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openpilot v0.3.0-devel release

Vehicle Researcher 2017-05-11 12:41:17 -07:00
parent ab3492bb90
commit 4653a9aef0
127 changed files with 4805 additions and 32235 deletions
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5
.gitignore vendored
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@ -1,6 +1,7 @@
.DS_Store
.tags
.ipynb_checkpoints
model2.png
*.pyc
.*.swp
@ -11,12 +12,14 @@
*.so
*.a
*.clb
*.class
config.json
clcache
board/obj/
selfdrive/boardd/boardd
selfdrive/logcatd/logcatd
selfdrive/sensord/sensord
selfdrive/proclogd/proclogd
selfdrive/ui/ui
/src/

3
.gitmodules vendored 100644
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@ -0,0 +1,3 @@
[submodule "panda"]
path = panda
url = git@github.com:commaai/panda.git

1
.travis.yml
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@ -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'

7
README.md
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@ -26,27 +26,28 @@ Supported Cars
Directory structure
------
- board -- Code that runs on the USB interface board
- cereal -- The messaging spec used for all logs on the phone
- common -- Library like functionality we've developed here
- dbcs -- Files showing how to interpret data from cars
- panda -- Code used to communicate on CAN and LIN
- phonelibs -- Libraries used on the phone
- selfdrive -- Code needed to drive the car
- assets -- Fonts for ui
- boardd -- Daemon to talk to the board
- calibrationd -- Camera calibration server
- car -- Code that talks to the car and implements CarInterface
- common -- Shared C/C++ code for the daemons
- controls -- Python controls (PID loops etc) for the car
- debug -- Tools to help you debug and do car ports
- logcatd -- Android logcat as a service
- loggerd -- Logger and uploader of car data
- proclogd -- Logs information from proc
- radar -- Code that talks to the radar and implements RadarInterface
- sensord -- IMU / GPS interface code
- test/plant -- Car simulator running code through virtual maneuvers
- ui -- The UI
- visiond -- embedded vision pipeline
To understand how the services interact, see `common/services.py`
To understand how the services interact, see `selfdrive/service_list.yaml`
Testing on PC
------

10
RELEASES.md
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@ -1,3 +1,13 @@
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
* Improve model in visiond using crowdsourced data
* Add improved system logging to diagnose instability
* Rewrite baseui in React Native
* Moved calibration to the cloud
Version 0.2.9 (2017-03-01)
===========================
* Retain compatibility with NEOS v1

BIN
apk/com.baseui.apk 100644
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43
board/Makefile
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@ -1,43 +0,0 @@
# :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/*

38
board/adc.h
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@ -1,38 +0,0 @@
// ACCEL1 = ADC10
// ACCEL2 = ADC11
// VOLT_S = ADC12
// CURR_S = ADC13
#define ADCCHAN_ACCEL0 10
#define ADCCHAN_ACCEL1 11
#define ADCCHAN_VOLTAGE 12
#define ADCCHAN_CURRENT 13
void adc_init() {
// global setup
ADC->CCR = ADC_CCR_TSVREFE | ADC_CCR_VBATE;
//ADC1->CR2 = ADC_CR2_ADON | ADC_CR2_EOCS | ADC_CR2_DDS;
ADC1->CR2 = ADC_CR2_ADON;
// long
ADC1->SMPR1 = ADC_SMPR1_SMP10 | ADC_SMPR1_SMP11 | ADC_SMPR1_SMP12 | ADC_SMPR1_SMP13;
}
uint32_t adc_get(int channel) {
// includes length
//ADC1->SQR1 = 0;
// select channel
ADC1->JSQR = channel << 15;
//ADC1->CR1 = ADC_CR1_DISCNUM_0;
//ADC1->CR1 = ADC_CR1_EOCIE;
ADC1->SR &= ~(ADC_SR_JEOC);
ADC1->CR2 |= ADC_CR2_JSWSTART;
while (!(ADC1->SR & ADC_SR_JEOC));
return ADC1->JDR1;
}

84
board/can.h
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@ -1,84 +0,0 @@
void can_init(CAN_TypeDef *CAN) {
// enable CAN busses
if (CAN == CAN1) {
// CAN1_EN
GPIOB->ODR |= (1 << 3);
} else if (CAN == CAN2) {
// CAN2_EN
GPIOB->ODR |= (1 << 4);
}
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/
CAN->BTR = 0x001c0002;
// loopback mode for debugging
#ifdef CAN_LOOPBACK_MODE
CAN->BTR |= CAN_BTR_SILM | CAN_BTR_LBKM;
#endif
// reset
CAN->MCR = CAN_MCR_TTCM;
while((CAN->MSR & CAN_MSR_INAK) == CAN_MSR_INAK);
puts("CAN init done\n");
// accept all filter
CAN->FMR |= CAN_FMR_FINIT;
// no mask
CAN->sFilterRegister[0].FR1 = 0;
CAN->sFilterRegister[0].FR2 = 0;
CAN->sFilterRegister[14].FR1 = 0;
CAN->sFilterRegister[14].FR2 = 0;
CAN->FA1R |= 1 | (1 << 14);
CAN->FMR &= ~(CAN_FMR_FINIT);
// enable all CAN interrupts
CAN->IER = 0xFFFFFFFF;
//CAN->IER = CAN_IER_TMEIE | CAN_IER_FMPIE0 | CAN_IER_FMPIE1;
}
// CAN error
void can_sce(CAN_TypeDef *CAN) {
#ifdef DEBUG
puts("MSR:");
puth(CAN->MSR);
puts(" TSR:");
puth(CAN->TSR);
puts(" RF0R:");
puth(CAN->RF0R);
puts(" RF1R:");
puth(CAN->RF1R);
puts(" ESR:");
puth(CAN->ESR);
puts("\n");
#endif
// clear
//CAN->sTxMailBox[0].TIR &= ~(CAN_TI0R_TXRQ);
CAN->TSR |= CAN_TSR_ABRQ0;
//CAN->ESR |= CAN_ESR_LEC;
//CAN->MSR &= ~(CAN_MSR_ERRI);
CAN->MSR = CAN->MSR;
}
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;
}

16
board/dac.h
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@ -1,16 +0,0 @@
void dac_init() {
// no buffers required since we have an opamp
//DAC->CR = DAC_CR_EN1 | DAC_CR_BOFF1 | DAC_CR_EN2 | DAC_CR_BOFF2;
DAC->DHR12R1 = 0;
DAC->DHR12R2 = 0;
DAC->CR = DAC_CR_EN1 | DAC_CR_EN2;
}
void dac_set(int channel, uint32_t value) {
if (channel == 0) {
DAC->DHR12R1 = value;
} else if (channel == 1) {
DAC->DHR12R2 = value;
}
}

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board/inc/core_cm3.h
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609
board/inc/core_cmFunc.h
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@ -1,609 +0,0 @@
/**************************************************************************//**
* @file core_cmFunc.h
* @brief CMSIS Cortex-M Core Function Access Header File
* @version V2.10
* @date 26. July 2011
*
* @note
* Copyright (C) 2009-2011 ARM Limited. All rights reserved.
*
* @par
* ARM Limited (ARM) is supplying this software for use with Cortex-M
* processor based microcontrollers. This file can be freely distributed
* within development tools that are supporting such ARM based processors.
*
* @par
* THIS SOFTWARE IS PROVIDED "AS IS". NO WARRANTIES, WHETHER EXPRESS, IMPLIED
* OR STATUTORY, INCLUDING, BUT NOT LIMITED TO, IMPLIED WARRANTIES OF
* MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE APPLY TO THIS SOFTWARE.
* ARM SHALL NOT, IN ANY CIRCUMSTANCES, BE LIABLE FOR SPECIAL, INCIDENTAL, OR
* CONSEQUENTIAL DAMAGES, FOR ANY REASON WHATSOEVER.
*
******************************************************************************/
#ifndef __CORE_CMFUNC_H
#define __CORE_CMFUNC_H
/* ########################### Core Function Access ########################### */
/** \ingroup CMSIS_Core_FunctionInterface
\defgroup CMSIS_Core_RegAccFunctions CMSIS Core Register Access Functions
@{
*/
#if defined ( __CC_ARM ) /*------------------RealView Compiler -----------------*/
/* ARM armcc specific functions */
#if (__ARMCC_VERSION < 400677)
#error "Please use ARM Compiler Toolchain V4.0.677 or later!"
#endif
/* intrinsic void __enable_irq(); */
/* intrinsic void __disable_irq(); */
/** \brief Get Control Register
This function returns the content of the Control Register.
\return Control Register value
*/
static __INLINE uint32_t __get_CONTROL(void)
{
register uint32_t __regControl __ASM("control");
return(__regControl);
}
/** \brief Set Control Register
This function writes the given value to the Control Register.
\param [in] control Control Register value to set
*/
static __INLINE void __set_CONTROL(uint32_t control)
{
register uint32_t __regControl __ASM("control");
__regControl = control;
}
/** \brief Get ISPR Register
This function returns the content of the ISPR Register.
\return ISPR Register value
*/
static __INLINE uint32_t __get_IPSR(void)
{
register uint32_t __regIPSR __ASM("ipsr");
return(__regIPSR);
}
/** \brief Get APSR Register
This function returns the content of the APSR Register.
\return APSR Register value
*/
static __INLINE uint32_t __get_APSR(void)
{
register uint32_t __regAPSR __ASM("apsr");
return(__regAPSR);
}
/** \brief Get xPSR Register
This function returns the content of the xPSR Register.
\return xPSR Register value
*/
static __INLINE uint32_t __get_xPSR(void)
{
register uint32_t __regXPSR __ASM("xpsr");
return(__regXPSR);
}
/** \brief Get Process Stack Pointer
This function returns the current value of the Process Stack Pointer (PSP).
\return PSP Register value
*/
static __INLINE uint32_t __get_PSP(void)
{
register uint32_t __regProcessStackPointer __ASM("psp");
return(__regProcessStackPointer);
}
/** \brief Set Process Stack Pointer
This function assigns the given value to the Process Stack Pointer (PSP).
\param [in] topOfProcStack Process Stack Pointer value to set
*/
static __INLINE void __set_PSP(uint32_t topOfProcStack)
{
register uint32_t __regProcessStackPointer __ASM("psp");
__regProcessStackPointer = topOfProcStack;
}
/** \brief Get Main Stack Pointer
This function returns the current value of the Main Stack Pointer (MSP).
\return MSP Register value
*/
static __INLINE uint32_t __get_MSP(void)
{
register uint32_t __regMainStackPointer __ASM("msp");
return(__regMainStackPointer);
}
/** \brief Set Main Stack Pointer
This function assigns the given value to the Main Stack Pointer (MSP).
\param [in] topOfMainStack Main Stack Pointer value to set
*/
static __INLINE void __set_MSP(uint32_t topOfMainStack)
{
register uint32_t __regMainStackPointer __ASM("msp");
__regMainStackPointer = topOfMainStack;
}
/** \brief Get Priority Mask
This function returns the current state of the priority mask bit from the Priority Mask Register.
\return Priority Mask value
*/
static __INLINE uint32_t __get_PRIMASK(void)
{
register uint32_t __regPriMask __ASM("primask");
return(__regPriMask);
}
/** \brief Set Priority Mask
This function assigns the given value to the Priority Mask Register.
\param [in] priMask Priority Mask
*/
static __INLINE void __set_PRIMASK(uint32_t priMask)
{
register uint32_t __regPriMask __ASM("primask");
__regPriMask = (priMask);
}
#if (__CORTEX_M >= 0x03)
/** \brief Enable FIQ
This function enables FIQ interrupts by clearing the F-bit in the CPSR.
Can only be executed in Privileged modes.
*/
#define __enable_fault_irq __enable_fiq
/** \brief Disable FIQ
This function disables FIQ interrupts by setting the F-bit in the CPSR.
Can only be executed in Privileged modes.
*/
#define __disable_fault_irq __disable_fiq
/** \brief Get Base Priority
This function returns the current value of the Base Priority register.
\return Base Priority register value
*/
static __INLINE uint32_t __get_BASEPRI(void)
{
register uint32_t __regBasePri __ASM("basepri");
return(__regBasePri);
}
/** \brief Set Base Priority
This function assigns the given value to the Base Priority register.
\param [in] basePri Base Priority value to set
*/
static __INLINE void __set_BASEPRI(uint32_t basePri)
{
register uint32_t __regBasePri __ASM("basepri");
__regBasePri = (basePri & 0xff);
}
/** \brief Get Fault Mask
This function returns the current value of the Fault Mask register.
\return Fault Mask register value
*/
static __INLINE uint32_t __get_FAULTMASK(void)
{
register uint32_t __regFaultMask __ASM("faultmask");
return(__regFaultMask);
}
/** \brief Set Fault Mask
This function assigns the given value to the Fault Mask register.
\param [in] faultMask Fault Mask value to set
*/
static __INLINE void __set_FAULTMASK(uint32_t faultMask)
{
register uint32_t __regFaultMask __ASM("faultmask");
__regFaultMask = (faultMask & (uint32_t)1);
}
#endif /* (__CORTEX_M >= 0x03) */
#if (__CORTEX_M == 0x04)
/** \brief Get FPSCR
This function returns the current value of the Floating Point Status/Control register.
\return Floating Point Status/Control register value
*/
static __INLINE uint32_t __get_FPSCR(void)
{
#if (__FPU_PRESENT == 1) && (__FPU_USED == 1)
register uint32_t __regfpscr __ASM("fpscr");
return(__regfpscr);
#else
return(0);
#endif
}
/** \brief Set FPSCR
This function assigns the given value to the Floating Point Status/Control register.
\param [in] fpscr Floating Point Status/Control value to set
*/
static __INLINE void __set_FPSCR(uint32_t fpscr)
{
#if (__FPU_PRESENT == 1) && (__FPU_USED == 1)
register uint32_t __regfpscr __ASM("fpscr");
__regfpscr = (fpscr);
#endif
}
#endif /* (__CORTEX_M == 0x04) */
#elif defined ( __ICCARM__ ) /*------------------ ICC Compiler -------------------*/
/* IAR iccarm specific functions */
#include <cmsis_iar.h>
#elif defined ( __GNUC__ ) /*------------------ GNU Compiler ---------------------*/
/* GNU gcc specific functions */
/** \brief Enable IRQ Interrupts
This function enables IRQ interrupts by clearing the I-bit in the CPSR.
Can only be executed in Privileged modes.
*/
__attribute__( ( always_inline ) ) static __INLINE void __enable_irq(void)
{
__ASM volatile ("cpsie i");
}
/** \brief Disable IRQ Interrupts
This function disables IRQ interrupts by setting the I-bit in the CPSR.
Can only be executed in Privileged modes.
*/
__attribute__( ( always_inline ) ) static __INLINE void __disable_irq(void)
{
__ASM volatile ("cpsid i");
}
/** \brief Get Control Register
This function returns the content of the Control Register.
\return Control Register value
*/
__attribute__( ( always_inline ) ) static __INLINE uint32_t __get_CONTROL(void)
{
uint32_t result;
__ASM volatile ("MRS %0, control" : "=r" (result) );
return(result);
}
/** \brief Set Control Register
This function writes the given value to the Control Register.
\param [in] control Control Register value to set
*/
__attribute__( ( always_inline ) ) static __INLINE void __set_CONTROL(uint32_t control)
{
__ASM volatile ("MSR control, %0" : : "r" (control) );
}
/** \brief Get ISPR Register
This function returns the content of the ISPR Register.
\return ISPR Register value
*/
__attribute__( ( always_inline ) ) static __INLINE uint32_t __get_IPSR(void)
{
uint32_t result;
__ASM volatile ("MRS %0, ipsr" : "=r" (result) );
return(result);
}
/** \brief Get APSR Register
This function returns the content of the APSR Register.
\return APSR Register value
*/
__attribute__( ( always_inline ) ) static __INLINE uint32_t __get_APSR(void)
{
uint32_t result;
__ASM volatile ("MRS %0, apsr" : "=r" (result) );
return(result);
}
/** \brief Get xPSR Register
This function returns the content of the xPSR Register.
\return xPSR Register value
*/
__attribute__( ( always_inline ) ) static __INLINE uint32_t __get_xPSR(void)
{
uint32_t result;
__ASM volatile ("MRS %0, xpsr" : "=r" (result) );
return(result);
}
/** \brief Get Process Stack Pointer
This function returns the current value of the Process Stack Pointer (PSP).
\return PSP Register value
*/
__attribute__( ( always_inline ) ) static __INLINE uint32_t __get_PSP(void)
{
register uint32_t result;
__ASM volatile ("MRS %0, psp\n" : "=r" (result) );
return(result);
}
/** \brief Set Process Stack Pointer
This function assigns the given value to the Process Stack Pointer (PSP).
\param [in] topOfProcStack Process Stack Pointer value to set
*/
__attribute__( ( always_inline ) ) static __INLINE void __set_PSP(uint32_t topOfProcStack)
{
__ASM volatile ("MSR psp, %0\n" : : "r" (topOfProcStack) );
}
/** \brief Get Main Stack Pointer
This function returns the current value of the Main Stack Pointer (MSP).
\return MSP Register value
*/
__attribute__( ( always_inline ) ) static __INLINE uint32_t __get_MSP(void)
{
register uint32_t result;
__ASM volatile ("MRS %0, msp\n" : "=r" (result) );
return(result);
}
/** \brief Set Main Stack Pointer
This function assigns the given value to the Main Stack Pointer (MSP).
\param [in] topOfMainStack Main Stack Pointer value to set
*/
__attribute__( ( always_inline ) ) static __INLINE void __set_MSP(uint32_t topOfMainStack)
{
__ASM volatile ("MSR msp, %0\n" : : "r" (topOfMainStack) );
}
/** \brief Get Priority Mask
This function returns the current state of the priority mask bit from the Priority Mask Register.
\return Priority Mask value
*/
__attribute__( ( always_inline ) ) static __INLINE uint32_t __get_PRIMASK(void)
{
uint32_t result;
__ASM volatile ("MRS %0, primask" : "=r" (result) );
return(result);
}
/** \brief Set Priority Mask
This function assigns the given value to the Priority Mask Register.
\param [in] priMask Priority Mask
*/
__attribute__( ( always_inline ) ) static __INLINE void __set_PRIMASK(uint32_t priMask)
{
__ASM volatile ("MSR primask, %0" : : "r" (priMask) );
}
#if (__CORTEX_M >= 0x03)
/** \brief Enable FIQ
This function enables FIQ interrupts by clearing the F-bit in the CPSR.
Can only be executed in Privileged modes.
*/
__attribute__( ( always_inline ) ) static __INLINE void __enable_fault_irq(void)
{
__ASM volatile ("cpsie f");
}
/** \brief Disable FIQ
This function disables FIQ interrupts by setting the F-bit in the CPSR.
Can only be executed in Privileged modes.
*/
__attribute__( ( always_inline ) ) static __INLINE void __disable_fault_irq(void)
{
__ASM volatile ("cpsid f");
}
/** \brief Get Base Priority
This function returns the current value of the Base Priority register.
\return Base Priority register value
*/
__attribute__( ( always_inline ) ) static __INLINE uint32_t __get_BASEPRI(void)
{
uint32_t result;
__ASM volatile ("MRS %0, basepri_max" : "=r" (result) );
return(result);
}
/** \brief Set Base Priority
This function assigns the given value to the Base Priority register.
\param [in] basePri Base Priority value to set
*/
__attribute__( ( always_inline ) ) static __INLINE void __set_BASEPRI(uint32_t value)
{
__ASM volatile ("MSR basepri, %0" : : "r" (value) );
}
/** \brief Get Fault Mask
This function returns the current value of the Fault Mask register.
\return Fault Mask register value
*/
__attribute__( ( always_inline ) ) static __INLINE uint32_t __get_FAULTMASK(void)
{
uint32_t result;
__ASM volatile ("MRS %0, faultmask" : "=r" (result) );
return(result);
}
/** \brief Set Fault Mask
This function assigns the given value to the Fault Mask register.
\param [in] faultMask Fault Mask value to set
*/
__attribute__( ( always_inline ) ) static __INLINE void __set_FAULTMASK(uint32_t faultMask)
{
__ASM volatile ("MSR faultmask, %0" : : "r" (faultMask) );
}
#endif /* (__CORTEX_M >= 0x03) */
#if (__CORTEX_M == 0x04)
/** \brief Get FPSCR
This function returns the current value of the Floating Point Status/Control register.
\return Floating Point Status/Control register value
*/
__attribute__( ( always_inline ) ) static __INLINE uint32_t __get_FPSCR(void)
{
#if (__FPU_PRESENT == 1) && (__FPU_USED == 1)
uint32_t result;
__ASM volatile ("VMRS %0, fpscr" : "=r" (result) );
return(result);
#else
return(0);
#endif
}
/** \brief Set FPSCR
This function assigns the given value to the Floating Point Status/Control register.
\param [in] fpscr Floating Point Status/Control value to set
*/
__attribute__( ( always_inline ) ) static __INLINE void __set_FPSCR(uint32_t fpscr)
{
#if (__FPU_PRESENT == 1) && (__FPU_USED == 1)
__ASM volatile ("VMSR fpscr, %0" : : "r" (fpscr) );
#endif
}
#endif /* (__CORTEX_M == 0x04) */
#elif defined ( __TASKING__ ) /*------------------ TASKING Compiler --------------*/
/* TASKING carm specific functions */
/*
* The CMSIS functions have been implemented as intrinsics in the compiler.
* Please use "carm -?i" to get an up to date list of all instrinsics,
* Including the CMSIS ones.
*/
#endif
/*@} end of CMSIS_Core_RegAccFunctions */
#endif /* __CORE_CMFUNC_H */

585
board/inc/core_cmInstr.h
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@ -1,585 +0,0 @@
/**************************************************************************//**
* @file core_cmInstr.h
* @brief CMSIS Cortex-M Core Instruction Access Header File
* @version V2.10
* @date 19. July 2011
*
* @note
* Copyright (C) 2009-2011 ARM Limited. All rights reserved.
*
* @par
* ARM Limited (ARM) is supplying this software for use with Cortex-M
* processor based microcontrollers. This file can be freely distributed
* within development tools that are supporting such ARM based processors.
*
* @par
* THIS SOFTWARE IS PROVIDED "AS IS". NO WARRANTIES, WHETHER EXPRESS, IMPLIED
* OR STATUTORY, INCLUDING, BUT NOT LIMITED TO, IMPLIED WARRANTIES OF
* MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE APPLY TO THIS SOFTWARE.
* ARM SHALL NOT, IN ANY CIRCUMSTANCES, BE LIABLE FOR SPECIAL, INCIDENTAL, OR
* CONSEQUENTIAL DAMAGES, FOR ANY REASON WHATSOEVER.
*
******************************************************************************/
#ifndef __CORE_CMINSTR_H
#define __CORE_CMINSTR_H
/* ########################## Core Instruction Access ######################### */
/** \defgroup CMSIS_Core_InstructionInterface CMSIS Core Instruction Interface
Access to dedicated instructions
@{
*/
#if defined ( __CC_ARM ) /*------------------RealView Compiler -----------------*/
/* ARM armcc specific functions */
#if (__ARMCC_VERSION < 400677)
#error "Please use ARM Compiler Toolchain V4.0.677 or later!"
#endif
/** \brief No Operation
No Operation does nothing. This instruction can be used for code alignment purposes.
*/
#define __NOP __nop
/** \brief Wait For Interrupt
Wait For Interrupt is a hint instruction that suspends execution
until one of a number of events occurs.
*/
#define __WFI __wfi
/** \brief Wait For Event
Wait For Event is a hint instruction that permits the processor to enter
a low-power state until one of a number of events occurs.
*/
#define __WFE __wfe
/** \brief Send Event
Send Event is a hint instruction. It causes an event to be signaled to the CPU.
*/
#define __SEV __sev
/** \brief Instruction Synchronization Barrier
Instruction Synchronization Barrier flushes the pipeline in the processor,
so that all instructions following the ISB are fetched from cache or
memory, after the instruction has been completed.
*/
#define __ISB() __isb(0xF)
/** \brief Data Synchronization Barrier
This function acts as a special kind of Data Memory Barrier.
It completes when all explicit memory accesses before this instruction complete.
*/
#define __DSB() __dsb(0xF)
/** \brief Data Memory Barrier
This function ensures the apparent order of the explicit memory operations before
and after the instruction, without ensuring their completion.
*/
#define __DMB() __dmb(0xF)
/** \brief Reverse byte order (32 bit)
This function reverses the byte order in integer value.
\param [in] value Value to reverse
\return Reversed value
*/
#define __REV __rev
/** \brief Reverse byte order (16 bit)
This function reverses the byte order in two unsigned short values.
\param [in] value Value to reverse
\return Reversed value
*/
static __INLINE __ASM uint32_t __REV16(uint32_t value)
{
rev16 r0, r0
bx lr
}
/** \brief Reverse byte order in signed short value
This function reverses the byte order in a signed short value with sign extension to integer.
\param [in] value Value to reverse
\return Reversed value
*/
static __INLINE __ASM int32_t __REVSH(int32_t value)
{
revsh r0, r0
bx lr
}
#if (__CORTEX_M >= 0x03)
/** \brief Reverse bit order of value
This function reverses the bit order of the given value.
\param [in] value Value to reverse
\return Reversed value
*/
#define __RBIT __rbit
/** \brief LDR Exclusive (8 bit)
This function performs a exclusive LDR command for 8 bit value.
\param [in] ptr Pointer to data
\return value of type uint8_t at (*ptr)
*/
#define __LDREXB(ptr) ((uint8_t ) __ldrex(ptr))
/** \brief LDR Exclusive (16 bit)
This function performs a exclusive LDR command for 16 bit values.
\param [in] ptr Pointer to data
\return value of type uint16_t at (*ptr)
*/
#define __LDREXH(ptr) ((uint16_t) __ldrex(ptr))
/** \brief LDR Exclusive (32 bit)
This function performs a exclusive LDR command for 32 bit values.
\param [in] ptr Pointer to data
\return value of type uint32_t at (*ptr)
*/
#define __LDREXW(ptr) ((uint32_t ) __ldrex(ptr))
/** \brief STR Exclusive (8 bit)
This function performs a exclusive STR command for 8 bit values.
\param [in] value Value to store
\param [in] ptr Pointer to location
\return 0 Function succeeded
\return 1 Function failed
*/
#define __STREXB(value, ptr) __strex(value, ptr)
/** \brief STR Exclusive (16 bit)
This function performs a exclusive STR command for 16 bit values.
\param [in] value Value to store
\param [in] ptr Pointer to location
\return 0 Function succeeded
\return 1 Function failed
*/
#define __STREXH(value, ptr) __strex(value, ptr)
/** \brief STR Exclusive (32 bit)
This function performs a exclusive STR command for 32 bit values.
\param [in] value Value to store
\param [in] ptr Pointer to location
\return 0 Function succeeded
\return 1 Function failed
*/
#define __STREXW(value, ptr) __strex(value, ptr)
/** \brief Remove the exclusive lock
This function removes the exclusive lock which is created by LDREX.
*/
#define __CLREX __clrex
/** \brief Signed Saturate
This function saturates a signed value.
\param [in] value Value to be saturated
\param [in] sat Bit position to saturate to (1..32)
\return Saturated value
*/
#define __SSAT __ssat
/** \brief Unsigned Saturate
This function saturates an unsigned value.
\param [in] value Value to be saturated
\param [in] sat Bit position to saturate to (0..31)
\return Saturated value
*/
#define __USAT __usat
/** \brief Count leading zeros
This function counts the number of leading zeros of a data value.
\param [in] value Value to count the leading zeros
\return number of leading zeros in value
*/
#define __CLZ __clz
#endif /* (__CORTEX_M >= 0x03) */
#elif defined ( __ICCARM__ ) /*------------------ ICC Compiler -------------------*/
/* IAR iccarm specific functions */
#include <cmsis_iar.h>
#elif defined ( __GNUC__ ) /*------------------ GNU Compiler ---------------------*/
/* GNU gcc specific functions */
/** \brief No Operation
No Operation does nothing. This instruction can be used for code alignment purposes.
*/
__attribute__( ( always_inline ) ) static __INLINE void __NOP(void)
{
__ASM volatile ("nop");
}
/** \brief Wait For Interrupt
Wait For Interrupt is a hint instruction that suspends execution
until one of a number of events occurs.
*/
__attribute__( ( always_inline ) ) static __INLINE void __WFI(void)
{
__ASM volatile ("wfi");
}
/** \brief Wait For Event
Wait For Event is a hint instruction that permits the processor to enter
a low-power state until one of a number of events occurs.
*/
__attribute__( ( always_inline ) ) static __INLINE void __WFE(void)
{
__ASM volatile ("wfe");
}
/** \brief Send Event
Send Event is a hint instruction. It causes an event to be signaled to the CPU.
*/
__attribute__( ( always_inline ) ) static __INLINE void __SEV(void)
{
__ASM volatile ("sev");
}
/** \brief Instruction Synchronization Barrier
Instruction Synchronization Barrier flushes the pipeline in the processor,
so that all instructions following the ISB are fetched from cache or
memory, after the instruction has been completed.
*/
__attribute__( ( always_inline ) ) static __INLINE void __ISB(void)
{
__ASM volatile ("isb");
}
/** \brief Data Synchronization Barrier
This function acts as a special kind of Data Memory Barrier.
It completes when all explicit memory accesses before this instruction complete.
*/
__attribute__( ( always_inline ) ) static __INLINE void __DSB(void)
{
__ASM volatile ("dsb");
}
/** \brief Data Memory Barrier
This function ensures the apparent order of the explicit memory operations before
and after the instruction, without ensuring their completion.
*/
__attribute__( ( always_inline ) ) static __INLINE void __DMB(void)
{
__ASM volatile ("dmb");
}
/** \brief Reverse byte order (32 bit)
This function reverses the byte order in integer value.
\param [in] value Value to reverse
\return Reversed value
*/
__attribute__( ( always_inline ) ) static __INLINE uint32_t __REV(uint32_t value)
{
uint32_t result;
__ASM volatile ("rev %0, %1" : "=r" (result) : "r" (value) );
return(result);
}
/** \brief Reverse byte order (16 bit)
This function reverses the byte order in two unsigned short values.
\param [in] value Value to reverse
\return Reversed value
*/
__attribute__( ( always_inline ) ) static __INLINE uint32_t __REV16(uint32_t value)
{
uint32_t result;
__ASM volatile ("rev16 %0, %1" : "=r" (result) : "r" (value) );
return(result);
}
/** \brief Reverse byte order in signed short value
This function reverses the byte order in a signed short value with sign extension to integer.
\param [in] value Value to reverse
\return Reversed value
*/
__attribute__( ( always_inline ) ) static __INLINE int32_t __REVSH(int32_t value)
{
uint32_t result;
__ASM volatile ("revsh %0, %1" : "=r" (result) : "r" (value) );
return((int32_t)result);
}
#if (__CORTEX_M >= 0x03)
/** \brief Reverse bit order of value
This function reverses the bit order of the given value.
\param [in] value Value to reverse
\return Reversed value
*/
__attribute__( ( always_inline ) ) static __INLINE uint32_t __RBIT(uint32_t value)
{
uint32_t result;
__ASM volatile ("rbit %0, %1" : "=r" (result) : "r" (value) );
return(result);
}
/** \brief LDR Exclusive (8 bit)
This function performs a exclusive LDR command for 8 bit value.
\param [in] ptr Pointer to data
\return value of type uint8_t at (*ptr)
*/
__attribute__( ( always_inline ) ) static __INLINE uint8_t __LDREXB(volatile uint8_t *addr)
{
uint8_t result;
__ASM volatile ("ldrexb %0, [%1]" : "=r" (result) : "r" (addr) );
return(result);
}
/** \brief LDR Exclusive (16 bit)
This function performs a exclusive LDR command for 16 bit values.
\param [in] ptr Pointer to data
\return value of type uint16_t at (*ptr)
*/
__attribute__( ( always_inline ) ) static __INLINE uint16_t __LDREXH(volatile uint16_t *addr)
{
uint16_t result;
__ASM volatile ("ldrexh %0, [%1]" : "=r" (result) : "r" (addr) );
return(result);
}
/** \brief LDR Exclusive (32 bit)
This function performs a exclusive LDR command for 32 bit values.
\param [in] ptr Pointer to data
\return value of type uint32_t at (*ptr)
*/
__attribute__( ( always_inline ) ) static __INLINE uint32_t __LDREXW(volatile uint32_t *addr)
{
uint32_t result;
__ASM volatile ("ldrex %0, [%1]" : "=r" (result) : "r" (addr) );
return(result);
}
/** \brief STR Exclusive (8 bit)
This function performs a exclusive STR command for 8 bit values.
\param [in] value Value to store
\param [in] ptr Pointer to location
\return 0 Function succeeded
\return 1 Function failed
*/
__attribute__( ( always_inline ) ) static __INLINE uint32_t __STREXB(uint8_t value, volatile uint8_t *addr)
{
uint32_t result;
__ASM volatile ("strexb %0, %2, [%1]" : "=r" (result) : "r" (addr), "r" (value) );
return(result);
}
/** \brief STR Exclusive (16 bit)
This function performs a exclusive STR command for 16 bit values.
\param [in] value Value to store
\param [in] ptr Pointer to location
\return 0 Function succeeded
\return 1 Function failed
*/
__attribute__( ( always_inline ) ) static __INLINE uint32_t __STREXH(uint16_t value, volatile uint16_t *addr)
{
uint32_t result;
__ASM volatile ("strexh %0, %2, [%1]" : "=r" (result) : "r" (addr), "r" (value) );
return(result);
}
/** \brief STR Exclusive (32 bit)
This function performs a exclusive STR command for 32 bit values.
\param [in] value Value to store
\param [in] ptr Pointer to location
\return 0 Function succeeded
\return 1 Function failed
*/
__attribute__( ( always_inline ) ) static __INLINE uint32_t __STREXW(uint32_t value, volatile uint32_t *addr)
{
uint32_t result;
__ASM volatile ("strex %0, %2, [%1]" : "=r" (result) : "r" (addr), "r" (value) );
return(result);
}
/** \brief Remove the exclusive lock
This function removes the exclusive lock which is created by LDREX.
*/
__attribute__( ( always_inline ) ) static __INLINE void __CLREX(void)
{
__ASM volatile ("clrex");
}
/** \brief Signed Saturate
This function saturates a signed value.
\param [in] value Value to be saturated
\param [in] sat Bit position to saturate to (1..32)
\return Saturated value
*/
#define __SSAT(ARG1,ARG2) \
({ \
uint32_t __RES, __ARG1 = (ARG1); \
__ASM ("ssat %0, %1, %2" : "=r" (__RES) : "I" (ARG2), "r" (__ARG1) ); \
__RES; \
})
/** \brief Unsigned Saturate
This function saturates an unsigned value.
\param [in] value Value to be saturated
\param [in] sat Bit position to saturate to (0..31)
\return Saturated value
*/
#define __USAT(ARG1,ARG2) \
({ \
uint32_t __RES, __ARG1 = (ARG1); \
__ASM ("usat %0, %1, %2" : "=r" (__RES) : "I" (ARG2), "r" (__ARG1) ); \
__RES; \
})
/** \brief Count leading zeros
This function counts the number of leading zeros of a data value.
\param [in] value Value to count the leading zeros
\return number of leading zeros in value
*/
__attribute__( ( always_inline ) ) static __INLINE uint8_t __CLZ(uint32_t value)
{
uint8_t result;
__ASM volatile ("clz %0, %1" : "=r" (result) : "r" (value) );
return(result);
}
#endif /* (__CORTEX_M >= 0x03) */
#elif defined ( __TASKING__ ) /*------------------ TASKING Compiler --------------*/
/* TASKING carm specific functions */
/*
* The CMSIS functions have been implemented as intrinsics in the compiler.
* Please use "carm -?i" to get an up to date list of all intrinsics,
* Including the CMSIS ones.
*/
#endif
/*@}*/ /* end of group CMSIS_Core_InstructionInterface */
#endif /* __CORE_CMINSTR_H */

7185
board/inc/stm32f205xx.h
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197
board/inc/stm32f2xx.h
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@ -1,197 +0,0 @@
/**
******************************************************************************
* @file stm32f2xx.h
* @author MCD Application Team
* @version V2.0.1
* @date 25-March-2014
* @brief CMSIS STM32F2xx Device Peripheral Access Layer Header File.
*
* The file is the unique include file that the application programmer
* is using in the C source code, usually in main.c. This file contains:
* - Configuration section that allows to select:
* - The STM32F2xx device used in the target application
* - To use or not the peripheral's drivers in application code(i.e.
* code will be based on direct access to peripheral's registers
* rather than drivers API), this option is controlled by
* "#define USE_HAL_DRIVER"
*
******************************************************************************
* @attention
*
* <h2><center>&copy; COPYRIGHT(c) 2014 STMicroelectronics</center></h2>
*
* Redistribution and use in source and binary forms, with or without modification,
* are permitted provided that the following conditions are met:
* 1. Redistributions of source code must retain the above copyright notice,
* this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright notice,
* this list of conditions and the following disclaimer in the documentation
* and/or other materials provided with the distribution.
* 3. Neither the name of STMicroelectronics nor the names of its contributors
* may be used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
* FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
* DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*
******************************************************************************
*/
/** @addtogroup CMSIS
* @{
*/
/** @addtogroup stm32f2xx
* @{
*/
#ifndef __STM32F2xx_H
#define __STM32F2xx_H
#ifdef __cplusplus
extern "C" {
#endif /* __cplusplus */
/** @addtogroup Library_configuration_section
* @{
*/
/* Uncomment the line below according to the target STM32 device used in your
application
*/
#if !defined (STM32F205xx) && !defined (STM32F215xx) && !defined (STM32F207xx) && !defined (STM32F217xx)
/* #define STM32F205xx */ /*!< STM32Fxx Devices */
/* #define STM32F215xx */ /*!< STM32Fxx Devices */
/* #define STM32F207xx */ /*!< STM32Fxx Devices */
/* #define STM32F217xx */ /*!< STM32Fxx Devices */
#endif
/* Tip: To avoid modifying this file each time you need to switch between these
devices, you can define the device in your toolchain compiler preprocessor.
*/
#if !defined (USE_HAL_DRIVER)
/**
* @brief Comment the line below if you will not use the peripherals drivers.
In this case, these drivers will not be included and the application code will
be based on direct access to peripherals registers
*/
/*#define USE_HAL_DRIVER */
#endif /* USE_HAL_DRIVER */
/**
* @brief CMSIS Device version number V2.0.1
*/
#define __STM32F2xx_CMSIS_DEVICE_VERSION_MAIN (0x02) /*!< [31:24] main version */
#define __STM32F2xx_CMSIS_DEVICE_VERSION_SUB1 (0x00) /*!< [23:16] sub1 version */
#define __STM32F2xx_CMSIS_DEVICE_VERSION_SUB2 (0x00) /*!< [15:8] sub2 version */
#define __STM32F2xx_CMSIS_DEVICE_VERSION_RC (0x00) /*!< [7:0] release candidate */
#define __STM32F2xx_CMSIS_DEVICE_VERSION ((__CMSIS_DEVICE_VERSION_MAIN << 24)\
|(__CMSIS_DEVICE_HAL_VERSION_SUB1 << 16)\
|(__CMSIS_DEVICE_HAL_VERSION_SUB2 << 8 )\
|(__CMSIS_DEVICE_HAL_VERSION_RC))
/**
* @}
*/
/** @addtogroup Device_Included
* @{
*/
#if defined(STM32F205xx)
#include "stm32f205xx.h"
#elif defined(STM32F215xx)
#include "stm32f215xx.h"
#elif defined(STM32F207xx)
#include "stm32f207xx.h"
#elif defined(STM32F217xx)
#include "stm32f217xx.h"
#else
#error "Please select first the target STM32F2xx device used in your application (in stm32f2xx.h file)"
#endif
/**
* @}
*/
/** @addtogroup Exported_types
* @{
*/
typedef enum
{
RESET = 0,
SET = !RESET
} FlagStatus, ITStatus;
typedef enum
{
DISABLE = 0,
ENABLE = !DISABLE
} FunctionalState;
#define IS_FUNCTIONAL_STATE(STATE) (((STATE) == DISABLE) || ((STATE) == ENABLE))
typedef enum
{
ERROR = 0,
SUCCESS = !ERROR
} ErrorStatus;
/**
* @}
*/
/** @addtogroup Exported_macro
* @{
*/
#define SET_BIT(REG, BIT) ((REG) |= (BIT))
#define CLEAR_BIT(REG, BIT) ((REG) &= ~(BIT))
#define READ_BIT(REG, BIT) ((REG) & (BIT))
#define CLEAR_REG(REG) ((REG) = (0x0))
#define WRITE_REG(REG, VAL) ((REG) = (VAL))
#define READ_REG(REG) ((REG))
#define MODIFY_REG(REG, CLEARMASK, SETMASK) WRITE_REG((REG), (((READ_REG(REG)) & (~(CLEARMASK))) | (SETMASK)))
#define POSITION_VAL(VAL) (__CLZ(__RBIT(VAL)))
/**
* @}
*/
#ifdef __cplusplus
}
#endif /* __cplusplus */
#endif /* __STM32F2xx_H */
/**
* @}
*/
/**
* @}
*/
/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/

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board/inc/stm32f2xx_hal_def.h
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/**
******************************************************************************
* @file stm32f2xx_hal_def.h
* @author MCD Application Team
* @version V1.0.1
* @date 25-March-2014
* @brief This file contains HAL common defines, enumeration, macros and
* structures definitions.
******************************************************************************
* @attention
*
* <h2><center>&copy; COPYRIGHT(c) 2014 STMicroelectronics</center></h2>
*
* Redistribution and use in source and binary forms, with or without modification,
* are permitted provided that the following conditions are met:
* 1. Redistributions of source code must retain the above copyright notice,
* this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright notice,
* this list of conditions and the following disclaimer in the documentation
* and/or other materials provided with the distribution.
* 3. Neither the name of STMicroelectronics nor the names of its contributors
* may be used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
* FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
* DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*
******************************************************************************
*/
/* Define to prevent recursive inclusion -------------------------------------*/
#ifndef __STM32F2xx_HAL_DEF
#define __STM32F2xx_HAL_DEF
#ifdef __cplusplus
extern "C" {
#endif
/* Includes ------------------------------------------------------------------*/
#include "stm32f2xx.h"
/* Exported types ------------------------------------------------------------*/
/**
* @brief HAL Status structures definition
*/
typedef enum
{
HAL_OK = 0x00,
HAL_ERROR = 0x01,
HAL_BUSY = 0x02,
HAL_TIMEOUT = 0x03
} HAL_StatusTypeDef;
/**
* @brief HAL Lock structures definition
*/
typedef enum
{
HAL_UNLOCKED = 0x00,
HAL_LOCKED = 0x01
} HAL_LockTypeDef;
/* Exported macro ------------------------------------------------------------*/
#ifndef NULL
#define NULL (void *) 0
#endif
#define HAL_MAX_DELAY 0xFFFFFFFF
#define HAL_IS_BIT_SET(REG, BIT) (((REG) & (BIT)) != RESET)
#define HAL_IS_BIT_CLR(REG, BIT) (((REG) & (BIT)) == RESET)
#define __HAL_LINKDMA(__HANDLE__, __PPP_DMA_FIELD_, __DMA_HANDLE_) \
do{ \
(__HANDLE__)->__PPP_DMA_FIELD_ = &(__DMA_HANDLE_); \
(__DMA_HANDLE_).Parent = (__HANDLE__); \
} while(0)
#if (USE_RTOS == 1)
/* Reserved for future use */
#else
#define __HAL_LOCK(__HANDLE__) \
do{ \
if((__HANDLE__)->Lock == HAL_LOCKED) \
{ \
return HAL_BUSY; \
} \
else \
{ \
(__HANDLE__)->Lock = HAL_LOCKED; \
} \
}while (0)
#define __HAL_UNLOCK(__HANDLE__) \
do{ \
(__HANDLE__)->Lock = HAL_UNLOCKED; \
}while (0)
#endif /* USE_RTOS */
#if defined ( __GNUC__ )
#ifndef __weak
#define __weak __attribute__((weak))
#endif /* __weak */
#ifndef __packed
#define __packed __attribute__((__packed__))
#endif /* __packed */
#endif /* __GNUC__ */
/* Macro to get variable aligned on 4-bytes, for __ICCARM__ the directive "#pragma data_alignment=4" must be used instead */
#if defined (__GNUC__) /* GNU Compiler */
#ifndef __ALIGN_END
#define __ALIGN_END __attribute__ ((aligned (4)))
#endif /* __ALIGN_END */
#ifndef __ALIGN_BEGIN
#define __ALIGN_BEGIN
#endif /* __ALIGN_BEGIN */
#else
#ifndef __ALIGN_END
#define __ALIGN_END
#endif /* __ALIGN_END */
#ifndef __ALIGN_BEGIN
#if defined (__CC_ARM) /* ARM Compiler */
#define __ALIGN_BEGIN __align(4)
#elif defined (__ICCARM__) /* IAR Compiler */
#define __ALIGN_BEGIN
#elif defined (__TASKING__) /* TASKING Compiler */
#define __ALIGN_BEGIN __align(4)
#endif /* __CC_ARM */
#endif /* __ALIGN_BEGIN */
#endif /* __GNUC__ */
#ifdef __cplusplus
}
#endif
#endif /* ___STM32F2xx_HAL_DEF */
/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/

