActiveCfg = Debug|Win32
- {BD34DB24-F5DC-4992-A74F-05FAF731ABED}.Debug|x86.ActiveCfg = Debug|Win32
- {BD34DB24-F5DC-4992-A74F-05FAF731ABED}.Debug|x86.Build.0 = Debug|Win32
- {BD34DB24-F5DC-4992-A74F-05FAF731ABED}.Debug|x86.Deploy.0 = Debug|Win32
- {BD34DB24-F5DC-4992-A74F-05FAF731ABED}.Release|x64.ActiveCfg = Release|Win32
- {BD34DB24-F5DC-4992-A74F-05FAF731ABED}.Release|x86.ActiveCfg = Release|Win32
- {BD34DB24-F5DC-4992-A74F-05FAF731ABED}.Release|x86.Build.0 = Release|Win32
- {BD34DB24-F5DC-4992-A74F-05FAF731ABED}.Release|x86.Deploy.0 = Release|Win32
- {7912F978-B48C-4C5D-8BFD-5D1E22158E47}.Debug|x64.ActiveCfg = Debug|Win32
- {7912F978-B48C-4C5D-8BFD-5D1E22158E47}.Debug|x86.ActiveCfg = Debug|Win32
- {7912F978-B48C-4C5D-8BFD-5D1E22158E47}.Debug|x86.Build.0 = Debug|Win32
- {7912F978-B48C-4C5D-8BFD-5D1E22158E47}.Release|x64.ActiveCfg = Release|Win32
- {7912F978-B48C-4C5D-8BFD-5D1E22158E47}.Release|x86.ActiveCfg = Release|Win32
- {7912F978-B48C-4C5D-8BFD-5D1E22158E47}.Release|x86.Build.0 = Release|Win32
- {96E0E646-EE76-444D-9A77-A0CD7F781DEB}.Debug|x64.ActiveCfg = Debug|x64
- {96E0E646-EE76-444D-9A77-A0CD7F781DEB}.Debug|x64.Build.0 = Debug|x64
- {96E0E646-EE76-444D-9A77-A0CD7F781DEB}.Debug|x86.ActiveCfg = Debug|Win32
- {96E0E646-EE76-444D-9A77-A0CD7F781DEB}.Debug|x86.Build.0 = Debug|Win32
- {96E0E646-EE76-444D-9A77-A0CD7F781DEB}.Release|x64.ActiveCfg = Release|x64
- {96E0E646-EE76-444D-9A77-A0CD7F781DEB}.Release|x64.Build.0 = Release|x64
- {96E0E646-EE76-444D-9A77-A0CD7F781DEB}.Release|x86.ActiveCfg = Release|Win32
- {96E0E646-EE76-444D-9A77-A0CD7F781DEB}.Release|x86.Build.0 = Release|Win32
- {D99E2FCD-21A4-4065-949A-31E34E0E69D1}.Debug|x64.ActiveCfg = Debug|x64
- {D99E2FCD-21A4-4065-949A-31E34E0E69D1}.Debug|x64.Build.0 = Debug|x64
- {D99E2FCD-21A4-4065-949A-31E34E0E69D1}.Debug|x86.ActiveCfg = Debug|Win32
- {D99E2FCD-21A4-4065-949A-31E34E0E69D1}.Debug|x86.Build.0 = Debug|Win32
- {D99E2FCD-21A4-4065-949A-31E34E0E69D1}.Release|x64.ActiveCfg = Release|x64
- {D99E2FCD-21A4-4065-949A-31E34E0E69D1}.Release|x64.Build.0 = Release|x64
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- {D99E2FCD-21A4-4065-949A-31E34E0E69D1}.Release|x86.Build.0 = Release|Win32
- EndGlobalSection
- GlobalSection(SolutionProperties) = preSolution
- HideSolutionNode = FALSE
- EndGlobalSection
-EndGlobal
+
+Microsoft Visual Studio Solution File, Format Version 12.00
+# Visual Studio 15
+VisualStudioVersion = 15.0.27130.2027
+MinimumVisualStudioVersion = 10.0.40219.1
+Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "pandaJ2534DLL", "pandaJ2534DLL\pandaJ2534DLL.vcxproj", "{A2BB18A5-F26B-48D6-BBB5-B83D64473C77}"
+EndProject
+Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "panda", "panda\panda.vcxproj", "{5528AEFB-638D-49AF-B9D4-965154E7D531}"
+EndProject
+Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "panda_playground", "panda_playground\panda_playground.vcxproj", "{691DB635-C272-4B98-897E-0505B970DCA9}"
+ ProjectSection(ProjectDependencies) = postProject
+ {5528AEFB-638D-49AF-B9D4-965154E7D531} = {5528AEFB-638D-49AF-B9D4-965154E7D531}
+ EndProjectSection
+EndProject
+Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "panda Driver Package", "panda Driver Package\panda Driver Package.vcxproj", "{BD34DB24-F5DC-4992-A74F-05FAF731ABED}"
+EndProject
+Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "Tests", "pandaJ2534DLL Test\pandaJ2534DLL Test.vcxproj", "{7912F978-B48C-4C5D-8BFD-5D1E22158E47}"
+EndProject
+Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "ECUsim DLL", "ECUsim DLL\ECUsim DLL.vcxproj", "{96E0E646-EE76-444D-9A77-A0CD7F781DEB}"
+EndProject
+Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "ECUsim CLI", "ECUsim CLI\ECUsim CLI.vcxproj", "{D99E2FCD-21A4-4065-949A-31E34E0E69D1}"
+EndProject
+Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "panda_shared", "panda_shared\panda_shared.vcxitems", "{0C843279-68C7-4679-AE51-9BC463D50D1C}"
+EndProject
+Global
+ GlobalSection(SharedMSBuildProjectFiles) = preSolution
+ panda_shared\panda_shared.vcxitems*{0c843279-68c7-4679-ae51-9bc463d50d1c}*SharedItemsImports = 9
+ panda_shared\panda_shared.vcxitems*{5528aefb-638d-49af-b9d4-965154e7d531}*SharedItemsImports = 4
+ panda_shared\panda_shared.vcxitems*{a2bb18a5-f26b-48d6-bbb5-b83d64473c77}*SharedItemsImports = 4
+ EndGlobalSection
+ GlobalSection(SolutionConfigurationPlatforms) = preSolution
+ Debug|x64 = Debug|x64
+ Debug|x86 = Debug|x86
+ Release|x64 = Release|x64
+ Release|x86 = Release|x86
+ EndGlobalSection
+ GlobalSection(ProjectConfigurationPlatforms) = postSolution
+ {A2BB18A5-F26B-48D6-BBB5-B83D64473C77}.Debug|x64.ActiveCfg = Debug|Win32
+ {A2BB18A5-F26B-48D6-BBB5-B83D64473C77}.Debug|x86.ActiveCfg = Debug|Win32
+ {A2BB18A5-F26B-48D6-BBB5-B83D64473C77}.Debug|x86.Build.0 = Debug|Win32
+ {A2BB18A5-F26B-48D6-BBB5-B83D64473C77}.Release|x64.ActiveCfg = Release|Win32
+ {A2BB18A5-F26B-48D6-BBB5-B83D64473C77}.Release|x86.ActiveCfg = Release|Win32
+ {A2BB18A5-F26B-48D6-BBB5-B83D64473C77}.Release|x86.Build.0 = Release|Win32
+ {5528AEFB-638D-49AF-B9D4-965154E7D531}.Debug|x64.ActiveCfg = Debug|x64
+ {5528AEFB-638D-49AF-B9D4-965154E7D531}.Debug|x64.Build.0 = Debug|x64
+ {5528AEFB-638D-49AF-B9D4-965154E7D531}.Debug|x86.ActiveCfg = Debug|Win32
+ {5528AEFB-638D-49AF-B9D4-965154E7D531}.Debug|x86.Build.0 = Debug|Win32
+ {5528AEFB-638D-49AF-B9D4-965154E7D531}.Release|x64.ActiveCfg = Release|x64
+ {5528AEFB-638D-49AF-B9D4-965154E7D531}.Release|x64.Build.0 = Release|x64
+ {5528AEFB-638D-49AF-B9D4-965154E7D531}.Release|x86.ActiveCfg = Release|Win32
+ {5528AEFB-638D-49AF-B9D4-965154E7D531}.Release|x86.Build.0 = Release|Win32
+ {691DB635-C272-4B98-897E-0505B970DCA9}.Debug|x64.ActiveCfg = Debug|x64
+ {691DB635-C272-4B98-897E-0505B970DCA9}.Debug|x64.Build.0 = Debug|x64
+ {691DB635-C272-4B98-897E-0505B970DCA9}.Debug|x86.ActiveCfg = Debug|Win32
+ {691DB635-C272-4B98-897E-0505B970DCA9}.Debug|x86.Build.0 = Debug|Win32
+ {691DB635-C272-4B98-897E-0505B970DCA9}.Release|x64.ActiveCfg = Release|x64
+ {691DB635-C272-4B98-897E-0505B970DCA9}.Release|x64.Build.0 = Release|x64
+ {691DB635-C272-4B98-897E-0505B970DCA9}.Release|x86.ActiveCfg = Release|Win32
+ {BD34DB24-F5DC-4992-A74F-05FAF731ABED}.Debug|x64.ActiveCfg = Debug|Win32
+ {BD34DB24-F5DC-4992-A74F-05FAF731ABED}.Debug|x86.ActiveCfg = Debug|Win32
+ {BD34DB24-F5DC-4992-A74F-05FAF731ABED}.Release|x64.ActiveCfg = Release|Win32
+ {BD34DB24-F5DC-4992-A74F-05FAF731ABED}.Release|x86.ActiveCfg = Release|Win32
+ {7912F978-B48C-4C5D-8BFD-5D1E22158E47}.Debug|x64.ActiveCfg = Debug|Win32
+ {7912F978-B48C-4C5D-8BFD-5D1E22158E47}.Debug|x86.ActiveCfg = Debug|Win32
+ {7912F978-B48C-4C5D-8BFD-5D1E22158E47}.Debug|x86.Build.0 = Debug|Win32
+ {7912F978-B48C-4C5D-8BFD-5D1E22158E47}.Release|x64.ActiveCfg = Release|Win32
+ {7912F978-B48C-4C5D-8BFD-5D1E22158E47}.Release|x86.ActiveCfg = Release|Win32
+ {96E0E646-EE76-444D-9A77-A0CD7F781DEB}.Debug|x64.ActiveCfg = Debug|x64
+ {96E0E646-EE76-444D-9A77-A0CD7F781DEB}.Debug|x64.Build.0 = Debug|x64
+ {96E0E646-EE76-444D-9A77-A0CD7F781DEB}.Debug|x86.ActiveCfg = Debug|Win32
+ {96E0E646-EE76-444D-9A77-A0CD7F781DEB}.Debug|x86.Build.0 = Debug|Win32
+ {96E0E646-EE76-444D-9A77-A0CD7F781DEB}.Release|x64.ActiveCfg = Release|x64
+ {96E0E646-EE76-444D-9A77-A0CD7F781DEB}.Release|x64.Build.0 = Release|x64
+ {96E0E646-EE76-444D-9A77-A0CD7F781DEB}.Release|x86.ActiveCfg = Release|Win32
+ {D99E2FCD-21A4-4065-949A-31E34E0E69D1}.Debug|x64.ActiveCfg = Debug|x64
+ {D99E2FCD-21A4-4065-949A-31E34E0E69D1}.Debug|x64.Build.0 = Debug|x64
+ {D99E2FCD-21A4-4065-949A-31E34E0E69D1}.Debug|x86.ActiveCfg = Debug|Win32
+ {D99E2FCD-21A4-4065-949A-31E34E0E69D1}.Debug|x86.Build.0 = Debug|Win32
+ {D99E2FCD-21A4-4065-949A-31E34E0E69D1}.Release|x64.ActiveCfg = Release|x64
+ {D99E2FCD-21A4-4065-949A-31E34E0E69D1}.Release|x64.Build.0 = Release|x64
+ {D99E2FCD-21A4-4065-949A-31E34E0E69D1}.Release|x86.ActiveCfg = Release|Win32
+ EndGlobalSection
+ GlobalSection(SolutionProperties) = preSolution
+ HideSolutionNode = FALSE
+ EndGlobalSection
+ GlobalSection(ExtensibilityGlobals) = postSolution
+ SolutionGuid = {8AF3826E-406A-4F1C-BA80-B4D7FD4B52E1}
+ EndGlobalSection
+ GlobalSection(Performance) = preSolution
+ HasPerformanceSessions = true
+ EndGlobalSection
+EndGlobal
diff --git a/drivers/windows/panda/panda.vcxproj b/drivers/windows/panda/panda.vcxproj
index a84b2fcce20396..22879c7cae8e2c 100644
--- a/drivers/windows/panda/panda.vcxproj
