Squashed 'panda/' changes from 39c1e39..06958e4

06958e4 Fix pedal bootstub build
f5817e6 Fix Pedal bootstub version
c00fe86 CircleCI needs to check bootstub doesn't break too
9b5b696 Subaru: remove GM leftover
20c76ad Power Saving (#169)
c6eeaad Subaru: added last engage/disengage regression test
37d46e0 Subaru: added subaru safety tests
5686dae Subaru updated driver factor
a6193a8 Dcp remove (#168)
e437b9b Subaru: fixed bug and added safety tests
176f132 Subaru: added proper safety model
0b10bb7 Subaru safety: move camera to bus 2
bce279a Pedal: only one firmware (#164)
4f73cb4 Toyota pedal: checking for no pedal being commanded when openpilot is off
0b2327e Merge pull request #160 from commaai/capture_make_failure
7b504d2 panda safety test that replays drives of saved CAN messages (#151)
d7d0889 Capture make failure so it can be logged to sentry

git-subtree-dir: panda
git-subtree-split: 06958e4

.circleci/config.yml

@@ -29,13 +29,17 @@ jobs:
           command: |
             docker run panda_build /bin/bash -c "cd /panda/board; make bin"
       - run:
-          name: Build Honda Pedal STM image
+          name: Build Panda STM bootstub image
           command: |
-            docker run panda_build /bin/bash -c "cd /panda/board/pedal_honda; make obj/comma.bin"
+            docker run panda_build /bin/bash -c "cd /panda/board; make obj/bootstub.panda.bin"
       - run:
-          name: Build Toyota Pedal STM image
+          name: Build Pedal STM image
           command: |
-            docker run panda_build /bin/bash -c "cd /panda/board/pedal_toyota; make obj/comma.bin"
+            docker run panda_build /bin/bash -c "cd /panda/board/pedal; make obj/comma.bin"
+      - run:
+          name: Build Pedal STM bootstub image
+          command: |
+            docker run panda_build /bin/bash -c "cd /panda/board/pedal; make obj/bootstub.bin"
       - run:
           name: Build NEO STM image
           command: |

board/build.mk

@@ -2,6 +2,14 @@ CFLAGS += -I inc -I ../ -nostdlib -fno-builtin -std=gnu11 -Os
 
 CFLAGS += -Tstm32_flash.ld
 
+# Compile fast charge (DCP) only not on EON
+ifeq (,$(wildcard /EON))
+  BUILDER = DEV
+else
+  CFLAGS += "-DEON"
+  BUILDER = EON
+endif
+
 CC = arm-none-eabi-gcc
 OBJCOPY = arm-none-eabi-objcopy
 OBJDUMP = arm-none-eabi-objdump

board/gpio.h

@@ -454,6 +454,7 @@ void early() {
   #ifdef PANDA
     // enable the ESP, disable ESP boot mode
     // unless we are on a giant panda, then there's no ESP
+    // dont disable on grey panda
     if (is_giant_panda) {
       set_esp_mode(ESP_DISABLED);
     } else {

board/main.c

@@ -539,6 +539,9 @@ int main() {
   } else {
     // enable ESP uart
     uart_init(USART1, 115200);
+    #ifdef EON
+      set_esp_mode(ESP_DISABLED);
+    #endif
   }
   // enable LIN
   uart_init(UART5, 10400);
@@ -590,8 +593,6 @@ int main() {
     uint64_t marker = 0;
     #define CURRENT_THRESHOLD 0xF00
     #define CLICKS 8
-    // Enough clicks to ensure that enumeration happened. Should be longer than bootup time of the device connected to EON
-    #define CLICKS_BOOTUP 30
   #endif
 
   for (cnt=0;;cnt++) {
@@ -618,8 +619,9 @@ int main() {
           }
           break;
         case USB_POWER_CDP:
-          // been CLICKS_BOOTUP clicks since we switched to CDP
-          if ((cnt-marker) >= CLICKS_BOOTUP ) {
+#ifndef EON
+          // been CLICKS clicks since we switched to CDP
+          if ((cnt-marker) >= CLICKS) {
             // measure current draw, if positive and no enumeration, switch to DCP
             if (!is_enumerated && current < CURRENT_THRESHOLD) {
               puts("USBP: no enumeration with current draw, switching to DCP mode\n");
@@ -631,6 +633,7 @@ int main() {
           if (current >= CURRENT_THRESHOLD) {
             marker = cnt;
           }
+#endif
           break;
         case USB_POWER_DCP:
           // been at least CLICKS clicks since we switched to DCP

board/pedal_honda/Makefile → board/pedal/Makefile

@@ -30,12 +30,20 @@ recover: obj/bootstub.bin obj/$(PROJ_NAME).bin
 	$(DFU_UTIL) -d 0483:df11 -a 0 -s 0x08004000 -D obj/$(PROJ_NAME).bin
 	$(DFU_UTIL) -d 0483:df11 -a 0 -s 0x08000000:leave -D obj/bootstub.bin
 