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board/inc/stm32f2xx_hal_gpio_ex.h
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/**
******************************************************************************
* @file stm32f2xx_hal_gpio_ex.h
* @author MCD Application Team
* @version V1.0.1
* @date 25-March-2014
* @brief Header file of GPIO HAL Extension module.
******************************************************************************
* @attention
*
* <h2><center>&copy; COPYRIGHT(c) 2014 STMicroelectronics</center></h2>
*
* Redistribution and use in source and binary forms, with or without modification,
* are permitted provided that the following conditions are met:
* 1. Redistributions of source code must retain the above copyright notice,
* this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright notice,
* this list of conditions and the following disclaimer in the documentation
* and/or other materials provided with the distribution.
* 3. Neither the name of STMicroelectronics nor the names of its contributors
* may be used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
* FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
* DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*
******************************************************************************
*/
/* Define to prevent recursive inclusion -------------------------------------*/
#ifndef __STM32F2xx_HAL_GPIO_EX_H
#define __STM32F2xx_HAL_GPIO_EX_H
#ifdef __cplusplus
extern "C" {
#endif
/* Includes ------------------------------------------------------------------*/
#include "stm32f2xx_hal_def.h"
/** @addtogroup STM32F2xx_HAL_Driver
* @{
*/
/** @addtogroup GPIO
* @{
*/
/* Exported types ------------------------------------------------------------*/
/* Exported constants --------------------------------------------------------*/
/** @defgroup GPIO_Exported_Constants
* @{
*/
/** @defgroup GPIO_Alternat_function_selection
* @{
*/
/**
* @brief AF 0 selection
*/
#define GPIO_AF0_RTC_50Hz ((uint8_t)0x00) /* RTC_50Hz Alternate Function mapping */
#define GPIO_AF0_MCO ((uint8_t)0x00) /* MCO (MCO1 and MCO2) Alternate Function mapping */
#define GPIO_AF0_TAMPER ((uint8_t)0x00) /* TAMPER (TAMPER_1 and TAMPER_2) Alternate Function mapping */
#define GPIO_AF0_SWJ ((uint8_t)0x00) /* SWJ (SWD and JTAG) Alternate Function mapping */
#define GPIO_AF0_TRACE ((uint8_t)0x00) /* TRACE Alternate Function mapping */
/**
* @brief AF 1 selection
*/
#define GPIO_AF1_TIM1 ((uint8_t)0x01) /* TIM1 Alternate Function mapping */
#define GPIO_AF1_TIM2 ((uint8_t)0x01) /* TIM2 Alternate Function mapping */
/**
* @brief AF 2 selection
*/
#define GPIO_AF2_TIM3 ((uint8_t)0x02) /* TIM3 Alternate Function mapping */
#define GPIO_AF2_TIM4 ((uint8_t)0x02) /* TIM4 Alternate Function mapping */
#define GPIO_AF2_TIM5 ((uint8_t)0x02) /* TIM5 Alternate Function mapping */
/**
* @brief AF 3 selection
*/
#define GPIO_AF3_TIM8 ((uint8_t)0x03) /* TIM8 Alternate Function mapping */
#define GPIO_AF3_TIM9 ((uint8_t)0x03) /* TIM9 Alternate Function mapping */
#define GPIO_AF3_TIM10 ((uint8_t)0x03) /* TIM10 Alternate Function mapping */
#define GPIO_AF3_TIM11 ((uint8_t)0x03) /* TIM11 Alternate Function mapping */
/**
* @brief AF 4 selection
*/
#define GPIO_AF4_I2C1 ((uint8_t)0x04) /* I2C1 Alternate Function mapping */
#define GPIO_AF4_I2C2 ((uint8_t)0x04) /* I2C2 Alternate Function mapping */
#define GPIO_AF4_I2C3 ((uint8_t)0x04) /* I2C3 Alternate Function mapping */
/**
* @brief AF 5 selection
*/
#define GPIO_AF5_SPI1 ((uint8_t)0x05) /* SPI1 Alternate Function mapping */
#define GPIO_AF5_SPI2 ((uint8_t)0x05) /* SPI2/I2S2 Alternate Function mapping */
/**
* @brief AF 6 selection
*/
#define GPIO_AF6_SPI3 ((uint8_t)0x06) /* SPI3/I2S3 Alternate Function mapping */
/**
* @brief AF 7 selection
*/
#define GPIO_AF7_USART1 ((uint8_t)0x07) /* USART1 Alternate Function mapping */
#define GPIO_AF7_USART2 ((uint8_t)0x07) /* USART2 Alternate Function mapping */
#define GPIO_AF7_USART3 ((uint8_t)0x07) /* USART3 Alternate Function mapping */
/**
* @brief AF 8 selection
*/
#define GPIO_AF8_UART4 ((uint8_t)0x08) /* UART4 Alternate Function mapping */
#define GPIO_AF8_UART5 ((uint8_t)0x08) /* UART5 Alternate Function mapping */
#define GPIO_AF8_USART6 ((uint8_t)0x08) /* USART6 Alternate Function mapping */
/**
* @brief AF 9 selection
*/
#define GPIO_AF9_CAN1 ((uint8_t)0x09) /* CAN1 Alternate Function mapping */
#define GPIO_AF9_CAN2 ((uint8_t)0x09) /* CAN2 Alternate Function mapping */
#define GPIO_AF9_TIM12 ((uint8_t)0x09) /* TIM12 Alternate Function mapping */
#define GPIO_AF9_TIM13 ((uint8_t)0x09) /* TIM13 Alternate Function mapping */
#define GPIO_AF9_TIM14 ((uint8_t)0x09) /* TIM14 Alternate Function mapping */
/**
* @brief AF 10 selection
*/
#define GPIO_AF10_OTG_FS ((uint8_t)0xA) /* OTG_FS Alternate Function mapping */
#define GPIO_AF10_OTG_HS ((uint8_t)0xA) /* OTG_HS Alternate Function mapping */
/**
* @brief AF 11 selection
*/
#if defined(STM32F207xx) || defined(STM32F217xx)
#define GPIO_AF11_ETH ((uint8_t)0x0B) /* ETHERNET Alternate Function mapping */
#endif /* STM32F207xx || STM32F217xx */
/**
* @brief AF 12 selection
*/
#define GPIO_AF12_FSMC ((uint8_t)0xC) /* FSMC Alternate Function mapping */
#define GPIO_AF12_OTG_HS_FS ((uint8_t)0xC) /* OTG HS configured in FS, Alternate Function mapping */
#define GPIO_AF12_SDIO ((uint8_t)0xC) /* SDIO Alternate Function mapping */
/**
* @brief AF 13 selection
*/
#if defined(STM32F207xx) || defined(STM32F217xx)
#define GPIO_AF13_DCMI ((uint8_t)0x0D) /* DCMI Alternate Function mapping */
#endif /* STM32F207xx || STM32F217xx */
/**
* @brief AF 15 selection
*/
#define GPIO_AF15_EVENTOUT ((uint8_t)0x0F) /* EVENTOUT Alternate Function mapping */
#if defined(STM32F207xx) || defined(STM32F217xx)
#define IS_GPIO_AF(AF) (((AF) == GPIO_AF0_RTC_50Hz) || ((AF) == GPIO_AF9_TIM14) || \
((AF) == GPIO_AF0_MCO) || ((AF) == GPIO_AF0_TAMPER) || \
((AF) == GPIO_AF0_SWJ) || ((AF) == GPIO_AF0_TRACE) || \
((AF) == GPIO_AF1_TIM1) || ((AF) == GPIO_AF1_TIM2) || \
((AF) == GPIO_AF2_TIM3) || ((AF) == GPIO_AF2_TIM4) || \
((AF) == GPIO_AF2_TIM5) || ((AF) == GPIO_AF3_TIM8) || \
((AF) == GPIO_AF4_I2C1) || ((AF) == GPIO_AF4_I2C2) || \
((AF) == GPIO_AF4_I2C3) || ((AF) == GPIO_AF5_SPI1) || \
((AF) == GPIO_AF5_SPI2) || ((AF) == GPIO_AF9_TIM13) || \
((AF) == GPIO_AF6_SPI3) || ((AF) == GPIO_AF9_TIM12) || \
((AF) == GPIO_AF7_USART1) || ((AF) == GPIO_AF7_USART2) || \
((AF) == GPIO_AF7_USART3) || ((AF) == GPIO_AF8_UART4) || \
((AF) == GPIO_AF8_UART5) || ((AF) == GPIO_AF8_USART6) || \
((AF) == GPIO_AF9_CAN1) || ((AF) == GPIO_AF9_CAN2) || \
((AF) == GPIO_AF10_OTG_FS) || ((AF) == GPIO_AF10_OTG_HS) || \
((AF) == GPIO_AF11_ETH) || ((AF) == GPIO_AF12_OTG_HS_FS) || \
((AF) == GPIO_AF12_SDIO) || ((AF) == GPIO_AF13_DCMI) || \
((AF) == GPIO_AF12_FSMC) || ((AF) == GPIO_AF15_EVENTOUT))
#else /* STM32F207xx || STM32F217xx */
#define IS_GPIO_AF(AF) (((AF) == GPIO_AF0_RTC_50Hz) || ((AF) == GPIO_AF9_TIM14) || \
((AF) == GPIO_AF0_MCO) || ((AF) == GPIO_AF0_TAMPER) || \
((AF) == GPIO_AF0_SWJ) || ((AF) == GPIO_AF0_TRACE) || \
((AF) == GPIO_AF1_TIM1) || ((AF) == GPIO_AF1_TIM2) || \
((AF) == GPIO_AF2_TIM3) || ((AF) == GPIO_AF2_TIM4) || \
((AF) == GPIO_AF2_TIM5) || ((AF) == GPIO_AF3_TIM8) || \
((AF) == GPIO_AF4_I2C1) || ((AF) == GPIO_AF4_I2C2) || \
((AF) == GPIO_AF4_I2C3) || ((AF) == GPIO_AF5_SPI1) || \
((AF) == GPIO_AF5_SPI2) || ((AF) == GPIO_AF9_TIM13) || \
((AF) == GPIO_AF6_SPI3) || ((AF) == GPIO_AF9_TIM12) || \
((AF) == GPIO_AF7_USART1) || ((AF) == GPIO_AF7_USART2) || \
((AF) == GPIO_AF7_USART3) || ((AF) == GPIO_AF8_UART4) || \
((AF) == GPIO_AF8_UART5) || ((AF) == GPIO_AF8_USART6) || \
((AF) == GPIO_AF9_CAN1) || ((AF) == GPIO_AF9_CAN2) || \
((AF) == GPIO_AF10_OTG_FS) || ((AF) == GPIO_AF10_OTG_HS) || \
((AF) == GPIO_AF12_OTG_HS_FS) || ((AF) == GPIO_AF12_SDIO) || \
((AF) == GPIO_AF12_FSMC) || ((AF) == GPIO_AF15_EVENTOUT))
#endif /* STM32F207xx || STM32F217xx */
/**
* @}
*/
/**
* @}
*/
/* Exported macro ------------------------------------------------------------*/
/* Exported functions --------------------------------------------------------*/
/**
* @}
*/
/**
* @}
*/
#ifdef __cplusplus
}
#endif
#endif /* __STM32F2xx_HAL_GPIO_EX_H */
/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/

99
board/inc/system_stm32f2xx.h
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/**
******************************************************************************
* @file system_stm32f2xx.h
* @author MCD Application Team
* @version V1.0.0
* @date 18-April-2011
* @brief CMSIS Cortex-M3 Device Peripheral Access Layer System Header File.
******************************************************************************
* @attention
*
* THE PRESENT FIRMWARE WHICH IS FOR GUIDANCE ONLY AIMS AT PROVIDING CUSTOMERS
* WITH CODING INFORMATION REGARDING THEIR PRODUCTS IN ORDER FOR THEM TO SAVE
* TIME. AS A RESULT, STMICROELECTRONICS SHALL NOT BE HELD LIABLE FOR ANY
* DIRECT, INDIRECT OR CONSEQUENTIAL DAMAGES WITH RESPECT TO ANY CLAIMS ARISING
* FROM THE CONTENT OF SUCH FIRMWARE AND/OR THE USE MADE BY CUSTOMERS OF THE
* CODING INFORMATION CONTAINED HEREIN IN CONNECTION WITH THEIR PRODUCTS.
*
* <h2><center>&copy; COPYRIGHT 2011 STMicroelectronics</center></h2>
******************************************************************************
*/
/** @addtogroup CMSIS
* @{
*/
/** @addtogroup stm32f2xx_system
* @{
*/
/**
* @brief Define to prevent recursive inclusion
*/
#ifndef __SYSTEM_STM32F2XX_H
#define __SYSTEM_STM32F2XX_H
#ifdef __cplusplus
extern "C" {
#endif
/** @addtogroup STM32F2xx_System_Includes
* @{
*/
/**
* @}
*/
/** @addtogroup STM32F2xx_System_Exported_types
* @{
*/
extern uint32_t SystemCoreClock; /*!< System Clock Frequency (Core Clock) */
/**
* @}
*/
/** @addtogroup STM32F2xx_System_Exported_Constants
* @{
*/
/**
* @}
*/
/** @addtogroup STM32F2xx_System_Exported_Macros
* @{
*/
/**
* @}
*/
/** @addtogroup STM32F2xx_System_Exported_Functions
* @{
*/
extern void SystemInit(void);
extern void SystemCoreClockUpdate(void);
/**
* @}
*/
#ifdef __cplusplus
}
#endif
#endif /*__SYSTEM_STM32F2XX_H */
/**
* @}
*/
/**
* @}
*/
/******************* (C) COPYRIGHT 2011 STMicroelectronics *****END OF FILE****/

231
board/libc.h
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#define min(a,b) \
({ __typeof__ (a) _a = (a); \
__typeof__ (b) _b = (b); \
_a < _b ? _a : _b; })
#define max(a,b) \
({ __typeof__ (a) _a = (a); \
__typeof__ (b) _b = (b); \
_a > _b ? _a : _b; })
#define __DIV(_PCLK_, _BAUD_) (((_PCLK_)*25)/(4*(_BAUD_)))
#define __DIVMANT(_PCLK_, _BAUD_) (__DIV((_PCLK_), (_BAUD_))/100)
#define __DIVFRAQ(_PCLK_, _BAUD_) (((__DIV((_PCLK_), (_BAUD_)) - (__DIVMANT((_PCLK_), (_BAUD_)) * 100)) * 16 + 50) / 100)
#define __USART_BRR(_PCLK_, _BAUD_) ((__DIVMANT((_PCLK_), (_BAUD_)) << 4)|(__DIVFRAQ((_PCLK_), (_BAUD_)) & 0x0F))
#include "stm32f2xx_hal_gpio_ex.h"
// **** shitty libc ****
void clock_init() {
#ifdef USE_INTERNAL_OSC
// enable internal oscillator
RCC->CR |= RCC_CR_HSION;
while ((RCC->CR & RCC_CR_HSIRDY) == 0);
#else
// enable external oscillator
RCC->CR |= RCC_CR_HSEON;
while ((RCC->CR & RCC_CR_HSERDY) == 0);
#endif
// divide shit
RCC->CFGR = RCC_CFGR_HPRE_DIV1 | RCC_CFGR_PPRE2_DIV2 | RCC_CFGR_PPRE1_DIV4;
#ifdef USE_INTERNAL_OSC
RCC->PLLCFGR = RCC_PLLCFGR_PLLQ_2 | RCC_PLLCFGR_PLLM_3 |
RCC_PLLCFGR_PLLN_6 | RCC_PLLCFGR_PLLN_5 | RCC_PLLCFGR_PLLSRC_HSI;
#else
RCC->PLLCFGR = RCC_PLLCFGR_PLLQ_2 | RCC_PLLCFGR_PLLM_3 |
RCC_PLLCFGR_PLLN_7 | RCC_PLLCFGR_PLLN_6 | RCC_PLLCFGR_PLLSRC_HSE;
#endif
// start PLL
RCC->CR |= RCC_CR_PLLON;
while ((RCC->CR & RCC_CR_PLLRDY) == 0);
// Configure Flash prefetch, Instruction cache, Data cache and wait state
// *** without this, it breaks ***
FLASH->ACR = FLASH_ACR_ICEN | FLASH_ACR_DCEN | FLASH_ACR_LATENCY_5WS;
// switch to PLL
RCC->CFGR |= RCC_CFGR_SW_PLL;
while ((RCC->CFGR & RCC_CFGR_SWS) != RCC_CFGR_SWS_PLL);
// *** running on PLL ***
// enable GPIOB, UART2, CAN, USB clock
RCC->AHB1ENR |= RCC_AHB1ENR_GPIOAEN;
RCC->AHB1ENR |= RCC_AHB1ENR_GPIOBEN;
RCC->AHB1ENR |= RCC_AHB1ENR_GPIOCEN;
RCC->AHB1ENR |= RCC_AHB1ENR_DMA2EN;
RCC->APB1ENR |= RCC_APB1ENR_USART2EN;
RCC->APB1ENR |= RCC_APB1ENR_USART3EN;
RCC->APB1ENR |= RCC_APB1ENR_CAN1EN;
RCC->APB1ENR |= RCC_APB1ENR_CAN2EN;
RCC->APB1ENR |= RCC_APB1ENR_DACEN;
RCC->APB1ENR |= RCC_APB1ENR_TIM3EN;
//RCC->APB1ENR |= RCC_APB1ENR_TIM4EN;
RCC->AHB2ENR |= RCC_AHB2ENR_OTGFSEN;
RCC->APB2ENR |= RCC_APB2ENR_TIM1EN;
RCC->APB2ENR |= RCC_APB2ENR_ADC1EN;
RCC->APB2ENR |= RCC_APB2ENR_SPI1EN;
// turn on alt USB
RCC->AHB1ENR |= RCC_AHB1ENR_OTGHSEN;
// fix interrupt vectors
}
// board specific
void gpio_init() {
// analog mode
GPIOC->MODER = GPIO_MODER_MODER3 | GPIO_MODER_MODER2 |
GPIO_MODER_MODER1 | GPIO_MODER_MODER0;
// FAN on C9, aka TIM3_CH4
#ifdef OLD_BOARD
GPIOC->MODER |= GPIO_MODER_MODER9_1;
GPIOC->AFR[1] = GPIO_AF2_TIM3 << ((9-8)*4);
#else
GPIOC->MODER |= GPIO_MODER_MODER8_1;
GPIOC->AFR[1] = GPIO_AF2_TIM3 << ((8-8)*4);
#endif
// IGNITION on C13
// set mode for LEDs and CAN
GPIOB->MODER = GPIO_MODER_MODER10_0 | GPIO_MODER_MODER11_0 | GPIO_MODER_MODER12_0;
// CAN 2
GPIOB->MODER |= GPIO_MODER_MODER5_1 | GPIO_MODER_MODER6_1;
// CAN 1
GPIOB->MODER |= GPIO_MODER_MODER8_1 | GPIO_MODER_MODER9_1;
// CAN enables
GPIOB->MODER |= GPIO_MODER_MODER3_0 | GPIO_MODER_MODER4_0;
// set mode for SERIAL and USB (DAC should be configured to in)
GPIOA->MODER = GPIO_MODER_MODER2_1 | GPIO_MODER_MODER3_1;
GPIOA->AFR[0] = GPIO_AF7_USART2 << (2*4) | GPIO_AF7_USART2 << (3*4);
// GPIOC USART3
GPIOC->MODER |= GPIO_MODER_MODER10_1 | GPIO_MODER_MODER11_1;
GPIOC->AFR[1] |= GPIO_AF7_USART3 << ((10-8)*4) | GPIO_AF7_USART3 << ((11-8)*4);
if (USBx == USB_OTG_FS) {
GPIOA->MODER |= GPIO_MODER_MODER11_1 | GPIO_MODER_MODER12_1;
GPIOA->OSPEEDR = GPIO_OSPEEDER_OSPEEDR11 | GPIO_OSPEEDER_OSPEEDR12;
GPIOA->AFR[1] = GPIO_AF10_OTG_FS << ((11-8)*4) | GPIO_AF10_OTG_FS << ((12-8)*4);
}
GPIOA->PUPDR = GPIO_PUPDR_PUPDR2_0 | GPIO_PUPDR_PUPDR3_0;
// setup SPI
GPIOA->MODER |= GPIO_MODER_MODER4_1 | GPIO_MODER_MODER5_1 |
GPIO_MODER_MODER6_1 | GPIO_MODER_MODER7_1;
GPIOA->AFR[0] |= GPIO_AF5_SPI1 << (4*4) | GPIO_AF5_SPI1 << (5*4) |
GPIO_AF5_SPI1 << (6*4) | GPIO_AF5_SPI1 << (7*4);
// set mode for CAN / USB_HS pins
GPIOB->AFR[0] = GPIO_AF9_CAN1 << (5*4) | GPIO_AF9_CAN1 << (6*4);
GPIOB->AFR[1] = GPIO_AF9_CAN1 << ((8-8)*4) | GPIO_AF9_CAN1 << ((9-8)*4);
if (USBx == USB_OTG_HS) {
GPIOB->AFR[1] |= GPIO_AF12_OTG_HS_FS << ((15-8)*4) | GPIO_AF12_OTG_HS_FS << ((14-8)*4);
GPIOB->MODER |= GPIO_MODER_MODER14_1 | GPIO_MODER_MODER15_1;
}
GPIOB->OSPEEDR = GPIO_OSPEEDER_OSPEEDR14 | GPIO_OSPEEDER_OSPEEDR15;
// enable OTG out tied to ground
GPIOA->ODR = 0;
GPIOA->MODER |= GPIO_MODER_MODER1_0;
// enable USB power tied to +
GPIOA->ODR |= 1;
GPIOA->MODER |= GPIO_MODER_MODER0_0;
}
void uart_init() {
// enable uart and tx+rx mode
USART->CR1 = USART_CR1_UE;
USART->BRR = __USART_BRR(24000000, 115200);
USART->CR1 |= USART_CR1_TE | USART_CR1_RE;
USART->CR2 = USART_CR2_STOP_0 | USART_CR2_STOP_1;
// ** UART is ready to work **
// enable interrupts
USART->CR1 |= USART_CR1_RXNEIE;
}
void delay(int a) {
volatile int i;
for (i=0;i<a;i++);
}
void putch(const char a) {
while (!(USART->SR & USART_SR_TXE));
USART->DR = a;
}
int puts(const char *a) {
for (;*a;a++) {
if (*a == '\n') putch('\r');
putch(*a);
}
return 0;
}
void puth(unsigned int i) {
int pos;
char c[] = "0123456789abcdef";
for (pos = 28; pos != -4; pos -= 4) {
putch(c[(i >> pos) & 0xF]);
}
}
void puth2(unsigned int i) {
int pos;
char c[] = "0123456789abcdef";
for (pos = 4; pos != -4; pos -= 4) {
putch(c[(i >> pos) & 0xF]);
}
}
void hexdump(void *a, int l) {
int i;
for (i=0;i<l;i++) {
if (i != 0 && (i&0xf) == 0) puts("\n");
puth2(((unsigned char*)a)[i]);
puts(" ");
}
puts("\n");
}
void *memset(void *str, int c, unsigned int n) {
int i;
for (i = 0; i < n; i++) {
*((uint8_t*)str) = c;
++str;
}
return str;
}
void *memcpy(void *dest, const void *src, unsigned int n) {
int i;
// TODO: make not slow
for (i = 0; i < n; i++) {
((uint8_t*)dest)[i] = *(uint8_t*)src;
++src;
}
return dest;
}
void set_led(int led_num, int state) {
if (state) {
// turn on
GPIOB->ODR &= ~(1 << (10 + led_num));
} else {
// turn off
GPIOB->ODR |= (1 << (10 + led_num));
}
}

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//#define DEBUG
//#define CAN_LOOPBACK_MODE
//#define USE_INTERNAL_OSC
//#define OLD_BOARD
//#define ENABLE_CURRENT_SENSOR
//#define ENABLE_SPI
// choose serial port for debugging
//#define USART USART2
#define USART USART3
#define USB_VID 0xbbaa
#define USB_PID 0xddcc
// *** end config ***
#include "stm32f2xx.h"
#include "obj/gitversion.h"
#define ENTER_BOOTLOADER_MAGIC 0xdeadbeef
uint32_t enter_bootloader_mode;
USB_OTG_GlobalTypeDef *USBx = USB_OTG_FS;
#include "libc.h"
#include "adc.h"
#include "timer.h"
#include "usb.h"
#include "can.h"
#include "spi.h"
// debug safety check: is controls allowed?
int controls_allowed = 0;
int started = 0;
int can_live = 0, pending_can_live = 0;
// optional features
int gas_interceptor_detected = 0;
int started_signal_detected = 0;
// ********************* instantiate queues *********************
#define FIFO_SIZE 0x100
typedef struct {
uint8_t w_ptr;
uint8_t r_ptr;
CAN_FIFOMailBox_TypeDef elems[FIFO_SIZE];
} can_ring;
can_ring can_rx_q = { .w_ptr = 0, .r_ptr = 0 };
can_ring can_tx1_q = { .w_ptr = 0, .r_ptr = 0 };
can_ring can_tx2_q = { .w_ptr = 0, .r_ptr = 0 };
// ********************* interrupt safe queue *********************
inline int pop(can_ring *q, CAN_FIFOMailBox_TypeDef *elem) {
if (q->w_ptr != q->r_ptr) {
*elem = q->elems[q->r_ptr];
q->r_ptr += 1;
return 1;
}
return 0;
}
inline int push(can_ring *q, CAN_FIFOMailBox_TypeDef *elem) {
uint8_t next_w_ptr = q->w_ptr + 1;
if (next_w_ptr != q->r_ptr) {
q->elems[q->w_ptr] = *elem;
q->w_ptr = next_w_ptr;
return 1;
}
return 0;
}
// ***************************** CAN *****************************
void process_can(CAN_TypeDef *CAN, can_ring *can_q, int can_number) {
#ifdef DEBUG
puts("process CAN TX\n");
#endif
// add successfully transmitted message to my fifo
if ((CAN->TSR & CAN_TSR_TXOK0) == CAN_TSR_TXOK0) {
CAN_FIFOMailBox_TypeDef to_push;
to_push.RIR = CAN->sTxMailBox[0].TIR;
to_push.RDTR = (CAN->sTxMailBox[0].TDTR & 0xFFFF000F) | ((can_number+2) << 4);
to_push.RDLR = CAN->sTxMailBox[0].TDLR;
to_push.RDHR = CAN->sTxMailBox[0].TDHR;
push(&can_rx_q, &to_push);
}
// check for empty mailbox
CAN_FIFOMailBox_TypeDef to_send;
if ((CAN->TSR & CAN_TSR_TME0) == CAN_TSR_TME0) {
if (pop(can_q, &to_send)) {
// BRAKE: safety check
if ((to_send.RIR>>21) == 0x1FA) {
if (controls_allowed) {
to_send.RDLR &= 0xFFFFFF3F;
} else {
to_send.RDLR &= 0xFFFF0000;
}
}
// STEER: safety check
if ((to_send.RIR>>21) == 0xE4) {
if (controls_allowed) {
to_send.RDLR &= 0xFFFFFFFF;
} else {
to_send.RDLR &= 0xFFFF0000;
}
}
// GAS: safety check
if ((to_send.RIR>>21) == 0x200) {
if (controls_allowed) {
to_send.RDLR &= 0xFFFFFFFF;
} else {
to_send.RDLR &= 0xFFFF0000;
}
}
// only send if we have received a packet
CAN->sTxMailBox[0].TDLR = to_send.RDLR;
CAN->sTxMailBox[0].TDHR = to_send.RDHR;
CAN->sTxMailBox[0].TDTR = to_send.RDTR;
CAN->sTxMailBox[0].TIR = to_send.RIR;
}
}
// clear interrupt
CAN->TSR |= CAN_TSR_RQCP0;
}
// send more, possible for these to not trigger?
void CAN1_TX_IRQHandler() {
process_can(CAN1, &can_tx1_q, 1);
}
void CAN2_TX_IRQHandler() {
process_can(CAN2, &can_tx2_q, 0);
}
// board enforces
// in-state
// accel set/resume
// out-state
// cancel button
// all commands: brake and steering
// if controls_allowed
// allow all commands up to limit
// else
// block all commands that produce actuation
// CAN receive handlers
void can_rx(CAN_TypeDef *CAN, int can_number) {
while (CAN->RF0R & CAN_RF0R_FMP0) {
// can is live
pending_can_live = 1;
// add to my fifo
CAN_FIFOMailBox_TypeDef to_push;
to_push.RIR = CAN->sFIFOMailBox[0].RIR;
// top 16-bits is the timestamp
to_push.RDTR = (CAN->sFIFOMailBox[0].RDTR & 0xFFFF000F) | (can_number << 4);
to_push.RDLR = CAN->sFIFOMailBox[0].RDLR;
to_push.RDHR = CAN->sFIFOMailBox[0].RDHR;
// state machine to enter and exit controls
// 0x1A6 for the ILX, 0x296 for the Civic Touring
if ((to_push.RIR>>21) == 0x1A6 || (to_push.RIR>>21) == 0x296) {
int buttons = (to_push.RDLR & 0xE0) >> 5;
if (buttons == 4 || buttons == 3) {
controls_allowed = 1;
} else if (buttons == 2) {
controls_allowed = 0;
}
}
// exit controls on brake press
if ((to_push.RIR>>21) == 0x17C) {
// bit 50
if (to_push.RDHR & 0x200000) {
controls_allowed = 0;
}
}
// exit controls on gas press if interceptor
if ((to_push.RIR>>21) == 0x201) {
gas_interceptor_detected = 1;
int gas = ((to_push.RDLR & 0xFF) << 8) | ((to_push.RDLR & 0xFF00) >> 8);
if (gas > 328) {
controls_allowed = 0;
}
}
// exit controls on gas press if no interceptor
if (!gas_interceptor_detected) {
if ((to_push.RIR>>21) == 0x17C) {
if (to_push.RDLR & 0xFF) {
controls_allowed = 0;
}
}
}
push(&can_rx_q, &to_push);
// next
CAN->RF0R |= CAN_RF0R_RFOM0;
}
}
void CAN1_RX0_IRQHandler() {
//puts("CANRX1");
//delay(10000);
can_rx(CAN1, 1);
}
void CAN2_RX0_IRQHandler() {
//puts("CANRX0");
//delay(10000);
can_rx(CAN2, 0);
}
void CAN1_SCE_IRQHandler() {
//puts("CAN1_SCE\n");
can_sce(CAN1);
}
void CAN2_SCE_IRQHandler() {
//puts("CAN2_SCE\n");
can_sce(CAN2);
}
// ***************************** serial port *****************************
void USART_IRQHandler(void) {
puts("S");
// echo characters
if (USART->SR & USART_SR_RXNE) {
char rcv = USART->DR;
putch(rcv);
// jump to DFU flash
if (rcv == 'z') {
enter_bootloader_mode = ENTER_BOOTLOADER_MAGIC;
NVIC_SystemReset();
}
}
}
void USART2_IRQHandler(void) {
USART_IRQHandler();
}
void USART3_IRQHandler(void) {
USART_IRQHandler();
}
// ***************************** USB port *****************************
int get_health_pkt(void *dat) {
struct {
uint32_t voltage;
uint32_t current;
uint8_t started;
uint8_t controls_allowed;
uint8_t gas_interceptor_detected;
uint8_t started_signal_detected;
} *health = dat;
health->voltage = adc_get(ADCCHAN_VOLTAGE);
#ifdef ENABLE_CURRENT_SENSOR
health->current = adc_get(ADCCHAN_CURRENT);
#else
health->current = 0;
#endif
health->started = started;
health->controls_allowed = controls_allowed;
health->gas_interceptor_detected = gas_interceptor_detected;
health->started_signal_detected = started_signal_detected;
return sizeof(*health);
}
void set_fan_speed(int fan_speed) {
#ifdef OLD_BOARD
TIM3->CCR4 = fan_speed;
#else
TIM3->CCR3 = fan_speed;
#endif
}
void usb_cb_ep1_in(int len) {
CAN_FIFOMailBox_TypeDef reply[4];
int ilen = 0;
while (ilen < min(len/0x10, 4) && pop(&can_rx_q, &reply[ilen])) ilen++;
#ifdef DEBUG
puts("FIFO SENDING ");
puth(ilen);
puts("\n");
#endif
USB_WritePacket((void *)reply, ilen*0x10, 1);
}
void usb_cb_ep2_out(uint8_t *usbdata, int len) {
}
// send on CAN
void usb_cb_ep3_out(uint8_t *usbdata, int len) {
int dpkt = 0;
for (dpkt = 0; dpkt < len; dpkt += 0x10) {
uint32_t *tf = (uint32_t*)(&usbdata[dpkt]);
int flags = tf[1] >> 4;
CAN_TypeDef *CAN;
can_ring *can_q;
int can_number = 0;
if (flags & 1) {
CAN=CAN1;
can_q = &can_tx1_q;
can_number = 1;
} else {
CAN=CAN2;
can_q = &can_tx2_q;
}
// add CAN packet to send queue
CAN_FIFOMailBox_TypeDef to_push;
to_push.RDHR = tf[3];
to_push.RDLR = tf[2];
to_push.RDTR = tf[1] & 0xF;
to_push.RIR = tf[0];
push(can_q, &to_push);
process_can(CAN, can_q, can_number);
}
}
void usb_cb_control_msg() {
uint8_t resp[0x20];
int resp_len;
switch (setup.b.bRequest) {
case 0xd1:
enter_bootloader_mode = ENTER_BOOTLOADER_MAGIC;
NVIC_SystemReset();
break;
case 0xd2:
resp_len = get_health_pkt(resp);
USB_WritePacket(resp, resp_len, 0);
USBx_OUTEP(0)->DOEPCTL |= USB_OTG_DOEPCTL_CNAK;
break;
case 0xd3:
set_fan_speed(setup.b.wValue.w);
USB_WritePacket(0, 0, 0);
USBx_OUTEP(0)->DOEPCTL |= USB_OTG_DOEPCTL_CNAK;
break;
case 0xd6: // GET_VERSION
USB_WritePacket(gitversion, min(sizeof(gitversion), setup.b.wLength.w), 0);
USBx_OUTEP(0)->DOEPCTL |= USB_OTG_DOEPCTL_CNAK;
break;
case 0xd8: // RESET
NVIC_SystemReset();
break;
default:
puts("NO HANDLER ");
puth(setup.b.bRequest);
puts("\n");
break;
}
}
void OTG_FS_IRQHandler(void) {
NVIC_DisableIRQ(OTG_FS_IRQn);
//__disable_irq();
usb_irqhandler();
//__enable_irq();
NVIC_EnableIRQ(OTG_FS_IRQn);
}
void OTG_HS_IRQHandler(void) {
//puts("HS_IRQ\n");
NVIC_DisableIRQ(OTG_FS_IRQn);
//__disable_irq();
usb_irqhandler();
//__enable_irq();
NVIC_EnableIRQ(OTG_FS_IRQn);
}
void ADC_IRQHandler(void) {
puts("ADC_IRQ\n");
}
#ifdef ENABLE_SPI
#define SPI_BUF_SIZE 128
uint8_t spi_buf[SPI_BUF_SIZE];
int spi_buf_count = 0;
uint8_t spi_tx_buf[0x10];
void DMA2_Stream3_IRQHandler(void) {
#ifdef DEBUG
puts("DMA2\n");
#endif
DMA2->LIFCR = DMA_LIFCR_CTCIF3;
pop(&can_rx_q, spi_tx_buf);
spi_tx_dma(spi_tx_buf, 0x10);
}
void SPI1_IRQHandler(void) {
// status is 0x43
if (SPI1->SR & SPI_SR_RXNE) {
uint8_t dat = SPI1->DR;
/*spi_buf[spi_buf_count] = dat;
if (spi_buf_count < SPI_BUF_SIZE-1) {
spi_buf_count += 1;
}*/
}
if (SPI1->SR & SPI_SR_TXE) {
// all i send is U U U no matter what
//SPI1->DR = 'U';
}
int stat = SPI1->SR;
if (stat & ((~SPI_SR_RXNE) & (~SPI_SR_TXE) & (~SPI_SR_BSY))) {
puts("SPI status: ");
puth(stat);
puts("\n");
}
}
#endif
// ***************************** main code *****************************
void __initialize_hardware_early() {
// set USB power + and OTG mode
RCC->AHB1ENR |= RCC_AHB1ENR_GPIOAEN;
// enable OTG out tied to ground
GPIOA->ODR = 0;
GPIOA->MODER |= GPIO_MODER_MODER1_0;
// enable USB power tied to +
GPIOA->ODR |= 1;
GPIOA->MODER |= GPIO_MODER_MODER0_0;
// enable pull DOWN on OTG_FS_DP
// must be done a while before reading it
GPIOA->PUPDR = GPIO_PUPDR_PUPDR12_1;
if (enter_bootloader_mode == ENTER_BOOTLOADER_MAGIC) {
enter_bootloader_mode = 0;
void (*bootloader)(void) = (void (*)(void)) (*((uint32_t *)0x1fff0004));
// jump to bootloader
bootloader();
// LOOP
while(1);
}
}
int main() {
// init devices
clock_init();
gpio_init();
uart_init();
usb_init();
can_init(CAN1);
can_init(CAN2);
adc_init();
#ifdef ENABLE_SPI
spi_init();
// set up DMA
memset(spi_tx_buf, 0, 0x10);
spi_tx_dma(spi_tx_buf, 0x10);
#endif
// timer for fan PWM
#ifdef OLD_BOARD
TIM3->CCMR2 = TIM_CCMR2_OC4M_2 | TIM_CCMR2_OC4M_1;
TIM3->CCER = TIM_CCER_CC4E;
#else
TIM3->CCMR2 = TIM_CCMR2_OC3M_2 | TIM_CCMR2_OC3M_1;
TIM3->CCER = TIM_CCER_CC3E;
#endif
// max value of the timer
// 64 makes it above the audible range
//TIM3->ARR = 64;
// 10 prescale makes it below the audible range
timer_init(TIM3, 10);
// set PWM
set_fan_speed(65535);
puts("**** INTERRUPTS ON ****\n");
__disable_irq();
NVIC_EnableIRQ(USART2_IRQn);
NVIC_EnableIRQ(USART3_IRQn);
NVIC_EnableIRQ(OTG_FS_IRQn);
NVIC_EnableIRQ(OTG_HS_IRQn);
NVIC_EnableIRQ(ADC_IRQn);
// CAN has so many interrupts!
NVIC_EnableIRQ(CAN1_TX_IRQn);
NVIC_EnableIRQ(CAN1_RX0_IRQn);
NVIC_EnableIRQ(CAN1_SCE_IRQn);
NVIC_EnableIRQ(CAN2_TX_IRQn);
NVIC_EnableIRQ(CAN2_RX0_IRQn);
NVIC_EnableIRQ(CAN2_SCE_IRQn);
#ifdef ENABLE_SPI
NVIC_EnableIRQ(DMA2_Stream3_IRQn);
NVIC_EnableIRQ(SPI1_IRQn);
#endif
__enable_irq();
// LED should keep on blinking all the time
int cnt;
for (cnt=0;;cnt++) {
can_live = pending_can_live;
// reset this every 16th pass
if ((cnt&0xF) == 0) pending_can_live = 0;
#ifdef DEBUG
puts("** blink ");
puth(can_rx_q.r_ptr); puts(" "); puth(can_rx_q.w_ptr); puts(" ");
puth(can_tx1_q.r_ptr); puts(" "); puth(can_tx1_q.w_ptr); puts(" ");
puth(can_tx2_q.r_ptr); puts(" "); puth(can_tx2_q.w_ptr); puts("\n");
#endif
/*puts("voltage: "); puth(adc_get(ADCCHAN_VOLTAGE)); puts(" ");
puts("current: "); puth(adc_get(ADCCHAN_CURRENT)); puts("\n");*/
// set LED to be controls allowed
GPIOB->ODR = (GPIOB->ODR | (1 << 11)) & ~(controls_allowed << 11);
// blink the other LED if in FS mode
if (USBx == USB_OTG_FS) {
GPIOB->ODR |= (1 << 10);
}
delay(1000000);
GPIOB->ODR &= ~(1 << 10);
delay(1000000);
#ifdef ENABLE_SPI
if (spi_buf_count > 0) {
hexdump(spi_buf, spi_buf_count);
spi_buf_count = 0;
}
#endif
// started logic
int started_signal = (GPIOC->IDR & (1 << 13)) != 0;
if (started_signal) { started_signal_detected = 1; }
if (started_signal || (!started_signal_detected && can_live)) {
started = 1;
// turn on fan at half speed
set_fan_speed(32768);
} else {
started = 0;
// turn off fan
set_fan_speed(0);
}
}
return 0;
}

23
board/spi.h
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@ -1,23 +0,0 @@
void spi_init() {
puts("SPI init\n");
SPI1->CR1 = SPI_CR1_SPE;
SPI1->CR2 = SPI_CR2_RXNEIE | SPI_CR2_ERRIE | SPI_CR2_TXEIE;
}
void spi_tx_dma(void *addr, int len) {
// disable DMA
SPI1->CR2 &= ~SPI_CR2_TXDMAEN;
DMA2_Stream3->CR &= ~DMA_SxCR_EN;
// DMA2, stream 3, channel 3
DMA2_Stream3->M0AR = addr;
DMA2_Stream3->NDTR = len;
DMA2_Stream3->PAR = &(SPI1->DR);
// 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;
DMA2_Stream3->CR |= DMA_SxCR_TCIE;
SPI1->CR2 |= SPI_CR2_TXDMAEN;
}

