Squashed 'panda/' changes from 3125232..2253dd3

2253dd3 fix volt ign detect
3b299d7 add ignition and refactor
af9af6d Merge pull request #110 from Jamezz/volt
13e850e more correct
f295063 add new define to tests
fec9758 gate that with debug
5516ebf one more ifdef
cac7b31 only panda has float
938d474 fpu enable
ffbf0c7 cleaner
de30f27 Revert "need f to not be double"
4142acf need f to not be double
3eb15c8 refactor to share code
a4c8b64 change to O2 to fix make recover
711fd11 Enable compiler optimizations, fix things it breaks
2e6f774 block IPAS in main toyota safety mode
e7a2b3a add ipas tests
894572c fix tests
367c9ad add safety toyota ipas
95919b9 Bounty: panda high quality CAN autobaud (#96)
6557cd2 Toyota Safety: allow controls only on rising edge of cruise_engaged
02c1ddf Revert "added steer override check when IPAS is in control (#106)"
9f925ba Fix the merge mess
23d3833 Merge from comma upstream
a0cc51a Undo safety mode override
ea1c1dc make wlan interface name generic
6dbd8c9 Implement WebUSB and upgrade WinUSB to 2.0 (#107)
4fc83a5 Add safety hook for ignition and have GM use gear selector to determine ignition
52b2ac0 switch from travis to circleci
48e2374 build panda esp image
065572a circleci build stm image
7a1f319 add panda python package test and fix safety test
021dde7 move saftey test helper files into safety folder
ce0545f add ci files
6a3307c no LIN over ELM
7d21acb added steer override check when IPAS is in control (#106)
1c88caf Safety code testing (#104)
f4efd1f Merge pull request #101 from adhintz/master
c02618b Merge pull request #102 from quillford/master
1ba5f8a added link to wiki for user scripts
de2b19e add support for multiple buses to can_unique and can_bittransition output data in sorted order.

git-subtree-dir: panda
git-subtree-split: 2253dd3

.circleci/config.yml

@@ -0,0 +1,41 @@
+version: 2
+jobs:
+  safety:
+    machine:
+      docker_layer_caching: true
+    steps:
+      - checkout
+      - run:
+          name: Build image
+          command: "docker build -t panda_safety -f tests/safety/Dockerfile ."
+      - run:
+          name: Run safety test
+          command: |
+            docker run panda_safety /bin/bash -c "cd /panda/tests/safety; ./test.sh"
+  build:
+    machine:
+      docker_layer_caching: true
+    steps:
+      - checkout
+      - run:
+          name: Build image
+          command: "docker build -t panda_build -f tests/build/Dockerfile ."
+      - run:
+          name: Test python package installer
+          command: |
+            docker run panda_build /bin/bash -c "cd /panda; python setup.py install"
+      - run:
+          name: Build STM image
+          command: |
+            docker run panda_build /bin/bash -c "cd /panda/board; make bin"
+      - run:
+          name: Build ESP image
+          command: |
+            docker run panda_build /bin/bash -c "cd /panda/boardesp; make user1.bin"
+
+workflows:
+  version: 2
+  main:
+    jobs:
+      - safety
+      - build

.gitignore

@@ -2,6 +2,8 @@
 .*.swp
 .*.swo
 *.o
+*.so
+*.d
 a.out
 *~
 .#*

README.md

@@ -13,7 +13,7 @@ It uses an [STM32F413](http://www.st.com/en/microcontrollers/stm32f413-423.html?
 
 It is 2nd gen hardware, reusing code and parts from the [NEO](https://github.com/commaai/neo) interface board.
 
