openpilot v0.3.0-dirty release

commaai · Mar 16, 2017 · 347b38a · 347b38a
1 parent 0a747f9
commit 347b38a
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Showing 76 changed files with 56,388 additions and 14,039 deletions.
diff --git a/.gitignore b/.gitignore
@@ -1,6 +1,7 @@
 .DS_Store
 .tags
 .ipynb_checkpoints
+model2.png
 
 *.pyc
 .*.swp
@@ -11,12 +12,13 @@
 *.so
 *.a
 *.clb
+*.class
 config.json
 clcache
 
 board/obj/
 selfdrive/boardd/boardd
 selfdrive/logcatd/logcatd
-selfdrive/sensord/sensord
 selfdrive/ui/ui
+/src/
 
diff --git a/.travis.yml b/.travis.yml
@@ -10,4 +10,3 @@ script:
   - docker run --rm
       -v "$(pwd)"/selfdrive/test/plant/out:/tmp/openpilot/selfdrive/test/plant/out
       tmppilot /bin/sh -c 'cd /tmp/openpilot/selfdrive/test/plant && ./runtest.sh'
-
diff --git a/RELEASES.md b/RELEASES.md
@@ -1,3 +1,9 @@
+Version 0.3.0  (2017-03-xx)
+===========================
+  * Add CarParams struct to improve the abstraction layer
+  * Refactor visiond IPC to support multiple clients
+  * Add raw GPS and beginning support for navigation
+
 Version 0.2.9  (2017-03-01)
 ===========================
   * Retain compatibility with NEOS v1

diff --git a/board/Makefile b/board/Makefile
@@ -1,43 +1,9 @@
 # :set noet
 PROJ_NAME = comma
-
 CFLAGS  = -g -O0 -Wall
+
 CFLAGS += -mlittle-endian -mthumb -mcpu=cortex-m3
 CFLAGS += -msoft-float -DSTM32F2 -DSTM32F205xx
-CFLAGS += -I inc -nostdlib
-CFLAGS += -Tstm32_flash.ld
-
-CC = arm-none-eabi-gcc
-OBJCOPY = arm-none-eabi-objcopy
-OBJDUMP = arm-none-eabi-objdump
-
-MACHINE = $(shell uname -m)
-
-all: obj/$(PROJ_NAME).bin
-	#$(OBJDUMP) -d obj/$(PROJ_NAME).elf
-	./tools/enter_download_mode.py
-	./tools/dfu-util-$(MACHINE) -a 0 -s 0x08000000 -D $<
-	./tools/dfu-util-$(MACHINE) --reset-stm32 -a 0 -s 0x08000000
-
-ifneq ($(wildcard ../.git/HEAD),) 
-obj/gitversion.h: ../.git/HEAD ../.git/index
-	echo "const uint8_t gitversion[] = \"$(shell git rev-parse HEAD)\";" > $@
-else
-obj/gitversion.h: 
-	echo "const uint8_t gitversion[] = \"RELEASE\";" > $@
-endif
-
-obj/main.o: main.c *.h obj/gitversion.h
-	$(CC) $(CFLAGS) -o $@ -c $<
-
-obj/startup_stm32f205xx.o: startup_stm32f205xx.s
-	mkdir -p obj
-	$(CC) $(CFLAGS) -o $@ -c $<
-
-obj/$(PROJ_NAME).bin: obj/startup_stm32f205xx.o obj/main.o
-	$(CC) $(CFLAGS) -o obj/$(PROJ_NAME).elf $^
-	$(OBJCOPY) -v -O binary obj/$(PROJ_NAME).elf $@
-
-clean:
-	rm -f obj/*
+STARTUP_FILE = startup_stm32f205xx
 
+include build.mk
diff --git a/board/adc.h b/board/adc.h
@@ -15,7 +15,8 @@ void adc_init() {
   ADC1->CR2 = ADC_CR2_ADON;
 