511
board/startup_stm32f205xx.s
View File

@ -1,511 +0,0 @@
/**
******************************************************************************
* @file startup_stm32f205xx.s
* @author MCD Application Team
* @version V2.0.1
* @date 25-March-2014
* @brief STM32F205xx Devices vector table for Atollic TrueSTUDIO toolchain.
* This module performs:
* - Set the initial SP
* - Set the initial PC == Reset_Handler,
* - Set the vector table entries with the exceptions ISR address
* - Branches to main in the C library (which eventually
* calls main()).
* After Reset the Cortex-M3 processor is in Thread mode,
* priority is Privileged, and the Stack is set to Main.
******************************************************************************
* @attention
*
* <h2><center>&copy; COPYRIGHT 2014 STMicroelectronics</center></h2>
*
* Redistribution and use in source and binary forms, with or without modification,
* are permitted provided that the following conditions are met:
* 1. Redistributions of source code must retain the above copyright notice,
* this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright notice,
* this list of conditions and the following disclaimer in the documentation
* and/or other materials provided with the distribution.
* 3. Neither the name of STMicroelectronics nor the names of its contributors
* may be used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
* FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
* DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*
******************************************************************************
*/
.syntax unified
.cpu cortex-m3
.thumb
.global g_pfnVectors
.global Default_Handler
/* start address for the initialization values of the .data section.
defined in linker script */
.word _sidata
/* start address for the .data section. defined in linker script */
.word _sdata
/* end address for the .data section. defined in linker script */
.word _edata
/* start address for the .bss section. defined in linker script */
.word _sbss
/* end address for the .bss section. defined in linker script */
.word _ebss
/* stack used for SystemInit_ExtMemCtl; always internal RAM used */
/**
* @brief This is the code that gets called when the processor first
* starts execution following a reset event. Only the absolutely
* necessary set is performed, after which the application
* supplied main() routine is called.
* @param None
* @retval : None
*/
.section .text.Reset_Handler
.weak Reset_Handler
.type Reset_Handler, %function
Reset_Handler:
bl __initialize_hardware_early
ldr sp, =_estack /* set stack pointer */
/* Copy the data segment initializers from flash to SRAM */
movs r1, #0
b LoopCopyDataInit
CopyDataInit:
ldr r3, =_sidata
ldr r3, [r3, r1]
str r3, [r0, r1]
adds r1, r1, #4
LoopCopyDataInit:
ldr r0, =_sdata
ldr r3, =_edata
adds r2, r0, r1
cmp r2, r3
bcc CopyDataInit
ldr r2, =_sbss
b LoopFillZerobss
/* Zero fill the bss segment. */
FillZerobss:
movs r3, #0
str r3, [r2], #4
LoopFillZerobss:
ldr r3, = _ebss
cmp r2, r3
bcc FillZerobss
/* Call the clock system intitialization function.*/
/* bl SystemInit */
/* Call static constructors */
/* bl __libc_init_array */
/* Call the application's entry point.*/
bl main
bx lr
.size Reset_Handler, .-Reset_Handler
/**
* @brief This is the code that gets called when the processor receives an
* unexpected interrupt. This simply enters an infinite loop, preserving
* the system state for examination by a debugger.
* @param None
* @retval None
*/
.section .text.Default_Handler,"ax",%progbits
Default_Handler:
Infinite_Loop:
b Infinite_Loop
.size Default_Handler, .-Default_Handler
/******************************************************************************
*
* The minimal vector table for a Cortex M3. Note that the proper constructs
* must be placed on this to ensure that it ends up at physical address
* 0x0000.0000.
*
*******************************************************************************/
.section .isr_vector,"a",%progbits
.type g_pfnVectors, %object
.size g_pfnVectors, .-g_pfnVectors
g_pfnVectors:
.word _estack
.word Reset_Handler
.word NMI_Handler
.word HardFault_Handler
.word MemManage_Handler
.word BusFault_Handler
.word UsageFault_Handler
.word 0
.word 0
.word 0
.word 0
.word SVC_Handler
.word DebugMon_Handler
.word 0
.word PendSV_Handler
.word SysTick_Handler
/* External Interrupts */
.word WWDG_IRQHandler /* Window WatchDog */
.word PVD_IRQHandler /* PVD through EXTI Line detection */
.word TAMP_STAMP_IRQHandler /* Tamper and TimeStamps through the EXTI line */
.word RTC_WKUP_IRQHandler /* RTC Wakeup through the EXTI line */
.word FLASH_IRQHandler /* FLASH */
.word RCC_IRQHandler /* RCC */
.word EXTI0_IRQHandler /* EXTI Line0 */
.word EXTI1_IRQHandler /* EXTI Line1 */
.word EXTI2_IRQHandler /* EXTI Line2 */
.word EXTI3_IRQHandler /* EXTI Line3 */
.word EXTI4_IRQHandler /* EXTI Line4 */
.word DMA1_Stream0_IRQHandler /* DMA1 Stream 0 */
.word DMA1_Stream1_IRQHandler /* DMA1 Stream 1 */
.word DMA1_Stream2_IRQHandler /* DMA1 Stream 2 */
.word DMA1_Stream3_IRQHandler /* DMA1 Stream 3 */
.word DMA1_Stream4_IRQHandler /* DMA1 Stream 4 */
.word DMA1_Stream5_IRQHandler /* DMA1 Stream 5 */
.word DMA1_Stream6_IRQHandler /* DMA1 Stream 6 */
.word ADC_IRQHandler /* ADC1, ADC2 and ADC3s */
.word CAN1_TX_IRQHandler /* CAN1 TX */
.word CAN1_RX0_IRQHandler /* CAN1 RX0 */
.word CAN1_RX1_IRQHandler /* CAN1 RX1 */
.word CAN1_SCE_IRQHandler /* CAN1 SCE */
.word EXTI9_5_IRQHandler /* External Line[9:5]s */
.word TIM1_BRK_TIM9_IRQHandler /* TIM1 Break and TIM9 */
.word TIM1_UP_TIM10_IRQHandler /* TIM1 Update and TIM10 */
.word TIM1_TRG_COM_TIM11_IRQHandler /* TIM1 Trigger and Commutation and TIM11 */
.word TIM1_CC_IRQHandler /* TIM1 Capture Compare */
.word TIM2_IRQHandler /* TIM2 */
.word TIM3_IRQHandler /* TIM3 */
.word TIM4_IRQHandler /* TIM4 */
.word I2C1_EV_IRQHandler /* I2C1 Event */
.word I2C1_ER_IRQHandler /* I2C1 Error */
.word I2C2_EV_IRQHandler /* I2C2 Event */
.word I2C2_ER_IRQHandler /* I2C2 Error */
.word SPI1_IRQHandler /* SPI1 */
.word SPI2_IRQHandler /* SPI2 */
.word USART1_IRQHandler /* USART1 */
.word USART2_IRQHandler /* USART2 */
.word USART3_IRQHandler /* USART3 */
.word EXTI15_10_IRQHandler /* External Line[15:10]s */
.word RTC_Alarm_IRQHandler /* RTC Alarm (A and B) through EXTI Line */
.word OTG_FS_WKUP_IRQHandler /* USB OTG FS Wakeup through EXTI line */
.word TIM8_BRK_TIM12_IRQHandler /* TIM8 Break and TIM12 */
.word TIM8_UP_TIM13_IRQHandler /* TIM8 Update and TIM13 */
.word TIM8_TRG_COM_TIM14_IRQHandler /* TIM8 Trigger and Commutation and TIM14 */
.word TIM8_CC_IRQHandler /* TIM8 Capture Compare */
.word DMA1_Stream7_IRQHandler /* DMA1 Stream7 */
.word FSMC_IRQHandler /* FSMC */
.word SDIO_IRQHandler /* SDIO */
.word TIM5_IRQHandler /* TIM5 */
.word SPI3_IRQHandler /* SPI3 */
.word UART4_IRQHandler /* UART4 */
.word UART5_IRQHandler /* UART5 */
.word TIM6_DAC_IRQHandler /* TIM6 and DAC1&2 underrun errors */
.word TIM7_IRQHandler /* TIM7 */
.word DMA2_Stream0_IRQHandler /* DMA2 Stream 0 */
.word DMA2_Stream1_IRQHandler /* DMA2 Stream 1 */
.word DMA2_Stream2_IRQHandler /* DMA2 Stream 2 */
.word DMA2_Stream3_IRQHandler /* DMA2 Stream 3 */
.word DMA2_Stream4_IRQHandler /* DMA2 Stream 4 */
.word 0 /* Reserved */
.word 0 /* Reserved */
.word CAN2_TX_IRQHandler /* CAN2 TX */
.word CAN2_RX0_IRQHandler /* CAN2 RX0 */
.word CAN2_RX1_IRQHandler /* CAN2 RX1 */
.word CAN2_SCE_IRQHandler /* CAN2 SCE */
.word OTG_FS_IRQHandler /* USB OTG FS */
.word DMA2_Stream5_IRQHandler /* DMA2 Stream 5 */
.word DMA2_Stream6_IRQHandler /* DMA2 Stream 6 */
.word DMA2_Stream7_IRQHandler /* DMA2 Stream 7 */
.word USART6_IRQHandler /* USART6 */
.word I2C3_EV_IRQHandler /* I2C3 event */
.word I2C3_ER_IRQHandler /* I2C3 error */
.word OTG_HS_EP1_OUT_IRQHandler /* USB OTG HS End Point 1 Out */
.word OTG_HS_EP1_IN_IRQHandler /* USB OTG HS End Point 1 In */
.word OTG_HS_WKUP_IRQHandler /* USB OTG HS Wakeup through EXTI */
.word OTG_HS_IRQHandler /* USB OTG HS */
.word 0 /* Reserved */
.word 0 /* Reserved */
.word HASH_RNG_IRQHandler /* Hash and Rng */
/*******************************************************************************
*
* Provide weak aliases for each Exception handler to the Default_Handler.
* As they are weak aliases, any function with the same name will override
* this definition.
*
*******************************************************************************/
.weak NMI_Handler
.thumb_set NMI_Handler,Default_Handler
.weak HardFault_Handler
.thumb_set HardFault_Handler,Default_Handler
.weak MemManage_Handler
.thumb_set MemManage_Handler,Default_Handler
.weak BusFault_Handler
.thumb_set BusFault_Handler,Default_Handler
.weak UsageFault_Handler
.thumb_set UsageFault_Handler,Default_Handler
.weak SVC_Handler
.thumb_set SVC_Handler,Default_Handler
.weak DebugMon_Handler
.thumb_set DebugMon_Handler,Default_Handler
.weak PendSV_Handler
.thumb_set PendSV_Handler,Default_Handler
.weak SysTick_Handler
.thumb_set SysTick_Handler,Default_Handler
.weak WWDG_IRQHandler
.thumb_set WWDG_IRQHandler,Default_Handler
.weak PVD_IRQHandler
.thumb_set PVD_IRQHandler,Default_Handler
.weak TAMP_STAMP_IRQHandler
.thumb_set TAMP_STAMP_IRQHandler,Default_Handler
.weak RTC_WKUP_IRQHandler
.thumb_set RTC_WKUP_IRQHandler,Default_Handler
.weak FLASH_IRQHandler
.thumb_set FLASH_IRQHandler,Default_Handler
.weak RCC_IRQHandler
.thumb_set RCC_IRQHandler,Default_Handler
.weak EXTI0_IRQHandler
.thumb_set EXTI0_IRQHandler,Default_Handler
.weak EXTI1_IRQHandler
.thumb_set EXTI1_IRQHandler,Default_Handler
.weak EXTI2_IRQHandler
.thumb_set EXTI2_IRQHandler,Default_Handler
.weak EXTI3_IRQHandler
.thumb_set EXTI3_IRQHandler,Default_Handler
.weak EXTI4_IRQHandler
.thumb_set EXTI4_IRQHandler,Default_Handler
.weak DMA1_Stream0_IRQHandler
.thumb_set DMA1_Stream0_IRQHandler,Default_Handler
.weak DMA1_Stream1_IRQHandler
.thumb_set DMA1_Stream1_IRQHandler,Default_Handler
.weak DMA1_Stream2_IRQHandler
.thumb_set DMA1_Stream2_IRQHandler,Default_Handler
.weak DMA1_Stream3_IRQHandler
.thumb_set DMA1_Stream3_IRQHandler,Default_Handler
.weak DMA1_Stream4_IRQHandler
.thumb_set DMA1_Stream4_IRQHandler,Default_Handler
.weak DMA1_Stream5_IRQHandler
.thumb_set DMA1_Stream5_IRQHandler,Default_Handler
.weak DMA1_Stream6_IRQHandler
.thumb_set DMA1_Stream6_IRQHandler,Default_Handler
.weak ADC_IRQHandler
.thumb_set ADC_IRQHandler,Default_Handler
.weak CAN1_TX_IRQHandler
.thumb_set CAN1_TX_IRQHandler,Default_Handler
.weak CAN1_RX0_IRQHandler
.thumb_set CAN1_RX0_IRQHandler,Default_Handler
.weak CAN1_RX1_IRQHandler
.thumb_set CAN1_RX1_IRQHandler,Default_Handler
.weak CAN1_SCE_IRQHandler
.thumb_set CAN1_SCE_IRQHandler,Default_Handler
.weak EXTI9_5_IRQHandler
.thumb_set EXTI9_5_IRQHandler,Default_Handler
.weak TIM1_BRK_TIM9_IRQHandler
.thumb_set TIM1_BRK_TIM9_IRQHandler,Default_Handler
.weak TIM1_UP_TIM10_IRQHandler
.thumb_set TIM1_UP_TIM10_IRQHandler,Default_Handler
.weak TIM1_TRG_COM_TIM11_IRQHandler
.thumb_set TIM1_TRG_COM_TIM11_IRQHandler,Default_Handler
.weak TIM1_CC_IRQHandler
.thumb_set TIM1_CC_IRQHandler,Default_Handler
.weak TIM2_IRQHandler
.thumb_set TIM2_IRQHandler,Default_Handler
.weak TIM3_IRQHandler
.thumb_set TIM3_IRQHandler,Default_Handler
.weak TIM4_IRQHandler
.thumb_set TIM4_IRQHandler,Default_Handler
.weak I2C1_EV_IRQHandler
.thumb_set I2C1_EV_IRQHandler,Default_Handler
.weak I2C1_ER_IRQHandler
.thumb_set I2C1_ER_IRQHandler,Default_Handler
.weak I2C2_EV_IRQHandler
.thumb_set I2C2_EV_IRQHandler,Default_Handler
.weak I2C2_ER_IRQHandler
.thumb_set I2C2_ER_IRQHandler,Default_Handler
.weak SPI1_IRQHandler
.thumb_set SPI1_IRQHandler,Default_Handler
.weak SPI2_IRQHandler
.thumb_set SPI2_IRQHandler,Default_Handler
.weak USART1_IRQHandler
.thumb_set USART1_IRQHandler,Default_Handler
.weak USART2_IRQHandler
.thumb_set USART2_IRQHandler,Default_Handler
.weak USART3_IRQHandler
.thumb_set USART3_IRQHandler,Default_Handler
.weak EXTI15_10_IRQHandler
.thumb_set EXTI15_10_IRQHandler,Default_Handler
.weak RTC_Alarm_IRQHandler
.thumb_set RTC_Alarm_IRQHandler,Default_Handler
.weak OTG_FS_WKUP_IRQHandler
.thumb_set OTG_FS_WKUP_IRQHandler,Default_Handler
.weak TIM8_BRK_TIM12_IRQHandler
.thumb_set TIM8_BRK_TIM12_IRQHandler,Default_Handler
.weak TIM8_UP_TIM13_IRQHandler
.thumb_set TIM8_UP_TIM13_IRQHandler,Default_Handler
.weak TIM8_TRG_COM_TIM14_IRQHandler
.thumb_set TIM8_TRG_COM_TIM14_IRQHandler,Default_Handler
.weak TIM8_CC_IRQHandler
.thumb_set TIM8_CC_IRQHandler,Default_Handler
.weak DMA1_Stream7_IRQHandler
.thumb_set DMA1_Stream7_IRQHandler,Default_Handler
.weak FSMC_IRQHandler
.thumb_set FSMC_IRQHandler,Default_Handler
.weak SDIO_IRQHandler
.thumb_set SDIO_IRQHandler,Default_Handler
.weak TIM5_IRQHandler
.thumb_set TIM5_IRQHandler,Default_Handler
.weak SPI3_IRQHandler
.thumb_set SPI3_IRQHandler,Default_Handler
.weak UART4_IRQHandler
.thumb_set UART4_IRQHandler,Default_Handler
.weak UART5_IRQHandler
.thumb_set UART5_IRQHandler,Default_Handler
.weak TIM6_DAC_IRQHandler
.thumb_set TIM6_DAC_IRQHandler,Default_Handler
.weak TIM7_IRQHandler
.thumb_set TIM7_IRQHandler,Default_Handler
.weak DMA2_Stream0_IRQHandler
.thumb_set DMA2_Stream0_IRQHandler,Default_Handler
.weak DMA2_Stream1_IRQHandler
.thumb_set DMA2_Stream1_IRQHandler,Default_Handler
.weak DMA2_Stream2_IRQHandler
.thumb_set DMA2_Stream2_IRQHandler,Default_Handler
.weak DMA2_Stream3_IRQHandler
.thumb_set DMA2_Stream3_IRQHandler,Default_Handler
.weak DMA2_Stream4_IRQHandler
.thumb_set DMA2_Stream4_IRQHandler,Default_Handler
.weak CAN2_TX_IRQHandler
.thumb_set CAN2_TX_IRQHandler,Default_Handler
.weak CAN2_RX0_IRQHandler
.thumb_set CAN2_RX0_IRQHandler,Default_Handler
.weak CAN2_RX1_IRQHandler
.thumb_set CAN2_RX1_IRQHandler,Default_Handler
.weak CAN2_SCE_IRQHandler
.thumb_set CAN2_SCE_IRQHandler,Default_Handler
.weak OTG_FS_IRQHandler
.thumb_set OTG_FS_IRQHandler,Default_Handler
.weak DMA2_Stream5_IRQHandler
.thumb_set DMA2_Stream5_IRQHandler,Default_Handler
.weak DMA2_Stream6_IRQHandler
.thumb_set DMA2_Stream6_IRQHandler,Default_Handler
.weak DMA2_Stream7_IRQHandler
.thumb_set DMA2_Stream7_IRQHandler,Default_Handler
.weak USART6_IRQHandler
.thumb_set USART6_IRQHandler,Default_Handler
.weak I2C3_EV_IRQHandler
.thumb_set I2C3_EV_IRQHandler,Default_Handler
.weak I2C3_ER_IRQHandler
.thumb_set I2C3_ER_IRQHandler,Default_Handler
.weak OTG_HS_EP1_OUT_IRQHandler
.thumb_set OTG_HS_EP1_OUT_IRQHandler,Default_Handler
.weak OTG_HS_EP1_IN_IRQHandler
.thumb_set OTG_HS_EP1_IN_IRQHandler,Default_Handler
.weak OTG_HS_WKUP_IRQHandler
.thumb_set OTG_HS_WKUP_IRQHandler,Default_Handler
.weak OTG_HS_IRQHandler
.thumb_set OTG_HS_IRQHandler,Default_Handler
.weak HASH_RNG_IRQHandler
.thumb_set HASH_RNG_IRQHandler,Default_Handler
/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/

163
board/stm32_flash.ld
View File

@ -1,163 +0,0 @@
/*
*****************************************************************************
**
** File : stm32_flash.ld
**
** Abstract : Linker script for STM32F407VG Device with
** 1024KByte FLASH, 192KByte RAM
**
** Set heap size, stack size and stack location according
** to application requirements.
**
** Set memory bank area and size if external memory is used.
**
** Target : STMicroelectronics STM32
**
** Environment : Atollic TrueSTUDIO(R)
**
** Distribution: The file is distributed “as is,” without any warranty
** of any kind.
**
** (c)Copyright Atollic AB.
** You may use this file as-is or modify it according to the needs of your
** project. Distribution of this file (unmodified or modified) is not
** permitted. Atollic AB permit registered Atollic TrueSTUDIO(R) users the
** rights to distribute the assembled, compiled & linked contents of this
** file as part of an application binary file, provided that it is built
** using the Atollic TrueSTUDIO(R) toolchain.
**
*****************************************************************************
*/
/* Entry Point */
ENTRY(Reset_Handler)
/* Highest address of the user mode stack */
_estack = 0x20020000; /* end of 128K RAM on AHB bus*/
/* Generate a link error if heap and stack don't fit into RAM */
_Min_Heap_Size = 0; /* required amount of heap */
_Min_Stack_Size = 0x400; /* required amount of stack */
/* Specify the memory areas */
MEMORY
{
FLASH (rx) : ORIGIN = 0x08000000, LENGTH = 128K
RAM (xrw) : ORIGIN = 0x20000000, LENGTH = 128K
MEMORY_B1 (rx) : ORIGIN = 0x60000000, LENGTH = 0K
}
/* Define output sections */
SECTIONS
{
/* The startup code goes first into FLASH */
.isr_vector :
{
. = ALIGN(4);
KEEP(*(.isr_vector)) /* Startup code */
. = ALIGN(4);
} >FLASH
/* The program code and other data goes into FLASH */
.text :
{
. = ALIGN(4);
*(.text) /* .text sections (code) */
*(.text*) /* .text* sections (code) */
*(.rodata) /* .rodata sections (constants, strings, etc.) */
*(.rodata*) /* .rodata* sections (constants, strings, etc.) */
*(.glue_7) /* glue arm to thumb code */
*(.glue_7t) /* glue thumb to arm code */
*(.eh_frame)
KEEP (*(.init))
KEEP (*(.fini))
. = ALIGN(4);
_etext = .; /* define a global symbols at end of code */
_exit = .;
} >FLASH
.ARM.extab : { *(.ARM.extab* .gnu.linkonce.armextab.*) } >FLASH
.ARM : {
__exidx_start = .;
*(.ARM.exidx*)
__exidx_end = .;
} >FLASH
.preinit_array :
{
PROVIDE_HIDDEN (__preinit_array_start = .);
KEEP (*(.preinit_array*))
PROVIDE_HIDDEN (__preinit_array_end = .);
} >FLASH
.init_array :
{
PROVIDE_HIDDEN (__init_array_start = .);
KEEP (*(SORT(.init_array.*)))
KEEP (*(.init_array*))
PROVIDE_HIDDEN (__init_array_end = .);
} >FLASH
.fini_array :
{
PROVIDE_HIDDEN (__fini_array_start = .);
KEEP (*(.fini_array*))
KEEP (*(SORT(.fini_array.*)))
PROVIDE_HIDDEN (__fini_array_end = .);
} >FLASH
/* used by the startup to initialize data */
_sidata = .;
/* Initialized data sections goes into RAM, load LMA copy after code */
.data : AT ( _sidata )
{
. = ALIGN(4);
_sdata = .; /* create a global symbol at data start */
*(.data) /* .data sections */
*(.data*) /* .data* sections */
. = ALIGN(4);
_edata = .; /* define a global symbol at data end */
} >RAM
/* Uninitialized data section */
. = ALIGN(4);
.bss :
{
/* This is used by the startup in order to initialize the .bss secion */
_sbss = .; /* define a global symbol at bss start */
__bss_start__ = _sbss;
*(.bss)
*(.bss*)
*(COMMON)
. = ALIGN(4);
_ebss = .; /* define a global symbol at bss end */
__bss_end__ = _ebss;
} >RAM
/* User_heap_stack section, used to check that there is enough RAM left */
._user_heap_stack :
{
. = ALIGN(4);
PROVIDE ( end = . );
PROVIDE ( _end = . );
. = . + _Min_Heap_Size;
. = . + _Min_Stack_Size;
. = ALIGN(4);
} >RAM
/* MEMORY_bank1 section, code must be located here explicitly */
/* Example: extern int foo(void) __attribute__ ((section (".mb1text"))); */
.memory_b1_text :
{
*(.mb1text) /* .mb1text sections (code) */
*(.mb1text*) /* .mb1text* sections (code) */
*(.mb1rodata) /* read-only data (constants) */
*(.mb1rodata*)
} >MEMORY_B1
.ARM.attributes 0 : { *(.ARM.attributes) }
}

7
board/timer.h
View File

@ -1,7 +0,0 @@
void timer_init(TIM_TypeDef *TIM, int psc) {
TIM->PSC = psc-1;
TIM->DIER = TIM_DIER_UIE;
TIM->CR1 = TIM_CR1_CEN;
TIM->SR = 0;
}

BIN
board/tools/dfu-util-aarch64
View File

Binary file not shown.

BIN
board/tools/dfu-util-x86_64
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Binary file not shown.

20
board/tools/enter_download_mode.py
View File

@ -1,20 +0,0 @@
#!/usr/bin/env python
import usb1
import time
import traceback
if __name__ == "__main__":
context = usb1.USBContext()
for device in context.getDeviceList(skip_on_error=True):
if device.getVendorID() == 0xbbaa and device.getProductID()&0xFF00 == 0xdd00:
print "found device"
handle = device.open()
handle.claimInterface(0)
try:
handle.controlWrite(usb1.TYPE_VENDOR | usb1.RECIPIENT_DEVICE, 0xd1, 0, 0, '')
except Exception:
traceback.print_exc()
print "expected error, exiting cleanly"
time.sleep(1)

510
board/usb.h
View File

@ -1,510 +0,0 @@
// **** supporting defines ****
typedef struct
{
__IO uint32_t HPRT;
}
USB_OTG_HostPortTypeDef;
#define USBx_HOST ((USB_OTG_HostTypeDef *)((uint32_t)USBx + USB_OTG_HOST_BASE))
#define USBx_HOST_PORT ((USB_OTG_HostPortTypeDef *)((uint32_t)USBx + USB_OTG_HOST_PORT_BASE))
#define USBx_DEVICE ((USB_OTG_DeviceTypeDef *)((uint32_t)USBx + USB_OTG_DEVICE_BASE))
#define USBx_INEP(i) ((USB_OTG_INEndpointTypeDef *)((uint32_t)USBx + USB_OTG_IN_ENDPOINT_BASE + (i)*USB_OTG_EP_REG_SIZE))
#define USBx_OUTEP(i) ((USB_OTG_OUTEndpointTypeDef *)((uint32_t)USBx + USB_OTG_OUT_ENDPOINT_BASE + (i)*USB_OTG_EP_REG_SIZE))
#define USBx_DFIFO(i) *(__IO uint32_t *)((uint32_t)USBx + USB_OTG_FIFO_BASE + (i) * USB_OTG_FIFO_SIZE)
#define USBx_PCGCCTL *(__IO uint32_t *)((uint32_t)USBx + USB_OTG_PCGCCTL_BASE)
#define USB_REQ_GET_STATUS 0x00
#define USB_REQ_CLEAR_FEATURE 0x01
#define USB_REQ_SET_FEATURE 0x03
#define USB_REQ_SET_ADDRESS 0x05
#define USB_REQ_GET_DESCRIPTOR 0x06
#define USB_REQ_SET_DESCRIPTOR 0x07
#define USB_REQ_GET_CONFIGURATION 0x08
#define USB_REQ_SET_CONFIGURATION 0x09
#define USB_REQ_GET_INTERFACE 0x0A
#define USB_REQ_SET_INTERFACE 0x0B
#define USB_REQ_SYNCH_FRAME 0x0C
#define USB_DESC_TYPE_DEVICE 1
#define USB_DESC_TYPE_CONFIGURATION 2
#define USB_DESC_TYPE_STRING 3
#define USB_DESC_TYPE_INTERFACE 4
#define USB_DESC_TYPE_ENDPOINT 5
#define USB_DESC_TYPE_DEVICE_QUALIFIER 6
#define USB_DESC_TYPE_OTHER_SPEED_CONFIGURATION 7
#define STS_GOUT_NAK 1
#define STS_DATA_UPDT 2
#define STS_XFER_COMP 3
#define STS_SETUP_COMP 4
#define STS_SETUP_UPDT 6
#define USBD_FS_TRDT_VALUE 5
// interfaces
void usb_cb_control_msg();
void usb_cb_ep1_in(int len);
void usb_cb_ep2_out(uint8_t *usbdata, int len);
void usb_cb_ep3_out(uint8_t *usbdata, int len);
uint8_t device_desc[] = {
0x12,0x01,0x00,0x01,
0xFF,0xFF,0xFF,0x40,
(USB_VID>>0)&0xFF,(USB_VID>>8)&0xFF,
(USB_PID>>0)&0xFF,(USB_PID>>8)&0xFF,
0x00,0x22,0x00,0x00,
0x00,0x01};
uint8_t configuration_desc[] = {
0x09, 0x02, 0x27, 0x00,
0x01, 0x01, 0x00, 0xc0,
0x32,
// interface 0
0x09, 0x04, 0x00, 0x00,
0x03, 0xff, 0xFF, 0xFF,
0x00,
// endpoint 1, read CAN
0x07, 0x05, 0x81, 0x02, 0x40, 0x00, 0x00,
// endpoint 2, AES load
0x07, 0x05, 0x02, 0x02, 0x10, 0x00, 0x00,
// endpoint 3, send CAN
0x07, 0x05, 0x03, 0x02, 0x40, 0x00, 0x00,
};
typedef union
{
uint16_t w;
struct BW
{
uint8_t msb;
uint8_t lsb;
}
bw;
}
uint16_t_uint8_t;
typedef union _USB_Setup
{
uint32_t d8[2];
struct _SetupPkt_Struc
{
uint8_t bmRequestType;
uint8_t bRequest;
uint16_t_uint8_t wValue;
uint16_t_uint8_t wIndex;
uint16_t_uint8_t wLength;
} b;
}
USB_Setup_TypeDef;
// current packet
USB_Setup_TypeDef setup;
uint8_t usbdata[0x100];
// packet read and write
void *USB_ReadPacket(void *dest, uint16_t len) {
uint32_t i=0;
uint32_t count32b = (len + 3) / 4;
for ( i = 0; i < count32b; i++, dest += 4 ) {
// packed?
*(__attribute__((__packed__)) uint32_t *)dest = USBx_DFIFO(0);
}
return ((void *)dest);
}
void USB_WritePacket(const uint8_t *src, uint16_t len, uint32_t ep) {
#ifdef DEBUG
puts("writing ");
hexdump(src, len);
#endif
uint32_t count32b = 0, i = 0;
count32b = (len + 3) / 4;
// bullshit
USBx_INEP(ep)->DIEPTSIZ = (USB_OTG_DIEPTSIZ_PKTCNT & (1 << 19)) | (len & USB_OTG_DIEPTSIZ_XFRSIZ);
USBx_INEP(ep)->DIEPCTL |= (USB_OTG_DIEPCTL_CNAK | USB_OTG_DIEPCTL_EPENA);
// load the FIFO
for (i = 0; i < count32b; i++, src += 4) {
USBx_DFIFO(ep) = *((__attribute__((__packed__)) uint32_t *)src);
}
}
void usb_reset() {
// unmask endpoint interrupts, so many sets
USBx_DEVICE->DAINT = 0xFFFFFFFF;
USBx_DEVICE->DAINTMSK = 0xFFFFFFFF;
//USBx_DEVICE->DOEPMSK = (USB_OTG_DOEPMSK_STUPM | USB_OTG_DOEPMSK_XFRCM | USB_OTG_DOEPMSK_EPDM);
//USBx_DEVICE->DIEPMSK = (USB_OTG_DIEPMSK_TOM | USB_OTG_DIEPMSK_XFRCM | USB_OTG_DIEPMSK_EPDM | USB_OTG_DIEPMSK_ITTXFEMSK);
//USBx_DEVICE->DIEPMSK = (USB_OTG_DIEPMSK_TOM | USB_OTG_DIEPMSK_XFRCM | USB_OTG_DIEPMSK_EPDM);
// all interrupts for debugging
USBx_DEVICE->DIEPMSK = 0xFFFFFFFF;
USBx_DEVICE->DOEPMSK = 0xFFFFFFFF;
// clear interrupts
USBx_INEP(0)->DIEPINT = 0xFF;
USBx_OUTEP(0)->DOEPINT = 0xFF;
// unset the address
USBx_DEVICE->DCFG &= ~USB_OTG_DCFG_DAD;
// set up USB FIFOs
// RX start address is fixed to 0
USBx->GRXFSIZ = 0x40;
// 0x100 to offset past GRXFSIZ
USBx->DIEPTXF0_HNPTXFSIZ = (0x40 << 16) | 0x40;
// EP1, massive
USBx->DIEPTXF[0] = (0x40 << 16) | 0x80;
// flush TX fifo
USBx->GRSTCTL = USB_OTG_GRSTCTL_TXFFLSH | USB_OTG_GRSTCTL_TXFNUM_4;
while ((USBx->GRSTCTL & USB_OTG_GRSTCTL_TXFFLSH) == USB_OTG_GRSTCTL_TXFFLSH);
// flush RX FIFO
USBx->GRSTCTL = USB_OTG_GRSTCTL_RXFFLSH;
while ((USBx->GRSTCTL & USB_OTG_GRSTCTL_RXFFLSH) == USB_OTG_GRSTCTL_RXFFLSH);
// no global NAK
USBx_DEVICE->DCTL |= USB_OTG_DCTL_CGINAK;
// ready to receive setup packets
USBx_OUTEP(0)->DOEPTSIZ = USB_OTG_DOEPTSIZ_STUPCNT | (USB_OTG_DOEPTSIZ_PKTCNT & (1 << 19)) | (3 * 8);
}
void usb_setup() {
uint8_t resp[0x20];
// setup packet is ready
switch (setup.b.bRequest) {
case USB_REQ_SET_CONFIGURATION:
// enable other endpoints, has to be here?
USBx_INEP(1)->DIEPCTL = (0x40 & USB_OTG_DIEPCTL_MPSIZ) | (2 << 18) | (1 << 22) |
USB_OTG_DIEPCTL_SD0PID_SEVNFRM | USB_OTG_DIEPCTL_USBAEP;
USBx_INEP(1)->DIEPINT = 0xFF;
USBx_OUTEP(2)->DOEPTSIZ = (1 << 19) | 0x10;
USBx_OUTEP(2)->DOEPCTL = (0x10 & USB_OTG_DOEPCTL_MPSIZ) | (2 << 18) |
USB_OTG_DOEPCTL_SD0PID_SEVNFRM | USB_OTG_DOEPCTL_USBAEP;
USBx_OUTEP(2)->DOEPINT = 0xFF;
USBx_OUTEP(3)->DOEPTSIZ = (1 << 19) | 0x40;
USBx_OUTEP(3)->DOEPCTL = (0x40 & USB_OTG_DOEPCTL_MPSIZ) | (2 << 18) |
USB_OTG_DOEPCTL_SD0PID_SEVNFRM | USB_OTG_DOEPCTL_USBAEP;
USBx_OUTEP(3)->DOEPINT = 0xFF;
// mark ready to receive
USBx_OUTEP(2)->DOEPCTL |= USB_OTG_DOEPCTL_EPENA | USB_OTG_DOEPCTL_CNAK;
USBx_OUTEP(3)->DOEPCTL |= USB_OTG_DOEPCTL_EPENA | USB_OTG_DOEPCTL_CNAK;
USB_WritePacket(0, 0, 0);
USBx_OUTEP(0)->DOEPCTL |= USB_OTG_DOEPCTL_CNAK;
break;
case USB_REQ_SET_ADDRESS:
// set now?
USBx_DEVICE->DCFG |= ((setup.b.wValue.w & 0x7f) << 4);
#ifdef DEBUG
puts(" set address\n");
#endif
USB_WritePacket(0, 0, 0);
USBx_OUTEP(0)->DOEPCTL |= USB_OTG_DOEPCTL_CNAK;
break;
case USB_REQ_GET_DESCRIPTOR:
switch (setup.b.wValue.bw.lsb) {
case USB_DESC_TYPE_DEVICE:
//puts(" writing device descriptor\n");
// setup transfer
USB_WritePacket(device_desc, min(sizeof(device_desc), setup.b.wLength.w), 0);
USBx_OUTEP(0)->DOEPCTL |= USB_OTG_DOEPCTL_CNAK;
//puts("D");
break;
case USB_DESC_TYPE_CONFIGURATION:
USB_WritePacket(configuration_desc, min(sizeof(configuration_desc), setup.b.wLength.w), 0);
USBx_OUTEP(0)->DOEPCTL |= USB_OTG_DOEPCTL_CNAK;
break;
default:
// nothing here?
USB_WritePacket(0, 0, 0);
USBx_OUTEP(0)->DOEPCTL |= USB_OTG_DOEPCTL_CNAK;
break;
}
break;
case USB_REQ_GET_STATUS:
// empty resp?
resp[0] = 0;
resp[1] = 0;
USB_WritePacket((void*)&resp, 2, 0);
USBx_OUTEP(0)->DOEPCTL |= USB_OTG_DOEPCTL_CNAK;
break;
default:
usb_cb_control_msg();
}
}
void usb_init() {
// internal PHY set before reset
USBx->GUSBCFG |= USB_OTG_GUSBCFG_PHYSEL;
// full speed PHY, do reset and remove power down
puth(USBx->GRSTCTL);
puts(" resetting PHY\n");
while ((USBx->GRSTCTL & USB_OTG_GRSTCTL_AHBIDL) == 0);
puts("AHB idle\n");
// reset PHY here?
USBx->GRSTCTL |= USB_OTG_GRSTCTL_CSRST;
while ((USBx->GRSTCTL & USB_OTG_GRSTCTL_CSRST) == USB_OTG_GRSTCTL_CSRST);
puts("reset done\n");
// power up the PHY
USBx->GCCFG = USB_OTG_GCCFG_PWRDWN | USB_OTG_GCCFG_NOVBUSSENS;
// be a device, slowest timings
//USBx->GUSBCFG = USB_OTG_GUSBCFG_FDMOD | USB_OTG_GUSBCFG_PHYSEL | USB_OTG_GUSBCFG_TRDT | USB_OTG_GUSBCFG_TOCAL;
USBx->GUSBCFG = USB_OTG_GUSBCFG_FDMOD | USB_OTG_GUSBCFG_PHYSEL;
USBx->GUSBCFG |= (uint32_t)((USBD_FS_TRDT_VALUE << 10) & USB_OTG_GUSBCFG_TRDT);
//USBx->GUSBCFG = USB_OTG_GUSBCFG_PHYSEL | USB_OTG_GUSBCFG_TRDT | USB_OTG_GUSBCFG_TOCAL;
// **** for debugging, doesn't seem to work ****
//USBx->GUSBCFG |= USB_OTG_GUSBCFG_CTXPKT;
// reset PHY clock
USBx_PCGCCTL = 0;
// enable the fancy OTG things
USBx->GUSBCFG |= USB_OTG_GUSBCFG_HNPCAP | USB_OTG_GUSBCFG_SRPCAP;
USBx_DEVICE->DCFG = USB_OTG_DCFG_NZLSOHSK | USB_OTG_DCFG_DSPD;
//USBx_DEVICE->DCFG = USB_OTG_DCFG_DSPD;
// setup USB interrupts
// all interrupts except TXFIFO EMPTY
//USBx->GINTMSK = 0xFFFFFFFF & ~(USB_OTG_GINTMSK_NPTXFEM | USB_OTG_GINTMSK_PTXFEM | USB_OTG_GINTSTS_SOF | USB_OTG_GINTSTS_EOPF);
USBx->GINTMSK = 0xFFFFFFFF & ~(USB_OTG_GINTMSK_NPTXFEM | USB_OTG_GINTMSK_PTXFEM);
USBx->GAHBCFG = USB_OTG_GAHBCFG_GINT;
USBx->GINTSTS = 0;
}
// ***************************** USB port *****************************
void usb_irqhandler(void) {
USBx->GINTMSK = 0;
unsigned int gintsts = USBx->GINTSTS;
// gintsts SUSPEND? 04008428
#ifdef DEBUG
unsigned int daint = USBx_DEVICE->DAINT;
puth(gintsts);
puts(" ep ");
puth(daint);
puts(" USB interrupt!\n");
#endif
if (gintsts & USB_OTG_GINTSTS_ESUSP) {
puts("ESUSP detected\n");
}
if (gintsts & USB_OTG_GINTSTS_USBRST) {
puts("USB reset\n");
usb_reset();
}
if (gintsts & USB_OTG_GINTSTS_ENUMDNE) {
puts("enumeration done ");
// Full speed, ENUMSPD
puth(USBx_DEVICE->DSTS);
puts("\n");
}
if (gintsts & USB_OTG_GINTSTS_OTGINT) {
puts("OTG int:");
puth(USBx->GOTGINT);
puts("\n");
// getting ADTOCHG
USBx->GOTGINT = USBx->GOTGINT;
}
// RX FIFO first
if (gintsts & USB_OTG_GINTSTS_RXFLVL) {
// 1. Read the Receive status pop register
volatile unsigned int rxst = USBx->GRXSTSP;
#ifdef DEBUG
puts(" RX FIFO:");
puth(rxst);
puts(" status: ");
puth((rxst & USB_OTG_GRXSTSP_PKTSTS) >> 17);
puts(" len: ");
puth((rxst & USB_OTG_GRXSTSP_BCNT) >> 4);
puts("\n");
#endif
if (((rxst & USB_OTG_GRXSTSP_PKTSTS) >> 17) == STS_DATA_UPDT) {
int endpoint = (rxst & USB_OTG_GRXSTSP_EPNUM);
int len = (rxst & USB_OTG_GRXSTSP_BCNT) >> 4;
USB_ReadPacket(&usbdata, len);
#ifdef DEBUG
puts(" data ");
puth(len);
puts("\n");
hexdump(&usbdata, len);
#endif
if (endpoint == 2) {
usb_cb_ep2_out(usbdata, len);
}
if (endpoint == 3) {
usb_cb_ep3_out(usbdata, len);
}
} else if (((rxst & USB_OTG_GRXSTSP_PKTSTS) >> 17) == STS_SETUP_UPDT) {
USB_ReadPacket(&setup, 8);
#ifdef DEBUG
puts(" setup ");
hexdump(&setup, 8);
puts("\n");
#endif
}
}
if (gintsts & USB_OTG_GINTSTS_HPRTINT) {
// host
puts("HPRT:");
puth(USBx_HOST_PORT->HPRT);
puts("\n");
if (USBx_HOST_PORT->HPRT & USB_OTG_HPRT_PCDET) {
USBx_HOST_PORT->HPRT |= USB_OTG_HPRT_PRST;
USBx_HOST_PORT->HPRT |= USB_OTG_HPRT_PCDET;
}
}
if (gintsts & USB_OTG_GINTSTS_BOUTNAKEFF) {
// no global NAK, why is this getting set?
#ifdef DEBUG
puts("GLOBAL NAK\n");
#endif
USBx_DEVICE->DCTL |= USB_OTG_DCTL_CGONAK | USB_OTG_DCTL_CGINAK;
}
if (gintsts & USB_OTG_GINTSTS_SRQINT) {
// we want to do "A-device host negotiation protocol" since we are the A-device
puts("start request\n");
//USBx->GUSBCFG |= USB_OTG_GUSBCFG_FDMOD;
//USBx_HOST_PORT->HPRT = USB_OTG_HPRT_PPWR | USB_OTG_HPRT_PENA;
}
// out endpoint hit
if (gintsts & USB_OTG_GINTSTS_OEPINT) {
#ifdef DEBUG
puts(" 0:");
puth(USBx_OUTEP(0)->DOEPINT);
puts(" 2:");
puth(USBx_OUTEP(2)->DOEPINT);
puts(" 3:");
puth(USBx_OUTEP(3)->DOEPINT);
puts(" ");
puth(USBx_OUTEP(3)->DOEPCTL);
puts(" 4:");
puth(USBx_OUTEP(4)->DOEPINT);
puts(" OUT ENDPOINT\n");
#endif
if (USBx_OUTEP(2)->DOEPINT & USB_OTG_DOEPINT_XFRC) {
#ifdef DEBUG
puts(" OUT2 PACKET XFRC\n");
#endif
USBx_OUTEP(2)->DOEPTSIZ = (1 << 19) | 0x10;
USBx_OUTEP(2)->DOEPCTL |= USB_OTG_DOEPCTL_EPENA | USB_OTG_DOEPCTL_CNAK;
}
if (USBx_OUTEP(3)->DOEPINT & USB_OTG_DOEPINT_XFRC) {
#ifdef DEBUG
puts(" OUT3 PACKET XFRC\n");
#endif
USBx_OUTEP(3)->DOEPTSIZ = (1 << 19) | 0x40;
USBx_OUTEP(3)->DOEPCTL |= USB_OTG_DOEPCTL_EPENA | USB_OTG_DOEPCTL_CNAK;
} else if (USBx_OUTEP(3)->DOEPINT & 0x2000) {
#ifdef DEBUG
puts(" OUT3 PACKET WTF\n");
#endif
// if NAK was set trigger this, unknown interrupt
USBx_OUTEP(3)->DOEPTSIZ = (1 << 19) | 0x40;
USBx_OUTEP(3)->DOEPCTL |= USB_OTG_DOEPCTL_CNAK;
} else if (USBx_OUTEP(3)->DOEPINT) {
puts("OUTEP3 error ");
puth(USBx_OUTEP(3)->DOEPINT);
puts("\n");
}
if (USBx_OUTEP(0)->DOEPINT & USB_OTG_DIEPINT_XFRC) {
// ready for next packet
USBx_OUTEP(0)->DOEPTSIZ = USB_OTG_DOEPTSIZ_STUPCNT | (USB_OTG_DOEPTSIZ_PKTCNT & (1 << 19)) | (1 * 8);
}
// respond to setup packets
if (USBx_OUTEP(0)->DOEPINT & USB_OTG_DOEPINT_STUP) {
usb_setup();
}
USBx_OUTEP(0)->DOEPINT = USBx_OUTEP(0)->DOEPINT;
USBx_OUTEP(2)->DOEPINT = USBx_OUTEP(2)->DOEPINT;
USBx_OUTEP(3)->DOEPINT = USBx_OUTEP(3)->DOEPINT;
}
// in endpoint hit
if (gintsts & USB_OTG_GINTSTS_IEPINT) {
#ifdef DEBUG
puts(" ");
puth(USBx_INEP(0)->DIEPINT);
puts(" ");
puth(USBx_INEP(1)->DIEPINT);
puts(" IN ENDPOINT\n");
#endif
// this happens first
if (USBx_INEP(1)->DIEPINT & USB_OTG_DIEPINT_XFRC) {
#ifdef DEBUG
puts(" IN PACKET SEND\n");
#endif
//USBx_DEVICE->DIEPEMPMSK = ~(1 << 1);
}
// *** IN token received when TxFIFO is empty
if (USBx_INEP(1)->DIEPINT & USB_OTG_DIEPMSK_ITTXFEMSK) {
#ifdef DEBUG
puts(" IN PACKET QUEUE\n");
#endif
// TODO: always assuming max len, can we get the length?
usb_cb_ep1_in(0x40);
}
// clear interrupts
USBx_INEP(0)->DIEPINT = USBx_INEP(0)->DIEPINT;
USBx_INEP(1)->DIEPINT = USBx_INEP(1)->DIEPINT;
}
// clear all interrupts
USBx_DEVICE->DAINT = USBx_DEVICE->DAINT;
USBx->GINTSTS = USBx->GINTSTS;
USBx->GINTMSK = 0xFFFFFFFF & ~(USB_OTG_GINTMSK_NPTXFEM | USB_OTG_GINTMSK_PTXFEM | USB_OTG_GINTSTS_SOF | USB_OTG_GINTSTS_EOPF);
}