+++ b/drivers/windows/panda/panda.vcxproj
@@ -55,6 +55,7 @@
+
@@ -151,14 +152,10 @@
-
-
-
-
false
@@ -173,7 +170,6 @@
-
Create
Create
diff --git a/drivers/windows/panda/panda.vcxproj.filters b/drivers/windows/panda/panda.vcxproj.filters
index cded701a31c4b4..afddad6e8b7f97 100644
--- a/drivers/windows/panda/panda.vcxproj.filters
+++ b/drivers/windows/panda/panda.vcxproj.filters
@@ -1,58 +1,43 @@
-
-
-
-
- {4FC737F1-C7A5-4376-A066-2A32D752A2FF}
- cpp;c;cc;cxx;def;odl;idl;hpj;bat;asm;asmx
-
-
- {93995380-89BD-4b04-88EB-625FBE52EBFB}
- h;hh;hpp;hxx;hm;inl;inc;xsd
-
-
- {67DA6AB6-F800-4c08-8B7A-83BB121AAD01}
- rc;ico;cur;bmp;dlg;rc2;rct;bin;rgs;gif;jpg;jpeg;jpe;resx;tiff;tif;png;wav;mfcribbon-ms
-
-
-
-
- Header Files
-
-
- Header Files
-
-
- Header Files
-
-
- Header Files
-
-
- Header Files
-
-
-
-
- Source Files
-
-
- Source Files
-
-
- Source Files
-
-
- Source Files
-
-
-
-
- Resource Files
-
-
-
-
- Resource Files
-
-
+
+
+
+
+ {4FC737F1-C7A5-4376-A066-2A32D752A2FF}
+ cpp;c;cc;cxx;def;odl;idl;hpj;bat;asm;asmx
+
+
+ {93995380-89BD-4b04-88EB-625FBE52EBFB}
+ h;hh;hpp;hxx;hm;inl;inc;xsd
+
+
+ {67DA6AB6-F800-4c08-8B7A-83BB121AAD01}
+ rc;ico;cur;bmp;dlg;rc2;rct;bin;rgs;gif;jpg;jpeg;jpe;resx;tiff;tif;png;wav;mfcribbon-ms
+
+
+
+
+ Header Files
+
+
+ Header Files
+
+
+
+
+ Source Files
+
+
+ Source Files
+
+
+
+
+ Resource Files
+
+
+
+
+ Resource Files
+
+
\ No newline at end of file
diff --git a/drivers/windows/pandaJ2534DLL Test/ECUsim_tests.cpp b/drivers/windows/pandaJ2534DLL Test/ECUsim_tests.cpp
index 1effc4914511e1..8a9161475c90bd 100644
--- a/drivers/windows/pandaJ2534DLL Test/ECUsim_tests.cpp
+++ b/drivers/windows/pandaJ2534DLL Test/ECUsim_tests.cpp
@@ -1,7 +1,7 @@
#include "stdafx.h"
#include "Loader4.h"
#include "pandaJ2534DLL/J2534_v0404.h"
-#include "panda/panda.h"
+#include "panda_shared/panda.h"
#include "Timer.h"
#include "ECUsim DLL\ECUsim.h"
#include "TestHelpers.h"
diff --git a/drivers/windows/pandaJ2534DLL Test/TestHelpers.cpp b/drivers/windows/pandaJ2534DLL Test/TestHelpers.cpp
index 62096d118138bb..1281eb9d616c43 100644
--- a/drivers/windows/pandaJ2534DLL Test/TestHelpers.cpp
+++ b/drivers/windows/pandaJ2534DLL Test/TestHelpers.cpp
@@ -2,7 +2,7 @@
#include "TestHelpers.h"
#include "Loader4.h"
#include "pandaJ2534DLL/J2534_v0404.h"
-#include "panda/panda.h"
+#include "panda_shared/panda.h"
#include "Timer.h"
using namespace Microsoft::VisualStudio::CppUnitTestFramework;
diff --git a/drivers/windows/pandaJ2534DLL Test/TestHelpers.h b/drivers/windows/pandaJ2534DLL Test/TestHelpers.h
index 17dcee5f540502..9df59d7b5e1ac0 100644
--- a/drivers/windows/pandaJ2534DLL Test/TestHelpers.h
+++ b/drivers/windows/pandaJ2534DLL Test/TestHelpers.h
@@ -1,7 +1,7 @@
#pragma once
#include "stdafx.h"
#include "pandaJ2534DLL/J2534_v0404.h"
-#include "panda/panda.h"
+#include "panda_shared/panda.h"
using namespace Microsoft::VisualStudio::CppUnitTestFramework;
diff --git a/drivers/windows/pandaJ2534DLL Test/j2534_tests.cpp b/drivers/windows/pandaJ2534DLL Test/j2534_tests.cpp
index 774b8ed31c7483..674569acccafd3 100644
--- a/drivers/windows/pandaJ2534DLL Test/j2534_tests.cpp
+++ b/drivers/windows/pandaJ2534DLL Test/j2534_tests.cpp
@@ -1,7 +1,7 @@
#include "stdafx.h"
#include "Loader4.h"
#include "pandaJ2534DLL/J2534_v0404.h"
-#include "panda/panda.h"
+#include "panda_shared/panda.h"
#include "Timer.h"
#include "ECUsim DLL\ECUsim.h"
#include "TestHelpers.h"
diff --git a/drivers/windows/pandaJ2534DLL Test/pandaJ2534DLL Test.vcxproj b/drivers/windows/pandaJ2534DLL Test/pandaJ2534DLL Test.vcxproj
index d415b1fd795343..f19c743461d661 100644
--- a/drivers/windows/pandaJ2534DLL Test/pandaJ2534DLL Test.vcxproj
+++ b/drivers/windows/pandaJ2534DLL Test/pandaJ2534DLL Test.vcxproj
@@ -115,9 +115,6 @@
{a2bb18a5-f26b-48d6-bbb5-b83d64473c77}
-
- {5528aefb-638d-49af-b9d4-965154e7d531}
-
diff --git a/drivers/windows/pandaJ2534DLL Test/panda_tests.cpp b/drivers/windows/pandaJ2534DLL Test/panda_tests.cpp
index 65e549c50c00a5..51b0bfcf2f60b5 100644
--- a/drivers/windows/pandaJ2534DLL Test/panda_tests.cpp
+++ b/drivers/windows/pandaJ2534DLL Test/panda_tests.cpp
@@ -1,5 +1,5 @@
#include "stdafx.h"
-#include "panda/panda.h"
+#include "panda_shared/panda.h"
#include "TestHelpers.h"
#include
diff --git a/drivers/windows/pandaJ2534DLL/J2534Connection.cpp b/drivers/windows/pandaJ2534DLL/J2534Connection.cpp
index 358158bcb423b9..aa364b0f8a323c 100644
--- a/drivers/windows/pandaJ2534DLL/J2534Connection.cpp
+++ b/drivers/windows/pandaJ2534DLL/J2534Connection.cpp
@@ -33,6 +33,7 @@ long J2534Connection::PassThruReadMsgs(PASSTHRU_MSG *pMsg, unsigned long *pNumMs
messageRxBuff_mutex.unlock();
if (Timeout == 0)
break;
+ Sleep(2);
continue;
}
@@ -146,16 +147,35 @@ long J2534Connection::PassThruIoctl(unsigned long IoctlID, void *pInput, void *p
return STATUS_NOERROR;
}
-long J2534Connection::init5b(SBYTE_ARRAY* pInput, SBYTE_ARRAY* pOutput) { return STATUS_NOERROR; }
-long J2534Connection::initFast(PASSTHRU_MSG* pInput, PASSTHRU_MSG* pOutput) { return STATUS_NOERROR; }
-long J2534Connection::clearTXBuff() { return STATUS_NOERROR; }
+long J2534Connection::init5b(SBYTE_ARRAY* pInput, SBYTE_ARRAY* pOutput) { return ERR_FAILED; }
+long J2534Connection::initFast(PASSTHRU_MSG* pInput, PASSTHRU_MSG* pOutput) { return ERR_FAILED; }
+long J2534Connection::clearTXBuff() {
+ if (auto panda_ps = this->panda_dev.lock()) {
+ synchronized(staged_writes_lock) {
+ this->txbuff = {};
+ panda_ps->panda->can_clear(panda::PANDA_CAN1_TX);
+ }
+ }
+ return STATUS_NOERROR;
+}
long J2534Connection::clearRXBuff() {
- synchronized(messageRxBuff_mutex) {
- this->messageRxBuff = {};
+ if (auto panda_ps = this->panda_dev.lock()) {
+ synchronized(messageRxBuff_mutex) {
+ this->messageRxBuff = {};
+ panda_ps->panda->can_clear(panda::PANDA_CAN_RX);
+ }
}
return STATUS_NOERROR;
}
-long J2534Connection::clearPeriodicMsgs() { return STATUS_NOERROR; }
+long J2534Connection::clearPeriodicMsgs() {
+ for (int i = 0; i < this->periodicMessages.size(); i++) {
+ if (periodicMessages[i] == nullptr) continue;
+ this->periodicMessages[i]->cancel();
+ this->periodicMessages[i] = nullptr;
+ }
+
+ return STATUS_NOERROR;
+}
long J2534Connection::clearMsgFilters() {
for (auto& filter : this->filters) filter = nullptr;
return STATUS_NOERROR;
@@ -202,6 +222,7 @@ void J2534Connection::processIOCTLSetConfig(unsigned long Parameter, unsigned lo
switch (Parameter) {
case DATA_RATE: // 5-500000
this->setBaud(Value);
+ break;
case LOOPBACK: // 0 (OFF), 1 (ON) [0]
this->loopback = (Value != 0);
break;
@@ -236,6 +257,11 @@ void J2534Connection::processIOCTLSetConfig(unsigned long Parameter, unsigned lo
default:
printf("Got unknown SET code %X\n", Parameter);
}
+
+ // reserved parameters usually mean special equiptment is required
+ if (Parameter >= 0x20) {
+ throw ERR_NOT_SUPPORTED;
+ }
}
unsigned long J2534Connection::processIOCTLGetConfig(unsigned long Parameter) {
diff --git a/drivers/windows/pandaJ2534DLL/J2534Connection.h b/drivers/windows/pandaJ2534DLL/J2534Connection.h
index cdb215018b3fd1..70f25a1063f09f 100644
--- a/drivers/windows/pandaJ2534DLL/J2534Connection.h
+++ b/drivers/windows/pandaJ2534DLL/J2534Connection.h
@@ -1,5 +1,5 @@
#pragma once
-#include "panda/panda.h"
+#include "panda_shared/panda.h"
#include "J2534_v0404.h"
#include "synchronize.h"
#include "J2534Frame.h"
diff --git a/drivers/windows/pandaJ2534DLL/J2534Connection_CAN.h b/drivers/windows/pandaJ2534DLL/J2534Connection_CAN.h
index 4dd950b3907da6..3971351eea369a 100644
--- a/drivers/windows/pandaJ2534DLL/J2534Connection_CAN.h
+++ b/drivers/windows/pandaJ2534DLL/J2534Connection_CAN.h
@@ -1,7 +1,7 @@
#pragma once
#include "J2534Connection.h"
-#include "panda/panda.h"
+#include "panda_shared/panda.h"
#define val_is_29bit(num) check_bmask(num, CAN_29BIT_ID)
diff --git a/drivers/windows/pandaJ2534DLL/J2534Connection_ISO15765.cpp b/drivers/windows/pandaJ2534DLL/J2534Connection_ISO15765.cpp
index 2b9d97cb64e620..a83f6f433135f2 100644
--- a/drivers/windows/pandaJ2534DLL/J2534Connection_ISO15765.cpp
+++ b/drivers/windows/pandaJ2534DLL/J2534Connection_ISO15765.cpp
@@ -43,7 +43,7 @@ std::shared_ptr J2534Connection_ISO15765::parseMessageTx(PASSTHRU_MSG
void J2534Connection_ISO15765::processMessage(const J2534Frame& msg) {
if (msg.ProtocolID != CAN) return;
- int fid = get_matching_in_fc_filter_id(msg);
+ int fid = get_matching_in_fc_filter_id(msg, this->Flags);