-[![Build Status](https://travis-ci.org/commaai/panda.svg?branch=master)](https://travis-ci.org/commaai/panda)
+[![CircleCI](https://circleci.com/gh/commaai/panda.svg?style=svg)](https://circleci.com/gh/commaai/panda)
 
 Usage
 ------
@@ -35,7 +35,7 @@ And to send one on bus 0:
 ```
 >>> panda.can_send(0x1aa, "message", 0)
 ```
-More examples coming soon
+Find user made scripts on the [wiki](https://community.comma.ai/wiki/index.php/Panda_scripts)
 
 Software interface support
 ------

board/Makefile

@@ -2,7 +2,7 @@ PROJ_NAME = panda
 CFLAGS = -g -Wall
 
 CFLAGS += -mlittle-endian -mthumb -mcpu=cortex-m4
-CFLAGS += -mhard-float -DSTM32F4 -DSTM32F413xx
+CFLAGS += -mhard-float -DSTM32F4 -DSTM32F413xx -mfpu=fpv4-sp-d16 -fsingle-precision-constant
 STARTUP_FILE = startup_stm32f413xx
 
 include build.mk

board/build.mk

@@ -1,4 +1,5 @@
 CFLAGS += -I inc -I ../ -nostdlib -fno-builtin -std=gnu11 -O2
+
 CFLAGS += -Tstm32_flash.ld
 
 CC = arm-none-eabi-gcc

board/drivers/can.h

@@ -86,17 +86,29 @@ int can_err_cnt = 0;
   uint8_t can_num_lookup[] = {0,1,2,-1};
   int8_t can_forwarding[] = {-1,-1,-1,-1};
   uint32_t can_speed[] = {5000, 5000, 5000, 333};
+  bool can_autobaud_enabled[] = {true, true, true, false};
   #define CAN_MAX 3
 #else
   CAN_TypeDef *cans[] = {CAN1, CAN2};
   uint8_t bus_lookup[] = {1,0};
   uint8_t can_num_lookup[] = {1,0};
   int8_t can_forwarding[] = {-1,-1};
   uint32_t can_speed[] = {5000, 5000};
+  bool can_autobaud_enabled[] = {true, true};
   #define CAN_MAX 2
 #endif
 
+uint32_t can_autobaud_speeds[] = {5000, 2500, 1250, 1000, 10000};
+#define AUTOBAUD_SPEEDS_LEN (sizeof(can_autobaud_speeds) / sizeof(can_autobaud_speeds[0]))
+
 #define CANIF_FROM_CAN_NUM(num) (cans[num])
+#ifdef PANDA
+#define CAN_NUM_FROM_CANIF(CAN) (CAN==CAN1 ? 0 : (CAN==CAN2 ? 1 : 2))
+#define CAN_NAME_FROM_CANIF(CAN) (CAN==CAN1 ? "CAN1" : (CAN==CAN2 ? "CAN2" : "CAN3"))
+#else
+#define CAN_NUM_FROM_CANIF(CAN) (CAN==CAN1 ? 0 : 1)
+#define CAN_NAME_FROM_CANIF(CAN) (CAN==CAN1 ? "CAN1" : "CAN2")
+#endif
 #define BUS_NUM_FROM_CAN_NUM(num) (bus_lookup[num])
 #define CAN_NUM_FROM_BUS_NUM(num) (can_num_lookup[num])
 
@@ -115,43 +127,78 @@ int can_err_cnt = 0;
 // 5000 = 500 kbps
 #define can_speed_to_prescaler(x) (CAN_PCLK / CAN_QUANTA * 10 / (x))
 
-void process_can(uint8_t can_number);
+void can_autobaud_speed_increment(uint8_t can_number) {
+  uint32_t autobaud_speed = can_autobaud_speeds[0];
+  uint8_t bus_number = BUS_NUM_FROM_CAN_NUM(can_number);
+  for (int i = 0; i < AUTOBAUD_SPEEDS_LEN; i++) {
+    if (can_speed[bus_number] == can_autobaud_speeds[i]) {
+      if (i+1 < AUTOBAUD_SPEEDS_LEN) {
+        autobaud_speed = can_autobaud_speeds[i+1];
+      }
+      break;
+    }
+  }
+  can_speed[bus_number] = autobaud_speed;
+#ifdef DEBUG
+  CAN_TypeDef* CAN = CANIF_FROM_CAN_NUM(can_number);
+  puts(CAN_NAME_FROM_CANIF(CAN));
+  puts(" auto-baud test ");
+  putui(can_speed[bus_number]);
+  puts(" cbps\n");
+#endif
+}
 
-void can_init(uint8_t can_number) {
-  if (can_number == 0xff) return;
+void process_can(uint8_t can_number);
 