1
cereal/.gitignore vendored 100644
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@ -0,0 +1 @@
gen

4
cereal/Makefile 100644
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@ -0,0 +1,4 @@
-include build_from_src.mk
release:
@echo "cereal: this is a release"

38
cereal/build_from_src.mk 100644
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@ -0,0 +1,38 @@
SRCS := log.capnp car.capnp
GENS := gen/c/car.capnp.c gen/c/log.capnp.c gen/c/c++.capnp.h gen/c/java.capnp.h \
gen/cpp/car.capnp.c++ gen/cpp/log.capnp.c++
# Dont build java on the phone...
UNAME_M := $(shell uname -m)
ifeq ($(UNAME_M),x86_64)
GENS += gen/java/Car.java gen/java/Log.java
endif
.PHONY: all
all: $(GENS)
.PHONY: clean
clean:
rm -rf gen
gen/c/%.capnp.c: %.capnp
@echo "[ CAPNPC C ] $@"
mkdir -p gen/c/
capnpc '$<' -o c:gen/c/
gen/cpp/%.capnp.c++: %.capnp
@echo "[ CAPNPC C++ ] $@"
mkdir -p gen/cpp/
capnpc '$<' -o c++:gen/cpp/
gen/java/Car.java gen/java/Log.java: $(SRCS)
@echo "[ CAPNPC java ] $@"
mkdir -p gen/java/
capnpc $^ -o java:gen/java
# c-capnproto needs some empty headers
gen/c/c++.capnp.h gen/c/java.capnp.h:
mkdir -p gen/c/
touch '$@'

30
cereal/car.capnp
View File

@ -1,6 +1,10 @@
using Cxx = import "c++.capnp";
$Cxx.namespace("cereal");
using Java = import "java.capnp";
$Java.package("ai.comma.openpilot.cereal");
$Java.outerClassname("Car");
@0x8e2af1e708af8b8d;
# ******* main car state @ 100hz *******
@ -170,3 +174,29 @@ struct CarControl {
}
}
# ****** car param ******
struct CarParams {
carName @0: Text;
radarName @1: Text;
carFingerprint @11: Text;
enableSteer @2: Bool;
enableGas @3: Bool;
enableBrake @4: Bool;
enableCruise @5: Bool;
# things about the car in the manual
wheelBase @6: Float32; # in meters
steerRatio @7: Float32;
# things we can derive
slipFactor @8: Float32;
# Kp and Ki for the lateral control
steerKp @9: Float32;
steerKi @10: Float32;
# TODO: Kp and Ki for long control, perhaps not needed?
}

0
cereal/gen/c/c++.capnp.h
View File

337
cereal/gen/c/car.capnp.c
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@ -1,337 +0,0 @@
#include "car.capnp.h"
/* AUTO GENERATED - DO NOT EDIT */
cereal_CarState_ptr cereal_new_CarState(struct capn_segment *s) {
cereal_CarState_ptr p;
p.p = capn_new_struct(s, 24, 5);
return p;
}
cereal_CarState_list cereal_new_CarState_list(struct capn_segment *s, int len) {
cereal_CarState_list p;
p.p = capn_new_list(s, len, 24, 5);
return p;
}
void cereal_read_CarState(struct cereal_CarState *s, cereal_CarState_ptr p) {
capn_resolve(&p.p);
s->errors.p = capn_getp(p.p, 0, 0);
s->vEgo = capn_to_f32(capn_read32(p.p, 0));
s->wheelSpeeds.p = capn_getp(p.p, 1, 0);
s->gas = capn_to_f32(capn_read32(p.p, 4));
s->gasPressed = (capn_read8(p.p, 8) & 1) != 0;
s->brake = capn_to_f32(capn_read32(p.p, 12));
s->brakePressed = (capn_read8(p.p, 8) & 2) != 0;
s->steeringAngle = capn_to_f32(capn_read32(p.p, 16));
s->steeringTorque = capn_to_f32(capn_read32(p.p, 20));
s->steeringPressed = (capn_read8(p.p, 8) & 4) != 0;
s->cruiseState.p = capn_getp(p.p, 2, 0);
s->buttonEvents.p = capn_getp(p.p, 3, 0);
s->canMonoTimes.p = capn_getp(p.p, 4, 0);
}
void cereal_write_CarState(const struct cereal_CarState *s, cereal_CarState_ptr p) {
capn_resolve(&p.p);
capn_setp(p.p, 0, s->errors.p);
capn_write32(p.p, 0, capn_from_f32(s->vEgo));
capn_setp(p.p, 1, s->wheelSpeeds.p);
capn_write32(p.p, 4, capn_from_f32(s->gas));
capn_write1(p.p, 64, s->gasPressed != 0);
capn_write32(p.p, 12, capn_from_f32(s->brake));
capn_write1(p.p, 65, s->brakePressed != 0);
capn_write32(p.p, 16, capn_from_f32(s->steeringAngle));
capn_write32(p.p, 20, capn_from_f32(s->steeringTorque));
capn_write1(p.p, 66, s->steeringPressed != 0);
capn_setp(p.p, 2, s->cruiseState.p);
capn_setp(p.p, 3, s->buttonEvents.p);
capn_setp(p.p, 4, s->canMonoTimes.p);
}
void cereal_get_CarState(struct cereal_CarState *s, cereal_CarState_list l, int i) {
cereal_CarState_ptr p;
p.p = capn_getp(l.p, i, 0);
cereal_read_CarState(s, p);
}
void cereal_set_CarState(const struct cereal_CarState *s, cereal_CarState_list l, int i) {
cereal_CarState_ptr p;
p.p = capn_getp(l.p, i, 0);
cereal_write_CarState(s, p);
}
cereal_CarState_WheelSpeeds_ptr cereal_new_CarState_WheelSpeeds(struct capn_segment *s) {
cereal_CarState_WheelSpeeds_ptr p;
p.p = capn_new_struct(s, 16, 0);
return p;
}
cereal_CarState_WheelSpeeds_list cereal_new_CarState_WheelSpeeds_list(struct capn_segment *s, int len) {
cereal_CarState_WheelSpeeds_list p;
p.p = capn_new_list(s, len, 16, 0);
return p;
}
void cereal_read_CarState_WheelSpeeds(struct cereal_CarState_WheelSpeeds *s, cereal_CarState_WheelSpeeds_ptr p) {
capn_resolve(&p.p);
s->fl = capn_to_f32(capn_read32(p.p, 0));
s->fr = capn_to_f32(capn_read32(p.p, 4));
s->rl = capn_to_f32(capn_read32(p.p, 8));
s->rr = capn_to_f32(capn_read32(p.p, 12));
}
void cereal_write_CarState_WheelSpeeds(const struct cereal_CarState_WheelSpeeds *s, cereal_CarState_WheelSpeeds_ptr p) {
capn_resolve(&p.p);
capn_write32(p.p, 0, capn_from_f32(s->fl));
capn_write32(p.p, 4, capn_from_f32(s->fr));
capn_write32(p.p, 8, capn_from_f32(s->rl));
capn_write32(p.p, 12, capn_from_f32(s->rr));
}
void cereal_get_CarState_WheelSpeeds(struct cereal_CarState_WheelSpeeds *s, cereal_CarState_WheelSpeeds_list l, int i) {
cereal_CarState_WheelSpeeds_ptr p;
p.p = capn_getp(l.p, i, 0);
cereal_read_CarState_WheelSpeeds(s, p);
}
void cereal_set_CarState_WheelSpeeds(const struct cereal_CarState_WheelSpeeds *s, cereal_CarState_WheelSpeeds_list l, int i) {
cereal_CarState_WheelSpeeds_ptr p;
p.p = capn_getp(l.p, i, 0);
cereal_write_CarState_WheelSpeeds(s, p);
}
cereal_CarState_CruiseState_ptr cereal_new_CarState_CruiseState(struct capn_segment *s) {
cereal_CarState_CruiseState_ptr p;
p.p = capn_new_struct(s, 8, 0);
return p;
}
cereal_CarState_CruiseState_list cereal_new_CarState_CruiseState_list(struct capn_segment *s, int len) {
cereal_CarState_CruiseState_list p;
p.p = capn_new_list(s, len, 8, 0);
return p;
}
void cereal_read_CarState_CruiseState(struct cereal_CarState_CruiseState *s, cereal_CarState_CruiseState_ptr p) {
capn_resolve(&p.p);
s->enabled = (capn_read8(p.p, 0) & 1) != 0;
s->speed = capn_to_f32(capn_read32(p.p, 4));
}
void cereal_write_CarState_CruiseState(const struct cereal_CarState_CruiseState *s, cereal_CarState_CruiseState_ptr p) {
capn_resolve(&p.p);
capn_write1(p.p, 0, s->enabled != 0);
capn_write32(p.p, 4, capn_from_f32(s->speed));
}
void cereal_get_CarState_CruiseState(struct cereal_CarState_CruiseState *s, cereal_CarState_CruiseState_list l, int i) {
cereal_CarState_CruiseState_ptr p;
p.p = capn_getp(l.p, i, 0);
cereal_read_CarState_CruiseState(s, p);
}
void cereal_set_CarState_CruiseState(const struct cereal_CarState_CruiseState *s, cereal_CarState_CruiseState_list l, int i) {
cereal_CarState_CruiseState_ptr p;
p.p = capn_getp(l.p, i, 0);
cereal_write_CarState_CruiseState(s, p);
}
cereal_CarState_ButtonEvent_ptr cereal_new_CarState_ButtonEvent(struct capn_segment *s) {
cereal_CarState_ButtonEvent_ptr p;
p.p = capn_new_struct(s, 8, 0);
return p;
}
cereal_CarState_ButtonEvent_list cereal_new_CarState_ButtonEvent_list(struct capn_segment *s, int len) {
cereal_CarState_ButtonEvent_list p;
p.p = capn_new_list(s, len, 8, 0);
return p;
}
void cereal_read_CarState_ButtonEvent(struct cereal_CarState_ButtonEvent *s, cereal_CarState_ButtonEvent_ptr p) {
capn_resolve(&p.p);
s->pressed = (capn_read8(p.p, 0) & 1) != 0;
s->type = (enum cereal_CarState_ButtonEvent_Type)(int) capn_read16(p.p, 2);
}
void cereal_write_CarState_ButtonEvent(const struct cereal_CarState_ButtonEvent *s, cereal_CarState_ButtonEvent_ptr p) {
capn_resolve(&p.p);
capn_write1(p.p, 0, s->pressed != 0);
capn_write16(p.p, 2, (uint16_t) (s->type));
}
void cereal_get_CarState_ButtonEvent(struct cereal_CarState_ButtonEvent *s, cereal_CarState_ButtonEvent_list l, int i) {
cereal_CarState_ButtonEvent_ptr p;
p.p = capn_getp(l.p, i, 0);
cereal_read_CarState_ButtonEvent(s, p);
}
void cereal_set_CarState_ButtonEvent(const struct cereal_CarState_ButtonEvent *s, cereal_CarState_ButtonEvent_list l, int i) {
cereal_CarState_ButtonEvent_ptr p;
p.p = capn_getp(l.p, i, 0);
cereal_write_CarState_ButtonEvent(s, p);
}
cereal_RadarState_ptr cereal_new_RadarState(struct capn_segment *s) {
cereal_RadarState_ptr p;
p.p = capn_new_struct(s, 0, 3);
return p;
}
cereal_RadarState_list cereal_new_RadarState_list(struct capn_segment *s, int len) {
cereal_RadarState_list p;
p.p = capn_new_list(s, len, 0, 3);
return p;
}
void cereal_read_RadarState(struct cereal_RadarState *s, cereal_RadarState_ptr p) {
capn_resolve(&p.p);
s->errors.p = capn_getp(p.p, 0, 0);
s->points.p = capn_getp(p.p, 1, 0);
s->canMonoTimes.p = capn_getp(p.p, 2, 0);
}
void cereal_write_RadarState(const struct cereal_RadarState *s, cereal_RadarState_ptr p) {
capn_resolve(&p.p);
capn_setp(p.p, 0, s->errors.p);
capn_setp(p.p, 1, s->points.p);
capn_setp(p.p, 2, s->canMonoTimes.p);
}
void cereal_get_RadarState(struct cereal_RadarState *s, cereal_RadarState_list l, int i) {
cereal_RadarState_ptr p;
p.p = capn_getp(l.p, i, 0);
cereal_read_RadarState(s, p);
}
void cereal_set_RadarState(const struct cereal_RadarState *s, cereal_RadarState_list l, int i) {
cereal_RadarState_ptr p;
p.p = capn_getp(l.p, i, 0);
cereal_write_RadarState(s, p);
}
cereal_RadarState_RadarPoint_ptr cereal_new_RadarState_RadarPoint(struct capn_segment *s) {
cereal_RadarState_RadarPoint_ptr p;
p.p = capn_new_struct(s, 32, 0);
return p;
}
cereal_RadarState_RadarPoint_list cereal_new_RadarState_RadarPoint_list(struct capn_segment *s, int len) {
cereal_RadarState_RadarPoint_list p;
p.p = capn_new_list(s, len, 32, 0);
return p;
}
void cereal_read_RadarState_RadarPoint(struct cereal_RadarState_RadarPoint *s, cereal_RadarState_RadarPoint_ptr p) {
capn_resolve(&p.p);
s->trackId = capn_read64(p.p, 0);
s->dRel = capn_to_f32(capn_read32(p.p, 8));
s->yRel = capn_to_f32(capn_read32(p.p, 12));
s->vRel = capn_to_f32(capn_read32(p.p, 16));
s->aRel = capn_to_f32(capn_read32(p.p, 20));
s->yvRel = capn_to_f32(capn_read32(p.p, 24));
}
void cereal_write_RadarState_RadarPoint(const struct cereal_RadarState_RadarPoint *s, cereal_RadarState_RadarPoint_ptr p) {
capn_resolve(&p.p);
capn_write64(p.p, 0, s->trackId);
capn_write32(p.p, 8, capn_from_f32(s->dRel));
capn_write32(p.p, 12, capn_from_f32(s->yRel));
capn_write32(p.p, 16, capn_from_f32(s->vRel));
capn_write32(p.p, 20, capn_from_f32(s->aRel));
capn_write32(p.p, 24, capn_from_f32(s->yvRel));
}
void cereal_get_RadarState_RadarPoint(struct cereal_RadarState_RadarPoint *s, cereal_RadarState_RadarPoint_list l, int i) {
cereal_RadarState_RadarPoint_ptr p;
p.p = capn_getp(l.p, i, 0);
cereal_read_RadarState_RadarPoint(s, p);
}
void cereal_set_RadarState_RadarPoint(const struct cereal_RadarState_RadarPoint *s, cereal_RadarState_RadarPoint_list l, int i) {
cereal_RadarState_RadarPoint_ptr p;
p.p = capn_getp(l.p, i, 0);
cereal_write_RadarState_RadarPoint(s, p);
}
cereal_CarControl_ptr cereal_new_CarControl(struct capn_segment *s) {
cereal_CarControl_ptr p;
p.p = capn_new_struct(s, 16, 2);
return p;
}
cereal_CarControl_list cereal_new_CarControl_list(struct capn_segment *s, int len) {
cereal_CarControl_list p;
p.p = capn_new_list(s, len, 16, 2);
return p;
}
void cereal_read_CarControl(struct cereal_CarControl *s, cereal_CarControl_ptr p) {
capn_resolve(&p.p);
s->enabled = (capn_read8(p.p, 0) & 1) != 0;
s->gas = capn_to_f32(capn_read32(p.p, 4));
s->brake = capn_to_f32(capn_read32(p.p, 8));
s->steeringTorque = capn_to_f32(capn_read32(p.p, 12));
s->cruiseControl.p = capn_getp(p.p, 0, 0);
s->hudControl.p = capn_getp(p.p, 1, 0);
}
void cereal_write_CarControl(const struct cereal_CarControl *s, cereal_CarControl_ptr p) {
capn_resolve(&p.p);
capn_write1(p.p, 0, s->enabled != 0);
capn_write32(p.p, 4, capn_from_f32(s->gas));
capn_write32(p.p, 8, capn_from_f32(s->brake));
capn_write32(p.p, 12, capn_from_f32(s->steeringTorque));
capn_setp(p.p, 0, s->cruiseControl.p);
capn_setp(p.p, 1, s->hudControl.p);
}
void cereal_get_CarControl(struct cereal_CarControl *s, cereal_CarControl_list l, int i) {
cereal_CarControl_ptr p;
p.p = capn_getp(l.p, i, 0);
cereal_read_CarControl(s, p);
}
void cereal_set_CarControl(const struct cereal_CarControl *s, cereal_CarControl_list l, int i) {
cereal_CarControl_ptr p;
p.p = capn_getp(l.p, i, 0);
cereal_write_CarControl(s, p);
}
cereal_CarControl_CruiseControl_ptr cereal_new_CarControl_CruiseControl(struct capn_segment *s) {
cereal_CarControl_CruiseControl_ptr p;
p.p = capn_new_struct(s, 16, 0);
return p;
}
cereal_CarControl_CruiseControl_list cereal_new_CarControl_CruiseControl_list(struct capn_segment *s, int len) {
cereal_CarControl_CruiseControl_list p;
p.p = capn_new_list(s, len, 16, 0);
return p;
}
void cereal_read_CarControl_CruiseControl(struct cereal_CarControl_CruiseControl *s, cereal_CarControl_CruiseControl_ptr p) {
capn_resolve(&p.p);
s->cancel = (capn_read8(p.p, 0) & 1) != 0;
s->override = (capn_read8(p.p, 0) & 2) != 0;
s->speedOverride = capn_to_f32(capn_read32(p.p, 4));
s->accelOverride = capn_to_f32(capn_read32(p.p, 8));
}
void cereal_write_CarControl_CruiseControl(const struct cereal_CarControl_CruiseControl *s, cereal_CarControl_CruiseControl_ptr p) {
capn_resolve(&p.p);
capn_write1(p.p, 0, s->cancel != 0);
capn_write1(p.p, 1, s->override != 0);
capn_write32(p.p, 4, capn_from_f32(s->speedOverride));
capn_write32(p.p, 8, capn_from_f32(s->accelOverride));
}
void cereal_get_CarControl_CruiseControl(struct cereal_CarControl_CruiseControl *s, cereal_CarControl_CruiseControl_list l, int i) {
cereal_CarControl_CruiseControl_ptr p;
p.p = capn_getp(l.p, i, 0);
cereal_read_CarControl_CruiseControl(s, p);
}
void cereal_set_CarControl_CruiseControl(const struct cereal_CarControl_CruiseControl *s, cereal_CarControl_CruiseControl_list l, int i) {
cereal_CarControl_CruiseControl_ptr p;
p.p = capn_getp(l.p, i, 0);
cereal_write_CarControl_CruiseControl(s, p);
}
cereal_CarControl_HUDControl_ptr cereal_new_CarControl_HUDControl(struct capn_segment *s) {
cereal_CarControl_HUDControl_ptr p;
p.p = capn_new_struct(s, 16, 0);
return p;
}
cereal_CarControl_HUDControl_list cereal_new_CarControl_HUDControl_list(struct capn_segment *s, int len) {
cereal_CarControl_HUDControl_list p;
p.p = capn_new_list(s, len, 16, 0);
return p;
}
void cereal_read_CarControl_HUDControl(struct cereal_CarControl_HUDControl *s, cereal_CarControl_HUDControl_ptr p) {
capn_resolve(&p.p);
s->speedVisible = (capn_read8(p.p, 0) & 1) != 0;
s->setSpeed = capn_to_f32(capn_read32(p.p, 4));
s->lanesVisible = (capn_read8(p.p, 0) & 2) != 0;
s->leadVisible = (capn_read8(p.p, 0) & 4) != 0;
s->visualAlert = (enum cereal_CarControl_HUDControl_VisualAlert)(int) capn_read16(p.p, 2);
s->audibleAlert = (enum cereal_CarControl_HUDControl_AudibleAlert)(int) capn_read16(p.p, 8);
}
void cereal_write_CarControl_HUDControl(const struct cereal_CarControl_HUDControl *s, cereal_CarControl_HUDControl_ptr p) {
capn_resolve(&p.p);
capn_write1(p.p, 0, s->speedVisible != 0);
capn_write32(p.p, 4, capn_from_f32(s->setSpeed));
capn_write1(p.p, 1, s->lanesVisible != 0);
capn_write1(p.p, 2, s->leadVisible != 0);
capn_write16(p.p, 2, (uint16_t) (s->visualAlert));
capn_write16(p.p, 8, (uint16_t) (s->audibleAlert));
}
void cereal_get_CarControl_HUDControl(struct cereal_CarControl_HUDControl *s, cereal_CarControl_HUDControl_list l, int i) {
cereal_CarControl_HUDControl_ptr p;
p.p = capn_getp(l.p, i, 0);
cereal_read_CarControl_HUDControl(s, p);
}
void cereal_set_CarControl_HUDControl(const struct cereal_CarControl_HUDControl *s, cereal_CarControl_HUDControl_list l, int i) {
cereal_CarControl_HUDControl_ptr p;
p.p = capn_getp(l.p, i, 0);
cereal_write_CarControl_HUDControl(s, p);
}

287
cereal/gen/c/car.capnp.h
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@ -1,287 +0,0 @@
#ifndef CAPN_8E2AF1E78AF8B8D
#define CAPN_8E2AF1E78AF8B8D
/* AUTO GENERATED - DO NOT EDIT */
#include <capnp_c.h>
#if CAPN_VERSION != 1
#error "version mismatch between capnp_c.h and generated code"
#endif
#include "c++.capnp.h"
#ifdef __cplusplus
extern "C" {
#endif
struct cereal_CarState;
struct cereal_CarState_WheelSpeeds;
struct cereal_CarState_CruiseState;
struct cereal_CarState_ButtonEvent;
struct cereal_RadarState;
struct cereal_RadarState_RadarPoint;
struct cereal_CarControl;
struct cereal_CarControl_CruiseControl;
struct cereal_CarControl_HUDControl;
typedef struct {capn_ptr p;} cereal_CarState_ptr;
typedef struct {capn_ptr p;} cereal_CarState_WheelSpeeds_ptr;
typedef struct {capn_ptr p;} cereal_CarState_CruiseState_ptr;
typedef struct {capn_ptr p;} cereal_CarState_ButtonEvent_ptr;
typedef struct {capn_ptr p;} cereal_RadarState_ptr;
typedef struct {capn_ptr p;} cereal_RadarState_RadarPoint_ptr;
typedef struct {capn_ptr p;} cereal_CarControl_ptr;
typedef struct {capn_ptr p;} cereal_CarControl_CruiseControl_ptr;
typedef struct {capn_ptr p;} cereal_CarControl_HUDControl_ptr;
typedef struct {capn_ptr p;} cereal_CarState_list;
typedef struct {capn_ptr p;} cereal_CarState_WheelSpeeds_list;
typedef struct {capn_ptr p;} cereal_CarState_CruiseState_list;
typedef struct {capn_ptr p;} cereal_CarState_ButtonEvent_list;
typedef struct {capn_ptr p;} cereal_RadarState_list;
typedef struct {capn_ptr p;} cereal_RadarState_RadarPoint_list;
typedef struct {capn_ptr p;} cereal_CarControl_list;
typedef struct {capn_ptr p;} cereal_CarControl_CruiseControl_list;
typedef struct {capn_ptr p;} cereal_CarControl_HUDControl_list;
enum cereal_CarState_Error {
cereal_CarState_Error_commIssue = 0,
cereal_CarState_Error_steerUnavailable = 1,
cereal_CarState_Error_brakeUnavailable = 2,
cereal_CarState_Error_gasUnavailable = 3,
cereal_CarState_Error_wrongGear = 4,
cereal_CarState_Error_doorOpen = 5,
cereal_CarState_Error_seatbeltNotLatched = 6,
cereal_CarState_Error_espDisabled = 7,
cereal_CarState_Error_wrongCarMode = 8,
cereal_CarState_Error_steerTemporarilyUnavailable = 9,
cereal_CarState_Error_reverseGear = 10
};
enum cereal_CarState_ButtonEvent_Type {
cereal_CarState_ButtonEvent_Type_unknown = 0,
cereal_CarState_ButtonEvent_Type_leftBlinker = 1,
cereal_CarState_ButtonEvent_Type_rightBlinker = 2,
cereal_CarState_ButtonEvent_Type_accelCruise = 3,
cereal_CarState_ButtonEvent_Type_decelCruise = 4,
cereal_CarState_ButtonEvent_Type_cancel = 5,
cereal_CarState_ButtonEvent_Type_altButton1 = 6,
cereal_CarState_ButtonEvent_Type_altButton2 = 7,
cereal_CarState_ButtonEvent_Type_altButton3 = 8
};
enum cereal_RadarState_Error {
cereal_RadarState_Error_notValid = 0
};
enum cereal_CarControl_HUDControl_VisualAlert {
cereal_CarControl_HUDControl_VisualAlert_none = 0,
cereal_CarControl_HUDControl_VisualAlert_fcw = 1,
cereal_CarControl_HUDControl_VisualAlert_steerRequired = 2,
cereal_CarControl_HUDControl_VisualAlert_brakePressed = 3,
cereal_CarControl_HUDControl_VisualAlert_wrongGear = 4,
cereal_CarControl_HUDControl_VisualAlert_seatbeltUnbuckled = 5,
cereal_CarControl_HUDControl_VisualAlert_speedTooHigh = 6
};
enum cereal_CarControl_HUDControl_AudibleAlert {
cereal_CarControl_HUDControl_AudibleAlert_none = 0,
cereal_CarControl_HUDControl_AudibleAlert_beepSingle = 1,
cereal_CarControl_HUDControl_AudibleAlert_beepTriple = 2,
cereal_CarControl_HUDControl_AudibleAlert_beepRepeated = 3,
cereal_CarControl_HUDControl_AudibleAlert_chimeSingle = 4,
cereal_CarControl_HUDControl_AudibleAlert_chimeDouble = 5,
cereal_CarControl_HUDControl_AudibleAlert_chimeRepeated = 6,
cereal_CarControl_HUDControl_AudibleAlert_chimeContinuous = 7
};
struct cereal_CarState {
capn_list16 errors;
float vEgo;
cereal_CarState_WheelSpeeds_ptr wheelSpeeds;
float gas;
unsigned gasPressed : 1;
float brake;
unsigned brakePressed : 1;
float steeringAngle;
float steeringTorque;
unsigned steeringPressed : 1;
cereal_CarState_CruiseState_ptr cruiseState;
cereal_CarState_ButtonEvent_list buttonEvents;
capn_list64 canMonoTimes;
};
static const size_t cereal_CarState_word_count = 3;
static const size_t cereal_CarState_pointer_count = 5;
static const size_t cereal_CarState_struct_bytes_count = 64;
struct cereal_CarState_WheelSpeeds {
float fl;
float fr;
float rl;
float rr;
};
static const size_t cereal_CarState_WheelSpeeds_word_count = 2;
static const size_t cereal_CarState_WheelSpeeds_pointer_count = 0;
static const size_t cereal_CarState_WheelSpeeds_struct_bytes_count = 16;
struct cereal_CarState_CruiseState {
unsigned enabled : 1;
float speed;
};
static const size_t cereal_CarState_CruiseState_word_count = 1;
static const size_t cereal_CarState_CruiseState_pointer_count = 0;
static const size_t cereal_CarState_CruiseState_struct_bytes_count = 8;
struct cereal_CarState_ButtonEvent {
unsigned pressed : 1;
enum cereal_CarState_ButtonEvent_Type type;
};
static const size_t cereal_CarState_ButtonEvent_word_count = 1;
static const size_t cereal_CarState_ButtonEvent_pointer_count = 0;
static const size_t cereal_CarState_ButtonEvent_struct_bytes_count = 8;
struct cereal_RadarState {
capn_list16 errors;
cereal_RadarState_RadarPoint_list points;
capn_list64 canMonoTimes;
};
static const size_t cereal_RadarState_word_count = 0;
static const size_t cereal_RadarState_pointer_count = 3;
static const size_t cereal_RadarState_struct_bytes_count = 24;
struct cereal_RadarState_RadarPoint {
uint64_t trackId;
float dRel;
float yRel;
float vRel;
float aRel;
float yvRel;
};
static const size_t cereal_RadarState_RadarPoint_word_count = 4;
static const size_t cereal_RadarState_RadarPoint_pointer_count = 0;
static const size_t cereal_RadarState_RadarPoint_struct_bytes_count = 32;
struct cereal_CarControl {
unsigned enabled : 1;
float gas;
float brake;
float steeringTorque;
cereal_CarControl_CruiseControl_ptr cruiseControl;
cereal_CarControl_HUDControl_ptr hudControl;
};
static const size_t cereal_CarControl_word_count = 2;
static const size_t cereal_CarControl_pointer_count = 2;
static const size_t cereal_CarControl_struct_bytes_count = 32;
struct cereal_CarControl_CruiseControl {
unsigned cancel : 1;
unsigned override : 1;
float speedOverride;
float accelOverride;
};
static const size_t cereal_CarControl_CruiseControl_word_count = 2;
static const size_t cereal_CarControl_CruiseControl_pointer_count = 0;
static const size_t cereal_CarControl_CruiseControl_struct_bytes_count = 16;
struct cereal_CarControl_HUDControl {
unsigned speedVisible : 1;
float setSpeed;
unsigned lanesVisible : 1;
unsigned leadVisible : 1;
enum cereal_CarControl_HUDControl_VisualAlert visualAlert;
enum cereal_CarControl_HUDControl_AudibleAlert audibleAlert;
};
static const size_t cereal_CarControl_HUDControl_word_count = 2;
static const size_t cereal_CarControl_HUDControl_pointer_count = 0;
static const size_t cereal_CarControl_HUDControl_struct_bytes_count = 16;
cereal_CarState_ptr cereal_new_CarState(struct capn_segment*);
cereal_CarState_WheelSpeeds_ptr cereal_new_CarState_WheelSpeeds(struct capn_segment*);
cereal_CarState_CruiseState_ptr cereal_new_CarState_CruiseState(struct capn_segment*);
cereal_CarState_ButtonEvent_ptr cereal_new_CarState_ButtonEvent(struct capn_segment*);
cereal_RadarState_ptr cereal_new_RadarState(struct capn_segment*);
cereal_RadarState_RadarPoint_ptr cereal_new_RadarState_RadarPoint(struct capn_segment*);
cereal_CarControl_ptr cereal_new_CarControl(struct capn_segment*);
cereal_CarControl_CruiseControl_ptr cereal_new_CarControl_CruiseControl(struct capn_segment*);
cereal_CarControl_HUDControl_ptr cereal_new_CarControl_HUDControl(struct capn_segment*);
cereal_CarState_list cereal_new_CarState_list(struct capn_segment*, int len);
cereal_CarState_WheelSpeeds_list cereal_new_CarState_WheelSpeeds_list(struct capn_segment*, int len);
cereal_CarState_CruiseState_list cereal_new_CarState_CruiseState_list(struct capn_segment*, int len);
cereal_CarState_ButtonEvent_list cereal_new_CarState_ButtonEvent_list(struct capn_segment*, int len);
cereal_RadarState_list cereal_new_RadarState_list(struct capn_segment*, int len);
cereal_RadarState_RadarPoint_list cereal_new_RadarState_RadarPoint_list(struct capn_segment*, int len);
cereal_CarControl_list cereal_new_CarControl_list(struct capn_segment*, int len);
cereal_CarControl_CruiseControl_list cereal_new_CarControl_CruiseControl_list(struct capn_segment*, int len);
cereal_CarControl_HUDControl_list cereal_new_CarControl_HUDControl_list(struct capn_segment*, int len);
void cereal_read_CarState(struct cereal_CarState*, cereal_CarState_ptr);
void cereal_read_CarState_WheelSpeeds(struct cereal_CarState_WheelSpeeds*, cereal_CarState_WheelSpeeds_ptr);
void cereal_read_CarState_CruiseState(struct cereal_CarState_CruiseState*, cereal_CarState_CruiseState_ptr);
void cereal_read_CarState_ButtonEvent(struct cereal_CarState_ButtonEvent*, cereal_CarState_ButtonEvent_ptr);
void cereal_read_RadarState(struct cereal_RadarState*, cereal_RadarState_ptr);
void cereal_read_RadarState_RadarPoint(struct cereal_RadarState_RadarPoint*, cereal_RadarState_RadarPoint_ptr);
void cereal_read_CarControl(struct cereal_CarControl*, cereal_CarControl_ptr);
void cereal_read_CarControl_CruiseControl(struct cereal_CarControl_CruiseControl*, cereal_CarControl_CruiseControl_ptr);
void cereal_read_CarControl_HUDControl(struct cereal_CarControl_HUDControl*, cereal_CarControl_HUDControl_ptr);
void cereal_write_CarState(const struct cereal_CarState*, cereal_CarState_ptr);
void cereal_write_CarState_WheelSpeeds(const struct cereal_CarState_WheelSpeeds*, cereal_CarState_WheelSpeeds_ptr);
void cereal_write_CarState_CruiseState(const struct cereal_CarState_CruiseState*, cereal_CarState_CruiseState_ptr);
void cereal_write_CarState_ButtonEvent(const struct cereal_CarState_ButtonEvent*, cereal_CarState_ButtonEvent_ptr);
void cereal_write_RadarState(const struct cereal_RadarState*, cereal_RadarState_ptr);
void cereal_write_RadarState_RadarPoint(const struct cereal_RadarState_RadarPoint*, cereal_RadarState_RadarPoint_ptr);
void cereal_write_CarControl(const struct cereal_CarControl*, cereal_CarControl_ptr);
void cereal_write_CarControl_CruiseControl(const struct cereal_CarControl_CruiseControl*, cereal_CarControl_CruiseControl_ptr);
void cereal_write_CarControl_HUDControl(const struct cereal_CarControl_HUDControl*, cereal_CarControl_HUDControl_ptr);
void cereal_get_CarState(struct cereal_CarState*, cereal_CarState_list, int i);
void cereal_get_CarState_WheelSpeeds(struct cereal_CarState_WheelSpeeds*, cereal_CarState_WheelSpeeds_list, int i);
void cereal_get_CarState_CruiseState(struct cereal_CarState_CruiseState*, cereal_CarState_CruiseState_list, int i);
void cereal_get_CarState_ButtonEvent(struct cereal_CarState_ButtonEvent*, cereal_CarState_ButtonEvent_list, int i);
void cereal_get_RadarState(struct cereal_RadarState*, cereal_RadarState_list, int i);
void cereal_get_RadarState_RadarPoint(struct cereal_RadarState_RadarPoint*, cereal_RadarState_RadarPoint_list, int i);
void cereal_get_CarControl(struct cereal_CarControl*, cereal_CarControl_list, int i);
void cereal_get_CarControl_CruiseControl(struct cereal_CarControl_CruiseControl*, cereal_CarControl_CruiseControl_list, int i);
void cereal_get_CarControl_HUDControl(struct cereal_CarControl_HUDControl*, cereal_CarControl_HUDControl_list, int i);
void cereal_set_CarState(const struct cereal_CarState*, cereal_CarState_list, int i);
void cereal_set_CarState_WheelSpeeds(const struct cereal_CarState_WheelSpeeds*, cereal_CarState_WheelSpeeds_list, int i);
void cereal_set_CarState_CruiseState(const struct cereal_CarState_CruiseState*, cereal_CarState_CruiseState_list, int i);
void cereal_set_CarState_ButtonEvent(const struct cereal_CarState_ButtonEvent*, cereal_CarState_ButtonEvent_list, int i);
void cereal_set_RadarState(const struct cereal_RadarState*, cereal_RadarState_list, int i);
void cereal_set_RadarState_RadarPoint(const struct cereal_RadarState_RadarPoint*, cereal_RadarState_RadarPoint_list, int i);
void cereal_set_CarControl(const struct cereal_CarControl*, cereal_CarControl_list, int i);
void cereal_set_CarControl_CruiseControl(const struct cereal_CarControl_CruiseControl*, cereal_CarControl_CruiseControl_list, int i);
void cereal_set_CarControl_HUDControl(const struct cereal_CarControl_HUDControl*, cereal_CarControl_HUDControl_list, int i);
#ifdef __cplusplus
}
#endif
#endif