if (fid == -1) return;
auto filter = this->filters[fid];
@@ -136,6 +136,9 @@ void J2534Connection_ISO15765::processMessage(const J2534Frame& msg) {
if (flowfilter.size() > 4)
flowstrlresp += flowfilter[4];
flowstrlresp += std::string("\x30\x00\x00", 3);
+ if (check_bmask(filter->flags, ISO15765_FRAME_PAD)) {
+ flowstrlresp += std::string(8 - flowstrlresp.size(), '\x00');
+ }
if (auto panda_dev_sp = this->panda_dev.lock()) {
panda_dev_sp->panda->can_send(flow_addr, val_is_29bit(msg.RxStatus), (const uint8_t *)flowstrlresp.c_str(), (uint8_t)flowstrlresp.size(), panda::PANDA_CAN1);
diff --git a/drivers/windows/pandaJ2534DLL/J2534Connection_ISO15765.h b/drivers/windows/pandaJ2534DLL/J2534Connection_ISO15765.h
index ddbf2dc2aa5ed9..beb9f012e09976 100644
--- a/drivers/windows/pandaJ2534DLL/J2534Connection_ISO15765.h
+++ b/drivers/windows/pandaJ2534DLL/J2534Connection_ISO15765.h
@@ -25,7 +25,7 @@ class J2534Connection_ISO15765 : public J2534Connection {
int get_matching_out_fc_filter_id(const std::string & msgdata, unsigned long flags, unsigned long flagmask);
- int get_matching_in_fc_filter_id(const J2534Frame& msg, unsigned long flagmask = CAN_29BIT_ID);
+ int get_matching_in_fc_filter_id(const J2534Frame& msg, unsigned long flagmask);
virtual unsigned long validateTxMsg(PASSTHRU_MSG* msg);
diff --git a/drivers/windows/pandaJ2534DLL/J2534Frame.h b/drivers/windows/pandaJ2534DLL/J2534Frame.h
index 5c991c5082e903..2549216b6f1fac 100644
--- a/drivers/windows/pandaJ2534DLL/J2534Frame.h
+++ b/drivers/windows/pandaJ2534DLL/J2534Frame.h
@@ -1,6 +1,6 @@
#pragma once
#include "J2534_v0404.h"
-#include "panda/panda.h"
+#include "panda_shared/panda.h"
/*A move convenient container for J2534 Messages than the static buffer provided by default.*/
class J2534Frame {
@@ -10,7 +10,7 @@ class J2534Frame {
J2534Frame(const panda::PANDA_CAN_MSG& msg_in) {
ProtocolID = CAN;
- ExtraDataIndex = 0;
+ ExtraDataIndex = msg_in.len + 4;
Data.reserve(msg_in.len + 4);
Data += msg_in.addr >> 24;
Data += (msg_in.addr >> 16) & 0xFF;
diff --git a/drivers/windows/pandaJ2534DLL/MessageTx_ISO15765.cpp b/drivers/windows/pandaJ2534DLL/MessageTx_ISO15765.cpp
index abcf3f6a472ea3..023088d3c61ea6 100644
--- a/drivers/windows/pandaJ2534DLL/MessageTx_ISO15765.cpp
+++ b/drivers/windows/pandaJ2534DLL/MessageTx_ISO15765.cpp
@@ -95,7 +95,7 @@ BOOL MessageTx_ISO15765::checkTxReceipt(J2534Frame frame) {
J2534Frame outframe(ISO15765);
outframe.Timestamp = frame.Timestamp;
- outframe.RxStatus = TX_INDICATION | (flags & (ISO15765_ADDR_TYPE | CAN_29BIT_ID));
+ outframe.RxStatus = TX_MSG_TYPE | TX_INDICATION | (flags & (ISO15765_ADDR_TYPE | CAN_29BIT_ID));
outframe.Data = frame.Data.substr(0, addressLength());
conn_sp->addMsgToRxQueue(outframe);
diff --git a/drivers/windows/pandaJ2534DLL/PandaJ2534Device.cpp b/drivers/windows/pandaJ2534DLL/PandaJ2534Device.cpp
index 6a78271fdcdc57..1b961579e079ab 100644
--- a/drivers/windows/pandaJ2534DLL/PandaJ2534Device.cpp
+++ b/drivers/windows/pandaJ2534DLL/PandaJ2534Device.cpp
@@ -8,11 +8,15 @@ PandaJ2534Device::PandaJ2534Device(std::unique_ptr new_panda) : tx
this->panda->set_esp_power(FALSE);
this->panda->set_safety_mode(panda::SAFETY_ALLOUTPUT);
this->panda->set_can_loopback(FALSE);
- this->panda->set_alt_setting(1);
+ this->panda->set_alt_setting(0);
- DWORD canListenThreadID;
this->thread_kill_event = CreateEvent(NULL, TRUE, FALSE, NULL);
- this->can_thread_handle = CreateThread(NULL, 0, _can_recv_threadBootstrap, (LPVOID)this, 0, &canListenThreadID);
+
+ DWORD canListenThreadID;
+ this->can_recv_handle = CreateThread(NULL, 0, _can_recv_threadBootstrap, (LPVOID)this, 0, &canListenThreadID);
+
+ DWORD canProcessThreadID;
+ this->can_process_handle = CreateThread(NULL, 0, _can_process_threadBootstrap, (LPVOID)this, 0, &canProcessThreadID);
DWORD flowControlSendThreadID;
this->flow_control_wakeup_event = CreateEvent(NULL, TRUE, FALSE, NULL);
@@ -21,8 +25,11 @@ PandaJ2534Device::PandaJ2534Device(std::unique_ptr new_panda) : tx
PandaJ2534Device::~PandaJ2534Device() {
SetEvent(this->thread_kill_event);
- DWORD res = WaitForSingleObject(this->can_thread_handle, INFINITE);
- CloseHandle(this->can_thread_handle);
+ DWORD res = WaitForSingleObject(this->can_recv_handle, INFINITE);
+ CloseHandle(this->can_recv_handle);
+
+ res = WaitForSingleObject(this->can_process_handle, INFINITE);
+ CloseHandle(this->can_process_handle);
res = WaitForSingleObject(this->flow_control_thread_handle, INFINITE);
CloseHandle(this->flow_control_thread_handle);
@@ -67,11 +74,28 @@ DWORD PandaJ2534Device::addChannel(std::shared_ptr& conn, unsig
}
DWORD PandaJ2534Device::can_recv_thread() {
- DWORD err = TRUE;
- while (err) {
- std::vector msg_recv;
- err = this->panda->can_recv_async(this->thread_kill_event, msg_recv);
- for (auto msg_in : msg_recv) {
+ this->panda->can_clear(panda::PANDA_CAN_RX);
+ this->panda->can_rx_q_push(this->thread_kill_event);
+
+ return 0;
+}
+
+DWORD PandaJ2534Device::can_process_thread() {
+ panda::PANDA_CAN_MSG msg_recv[CAN_RX_MSG_LEN];
+
+ while (true) {
+ if (!WaitForSingleObject(this->thread_kill_event, 0)) {
+ break;
+ }
+
+ int count = 0;
+ this->panda->can_rx_q_pop(msg_recv, count);
+ if (count == 0) {
+ continue;
+ }
+
+ for (int i = 0; i < count; i++) {
+ auto msg_in = msg_recv[i];
J2534Frame msg_out(msg_in);
if (msg_in.is_receipt) {
diff --git a/drivers/windows/pandaJ2534DLL/PandaJ2534Device.h b/drivers/windows/pandaJ2534DLL/PandaJ2534Device.h
index 3e5880c955c78c..32004ffba5ea14 100644
--- a/drivers/windows/pandaJ2534DLL/PandaJ2534Device.h
+++ b/drivers/windows/pandaJ2534DLL/PandaJ2534Device.h
@@ -5,7 +5,7 @@
#include
#include
#include "J2534_v0404.h"
-#include "panda/panda.h"
+#include "panda_shared/panda.h"
#include "synchronize.h"
#include "Action.h"
#include "MessageTx.h"
@@ -55,12 +55,18 @@ class PandaJ2534Device {
private:
HANDLE thread_kill_event;
- HANDLE can_thread_handle;
+ HANDLE can_recv_handle;
static DWORD WINAPI _can_recv_threadBootstrap(LPVOID This) {
return ((PandaJ2534Device*)This)->can_recv_thread();
}
DWORD can_recv_thread();
+ HANDLE can_process_handle;
+ static DWORD WINAPI _can_process_threadBootstrap(LPVOID This) {
+ return ((PandaJ2534Device*)This)->can_process_thread();
+ }
+ DWORD can_process_thread();
+
HANDLE flow_control_wakeup_event;
HANDLE flow_control_thread_handle;
static DWORD WINAPI _msg_tx_threadBootstrap(LPVOID This) {
diff --git a/drivers/windows/pandaJ2534DLL/pandaJ2534DLL.cpp b/drivers/windows/pandaJ2534DLL/pandaJ2534DLL.cpp
index 2e706f507d9994..096e4419883928 100644
--- a/drivers/windows/pandaJ2534DLL/pandaJ2534DLL.cpp
+++ b/drivers/windows/pandaJ2534DLL/pandaJ2534DLL.cpp
@@ -5,7 +5,7 @@
#include "stdafx.h"
#include "J2534_v0404.h"
-#include "panda/panda.h"
+#include "panda_shared/panda.h"
#include "J2534Connection.h"
#include "J2534Connection_CAN.h"
#include "J2534Connection_ISO15765.h"
@@ -57,7 +57,7 @@ long ret_code(long code) {
return code;
}
-#define EXTRACT_DID(CID) (CID & 0xFFFF)
+#define EXTRACT_DID(CID) ((CID & 0xFFFF) - 1)
#define EXTRACT_CID(CID) ((CID >> 16) & 0xFFFF)
long check_valid_DeviceID(unsigned long DeviceID) {
@@ -68,7 +68,7 @@ long check_valid_DeviceID(unsigned long DeviceID) {
}
long check_valid_ChannelID(unsigned long ChannelID) {
- uint16_t dev_id = EXTRACT_DID(ChannelID);;
+ uint16_t dev_id = EXTRACT_DID(ChannelID);
uint16_t con_id = EXTRACT_CID(ChannelID);
if (pandas.size() <= dev_id || pandas[dev_id] == nullptr)
@@ -117,7 +117,7 @@ PANDAJ2534DLL_API long PTAPI PassThruOpen(void *pName, unsigned long *pDevice
panda_index = pandas.size()-1;
}
- *pDeviceID = panda_index;
+ *pDeviceID = panda_index + 1; // TIS doesn't like it when ID == 0
return ret_code(STATUS_NOERROR);
}
PANDAJ2534DLL_API long PTAPI PassThruClose(unsigned long DeviceID) {
@@ -140,14 +140,12 @@ PANDAJ2534DLL_API long PTAPI PassThruConnect(unsigned long DeviceID, unsigned lo
switch (ProtocolID) {
//SW seems to refer to Single Wire. https://www.nxp.com/files-static/training_pdf/20451_BUS_COMM_WBT.pdf
//SW_ protocols may be touched on here: https://www.iso.org/obp/ui/#iso:std:iso:22900:-2:ed-1:v1:en
- case J1850VPW: //These protocols are outdated and will not be supported. HDS wants them to not fail to open.
- case J1850PWM:
- case J1850VPW_PS:
- case J1850PWM_PS:
+ //case J1850VPW: // These protocols are outdated and will not be supported. HDS wants them to not fail to open.