+void can_set_speed(uint8_t can_number) {
   CAN_TypeDef *CAN = CANIF_FROM_CAN_NUM(can_number);
-  set_can_enable(CAN, 1);
+  uint8_t bus_number = BUS_NUM_FROM_CAN_NUM(can_number);
 
-  CAN->MCR = CAN_MCR_TTCM | CAN_MCR_INRQ;
-  while((CAN->MSR & CAN_MSR_INAK) != CAN_MSR_INAK);
+  while (true) {
+    // initialization mode
+    CAN->MCR = CAN_MCR_TTCM | CAN_MCR_INRQ;
+    while((CAN->MSR & CAN_MSR_INAK) != CAN_MSR_INAK);
+
+    // set time quanta from defines
+    CAN->BTR = (CAN_BTR_TS1_0 * (CAN_SEQ1-1)) |
+              (CAN_BTR_TS2_0 * (CAN_SEQ2-1)) |
+              (can_speed_to_prescaler(can_speed[bus_number]) - 1);
+
+    // silent loopback mode for debugging
+    if (can_loopback) {
+      CAN->BTR |= CAN_BTR_SILM | CAN_BTR_LBKM;
+    }
+    if (can_silent & (1 << can_number)) {
+      CAN->BTR |= CAN_BTR_SILM;
+    }
 
-  // set time quanta from defines
-  CAN->BTR = (CAN_BTR_TS1_0 * (CAN_SEQ1-1)) |
-             (CAN_BTR_TS2_0 * (CAN_SEQ2-1)) |
-             (can_speed_to_prescaler(can_speed[BUS_NUM_FROM_CAN_NUM(can_number)]) - 1);
+    // reset
+    CAN->MCR = CAN_MCR_TTCM | CAN_MCR_ABOM;
 
-  // silent loopback mode for debugging
-  if (can_loopback) {
-    CAN->BTR |= CAN_BTR_SILM | CAN_BTR_LBKM;
-  }
+    #define CAN_TIMEOUT 1000000
+    int tmp = 0;
+    while((CAN->MSR & CAN_MSR_INAK) == CAN_MSR_INAK && tmp < CAN_TIMEOUT) tmp++;
+    if (tmp < CAN_TIMEOUT) {
+      return;
+    }
 
-  if (can_silent & (1 << can_number)) {
-    CAN->BTR |= CAN_BTR_SILM;
+    if (can_autobaud_enabled[bus_number]) {
+      can_autobaud_speed_increment(can_number);
+    } else {
+      puts("CAN init FAILED!!!!!\n");
+      puth(can_number); puts(" ");
+      puth(BUS_NUM_FROM_CAN_NUM(can_number)); puts("\n");
+      return;
+    }
   }
+}
 
-  // reset
-  CAN->MCR = CAN_MCR_TTCM | CAN_MCR_ABOM;
-
-  #define CAN_TIMEOUT 1000000
-  int tmp = 0;
-  while((CAN->MSR & CAN_MSR_INAK) == CAN_MSR_INAK && tmp < CAN_TIMEOUT) tmp++;
+void can_init(uint8_t can_number) {
+  if (can_number == 0xff) return;
 
-  if (tmp == CAN_TIMEOUT) {
-    puts("CAN init FAILED!!!!!\n");
-    puth(can_number); puts(" ");
-    puth(BUS_NUM_FROM_CAN_NUM(can_number)); puts("\n");
-  }
+  CAN_TypeDef *CAN = CANIF_FROM_CAN_NUM(can_number);
+  set_can_enable(CAN, 1);
+  can_set_speed(can_number);
 
   // accept all filter
   CAN->FMR |= CAN_FMR_FINIT;
@@ -166,7 +213,7 @@ void can_init(uint8_t can_number) {
   CAN->FMR &= ~(CAN_FMR_FINIT);
 
   // enable certain CAN interrupts
-  CAN->IER = CAN_IER_TMEIE | CAN_IER_FMPIE0;
+  CAN->IER |= CAN_IER_TMEIE | CAN_IER_FMPIE0;
 
   switch (can_number) {
     case 0:
@@ -244,6 +291,8 @@ void can_set_gmlan(int bus) {
 