1075
cereal/gen/c/log.capnp.c
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712
cereal/gen/c/log.capnp.h
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@ -1,712 +0,0 @@
#ifndef CAPN_F3B1F17E25A4285B
#define CAPN_F3B1F17E25A4285B
/* AUTO GENERATED - DO NOT EDIT */
#include <capnp_c.h>
#if CAPN_VERSION != 1
#error "version mismatch between capnp_c.h and generated code"
#endif
#include "c++.capnp.h"
#include "car.capnp.h"
#ifdef __cplusplus
extern "C" {
#endif
struct cereal_InitData;
struct cereal_FrameData;
struct cereal_GPSNMEAData;
struct cereal_SensorEventData;
struct cereal_SensorEventData_SensorVec;
struct cereal_GpsLocationData;
struct cereal_CanData;
struct cereal_ThermalData;
struct cereal_HealthData;
struct cereal_LiveUI;
struct cereal_Live20Data;
struct cereal_Live20Data_LeadData;
struct cereal_LiveCalibrationData;
struct cereal_LiveTracks;
struct cereal_Live100Data;
struct cereal_LiveEventData;
struct cereal_ModelData;
struct cereal_ModelData_PathData;
struct cereal_ModelData_LeadData;
struct cereal_ModelData_ModelSettings;
struct cereal_CalibrationFeatures;
struct cereal_EncodeIndex;
struct cereal_AndroidLogEntry;
struct cereal_LogRotate;
struct cereal_Event;
typedef struct {capn_ptr p;} cereal_InitData_ptr;
typedef struct {capn_ptr p;} cereal_FrameData_ptr;
typedef struct {capn_ptr p;} cereal_GPSNMEAData_ptr;
typedef struct {capn_ptr p;} cereal_SensorEventData_ptr;
typedef struct {capn_ptr p;} cereal_SensorEventData_SensorVec_ptr;
typedef struct {capn_ptr p;} cereal_GpsLocationData_ptr;
typedef struct {capn_ptr p;} cereal_CanData_ptr;
typedef struct {capn_ptr p;} cereal_ThermalData_ptr;
typedef struct {capn_ptr p;} cereal_HealthData_ptr;
typedef struct {capn_ptr p;} cereal_LiveUI_ptr;
typedef struct {capn_ptr p;} cereal_Live20Data_ptr;
typedef struct {capn_ptr p;} cereal_Live20Data_LeadData_ptr;
typedef struct {capn_ptr p;} cereal_LiveCalibrationData_ptr;
typedef struct {capn_ptr p;} cereal_LiveTracks_ptr;
typedef struct {capn_ptr p;} cereal_Live100Data_ptr;
typedef struct {capn_ptr p;} cereal_LiveEventData_ptr;
typedef struct {capn_ptr p;} cereal_ModelData_ptr;
typedef struct {capn_ptr p;} cereal_ModelData_PathData_ptr;
typedef struct {capn_ptr p;} cereal_ModelData_LeadData_ptr;
typedef struct {capn_ptr p;} cereal_ModelData_ModelSettings_ptr;
typedef struct {capn_ptr p;} cereal_CalibrationFeatures_ptr;
typedef struct {capn_ptr p;} cereal_EncodeIndex_ptr;
typedef struct {capn_ptr p;} cereal_AndroidLogEntry_ptr;
typedef struct {capn_ptr p;} cereal_LogRotate_ptr;
typedef struct {capn_ptr p;} cereal_Event_ptr;
typedef struct {capn_ptr p;} cereal_InitData_list;
typedef struct {capn_ptr p;} cereal_FrameData_list;
typedef struct {capn_ptr p;} cereal_GPSNMEAData_list;
typedef struct {capn_ptr p;} cereal_SensorEventData_list;
typedef struct {capn_ptr p;} cereal_SensorEventData_SensorVec_list;
typedef struct {capn_ptr p;} cereal_GpsLocationData_list;
typedef struct {capn_ptr p;} cereal_CanData_list;
typedef struct {capn_ptr p;} cereal_ThermalData_list;
typedef struct {capn_ptr p;} cereal_HealthData_list;
typedef struct {capn_ptr p;} cereal_LiveUI_list;
typedef struct {capn_ptr p;} cereal_Live20Data_list;
typedef struct {capn_ptr p;} cereal_Live20Data_LeadData_list;
typedef struct {capn_ptr p;} cereal_LiveCalibrationData_list;
typedef struct {capn_ptr p;} cereal_LiveTracks_list;
typedef struct {capn_ptr p;} cereal_Live100Data_list;
typedef struct {capn_ptr p;} cereal_LiveEventData_list;
typedef struct {capn_ptr p;} cereal_ModelData_list;
typedef struct {capn_ptr p;} cereal_ModelData_PathData_list;
typedef struct {capn_ptr p;} cereal_ModelData_LeadData_list;
typedef struct {capn_ptr p;} cereal_ModelData_ModelSettings_list;
typedef struct {capn_ptr p;} cereal_CalibrationFeatures_list;
typedef struct {capn_ptr p;} cereal_EncodeIndex_list;
typedef struct {capn_ptr p;} cereal_AndroidLogEntry_list;
typedef struct {capn_ptr p;} cereal_LogRotate_list;
typedef struct {capn_ptr p;} cereal_Event_list;
enum cereal_SensorEventData_SensorSource {
cereal_SensorEventData_SensorSource_android = 0,
cereal_SensorEventData_SensorSource_iOS = 1,
cereal_SensorEventData_SensorSource_fiber = 2,
cereal_SensorEventData_SensorSource_velodyne = 3
};
enum cereal_EncodeIndex_Type {
cereal_EncodeIndex_Type_bigBoxLossless = 0,
cereal_EncodeIndex_Type_fullHEVC = 1,
cereal_EncodeIndex_Type_bigBoxHEVC = 2
};
extern int32_t cereal_logVersion;
struct cereal_InitData {
capn_ptr kernelArgs;
capn_text gctx;
capn_text dongleId;
};
static const size_t cereal_InitData_word_count = 0;
static const size_t cereal_InitData_pointer_count = 3;
static const size_t cereal_InitData_struct_bytes_count = 24;
struct cereal_FrameData {
uint32_t frameId;
uint32_t encodeId;
uint64_t timestampEof;
int32_t frameLength;
int32_t integLines;
int32_t globalGain;
capn_data image;
};
static const size_t cereal_FrameData_word_count = 4;
static const size_t cereal_FrameData_pointer_count = 1;
static const size_t cereal_FrameData_struct_bytes_count = 40;
struct cereal_GPSNMEAData {
int64_t timestamp;
uint64_t localWallTime;
capn_text nmea;
};
static const size_t cereal_GPSNMEAData_word_count = 2;
static const size_t cereal_GPSNMEAData_pointer_count = 1;
static const size_t cereal_GPSNMEAData_struct_bytes_count = 24;
enum cereal_SensorEventData_which {
cereal_SensorEventData_acceleration = 0,
cereal_SensorEventData_magnetic = 1,
cereal_SensorEventData_orientation = 2,
cereal_SensorEventData_gyro = 3
};
struct cereal_SensorEventData {
int32_t version;
int32_t sensor;
int32_t type;
int64_t timestamp;
enum cereal_SensorEventData_which which;
union {
cereal_SensorEventData_SensorVec_ptr acceleration;
cereal_SensorEventData_SensorVec_ptr magnetic;
cereal_SensorEventData_SensorVec_ptr orientation;
cereal_SensorEventData_SensorVec_ptr gyro;
};
enum cereal_SensorEventData_SensorSource source;
};
static const size_t cereal_SensorEventData_word_count = 3;
static const size_t cereal_SensorEventData_pointer_count = 1;
static const size_t cereal_SensorEventData_struct_bytes_count = 32;
struct cereal_SensorEventData_SensorVec {
capn_list32 v;
int8_t status;
};
static const size_t cereal_SensorEventData_SensorVec_word_count = 1;
static const size_t cereal_SensorEventData_SensorVec_pointer_count = 1;
static const size_t cereal_SensorEventData_SensorVec_struct_bytes_count = 16;
struct cereal_GpsLocationData {
uint16_t flags;
double latitude;
double longitude;
double altitude;
float speed;
float bearing;
float accuracy;
int64_t timestamp;
};
static const size_t cereal_GpsLocationData_word_count = 6;
static const size_t cereal_GpsLocationData_pointer_count = 0;
static const size_t cereal_GpsLocationData_struct_bytes_count = 48;
struct cereal_CanData {
uint32_t address;
uint16_t busTime;
capn_data dat;
int8_t src;
};
static const size_t cereal_CanData_word_count = 1;
static const size_t cereal_CanData_pointer_count = 1;
static const size_t cereal_CanData_struct_bytes_count = 16;
struct cereal_ThermalData {
uint16_t cpu0;
uint16_t cpu1;
uint16_t cpu2;
uint16_t cpu3;
uint16_t mem;
uint16_t gpu;
uint32_t bat;
float freeSpace;
int16_t batteryPercent;
capn_text batteryStatus;
};
static const size_t cereal_ThermalData_word_count = 3;
static const size_t cereal_ThermalData_pointer_count = 1;
static const size_t cereal_ThermalData_struct_bytes_count = 32;
struct cereal_HealthData {
uint32_t voltage;
uint32_t current;
unsigned started : 1;
unsigned controlsAllowed : 1;
unsigned gasInterceptorDetected : 1;
unsigned startedSignalDetected : 1;
};
static const size_t cereal_HealthData_word_count = 2;
static const size_t cereal_HealthData_pointer_count = 0;
static const size_t cereal_HealthData_struct_bytes_count = 16;
struct cereal_LiveUI {
unsigned rearViewCam : 1;
capn_text alertText1;
capn_text alertText2;
float awarenessStatus;
};
static const size_t cereal_LiveUI_word_count = 1;
static const size_t cereal_LiveUI_pointer_count = 2;
static const size_t cereal_LiveUI_struct_bytes_count = 24;
struct cereal_Live20Data {
capn_list64 canMonoTimes;
uint64_t mdMonoTime;
uint64_t ftMonoTime;
capn_list32 warpMatrixDEPRECATED;
float angleOffsetDEPRECATED;
int8_t calStatusDEPRECATED;
int32_t calCycleDEPRECATED;
int8_t calPercDEPRECATED;
cereal_Live20Data_LeadData_ptr leadOne;
cereal_Live20Data_LeadData_ptr leadTwo;
float cumLagMs;
};
static const size_t cereal_Live20Data_word_count = 4;
static const size_t cereal_Live20Data_pointer_count = 4;
static const size_t cereal_Live20Data_struct_bytes_count = 64;
struct cereal_Live20Data_LeadData {
float dRel;
float yRel;
float vRel;
float aRel;
float vLead;
float aLead;
float dPath;
float vLat;
float vLeadK;
float aLeadK;
unsigned fcw : 1;
unsigned status : 1;
};
static const size_t cereal_Live20Data_LeadData_word_count = 6;
static const size_t cereal_Live20Data_LeadData_pointer_count = 0;
static const size_t cereal_Live20Data_LeadData_struct_bytes_count = 48;
struct cereal_LiveCalibrationData {
capn_list32 warpMatrix;
int8_t calStatus;
int32_t calCycle;
int8_t calPerc;
};
static const size_t cereal_LiveCalibrationData_word_count = 1;
static const size_t cereal_LiveCalibrationData_pointer_count = 1;
static const size_t cereal_LiveCalibrationData_struct_bytes_count = 16;
struct cereal_LiveTracks {
int32_t trackId;
float dRel;
float yRel;
float vRel;
float aRel;
float timeStamp;
float status;
float currentTime;
unsigned stationary : 1;
unsigned oncoming : 1;
};
static const size_t cereal_LiveTracks_word_count = 5;
static const size_t cereal_LiveTracks_pointer_count = 0;
static const size_t cereal_LiveTracks_struct_bytes_count = 40;
struct cereal_Live100Data {
uint64_t canMonoTime;
capn_list64 canMonoTimes;
uint64_t l20MonoTime;
uint64_t mdMonoTime;
float vEgo;
float aEgoDEPRECATED;
float vPid;
float vTargetLead;
float upAccelCmd;
float uiAccelCmd;
float yActual;
float yDes;
float upSteer;
float uiSteer;
float aTargetMin;
float aTargetMax;
float jerkFactor;
float angleSteers;
int32_t hudLeadDEPRECATED;
float cumLagMs;
unsigned enabled : 1;
unsigned steerOverride : 1;
float vCruise;
unsigned rearViewCam : 1;
capn_text alertText1;
capn_text alertText2;
float awarenessStatus;
};
static const size_t cereal_Live100Data_word_count = 13;
static const size_t cereal_Live100Data_pointer_count = 3;
static const size_t cereal_Live100Data_struct_bytes_count = 128;
struct cereal_LiveEventData {
capn_text name;
int32_t value;
};
static const size_t cereal_LiveEventData_word_count = 1;
static const size_t cereal_LiveEventData_pointer_count = 1;
static const size_t cereal_LiveEventData_struct_bytes_count = 16;
struct cereal_ModelData {
uint32_t frameId;
cereal_ModelData_PathData_ptr path;
cereal_ModelData_PathData_ptr leftLane;
cereal_ModelData_PathData_ptr rightLane;
cereal_ModelData_LeadData_ptr lead;
cereal_ModelData_ModelSettings_ptr settings;
};
static const size_t cereal_ModelData_word_count = 1;
static const size_t cereal_ModelData_pointer_count = 5;
static const size_t cereal_ModelData_struct_bytes_count = 48;
struct cereal_ModelData_PathData {
capn_list32 points;
float prob;
float std;
};
static const size_t cereal_ModelData_PathData_word_count = 1;
static const size_t cereal_ModelData_PathData_pointer_count = 1;
static const size_t cereal_ModelData_PathData_struct_bytes_count = 16;
struct cereal_ModelData_LeadData {
float dist;
float prob;
float std;
};
static const size_t cereal_ModelData_LeadData_word_count = 2;
static const size_t cereal_ModelData_LeadData_pointer_count = 0;
static const size_t cereal_ModelData_LeadData_struct_bytes_count = 16;
struct cereal_ModelData_ModelSettings {
uint16_t bigBoxX;
uint16_t bigBoxY;
uint16_t bigBoxWidth;
uint16_t bigBoxHeight;
capn_list32 boxProjection;
capn_list32 yuvCorrection;
};
static const size_t cereal_ModelData_ModelSettings_word_count = 1;
static const size_t cereal_ModelData_ModelSettings_pointer_count = 2;
static const size_t cereal_ModelData_ModelSettings_struct_bytes_count = 24;
struct cereal_CalibrationFeatures {
uint32_t frameId;
capn_list32 p0;
capn_list32 p1;
capn_list8 status;
};
static const size_t cereal_CalibrationFeatures_word_count = 1;
static const size_t cereal_CalibrationFeatures_pointer_count = 3;
static const size_t cereal_CalibrationFeatures_struct_bytes_count = 32;
struct cereal_EncodeIndex {
uint32_t frameId;
enum cereal_EncodeIndex_Type type;
uint32_t encodeId;
int32_t segmentNum;
uint32_t segmentId;
};
static const size_t cereal_EncodeIndex_word_count = 3;
static const size_t cereal_EncodeIndex_pointer_count = 0;
static const size_t cereal_EncodeIndex_struct_bytes_count = 24;
struct cereal_AndroidLogEntry {
uint8_t id;
uint64_t ts;
uint8_t priority;
int32_t pid;
int32_t tid;
capn_text tag;
capn_text message;
};
static const size_t cereal_AndroidLogEntry_word_count = 3;
static const size_t cereal_AndroidLogEntry_pointer_count = 2;
static const size_t cereal_AndroidLogEntry_struct_bytes_count = 40;
struct cereal_LogRotate {
int32_t segmentNum;
capn_text path;
};
static const size_t cereal_LogRotate_word_count = 1;
static const size_t cereal_LogRotate_pointer_count = 1;
static const size_t cereal_LogRotate_struct_bytes_count = 16;
enum cereal_Event_which {
cereal_Event_initData = 0,
cereal_Event_frame = 1,
cereal_Event_gpsNMEA = 2,
cereal_Event_sensorEventDEPRECATED = 3,
cereal_Event_can = 4,
cereal_Event_thermal = 5,
cereal_Event_live100 = 6,
cereal_Event_liveEventDEPRECATED = 7,
cereal_Event_model = 8,
cereal_Event_features = 9,
cereal_Event_sensorEvents = 10,
cereal_Event_health = 11,
cereal_Event_live20 = 12,
cereal_Event_liveUIDEPRECATED = 13,
cereal_Event_encodeIdx = 14,
cereal_Event_liveTracks = 15,
cereal_Event_sendcan = 16,
cereal_Event_logMessage = 17,
cereal_Event_liveCalibration = 18,
cereal_Event_androidLogEntry = 19,
cereal_Event_gpsLocation = 20,
cereal_Event_carState = 21,
cereal_Event_carControl = 22
};
struct cereal_Event {
uint64_t logMonoTime;
enum cereal_Event_which which;
union {
cereal_InitData_ptr initData;
cereal_FrameData_ptr frame;
cereal_GPSNMEAData_ptr gpsNMEA;
cereal_SensorEventData_ptr sensorEventDEPRECATED;
cereal_CanData_list can;
cereal_ThermalData_ptr thermal;
cereal_Live100Data_ptr live100;
cereal_LiveEventData_list liveEventDEPRECATED;
cereal_ModelData_ptr model;
cereal_CalibrationFeatures_ptr features;
cereal_SensorEventData_list sensorEvents;
cereal_HealthData_ptr health;
cereal_Live20Data_ptr live20;
cereal_LiveUI_ptr liveUIDEPRECATED;
cereal_EncodeIndex_ptr encodeIdx;
cereal_LiveTracks_list liveTracks;
cereal_CanData_list sendcan;
capn_text logMessage;
cereal_LiveCalibrationData_ptr liveCalibration;
cereal_AndroidLogEntry_ptr androidLogEntry;
cereal_GpsLocationData_ptr gpsLocation;
cereal_CarState_ptr carState;
cereal_CarControl_ptr carControl;
};
};
static const size_t cereal_Event_word_count = 2;
static const size_t cereal_Event_pointer_count = 1;
static const size_t cereal_Event_struct_bytes_count = 24;
cereal_InitData_ptr cereal_new_InitData(struct capn_segment*);
cereal_FrameData_ptr cereal_new_FrameData(struct capn_segment*);
cereal_GPSNMEAData_ptr cereal_new_GPSNMEAData(struct capn_segment*);
cereal_SensorEventData_ptr cereal_new_SensorEventData(struct capn_segment*);
cereal_SensorEventData_SensorVec_ptr cereal_new_SensorEventData_SensorVec(struct capn_segment*);
cereal_GpsLocationData_ptr cereal_new_GpsLocationData(struct capn_segment*);
cereal_CanData_ptr cereal_new_CanData(struct capn_segment*);
cereal_ThermalData_ptr cereal_new_ThermalData(struct capn_segment*);
cereal_HealthData_ptr cereal_new_HealthData(struct capn_segment*);
cereal_LiveUI_ptr cereal_new_LiveUI(struct capn_segment*);
cereal_Live20Data_ptr cereal_new_Live20Data(struct capn_segment*);
cereal_Live20Data_LeadData_ptr cereal_new_Live20Data_LeadData(struct capn_segment*);
cereal_LiveCalibrationData_ptr cereal_new_LiveCalibrationData(struct capn_segment*);
cereal_LiveTracks_ptr cereal_new_LiveTracks(struct capn_segment*);
cereal_Live100Data_ptr cereal_new_Live100Data(struct capn_segment*);
cereal_LiveEventData_ptr cereal_new_LiveEventData(struct capn_segment*);
cereal_ModelData_ptr cereal_new_ModelData(struct capn_segment*);
cereal_ModelData_PathData_ptr cereal_new_ModelData_PathData(struct capn_segment*);
cereal_ModelData_LeadData_ptr cereal_new_ModelData_LeadData(struct capn_segment*);
cereal_ModelData_ModelSettings_ptr cereal_new_ModelData_ModelSettings(struct capn_segment*);
cereal_CalibrationFeatures_ptr cereal_new_CalibrationFeatures(struct capn_segment*);
cereal_EncodeIndex_ptr cereal_new_EncodeIndex(struct capn_segment*);
cereal_AndroidLogEntry_ptr cereal_new_AndroidLogEntry(struct capn_segment*);
cereal_LogRotate_ptr cereal_new_LogRotate(struct capn_segment*);
cereal_Event_ptr cereal_new_Event(struct capn_segment*);
cereal_InitData_list cereal_new_InitData_list(struct capn_segment*, int len);
cereal_FrameData_list cereal_new_FrameData_list(struct capn_segment*, int len);
cereal_GPSNMEAData_list cereal_new_GPSNMEAData_list(struct capn_segment*, int len);
cereal_SensorEventData_list cereal_new_SensorEventData_list(struct capn_segment*, int len);
cereal_SensorEventData_SensorVec_list cereal_new_SensorEventData_SensorVec_list(struct capn_segment*, int len);
cereal_GpsLocationData_list cereal_new_GpsLocationData_list(struct capn_segment*, int len);
cereal_CanData_list cereal_new_CanData_list(struct capn_segment*, int len);
cereal_ThermalData_list cereal_new_ThermalData_list(struct capn_segment*, int len);
cereal_HealthData_list cereal_new_HealthData_list(struct capn_segment*, int len);
cereal_LiveUI_list cereal_new_LiveUI_list(struct capn_segment*, int len);
cereal_Live20Data_list cereal_new_Live20Data_list(struct capn_segment*, int len);
cereal_Live20Data_LeadData_list cereal_new_Live20Data_LeadData_list(struct capn_segment*, int len);
cereal_LiveCalibrationData_list cereal_new_LiveCalibrationData_list(struct capn_segment*, int len);
cereal_LiveTracks_list cereal_new_LiveTracks_list(struct capn_segment*, int len);
cereal_Live100Data_list cereal_new_Live100Data_list(struct capn_segment*, int len);
cereal_LiveEventData_list cereal_new_LiveEventData_list(struct capn_segment*, int len);
cereal_ModelData_list cereal_new_ModelData_list(struct capn_segment*, int len);
cereal_ModelData_PathData_list cereal_new_ModelData_PathData_list(struct capn_segment*, int len);
cereal_ModelData_LeadData_list cereal_new_ModelData_LeadData_list(struct capn_segment*, int len);
cereal_ModelData_ModelSettings_list cereal_new_ModelData_ModelSettings_list(struct capn_segment*, int len);
cereal_CalibrationFeatures_list cereal_new_CalibrationFeatures_list(struct capn_segment*, int len);
cereal_EncodeIndex_list cereal_new_EncodeIndex_list(struct capn_segment*, int len);
cereal_AndroidLogEntry_list cereal_new_AndroidLogEntry_list(struct capn_segment*, int len);
cereal_LogRotate_list cereal_new_LogRotate_list(struct capn_segment*, int len);
cereal_Event_list cereal_new_Event_list(struct capn_segment*, int len);
void cereal_read_InitData(struct cereal_InitData*, cereal_InitData_ptr);
void cereal_read_FrameData(struct cereal_FrameData*, cereal_FrameData_ptr);
void cereal_read_GPSNMEAData(struct cereal_GPSNMEAData*, cereal_GPSNMEAData_ptr);
void cereal_read_SensorEventData(struct cereal_SensorEventData*, cereal_SensorEventData_ptr);
void cereal_read_SensorEventData_SensorVec(struct cereal_SensorEventData_SensorVec*, cereal_SensorEventData_SensorVec_ptr);
void cereal_read_GpsLocationData(struct cereal_GpsLocationData*, cereal_GpsLocationData_ptr);
void cereal_read_CanData(struct cereal_CanData*, cereal_CanData_ptr);
void cereal_read_ThermalData(struct cereal_ThermalData*, cereal_ThermalData_ptr);
void cereal_read_HealthData(struct cereal_HealthData*, cereal_HealthData_ptr);
void cereal_read_LiveUI(struct cereal_LiveUI*, cereal_LiveUI_ptr);
void cereal_read_Live20Data(struct cereal_Live20Data*, cereal_Live20Data_ptr);
void cereal_read_Live20Data_LeadData(struct cereal_Live20Data_LeadData*, cereal_Live20Data_LeadData_ptr);
void cereal_read_LiveCalibrationData(struct cereal_LiveCalibrationData*, cereal_LiveCalibrationData_ptr);
void cereal_read_LiveTracks(struct cereal_LiveTracks*, cereal_LiveTracks_ptr);
void cereal_read_Live100Data(struct cereal_Live100Data*, cereal_Live100Data_ptr);
void cereal_read_LiveEventData(struct cereal_LiveEventData*, cereal_LiveEventData_ptr);
void cereal_read_ModelData(struct cereal_ModelData*, cereal_ModelData_ptr);
void cereal_read_ModelData_PathData(struct cereal_ModelData_PathData*, cereal_ModelData_PathData_ptr);
void cereal_read_ModelData_LeadData(struct cereal_ModelData_LeadData*, cereal_ModelData_LeadData_ptr);
void cereal_read_ModelData_ModelSettings(struct cereal_ModelData_ModelSettings*, cereal_ModelData_ModelSettings_ptr);
void cereal_read_CalibrationFeatures(struct cereal_CalibrationFeatures*, cereal_CalibrationFeatures_ptr);
void cereal_read_EncodeIndex(struct cereal_EncodeIndex*, cereal_EncodeIndex_ptr);
void cereal_read_AndroidLogEntry(struct cereal_AndroidLogEntry*, cereal_AndroidLogEntry_ptr);
void cereal_read_LogRotate(struct cereal_LogRotate*, cereal_LogRotate_ptr);
void cereal_read_Event(struct cereal_Event*, cereal_Event_ptr);
void cereal_write_InitData(const struct cereal_InitData*, cereal_InitData_ptr);
void cereal_write_FrameData(const struct cereal_FrameData*, cereal_FrameData_ptr);
void cereal_write_GPSNMEAData(const struct cereal_GPSNMEAData*, cereal_GPSNMEAData_ptr);
void cereal_write_SensorEventData(const struct cereal_SensorEventData*, cereal_SensorEventData_ptr);
void cereal_write_SensorEventData_SensorVec(const struct cereal_SensorEventData_SensorVec*, cereal_SensorEventData_SensorVec_ptr);
void cereal_write_GpsLocationData(const struct cereal_GpsLocationData*, cereal_GpsLocationData_ptr);
void cereal_write_CanData(const struct cereal_CanData*, cereal_CanData_ptr);
void cereal_write_ThermalData(const struct cereal_ThermalData*, cereal_ThermalData_ptr);
void cereal_write_HealthData(const struct cereal_HealthData*, cereal_HealthData_ptr);
void cereal_write_LiveUI(const struct cereal_LiveUI*, cereal_LiveUI_ptr);
void cereal_write_Live20Data(const struct cereal_Live20Data*, cereal_Live20Data_ptr);
void cereal_write_Live20Data_LeadData(const struct cereal_Live20Data_LeadData*, cereal_Live20Data_LeadData_ptr);
void cereal_write_LiveCalibrationData(const struct cereal_LiveCalibrationData*, cereal_LiveCalibrationData_ptr);
void cereal_write_LiveTracks(const struct cereal_LiveTracks*, cereal_LiveTracks_ptr);
void cereal_write_Live100Data(const struct cereal_Live100Data*, cereal_Live100Data_ptr);
void cereal_write_LiveEventData(const struct cereal_LiveEventData*, cereal_LiveEventData_ptr);
void cereal_write_ModelData(const struct cereal_ModelData*, cereal_ModelData_ptr);
void cereal_write_ModelData_PathData(const struct cereal_ModelData_PathData*, cereal_ModelData_PathData_ptr);
void cereal_write_ModelData_LeadData(const struct cereal_ModelData_LeadData*, cereal_ModelData_LeadData_ptr);
void cereal_write_ModelData_ModelSettings(const struct cereal_ModelData_ModelSettings*, cereal_ModelData_ModelSettings_ptr);
void cereal_write_CalibrationFeatures(const struct cereal_CalibrationFeatures*, cereal_CalibrationFeatures_ptr);
void cereal_write_EncodeIndex(const struct cereal_EncodeIndex*, cereal_EncodeIndex_ptr);
void cereal_write_AndroidLogEntry(const struct cereal_AndroidLogEntry*, cereal_AndroidLogEntry_ptr);
void cereal_write_LogRotate(const struct cereal_LogRotate*, cereal_LogRotate_ptr);
void cereal_write_Event(const struct cereal_Event*, cereal_Event_ptr);
void cereal_get_InitData(struct cereal_InitData*, cereal_InitData_list, int i);
void cereal_get_FrameData(struct cereal_FrameData*, cereal_FrameData_list, int i);
void cereal_get_GPSNMEAData(struct cereal_GPSNMEAData*, cereal_GPSNMEAData_list, int i);
void cereal_get_SensorEventData(struct cereal_SensorEventData*, cereal_SensorEventData_list, int i);
void cereal_get_SensorEventData_SensorVec(struct cereal_SensorEventData_SensorVec*, cereal_SensorEventData_SensorVec_list, int i);
void cereal_get_GpsLocationData(struct cereal_GpsLocationData*, cereal_GpsLocationData_list, int i);
void cereal_get_CanData(struct cereal_CanData*, cereal_CanData_list, int i);
void cereal_get_ThermalData(struct cereal_ThermalData*, cereal_ThermalData_list, int i);
void cereal_get_HealthData(struct cereal_HealthData*, cereal_HealthData_list, int i);
void cereal_get_LiveUI(struct cereal_LiveUI*, cereal_LiveUI_list, int i);
void cereal_get_Live20Data(struct cereal_Live20Data*, cereal_Live20Data_list, int i);
void cereal_get_Live20Data_LeadData(struct cereal_Live20Data_LeadData*, cereal_Live20Data_LeadData_list, int i);
void cereal_get_LiveCalibrationData(struct cereal_LiveCalibrationData*, cereal_LiveCalibrationData_list, int i);
void cereal_get_LiveTracks(struct cereal_LiveTracks*, cereal_LiveTracks_list, int i);
void cereal_get_Live100Data(struct cereal_Live100Data*, cereal_Live100Data_list, int i);
void cereal_get_LiveEventData(struct cereal_LiveEventData*, cereal_LiveEventData_list, int i);
void cereal_get_ModelData(struct cereal_ModelData*, cereal_ModelData_list, int i);
void cereal_get_ModelData_PathData(struct cereal_ModelData_PathData*, cereal_ModelData_PathData_list, int i);
void cereal_get_ModelData_LeadData(struct cereal_ModelData_LeadData*, cereal_ModelData_LeadData_list, int i);
void cereal_get_ModelData_ModelSettings(struct cereal_ModelData_ModelSettings*, cereal_ModelData_ModelSettings_list, int i);
void cereal_get_CalibrationFeatures(struct cereal_CalibrationFeatures*, cereal_CalibrationFeatures_list, int i);
void cereal_get_EncodeIndex(struct cereal_EncodeIndex*, cereal_EncodeIndex_list, int i);
void cereal_get_AndroidLogEntry(struct cereal_AndroidLogEntry*, cereal_AndroidLogEntry_list, int i);
void cereal_get_LogRotate(struct cereal_LogRotate*, cereal_LogRotate_list, int i);
void cereal_get_Event(struct cereal_Event*, cereal_Event_list, int i);
void cereal_set_InitData(const struct cereal_InitData*, cereal_InitData_list, int i);
void cereal_set_FrameData(const struct cereal_FrameData*, cereal_FrameData_list, int i);
void cereal_set_GPSNMEAData(const struct cereal_GPSNMEAData*, cereal_GPSNMEAData_list, int i);
void cereal_set_SensorEventData(const struct cereal_SensorEventData*, cereal_SensorEventData_list, int i);
void cereal_set_SensorEventData_SensorVec(const struct cereal_SensorEventData_SensorVec*, cereal_SensorEventData_SensorVec_list, int i);
void cereal_set_GpsLocationData(const struct cereal_GpsLocationData*, cereal_GpsLocationData_list, int i);
void cereal_set_CanData(const struct cereal_CanData*, cereal_CanData_list, int i);
void cereal_set_ThermalData(const struct cereal_ThermalData*, cereal_ThermalData_list, int i);
void cereal_set_HealthData(const struct cereal_HealthData*, cereal_HealthData_list, int i);
void cereal_set_LiveUI(const struct cereal_LiveUI*, cereal_LiveUI_list, int i);
void cereal_set_Live20Data(const struct cereal_Live20Data*, cereal_Live20Data_list, int i);
void cereal_set_Live20Data_LeadData(const struct cereal_Live20Data_LeadData*, cereal_Live20Data_LeadData_list, int i);
void cereal_set_LiveCalibrationData(const struct cereal_LiveCalibrationData*, cereal_LiveCalibrationData_list, int i);
void cereal_set_LiveTracks(const struct cereal_LiveTracks*, cereal_LiveTracks_list, int i);
void cereal_set_Live100Data(const struct cereal_Live100Data*, cereal_Live100Data_list, int i);
void cereal_set_LiveEventData(const struct cereal_LiveEventData*, cereal_LiveEventData_list, int i);
void cereal_set_ModelData(const struct cereal_ModelData*, cereal_ModelData_list, int i);
void cereal_set_ModelData_PathData(const struct cereal_ModelData_PathData*, cereal_ModelData_PathData_list, int i);
void cereal_set_ModelData_LeadData(const struct cereal_ModelData_LeadData*, cereal_ModelData_LeadData_list, int i);
void cereal_set_ModelData_ModelSettings(const struct cereal_ModelData_ModelSettings*, cereal_ModelData_ModelSettings_list, int i);
void cereal_set_CalibrationFeatures(const struct cereal_CalibrationFeatures*, cereal_CalibrationFeatures_list, int i);
void cereal_set_EncodeIndex(const struct cereal_EncodeIndex*, cereal_EncodeIndex_list, int i);
void cereal_set_AndroidLogEntry(const struct cereal_AndroidLogEntry*, cereal_AndroidLogEntry_list, int i);
void cereal_set_LogRotate(const struct cereal_LogRotate*, cereal_LogRotate_list, int i);
void cereal_set_Event(const struct cereal_Event*, cereal_Event_list, int i);
#ifdef __cplusplus
}
#endif
#endif

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cereal/gen/cpp/car.capnp.h
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cereal/gen/cpp/log.capnp.c++
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cereal/gen/cpp/log.capnp.h
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cereal/java.capnp 100644
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@ -0,0 +1,28 @@
# Copyright (c) 2013-2015 Sandstorm Development Group, Inc. and contributors
# Licensed under the MIT License:
#
# Permission is hereby granted, free of charge, to any person obtaining a copy
# of this software and associated documentation files (the "Software"), to deal
# in the Software without restriction, including without limitation the rights
# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
# copies of the Software, and to permit persons to whom the Software is
# furnished to do so, subject to the following conditions:
#
# The above copyright notice and this permission notice shall be included in
# all copies or substantial portions of the Software.
#
# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
# AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
# THE SOFTWARE.
@0xc5f1af96651f70ea;
annotation package @0x9ee4c8f803b3b596 (file) : Text;
# Name of the package, such as "org.example.foo", in which the generated code will reside.
annotation outerClassname @0x9b066bb4881f7cd3 (file) : Text;
# Name of the outer class that will wrap the generated code.

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cereal/log.capnp
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using Cxx = import "c++.capnp";
$Cxx.namespace("cereal");
using Java = import "java.capnp";
$Java.package("ai.comma.openpilot.cereal");
$Java.outerClassname("Log");
using Car = import "car.capnp";
@0xf3b1f17e25a4285b;
const logVersion :Int32 = 1;
struct Map(Key, Value) {
entries @0 :List(Entry);
struct Entry {
key @0 :Key;
value @1 :Value;
}
}
struct InitData {
kernelArgs @0 :List(Text);
gctx @1 :Text;
dongleId @2 :Text;
deviceType @3 :DeviceType;
version @4 :Text;
androidBuildInfo @5 :AndroidBuildInfo;
androidSensors @6 :List(AndroidSensor);
chffrAndroidExtra @7 :ChffrAndroidExtra;
enum DeviceType {
unknown @0;
neo @1;
chffrAndroid @2;
}
struct AndroidBuildInfo {
board @0 :Text;
bootloader @1 :Text;
brand @2 :Text;
device @3 :Text;
display @4 :Text;
fingerprint @5 :Text;
hardware @6 :Text;
host @7 :Text;
id @8 :Text;
manufacturer @9 :Text;
model @10 :Text;
product @11 :Text;
radioVersion @12 :Text;
serial @13 :Text;
supportedAbis @14 :List(Text);
tags @15 :Text;
time @16 :Int64;
type @17 :Text;
user @18 :Text;
versionCodename @19 :Text;
versionRelease @20 :Text;
versionSdk @21 :Int32;
versionSecurityPatch @22 :Text;
}
struct AndroidSensor {
id @0 :Int32;
name @1 :Text;
vendor @2 :Text;
version @3 :Int32;
handle @4 :Int32;
type @5 :Int32;
maxRange @6 :Float32;
resolution @7 :Float32;
power @8 :Float32;
minDelay @9 :Int32;
fifoReservedEventCount @10 :UInt32;
fifoMaxEventCount @11 :UInt32;
stringType @12 :Text;
maxDelay @13 :Int32;
}
struct ChffrAndroidExtra {
allCameraCharacteristics @0 :Map(Text, Text);
}
}
struct FrameData {
@ -21,6 +94,27 @@ struct FrameData {
integLines @4 :Int32;
globalGain @5 :Int32;
image @6 :Data;
frameType @7 :FrameType;
timestampSof @8 :UInt64;
androidCaptureResult @9 :AndroidCaptureResult;
enum FrameType {
unknown @0;
neo @1;
chffrAndroid @2;
}
struct AndroidCaptureResult {
sensitivity @0 :Int32;
frameDuration @1 :Int64;
exposureTime @2 :Int64;
rollingShutterSkew @3 :UInt64;
colorCorrectionTransform @4 :List(Int32);
colorCorrectionGains @5 :List(Float32);
displayRotation @6 :Int8;
}
}
struct GPSNMEAData {
@ -82,6 +176,17 @@ struct GpsLocationData {
# Timestamp for the location fix.
# Milliseconds since January 1, 1970.
timestamp @7 :Int64;
source @8 :SensorSource;
enum SensorSource {
android @0;
iOS @1;
car @2;
velodyne @3; # Velodyne IMU
fusion @4;
external @5;
}
}
struct CanData {
@ -160,6 +265,9 @@ struct LiveCalibrationData {
calStatus @1 :Int8;
calCycle @2 :Int32;
calPerc @3 :Int8;
# Maps car space to normalized image space.
extrinsicMatrix @4 :List(Float32);
}
struct LiveTracks {
@ -194,7 +302,7 @@ struct Live100Data {
aTargetMin @10 :Float32;
aTargetMax @11 :Float32;
jerkFactor @12 :Float32;
angleSteers @13 :Float32;
angleSteers @13 :Float32; # Steering angle in degrees.
hudLeadDEPRECATED @14 :Int32;
cumLagMs @15 :Float32;
@ -262,13 +370,16 @@ struct EncodeIndex {
encodeId @2 :UInt32;
# minute long segment this frame is in
segmentNum @3 :Int32;
# index into camera file in segment from 0
# index into camera file in segment in presentation order
segmentId @4 :UInt32;
# index into camera file in segment in encode order
segmentIdEncode @5 :UInt32;
enum Type {
bigBoxLossless @0; # rcamera.mkv
fullHEVC @1; # fcamera.hevc
bigBoxHEVC @2; # bcamera.hevc
chffrAndroidH264 @3; # camera
}
}
@ -287,8 +398,504 @@ struct LogRotate {
path @1 :Text;
}
struct Plan {
# lateral, 3rd order polynomial
lateralValid @0: Bool;
dPoly @1 :List(Float32);
# longitudinal
longitudinalValid @2: Bool;
vTarget @3 :Float32;
aTargetMin @4 :Float32;
aTargetMax @5 :Float32;
jerkFactor @6 :Float32;
}
struct LiveLocationData {
status @0: UInt8;
# 3D fix
lat @1: Float64;
lon @2: Float64;
alt @3: Float32; # m
# speed
speed @4: Float32; # m/s
# NED velocity components
vNED @5: List(Float32);
# roll, pitch, heading (x,y,z)
roll @6: Float32; # WRT to center of earth?
pitch @7: Float32; # WRT to center of earth?
heading @8: Float32; # WRT to north?
# what are these?
wanderAngle @9: Float32;
trackAngle @10: Float32;
# car frame -- https://upload.wikimedia.org/wikipedia/commons/f/f5/RPY_angles_of_cars.png
# gyro, in car frame, deg/s
gyro @11: List(Float32);
# accel, in car frame, m/s^2
accel @12: List(Float32);
accuracy @13: Accuracy;
struct Accuracy {
pNEDError @0: List(Float32);
vNEDError @1: List(Float32);
rollError @2: Float32;
pitchError @3: Float32;
headingError @4: Float32;
ellipsoidSemiMajorError @5: Float32;
ellipsoidSemiMinorError @6: Float32;
ellipsoidOrientationError @7: Float32;
}
}
struct EthernetPacket {
pkt @0 :Data;
ts @1: Float32;
}
struct NavUpdate {
isNavigating @0 :Bool;
curSegment @1 :Int32;
segments @2 :List(Segment);
struct LatLng {
lat @0 :Float64;
lng @1 :Float64;
}
struct Segment {
from @0 :LatLng;
to @1 :LatLng;
updateTime @2 :Int32;
distance @3 :Int32;
crossTime @4 :Int32;
exitNo @5 :Int32;
instruction @6 :Instruction;
parts @7 :List(LatLng);
enum Instruction {
turnLeft @0;
turnRight @1;
keepLeft @2;
keepRight @3;
straight @4;
roundaboutExitNumber @5;
roundaboutExit @6;
roundaboutTurnLeft @7;
unkn8 @8;
roundaboutStraight @9;
unkn10 @10;
roundaboutTurnRight @11;
unkn12 @12;
roundaboutUturn @13;
unkn14 @14;
arrive @15;
exitLeft @16;
exitRight @17;
unkn18 @18;
uturn @19;
# ...
}
}
}
struct CellInfo {
timestamp @0 :UInt64;
repr @1 :Text; # android toString() for now
}
struct WifiScan {
bssid @0 :Text;
ssid @1 :Text;
capabilities @2 :Text;
frequency @3 :Int32;
level @4 :Int32;
timestamp @5 :Int64;
centerFreq0 @6 :Int32;
centerFreq1 @7 :Int32;
channelWidth @8 :ChannelWidth;
operatorFriendlyName @9 :Text;
venueName @10 :Text;
is80211mcResponder @11 :Bool;
passpoint @12 :Bool;
distanceCm @13 :Int32;
distanceSdCm @14 :Int32;
enum ChannelWidth {
w20Mhz @0;
w40Mhz @1;
w80Mhz @2;
w160Mhz @3;
w80Plus80Mhz @4;
}
}
struct AndroidGnss {
union {
measurements @0 :Measurements;
navigationMessage @1 :NavigationMessage;
}
struct Measurements {
clock @0 :Clock;
measurements @1 :List(Measurement);
struct Clock {
timeNanos @0 :Int64;
hardwareClockDiscontinuityCount @1 :Int32;
hasTimeUncertaintyNanos @2 :Bool;
timeUncertaintyNanos @3 :Float64;
hasLeapSecond @4 :Bool;
leapSecond @5 :Int32;
hasFullBiasNanos @6 :Bool;
fullBiasNanos @7 :Int64;
hasBiasNanos @8 :Bool;
biasNanos @9 :Float64;
hasBiasUncertaintyNanos @10 :Bool;
biasUncertaintyNanos @11 :Float64;
hasDriftNanosPerSecond @12 :Bool;
driftNanosPerSecond @13 :Float64;
hasDriftUncertaintyNanosPerSecond @14 :Bool;
driftUncertaintyNanosPerSecond @15 :Float64;
}
struct Measurement {
svId @0 :Int32;
constellation @1 :Constellation;
timeOffsetNanos @2 :Float64;
state @3 :Int32;
receivedSvTimeNanos @4 :Int64;
receivedSvTimeUncertaintyNanos @5 :Int64;
cn0DbHz @6 :Float64;
pseudorangeRateMetersPerSecond @7 :Float64;
pseudorangeRateUncertaintyMetersPerSecond @8 :Float64;
accumulatedDeltaRangeState @9 :Int32;
accumulatedDeltaRangeMeters @10 :Float64;
accumulatedDeltaRangeUncertaintyMeters @11 :Float64;
hasCarrierFrequencyHz @12 :Bool;
carrierFrequencyHz @13 :Float32;
hasCarrierCycles @14 :Bool;
carrierCycles @15 :Int64;
hasCarrierPhase @16 :Bool;
carrierPhase @17 :Float64;
hasCarrierPhaseUncertainty @18 :Bool;
carrierPhaseUncertainty @19 :Float64;
hasSnrInDb @20 :Bool;
snrInDb @21 :Float64;
multipathIndicator @22 :MultipathIndicator;
enum Constellation {
unknown @0;
gps @1;
sbas @2;
glonass @3;
qzss @4;
beidou @5;
galileo @6;
}
enum State {
unknown @0;
codeLock @1;
bitSync @2;
subframeSync @3;
towDecoded @4;
msecAmbiguous @5;
symbolSync @6;
gloStringSync @7;
gloTodDecoded @8;
bdsD2BitSync @9;
bdsD2SubframeSync @10;
galE1bcCodeLock @11;
galE1c2ndCodeLock @12;
galE1bPageSync @13;
sbasSync @14;
}
enum MultipathIndicator {
unknown @0;
detected @1;
notDetected @2;
}
}
}
struct NavigationMessage {
type @0 :Int32;
svId @1 :Int32;
messageId @2 :Int32;
submessageId @3 :Int32;
data @4 :Data;
status @5 :Status;
enum Status {
unknown @0;
parityPassed @1;
parityRebuilt @2;
}
}
}
struct QcomGnss {
logTs @0 :UInt64;
union {
measurementReport @1 :MeasurementReport;
clockReport @2 :ClockReport;
}
struct MeasurementReport {
source @0 :Source;
fCount @1 :UInt32;
gpsWeek @2 :UInt16;
glonassCycleNumber @3 :UInt8;
glonassNumberOfDays @4 :UInt16;
milliseconds @5 :UInt32;
timeBias @6 :Float32;
clockTimeUncertainty @7 :Float32;
clockFrequencyBias @8 :Float32;
clockFrequencyUncertainty @9 :Float32;
sv @10 :List(SV);
enum Source {
gps @0;
glonass @1;
}
struct SV {
svId @0 :UInt8;
observationState @2 :SVObservationState;
observations @3 :UInt8;
goodObservations @4 :UInt8;
gpsParityErrorCount @5 :UInt16;
glonassFrequencyIndex @1 :Int8;
glonassHemmingErrorCount @6 :UInt8;
filterStages @7 :UInt8;
carrierNoise @8 :UInt16;
latency @9 :Int16;
predetectIntegration @10 :UInt8;
postdetections @11 :UInt16;
unfilteredMeasurementIntegral @12 :UInt32;
unfilteredMeasurementFraction @13 :Float32;
unfilteredTimeUncertainty @14 :Float32;
unfilteredSpeed @15 :Float32;
unfilteredSpeedUncertainty @16 :Float32;
measurementStatus @17 :MeasurementStatus;
multipathEstimate @18 :UInt32;
azimuth @19 :Float32;
elevation @20 :Float32;
carrierPhaseCyclesIntegral @21 :Int32;
carrierPhaseCyclesFraction @22 :UInt16;
fineSpeed @23 :Float32;
fineSpeedUncertainty @24 :Float32;
cycleSlipCount @25 :UInt8;
struct MeasurementStatus {
subMillisecondIsValid @0 :Bool;
subBitTimeIsKnown @1 :Bool;
satelliteTimeIsKnown @2 :Bool;
bitEdgeConfirmedFromSignal @3 :Bool;
measuredVelocity @4 :Bool;
fineOrCoarseVelocity @5 :Bool;
lockPointValid @6 :Bool;
lockPointPositive @7 :Bool;
lastUpdateFromDifference @8 :Bool;
lastUpdateFromVelocityDifference @9 :Bool;
strongIndicationOfCrossCorelation @10 :Bool;
tentativeMeasurement @11 :Bool;
measurementNotUsable @12 :Bool;
sirCheckIsNeeded @13 :Bool;
probationMode @14 :Bool;
glonassMeanderBitEdgeValid @15 :Bool;
glonassTimeMarkValid @16 :Bool;
gpsRoundRobinRxDiversity @17 :Bool;
gpsRxDiversity @18 :Bool;
gpsLowBandwidthRxDiversityCombined @19 :Bool;
gpsHighBandwidthNu4 @20 :Bool;
gpsHighBandwidthNu8 @21 :Bool;
gpsHighBandwidthUniform @22 :Bool;
gpsMultipathIndicator @23 :Bool;
imdJammingIndicator @24 :Bool;
lteB13TxJammingIndicator @25 :Bool;
freshMeasurementIndicator @26 :Bool;
multipathEstimateIsValid @27 :Bool;
directionIsValid @28 :Bool;
}
enum SVObservationState {
idle @0;
search @1;
searchVerify @2;
bitEdge @3;
trackVerify @4;
track @5;
restart @6;
dpo @7;
glo10msBe @8;
glo10msAt @9;
}
}
}
struct ClockReport {
hasFCount @0 :Bool;
fCount @1 :UInt32;
hasGpsWeekNumber @2 :Bool;
gpsWeekNumber @3 :UInt16;
hasGpsMilliseconds @4 :Bool;
gpsMilliseconds @5 :UInt32;
gpsTimeBias @6 :Float32;
gpsClockTimeUncertainty @7 :Float32;
gpsClockSource @8 :UInt8;
hasGlonassYear @9 :Bool;
glonassYear @10 :UInt8;
hasGlonassDay @11 :Bool;
glonassDay @12 :UInt16;
hasGlonassMilliseconds @13 :Bool;
glonassMilliseconds @14 :UInt32;
glonassTimeBias @15 :Float32;
glonassClockTimeUncertainty @16 :Float32;
glonassClockSource @17 :UInt8;
bdsWeek @18 :UInt16;
bdsMilliseconds @19 :UInt32;
bdsTimeBias @20 :Float32;
bdsClockTimeUncertainty @21 :Float32;
bdsClockSource @22 :UInt8;
galWeek @23 :UInt16;
galMilliseconds @24 :UInt32;
galTimeBias @25 :Float32;
galClockTimeUncertainty @26 :Float32;
galClockSource @27 :UInt8;
clockFrequencyBias @28 :Float32;
clockFrequencyUncertainty @29 :Float32;
frequencySource @30 :UInt8;
gpsLeapSeconds @31 :UInt8;
gpsLeapSecondsUncertainty @32 :UInt8;
gpsLeapSecondsSource @33 :UInt8;
gpsToGlonassTimeBiasMilliseconds @34 :Float32;
gpsToGlonassTimeBiasMillisecondsUncertainty @35 :Float32;
gpsToBdsTimeBiasMilliseconds @36 :Float32;
gpsToBdsTimeBiasMillisecondsUncertainty @37 :Float32;
bdsToGloTimeBiasMilliseconds @38 :Float32;
bdsToGloTimeBiasMillisecondsUncertainty @39 :Float32;
gpsToGalTimeBiasMilliseconds @40 :Float32;
gpsToGalTimeBiasMillisecondsUncertainty @41 :Float32;
galToGloTimeBiasMilliseconds @42 :Float32;
galToGloTimeBiasMillisecondsUncertainty @43 :Float32;
galToBdsTimeBiasMilliseconds @44 :Float32;
galToBdsTimeBiasMillisecondsUncertainty @45 :Float32;
hasRtcTime @46 :Bool;
systemRtcTime @47 :UInt32;
fCountOffset @48 :UInt32;
lpmRtcCount @49 :UInt32;
clockResets @50 :UInt32;
}
}
struct LidarPts {
r @0 :List(UInt16); # uint16 m*500.0
theta @1 :List(UInt16); # uint16 deg*100.0
reflect @2 :List(UInt8); # uint8 0-255
# For storing out of file.
idx @3 :UInt64;
# For storing in file
pkt @4 :Data;
}
struct ProcLog {
cpuTimes @0 :List(CPUTimes);
mem @1 :Mem;
procs @2 :List(Process);
struct Process {
pid @0 :Int32;
name @1 :Text;
state @2 :UInt8;
ppid @3 :Int32;
cpuUser @4 :Float32;
cpuSystem @5 :Float32;
cpuChildrenUser @6 :Float32;
cpuChildrenSystem @7 :Float32;
priority @8 :Int64;
nice @9 :Int32;
numThreads @10 :Int32;
startTime @11 :Float64;
memVms @12 :UInt64;
memRss @13 :UInt64;
processor @14 :Int32;
cmdline @15 :List(Text);
exe @16 :Text;
}
struct CPUTimes {
cpuNum @0 :Int64;
user @1 :Float32;
nice @2 :Float32;
system @3 :Float32;
idle @4 :Float32;
iowait @5 :Float32;
irq @6 :Float32;
softirq @7 :Float32;
}
struct Mem {
total @0 :UInt64;
free @1 :UInt64;
available @2 :UInt64;
buffers @3 :UInt64;
cached @4 :UInt64;
active @5 :UInt64;
inactive @6 :UInt64;
shared @7 :UInt64;
}
}
struct Event {
# in nanoseconds?
logMonoTime @0 :UInt64;
union {
@ -315,5 +922,15 @@ struct Event {
gpsLocation @21 :GpsLocationData;
carState @22 :Car.CarState;
carControl @23 :Car.CarControl;
plan @24 :Plan;
liveLocation @25 :LiveLocationData;
ethernetData @26 :List(EthernetPacket);
navUpdate @27 :NavUpdate;
cellInfo @28 :List(CellInfo);
wifiScan @29 :List(WifiScan);
androidGnss @30 :AndroidGnss;
qcomGnss @31 :QcomGnss;
lidarPts @32 :LidarPts;
procLog @33 :ProcLog;
}
}