+ //case J1850PWM: // ^-- it appears HDS no longer needs this, and TIS needs it disabled --^
+ //case J1850VPW_PS:
+ //case J1850PWM_PS:
case ISO9141: //This protocol could be implemented if 5 BAUD init support is added to the panda.
case ISO9141_PS:
- conn = std::make_shared(panda, ProtocolID, Flags, BaudRate);
- break;
case ISO14230: //Only supporting Fast init until panda adds support for 5 BAUD init.
case ISO14230_PS:
conn = std::make_shared(panda, ProtocolID, Flags, BaudRate);
@@ -263,8 +261,7 @@ PANDAJ2534DLL_API long PTAPI PassThruReadVersion(unsigned long DeviceID, char *p
} else {
j2534dll_ver = GetProductAndVersion(pandalib_filename);
}
- std::string pandalib_ver = GetProductAndVersion(_T("panda.dll"));
- std::string fullver = "(" + j2534dll_ver + "; " + pandalib_ver + ")";
+ std::string fullver = "(" + j2534dll_ver + ")";
strcpy_s(pDllVersion, 80, fullver.c_str());
strcpy_s(pApiVersion, 80, J2534_APIVER_NOVEMBER_2004);
diff --git a/drivers/windows/pandaJ2534DLL/pandaJ2534DLL.vcxproj b/drivers/windows/pandaJ2534DLL/pandaJ2534DLL.vcxproj
index 6e32122b8bac63..fd5eac56dd4d4a 100644
--- a/drivers/windows/pandaJ2534DLL/pandaJ2534DLL.vcxproj
+++ b/drivers/windows/pandaJ2534DLL/pandaJ2534DLL.vcxproj
@@ -34,6 +34,7 @@
+
@@ -64,7 +65,7 @@
Windows
true
- kernel32.lib;user32.lib;gdi32.lib;winspool.lib;comdlg32.lib;advapi32.lib;shell32.lib;ole32.lib;oleaut32.lib;uuid.lib;odbc32.lib;odbccp32.lib;%(AdditionalDependencies);version.lib;$(OutDir)panda.lib
+ kernel32.lib;user32.lib;gdi32.lib;winspool.lib;comdlg32.lib;advapi32.lib;shell32.lib;ole32.lib;oleaut32.lib;uuid.lib;odbc32.lib;odbccp32.lib;%(AdditionalDependencies);version.lib;winusb.lib;setupapi.lib
@@ -83,7 +84,7 @@
true
true
true
- kernel32.lib;user32.lib;gdi32.lib;winspool.lib;comdlg32.lib;advapi32.lib;shell32.lib;ole32.lib;oleaut32.lib;uuid.lib;odbc32.lib;odbccp32.lib;%(AdditionalDependencies);version.lib;$(OutDir)panda.lib
+ kernel32.lib;user32.lib;gdi32.lib;winspool.lib;comdlg32.lib;advapi32.lib;shell32.lib;ole32.lib;oleaut32.lib;uuid.lib;odbc32.lib;odbccp32.lib;%(AdditionalDependencies);version.lib;winusb.lib;setupapi.lib
@@ -135,11 +136,6 @@
-
-
- {5528aefb-638d-49af-b9d4-965154e7d531}
-
-
diff --git a/drivers/windows/panda_install.nsi b/drivers/windows/panda_install.nsi
index 81ecc3c872df42..47a4423f91b940 100644
--- a/drivers/windows/panda_install.nsi
+++ b/drivers/windows/panda_install.nsi
@@ -1,5 +1,5 @@
!define J2534_Reg_Path "Software\PassThruSupport.04.04\comma.ai - panda"
-!define Install_Name "panda J2534 Drivers"
+!define Install_Name "panda J2534 driver"
;NOTE! The panda software requires a VC runtime to be installed in order to work.
;This installer must be bundled with the appropriate runtime installer, and have
@@ -21,10 +21,10 @@
Unicode true
# Set the installer display name
-Name "panda Driver"
+Name "${Install_Name}"
# set the name of the installer
-Outfile "panda install.exe"
+Outfile "${Install_Name} install.exe"
; The default installation directory
InstallDir $PROGRAMFILES\comma.ai\panda
@@ -63,18 +63,19 @@ VIProductVersion "1.0.0.0"
;--------------------------------
; Install Sections
-Section "panda driver (required)"
+Section "prerequisites"
SectionIn RO
SetOutPath "$INSTDIR"
+ File "panda.ico"
;If the visual studio version this project is compiled with changes, this section
;must be revisited. The registry key must be changed, and the VS redistributable
;binary must be updated to the VS version used.
ClearErrors
- ReadRegStr $0 HKLM ${VCRuntimeRegKey} "Version"
+ ReadRegStr $0 HKCR ${VCRuntimeRegKey} "Version"
${If} ${Errors}
DetailPrint "Installing Visual Studio C Runtime..."
File "${VCRuntimeSetupPath}\${VCRuntimeSetupFile}"
@@ -87,35 +88,22 @@ Section "panda driver (required)"
Delete "$INSTDIR\${VCRuntimeSetupFile}"
;Do the rest of the install
- SetOutPath "$INSTDIR\driver"
+ ; SetOutPath "$INSTDIR\driver"
; The inf file works for both 32 and 64 bit.
- File "Debug_x86\panda Driver Package\panda.inf"
- File "Debug_x86\panda Driver Package\panda.cat"
- ${DisableX64FSRedirection}
- nsExec::ExecToLog '"$SYSDIR\PnPutil.exe" /a "$INSTDIR\driver\panda.inf"'
- ${EnableX64FSRedirection}
-
- SetOutPath $SYSDIR
-
- File Release_x86\panda.dll
-
- ${If} ${RunningX64}
- ${DisableX64FSRedirection}
- ;Note that the x64 VS redistributable is not installed to prevent bloat.
- ;If you are the rare person who uses the 64 bit raw panda driver, please
- ;install the correct x64 VS runtime manually.
- File Release_x64\panda.dll
- ${EnableX64FSRedirection}
- ${EndIf}
+ ; File "Debug_x86\panda Driver Package\panda.inf"
+ ; File "Debug_x86\panda Driver Package\panda.cat"
+ ; ${DisableX64FSRedirection}
+ ; nsExec::ExecToLog '"$SYSDIR\PnPutil.exe" /a "$INSTDIR\driver\panda.inf"'
+ ; ${EnableX64FSRedirection}
; Write the installation path into the registry
- WriteRegStr HKLM "SOFTWARE\panda J2534 Drivers" "Install_Dir" "$INSTDIR"
+ WriteRegStr HKLM "SOFTWARE\${Install_Name}" "Install_Dir" "$INSTDIR"
; Write the uninstall keys for Windows
- ;WriteRegStr HKLM "Software\Microsoft\Windows\CurrentVersion\Uninstall\${Install_Name}" "DisplayVersion" ""
- WriteRegStr HKLM "Software\Microsoft\Windows\CurrentVersion\Uninstall\${Install_Name}" "DisplayIcon" '"$SYSDIR\panda.dll",0'
- WriteRegStr HKLM "Software\Microsoft\Windows\CurrentVersion\Uninstall\${Install_Name}" "DisplayName" "panda J2534 Drivers"
+ WriteRegStr HKLM "Software\Microsoft\Windows\CurrentVersion\Uninstall\${Install_Name}" "DisplayVersion" ""
+ WriteRegStr HKLM "Software\Microsoft\Windows\CurrentVersion\Uninstall\${Install_Name}" "DisplayIcon" '"$INSTDIR\panda.ico",0'
+ WriteRegStr HKLM "Software\Microsoft\Windows\CurrentVersion\Uninstall\${Install_Name}" "DisplayName" "${Install_Name}"
WriteRegStr HKLM "Software\Microsoft\Windows\CurrentVersion\Uninstall\${Install_Name}" "Publisher" "comma.ai"
WriteRegStr HKLM "Software\Microsoft\Windows\CurrentVersion\Uninstall\${Install_Name}" "UninstallString" '"$INSTDIR\uninstall.exe"'
WriteRegStr HKLM "Software\Microsoft\Windows\CurrentVersion\Uninstall\${Install_Name}" "URLInfoAbout" "https://github.com/commaai/panda/"
@@ -127,19 +115,6 @@ Section "panda driver (required)"
SectionEnd
-Section "panda devel lib/header"
-
- SetOutPath "$INSTDIR\devel"
- File panda\panda.h
-
- SetOutPath "$INSTDIR\devel\x86"
- File Release_x86\panda.lib
-
- SetOutPath "$INSTDIR\devel\x64"
- File Release_x64\panda.lib
-
-SectionEnd
-
Section "J2534 Driver"
SetOutPath $INSTDIR
@@ -165,6 +140,32 @@ Section "J2534 Driver"
SectionEnd
+Section /o "Development lib/header"
+
+ SetOutPath $SYSDIR
+
+ File Release_x86\panda.dll
+
+ ${If} ${RunningX64}
+ ${DisableX64FSRedirection}
+ ;Note that the x64 VS redistributable is not installed to prevent bloat.
+ ;If you are the rare person who uses the 64 bit raw panda driver, please
+ ;install the correct x64 VS runtime manually.
+ File Release_x64\panda.dll
+ ${EnableX64FSRedirection}
+ ${EndIf}
+
+ SetOutPath "$INSTDIR\devel"
+ File panda_shared\panda.h
+
+ SetOutPath "$INSTDIR\devel\x86"
+ File Release_x86\panda.lib
+
+ SetOutPath "$INSTDIR\devel\x64"
+ File Release_x64\panda.lib
+
+SectionEnd
+
;--------------------------------
; Uninstaller
Section "Uninstall"
@@ -176,9 +177,9 @@ Section "Uninstall"
; if Microsoft wants these inf files to be removed.
; Consider https://blog.sverrirs.com/2015/12/creating-windows-installer-and.html
; These lines just remove the inf backups.
- Delete "$INSTDIR\driver\panda.inf"
- Delete "$INSTDIR\driver\panda.cat"
- RMDir "$INSTDIR\driver"
+ ; Delete "$INSTDIR\driver\panda.inf"
+ ; Delete "$INSTDIR\driver\panda.cat"
+ ; RMDir "$INSTDIR\driver"
; Remove WinUSB driver library
Delete $SYSDIR\panda.dll
@@ -204,6 +205,7 @@ Section "Uninstall"
; Remove files and uninstaller
Delete "$INSTDIR\uninstall.exe"
Delete "$INSTDIR\pandaJ2534_0404_32.dll"
+ Delete "$INSTDIR\panda.ico"
; Remove directories used
RMDir "$INSTDIR"
diff --git a/drivers/windows/panda/device.cpp b/drivers/windows/panda_shared/device.cpp
similarity index 99%
rename from drivers/windows/panda/device.cpp
rename to drivers/windows/panda_shared/device.cpp
index a204610000c8be..83e021b7994ad4 100644
--- a/drivers/windows/panda/device.cpp
+++ b/drivers/windows/panda_shared/device.cpp
@@ -1,10 +1,13 @@
#include "stdafx.h"
+
#include
#include
#include
#include
+#include
+
#include "device.h"
using namespace panda;
diff --git a/drivers/windows/panda/device.h b/drivers/windows/panda_shared/device.h
similarity index 97%
rename from drivers/windows/panda/device.h
rename to drivers/windows/panda_shared/device.h
index 3b404857cf5cb3..f11baa1c67c887 100644
--- a/drivers/windows/panda/device.h
+++ b/drivers/windows/panda_shared/device.h
@@ -4,7 +4,6 @@
//
// Define below GUIDs
//
-#include "stdafx.h"
#include
#include
diff --git a/drivers/windows/panda/panda.cpp b/drivers/windows/panda_shared/panda.cpp
similarity index 77%
rename from drivers/windows/panda/panda.cpp
rename to drivers/windows/panda_shared/panda.cpp
index 79ec08edc29967..5f711b02aa28a1 100644
--- a/drivers/windows/panda/panda.cpp
+++ b/drivers/windows/panda_shared/panda.cpp
@@ -1,7 +1,7 @@
// panda.cpp : Defines the exported functions for the DLL application.
//
-
#include "stdafx.h"
+
#include "device.h"
#include "panda.h"
@@ -13,13 +13,6 @@
using namespace panda;
-#pragma pack(1)
-typedef struct _PANDA_CAN_MSG_INTERNAL {
- uint32_t rir;
- uint32_t f2;
- uint8_t dat[8];
-} PANDA_CAN_MSG_INTERNAL;
-
Panda::Panda(
WINUSB_INTERFACE_HANDLE WinusbHandle,
HANDLE DeviceHandle,
@@ -28,6 +21,7 @@ Panda::Panda(
) : usbh(WinusbHandle), devh(DeviceHandle), devPath(devPath_), sn(sn_) {
printf("CREATED A PANDA %s\n", this->sn.c_str());
this->set_can_loopback(FALSE);
+ this->set_raw_io(TRUE);
this->set_alt_setting(0);
}
@@ -167,7 +161,8 @@ bool Panda::set_alt_setting(UCHAR alt_setting) {
this->set_can_loopback(TRUE);
Sleep(20); // Give time for any sent messages to appear in the RX buffer.
this->can_clear(PANDA_CAN_RX);
- for (int i = 0; i < 2; i++) {
+ // send 4 messages becaus can_recv reads 4 messages at a time
+ for (int i = 0; i < 4; i++) {
printf("Sending PAD %d\n", i);
if (this->can_send(0x7FF, FALSE, {}, 0, PANDA_CAN1) == FALSE) {
auto err = GetLastError();
@@ -177,14 +172,8 @@ bool Panda::set_alt_setting(UCHAR alt_setting) {
Sleep(10);
//this->can_clear(PANDA_CAN_RX);
- std::vector msg_recv;
- if (alt_setting == 1) {
- //Read the messages so they do not contaimnate the real message stream.