 // CAN error
 void can_sce(CAN_TypeDef *CAN) {
+  enter_critical_section();
+
   can_err_cnt += 1;
   #ifdef DEBUG
     if (CAN==CAN1) puts("CAN1:  ");
@@ -264,9 +313,19 @@ void can_sce(CAN_TypeDef *CAN) {
     puts("\n");
   #endif
 
+  uint8_t can_number = CAN_NUM_FROM_CANIF(CAN);
+  uint8_t bus_number = BUS_NUM_FROM_CAN_NUM(can_number);
+  if (can_autobaud_enabled[bus_number] && (CAN->ESR & CAN_ESR_LEC)) {
+    can_autobaud_speed_increment(can_number);
+    can_set_speed(can_number);
+  }
+
   // clear current send
   CAN->TSR |= CAN_TSR_ABRQ0;
+  CAN->MSR &= ~(CAN_MSR_ERRI);
   CAN->MSR = CAN->MSR;
+
+  exit_critical_section();
 }
 
 // ***************************** CAN *****************************
@@ -334,6 +393,16 @@ void can_rx(uint8_t can_number) {
   CAN_TypeDef *CAN = CANIF_FROM_CAN_NUM(can_number);
   uint8_t bus_number = BUS_NUM_FROM_CAN_NUM(can_number);
   while (CAN->RF0R & CAN_RF0R_FMP0) {
+    if (can_autobaud_enabled[bus_number]) {
+      can_autobaud_enabled[bus_number] = false;
+      puts(CAN_NAME_FROM_CANIF(CAN));
+    #ifdef DEBUG
+      puts(" auto-baud ");
+      putui(can_speed[bus_number]);
+      puts(" cbps\n");
+    #endif
+    }
+
     can_rx_cnt += 1;
 
     // can is live
@@ -392,7 +461,7 @@ void CAN3_SCE_IRQHandler() { can_sce(CAN3); }
 #endif
 
 void can_send(CAN_FIFOMailBox_TypeDef *to_push, uint8_t bus_number) {
-  if (safety_tx_hook(to_push)) {
+  if (safety_tx_hook(to_push) && !can_autobaud_enabled[bus_number]) {
     if (bus_number < BUS_MAX) {
       // add CAN packet to send queue
       // bus number isn't passed through

board/drivers/spi.h

@@ -40,6 +40,7 @@ void spi_tx_dma(void *addr, int len) {
 
   // channel3, increment memory, memory -> periph, enable
   DMA2_Stream3->CR = DMA_SxCR_CHSEL_1 | DMA_SxCR_CHSEL_0 | DMA_SxCR_MINC | DMA_SxCR_DIR_0 | DMA_SxCR_EN;
+  delay(0);
   DMA2_Stream3->CR |= DMA_SxCR_TCIE;
 
   SPI1->CR2 |= SPI_CR2_TXDMAEN;
@@ -65,6 +66,7 @@ void spi_rx_dma(void *addr, int len) {
 
   // channel3, increment memory, periph -> memory, enable
   DMA2_Stream2->CR = DMA_SxCR_CHSEL_1 | DMA_SxCR_CHSEL_0 | DMA_SxCR_MINC | DMA_SxCR_EN;
+  delay(0);
   DMA2_Stream2->CR |= DMA_SxCR_TCIE;
 
   SPI1->CR2 |= SPI_CR2_RXDMAEN;
@@ -95,7 +97,7 @@ void DMA2_Stream2_IRQHandler(void) {
 void DMA2_Stream3_IRQHandler(void) {
   #ifdef DEBUG_SPI
     puts("SPI handshake\n");
-  #endif  
+  #endif
 
   // reset handshake back to pull up
   set_gpio_mode(GPIOB, 0, MODE_INPUT);

board/drivers/uart.h

@@ -266,6 +266,17 @@ int puts(const char *a) {
   return 0;
 }
 
+void putui(uint32_t i) {
+  char str[11];
+  uint8_t idx = 10;
+  str[idx--] = '\0';
+  do {
+    str[idx--] = (i % 10) + 0x30;
+    i /= 10;
+  } while (i);
+  puts(str + idx + 1);
+}
+
 void puth(unsigned int i) {
   int pos;
   char c[] = "0123456789abcdef";