11
common/api/__init__.py
View File

@ -1,8 +1,13 @@
import requests
def api_get(endpoint, method='GET', timeout=None, **params):
def api_get(endpoint, method='GET', timeout=None, access_token=None, **params):
backend = "https://api.commadotai.com/"
params['_version'] = "OPENPILOTv0.2"
params['_version'] = "OPENPILOTv0.3"
headers = {}
if access_token is not None:
headers['Authorization'] = "JWT "+access_token
return requests.request(method, backend+endpoint, timeout=timeout, headers = headers, params=params)
return requests.request(method, backend+endpoint, timeout=timeout, params=params)

5
common/crash.py
View File

@ -7,6 +7,8 @@ if os.getenv("NOLOG"):
pass
def bind_user(**kwargs):
pass
def bind_extra(**kwargs):
pass
def install():
pass
else:
@ -21,6 +23,9 @@ else:
def bind_user(**kwargs):
client.user_context(kwargs)
def bind_extra(**kwargs):
client.extra_context(kwargs)
def install():
# installs a sys.excepthook
__excepthook__ = sys.excepthook

17
common/filters.py
View File

@ -1,17 +0,0 @@
"""Classes for filtering discrete time signals."""
import numpy as np
class FirstOrderLowpassFilter(object):
def __init__(self, fc, dt, x1=0):
self.kf = 2 * np.pi * fc * dt / (1 + 2 * np.pi * fc * dt)
self.x1 = x1
def __call__(self, x):
self.x1 = (1 - self.kf) * self.x1 + self.kf * x
# If previous or current is NaN, reset filter.
if np.isnan(self.x1):
self.x1 = x
return self.x1

128
common/fingerprints.py 100644
View File

@ -0,0 +1,128 @@
_FINGERPRINTS = {
"ACURA ILX 2016 ACURAWATCH PLUS": {
1024L: 5, 513L: 5, 1027L: 5, 1029L: 8, 929L: 4, 1057L: 5, 777L: 8, 1034L: 5, 1036L: 8, 398L: 3, 399L: 7, 145L: 8, 660L: 8, 985L: 3, 923L: 2, 542L: 7, 773L: 7, 800L: 8, 432L: 7, 419L: 8, 420L: 8, 1030L: 5, 422L: 8, 808L: 8, 428L: 8, 304L: 8, 819L: 7, 821L: 5, 57L: 3, 316L: 8, 545L: 4, 464L: 8, 1108L: 8, 597L: 8, 342L: 6, 983L: 8, 344L: 8, 804L: 8, 1039L: 8, 476L: 4, 892L: 8, 490L: 8, 1064L: 7, 882L: 2, 884L: 7, 887L: 8, 888L: 8, 380L: 8, 1365L: 5,
# sent messages
0xe4: 5, 0x1fa: 8, 0x200: 3, 0x30c: 8, 0x33d: 5,
},
"HONDA CIVIC 2016 TOURING": {
1024L: 5, 513L: 5, 1027L: 5, 1029L: 8, 777L: 8, 1036L: 8, 1039L: 8, 1424L: 5, 401L: 8, 148L: 8, 662L: 4, 985L: 3, 795L: 8, 773L: 7, 800L: 8, 545L: 6, 420L: 8, 806L: 8, 808L: 8, 1322L: 5, 427L: 3, 428L: 8, 304L: 8, 432L: 7, 57L: 3, 450L: 8, 929L: 8, 330L: 8, 1302L: 8, 464L: 8, 1361L: 5, 1108L: 8, 597L: 8, 470L: 2, 344L: 8, 804L: 8, 399L: 7, 476L: 7, 1633L: 8, 487L: 4, 892L: 8, 490L: 8, 493L: 5, 884L: 8, 891L: 8, 380L: 8, 1365L: 5,
# sent messages
0xe4: 5, 0x1fa: 8, 0x200: 3, 0x30c: 8, 0x33d: 5, 0x35e: 8, 0x39f: 8,
},
"HONDA ACCORD 2016 TOURING": {
1024L: 5, 929L: 8, 1027L: 5, 773L: 7, 1601L: 8, 777L: 8, 1036L: 8, 398L: 3, 1039L: 8, 401L: 8, 145L: 8, 1424L: 5, 660L: 8, 661L: 4, 918L: 7, 985L: 3, 923L: 2, 542L: 7, 927L: 8, 800L: 8, 545L: 4, 420L: 8, 422L: 8, 808L: 8, 426L: 8, 1029L: 8, 432L: 7, 57L: 3, 316L: 8, 829L: 5, 1600L: 5, 1089L: 8, 1057L: 5, 780L: 8, 1088L: 8, 464L: 8, 1108L: 8, 597L: 8, 342L: 6, 983L: 8, 344L: 8, 804L: 8, 476L: 4, 1296L: 3, 891L: 8, 1125L: 8, 487L: 4, 892L: 8, 490L: 8, 871L: 8, 1064L: 7, 882L: 2, 884L: 8, 506L: 8, 507L: 1, 380L: 8, 1365L: 5
}
}
def eliminate_incompatible_cars(msg, candidate_cars):
"""Removes cars that could not have sent msg.
Inputs:
msg: A cereal/log CanData message from the car.
candidate_cars: A list of cars to consider.
Returns:
A list containing the subset of candidate_cars that could have sent msg.
"""
compatible_cars = []
for car_name in candidate_cars:
adr = msg.address
if msg.src != 0 or (adr in _FINGERPRINTS[car_name] and
_FINGERPRINTS[car_name][adr] == len(msg.dat)):
compatible_cars.append(car_name)
else:
pass
#isin = adr in _FINGERPRINTS[car_name]
#print "eliminate", car_name, hex(adr), isin, len(msg.dat), msg.dat.encode("hex")
return compatible_cars
def all_known_cars():
"""Returns a list of all known car strings."""
return _FINGERPRINTS.keys()
# **** for use live only ****
def fingerprint(logcan):
import selfdrive.messaging as messaging
from cereal import car
from common.realtime import sec_since_boot
import os
if os.getenv("SIMULATOR") is not None or logcan is None:
# send message
ret = car.CarParams.new_message()
ret.carName = "simulator"
ret.radarName = "nidec"
ret.carFingerprint = "THE LOW QUALITY SIMULATOR"
ret.enableSteer = True
ret.enableBrake = True
ret.enableGas = True
ret.enableCruise = False
ret.wheelBase = 2.67
ret.steerRatio = 15.3
ret.slipFactor = 0.0014
ret.steerKp, ret.steerKi = 12.0, 1.0
return ret
print "waiting for fingerprint..."
brake_only = True
candidate_cars = all_known_cars()
finger = {}
st = None
while 1:
for a in messaging.drain_sock(logcan, wait_for_one=True):
if st is None:
st = sec_since_boot()
for can in a.can:
# pedal
if can.address == 0x201 and can.src == 0:
brake_only = False
if can.src == 0:
finger[can.address] = len(can.dat)
candidate_cars = eliminate_incompatible_cars(can, candidate_cars)
# if we only have one car choice and it's been 100ms since we got our first message, exit
if len(candidate_cars) == 1 and st is not None and (sec_since_boot()-st) > 0.1:
break
elif len(candidate_cars) == 0:
print map(hex, finger.keys())
raise Exception("car doesn't match any fingerprints")
print "fingerprinted", candidate_cars[0]
# send message
ret = car.CarParams.new_message()
ret.carName = "honda"
ret.radarName = "nidec"
ret.carFingerprint = candidate_cars[0]
ret.enableSteer = True
ret.enableBrake = True
ret.enableGas = not brake_only
ret.enableCruise = brake_only
#ret.enableCruise = False
ret.wheelBase = 2.67
ret.steerRatio = 15.3
ret.slipFactor = 0.0014
if candidate_cars[0] == "HONDA CIVIC 2016 TOURING":
ret.steerKp, ret.steerKi = 12.0, 1.0
elif candidate_cars[0] == "ACURA ILX 2016 ACURAWATCH PLUS":
if not brake_only:
# assuming if we have an interceptor we also have a torque mod
ret.steerKp, ret.steerKi = 6.0, 0.5
else:
ret.steerKp, ret.steerKi = 12.0, 1.0
elif candidate_cars[0] == "HONDA ACCORD 2016 TOURING":
ret.steerKp, ret.steerKi = 12.0, 1.0
else:
raise ValueError("unsupported car %s" % candidate_cars[0])
return ret

285
common/params.py 100755
View File

@ -0,0 +1,285 @@
#!/usr/bin/env python
"""ROS has a parameter server, we have files.
The parameter store is a persistent key value store, implemented as a directory with a writer lock.
On Android, we store params under params_dir = /data/params. The writer lock is a file
"<params_dir>/.lock" taken using flock(), and data is stored in a directory symlinked to by
"<params_dir>/d".
Each key, value pair is stored as a file with named <key> with contents <value>, located in
<params_dir>/d/<key>
Readers of a single key can just open("<params_dir>/d/<key>") and read the file contents.
Readers who want a consistent snapshot of multiple keys should take the lock.
Writers should take the lock before modifying anything. Writers should also leave the DB in a
consistent state after a crash. The implementation below does this by copying all params to a temp
directory <params_dir>/<tmp>, then atomically symlinking <params_dir>/<d> to <params_dir>/<tmp>
before deleting the old <params_dir>/<d> directory.
Writers that only modify a single key can simply take the lock, then swap the corresponding value
file in place without messing with <params_dir>/d.
"""
import time
import os
import errno
import sys
import shutil
import fcntl
import tempfile
from enum import Enum
def mkdirs_exists_ok(path):
try:
os.makedirs(path)
except OSError:
if not os.path.isdir(path):
raise
class TxType(Enum):
PERSISTANT = 1
CLEAR_ON_MANAGER_START = 2
CLEAR_ON_CAR_START = 3
class UnknownKeyName(Exception):
pass
keys = {
# written: manager
# read: loggerd, uploaderd, baseui
"DongleId": TxType.PERSISTANT,
"AccessToken": TxType.PERSISTANT,
"Version": TxType.PERSISTANT,
"GitCommit": TxType.PERSISTANT,
"GitBranch": TxType.PERSISTANT,
# written: visiond
# read: visiond
"CalibrationParams": TxType.PERSISTANT,
# written: visiond
# read: visiond, ui
"CloudCalibration": TxType.PERSISTANT,
# written: controlsd
# read: radard
"CarParams": TxType.CLEAR_ON_CAR_START}
class FileLock(object):
def __init__(self, path, create):
self._path = path
self._create = create
self._fd = None
def acquire(self):
self._fd = os.open(self._path, os.O_CREAT if self._create else 0)
fcntl.flock(self._fd, fcntl.LOCK_EX)
def release(self):
if self._fd is not None:
os.close(self._fd)
self._fd = None
class DBAccessor(object):
def __init__(self, path):
self._path = path
self._vals = None
def keys(self):
self._check_entered()
return self._vals.keys()
def get(self, key):
self._check_entered()
try:
return self._vals[key]
except KeyError:
return None
def _get_lock(self, create):
lock = FileLock(os.path.join(self._path, ".lock"), create)
lock.acquire()
return lock
def _read_values_locked(self):
"""Callers should hold a lock while calling this method."""
vals = {}
try:
data_path = self._data_path()
keys = os.listdir(data_path)
for key in keys:
with open(os.path.join(data_path, key), "rb") as f:
vals[key] = f.read()
except (OSError, IOError) as e:
# Either the DB hasn't been created yet, or somebody wrote a bug and left the DB in an
# inconsistent state. Either way, return empty.
if e.errno == errno.ENOENT:
return {}
return vals
def _data_path(self):
return os.path.join(self._path, "d")
def _check_entered(self):
if self._vals is None:
raise Exception("Must call __enter__ before using DB")
class DBReader(DBAccessor):
def __enter__(self):
try:
lock = self._get_lock(False)
except OSError as e:
# Do not create lock if it does not exist.
if e.errno == errno.ENOENT:
self._vals = {}
return self
try:
# Read everything.
self._vals = self._read_values_locked()
return self
finally:
lock.release()
def __exit__(self, type, value, traceback): pass
class DBWriter(DBAccessor):
def __init__(self, path):
super(DBWriter, self).__init__(path)
self._lock = None
self._prev_umask = None
def put(self, key, value):
self._vals[key] = value
def delete(self, key):
self._vals.pop(key, None)
def __enter__(self):
mkdirs_exists_ok(self._path)
# Make sure we can write and that permissions are correct.
self._prev_umask = os.umask(0)
try:
os.chmod(self._path, 0o777)
self._lock = self._get_lock(True)
self._vals = self._read_values_locked()
except:
os.umask(self._prev_umask)
self._prev_umask = None
raise
return self
def __exit__(self, type, value, traceback):
self._check_entered()
try:
old_data_path = None
new_data_path = None
tempdir_path = tempfile.mkdtemp(prefix=".tmp", dir=self._path)
try:
# Write back all keys.
os.chmod(tempdir_path, 0o777)
for k, v in self._vals.items():
with open(os.path.join(tempdir_path, k), "wb") as f:
f.write(v)
data_path = self._data_path()
try:
old_data_path = os.path.join(self._path, os.readlink(data_path))
except (OSError, IOError) as e:
# NOTE(mgraczyk): If other DB implementations have bugs, this could cause
# copies to be left behind, but we still want to overwrite.
pass
new_data_path = "{}.link".format(tempdir_path)
os.symlink(os.path.basename(tempdir_path), new_data_path)
os.rename(new_data_path, data_path)
# TODO(mgraczyk): raise useful error when values are bad.
except:
shutil.rmtree(tempdir_path)
if new_data_path is not None:
os.remove(new_data_path)
raise
# Keep holding the lock while we clean up the old data.
if old_data_path is not None:
shutil.rmtree(old_data_path)
finally:
os.umask(self._prev_umask)
self._prev_umask = None
# Always release the lock.
self._lock.release()
self._lock = None
class JSDB(object):
def __init__(self, fn):
self._fn = fn
def begin(self, write=False):
if write:
return DBWriter(self._fn)
else:
return DBReader(self._fn)
class Params(object):
def __init__(self, db='/data/params'):
self.env = JSDB(db)
def _clear_keys_with_type(self, tx_type):
with self.env.begin(write=True) as txn:
for key in keys:
if keys[key] == tx_type:
txn.delete(key)
def manager_start(self):
self._clear_keys_with_type(TxType.CLEAR_ON_MANAGER_START)
def car_start(self):
self._clear_keys_with_type(TxType.CLEAR_ON_CAR_START)
def get(self, key, block=False):
if key not in keys:
raise UnknownKeyName(key)
while 1:
with self.env.begin() as txn:
ret = txn.get(key)
if not block or ret is not None:
break
# is polling really the best we can do?
time.sleep(0.05)
return ret
def put(self, key, dat):
if key not in keys:
raise UnknownKeyName(key)
with self.env.begin(write=True) as txn:
txn.put(key, dat)
print "set", key
if __name__ == "__main__":
params = Params()
if len(sys.argv) > 2:
params.put(sys.argv[1], sys.argv[2])
else:
for k in keys:
pp = params.get(k)
if pp is None:
print k, "is None"
elif all(ord(c) < 128 and ord(c) >= 32 for c in pp):
print k, pp
else:
print k, pp.encode("hex")
# Test multiprocess:
# seq 0 100000 | xargs -P20 -I{} python common/params.py DongleId {} && sleep 0.05
# while python common/params.py DongleId; do sleep 0.05; done

23
common/realtime.py
View File

@ -19,24 +19,19 @@ class timespec(ctypes.Structure):
]
libc_name = find_library('c')
if libc_name is None:
platform_name = platform.system()
if platform_name.startswith('linux'):
libc_name = 'libc.so.6'
if platform_name.startswith(('freebsd', 'netbsd')):
libc_name = 'libc.so'
elif platform_name.lower() == 'darwin':
libc_name = 'libc.dylib'
libc = ctypes.CDLL(libc_name, use_errno=True)
try:
libc = ctypes.CDLL(libc_name, use_errno=True)
except OSError:
libc = None
if libc is not None:
if hasattr(libc, 'clock_gettime'):
libc.clock_gettime.argtypes = [ctypes.c_int, ctypes.POINTER(timespec)]
has_clock_gettime = True
else:
has_clock_gettime = False
def clock_gettime(clk_id):
if not has_clock_gettime:
# hack. only for OS X < 10.12
return time.time()
t = timespec()
if libc.clock_gettime(clk_id, ctypes.pointer(t)) != 0:
errno_ = ctypes.get_errno()

90
common/services.py
View File

@ -1,90 +0,0 @@
# TODO: these port numbers are hardcoded in c, fix this
# LogRotate: 8001 is a PUSH PULL socket between loggerd and visiond
class Service(object):
def __init__(self, port, should_log):
self.port = port
self.should_log = should_log
# all ZMQ pub sub
service_list = {
# frame syncing packet
"frame": Service(8002, True),
# accel, gyro, and compass
"sensorEvents": Service(8003, True),
# GPS data, also global timestamp
"gpsNMEA": Service(8004, True),
# CPU+MEM+GPU+BAT temps
"thermal": Service(8005, True),
# List(CanData), list of can messages
"can": Service(8006, True),
"live100": Service(8007, True),
# random events we want to log
#"liveEvent": Service(8008, True),
"model": Service(8009, True),
"features": Service(8010, True),
"health": Service(8011, True),
"live20": Service(8012, True),
#"liveUI": Service(8014, True),
"encodeIdx": Service(8015, True),
"liveTracks": Service(8016, True),
"sendcan": Service(8017, True),
"logMessage": Service(8018, True),
"liveCalibration": Service(8019, True),
"androidLog": Service(8020, True),
"carState": Service(8021, True),
# 8022 is reserved for sshd
"carControl": Service(8023, True),
}
# manager -- base process to manage starting and stopping of all others
# subscribes: health
# publishes: thermal
# **** processes that communicate with the outside world ****
# boardd -- communicates with the car
# subscribes: sendcan
# publishes: can, health
# sensord -- publishes the IMU and GPS
# publishes: sensorEvents, gpsNMEA
# visiond -- talks to the cameras, runs the model, saves the videos
# subscribes: liveCalibration, sensorEvents
# publishes: frame, encodeIdx, model, features
# **** stateful data transformers ****
# controlsd -- actually drives the car
# subscribes: can, thermal, model, live20
# publishes: carState, carControl, sendcan, live100
# radard -- processes the radar data
# subscribes: can, live100, model
# publishes: live20, liveTracks
# calibrationd -- places the camera box
# subscribes: features, live100
# publishes: liveCalibration
# **** LOGGING SERVICE ****
# loggerd
# subscribes: EVERYTHING
# **** NON VITAL SERVICES ****
# ui
# subscribes: live100, live20, liveCalibration, model, (raw frames)
# uploader
# communicates through file system with loggerd
# logmessaged -- central logging service, can log to cloud
# publishes: logMessage
# logcatd -- fetches logcat info from android
# publishes: androidLog

8
dbcs/acura_ilx_2016_can.dbc
View File

@ -100,7 +100,7 @@ BO_ 419 GEARBOX: 8 PCM
SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" NEO
BO_ 420 VSA_STATUS: 8 VSA
SG_ USER_BRAKE : 7|16@0+ (0.015625,-103) [0|1000] "" NEO
SG_ USER_BRAKE : 7|16@0+ (0.015625,-1.609375) [0|1000] "" NEO
SG_ ESP_DISABLED : 28|1@0+ (1,0) [0|1] "" NEO
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" NEO
SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" NEO
@ -155,13 +155,13 @@ BO_ 506 BRAKE_COMMAND: 8 ADAS
SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EBCM
BO_ 512 GAS_COMMAND: 3 NEO
SG_ GAS_COMMAND : 7|16@0+ (0.253984064,-328) [0|1] "" INTERCEPTOR
SG_ GAS_COMMAND : 7|16@0+ (0.253984064,-83.3) [0|1] "" INTERCEPTOR
SG_ COUNTER : 21|2@0+ (1,0) [0|3] "" INTERCEPTOR
SG_ CHECKSUM : 19|4@0+ (1,0) [0|3] "" INTERCEPTOR
BO_ 513 GAS_SENSOR: 5 INTERCEPTOR
SG_ INTERCEPTOR_GAS : 7|16@0+ (0.253984064,-328) [0|1] "" NEO
SG_ INTERCEPTOR_GAS2 : 23|16@0+ (0.126992032,-656) [0|1] "" NEO
SG_ INTERCEPTOR_GAS : 7|16@0+ (0.253984064,-83.3) [0|1] "" NEO
SG_ INTERCEPTOR_GAS2 : 23|16@0+ (0.126992032,-83.3) [0|1] "" NEO
SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" NEO
SG_ CHECKSUM : 35|4@0+ (1,0) [0|3] "" NEO

305
dbcs/honda_accord_touring_2016_can.dbc 100644
View File

@ -0,0 +1,305 @@
VERSION ""
NS_ :
NS_DESC_
CM_
BA_DEF_
BA_
VAL_
CAT_DEF_
CAT_
FILTER
BA_DEF_DEF_
EV_DATA_
ENVVAR_DATA_
SGTYPE_
SGTYPE_VAL_
BA_DEF_SGTYPE_
BA_SGTYPE_
SIG_TYPE_REF_
VAL_TABLE_
SIG_GROUP_
SIG_VALTYPE_
SIGTYPE_VALTYPE_
BO_TX_BU_
BA_DEF_REL_
BA_REL_
BA_DEF_DEF_REL_
BU_SG_REL_
BU_EV_REL_
BU_BO_REL_
SG_MUL_VAL_
BS_:
BU_: INTERCEPTOR EBCM NEO ADAS PCM EPS VSA SCM BDY XXX EPB
BO_ 57 XXX_1: 3 XXX
BO_ 342 STEERING_SENSORS: 6 EPS
SG_ STEER_ANGLE : 7|16@0- (-0.1,0) [-500|500] "deg" NEO
SG_ STEER_ANGLE_RATE : 23|16@0- (1,0) [-3000|3000] "deg/s" NEO
SG_ COUNTER : 45|2@0+ (1,0) [0|3] "" NEO
SG_ CHECKSUM : 43|4@0+ (1,0) [0|3] "" NEO
BO_ 344 POWERTRAIN_DATA: 8 PCM
SG_ XMISSION_SPEED : 7|16@0+ (0.002759506,0) [0|70] "m/s" NEO
SG_ ENGINE_RPM : 23|16@0+ (1,0) [0|15000] "rpm" NEO
SG_ XMISSION_SPEED2 : 39|16@0+ (0.002759506,0) [0|70] "m/s" NEO
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" NEO
SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" NEO
BO_ 380 POWERTRAIN_DATA2: 8 PCM
SG_ PEDAL_GAS : 7|8@0+ (1,0) [0|255] "" NEO
SG_ ENGINE_RPM : 23|16@0+ (1,0) [0|15000] "rpm" NEO
SG_ GAS_PRESSED : 39|1@0+ (1,0) [0|1] "" NEO
SG_ ACC_STATUS : 38|1@0+ (1,0) [0|1] "rpm" NEO
SG_ BOH_17C : 37|5@0+ (1,0) [0|1] "rpm" NEO
SG_ BRAKE_LIGHTS_ON : 32|1@0+ (1,0) [0|1] "rpm" NEO
SG_ BOH2_17C : 47|10@0+ (1,0) [0|1] "rpm" NEO
SG_ BRAKE_PRESSED : 53|1@0+ (1,0) [0|1] "" NEO
SG_ BOH3_17C : 52|5@0+ (1,0) [0|1] "rpm" NEO
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" NEO
SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" NEO
BO_ 401 GEARBOX: 8 PCM
SG_ GEAR_SHIFTER : 5|6@0+ (1,0) [0|63] "" NEO
SG_ GEAR : 35|4@0+ (1,0) [0|15] "" NEO
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" NEO
SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" NEO
BO_ 420 VSA_STATUS: 8 VSA
SG_ USER_BRAKE : 7|16@0+ (0.015625,-1.609375) [0|1000] "" NEO
SG_ ESP_DISABLED : 28|1@0+ (1,0) [0|1] "" NEO
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" NEO
SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" NEO
BO_ 422 SCM_BUTTONS: 8 SCM
SG_ CRUISE_BUTTONS : 7|3@0+ (1,0) [0|7] "" NEO
SG_ LIGHTS_SETTING : 1|2@0+ (1,0) [0|3] "" NEO
SG_ MAIN_ON : 47|1@0+ (1,0) [0|1] "" NEO
SG_ CRUISE_SETTING : 43|2@0+ (1,0) [0|3] "" NEO
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" NEO
SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" NEO
BO_ 427 XXX_3: 3 VSA
BO_ 428 XXX_4: 8 XXX
BO_ 432 STANDSTILL: 7 VSA
SG_ WHEELS_MOVING : 12|1@0+ (1,0) [0|1] "" NEO
SG_ BRAKE_ERROR_1 : 11|1@0+ (1,0) [0|1] "" NEO
SG_ BRAKE_ERROR_2 : 9|1@0+ (1,0) [0|1] "" NEO
SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" NEO
SG_ CHECKSUM : 51|4@0+ (1,0) [0|3] "" NEO
BO_ 450 XXX_5: 8 EPB
SG_ EPB_ACTIVE : 3|1@0+ (1,0) [0|1] "" NEO
SG_ EPB_STATE : 29|2@0+ (1,0) [0|3] "" NEO
BO_ 464 WHEEL_SPEEDS: 8 VSA
SG_ WHEEL_SPEED_FL : 7|15@0+ (0.002759506,0) [0|70] "m/s" NEO
SG_ WHEEL_SPEED_FR : 8|15@0+ (0.002759506,0) [0|70] "m/s" NEO
SG_ WHEEL_SPEED_RL : 25|15@0+ (0.002759506,0) [0|70] "m/s" NEO
SG_ WHEEL_SPEED_RR : 42|15@0+ (0.002759506,0) [0|70] "m/s" NEO
SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" NEO
BO_ 470 XXX_6: 2 VSA
BO_ 476 XXX_7: 7 XXX
BO_ 487 XXX_8: 4 VSA
SG_ BRAKE_PRESSURE1 : 7|10@0+ (0.015625,-103) [0|1000] "" NEO
SG_ BRAKE_PRESSURE2 : 9|10@0+ (0.015625,-103) [0|1000] "" NEO
BO_ 490 VEHICLE_DYNAMICS: 8 VSA
SG_ LONG_ACCEL : 23|16@0- (0.0015384,0) [-20|20] "m/s2" NEO
BO_ 493 XXX_9: 5 VSA
BO_ 506 BRAKE_COMMAND: 8 ADAS
SG_ COMPUTER_BRAKE : 7|10@0+ (0.003906248,0) [0|1] "" EBCM
SG_ ZEROS_BOH : 13|5@0+ (1,0) [0|1] "" EBCM
SG_ COMPUTER_BRAKE_REQUEST : 8|1@0+ (1,0) [0|1] "" EBCM
SG_ CRUISE_BOH2 : 23|3@0+ (1,0) [0|1] "" EBCM
SG_ CRUISE_OVERRIDE : 20|1@0+ (1,0) [0|1] "" EBCM
SG_ CRUISE_BOH3 : 19|1@0+ (1,0) [0|1] "" EBCM
SG_ CRUISE_FAULT_CMD : 18|1@0+ (1,0) [0|1] "" EBCM
SG_ CRUISE_CANCEL_CMD : 17|1@0+ (1,0) [0|1] "" EBCM
SG_ COMPUTER_BRAKE_REQUEST_2 : 16|1@0+ (1,0) [0|1] "" EBCM
SG_ SET_ME_0X80 : 31|8@0+ (1,0) [0|1] "" EBCM
SG_ BRAKE_LIGHTS : 39|1@0+ (1,0) [0|1] "" EBCM
SG_ CRUISE_STATES : 38|7@0+ (1,0) [0|1] "" EBCM
SG_ CHIME : 47|3@0+ (1,0) [0|7] "" EBCM
SG_ ZEROS_BOH6 : 44|1@0+ (1,0) [0|1] "" EBCM
SG_ FCW : 43|1@0+ (1,0) [0|3] "" EBCM
SG_ ZEROS_BOH3 : 42|2@0+ (1,0) [0|0] "" EBCM
SG_ FCW2 : 40|1@0+ (1,0) [0|0] "" EBCM
SG_ ZEROS_BOH4 : 55|8@0+ (1,0) [0|0] "" EBCM
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EBCM
SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EBCM
BO_ 512 GAS_COMMAND: 3 NEO
SG_ GAS_COMMAND : 7|16@0+ (0.253984064,-328) [0|1] "" INTERCEPTOR
SG_ COUNTER : 21|2@0+ (1,0) [0|3] "" INTERCEPTOR
SG_ CHECKSUM : 19|4@0+ (1,0) [0|3] "" INTERCEPTOR
BO_ 513 GAS_SENSOR: 5 INTERCEPTOR
SG_ INTERCEPTOR_GAS : 7|16@0+ (0.253984064,-328) [0|1] "" NEO
SG_ INTERCEPTOR_GAS2 : 23|16@0+ (0.126992032,-656) [0|1] "" NEO
SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" NEO
SG_ CHECKSUM : 35|4@0+ (1,0) [0|3] "" NEO
BO_ 545 XXX_10: 6 XXX
BO_ 597 ROUGH_WHEEL_SPEED: 8 VSA
SG_ WHEEL_SPEED_FL : 7|8@0+ (1,0) [0|255] "mph" NEO
SG_ WHEEL_SPEED_FR : 15|8@0+ (1,0) [0|255] "mph" NEO
SG_ WHEEL_SPEED_RL : 23|8@0+ (1,0) [0|255] "mph" NEO
SG_ WHEEL_SPEED_RR : 31|8@0+ (1,0) [0|255] "mph" NEO
SG_ SET_TO_X55 : 39|8@0+ (1,0) [0|255] "" NEO
SG_ SET_TO_X55 : 47|8@0+ (1,0) [0|255] "" NEO
BO_ 660 SCM_COMMANDS: 8 SCM
SG_ RIGHT_BLINKER : 6|1@0+ (1,0) [0|1] "" NEO
SG_ LEFT_BLINKER : 5|1@0+ (1,0) [0|1] "" NEO
SG_ WIPERS_SPEED : 4|2@0+ (1,0) [0|3] "" NEO
BO_ 662 CRUISE_BUTTONS: 4 SCM
SG_ CRUISE_BUTTONS : 7|3@0+ (1,0) [0|7] "" NEO
SG_ CRUISE_SETTING : 3|2@0+ (1,0) [0|3] "" NEO
BO_ 773 SEATBELT_STATUS: 7 BDY
SG_ SEATBELT_DRIVER_LAMP : 7|1@0+ (1,0) [0|1] "" NEO
SG_ SEATBELT_DRIVER_LATCHED : 13|1@0+ (1,0) [0|1] "" NEO
SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" NEO
SG_ CHECKSUM : 51|4@0+ (1,0) [0|3] "" NEO
BO_ 777 XXX_11: 8 XXX
BO_ 780 ACC_HUD: 8 ADAS
SG_ PCM_SPEED : 7|16@0+ (0.002763889,0) [0|100] "m/s" BDY
SG_ PCM_GAS : 23|7@0+ (1,0) [0|127] "" BDY
SG_ ZEROS_BOH : 16|1@0+ (1,0) [0|255] "" BDY
SG_ CRUISE_SPEED : 31|8@0+ (1,0) [0|255] "" BDY
SG_ DTC_MODE : 39|1@0+ (1,0) [0|1] "" BDY
SG_ BOH : 38|1@0+ (1,0) [0|1] "" BDY
SG_ ACC_PROBLEM : 37|1@0+ (1,0) [0|1] "" BDY
SG_ FCM_OFF : 36|1@0+ (1,0) [0|1] "" BDY
SG_ BOH_2 : 35|1@0+ (1,0) [0|1] "" BDY
SG_ FCM_PROBLEM : 34|1@0+ (1,0) [0|1] "" BDY
SG_ RADAR_OBSTRUCTED : 33|1@0+ (1,0) [0|1] "" BDY
SG_ ENABLE_MINI_CAR : 32|1@0+ (1,0) [0|1] "" BDY
SG_ HUD_DISTANCE : 47|2@0+ (1,0) [0|3] "" BDY
SG_ HUD_LEAD : 45|2@0+ (1,0) [0|3] "" BDY
SG_ BOH_3 : 43|1@0+ (1,0) [0|3] "" BDY
SG_ BOH_4 : 42|1@0+ (1,0) [0|3] "" BDY
SG_ BOH_5 : 41|1@0+ (1,0) [0|3] "" BDY
SG_ CRUISE_CONTROL_LABEL : 40|1@0+ (1,0) [0|3] "" BDY
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" BDY
SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" BDY
BO_ 795 XXX_12: 8 XXX
BO_ 800 XXX_13: 8 XXX
BO_ 804 CRUISE: 8 PCM
SG_ ENGINE_TEMPERATURE : 7|8@0+ (1,0) [0|255] "" NEO
SG_ BOH : 15|8@0+ (1,0) [0|255] "" NEO
SG_ TRIP_FUEL_CONSUMED : 23|16@0+ (1,0) [0|255] "" NEO
SG_ CRUISE_SPEED_PCM : 39|8@0+ (1,0) [0|255] "" NEO
SG_ BOH2 : 47|8@0- (1,0) [0|255] "" NEO
SG_ BOH3 : 55|8@0+ (1,0) [0|255] "" NEO
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" NEO
SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" NEO
BO_ 808 XXX_14: 8 XXX
BO_ 829 LKAS_HUD_2: 5 ADAS
SG_ CAM_TEMP_HIGH : 7|1@0+ (1,0) [0|255] "" BDY
SG_ BOH : 6|7@0+ (1,0) [0|127] "" BDY
SG_ DASHED_LANES : 14|1@0+ (1,0) [0|1] "" BDY
SG_ DTC : 13|1@0+ (1,0) [0|1] "" BDY
SG_ LKAS_PROBLEM : 12|1@0+ (1,0) [0|1] "" BDY
SG_ LKAS_OFF : 11|1@0+ (1,0) [0|1] "" BDY
SG_ SOLID_LANES : 10|1@0+ (1,0) [0|1] "" BDY
SG_ LDW_RIGHT : 9|1@0+ (1,0) [0|1] "" BDY
SG_ STEERING_REQUIRED : 8|1@0+ (1,0) [0|1] "" BDY
SG_ BOH : 23|2@0+ (1,0) [0|4] "" BDY
SG_ LDW_PROBLEM : 21|1@0+ (1,0) [0|1] "" BDY
SG_ BEEP : 17|2@0+ (1,0) [0|1] "" BDY
SG_ LDW_ON : 28|1@0+ (1,0) [0|1] "" BDY
SG_ LDW_OFF : 27|1@0+ (1,0) [0|1] "" BDY
SG_ CLEAN_WINDSHIELD : 26|1@0+ (1,0) [0|1] "" BDY
SG_ SET_ME_X48 : 31|8@0+ (1,0) [0|255] "" BDY
SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" BDY
SG_ CHECKSUM : 35|4@0+ (1,0) [0|3] "" BDY
BO_ 862 XXX_15: 8 ADAS
SG_ UI_ALERTS : 7|56@0+ (1,0) [0|127] "" BDY
BO_ 884 XXX_16: 8 XXX
BO_ 891 XXX_17: 8 XXX
BO_ 892 XXX_18: 8 XXX
BO_ 927 XXX_19: 8 ADAS
SG_ ZEROS_BOH : 7|17@0+ (1,0) [0|127] "" BDY
SG_ APPLY_BRAKES_FOR_CANC : 23|1@0+ (1,0) [0|15] "" BDY
SG_ ZEROS_BOH2 : 22|1@0+ (1,0) [0|1] "" BDY
SG_ RESUME_INSTRUCTION : 21|1@0+ (1,0) [0|15] "" BDY
SG_ ACC_ALERTS : 20|5@0+ (1,0) [0|15] "" BDY
SG_ ZEROS_BOH2 : 31|8@0+ (1,0) [0|127] "" BDY
SG_ LEAD_SPEED : 39|9@0+ (1,0) [0|127] "" BDY
SG_ LEAD_STATE : 46|3@0+ (1,0) [0|127] "" BDY
SG_ LEAD_DISTANCE : 43|5@0+ (1,0) [0|31] "" BDY
SG_ ZEROS_BOH3 : 54|7@0+ (1,0) [0|127] "" BDY
BO_ 929 XXX_20: 8 XXX
BO_ 985 XXX_21: 3 XXX
BO_ 1024 XXX_22: 5 XXX
BO_ 1027 XXX_23: 5 XXX
BO_ 1029 DOORS_STATUS: 8 BDY
SG_ DOOR_OPEN_FL : 37|1@0+ (1,0) [0|1] "" NEO
SG_ DOOR_OPEN_FR : 38|1@0+ (1,0) [0|1] "" NEO
SG_ DOOR_OPEN_RL : 39|1@0+ (1,0) [0|1] "" NEO
SG_ DOOR_OPEN_RR : 40|1@0+ (1,0) [0|1] "" NEO
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" NEO
SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" NEO
BO_ 1036 XXX_24: 8 XXX
BO_ 1039 XXX_25: 8 XXX
BO_ 1108 XXX_26: 8 XXX
BO_ 1302 XXX_27: 8 XXX
BO_ 1322 XXX_28: 5 XXX
BO_ 1361 XXX_29: 5 XXX
BO_ 1365 XXX_30: 5 XXX
BO_ 1424 XXX_31: 5 XXX
BO_ 1600 XXX_32: 5 XXX
BO_ 1601 XXX_33: 8 XXX
BO_ 1633 XXX_34: 8 XXX
BO_TX_BU_ 228 : NEO,ADAS;
BO_TX_BU_ 506 : NEO,ADAS;
BO_TX_BU_ 780 : NEO,ADAS;
BO_TX_BU_ 829 : NEO,ADAS;
BO_TX_BU_ 862 : NEO,ADAS;
BO_TX_BU_ 927 : NEO,ADAS;