- auto err = this->can_recv_async(NULL, msg_recv, 1000);
- }
- else {
- msg_recv = this->can_recv();
- }
+ //Read the messages so they do not contaimnate the real message stream.
+ this->can_recv();
//this->set_can_loopback(FALSE);
this->set_can_loopback(loopback_backup);
@@ -203,6 +192,17 @@ UCHAR Panda::get_current_alt_setting() {
return alt_setting;
}
+bool Panda::set_raw_io(bool val) {
+ UCHAR raw_io = val;
+ if (!WinUsb_SetPipePolicy(this->usbh, 0x81, RAW_IO, sizeof(raw_io), &raw_io)) {
+ _tprintf(_T(" Error setting usb raw I/O pipe policy %d, Msg: '%s'\n"),
+ GetLastError(), GetLastErrorAsString().c_str());
+ return FALSE;
+ }
+
+ return TRUE;
+}
+
PANDA_HEALTH Panda::get_health()
{
WINUSB_SETUP_PACKET SetupPacket;
@@ -351,69 +351,85 @@ bool Panda::can_send(uint32_t addr, bool addr_29b, const uint8_t *dat, uint8_t l
return this->can_send_many(std::vector{msg});
}
-void Panda::parse_can_recv(std::vector& msg_recv, char *buff, int retcount) {
- for (int i = 0; i < retcount; i += sizeof(PANDA_CAN_MSG_INTERNAL)) {
- PANDA_CAN_MSG_INTERNAL *in_msg_raw = (PANDA_CAN_MSG_INTERNAL *)(buff + i);
- PANDA_CAN_MSG in_msg;
-
- in_msg.addr_29b = (bool)(in_msg_raw->rir & CAN_EXTENDED);
- in_msg.addr = (in_msg.addr_29b) ? (in_msg_raw->rir >> 3) : (in_msg_raw->rir >> 21);
- in_msg.recv_time = this->runningTime.getTimePassedUS();
- in_msg.recv_time_point = std::chrono::steady_clock::now();
- //The timestamp from the device is (in_msg_raw->f2 >> 16),
- //but this 16 bit value is a little hard to use. Using a
- //timer since the initialization of this device.
- in_msg.len = in_msg_raw->f2 & 0xF;
- memcpy(in_msg.dat, in_msg_raw->dat, 8);
-
- in_msg.is_receipt = ((in_msg_raw->f2 >> 4) & 0x80) == 0x80;
- switch ((in_msg_raw->f2 >> 4) & 0x7F) {
- case PANDA_CAN1:
- in_msg.bus = PANDA_CAN1;
- break;
- case PANDA_CAN2:
- in_msg.bus = PANDA_CAN2;
- break;
- case PANDA_CAN3:
- in_msg.bus = PANDA_CAN3;
- break;
- default:
- in_msg.bus = PANDA_CAN_UNK;
- }
- msg_recv.push_back(in_msg);
+PANDA_CAN_MSG Panda::parse_can_recv(PANDA_CAN_MSG_INTERNAL *in_msg_raw) {
+ PANDA_CAN_MSG in_msg;
+
+ in_msg.addr_29b = (bool)(in_msg_raw->rir & CAN_EXTENDED);
+ in_msg.addr = (in_msg.addr_29b) ? (in_msg_raw->rir >> 3) : (in_msg_raw->rir >> 21);
+ in_msg.recv_time = this->runningTime.getTimePassedUS();
+ in_msg.recv_time_point = std::chrono::steady_clock::now();
+ //The timestamp from the device is (in_msg_raw->f2 >> 16),
+ //but this 16 bit value is a little hard to use. Using a
+ //timer since the initialization of this device.
+ in_msg.len = in_msg_raw->f2 & 0xF;
+ memcpy(in_msg.dat, in_msg_raw->dat, 8);
+
+ in_msg.is_receipt = ((in_msg_raw->f2 >> 4) & 0x80) == 0x80;
+ switch ((in_msg_raw->f2 >> 4) & 0x7F) {
+ case PANDA_CAN1:
+ in_msg.bus = PANDA_CAN1;
+ break;
+ case PANDA_CAN2:
+ in_msg.bus = PANDA_CAN2;
+ break;
+ case PANDA_CAN3:
+ in_msg.bus = PANDA_CAN3;
+ break;
+ default:
+ in_msg.bus = PANDA_CAN_UNK;
}
+ return in_msg;
}
-bool Panda::can_recv_async(HANDLE kill_event, std::vector& msg_buff, DWORD timeoutms) {
- int retcount;
- char buff[sizeof(PANDA_CAN_MSG_INTERNAL) * 4];
+bool Panda::can_rx_q_push(HANDLE kill_event, DWORD timeoutms) {
+ while (1) {
+ auto w_ptr = this->w_ptr;
+ auto n_ptr = w_ptr + 1;
+ if (n_ptr == CAN_RX_QUEUE_LEN) {
+ n_ptr = 0;
+ }
+
+ // Pause if there is not a slot available in the queue
+ if (n_ptr == this->r_ptr) {
+ printf("RX queue full!\n");
+ Sleep(1);
+ continue;
+ }
- // Overlapped structure required for async read.
- HANDLE m_hReadFinishedEvent = CreateEvent(NULL, TRUE, TRUE, NULL);
- OVERLAPPED m_overlappedData;
- memset(&m_overlappedData, sizeof(OVERLAPPED), 0);
- m_overlappedData.hEvent = m_hReadFinishedEvent;
+ if (this->can_rx_q[n_ptr].complete) {
+ // TODO: is ResetEvent() faster?
+ CloseHandle(this->can_rx_q[n_ptr].complete);
+ }
- HANDLE phSignals[2] = { m_hReadFinishedEvent, kill_event };
+ // Overlapped structure required for async read.
+ this->can_rx_q[n_ptr].complete = CreateEvent(NULL, TRUE, TRUE, NULL);
+ memset(&this->can_rx_q[n_ptr].overlapped, sizeof(OVERLAPPED), 0);
+ this->can_rx_q[n_ptr].overlapped.hEvent = this->can_rx_q[n_ptr].complete;
+ this->can_rx_q[n_ptr].error = 0;
- if (!WinUsb_ReadPipe(this->usbh, 0x81, (PUCHAR)buff, sizeof(buff), (PULONG)&retcount, &m_overlappedData)) {
- // An overlapped read will return true if done, or false with an
- // error of ERROR_IO_PENDING if the transfer is still in process.
- DWORD dwError = GetLastError();
- if (dwError == ERROR_IO_PENDING) {
- dwError = WaitForMultipleObjects(kill_event ? 2 : 1, phSignals, FALSE, timeoutms);
+ if (!WinUsb_ReadPipe(this->usbh, 0x81, this->can_rx_q[n_ptr].data, sizeof(this->can_rx_q[n_ptr].data), &this->can_rx_q[n_ptr].count, &this->can_rx_q[n_ptr].overlapped)) {
+ // An overlapped read will return true if done, or false with an
+ // error of ERROR_IO_PENDING if the transfer is still in process.
+ this->can_rx_q[n_ptr].error = GetLastError();
+ }
+
+ // Process the pipe read call from the previous invocation of this function
+ if (this->can_rx_q[w_ptr].error == ERROR_IO_PENDING) {
+ HANDLE phSignals[2] = { this->can_rx_q[w_ptr].complete, kill_event };
+ auto dwError = WaitForMultipleObjects(kill_event ? 2 : 1, phSignals, FALSE, timeoutms);
// Check if packet, timeout (nope), or break
if (dwError == WAIT_OBJECT_0) {
// Signal came from our usb object. Read the returned data.
- if (!GetOverlappedResult(this->usbh, &m_overlappedData, (PULONG)&retcount, FALSE)) {
+ if (!GetOverlappedResult(this->usbh, &this->can_rx_q[w_ptr].overlapped, &this->can_rx_q[w_ptr].count, TRUE)) {
// TODO: handle other error cases better.
dwError = GetLastError();
printf("Got overlap error %d\n", dwError);
- return TRUE;
+ continue;
}
- } else {
+ }
+ else {
WinUsb_AbortPipe(this->usbh, 0x81);
// Return FALSE to show that the optional signal
@@ -422,17 +438,40 @@ bool Panda::can_recv_async(HANDLE kill_event, std::vector& msg_bu
if (dwError == (WAIT_OBJECT_0 + 1)) {
return FALSE;
}
- return TRUE;
+ continue;
}
- } else { // ERROR_BAD_COMMAND happens when device is unplugged.
+ }
+ else if (this->can_rx_q[w_ptr].error != 0) { // ERROR_BAD_COMMAND happens when device is unplugged.
return FALSE;
}
+
+ this->w_ptr = n_ptr;
}
- parse_can_recv(msg_buff, buff, retcount);
return TRUE;
}
+void Panda::can_rx_q_pop(PANDA_CAN_MSG msg_out[], int &count) {
+ count = 0;
+
+ // No data left in queue
+ if (this->r_ptr == this->w_ptr) {
+ Sleep(1);
+ return;
+ }
+
+ auto r_ptr = this->r_ptr;
+ for (int i = 0; i < this->can_rx_q[r_ptr].count; i += sizeof(PANDA_CAN_MSG_INTERNAL)) {
+ auto in_msg_raw = (PANDA_CAN_MSG_INTERNAL *)(this->can_rx_q[r_ptr].data + i);
+ msg_out[count] = parse_can_recv(in_msg_raw);
+ ++count;
+ }
+
+ // Advance read pointer (wrap around if needed)
+ ++r_ptr;
+ this->r_ptr = (r_ptr == CAN_RX_QUEUE_LEN ? 0 : r_ptr);
+}
+
std::vector Panda::can_recv() {
std::vector msg_recv;
int retcount;
@@ -441,7 +480,11 @@ std::vector Panda::can_recv() {
if (this->bulk_read(0x81, buff, sizeof(buff), (PULONG)&retcount, 0) == FALSE)
return msg_recv;
- parse_can_recv(msg_recv, buff, retcount);
+ for (int i = 0; i < retcount; i += sizeof(PANDA_CAN_MSG_INTERNAL)) {
+ PANDA_CAN_MSG_INTERNAL *in_msg_raw = (PANDA_CAN_MSG_INTERNAL *)(buff + i);
+ auto in_msg = parse_can_recv(in_msg_raw);
+ msg_recv.push_back(in_msg);
+ }
return msg_recv;
}
diff --git a/drivers/windows/panda/panda.h b/drivers/windows/panda_shared/panda.h
similarity index 87%
rename from drivers/windows/panda/panda.h
rename to drivers/windows/panda_shared/panda.h
index 12a4fbb3184ba2..ade8fa36a8601e 100644
--- a/drivers/windows/panda/panda.h
+++ b/drivers/windows/panda_shared/panda.h
@@ -9,7 +9,7 @@
#ifdef PANDA_EXPORTS
#define PANDA_API __declspec(dllexport)
#else
-#define PANDA_API __declspec(dllimport)
+#define PANDA_API
#endif
#include
@@ -31,6 +31,8 @@
#endif
#define LIN_MSG_MAX_LEN 10
+#define CAN_RX_QUEUE_LEN 10000
+#define CAN_RX_MSG_LEN 1000
//template class __declspec(dllexport) std::basic_string;
@@ -139,6 +141,7 @@ namespace panda {
std::string get_usb_sn();
bool set_alt_setting(UCHAR alt_setting);
UCHAR get_current_alt_setting();
+ bool Panda::set_raw_io(bool val);
PANDA_HEALTH get_health();
bool enter_bootloader();
@@ -160,9 +163,9 @@ namespace panda {
bool can_send_many(const std::vector& can_msgs);
bool can_send(uint32_t addr, bool addr_29b, const uint8_t *dat, uint8_t len, PANDA_CAN_PORT bus);
- void parse_can_recv(std::vector& msg_recv, char *buff, int retcount);
- bool can_recv_async(HANDLE kill_event, std::vector& msg_buff, DWORD timeoutms = INFINITE);
std::vector can_recv();
+ bool can_rx_q_push(HANDLE kill_event, DWORD timeoutms = INFINITE);
+ void can_rx_q_pop(PANDA_CAN_MSG msg_out[], int &count);
bool can_clear(PANDA_CAN_PORT_CLEAR bus);
std::string serial_read(PANDA_SERIAL_PORT port_number);
@@ -202,6 +205,23 @@ namespace panda {
ULONG timeout
);
+ #pragma pack(1)
+ typedef struct _PANDA_CAN_MSG_INTERNAL {
+ uint32_t rir;
+ uint32_t f2;
+ uint8_t dat[8];
+ } PANDA_CAN_MSG_INTERNAL;
+
+ typedef struct _CAN_RX_PIPE_READ {
+ unsigned char data[sizeof(PANDA_CAN_MSG_INTERNAL) * CAN_RX_MSG_LEN];
+ unsigned long count;
+ OVERLAPPED overlapped;
+ HANDLE complete;
+ DWORD error;
+ } CAN_RX_PIPE_READ;
+
+ PANDA_CAN_MSG parse_can_recv(PANDA_CAN_MSG_INTERNAL *in_msg_raw);
+
WINUSB_INTERFACE_HANDLE usbh;
HANDLE devh;
tstring devPath;
@@ -209,6 +229,9 @@ namespace panda {
bool loopback;
Timer runningTime;
+ CAN_RX_PIPE_READ can_rx_q[CAN_RX_QUEUE_LEN];
+ unsigned long w_ptr = 0;
+ unsigned long r_ptr = 0;
};
}
diff --git a/drivers/windows/panda_shared/panda_shared.vcxitems b/drivers/windows/panda_shared/panda_shared.vcxitems
new file mode 100644
index 00000000000000..3f3b4765c0225c
--- /dev/null
+++ b/drivers/windows/panda_shared/panda_shared.vcxitems
@@ -0,0 +1,25 @@
+
+
+
+ $(MSBuildAllProjects);$(MSBuildThisFileFullPath)
+ true
+ {0c843279-68c7-4679-ae51-9bc463d50d1c}
+
+
+
+ %(AdditionalIncludeDirectories);$(MSBuildThisFileDirectory)
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
\ No newline at end of file
diff --git a/drivers/windows/panda/targetver.h b/drivers/windows/panda_shared/targetver.h
similarity index 100%
rename from drivers/windows/panda/targetver.h
rename to drivers/windows/panda_shared/targetver.h
diff --git a/examples/can_bit_transition.md b/examples/can_bit_transition.md
new file mode 100644
index 00000000000000..fa0a6c6bb354fd
--- /dev/null
+++ b/examples/can_bit_transition.md
@@ -0,0 +1,25 @@
+# How to use can_bit_transition.py to reverse engineer a single bit field
+
+Let's say our goal is to find a brake pedal signal (caused by your foot pressing the brake pedal vs adaptive cruise control braking).