+include ../../common/version.mk
+
+obj/cert.h: ../../crypto/getcertheader.py
+	../../crypto/getcertheader.py ../../certs/debug.pub ../../certs/release.pub > $@
+
 obj/main.o: main.c ../*.h
 	mkdir -p obj
 	$(CC) $(CFLAGS) -o $@ -c $<
 
-obj/bootstub.o: ../bootstub.c ../*.h
+obj/bootstub.o: ../bootstub.c ../*.h obj/gitversion.h obj/cert.h
 	mkdir -p obj
+	mkdir -p ../obj
+	cp obj/gitversion.h ../obj/gitversion.h
+	cp obj/cert.h  ../obj/cert.h
 	$(CC) $(CFLAGS) -o $@ -c $<
 
 obj/$(STARTUP_FILE).o: ../$(STARTUP_FILE).s

board/pedal_honda/main.c → board/pedal/main.c

@@ -70,28 +70,33 @@ int usb_cb_control_msg(USB_Setup_TypeDef *setup, uint8_t *resp, int hardwired) {
 
 #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;
+// ***************************** pedal can checksum *****************************
+
+uint8_t pedal_checksum(uint8_t *dat, int len) {
+  uint8_t crc = 0xFF;
+  uint8_t poly = 0xD5; // standard crc8
+  int i, j;
+  for (i = len - 1; i >= 0; i--) {
+    crc ^= dat[i];
+    for (j = 0; j < 8; j++) {
+      if ((crc & 0x80) != 0) {
+        crc = (uint8_t)((crc << 1) ^ poly);
+      }
+      else {
+        crc <<= 1;
+      }
+    }
   }
-  s += (addr>>0)&0xF;
-  s += (addr>>4)&0xF;
-  s += (addr>>8)&0xF;
-  s += idx;
-  s = 8-s;
-  return s&0xF;
+  return crc;
 }
 
 // ***************************** can port *****************************
 
 // addresses to be used on CAN
 #define CAN_GAS_INPUT  0x200
 #define CAN_GAS_OUTPUT 0x201
+#define CAN_GAS_SIZE 6
+#define COUNTER_CYCLE 0xF
 
 void CAN1_TX_IRQHandler() {
   // clear interrupt
@@ -134,14 +139,19 @@ void CAN1_RX0_IRQHandler() {
       }
 
       // normal packet
-      uint8_t *dat = (uint8_t *)&CAN->sFIFOMailBox[0].RDLR;
-      uint8_t *dat2 = (uint8_t *)&CAN->sFIFOMailBox[0].RDHR;
+      uint8_t dat[8];
+      uint8_t *rdlr = (uint8_t *)&CAN->sFIFOMailBox[0].RDLR;
+      uint8_t *rdhr = (uint8_t *)&CAN->sFIFOMailBox[0].RDHR;
+      for (int i=0; i<4; i++) {
+        dat[i] = rdlr[i];
+        dat[i+4] = rdhr[i];
+      }
       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) {
+      uint8_t enable = (dat[4] >> 7) & 1;
+      uint8_t index = dat[4] & COUNTER_CYCLE;
+      if (pedal_checksum(dat, CAN_GAS_SIZE - 1) == dat[5]) {
+        if (((current_index + 1) & COUNTER_CYCLE) == index) {
           #ifdef DEBUG
             puts("setting gas ");
             puth(value);
@@ -196,18 +206,18 @@ void TIM3_IRQHandler() {
   // 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);
+    dat[0] = (pdl0>>8) & 0xFF;
+    dat[1] = (pdl0>>0) & 0xFF;
+    dat[2] = (pdl1>>8) & 0xFF;
+    dat[3] = (pdl1>>0) & 0xFF;
+    dat[4] = (state & 0xF) << 4 | pkt_idx;
+    dat[5] = pedal_checksum(dat, CAN_GAS_SIZE - 1);
     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;
+    pkt_idx &= COUNTER_CYCLE;
   } else {
     // old can packet hasn't sent!
     state = FAULT_SEND;