4
dbcs/honda_civic_touring_2016_can.dbc
View File

@ -98,7 +98,7 @@ BO_ 401 GEARBOX: 8 PCM
SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" NEO
BO_ 420 VSA_STATUS: 8 VSA
SG_ USER_BRAKE : 7|16@0+ (0.015625,-103) [0|1000] "" NEO
SG_ USER_BRAKE : 7|16@0+ (0.015625,-1.609375) [0|1000] "" NEO
SG_ ESP_DISABLED : 28|1@0+ (1,0) [0|1] "" NEO
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" NEO
SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" NEO
@ -194,7 +194,7 @@ BO_ 773 SEATBELT_STATUS: 7 BDY
BO_ 777 XXX_11: 8 XXX
BO_ 780 ACC_HUD: 8 ADAS
SG_ PCM_SPEED : 7|16@0+ (0.002763889,0) [0|100] "m/s" BDY
SG_ PCM_SPEED : 7|16@0+ (0.002759506,0) [0|100] "m/s" BDY
SG_ PCM_GAS : 23|7@0+ (1,0) [0|127] "" BDY
SG_ ZEROS_BOH : 16|1@0+ (1,0) [0|255] "" BDY
SG_ CRUISE_SPEED : 31|8@0+ (1,0) [0|255] "" BDY

405
dbcs/tesla_can.dbc 100644
View File

@ -0,0 +1,405 @@
VERSION ""
NS_ :
NS_DESC_
CM_
BA_DEF_
BA_
VAL_
CAT_DEF_
CAT_
FILTER
BA_DEF_DEF_
EV_DATA_
ENVVAR_DATA_
SGTYPE_
SGTYPE_VAL_
BA_DEF_SGTYPE_
BA_SGTYPE_
SIG_TYPE_REF_
VAL_TABLE_
SIG_GROUP_
SIG_VALTYPE_
SIGTYPE_VALTYPE_
BO_TX_BU_
BA_DEF_REL_
BA_REL_
BA_DEF_DEF_REL_
BU_SG_REL_
BU_EV_REL_
BU_BO_REL_
SG_MUL_VAL_
BS_:
BU_:
NEO
MCU
GTW
EPAS
DI
ESP
SBW
STW
VAL_TABLE_ StW_AnglHP_Spd 16383 "SNA" ;
VAL_TABLE_ DI_aebFaultReason 15 "DI_AEB_FAULT_DAS_REQ_DI_UNAVAIL" 14 "DI_AEB_FAULT_ACCEL_REQ_INVALID" 13 "DI_AEB_FAULT_MIN_TIME_BTWN_EVENTS" 12 "DI_AEB_FAULT_ESP_MIA" 11 "DI_AEB_FAULT_ESP_FAULT" 10 "DI_AEB_FAULT_EPB_NOT_PARKED" 9 "DI_AEB_FAULT_ACCEL_OUT_OF_BOUNDS" 8 "DI_AEB_FAULT_PM_REQUEST" 7 "DI_AEB_FAULT_VEL_EST_ABNORMAL" 6 "DI_AEB_FAULT_DAS_SNA" 5 "DI_AEB_FAULT_DAS_CONTROL_MIA" 4 "DI_AEB_FAULT_SPEED_DELTA" 3 "DI_AEB_FAULT_EBR_FAULT" 2 "DI_AEB_FAULT_PM_MIA" 1 "DI_AEB_FAULT_EPB_MIA" 0 "DI_AEB_FAULT_NONE" ;
VAL_TABLE_ DI_aebLockState 3 "AEB_LOCK_STATE_SNA" 2 "AEB_LOCK_STATE_UNUSED" 1 "AEB_LOCK_STATE_UNLOCKED" 0 "AEB_LOCK_STATE_LOCKED" ;
VAL_TABLE_ DI_aebSmState 7 "DI_AEB_STATE_FAULT" 6 "DI_AEB_STATE_EXIT" 5 "DI_AEB_STATE_STANDSTILL" 4 "DI_AEB_STATE_STOPPING" 3 "DI_AEB_STATE_ENABLE" 2 "DI_AEB_STATE_ENABLE_INIT" 1 "DI_AEB_STATE_STANDBY" 0 "DI_AEB_STATE_UNAVAILABLE" ;
VAL_TABLE_ DI_aebState 7 "AEB_CAN_STATE_SNA" 4 "AEB_CAN_STATE_FAULT" 3 "AEB_CAN_STATE_STANDSTILL" 2 "AEB_CAN_STATE_ENABLED" 1 "AEB_CAN_STATE_STANDBY" 0 "AEB_CAN_STATE_UNAVAILABLE" ;
VAL_TABLE_ DI_epbInterfaceReady 1 "EPB_INTERFACE_READY" 0 "EPB_INTERFACE_NOT_READY" ;
VAL_TABLE_ DI_gear 7 "DI_GEAR_SNA" 4 "DI_GEAR_D" 3 "DI_GEAR_N" 2 "DI_GEAR_R" 1 "DI_GEAR_P" 0 "DI_GEAR_INVALID" ;
VAL_TABLE_ DI_gpoReason 8 "DI_GPO_NUMREASONS" 7 "DI_GPO_CAPACITOR_OVERTEMP" 6 "DI_GPO_NOT_ENOUGH_12V" 5 "DI_GPO_NO_BATTERY_POWER" 4 "DI_GPO_AMBIENT_OVERTEMP" 3 "DI_GPO_FLUID_DELTAT" 2 "DI_GPO_STATOR_OVERTEMP" 1 "DI_GPO_HEATSINK_OVERTEMP" 0 "DI_GPO_OUTLET_OVERTEMP" ;
VAL_TABLE_ DI_immobilizerCondition 1 "DI_IMM_CONDITION_LEARNED" 0 "DI_IMM_CONDITION_VIRGIN_SNA" ;
VAL_TABLE_ DI_immobilizerState 7 "DI_IMM_STATE_FAULT" 6 "DI_IMM_STATE_FAULTRETRY" 5 "DI_IMM_STATE_RESET" 4 "DI_IMM_STATE_LEARN" 3 "DI_IMM_STATE_DISARMED" 2 "DI_IMM_STATE_AUTHENTICATING" 1 "DI_IMM_STATE_REQUEST" 0 "DI_IMM_STATE_INIT_SNA" ;
VAL_TABLE_ DI_limpReason 24 "DI_LIMP_NUMREASONS" 23 "DI_LIMP_CAPACITOR_OVERTEMP" 22 "DI_LIMP_GTW_MIA" 21 "DI_LIMP_TRQCMD_VALIDITY_UNKNOWN" 20 "DI_LIMP_DI_MIA" 19 "DI_LIMP_CONFIG_MISMATCH" 18 "DI_LIMP_HEATSINK_TEMP" 17 "DI_LIMP_PMREQUEST" 16 "DI_LIMP_PMHEARTBEAT" 15 "DI_LIMP_TRQ_CROSS_CHECK" 14 "DI_LIMP_EXTERNAL_COMMAND" 13 "DI_LIMP_WRONG_CS_CALIBRATION" 12 "DI_LIMP_STATOR_TEMP" 11 "DI_LIMP_DELTAT_TOO_NEGATIVE" 10 "DI_LIMP_DELTAT_TOO_POSITIVE" 9 "DI_LIMP_AMBIENT_TEMP" 8 "DI_LIMP_OUTLET_TEMP" 7 "DI_LIMP_LOW_FLOW" 6 "DI_LIMP_BMS_MIA" 5 "DI_LIMP_12V_SUPPLY_UNDERVOLTAGE" 4 "DI_LIMP_NO_FLUID" 3 "DI_LIMP_NO_FUNC_HEATSINK_SENSOR" 2 "DI_LIMP_NO_FUNC_STATORT_SENSOR" 1 "DI_LIMP_BUSV_SENSOR_IRRATIONAL" 0 "DI_LIMP_PHASE_IMBALANCE" ;
VAL_TABLE_ DI_mode 2 "DI_MODE_DYNO" 1 "DI_MODE_DRIVE" 0 "DI_MODE_UNDEF" ;
VAL_TABLE_ DI_motorType 14 "DI_MOTOR_F2AE" 13 "DI_MOTOR_F2AD" 12 "DI_MOTOR_F2AC" 11 "DI_MOTOR_F2AB" 10 "DI_MOTOR_F1AC" 9 "DI_MOTOR_SSR1A" 8 "DI_MOTOR_F1A" 7 "DI_MOTOR_M7M6" 6 "DI_MOTOR_M8A" 5 "DI_MOTOR_M7M5" 4 "DI_MOTOR_M7M4" 3 "DI_MOTOR_M7M3" 2 "DI_MOTOR_ROADSTER_SPORT" 1 "DI_MOTOR_ROADSTER_BASE" 0 "DI_MOTOR_SNA" ;
VAL_TABLE_ DI_speedUnits 1 "DI_SPEED_KPH" 0 "DI_SPEED_MPH" ;
VAL_TABLE_ DI_state 4 "DI_STATE_ENABLE" 3 "DI_STATE_FAULT" 2 "DI_STATE_CLEAR_FAULT" 1 "DI_STATE_STANDBY" 0 "DI_STATE_PREAUTH" ;
VAL_TABLE_ DI_velocityEstimatorState 4 "VE_STATE_BACKUP_MOTOR" 3 "VE_STATE_BACKUP_WHEELS_B" 2 "VE_STATE_BACKUP_WHEELS_A" 1 "VE_STATE_WHEELS_NORMAL" 0 "VE_STATE_NOT_INITIALIZED" ;
BO_ 1160 DAS_steeringControl: 4 NEO
SG_ DAS_steeringControlType : 23|2@0+ (1,0) [0|0] "" EPAS
SG_ DAS_steeringControlChecksum : 31|8@0+ (1,0) [0|0] "" EPAS
SG_ DAS_steeringControlCounter : 19|4@0+ (1,0) [0|0] "" EPAS
SG_ DAS_steeringAngleRequest : 6|15@0+ (0.1,-1638.35) [-1638.35|1638.35] "deg" EPAS
SG_ DAS_steeringHapticRequest : 7|1@0+ (1,0) [0|0] "" EPAS
BO_ 257 GTW_epasControl: 3 NEO
SG_ GTW_epasControlChecksum : 16|8@1+ (1,0) [0|255] "" NEO
SG_ GTW_epasControlCounter : 12|4@1+ (1,0) [0|15] "" NEO
SG_ GTW_epasControlType : 8|2@1+ (1,0) [4|-1] "" NEO
SG_ GTW_epasEmergencyOn : 0|1@1+ (1,0) [2|-1] "" NEO
SG_ GTW_epasLDWEnabled : 11|1@1+ (1,0) [2|-1] "" NEO
SG_ GTW_epasPowerMode : 1|4@1+ (1,0) [4|14] "" NEO
SG_ GTW_epasTuneRequest : 5|3@1+ (1,0) [8|-1] "" NEO
BO_ 880 EPAS_sysStatus: 8 EPAS
SG_ EPAS_currentTuneMode : 0|4@1+ (1,0) [8|15] "" NEO
SG_ EPAS_eacErrorCode : 16|4@1+ (1,0) [16|-1] "" NEO
SG_ EPAS_eacStatus : 48|3@1+ (1,0) [5|7] "" NEO
SG_ EPAS_handsOnLevel : 32|2@1+ (1,0) [4|-1] "" NEO
SG_ EPAS_internalSAS : 37|14@0+ (0.10,-819.200010) [0|0] "deg" NEO
SG_ EPAS_steeringFault : 5|1@1+ (1,0) [2|-1] "" NEO
SG_ EPAS_steeringRackForce : 1|10@0+ (50,-25575) [0|0] "N" NEO
SG_ EPAS_steeringReduced : 4|1@1+ (1,0) [2|-1] "" NEO
SG_ EPAS_sysStatusChecksum : 56|8@1+ (1,0) [0|255] "" NEO
SG_ EPAS_sysStatusCounter : 52|4@1+ (1,0) [0|15] "" NEO
SG_ EPAS_torsionBarTorque : 19|12@0+ (0.010,-20.50) [0|0] "Nm" NEO
BO_ 3 STW_ANGL_STAT: 8 STW
SG_ CRC_STW_ANGL_STAT : 56|8@1+ (1,0) [0|255] "" NEO
SG_ MC_STW_ANGL_STAT : 52|4@1+ (1,0) [0|15] "" NEO
SG_ StW_Angl : 5|14@0+ (0.50,-2048) [0|0] "deg" NEO
SG_ StW_AnglSens_Id : 36|2@1+ (1,0) [3|3] "" NEO
SG_ StW_AnglSens_Stat : 38|2@1+ (1,0) [4|-1] "" NEO
SG_ StW_AnglSpd : 21|14@0+ (0.50,-2048) [0|0] "/s" NEO
BO_ 14 STW_ANGLHP_STAT: 8 GTW
SG_ StW_AnglHP : 5|14@0+ (0.1,-819.2) [-819.2|819] "deg" NEO
SG_ StW_AnglHP_Spd : 21|14@0+ (0.5,-4096) [-4096|4095.5] "deg/s" NEO
SG_ StW_AnglHP_Sens_Stat : 33|2@0+ (1,0) [0|0] "" NEO
SG_ StW_AnglHP_Sens_Id : 35|2@0+ (1,0) [0|0] "" NEO
SG_ MC_STW_ANGLHP_STAT : 55|4@0+ (1,0) [0|15] "" NEO
SG_ CRC_STW_ANGLHP_STAT : 63|8@0+ (1,0) [0|0] "" NEO
BO_ 264 DI_torque1: 8 DI
SG_ DI_torqueDriver : 0|13@1- (0.25,0) [-750|750] "Nm" NEO
SG_ DI_torque1Counter : 13|3@1+ (1,0) [0|0] "" NEO
SG_ DI_torqueMotor : 16|13@1- (0.25,0) [-750|750] "Nm" NEO
SG_ DI_soptState : 29|3@1+ (1,0) [0|0] "" NEO
SG_ DI_motorRPM : 32|16@1- (1,0) [-17000|17000] "RPM" NEO
SG_ DI_pedalPos : 48|8@1+ (0.4,0) [0|100] "%" NEO
SG_ DI_torque1Checksum : 56|8@1+ (1,0) [0|0] "" NEO
BO_ 280 DI_torque2: 6 DI
SG_ DI_torqueEstimate : 0|12@1- (0.5,0) [-750|750] "Nm" NEO
SG_ DI_gear : 12|3@1+ (1,0) [0|0] "" NEO
SG_ DI_brakePedal : 15|1@1+ (1,0) [0|0] "" NEO
SG_ DI_vehicleSpeed : 16|12@1+ (0.05,-25) [-25|179.75] "MPH" NEO
SG_ DI_gearRequest : 28|3@1+ (1,0) [0|0] "" NEO
SG_ DI_torqueInterfaceFailure : 31|1@1+ (1,0) [0|0] "" NEO
SG_ DI_torque2Counter : 32|4@1+ (1,0) [0|0] "" NEO
SG_ DI_brakePedalState : 36|2@1+ (1,0) [0|0] "" NEO
SG_ DI_epbParkRequest : 38|1@1+ (1,0) [0|0] "" NEO
SG_ DI_epbInterfaceReady : 39|1@1+ (1,0) [0|0] "" NEO
SG_ DI_torque2Checksum : 40|8@1+ (1,0) [0|0] "" NEO
BO_ 309 ESP_135h: 5 ESP
SG_ ESP_135hChecksum : 16|8@1+ (1,0) [0|255] "" NEO
SG_ ESP_135hCounter : 12|4@1+ (1,0) [0|15] "" NEO
SG_ ESP_absBrakeEvent : 5|1@1+ (1,0) [2|-1] "" NEO
SG_ ESP_brakeDiscWipingActive : 3|1@1+ (1,0) [2|-1] "" NEO
SG_ ESP_brakeLamp : 4|1@1+ (1,0) [2|-1] "" NEO
SG_ ESP_espFaultLamp : 1|1@1+ (1,0) [2|-1] "" NEO
SG_ ESP_espLampFlash : 0|1@1+ (1,0) [2|-1] "" NEO
SG_ ESP_hillStartAssistActive : 6|2@1+ (1,0) [4|-1] "" NEO
SG_ ESP_messagePumpService : 31|1@1+ (1,0) [0|1] "" NEO
SG_ ESP_messagePumpFailure : 30|1@1+ (1,0) [0|1] "" NEO
SG_ ESP_messageEBDFailure : 29|1@1+ (1,0) [0|1] "" NEO
SG_ ESP_absFaultLamp : 28|1@1+ (1,0) [2|-1] "" NEO
SG_ ESP_tcDisabledByFault : 27|1@1+ (1,0) [0|1] "" NEO
SG_ ESP_messageDynoModeActive : 26|1@1+ (1,0) [0|1] "" NEO
SG_ ESP_hydraulicBoostEnabled : 25|1@1+ (1,0) [0|1] "" NEO
SG_ ESP_espOffLamp : 24|1@1+ (1,0) [2|-1] "" NEO
SG_ ESP_stabilityControlSts : 9|3@1+ (1,0) [6|7] "" NEO
SG_ ESP_tcLampFlash : 2|1@1+ (1,0) [2|-1] "" NEO
SG_ ESP_tcOffLamp : 8|1@1+ (1,0) [0|1] "" NEO
BO_ 792 GTW_carState: 8 GTW
SG_ BOOT_STATE : 40|2@1+ (1,0) [4|-1] "" NEO
SG_ CERRD : 0|1@1+ (1,0) [2|-1] "" NEO
SG_ DAY : 35|5@1+ (1,0) [2|31] "" NEO
SG_ DOOR_STATE_FL : 10|2@1+ (1,0) [4|-1] "" NEO
SG_ DOOR_STATE_FR : 8|2@1+ (1,0) [4|-1] "" NEO
SG_ DOOR_STATE_FrontTrunk : 52|2@1+ (1,0) [4|-1] "" NEO
SG_ DOOR_STATE_RL : 16|2@1+ (1,0) [4|-1] "" NEO
SG_ DOOR_STATE_RR : 25|2@1+ (1,0) [4|-1] "" NEO
SG_ GTW_updateInProgress : 54|2@1+ (1,0) [4|-1] "" NEO
SG_ Hour : 27|5@1+ (1,0) [0|29] "h" NEO
SG_ MCU_factoryMode : 51|1@1+ (1,0) [2|-1] "" NEO
SG_ MCU_transportModeOn : 50|1@1+ (1,0) [1|1] "" NEO
SG_ MINUTE : 42|6@1+ (1,0) [0|61] "min" NEO
SG_ MONTH : 12|4@1+ (1,0) [0|14] "Month" NEO
SG_ SECOND : 18|6@1+ (1,0) [0|61] "s" NEO
SG_ YEAR : 1|7@1+ (1,2000) [2000|2125] "Year" NEO
BO_ 872 DI_state: 8 DI
SG_ DI_aebState : 44|3@1+ (1,0) [5|6] "" NEO
SG_ DI_analogSpeed : 20|12@1+ (0.10,0) [0|409.40] "speed" NEO
SG_ DI_cruiseSet : 39|9@1+ (0.50,0) [0|255.50] "speed" NEO
SG_ DI_cruiseState : 8|4@1+ (1,0) [8|15] "" NEO
SG_ DI_digitalSpeed : 48|8@1+ (1,0) [0|254] "" NEO
SG_ DI_driveReady : 0|1@1+ (1,0) [0|1] "" NEO
SG_ DI_immobilizerState : 25|3@1+ (1,0) [7|7] "" NEO
SG_ DI_proximity : 1|1@1+ (1,0) [0|1] "" NEO
SG_ DI_regenLight : 15|1@1+ (1,0) [0|1] "" NEO
SG_ DI_speedUnits : 24|1@1+ (1,0) [2|-1] "" NEO
SG_ DI_state : 12|3@1+ (1,0) [5|7] "" NEO
SG_ DI_stateChecksum : 56|8@1+ (1,0) [0|255] "" NEO
SG_ DI_stateCounter : 40|4@1+ (1,0) [0|15] "" NEO
SG_ DI_systemState : 5|3@1+ (1,0) [5|7] "" NEO
SG_ DI_vehicleHoldState : 2|3@1+ (1,0) [8|-1] "" NEO
BO_ 109 SBW_RQ_SCCM: 4 STW
SG_ StW_Sw_Stat3 : 0|3@1+ (1,0) [0|0] "" NEO
SG_ MsgTxmtId : 6|2@1+ (1,0) [0|0] "" NEO
SG_ TSL_RND_Posn_StW : 8|4@1+ (1,0) [0|0] "" NEO
SG_ TSL_P_Psd_StW : 12|2@1+ (1,0) [0|0] "" NEO
SG_ MC_SBW_RQ_SCCM : 20|4@1+ (1,0) [0|15] "" NEO
SG_ CRC_SBW_RQ_SCCM : 24|8@1+ (1,0) [0|0] "" NEO
BO_ 69 STW_ACTN_RQ: 8 STW
SG_ SpdCtrlLvr_Stat : 0|6@1+ (1,0) [0|0] "" NEO
SG_ VSL_Enbl_Rq : 6|1@1+ (1,0) [0|0] "" NEO
SG_ SpdCtrlLvrStat_Inv : 7|1@1+ (1,0) [0|0] "" NEO
SG_ DTR_Dist_Rq : 8|8@1+ (1,0) [0|200] "" NEO
SG_ TurnIndLvr_Stat : 16|2@1+ (1,0) [0|0] "" NEO
SG_ HiBmLvr_Stat : 18|2@1+ (1,0) [0|0] "" NEO
SG_ WprWashSw_Psd : 20|2@1+ (1,0) [0|0] "" NEO
SG_ WprWash_R_Sw_Posn_V2 : 22|2@1+ (1,0) [0|0] "" NEO
SG_ StW_Lvr_Stat : 24|3@1+ (1,0) [0|0] "" NEO
SG_ StW_Cond_Flt : 27|1@1+ (1,0) [0|0] "" NEO
SG_ StW_Cond_Psd : 28|2@1+ (1,0) [0|0] "" NEO
SG_ HrnSw_Psd : 30|2@1+ (1,0) [0|0] "" NEO
SG_ StW_Sw00_Psd : 32|1@1+ (1,0) [0|0] "" NEO
SG_ StW_Sw01_Psd : 33|1@1+ (1,0) [0|0] "" NEO
SG_ StW_Sw02_Psd : 34|1@1+ (1,0) [0|0] "" NEO
SG_ StW_Sw03_Psd : 35|1@1+ (1,0) [0|0] "" NEO
SG_ StW_Sw04_Psd : 36|1@1+ (1,0) [0|0] "" NEO
SG_ StW_Sw05_Psd : 37|1@1+ (1,0) [0|0] "" NEO
SG_ StW_Sw06_Psd : 38|1@1+ (1,0) [0|0] "" NEO
SG_ StW_Sw07_Psd : 39|1@1+ (1,0) [0|0] "" NEO
SG_ StW_Sw08_Psd : 40|1@1+ (1,0) [0|0] "" NEO
SG_ StW_Sw09_Psd : 41|1@1+ (1,0) [0|0] "" NEO
SG_ StW_Sw10_Psd : 42|1@1+ (1,0) [0|0] "" NEO
SG_ StW_Sw11_Psd : 43|1@1+ (1,0) [0|0] "" NEO
SG_ StW_Sw12_Psd : 44|1@1+ (1,0) [0|0] "" NEO
SG_ StW_Sw13_Psd : 45|1@1+ (1,0) [0|0] "" NEO
SG_ StW_Sw14_Psd : 46|1@1+ (1,0) [0|0] "" NEO
SG_ StW_Sw15_Psd : 47|1@1+ (1,0) [0|0] "" NEO
SG_ WprSw6Posn : 48|3@1+ (1,0) [0|0] "" NEO
SG_ MC_STW_ACTN_RQ : 52|4@1+ (1,0) [0|15] "" NEO
SG_ CRC_STW_ACTN_RQ : 56|8@1+ (1,0) [0|0] "" NEO
BO_ 643 BODY_R1: 8 GTW
SG_ AirTemp_Insd : 40|8@1+ (0.25,0) [0|63.5] "C" NEO
SG_ AirTemp_Outsd : 56|8@1+ (0.5,-40) [-40|86.5] "C" NEO
SG_ Bckl_Sw_RL_Stat_SAM_R : 54|2@1+ (1,0) [4|-1] "" NEO
SG_ Bckl_Sw_RM_Stat_SAM_R : 50|2@1+ (1,0) [4|-1] "" NEO
SG_ Bckl_Sw_RR_Stat_SAM_R : 52|2@1+ (1,0) [4|-1] "" NEO
SG_ DL_RLtch_Stat : 14|2@1+ (1,0) [4|-1] "" NEO
SG_ DrRLtch_FL_Stat : 6|2@1+ (1,0) [4|-1] "" NEO
SG_ DrRLtch_FR_Stat : 4|2@1+ (1,0) [4|-1] "" NEO
SG_ DrRLtch_RL_Stat : 2|2@1+ (1,0) [4|-1] "" NEO
SG_ DrRLtch_RR_Stat : 0|2@1+ (1,0) [4|-1] "" NEO
SG_ EngHd_Stat : 12|2@1+ (1,0) [4|-1] "" NEO
SG_ LoBm_On_Rq : 39|1@1+ (1,0) [0|1] "" NEO
SG_ HiBm_On : 38|1@1+ (1,0) [0|1] "" NEO
SG_ Hrn_On : 29|1@1+ (1,0) [0|1] "" NEO
SG_ IrLmp_D_Lt_Flt : 37|1@1+ (1,0) [0|1] "" NEO
SG_ IrLmp_P_Rt_Flt : 36|1@1+ (1,0) [0|1] "" NEO
SG_ LgtSens_Twlgt : 21|3@1+ (1,0) [0|7] "Steps" NEO
SG_ LgtSens_SNA : 20|1@1+ (1,0) [0|1] "" NEO
SG_ LgtSens_Tunnel : 19|1@1+ (1,0) [0|1] "" NEO
SG_ LgtSens_Flt : 18|1@1+ (1,0) [0|1] "" NEO
SG_ LgtSens_Night : 17|1@1+ (1,0) [2|-1] "" NEO
SG_ ADL_LoBm_On_Rq : 16|1@1+ (1,0) [0|1] "" NEO
SG_ LoBm_D_Lt_Flt : 35|1@1+ (1,0) [0|1] "" NEO
SG_ LoBm_P_Rt_Flt : 34|1@1+ (1,0) [0|1] "" NEO
SG_ MPkBrk_Stat : 27|1@1+ (1,0) [2|-1] "" NEO
SG_ RevGr_Engg : 32|2@1+ (1,0) [4|-1] "" NEO
SG_ StW_Cond_Stat : 48|2@1+ (1,0) [4|-1] "" NEO
SG_ Term54_Actv : 28|1@1+ (1,0) [0|1] "" NEO
SG_ Trlr_Stat : 30|2@1+ (1,0) [4|-1] "" NEO
SG_ VTA_Alm_Actv : 10|1@1+ (1,0) [0|1] "" NEO
SG_ WprOutsdPkPosn : 26|1@1+ (1,0) [0|1] "" NEO
BO_ 760 MCU_gpsVehicleSpeed: 8 MCU
SG_ MCU_gpsHDOP : 0|8@1+ (0.10,0) [0|25.50] "1" NEO
SG_ MCU_gpsVehicleHeading : 8|16@1+ (0.007810,0) [0|511.828350] "deg" NEO
SG_ MCU_gpsVehicleSpeed : 24|16@1+ (0.003910,0) [0|256.241850] "km/hr" NEO
SG_ MCU_mppSpeedLimit : 51|5@1+ (5,0) [0|155] "kph/mph" NEO
SG_ MCU_speedLimitUnits : 41|1@1+ (1,0) [2|-1] "" NEO
SG_ MCU_userSpeedOffset : 42|6@1+ (1,-30) [-30|33] "kph/mph" NEO
SG_ MCU_userSpeedOffsetUnits : 40|1@1+ (1,0) [2|-1] "" NEO
BO_ 904 MCU_clusterBacklightRequest: 3 NEO
SG_ MCU_clusterBacklightOn : 7|1@1+ (1,0) [0|1] "" NEO
SG_ MCU_clusterBrightnessLevel : 8|8@1+ (0.5,0) [0|127.5] "%" NEO
SG_ MCU_clusterReadyForDrive : 6|1@1+ (1,0) [2|-1] "" NEO
SG_ MCU_clusterReadyForPowerOff : 5|1@1+ (1,0) [0|1] "" NEO
BO_ 984 MCU_locationStatus: 8 MCU
SG_ MCU_gpsAccuracy : 56|7@1+ (0.200000003,0) [0|25.200000378] "m" NEO
SG_ MCU_latitude : 0|28@1- (0.000001,0) [-134.21772759734682|134.21772659734683] "deg" NEO
SG_ MCU_longitude : 28|28@1- (0.000001,0) [-268.43545519469365|268.43545419469365] "deg" NEO
BO_ 840 GTW_status: 8 GTW
SG_ GTW_accGoingDown : 1|1@1+ (1,0) [0|1] "" NEO
SG_ GTW_accRailReq : 15|1@1+ (1,0) [0|1] "" NEO
SG_ GTW_brakePressed : 6|1@1+ (1,0) [0|1] "" NEO
SG_ GTW_driveGoingDown : 0|1@1+ (1,0) [0|1] "" NEO
SG_ GTW_driveRailReq : 7|1@1+ (1,0) [0|1] "" NEO
SG_ GTW_driverIsLeaving : 2|1@1+ (1,0) [0|1] "" NEO
SG_ GTW_driverPresent : 5|1@1+ (1,0) [0|1] "" NEO
SG_ GTW_hvacGoingDown : 12|1@1+ (1,0) [0|1] "" NEO
SG_ GTW_hvacRailReq : 14|1@1+ (1,0) [0|1] "" NEO
SG_ GTW_icPowerOff : 3|1@1+ (1,0) [0|1] "" NEO
SG_ GTW_notEnough12VForDrive : 4|1@1+ (1,0) [0|1] "" NEO
SG_ GTW_preconditionRequest : 13|1@1+ (1,0) [0|1] "" NEO
SG_ GTW_statusChecksum : 56|8@1+ (1,0) [0|255] "" NEO
SG_ GTW_statusCounter : 52|4@1+ (1,0) [0|15] "" NEO
VAL_ 3 StW_Angl 16383 "SNA" ;
VAL_ 3 StW_AnglSens_Id 2 "MUST" 0 "PSBL" 1 "SELF" ;
VAL_ 3 StW_AnglSens_Stat 2 "ERR" 3 "ERR_INI" 1 "INI" 0 "OK" ;
VAL_ 3 StW_AnglSpd 16383 "SNA" ;
VAL_ 14 StW_AnglHP 16383 "SNA" ;
VAL_ 14 StW_AnglHP_Spd 16383 "SNA" ;
VAL_ 14 StW_AnglHP_Sens_Stat 3 "SNA" 2 "ERR" 1 "INI" 0 "OK" ;
VAL_ 14 StW_AnglHP_Sens_Id 3 "SNA" 2 "KOSTAL" 1 "DELPHI" 0 "TEST" ;
VAL_ 69 SpdCtrlLvr_Stat 32 "DN_1ST" 16 "UP_1ST" 8 "DN_2ND" 4 "UP_2ND" 2 "RWD" 1 "FWD" 0 "IDLE" ;
VAL_ 69 DTR_Dist_Rq 255 "SNA" 200 "ACC_DIST_7" 166 "ACC_DIST_6" 133 "ACC_DIST_5" 100 "ACC_DIST_4" 66 "ACC_DIST_3" 33 "ACC_DIST_2" 0 "ACC_DIST_1" ;
VAL_ 69 TurnIndLvr_Stat 3 "SNA" 2 "RIGHT" 1 "LEFT" 0 "IDLE" ;
VAL_ 69 HiBmLvr_Stat 3 "SNA" 2 "HIBM_FLSH_ON_PSD" 1 "HIBM_ON_PSD" 0 "IDLE" ;
VAL_ 69 WprWashSw_Psd 3 "SNA" 2 "WASH" 1 "TIPWIPE" 0 "NPSD" ;
VAL_ 69 WprWash_R_Sw_Posn_V2 3 "SNA" 2 "WASH" 1 "INTERVAL" 0 "OFF" ;
VAL_ 69 StW_Lvr_Stat 4 "STW_BACK" 3 "STW_FWD" 2 "STW_DOWN" 1 "STW_UP" 0 "NPSD" ;
VAL_ 69 StW_Cond_Psd 3 "SNA" 2 "DOWN" 1 "UP" 0 "NPSD" ;
VAL_ 69 HrnSw_Psd 3 "SNA" 2 "NDEF2" 1 "PSD" 0 "NPSD" ;
VAL_ 69 StW_Sw00_Psd 1 "PRESSED" 0 "NOT_PRESSED_SNA" ;
VAL_ 69 StW_Sw01_Psd 1 "PRESSED" 0 "NOT_PRESSED_SNA" ;
VAL_ 69 StW_Sw03_Psd 1 "PRESSED" 0 "NOT_PRESSED_SNA" ;
VAL_ 69 StW_Sw04_Psd 1 "PRESSED" 0 "NOT_PRESSED_SNA" ;
VAL_ 69 WprSw6Posn 7 "SNA" 6 "STAGE2" 5 "STAGE1" 4 "INTERVAL4" 3 "INTERVAL3" 2 "INTERVAL2" 1 "INTERVAL1" 0 "OFF" ;VAL_ 257 GTW_epasControlType 0 "WITHOUT" 1 "WITH_ANGLE" 3 "WITH_BOTH" 2 "WITH_TORQUE" ;
VAL_ 109 StW_Sw_Stat3 7 "SNA" 6 "NDEF6" 5 "NDEF5" 4 "NDEF4" 3 "PLUS_MINUS" 2 "MINUS" 1 "PLUS" 0 "NPSD" ;
VAL_ 109 MsgTxmtId 3 "NDEF3" 2 "NDEF2" 1 "SCCM" 0 "EWM" ;
VAL_ 109 TSL_RND_Posn_StW 15 "SNA" 8 "D" 6 "INI" 4 "N_DOWN" 2 "N_UP" 1 "R" 0 "IDLE" ;
VAL_ 109 TSL_P_Psd_StW 3 "SNA" 2 "INI" 1 "PSD" 0 "IDLE" ;
VAL_ 257 GTW_epasEmergencyOn 1 "EMERGENCY_POWER" 0 "NONE" ;
VAL_ 257 GTW_epasLDWEnabled 1 "ALLOWED" 0 "INHIBITED" ;
VAL_ 257 GTW_epasPowerMode 0 "DRIVE_OFF" 1 "DRIVE_ON" 3 "LOAD_SHED" 2 "SHUTTING_DOWN" 15 "SNA" ;
VAL_ 257 GTW_epasTuneRequest 1 "DM_COMFORT" 3 "DM_SPORT" 2 "DM_STANDARD" 0 "FAIL_SAFE_DEFAULT" 4 "RWD_COMFORT" 6 "RWD_SPORT" 5 "RWD_STANDARD" 7 "SNA" ;
VAL_ 264 DI_torqueDriver -4096 "SNA" ;
VAL_ 264 DI_torqueMotor -4096 "SNA" ;
VAL_ 264 DI_soptState 7 "SOPT_TEST_SNA" 4 "SOPT_TEST_NOT_RUN" 3 "SOPT_TEST_PASSED" 2 "SOPT_TEST_FAILED" 1 "SOPT_TEST_IN_PROGRESS" 0 "SOPT_PRE_TEST" ;
VAL_ 264 DI_motorRPM -32768 "SNA" ;
VAL_ 264 DI_pedalPos 255 "SNA" ;
VAL_ 280 DI_torqueEstimate -2048 "SNA" ;
VAL_ 280 DI_gear 7 "DI_GEAR_SNA" 4 "DI_GEAR_D" 3 "DI_GEAR_N" 2 "DI_GEAR_R" 1 "DI_GEAR_P" 0 "DI_GEAR_INVALID" ;
VAL_ 280 DI_brakePedal 1 "Applied" 0 "Not_applied" ;
VAL_ 280 DI_vehicleSpeed 4095 "SNA" ;
VAL_ 280 DI_gearRequest 7 "DI_GEAR_SNA" 4 "DI_GEAR_D" 3 "DI_GEAR_N" 2 "DI_GEAR_R" 1 "DI_GEAR_P" 0 "DI_GEAR_INVALID" ;
VAL_ 280 DI_torqueInterfaceFailure 1 "TORQUE_INTERFACE_FAILED" 0 "TORQUE_INTERFACE_NORMAL" ;
VAL_ 280 DI_brakePedalState 3 "SNA" 2 "INVALID" 1 "ON" 0 "OFF" ;
VAL_ 280 DI_epbParkRequest 1 "Park_requested" 0 "No_request" ;
VAL_ 280 DI_epbInterfaceReady 1 "EPB_INTERFACE_READY" 0 "EPB_INTERFACE_NOT_READY" ;
VAL_ 309 ESP_absBrakeEvent 1 "ACTIVE" 0 "NOT_ACTIVE" ;
VAL_ 309 ESP_brakeDiscWipingActive 1 "ACTIVE" 0 "INACTIVE" ;
VAL_ 309 ESP_brakeLamp 0 "OFF" 1 "ON" ;
VAL_ 309 ESP_espFaultLamp 0 "OFF" 1 "ON" ;
VAL_ 309 ESP_espLampFlash 1 "FLASH" 0 "OFF" ;
VAL_ 309 ESP_hillStartAssistActive 1 "ACTIVE" 0 "INACTIVE" 2 "NOT_AVAILABLE" 3 "SNA" ;
VAL_ 309 ESP_absFaultLamp 0 "OFF" 1 "ON" ;
VAL_ 309 ESP_espOffLamp 0 "OFF" 1 "ON" ;
VAL_ 309 ESP_stabilityControlSts 2 "ENGAGED" 3 "FAULTED" 5 "INIT" 4 "NOT_CONFIGURED" 0 "OFF" 1 "ON" ;
VAL_ 309 ESP_tcLampFlash 1 "FLASH" 0 "OFF" ;
VAL_ 760 MCU_speedLimitUnits 1 "KPH" 0 "MPH" ;
VAL_ 760 MCU_userSpeedOffsetUnits 1 "KPH" 0 "MPH" ;
VAL_ 643 AirTemp_Insd 255 "SNA" ;
VAL_ 643 AirTemp_Outsd 254 "INIT" 255 "SNA" ;
VAL_ 643 Bckl_Sw_RL_Stat_SAM_R 2 "FLT" 1 "NOT" 0 "OK" 3 "SNA" ;
VAL_ 643 Bckl_Sw_RM_Stat_SAM_R 2 "FLT" 1 "NOT" 0 "OK" 3 "SNA" ;
VAL_ 643 Bckl_Sw_RR_Stat_SAM_R 2 "FLT" 1 "NOT" 0 "OK" 3 "SNA" ;
VAL_ 643 DL_RLtch_Stat 1 "CLS" 0 "NDEF0" 2 "OPN" 3 "SNA" ;
VAL_ 643 DrRLtch_FL_Stat 1 "CLS" 0 "NDEF0" 2 "OPN" 3 "SNA" ;
VAL_ 643 DrRLtch_FR_Stat 1 "CLS" 0 "NDEF0" 2 "OPN" 3 "SNA" ;
VAL_ 643 DrRLtch_RL_Stat 1 "CLS" 0 "NDEF0" 2 "OPN" 3 "SNA" ;
VAL_ 643 DrRLtch_RR_Stat 1 "CLS" 0 "NDEF0" 2 "OPN" 3 "SNA" ;
VAL_ 643 EngHd_Stat 1 "CLS" 0 "NDEF0" 2 "OPN" 3 "SNA" ;
VAL_ 643 LgtSens_Night 0 "DAY" 1 "NIGHT" ;
VAL_ 643 MPkBrk_Stat 1 "ENGG" 0 "RELS" ;
VAL_ 643 RevGr_Engg 0 "DISENGG" 1 "ENGG" 2 "NDEF2" 3 "SNA" ;
VAL_ 643 StW_Cond_Stat 3 "BLINK" 1 "NDEF1" 0 "OFF" 2 "ON" ;
VAL_ 643 Trlr_Stat 2 "NDEF2" 0 "NONE" 1 "OK" 3 "SNA" ;
VAL_ 792 BOOT_STATE 2 "Init" 3 "SNA" 0 "closed" 1 "open" ;
VAL_ 792 CERRD 1 "CAN error detect" 0 "no Can error detected" ;
VAL_ 792 DAY 1 "Init" 0 "SNA" ;
VAL_ 792 DOOR_STATE_FL 2 "Init" 3 "SNA" 0 "closed" 1 "open" ;
VAL_ 792 DOOR_STATE_FR 2 "Init" 3 "SNA" 0 "closed" 1 "open" ;
VAL_ 792 DOOR_STATE_FrontTrunk 2 "Init" 3 "SNA" 0 "closed" 1 "open" ;
VAL_ 792 DOOR_STATE_RL 2 "Init" 3 "SNA" 0 "closed" 1 "open" ;
VAL_ 792 DOOR_STATE_RR 2 "Init" 3 "SNA" 0 "closed" 1 "open" ;
VAL_ 792 GTW_updateInProgress 1 "IN_PROGRESS" 2 "IN_PROGRESS_NOT_USED" 3 "IN_PROGRESS_SNA" 0 "NOT_IN_PROGRESS" ;
VAL_ 792 Hour 30 "Init" 31 "SNA" ;
VAL_ 792 MCU_factoryMode 1 "FACTORY_MODE" 0 "NORMAL_MODE" ;
VAL_ 792 MCU_transportModeOn 0 "NORMAL_MODE" ;
VAL_ 792 MINUTE 62 "Init" 63 "SNA" ;
VAL_ 792 MONTH 1 "Init" 15 "SNA" ;
VAL_ 792 SECOND 62 "Init" 63 "SNA" ;
VAL_ 792 YEAR 126 "Init" 127 "SNA" ;
VAL_ 872 DI_aebState 2 "ENABLED" 4 "FAULT" 7 "SNA" 1 "STANDBY" 3 "STANDSTILL" 0 "UNAVAILABLE" ;
VAL_ 872 DI_analogSpeed 4095 "SNA" ;
VAL_ 872 DI_cruiseState 2 "ENABLED" 5 "FAULT" 0 "OFF" 4 "OVERRIDE" 7 "PRE_CANCEL" 6 "PRE_FAULT" 1 "STANDBY" 3 "STANDSTILL" ;
VAL_ 872 DI_digitalSpeed 255 "SNA" ;
VAL_ 872 DI_immobilizerState 2 "AUTHENTICATING" 3 "DISARMED" 6 "FAULT" 4 "IDLE" 0 "INIT_SNA" 1 "REQUEST" 5 "RESET" ;
VAL_ 872 DI_speedUnits 1 "KPH" 0 "MPH" ;
VAL_ 872 DI_state 3 "ABORT" 4 "ENABLE" 2 "FAULT" 1 "STANDBY" 0 "UNAVAILABLE" ;
VAL_ 872 DI_systemState 3 "ABORT" 4 "ENABLE" 2 "FAULT" 1 "STANDBY" 0 "UNAVAILABLE" ;
VAL_ 872 DI_vehicleHoldState 2 "BLEND_IN" 4 "BLEND_OUT" 6 "FAULT" 7 "INIT" 5 "PARK" 1 "STANDBY" 3 "STANDSTILL" 0 "UNAVAILABLE" ;
VAL_ 880 EPAS_currentTuneMode 1 "DM_COMFORT" 3 "DM_SPORT" 2 "DM_STANDARD" 0 "FAIL_SAFE_DEFAULT" 4 "RWD_COMFORT" 6 "RWD_SPORT" 5 "RWD_STANDARD" 7 "UNAVAILABLE" ;
VAL_ 880 EPAS_eacErrorCode 14 "EAC_ERROR_EPB_INHIBIT" 3 "EAC_ERROR_HANDS_ON" 7 "EAC_ERROR_HIGH_ANGLE_RATE_REQ" 9 "EAC_ERROR_HIGH_ANGLE_RATE_SAFETY" 6 "EAC_ERROR_HIGH_ANGLE_REQ" 8 "EAC_ERROR_HIGH_ANGLE_SAFETY" 10 "EAC_ERROR_HIGH_MMOT_SAFETY" 11 "EAC_ERROR_HIGH_TORSION_SAFETY" 0 "EAC_ERROR_IDLE" 12 "EAC_ERROR_LOW_ASSIST" 2 "EAC_ERROR_MAX_SPEED" 1 "EAC_ERROR_MIN_SPEED" 13 "EAC_ERROR_PINION_VEL_DIFF" 4 "EAC_ERROR_TMP_FAULT" 5 "EAR_ERROR_MAX_STEER_DELTA" 15 "SNA" ;
VAL_ 880 EPAS_eacStatus 2 "EAC_ACTIVE" 1 "EAC_AVAILABLE" 3 "EAC_FAULT" 0 "EAC_INHIBITED" 4 "SNA" ;
VAL_ 880 EPAS_handsOnLevel 0 "0" 1 "1" 2 "2" 3 "3" ;
VAL_ 880 EPAS_steeringFault 1 "FAULT" 0 "NO_FAULT" ;
VAL_ 880 EPAS_steeringRackForce 1022 "NOT_IN_SPEC" 1023 "SNA" ;
VAL_ 880 EPAS_steeringReduced 0 "NORMAL_ASSIST" 1 "REDUCED_ASSIST" ;
VAL_ 880 EPAS_torsionBarTorque 0 "SEE_SPECIFICATION" 4095 "SNA" 4094 "UNDEFINABLE_DATA" ;
VAL_ 904 MCU_clusterReadyForDrive 0 "NO_SNA" 1 "YES" ;
VAL_ 1160 DAS_steeringAngleRequest 16384 "ZERO_ANGLE" ;
VAL_ 1160 DAS_steeringControlType 1 "ANGLE_CONTROL" 3 "DISABLED" 0 "NONE" 2 "RESERVED" ;
VAL_ 1160 DAS_steeringHapticRequest 1 "ACTIVE" 0 "IDLE" ;