+
+The following process will allow you to quickly find bits that are always 0 during a period of time (when you know you were not pressing the brake with your foot) and always 1 in a different period of time (when you know you were pressing the brake with your foot).
+
+Open up a drive in cabana where you can find a place you used the brake pedal and another place where you did not use the brake pedal (and you can identify when you were on the brake pedal and when you were not). You may want to go out for a drive and put something in front of the camera after you put your foot on the brake and take it away before you take your foot off the brake so you can easily identify exactly when you had your foot on the brake based on the video in cabana. This is critical because this script needs the brake signal to always be high the entire time for one of the time frames. A 10 second time frame worked well for me.
+
+I found a drive where I knew I was not pressing the brake between timestamp 50.0 thru 65.0 and I was pressing the brake between timestamp 69.0 thru 79.0. Determine what the timestamps are in cabana by plotting any message and putting your mouse over the plot at the location you want to discover the timestamp. The tool tip on mouse hover has the format: timestamp: value
+
+Now download the log from cabana (Save Log button) and run the script passing in the timestamps
+(replace csv file name with cabana log you downloaded and time ranges with your own)
+```
+./can_bit_transition.py ./honda_crv_ex_2017_can-1520354796875.csv 50.0-65.0 69.0-79.0
+```
+
+The script will output bits that were always low in the first time range and always high in the second time range (and vice versa)
+```
+id 17c 0 -> 1 at byte 4 bitmask 1
+id 17c 0 -> 1 at byte 6 bitmask 32
+id 221 1 -> 0 at byte 0 bitmask 4
+id 1be 0 -> 1 at byte 0 bitmask 16
+```
+
+Now I go back to cabana and graph the above bits by searching for the message by id, double clicking on the appropriate bit, and then selecting "show plot". I already knew that message id 0x17c is both user brake and adaptive cruise control braking combined, so I plotted one of those signals along side 0x221 and 0x1be. By replaying a drive I could see that 0x221 was not a brake signal (when high at random times that did not correspond to braking). Next I looked at 0x1be and I found it was the brake pedal signal I was looking for (went high whenever I pressed the brake pedal and did not go high when adaptive cruise control was braking).
\ No newline at end of file
diff --git a/examples/can_bit_transition.py b/examples/can_bit_transition.py
new file mode 100755
index 00000000000000..50d13f0a45a175
--- /dev/null
+++ b/examples/can_bit_transition.py
@@ -0,0 +1,87 @@
+#!/usr/bin/env python
+
+import binascii
+import csv
+import sys
+
+class Message():
+ """Details about a specific message ID."""
+ def __init__(self, message_id):
+ self.message_id = message_id
+ self.ones = [0] * 8 # bit set if 1 is always seen
+ self.zeros = [0] * 8 # bit set if 0 is always seen
+
+ def printBitDiff(self, other):
+ """Prints bits that transition from always zero to always 1 and vice versa."""
+ for i in xrange(len(self.ones)):
+ zero_to_one = other.zeros[i] & self.ones[i]
+ if zero_to_one:
+ print 'id %s 0 -> 1 at byte %d bitmask %d' % (self.message_id, i, zero_to_one)
+ one_to_zero = other.ones[i] & self.zeros[i]
+ if one_to_zero:
+ print 'id %s 1 -> 0 at byte %d bitmask %d' % (self.message_id, i, one_to_zero)
+
+
+class Info():
+ """A collection of Messages."""
+
+ def __init__(self):
+ self.messages = {} # keyed by MessageID
+
+ def load(self, filename, start, end):
+ """Given a CSV file, adds information about message IDs and their values."""
+ with open(filename, 'rb') as input:
+ reader = csv.reader(input)
+ next(reader, None) # skip the CSV header
+ for row in reader:
+ if not len(row): continue
+ time = float(row[0])
+ bus = int(row[2])
+ if time < start or bus > 127:
+ continue
+ elif time > end:
+ break
+ if row[1].startswith('0x'):
+ message_id = row[1][2:] # remove leading '0x'
+ else:
+ message_id = hex(int(row[1]))[2:] # old message IDs are in decimal
+
+ if row[3].startswith('0x'):
+ data = row[3][2:] # remove leading '0x'
+ else:
+ data = row[3]
+ new_message = False
+ if message_id not in self.messages:
+ self.messages[message_id] = Message(message_id)
+ new_message = True
+ message = self.messages[message_id]
+ bytes = bytearray.fromhex(data)
+ for i in xrange(len(bytes)):
+ ones = int(bytes[i])
+ message.ones[i] = ones if new_message else message.ones[i] & ones
+ # Inverts the data and masks it to a byte to get the zeros as ones.
+ zeros = (~int(bytes[i])) & 0xff
+ message.zeros[i] = zeros if new_message else message.zeros[i] & zeros
+
+def PrintUnique(log_file, low_range, high_range):
+ # find messages with bits that are always low
+ start, end = map(float, low_range.split('-'))
+ low = Info()
+ low.load(log_file, start, end)
+ # find messages with bits that are always high
+ start, end = map(float, high_range.split('-'))
+ high = Info()
+ high.load(log_file, start, end)
+ # print messages that go from low to high
+ found = False
+ for message_id in high.messages:
+ if message_id in low.messages:
+ high.messages[message_id].printBitDiff(low.messages[message_id])
+ found = True
+ if not found: print 'No messages that transition from always low to always high found!'
+
+if __name__ == "__main__":
+ if len(sys.argv) < 4:
+ print 'Usage:\n%s log.csv - -' % sys.argv[0]
+ sys.exit(0)
+ PrintUnique(sys.argv[1], sys.argv[2], sys.argv[3])
diff --git a/examples/isotp.py b/examples/isotp.py
deleted file mode 100644
index fd300da751c2d5..00000000000000
--- a/examples/isotp.py
+++ /dev/null
@@ -1,85 +0,0 @@
-DEBUG = False
-
-def msg(x):
- if DEBUG:
- print "S:",x.encode("hex")
- if len(x) <= 7:
- ret = chr(len(x)) + x
- else:
- assert False
- return ret.ljust(8, "\x00")
-
-kmsgs = []
-def recv(panda, cnt, addr, nbus):
- global kmsgs
- ret = []
-
- while len(ret) < cnt:
- kmsgs += panda.can_recv()
- nmsgs = []
- for ids, ts, dat, bus in kmsgs:
- if ids == addr and bus == nbus and len(ret) < cnt:
- ret.append(dat)
- else:
- # leave around
- nmsgs.append((ids, ts, dat, bus))
- kmsgs = nmsgs[-256:]
- return map(str, ret)
-
-def isotp_send(panda, x, addr, bus=0, recvaddr=None):
- if recvaddr is None:
- recvaddr = addr+8
-
- if len(x) <= 7:
- panda.can_send(addr, msg(x), bus)
- else:
- ss = chr(0x10 + (len(x)>>8)) + chr(len(x)&0xFF) + x[0:6]
- x = x[6:]
- idx = 1
- sends = []
- while len(x) > 0:
- sends.append(((chr(0x20 + (idx&0xF)) + x[0:7]).ljust(8, "\x00")))
- x = x[7:]
- idx += 1
-
- # actually send
- panda.can_send(addr, ss, bus)
- rr = recv(panda, 1, recvaddr, bus)[0]
- panda.can_send_many([(addr, None, s, 0) for s in sends])
-
-def isotp_recv(panda, addr, bus=0, sendaddr=None):
- msg = recv(panda, 1, addr, bus)[0]
-
- if sendaddr is None:
- sendaddr = addr-8
-
-
- if ord(msg[0])&0xf0 == 0x10:
- # first
- tlen = ((ord(msg[0]) & 0xf) << 8) | ord(msg[1])
- dat = msg[2:]
-
- # 0 block size?