   // long
-  ADC1->SMPR1 = ADC_SMPR1_SMP10 | ADC_SMPR1_SMP11 | ADC_SMPR1_SMP12 | ADC_SMPR1_SMP13;
+  //ADC1->SMPR1 = ADC_SMPR1_SMP10 | ADC_SMPR1_SMP11 | ADC_SMPR1_SMP12 | ADC_SMPR1_SMP13;
+  ADC1->SMPR1 = ADC_SMPR1_SMP12 | ADC_SMPR1_SMP13;
 }
 
 uint32_t adc_get(int channel) {

diff --git a/board/build.mk b/board/build.mk
@@ -0,0 +1,37 @@
+CFLAGS += -I inc -nostdlib
+CFLAGS += -Tstm32_flash.ld
+
+CC = arm-none-eabi-gcc
+OBJCOPY = arm-none-eabi-objcopy
+OBJDUMP = arm-none-eabi-objdump
+
+MACHINE = $(shell uname -m)
+
+all: obj/$(PROJ_NAME).bin
+	#$(OBJDUMP) -d obj/$(PROJ_NAME).elf
+	./tools/enter_download_mode.py
+	./tools/dfu-util-$(MACHINE) -a 0 -s 0x08000000 -D $<
+	./tools/dfu-util-$(MACHINE) --reset-stm32 -a 0 -s 0x08000000
+
+ifneq ($(wildcard ../.git/HEAD),) 
+obj/gitversion.h: ../.git/HEAD ../.git/index
+	echo "const uint8_t gitversion[] = \"$(shell git rev-parse HEAD)\";" > $@
+else
+obj/gitversion.h: 
+	echo "const uint8_t gitversion[] = \"RELEASE\";" > $@
+endif
+
+obj/main.$(PROJ_NAME).o: main.c *.h obj/gitversion.h
+	$(CC) $(CFLAGS) -o $@ -c $<
+
+obj/$(STARTUP_FILE).o: $(STARTUP_FILE).s
+	mkdir -p obj
+	$(CC) $(CFLAGS) -o $@ -c $<
+
+obj/$(PROJ_NAME).bin: obj/$(STARTUP_FILE).o obj/main.$(PROJ_NAME).o
+	$(CC) $(CFLAGS) -o obj/$(PROJ_NAME).elf $^
+	$(OBJCOPY) -v -O binary obj/$(PROJ_NAME).elf $@
+
+clean:
+	rm -f obj/*
+
diff --git a/board/can.h b/board/can.h
@@ -1,16 +1,30 @@
 void can_init(CAN_TypeDef *CAN) {
   // enable CAN busses
   if (CAN == CAN1) {
-    // CAN1_EN
-    GPIOB->ODR |= (1 << 3);
+    #ifdef PANDA
+      // CAN1_EN
+      GPIOC->ODR &= ~(1 << 1);
+    #else
+      // CAN1_EN
+      GPIOB->ODR |= (1 << 3);
+    #endif
   } else if (CAN == CAN2) {
-    // CAN2_EN
-    GPIOB->ODR |= (1 << 4);
+    #ifdef PANDA
+      // CAN2_EN
+      GPIOC->ODR &= ~(1 << 13);
+    #else
+      // CAN2_EN
+      GPIOB->ODR |= (1 << 4);
+    #endif
+  #ifdef CAN3
+  } else if (CAN == CAN3) {
+    // CAN3_EN
+    GPIOA->ODR &= ~(1 << 0);
+  #endif
   }
 
   CAN->MCR = CAN_MCR_TTCM | CAN_MCR_INRQ;
   while((CAN->MSR & CAN_MSR_INAK) != CAN_MSR_INAK);
-  puts("CAN initting\n");
 
   // PCLK = 24000000, 500000 is 48 clocks
   // from http://www.bittiming.can-wiki.ino/
@@ -23,8 +37,17 @@ void can_init(CAN_TypeDef *CAN) {
 
   // reset
   CAN->MCR = CAN_MCR_TTCM;
-  while((CAN->MSR & CAN_MSR_INAK) == CAN_MSR_INAK);
-  puts("CAN init done\n");
+
+  #define CAN_TIMEOUT 1000000
+  int tmp = 0;
+  while((CAN->MSR & CAN_MSR_INAK) == CAN_MSR_INAK && tmp < CAN_TIMEOUT) tmp++;
+
+  if (tmp == CAN_TIMEOUT) {
+    set_led(LED_BLUE, 1);
+    puts("CAN init FAILED!!!!!\n");
+  } else {
+    puts("CAN init done\n");
+  }
 
   // accept all filter
   CAN->FMR |= CAN_FMR_FINIT;
@@ -46,6 +69,8 @@ void can_init(CAN_TypeDef *CAN) {
 // CAN error
 void can_sce(CAN_TypeDef *CAN) {
   #ifdef DEBUG
+    if (CAN==CAN1) puts("CAN1:  ");
+    if (CAN==CAN2) puts("CAN2:  ");
     puts("MSR:");
     puth(CAN->MSR);
     puts(" TSR:");