- CONTINUE = "\x30" + "\x00"*7
-
- panda.can_send(sendaddr, CONTINUE, bus)
-
- idx = 1
- for mm in recv(panda, (tlen-len(dat) + 7)/8, addr, bus):
- assert ord(mm[0]) == (0x20 | idx)
- dat += mm[1:]
- idx += 1
- elif ord(msg[0])&0xf0 == 0x00:
- # single
- tlen = ord(msg[0]) & 0xf
- dat = msg[1:]
- else:
- assert False
-
- dat = dat[0:tlen]
-
- if DEBUG:
- print "R:",dat.encode("hex")
-
- return dat
-
diff --git a/python/__init__.py b/python/__init__.py
index 011263fff9e06f..6432f0262ffd8a 100644
--- a/python/__init__.py
+++ b/python/__init__.py
@@ -13,8 +13,9 @@
from flash_release import flash_release
from update import ensure_st_up_to_date
from serial import PandaSerial
+from isotp import isotp_send, isotp_recv
-__version__ = '0.0.6'
+__version__ = '0.0.7'
BASEDIR = os.path.join(os.path.dirname(os.path.realpath(__file__)), "../")
@@ -104,6 +105,7 @@ class Panda(object):
SAFETY_NOOUTPUT = 0
SAFETY_HONDA = 1
SAFETY_TOYOTA = 2
+ SAFETY_HONDA_BOSCH = 4
SAFETY_TOYOTA_NOLIMITS = 0x1336
SAFETY_ALLOUTPUT = 0x1337
SAFETY_ELM327 = 0xE327
@@ -181,27 +183,58 @@ def reset(self, enter_bootstub=False, enter_bootloader=False):
except Exception:
pass
if not enter_bootloader:
- self.close()
- time.sleep(1.0)
- success = False
- # wait up to 15 seconds
- for i in range(0, 15):
+ self.reconnect()
+
+ def reconnect(self):
+ self.close()
+ time.sleep(1.0)
+ success = False
+ # wait up to 15 seconds
+ for i in range(0, 15):
+ try:
+ self.connect()
+ success = True
+ break
+ except Exception:
+ print("reconnecting is taking %d seconds..." % (i+1))
try:
- self.connect()
- success = True
- break
+ dfu = PandaDFU(PandaDFU.st_serial_to_dfu_serial(self._serial))
+ dfu.recover()
except Exception:
- print("reconnecting is taking %d seconds..." % (i+1))
- try:
- dfu = PandaDFU(PandaDFU.st_serial_to_dfu_serial(self._serial))
- dfu.recover()
- except Exception:
- pass
- time.sleep(1.0)
- if not success:
- raise Exception("reset failed")
+ pass
+ time.sleep(1.0)
+ if not success:
+ raise Exception("reconnect failed")
+
+ @staticmethod
+ def flash_static(handle, code):
+ # confirm flasher is present
+ fr = handle.controlRead(Panda.REQUEST_IN, 0xb0, 0, 0, 0xc)
+ assert fr[4:8] == "\xde\xad\xd0\x0d"
+
+ # unlock flash
+ print("flash: unlocking")
+ handle.controlWrite(Panda.REQUEST_IN, 0xb1, 0, 0, b'')
- def flash(self, fn=None, code=None):
+ # erase sectors 1 and 2
+ print("flash: erasing")
+ handle.controlWrite(Panda.REQUEST_IN, 0xb2, 1, 0, b'')
+ handle.controlWrite(Panda.REQUEST_IN, 0xb2, 2, 0, b'')
+
+ # flash over EP2
+ STEP = 0x10
+ print("flash: flashing")
+ for i in range(0, len(code), STEP):
+ handle.bulkWrite(2, code[i:i+STEP])
+
+ # reset
+ print("flash: resetting")
+ try:
+ handle.controlWrite(Panda.REQUEST_IN, 0xd8, 0, 0, b'')
+ except Exception:
+ pass
+
+ def flash(self, fn=None, code=None, reconnect=True):
if not self.bootstub:
self.reset(enter_bootstub=True)
assert(self.bootstub)
@@ -224,28 +257,12 @@ def flash(self, fn=None, code=None):
# get version
print("flash: version is "+self.get_version())
- # confirm flasher is present
- fr = self._handle.controlRead(Panda.REQUEST_IN, 0xb0, 0, 0, 0xc)
- assert fr[4:8] == "\xde\xad\xd0\x0d"
-
- # unlock flash
- print("flash: unlocking")
- self._handle.controlWrite(Panda.REQUEST_IN, 0xb1, 0, 0, b'')
-
- # erase sectors 1 and 2
- print("flash: erasing")
- self._handle.controlWrite(Panda.REQUEST_IN, 0xb2, 1, 0, b'')
- self._handle.controlWrite(Panda.REQUEST_IN, 0xb2, 2, 0, b'')
-
- # flash over EP2
- STEP = 0x10
- print("flash: flashing")
- for i in range(0, len(code), STEP):
- self._handle.bulkWrite(2, code[i:i+STEP])
+ # do flash
+ Panda.flash_static(self._handle, code)
- # reset
- print("flash: resetting")
- self.reset()
+ # reconnect
+ if reconnect:
+ self.reconnect()
def recover(self):
self.reset(enter_bootloader=True)
@@ -315,6 +332,10 @@ def enter_bootloader(self):
def get_version(self):
return self._handle.controlRead(Panda.REQUEST_IN, 0xd6, 0, 0, 0x40)
+ def is_grey(self):
+ ret = self._handle.controlRead(Panda.REQUEST_IN, 0xc1, 0, 0, 0x40)
+ return ret == "\x01"
+
def get_serial(self):
dat = self._handle.controlRead(Panda.REQUEST_IN, 0xd0, 0, 0, 0x20)
hashsig, calc_hash = dat[0x1c:], hashlib.sha1(dat[0:0x1c]).digest()[0:4]
@@ -420,6 +441,14 @@ def can_clear(self, bus):
"""
self._handle.controlWrite(Panda.REQUEST_OUT, 0xf1, bus, 0, b'')
+ # ******************* isotp *******************
+
+ def isotp_send(self, addr, dat, bus, recvaddr=None, subaddr=None):
+ return isotp_send(self, dat, addr, bus, recvaddr, subaddr)
+
+ def isotp_recv(self, addr, bus=0, sendaddr=None, subaddr=None):
+ return isotp_recv(self, addr, bus, sendaddr, subaddr)
+
# ******************* serial *******************
def serial_read(self, port_number):
@@ -451,7 +480,11 @@ def serial_clear(self, port_number):
# pulse low for wakeup
def kline_wakeup(self):
+ if DEBUG:
+ print("kline wakeup...")
self._handle.controlWrite(Panda.REQUEST_OUT, 0xf0, 0, 0, b'')
+ if DEBUG:
+ print("kline wakeup done")
def kline_drain(self, bus=2):
# drain buffer
@@ -460,19 +493,25 @@ def kline_drain(self, bus=2):
ret = self._handle.controlRead(Panda.REQUEST_IN, 0xe0, bus, 0, 0x40)
if len(ret) == 0:
break
+ elif DEBUG:
+ print("kline drain: "+str(ret).encode("hex"))
bret += ret
return bytes(bret)
def kline_ll_recv(self, cnt, bus=2):
echo = bytearray()
while len(echo) != cnt:
- echo += self._handle.controlRead(Panda.REQUEST_OUT, 0xe0, bus, 0, cnt-len(echo))
- return echo
+ ret = str(self._handle.controlRead(Panda.REQUEST_OUT, 0xe0, bus, 0, cnt-len(echo)))
+ if DEBUG and len(ret) > 0:
+ print("kline recv: "+ret.encode("hex"))
+ echo += ret
+ return str(echo)
def kline_send(self, x, bus=2, checksum=True):
def get_checksum(dat):
result = 0
result += sum(map(ord, dat)) if isinstance(b'dat', str) else sum(dat)
+ result = -result
return struct.pack("B", result % 0x100)
self.kline_drain(bus=bus)
@@ -480,6 +519,8 @@ def get_checksum(dat):
x += get_checksum(x)
for i in range(0, len(x), 0xf):
ts = x[i:i+0xf]
+ if DEBUG:
+ print("kline send: "+ts.encode("hex"))
self._handle.bulkWrite(2, chr(bus).encode()+ts)
echo = self.kline_ll_recv(len(ts), bus=bus)
if echo != ts:
diff --git a/python/isotp.py b/python/isotp.py
new file mode 100644
index 00000000000000..74720b75d9eac1
--- /dev/null
+++ b/python/isotp.py
@@ -0,0 +1,135 @@
+DEBUG = False
+
+def msg(x):
+ if DEBUG:
+ print "S:",x.encode("hex")
+ if len(x) <= 7:
+ ret = chr(len(x)) + x
+ else:
+ assert False
+ return ret.ljust(8, "\x00")
+
+kmsgs = []
+def recv(panda, cnt, addr, nbus):
+ global kmsgs
+ ret = []
+
+ while len(ret) < cnt:
+ kmsgs += panda.can_recv()
+ nmsgs = []
+ for ids, ts, dat, bus in kmsgs:
+ if ids == addr and bus == nbus and len(ret) < cnt:
+ ret.append(dat)
+ else:
+ # leave around
+ nmsgs.append((ids, ts, dat, bus))
+ kmsgs = nmsgs[-256:]
+ return map(str, ret)
+
+def isotp_recv_subaddr(panda, addr, bus, sendaddr, subaddr):
+ msg = recv(panda, 1, addr, bus)[0]
+
+ # TODO: handle other subaddr also communicating
+ assert ord(msg[0]) == subaddr
+
+ if ord(msg[1])&0xf0 == 0x10:
+ # first
+ tlen = ((ord(msg[1]) & 0xf) << 8) | ord(msg[2])
+ dat = msg[3:]
+
+ # 0 block size?
+ CONTINUE = chr(subaddr) + "\x30" + "\x00"*6
+ panda.can_send(sendaddr, CONTINUE, bus)
+
+ idx = 1
+ for mm in recv(panda, (tlen-len(dat) + 5)/6, addr, bus):
+ assert ord(mm[0]) == subaddr
+ assert ord(mm[1]) == (0x20 | idx)
+ dat += mm[2:]
+ idx += 1
+ elif ord(msg[1])&0xf0 == 0x00:
+ # single
+ tlen = ord(msg[1]) & 0xf
+ dat = msg[2:]
+ else:
+ print msg.encode("hex")
+ assert False
+
+ return dat[0:tlen]
+
+# **** import below this line ****
+
+def isotp_send(panda, x, addr, bus=0, recvaddr=None, subaddr=None):
+ if recvaddr is None:
+ recvaddr = addr+8
+
+ if len(x) <= 7 and subaddr is None:
+ panda.can_send(addr, msg(x), bus)
+ elif len(x) <= 6 and subaddr is not None:
+ panda.can_send(addr, chr(subaddr)+msg(x)[0:7], bus)
+ else:
+ if subaddr:
+ ss = chr(subaddr) + chr(0x10 + (len(x)>>8)) + chr(len(x)&0xFF) + x[0:5]
+ x = x[5:]
+ else:
+ ss = chr(0x10 + (len(x)>>8)) + chr(len(x)&0xFF) + x[0:6]
+ x = x[6:]
+ idx = 1
+ sends = []
+ while len(x) > 0:
+ if subaddr:
+ sends.append(((chr(subaddr) + chr(0x20 + (idx&0xF)) + x[0:6]).ljust(8, "\x00")))
+ x = x[6:]
+ else:
+ sends.append(((chr(0x20 + (idx&0xF)) + x[0:7]).ljust(8, "\x00")))
+ x = x[7:]
+ idx += 1
+
+ # actually send
+ panda.can_send(addr, ss, bus)
+ rr = recv(panda, 1, recvaddr, bus)[0]
+ if rr.find("\x30\x01") != -1:
+ for s in sends[:-1]:
+ panda.can_send(addr, s, 0)
+ rr = recv(panda, 1, recvaddr, bus)[0]
+ panda.can_send(addr, sends[-1], 0)
+ else:
+ panda.can_send_many([(addr, None, s, 0) for s in sends])
+
+def isotp_recv(panda, addr, bus=0, sendaddr=None, subaddr=None):
+ if sendaddr is None:
+ sendaddr = addr-8
+
+ if subaddr is not None:
+ dat = isotp_recv_subaddr(panda, addr, bus, sendaddr, subaddr)
+ else:
+ msg = recv(panda, 1, addr, bus)[0]
+
+ if ord(msg[0])&0xf0 == 0x10:
+ # first
+ tlen = ((ord(msg[0]) & 0xf) << 8) | ord(msg[1])
+ dat = msg[2:]
+
+ # 0 block size?
+ CONTINUE = "\x30" + "\x00"*7
+
+ panda.can_send(sendaddr, CONTINUE, bus)
+
+ idx = 1
+ for mm in recv(panda, (tlen-len(dat) + 6)/7, addr, bus):
+ assert ord(mm[0]) == (0x20 | idx)
+ dat += mm[1:]
+ idx += 1
+ elif ord(msg[0])&0xf0 == 0x00:
+ # single
+ tlen = ord(msg[0]) & 0xf
+ dat = msg[1:]
+ else:
+ assert False
+ dat = dat[0:tlen]
+
+ if DEBUG:
+ print "R:",dat.encode("hex")
+
+ return dat
+
diff --git a/tests/automated/helpers.py b/tests/automated/helpers.py
index daa676490d3342..a55f77c655c8c4 100644
--- a/tests/automated/helpers.py
+++ b/tests/automated/helpers.py
@@ -3,6 +3,7 @@
import time
import random
import subprocess
+import requests
from panda import Panda
from nose.tools import timed, assert_equal, assert_less, assert_greater
@@ -25,27 +26,46 @@ def connect_wifi():
assert(dongle_id.isalnum())
_connect_wifi(dongle_id, pw)
-def _connect_wifi(dongle_id, pw):
+def _connect_wifi(dongle_id, pw, insecure_okay=False):
ssid = str("panda-" + dongle_id)
print("WIFI: connecting to %s" % ssid)
- if sys.platform == "darwin":
- os.system("networksetup -setairportnetwork en0 %s %s" % (ssid, pw))
- else:
- cnt = 0
- MAX_TRIES = 10
- while cnt < MAX_TRIES:
- print "WIFI: scanning %d" % cnt
- os.system("nmcli device wifi rescan")
- wifi_scan = filter(lambda x: ssid in x, subprocess.check_output(["nmcli","dev", "wifi", "list"]).split("\n"))
- if len(wifi_scan) != 0:
+ while 1:
+ if sys.platform == "darwin":
+ os.system("networksetup -setairportnetwork en0 %s %s" % (ssid, pw))
+ else:
+ cnt = 0
+ MAX_TRIES = 10
+ while cnt < MAX_TRIES:
+ print "WIFI: scanning %d" % cnt
+ if os.system("ifconfig | grep wlp3s0") == 0:
+ os.system("sudo iwlist wlp3s0 scanning > /dev/null")
+ os.system("nmcli device wifi rescan")
+ wifi_scan = filter(lambda x: ssid in x, subprocess.check_output(["nmcli","dev", "wifi", "list"]).split("\n"))
+ if len(wifi_scan) != 0:
+ break
+ time.sleep(0.1)
+ # MAX_TRIES tries, ~10 seconds max
+ cnt += 1
+ assert cnt < MAX_TRIES
+ if "-pair" in wifi_scan[0]:
+ os.system("nmcli d wifi connect %s-pair" % (ssid))
+ if insecure_okay:
+ break
+ # fetch webpage
+ print "connecting to insecure network to secure"
+ r = requests.get("http://192.168.0.10/")
+ assert r.status_code==200
+
+ print "securing"
+ try:
+ r = requests.get("http://192.168.0.10/secure", timeout=0.01)
+ except requests.exceptions.Timeout:
+ pass
+ else:
+ os.system("nmcli d wifi connect %s password %s" % (ssid, pw))
break
- time.sleep(0.1)
- # MAX_TRIES tries, ~10 seconds max
- cnt += 1
- assert cnt < MAX_TRIES
- os.system("nmcli d wifi connect %s password %s" % (ssid, pw))
# TODO: confirm that it's connected to the right panda
diff --git a/tests/can_printer.py b/tests/can_printer.py
index a74a548109269b..e863889c16424b 100755
--- a/tests/can_printer.py
+++ b/tests/can_printer.py
@@ -4,6 +4,7 @@
import sys
import time
from collections import defaultdict
+import binascii
sys.path.append(os.path.join(os.path.dirname(os.path.realpath(__file__)), ".."))
from panda import Panda
@@ -14,6 +15,7 @@ def sec_since_boot():
def can_printer():
p = Panda()
+ p.set_safety_mode(0x1337)
start = sec_since_boot()
lp = sec_since_boot()
@@ -28,7 +30,7 @@ def can_printer():
if sec_since_boot() - lp > 0.1:
dd = chr(27) + "[2J"
dd += "%5.2f\n" % (sec_since_boot() - start)
- for k,v in sorted(zip(msgs.keys(), map(lambda x: x[-1].encode("hex"), msgs.values()))):
+ for k,v in sorted(zip(msgs.keys(), map(lambda x: binascii.hexlify(x[-1]), msgs.values()))):
dd += "%s(%6d) %s\n" % ("%04X(%4d)" % (k,k),len(msgs[k]), v)
print(dd)
lp = sec_since_boot()
diff --git a/tests/automated/elm_wifi.py b/tests/elm_wifi.py
similarity index 100%
rename from tests/automated/elm_wifi.py
rename to tests/elm_wifi.py
diff --git a/tests/pedal/enter_canloader.py b/tests/pedal/enter_canloader.py
new file mode 100755
index 00000000000000..c6f06ca35499a0
--- /dev/null
+++ b/tests/pedal/enter_canloader.py
@@ -0,0 +1,76 @@
+#!/usr/bin/env python
+import sys
+import time
+import struct
+import argparse
+import signal
+from panda import Panda
+
+class CanHandle(object):
+ def __init__(self, p):
+ self.p = p
+
+ def transact(self, dat):
+ #print "W:",dat.encode("hex")
+ self.p.isotp_send(1, dat, 0, recvaddr=2)
+
+ def _handle_timeout(signum, frame):
+ # will happen on reset
+ raise Exception("timeout")
+
+ signal.signal(signal.SIGALRM, _handle_timeout)
+ signal.alarm(1)
+ try:
+ ret = self.p.isotp_recv(2, 0, sendaddr=1)
+ finally:
+ signal.alarm(0)
+
+ #print "R:",ret.encode("hex")
+ return ret
+
+ def controlWrite(self, request_type, request, value, index, data, timeout=0):
+ # ignore data in reply, panda doesn't use it
+ return self.controlRead(request_type, request, value, index, 0, timeout)
+
+ def controlRead(self, request_type, request, value, index, length, timeout=0):
+ dat = struct.pack("HHBBHHH", 0, 0, request_type, request, value, index, length)
+ return self.transact(dat)
+
+ def bulkWrite(self, endpoint, data, timeout=0):
+ if len(data) > 0x10:
+ raise ValueError("Data must not be longer than 0x10")
+ dat = struct.pack("HH", endpoint, len(data))+data
+ return self.transact(dat)
+
+ def bulkRead(self, endpoint, length, timeout=0):
+ dat = struct.pack("HH", endpoint, 0)
+ return self.transact(dat)
+
+if __name__ == "__main__":
+ parser = argparse.ArgumentParser(description='Flash pedal over can')
+ parser.add_argument('--recover', action='store_true')
+ parser.add_argument("fn", type=str, nargs='?', help="flash file")
+ args = parser.parse_args()
+
+ p = Panda()
+ p.set_safety_mode(0x1337)
+
+ while 1:
+ if len(p.can_recv()) == 0:
+ break
+
+ if args.recover:
+ p.can_send(0x200, "\xce\xfa\xad\xde\x1e\x0b\xb0\x02", 0)
+ exit(0)
+ else:
+ p.can_send(0x200, "\xce\xfa\xad\xde\x1e\x0b\xb0\x0a", 0)
+
+ if args.fn:
+ time.sleep(0.1)
+ print "flashing", args.fn
+ code = open(args.fn).read()
+ Panda.flash_static(CanHandle(p), code)
+
+ print "can flash done"
+
+
diff --git a/tests/read_winusb_descriptors.py b/tests/read_winusb_descriptors.py
new file mode 100644
index 00000000000000..e38df8d1caa9c3
--- /dev/null
+++ b/tests/read_winusb_descriptors.py
@@ -0,0 +1,29 @@
+#!/usr/bin/env python
+from panda import Panda
+from hexdump import hexdump
+
+DEBUG = False
+
+if __name__ == "__main__":
+ p = Panda()
+
+ len = p._handle.controlRead(Panda.REQUEST_IN, 0x06, 3 << 8 | 238, 0, 1)
+ print 'Microsoft OS String Descriptor'
+ dat = p._handle.controlRead(Panda.REQUEST_IN, 0x06, 3 << 8 | 238, 0, len[0])
+ if DEBUG: print 'LEN: {}'.format(hex(len[0]))
+ hexdump("".join(map(chr, dat)))
+
+ ms_vendor_code = dat[16]
+ if DEBUG: print 'MS_VENDOR_CODE: {}'.format(hex(len[0]))
+
+ print '\nMicrosoft Compatible ID Feature Descriptor'
+ len = p._handle.controlRead(Panda.REQUEST_IN, ms_vendor_code, 0, 4, 1)
+ if DEBUG: print 'LEN: {}'.format(hex(len[0]))
+ dat = p._handle.controlRead(Panda.REQUEST_IN, ms_vendor_code, 0, 4, len[0])
+ hexdump("".join(map(chr, dat)))
+
+ print '\nMicrosoft Extended Properties Feature Descriptor'
+ len = p._handle.controlRead(Panda.REQUEST_IN, ms_vendor_code, 0, 5, 1)
+ if DEBUG: print 'LEN: {}'.format(hex(len[0]))
+ dat = p._handle.controlRead(Panda.REQUEST_IN, ms_vendor_code, 0, 5, len[0])
+ hexdump("".join(map(chr, dat)))
diff --git a/tests/standalone_test.py b/tests/standalone_test.py
index 76df0235bc7272..ca6ea49f1056de 100755
--- a/tests/standalone_test.py
+++ b/tests/standalone_test.py
@@ -21,7 +21,7 @@
t2 = time.time()
print("100 requests took %.2f ms" % ((t2-t1)*1000))
- p.set_controls_allowed(True)
+ p.set_safety_mode(Panda.SAFETY_ALLOUTPUT)
a = 0
while True:
diff --git a/tests/tucan_loopback.py b/tests/tucan_loopback.py
new file mode 100755
index 00000000000000..a3f3e6e2d7cbad
--- /dev/null
+++ b/tests/tucan_loopback.py
@@ -0,0 +1,125 @@
+#!/usr/bin/env python
+from __future__ import print_function
+import os
+import sys
+import time
+import random
+import argparse
+
+from hexdump import hexdump
+from itertools import permutations
+
+sys.path.append(os.path.join(os.path.dirname(os.path.realpath(__file__)), ".."))
+from panda import Panda
+
+def get_test_string():
+ return b"test"+os.urandom(10)
+
+def run_test(sleep_duration):
+ pandas = Panda.list()
+ print(pandas)
+
+ if len(pandas) == 0:
+ print("NO PANDAS")
+ assert False
+
+ if len(pandas) == 1:
+ # if we only have one on USB, assume the other is on wifi
+ pandas.append("WIFI")
+ run_test_w_pandas(pandas, sleep_duration)
+
+def run_test_w_pandas(pandas, sleep_duration):
+ h = list(map(lambda x: Panda(x), pandas))
+ print("H", h)
+
+ for hh in h:
+ hh.set_controls_allowed(True)
+
+ # test both directions
+ for ho in permutations(range(len(h)), r=2):
+ print("***************** TESTING", ho)
+
+ panda0, panda1 = h[ho[0]], h[ho[1]]
+
+ if(panda0._serial == "WIFI"):
+ print(" *** Can not send can data over wifi panda. Skipping! ***")
+ continue
+
+ # **** test health packet ****
+ print("health", ho[0], h[ho[0]].health())
+
+ # **** test K/L line loopback ****
+ for bus in [2,3]:
+ # flush the output
+ h[ho[1]].kline_drain(bus=bus)
+
+ # send the characters
+ st = get_test_string()
+ st = b"\xaa"+chr(len(st)+3).encode()+st
+ h[ho[0]].kline_send(st, bus=bus, checksum=False)
+
+ # check for receive
+ ret = h[ho[1]].kline_drain(bus=bus)
+
+ print("ST Data:")
+ hexdump(st)
+ print("RET Data:")
+ hexdump(ret)
+ assert st == ret
+ print("K/L pass", bus, ho, "\n")
+ time.sleep(sleep_duration)
+
+ # **** test can line loopback ****
+# for bus, gmlan in [(0, None), (1, False), (2, False), (1, True), (2, True)]:
+for bus, gmlan in [(0, None), (1, None)]:
+ print("\ntest can", bus)
+ # flush
+ cans_echo = panda0.can_recv()
+ cans_loop = panda1.can_recv()
+
+ if gmlan is not None:
+ panda0.set_gmlan(gmlan, bus)
+ panda1.set_gmlan(gmlan, bus)
+
+ # send the characters
+ # pick addresses high enough to not conflict with honda code
+ at = random.randint(1024, 2000)
+ st = get_test_string()[0:8]
+ panda0.can_send(at, st, bus)
+ time.sleep(0.1)
+
+ # check for receive
+ cans_echo = panda0.can_recv()
+ cans_loop = panda1.can_recv()
+
+ print("Bus", bus, "echo", cans_echo, "loop", cans_loop)
+
+ assert len(cans_echo) == 1
+ assert len(cans_loop) == 1
+
+ assert cans_echo[0][0] == at
+ assert cans_loop[0][0] == at
+
+ assert cans_echo[0][2] == st
+ assert cans_loop[0][2] == st
+
+ assert cans_echo[0][3] == 0x80 | bus
+ if cans_loop[0][3] != bus:
+ print("EXPECTED %d GOT %d" % (bus, cans_loop[0][3]))
+ assert cans_loop[0][3] == bus
+
+ print("CAN pass", bus, ho)
+ time.sleep(sleep_duration)
+
+if __name__ == "__main__":
+ parser = argparse.ArgumentParser()
+ parser.add_argument("-n", type=int, help="Number of test iterations to run")
+ parser.add_argument("-sleep", type=int, help="Sleep time between tests", default=0)
+ args = parser.parse_args()
+
+ if args.n is None:
+ while True:
+ run_test(sleep_duration=args.sleep)
+ else:
+ for i in range(args.n):
+ run_test(sleep_duration=args.sleep)