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Subproject commit 49c1e9c3da524bf32735e0d2f1cb9df4d62f0e36

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phonelibs/capnp-c/include/capnp_c.h 100644
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/* vim: set sw=8 ts=8 sts=8 noet: */
/* capnp_c.h
*
* Copyright (C) 2013 James McKaskill
* Copyright (C) 2014 Steve Dee
*
* This software may be modified and distributed under the terms
* of the MIT license. See the LICENSE file for details.
*/
#ifndef CAPNP_C_H
#define CAPNP_C_H
#include <stdint.h>
#include <stdio.h>
#if defined(unix) && !defined(__APPLE__)
#include <endian.h>
#endif
// ssize_t is not defined in stdint.h in MSVC.
#ifdef _MSC_VER
typedef intmax_t ssize_t;
#endif
#ifdef __cplusplus
extern "C" {
#endif
#if defined(__cplusplus) || (defined(__STDC_VERSION__) && __STDC_VERSION__ >= 199901L)
#define CAPN_INLINE static inline
#else
#define CAPN_INLINE static
#endif
#define CAPN_VERSION 1
/* struct capn is a common structure shared between segments in the same
* session/context so that far pointers between segments will be created.
*
* lookup is used to lookup segments by id when derefencing a far pointer
*
* create is used to create or lookup an alternate segment that has at least
* sz available (ie returned seg->len + sz <= seg->cap)
*
* create_local is used to create a segment for the copy tree and should be
* allocated in the local memory space.
*
* Allocated segments must be zero initialized.
*
* create and lookup can be NULL if you don't need multiple segments and don't
* want to support copying
*
* seglist and copylist are linked lists which can be used to free up segments
* on cleanup, but should not be modified by the user.
*
* lookup, create, create_local, and user can be set by the user. Other values
* should be zero initialized.
*/
struct capn {
/* user settable */
struct capn_segment *(*lookup)(void* /*user*/, uint32_t /*id */);
struct capn_segment *(*create)(void* /*user*/, uint32_t /*id */, int /*sz*/);
struct capn_segment *(*create_local)(void* /*user*/, int /*sz*/);
void *user;
/* zero initialized, user should not modify */
uint32_t segnum;
struct capn_tree *copy;
struct capn_tree *segtree;
struct capn_segment *seglist, *lastseg;
struct capn_segment *copylist;
};
/* struct capn_tree is a rb tree header used internally for the segment id
* lookup and copy tree */
struct capn_tree {
struct capn_tree *parent, *link[2];
unsigned int red : 1;
};
struct capn_tree *capn_tree_insert(struct capn_tree *root, struct capn_tree *n);
/* struct capn_segment contains the information about a single segment.
*
* capn points to a struct capn that is shared between segments in the
* same session
*
* id specifies the segment id, used for far pointers
*
* data specifies the segment data. This should not move after creation.
*
* len specifies the current segment length. This is 0 for a blank
* segment.
*
* cap specifies the segment capacity.
*
* When creating new structures len will be incremented until it reaces cap,
* at which point a new segment will be requested via capn->create. The
* create callback can either create a new segment or expand an existing
* one by incrementing cap and returning the expanded segment.
*
* data, len, and cap must all by 8 byte aligned
*
* data, len, cap, and user should all set by the user. Other values
* should be zero initialized.
*/
#ifdef _MSC_VER
__declspec(align(64))
#endif
struct capn_segment {
struct capn_tree hdr;
struct capn_segment *next;
struct capn *capn;
uint32_t id;
/* user settable */
char *data;
size_t len, cap;
void *user;
};
enum CAPN_TYPE {
CAPN_NULL = 0,
CAPN_STRUCT = 1,
CAPN_LIST = 2,
CAPN_PTR_LIST = 3,
CAPN_BIT_LIST = 4,
CAPN_FAR_POINTER = 5,
};
struct capn_ptr {
unsigned int type : 4;
unsigned int has_ptr_tag : 1;
unsigned int is_list_member : 1;
unsigned int is_composite_list : 1;
unsigned int datasz : 19;
unsigned int ptrs : 16;
int len;
char *data;
struct capn_segment *seg;
};
struct capn_text {
int len;
const char *str;
struct capn_segment *seg;
};
typedef struct capn_ptr capn_ptr;
typedef struct capn_text capn_text;
typedef struct {capn_ptr p;} capn_data;
typedef struct {capn_ptr p;} capn_list1;
typedef struct {capn_ptr p;} capn_list8;
typedef struct {capn_ptr p;} capn_list16;
typedef struct {capn_ptr p;} capn_list32;
typedef struct {capn_ptr p;} capn_list64;
struct capn_msg {
struct capn_segment *seg;
uint64_t iface;
uint16_t method;
capn_ptr args;
};
/* capn_append_segment appends a segment to a session */
void capn_append_segment(struct capn*, struct capn_segment*);
capn_ptr capn_root(struct capn *c);
void capn_resolve(capn_ptr *p);
#define capn_len(list) ((list).p.type == CAPN_FAR_POINTER ? (capn_resolve(&(list).p), (list).p.len) : (list).p.len)
/* capn_getp|setp functions get/set ptrs in list/structs
* off is the list index or pointer index in a struct
* capn_setp will copy the data, create far pointers, etc if the target
* is in a different segment/context.
* Both of these will use/return inner pointers for composite lists.
*/
capn_ptr capn_getp(capn_ptr p, int off, int resolve);
int capn_setp(capn_ptr p, int off, capn_ptr tgt);
capn_text capn_get_text(capn_ptr p, int off, capn_text def);
capn_data capn_get_data(capn_ptr p, int off);
int capn_set_text(capn_ptr p, int off, capn_text tgt);
/* capn_get* functions get data from a list
* The length of the list is given by p->size
* off specifies how far into the list to start
* sz indicates the number of elements to get
* The function returns the number of elements read or -1 on an error.
* off must be byte aligned for capn_getv1
*/
int capn_get1(capn_list1 p, int off);
uint8_t capn_get8(capn_list8 p, int off);
uint16_t capn_get16(capn_list16 p, int off);
uint32_t capn_get32(capn_list32 p, int off);
uint64_t capn_get64(capn_list64 p, int off);
int capn_getv1(capn_list1 p, int off, uint8_t *data, int sz);
int capn_getv8(capn_list8 p, int off, uint8_t *data, int sz);
int capn_getv16(capn_list16 p, int off, uint16_t *data, int sz);
int capn_getv32(capn_list32 p, int off, uint32_t *data, int sz);
int capn_getv64(capn_list64 p, int off, uint64_t *data, int sz);
/* capn_set* functions set data in a list
* off specifies how far into the list to start
* sz indicates the number of elements to write
* The function returns the number of elemnts written or -1 on an error.
* off must be byte aligned for capn_setv1
*/
int capn_set1(capn_list1 p, int off, int v);
int capn_set8(capn_list8 p, int off, uint8_t v);
int capn_set16(capn_list16 p, int off, uint16_t v);
int capn_set32(capn_list32 p, int off, uint32_t v);
int capn_set64(capn_list64 p, int off, uint64_t v);
int capn_setv1(capn_list1 p, int off, const uint8_t *data, int sz);
int capn_setv8(capn_list8 p, int off, const uint8_t *data, int sz);
int capn_setv16(capn_list16 p, int off, const uint16_t *data, int sz);
int capn_setv32(capn_list32 p, int off, const uint32_t *data, int sz);
int capn_setv64(capn_list64 p, int off, const uint64_t *data, int sz);
/* capn_new_* functions create a new object
* datasz is in bytes, ptrs is # of pointers, sz is # of elements in the list
* On an error a CAPN_NULL pointer is returned
*/
capn_ptr capn_new_string(struct capn_segment *seg, const char *str, ssize_t sz);
capn_ptr capn_new_struct(struct capn_segment *seg, int datasz, int ptrs);
capn_ptr capn_new_interface(struct capn_segment *seg, int datasz, int ptrs);
capn_ptr capn_new_ptr_list(struct capn_segment *seg, int sz);
capn_ptr capn_new_list(struct capn_segment *seg, int sz, int datasz, int ptrs);
capn_list1 capn_new_list1(struct capn_segment *seg, int sz);
capn_list8 capn_new_list8(struct capn_segment *seg, int sz);
capn_list16 capn_new_list16(struct capn_segment *seg, int sz);
capn_list32 capn_new_list32(struct capn_segment *seg, int sz);
capn_list64 capn_new_list64(struct capn_segment *seg, int sz);
/* capn_read|write* functions read/write struct values
* off is the offset into the structure in bytes
* Rarely should these be called directly, instead use the generated code.
* Data must be xored with the default value
* These are inlined
*/
CAPN_INLINE uint8_t capn_read8(capn_ptr p, int off);
CAPN_INLINE uint16_t capn_read16(capn_ptr p, int off);
CAPN_INLINE uint32_t capn_read32(capn_ptr p, int off);
CAPN_INLINE uint64_t capn_read64(capn_ptr p, int off);
CAPN_INLINE int capn_write1(capn_ptr p, int off, int val);
CAPN_INLINE int capn_write8(capn_ptr p, int off, uint8_t val);
CAPN_INLINE int capn_write16(capn_ptr p, int off, uint16_t val);
CAPN_INLINE int capn_write32(capn_ptr p, int off, uint32_t val);
CAPN_INLINE int capn_write64(capn_ptr p, int off, uint64_t val);
/* capn_init_malloc inits the capn struct with a create function which
* allocates segments on the heap using malloc
*
* capn_init_(fp|mem) inits by reading segments in from the file/memory buffer
* in serialized form (optionally packed). It will then setup the create
* function ala capn_init_malloc so that further segments can be created.
*
* capn_free frees all the segment headers and data created by the create
* function setup by capn_init_*
*/
void capn_init_malloc(struct capn *c);
int capn_init_fp(struct capn *c, FILE *f, int packed);
int capn_init_mem(struct capn *c, const uint8_t *p, size_t sz, int packed);
/* capn_write_(fp|mem) writes segments to the file/memory buffer in
* serialized form and returns the number of bytes written.
*/
/* TODO */
/*int capn_write_fp(struct capn *c, FILE *f, int packed);*/
int capn_write_fd(struct capn *c, ssize_t (*write_fd)(int fd, void *p, size_t count), int fd, int packed);
int capn_write_mem(struct capn *c, uint8_t *p, size_t sz, int packed);
void capn_free(struct capn *c);
void capn_reset_copy(struct capn *c);
/* Inline functions */
CAPN_INLINE uint8_t capn_flip8(uint8_t v) {
return v;
}
CAPN_INLINE uint16_t capn_flip16(uint16_t v) {
#if defined(__BYTE_ORDER) && (__BYTE_ORDER == __LITTLE_ENDIAN)
return v;
#elif defined(__BYTE_ORDER) && (__BYTE_ORDER == __BIG_ENDIAN) && \
defined(__GNUC__) && __GNUC__ >= 4 && __GNUC_MINOR__ >= 8
return __builtin_bswap16(v);
#else
union { uint16_t u; uint8_t v[2]; } s;
s.v[0] = (uint8_t)v;
s.v[1] = (uint8_t)(v>>8);
return s.u;
#endif
}
CAPN_INLINE uint32_t capn_flip32(uint32_t v) {
#if defined(__BYTE_ORDER) && (__BYTE_ORDER == __LITTLE_ENDIAN)
return v;
#elif defined(__BYTE_ORDER) && (__BYTE_ORDER == __BIG_ENDIAN) && \
defined(__GNUC__) && __GNUC__ >= 4 && __GNUC_MINOR__ >= 8
return __builtin_bswap32(v);
#else
union { uint32_t u; uint8_t v[4]; } s;
s.v[0] = (uint8_t)v;
s.v[1] = (uint8_t)(v>>8);
s.v[2] = (uint8_t)(v>>16);
s.v[3] = (uint8_t)(v>>24);
return s.u;
#endif
}
CAPN_INLINE uint64_t capn_flip64(uint64_t v) {
#if defined(__BYTE_ORDER) && (__BYTE_ORDER == __LITTLE_ENDIAN)
return v;
#elif defined(__BYTE_ORDER) && (__BYTE_ORDER == __BIG_ENDIAN) && \
defined(__GNUC__) && __GNUC__ >= 4 && __GNUC_MINOR__ >= 8
return __builtin_bswap64(v);
#else
union { uint64_t u; uint8_t v[8]; } s;
s.v[0] = (uint8_t)v;
s.v[1] = (uint8_t)(v>>8);
s.v[2] = (uint8_t)(v>>16);
s.v[3] = (uint8_t)(v>>24);
s.v[4] = (uint8_t)(v>>32);
s.v[5] = (uint8_t)(v>>40);
s.v[6] = (uint8_t)(v>>48);
s.v[7] = (uint8_t)(v>>56);
return s.u;
#endif
}
CAPN_INLINE int capn_write1(capn_ptr p, int off, int val) {
if (off >= p.datasz*8) {
return -1;
} else if (val) {
uint8_t tmp = (uint8_t)(1 << (off & 7));
((uint8_t*) p.data)[off >> 3] |= tmp;
return 0;
} else {
uint8_t tmp = (uint8_t)(~(1 << (off & 7)));
((uint8_t*) p.data)[off >> 3] &= tmp;
return 0;
}
}
CAPN_INLINE uint8_t capn_read8(capn_ptr p, int off) {
return off+1 <= p.datasz ? capn_flip8(*(uint8_t*) (p.data+off)) : 0;
}
CAPN_INLINE int capn_write8(capn_ptr p, int off, uint8_t val) {
if (off+1 <= p.datasz) {
*(uint8_t*) (p.data+off) = capn_flip8(val);
return 0;
} else {
return -1;
}
}
CAPN_INLINE uint16_t capn_read16(capn_ptr p, int off) {
return off+2 <= p.datasz ? capn_flip16(*(uint16_t*) (p.data+off)) : 0;
}
CAPN_INLINE int capn_write16(capn_ptr p, int off, uint16_t val) {
if (off+2 <= p.datasz) {
*(uint16_t*) (p.data+off) = capn_flip16(val);
return 0;
} else {
return -1;
}
}
CAPN_INLINE uint32_t capn_read32(capn_ptr p, int off) {
return off+4 <= p.datasz ? capn_flip32(*(uint32_t*) (p.data+off)) : 0;
}
CAPN_INLINE int capn_write32(capn_ptr p, int off, uint32_t val) {
if (off+4 <= p.datasz) {
*(uint32_t*) (p.data+off) = capn_flip32(val);
return 0;
} else {
return -1;
}
}
CAPN_INLINE uint64_t capn_read64(capn_ptr p, int off) {
return off+8 <= p.datasz ? capn_flip64(*(uint64_t*) (p.data+off)) : 0;
}
CAPN_INLINE int capn_write64(capn_ptr p, int off, uint64_t val) {
if (off+8 <= p.datasz) {
*(uint64_t*) (p.data+off) = capn_flip64(val);
return 0;
} else {
return -1;
}
}
union capn_conv_f32 {
uint32_t u;
float f;
};
union capn_conv_f64 {
uint64_t u;
double f;
};
CAPN_INLINE float capn_to_f32(uint32_t v) {
union capn_conv_f32 u;
u.u = v;
return u.f;
}
CAPN_INLINE double capn_to_f64(uint64_t v) {
union capn_conv_f64 u;
u.u = v;
return u.f;
}
CAPN_INLINE uint32_t capn_from_f32(float v) {
union capn_conv_f32 u;
u.f = v;
return u.u;
}
CAPN_INLINE uint64_t capn_from_f64(double v) {
union capn_conv_f64 u;
u.f = v;
return u.u;
}
#ifdef __cplusplus
}
#endif
#endif

1
requirements_openpilot.txt
View File

@ -8,4 +8,5 @@ raven==5.23.0
requests==2.10.0
setproctitle==1.1.10
simplejson==3.8.2
pyyaml==3.12
-e git+https://github.com/commaai/le_python.git#egg=Logentries

17
selfdrive/boardd/Makefile
View File

@ -2,6 +2,7 @@ CC = clang
CXX = clang++
ARCH := $(shell uname -m)
OS := $(shell uname -o)
PHONELIBS = ../../phonelibs
@ -23,18 +24,25 @@ JSON_FLAGS = -I$(PHONELIBS)/json/src
EXTRA_LIBS = -lusb
ifeq ($(OS),GNU/Linux)
# for Drive PX2
ZMQ_LIBS = -lczmq -lzmq
CEREAL_LIBS = -lcapnp -lkj -lcapnp_c
EXTRA_LIBS = -lusb-1.0 -lpthread
endif
ifeq ($(ARCH),x86_64)
ZMQ_LIBS = -L$(HOME)/drive/external/zmq/lib/ \
ZMQ_LIBS = -L$(HOME)/one/external/zmq/lib/ \
-l:libczmq.a -l:libzmq.a
CEREAL_LIBS = -L$(HOME)/drive/external/capnp/lib/ \
-l:libcapnp.a -l:libkj.a
CEREAL_LIBS = -L$(HOME)/one/external/capnp/lib/ \
-l:libcapnp.a -l:libcapnp_c.a -l:libkj.a
EXTRA_LIBS = -lusb-1.0 -lpthread
endif
.PHONY: all
all: boardd
-include ../common/cereal.mk
include ../common/cereal.mk
OBJS = boardd.o \
../common/swaglog.o \
@ -55,6 +63,7 @@ boardd.o: boardd.cc
$(CXX) $(CXXFLAGS) \
-I$(PHONELIBS)/android_system_core/include \
$(CEREAL_CFLAGS) \
$(CEREAL_CXXFLAGS) \
$(ZMQ_FLAGS) \
-I../ \
-I../../ \

18
selfdrive/boardd/boardd.cc
View File

@ -48,6 +48,19 @@ bool usb_connect() {
err = libusb_claim_interface(dev_handle, 0);
if (err != 0) { return false; }
// power off ESP
libusb_control_transfer(dev_handle, 0xc0, 0xd9, 0, 0, NULL, 0, TIMEOUT);
// set UART modes for Honda Accord
for (int uart = 2; uart <= 3; uart++) {
// 9600 baud
libusb_control_transfer(dev_handle, 0xc0, 0xe1, uart, 9600, NULL, 0, TIMEOUT);
// even parity
libusb_control_transfer(dev_handle, 0xc0, 0xe2, uart, 1, NULL, 0, TIMEOUT);
// callback 1
libusb_control_transfer(dev_handle, 0xc0, 0xe3, uart, 1, NULL, 0, TIMEOUT);
}
return true;
}
@ -111,7 +124,7 @@ void can_recv(void *s) {
canData[i].setBusTime(data[i*4+1] >> 16);
int len = data[i*4+1]&0xF;
canData[i].setDat(kj::arrayPtr((uint8_t*)&data[i*4+2], len));
canData[i].setSrc((data[i*4+1] >> 4) & 3);
canData[i].setSrc((data[i*4+1] >> 4) & 0xf);
}
// send to can
@ -124,13 +137,14 @@ void can_health(void *s) {
int cnt;
// copied from board/main.c
struct health {
struct __attribute__((packed)) health {
uint32_t voltage;
uint32_t current;
uint8_t started;
uint8_t controls_allowed;
uint8_t gas_interceptor_detected;
uint8_t started_signal_detected;
uint8_t started_alt;
} health;
// recv from board

20
selfdrive/boardd/boardd.py
View File

@ -2,10 +2,11 @@
import os
import struct
import zmq
import time
import selfdrive.messaging as messaging
from common.realtime import Ratekeeper
from common.services import service_list
from selfdrive.services import service_list
from selfdrive.swaglog import cloudlog
# USB is optional
@ -56,7 +57,7 @@ def __parse_can_buffer(dat):
for j in range(0, len(dat), 0x10):
ddat = dat[j:j+0x10]
f1, f2 = struct.unpack("II", ddat[0:8])
ret.append((f1 >> 21, f2>>16, ddat[8:8+(f2&0xF)], (f2>>4)&3))
ret.append((f1 >> 21, f2>>16, ddat[8:8+(f2&0xF)], (f2>>4)&0xF))
return ret
def can_send_many(arr):
@ -122,6 +123,19 @@ def boardd_mock_loop():
#print can_msgs
def boardd_test_loop():
can_init()
cnt = 0
while 1:
can_send_many([[0xbb,0,"\xaa\xaa\xaa\xaa",0], [0xaa,0,"\xaa\xaa\xaa\xaa"+struct.pack("!I", cnt),1]])
#can_send_many([[0xaa,0,"\xaa\xaa\xaa\xaa",0]])
#can_send_many([[0xaa,0,"\xaa\xaa\xaa\xaa",1]])
# recv @ 100hz
can_msgs = can_recv()
print "got %d" % (len(can_msgs))
time.sleep(0.01)
cnt += 1
# *** main loop ***
def boardd_loop(rate=200):
rk = Ratekeeper(rate)
@ -169,6 +183,8 @@ def boardd_loop(rate=200):
def main(gctx=None):
if os.getenv("MOCK") is not None:
boardd_mock_loop()
elif os.getenv("BOARDTEST") is not None:
boardd_test_loop()
else:
boardd_loop()

0
selfdrive/calibrationd/__init__.py
View File

208
selfdrive/calibrationd/calibration.py
View File

@ -1,208 +0,0 @@
import numpy as np
import common.filters as filters
from selfdrive.controls.lib.latcontrol import calc_curvature
# Calibration Status
class CalibStatus(object):
INCOMPLETE = 0
VALID = 1
INVALID = 2
def line_intersection(line1, line2, no_int_sub = [0,0]):
xdiff = (line1[0][0] - line1[1][0], line2[0][0] - line2[1][0])
ydiff = (line1[0][1] - line1[1][1], line2[0][1] - line2[1][1])
def det(a, b):
return a[0] * b[1] - a[1] * b[0]
div = det(xdiff, ydiff)
if div == 0:
# since we are in float domain, this should really never happen
return no_int_sub
d = (det(*line1), det(*line2))
x = det(d, xdiff) / div
y = det(d, ydiff) / div
return [x, y]
def points_inside_hit_box(pts, box):
"""Determine which points lie inside a box.
Inputs:
pts: An nx2 array of points to hit test.
box: An array [[x_left, y_top], [x_right, y_bottom]] describing a box to
use for hit testing.
Returns:
A logical array with true for every member of pts inside box.
"""
hits = np.all(np.logical_and(pts > box[0, :], pts < box[1, :]), axis=1)
return hits
def warp_points(pt_s, warp_matrix):
# pt_s are the source points, nx2 array.
pt_d = np.dot(warp_matrix[:, :2], pt_s.T) + warp_matrix[:, 2][:, np.newaxis]
# divide by third dimension for representation in image space.
return (pt_d[:2, :] / pt_d[2, :]).T
class ViewCalibrator(object):
def __init__(self, box_size, big_box_size, vp_r, warp_matrix_start, vp_f=None, cal_cycle=0, cal_status=0):
self.calibration_threshold = 3000
self.box_size = box_size
self.big_box_size = big_box_size
self.warp_matrix_start = warp_matrix_start
self.vp_r = list(vp_r)
if vp_f is None:
self.vp_f = list(vp_r)
else:
self.vp_f = list(vp_f)
# slow filter fot the vanishing point
vp_fr = 0.005 # Hz, slow filter
self.dt = 0.05 # camera runs at 20Hz
self.update_warp_matrix()
self.vp_x_filter = filters.FirstOrderLowpassFilter(vp_fr, self.dt, self.vp_f[0])
self.vp_y_filter = filters.FirstOrderLowpassFilter(vp_fr, self.dt, self.vp_f[1])
self.cal_cycle = cal_cycle
self.cal_status = cal_status
self.cal_perc = int(np.minimum(self.cal_cycle*100./self.calibration_threshold, 100))
def vanishing_point_process(self, old_ps, new_ps, v_ego, steer_angle, VP):
# correct diffs by yaw rate
cam_fov = 23.06*np.pi/180. # deg
curvature = calc_curvature(v_ego, steer_angle, VP)
yaw_rate = curvature * v_ego
hor_angle_shift = yaw_rate * self.dt * self.box_size[0] / cam_fov
old_ps += [hor_angle_shift, 0] # old points have moved in the image due to yaw rate
pos_ps = [None]*len(new_ps)
for ii in range(len(old_ps)):
xo = old_ps[ii][0]
yo = old_ps[ii][1]
yn = new_ps[ii][1]
# don't consider points with low flow in y
if abs(yn - yo) > 1:
if xo > (self.vp_f[0] + 20):
pos_ps[ii] = 'r' # right lane point
elif xo < (self.vp_f[0] - 20):
pos_ps[ii] = 'l' # left lane point
# intersect all the right lines with the left lines
idxs_l = [i for i, x in enumerate(pos_ps) if x == 'l']
idxs_r = [i for i, x in enumerate(pos_ps) if x == 'r']
old_ps_l, new_ps_l = old_ps[idxs_l], new_ps[idxs_l]
old_ps_r, new_ps_r = old_ps[idxs_r], new_ps[idxs_r]
# return None if there is one side with no lines, the speed is low or the steer angle is high
if len(old_ps_l) == 0 or len(old_ps_r) == 0 or v_ego < 20 or abs(steer_angle) > 5:
return None
int_ps = [[None] * len(old_ps_r)] * len(old_ps_l)
for ll in range(len(old_ps_l)):
for rr in range(len(old_ps_r)):
old_p_l, old_p_r, new_p_l, new_p_r = old_ps_l[ll], old_ps_r[
rr], new_ps_l[ll], new_ps_r[rr]
line_l = [[old_p_l[0], old_p_l[1]], [new_p_l[0], new_p_l[1]]]
line_r = [[old_p_r[0], old_p_r[1]], [new_p_r[0], new_p_r[1]]]
int_ps[ll][rr] = line_intersection(
line_l, line_r, no_int_sub=self.vp_f)
# saturate outliers that are too far from the estimated vp
int_ps[ll][rr][0] = np.clip(int_ps[ll][rr][0], self.vp_f[0] - 20, self.vp_f[0] + 20)
int_ps[ll][rr][1] = np.clip(int_ps[ll][rr][1], self.vp_f[1] - 30, self.vp_f[1] + 30)
vp = np.mean(np.mean(np.array(int_ps), axis=0), axis=0)
return vp
def calibration_validity(self):
# this function sanity checks that the small box is contained in the big box.
# otherwise the warp function will generate black spots on the small box
cp = np.asarray([[0, 0],
[self.box_size[0], 0],
[self.box_size[0], self.box_size[1]],
[0, self.box_size[1]]])
cpw = warp_points(cp, self.warp_matrix)
# pixel margin for validity hysteresys:
# - if calibration is good, keep it good until small box is inside the big box
# - if calibration isn't good, then make it good again if small box is in big box with margin
margin_px = 0 if self.cal_status == CalibStatus.VALID else 5
big_hit_box = np.asarray(
[[margin_px, margin_px],
[self.big_box_size[0], self.big_box_size[1] - margin_px]])
cpw_outside_big_box = np.logical_not(points_inside_hit_box(cpw, big_hit_box))
return not np.any(cpw_outside_big_box)
def get_calibration_hit_box(self):
"""Returns an axis-aligned hit box in canonical image space.
Points which do not fall within this box should not be used for
calibration.
Returns:
An array [[x_left, y_top], [x_right, y_bottom]] describing a box inside
which all calibration points should lie.
"""
# We mainly care about feature from lanes, so removed points from sky.
y_filter = 50.
return np.asarray([[0, y_filter], [self.box_size[0], self.box_size[1]]])
def update_warp_matrix(self):
translation_matrix = np.asarray(
[[1, 0, self.vp_f[0] - self.vp_r[0]],
[0, 1, self.vp_f[1] - self.vp_r[1]],
[0, 0, 1]])
self.warp_matrix = np.dot(translation_matrix, self.warp_matrix_start)
self.warp_matrix_inv = np.linalg.inv(self.warp_matrix)
def calibration(self, p0, p1, st, v_ego, steer_angle, VP):
# convert to np array first thing
p0 = np.asarray(p0)
p1 = np.asarray(p1)
st = np.asarray(st)
p0 = p0.reshape((-1,2))
p1 = p1.reshape((-1,2))
# filter out pts with bad status
p0 = p0[st==1]
p1 = p1[st==1]
calib_hit_box = self.get_calibration_hit_box()
# remove all the points outside the small box and above the horizon line
good_idxs = points_inside_hit_box(
warp_points(p0, self.warp_matrix_inv), calib_hit_box)
p0 = p0[good_idxs]
p1 = p1[good_idxs]
# print("unwarped points: {}".format(warp_points(p0, self.warp_matrix_inv)))
# print("good_idxs {}:".format(good_idxs))
# get instantaneous vp
vp = self.vanishing_point_process(p0, p1, v_ego, steer_angle, VP)
if vp is not None:
# filter the vanishing point
self.vp_f = [self.vp_x_filter(vp[0]), self.vp_y_filter(vp[1])]
self.cal_cycle += 1
if not self.calibration_validity():
self.cal_status = CalibStatus.INVALID
else:
# 10 minutes @5Hz TODO: make this threshold function of convergency speed
self.cal_status = CalibStatus.VALID
#self.cal_status = CalibStatus.VALID if self.cal_cycle > self.calibration_threshold else CalibStatus.INCOMPLETE
self.cal_perc = int(np.minimum(self.cal_cycle*100./self.calibration_threshold, 100))
self.update_warp_matrix()

121
selfdrive/calibrationd/calibrationd.py
View File

@ -1,121 +0,0 @@
#!/usr/bin/env python
from __future__ import print_function
import os
import numpy as np
import tempfile
import zmq
from common.services import service_list
import selfdrive.messaging as messaging
from selfdrive.config import ImageParams, VehicleParams
from selfdrive.calibrationd.calibration import ViewCalibrator, CalibStatus
CALIBRATION_TMP_DIR = "/sdcard"
CALIBRATION_FILE = "/sdcard/calibration_param"
def load_calibration(gctx):
# calibration initialization
I = ImageParams()
vp_guess = None
if gctx is not None:
warp_matrix_start = np.array(
gctx['calibration']["initial_homography"]).reshape(3, 3)
big_box_size = [560, 304]
else:
warp_matrix_start = np.array([[1., 0., I.SX_R],
[0., 1., I.SY_R],
[0., 0., 1.]])
big_box_size = [640, 480]
# translate the vanishing point into phone image space
vp_box = (I.VPX_R-I.SX_R, I.VPY_R-I.SY_R)
vp_trans = np.dot(warp_matrix_start, vp_box+(1.,))
vp_img = (vp_trans[0]/vp_trans[2], vp_trans[1]/vp_trans[2])
# load calibration data
if os.path.isfile(CALIBRATION_FILE):
try:
# If the calibration file exist, start from the last cal values
with open(CALIBRATION_FILE, "r") as cal_file:
data = [float(l.strip()) for l in cal_file.readlines()]
return ViewCalibrator(
(I.X, I.Y),
big_box_size,
vp_img,
warp_matrix_start,
vp_f=[data[2], data[3]],
cal_cycle=data[0],
cal_status=data[1])
except Exception as e:
print("Could not load calibration file: {}".format(e))
return ViewCalibrator(
(I.X, I.Y), big_box_size, vp_img, warp_matrix_start, vp_f=vp_guess)
def store_calibration(calib):
# Tempfile needs to be on the same device as the calbration file.
with tempfile.NamedTemporaryFile(delete=False, dir=CALIBRATION_TMP_DIR) as cal_file:
print(calib.cal_cycle, file=cal_file)
print(calib.cal_status, file=cal_file)
print(calib.vp_f[0], file=cal_file)
print(calib.vp_f[1], file=cal_file)
cal_file_name = cal_file.name
os.rename(cal_file_name, CALIBRATION_FILE)
def calibrationd_thread(gctx):
context = zmq.Context()
features = messaging.sub_sock(context, service_list['features'].port)
live100 = messaging.sub_sock(context, service_list['live100'].port)
livecalibration = messaging.pub_sock(context, service_list['liveCalibration'].port)
# subscribe to stats about the car
VP = VehicleParams(False)
v_ego = None
calib = load_calibration(gctx)
last_write_cycle = calib.cal_cycle
while 1:
# calibration at the end so it does not delay radar processing above
ft = messaging.recv_sock(features, wait=True)
# get latest here
l100 = messaging.recv_sock(live100)
if l100 is not None:
v_ego = l100.live100.vEgo
steer_angle = l100.live100.angleSteers
if v_ego is None:
continue
p0 = ft.features.p0
p1 = ft.features.p1
st = ft.features.status
calib.calibration(p0, p1, st, v_ego, steer_angle, VP)
# write a new calibration every 100 cal cycle
if calib.cal_cycle - last_write_cycle >= 100:
print("writing cal", calib.cal_cycle)
store_calibration(calib)
last_write_cycle = calib.cal_cycle
warp_matrix = map(float, calib.warp_matrix.reshape(9).tolist())
dat = messaging.new_message()
dat.init('liveCalibration')
dat.liveCalibration.warpMatrix = warp_matrix
dat.liveCalibration.calStatus = calib.cal_status
dat.liveCalibration.calCycle = calib.cal_cycle
dat.liveCalibration.calPerc = calib.cal_perc
livecalibration.send(dat.to_bytes())
def main(gctx=None):
calibrationd_thread(gctx)
if __name__ == "__main__":
main()

12
selfdrive/car/fingerprints.py
View File

@ -1,12 +0,0 @@
fingerprints = {
"ACURA ILX 2016 ACURAWATCH PLUS": {
1024L: 5, 513L: 5, 1027L: 5, 1029L: 8, 929L: 4, 1057L: 5, 777L: 8, 1034L: 5, 1036L: 8, 398L: 3, 399L: 7, 145L: 8, 660L: 8, 985L: 3, 923L: 2, 542L: 7, 773L: 7, 800L: 8, 432L: 7, 419L: 8, 420L: 8, 1030L: 5, 422L: 8, 808L: 8, 428L: 8, 304L: 8, 819L: 7, 821L: 5, 57L: 3, 316L: 8, 545L: 4, 464L: 8, 1108L: 8, 597L: 8, 342L: 6, 983L: 8, 344L: 8, 804L: 8, 1039L: 8, 476L: 4, 892L: 8, 490L: 8, 1064L: 7, 882L: 2, 884L: 7, 887L: 8, 888L: 8, 380L: 8, 1365L: 5,
# sent messages
0xe4: 5, 0x1fa: 8, 0x200: 3, 0x30c: 8, 0x33d: 4,
},
"HONDA CIVIC 2016 TOURING": {
1024L: 5, 513L: 5, 1027L: 5, 1029L: 8, 777L: 8, 1036L: 8, 1039L: 8, 1424L: 5, 401L: 8, 148L: 8, 662L: 4, 985L: 3, 795L: 8, 773L: 7, 800L: 8, 545L: 6, 420L: 8, 806L: 8, 808L: 8, 1322L: 5, 427L: 3, 428L: 8, 304L: 8, 432L: 7, 57L: 3, 450L: 8, 929L: 8, 330L: 8, 1302L: 8, 464L: 8, 1361L: 5, 1108L: 8, 597L: 8, 470L: 2, 344L: 8, 804L: 8, 399L: 7, 476L: 7, 1633L: 8, 487L: 4, 892L: 8, 490L: 8, 493L: 5, 884L: 8, 891L: 8, 380L: 8, 1365L: 5,
# sent messages
0xe4: 5, 0x1fa: 8, 0x200: 3, 0x30c: 8, 0x33d: 5, 0x35e: 8, 0x39f: 8,
}
}

54
selfdrive/car/honda/carcontroller.py
View File

@ -4,7 +4,39 @@ import common.numpy_fast as np
from common.realtime import sec_since_boot
from selfdrive.config import CruiseButtons
from selfdrive.boardd.boardd import can_list_to_can_capnp
from selfdrive.controls.lib.drive_helpers import actuator_hystereses, rate_limit
from selfdrive.controls.lib.drive_helpers import rate_limit
from common.numpy_fast import clip, interp
def actuator_hystereses(final_brake, braking, brake_steady, v_ego, civic):
# hyst params... TODO: move these to VehicleParams
brake_hyst_on = 0.055 if civic else 0.1 # to activate brakes exceed this value
brake_hyst_off = 0.005 # to deactivate brakes below this value
brake_hyst_gap = 0.01 # don't change brake command for small ocilalitons within this value
#*** histeresys logic to avoid brake blinking. go above 0.1 to trigger
if (final_brake < brake_hyst_on and not braking) or final_brake < brake_hyst_off:
final_brake = 0.
braking = final_brake > 0.
# for small brake oscillations within brake_hyst_gap, don't change the brake command
if final_brake == 0.:
brake_steady = 0.
elif final_brake > brake_steady + brake_hyst_gap:
brake_steady = final_brake - brake_hyst_gap
elif final_brake < brake_steady - brake_hyst_gap:
brake_steady = final_brake + brake_hyst_gap
final_brake = brake_steady
if not civic:
brake_on_offset_v = [.25, .15] # min brake command on brake activation. below this no decel is perceived
brake_on_offset_bp = [15., 30.] # offset changes VS speed to not have too abrupt decels at high speeds
# offset the brake command for threshold in the brake system. no brake torque perceived below it
brake_on_offset = interp(v_ego, brake_on_offset_bp, brake_on_offset_v)
brake_offset = brake_on_offset - brake_hyst_on
if final_brake > 0.0:
final_brake += brake_offset
return final_brake, braking, brake_steady
class AH:
#[alert_idx, value]
@ -108,9 +140,9 @@ class CarController(object):
GAS_OFFSET = 328
# steer torque is converted back to CAN reference (positive when steering right)
apply_gas = int(np.clip(final_gas*GAS_MAX, 0, GAS_MAX-1))
apply_brake = int(np.clip(final_brake*BRAKE_MAX, 0, BRAKE_MAX-1))
apply_steer = int(np.clip(-final_steer*STEER_MAX, -STEER_MAX, STEER_MAX))
apply_gas = int(clip(final_gas*GAS_MAX, 0, GAS_MAX-1))
apply_brake = int(clip(final_brake*BRAKE_MAX, 0, BRAKE_MAX-1))
apply_steer = int(clip(-final_steer*STEER_MAX, -STEER_MAX, STEER_MAX))
# no gas if you are hitting the brake or the user is
if apply_gas > 0 and (apply_brake != 0 or CS.brake_pressed):
@ -156,8 +188,12 @@ class CarController(object):
can_sends = []
# Send steering command.
idx = frame % 4
can_sends.append(hondacan.create_steering_control(apply_steer, idx))
if CS.accord:
idx = frame % 2
can_sends.append(hondacan.create_accord_steering_control(apply_steer, idx))
else:
idx = frame % 4
can_sends.append(hondacan.create_steering_control(apply_steer, idx))
# Send gas and brake commands.
if (frame % 2) == 0:
@ -174,17 +210,17 @@ class CarController(object):
# Send dashboard UI commands.
if (frame % 10) == 0:
idx = (frame/10) % 4
can_sends.extend(hondacan.create_ui_commands(pcm_speed, hud, CS.civic, idx))
can_sends.extend(hondacan.create_ui_commands(pcm_speed, hud, CS.civic, CS.accord, idx))
# radar at 20Hz, but these msgs need to be sent at 50Hz on ilx (seems like an Acura bug)
if CS.civic:
if CS.civic or CS.accord:
radar_send_step = 5
else:
radar_send_step = 2
if (frame % radar_send_step) == 0:
idx = (frame/radar_send_step) % 4
can_sends.extend(hondacan.create_radar_commands(CS.v_ego, CS.civic, idx))
can_sends.extend(hondacan.create_radar_commands(CS.v_ego, CS.civic, CS.accord, idx))
sendcan.send(can_list_to_can_capnp(can_sends, msgtype='sendcan').to_bytes())

171
selfdrive/car/honda/carstate.py
View File

@ -1,16 +1,13 @@
import numpy as np
import selfdrive.messaging as messaging
from selfdrive.boardd.boardd import can_capnp_to_can_list
from selfdrive.config import VehicleParams
from common.realtime import sec_since_boot
from selfdrive.car.fingerprints import fingerprints
from selfdrive.car.honda.can_parser import CANParser
def get_can_parser(civic, brake_only):
def get_can_parser(CP):
# this function generates lists for signal, messages and initial values
if civic:
if CP.carFingerprint == "HONDA CIVIC 2016 TOURING":
dbc_f = 'honda_civic_touring_2016_can.dbc'
signals = [
("XMISSION_SPEED", 0x158, 0),
@ -62,7 +59,7 @@ def get_can_parser(civic, brake_only):
(0x405, 3),
]
else:
elif CP.carFingerprint == "ACURA ILX 2016 ACURAWATCH PLUS":
dbc_f = 'acura_ilx_2016_can.dbc'
signals = [
("XMISSION_SPEED", 0x158, 0),
@ -113,72 +110,85 @@ def get_can_parser(civic, brake_only):
(0x324, 10),
(0x405, 3),
]
elif CP.carFingerprint == "HONDA ACCORD 2016 TOURING":
dbc_f = 'honda_accord_touring_2016_can.dbc'
signals = [
("XMISSION_SPEED", 0x158, 0),
("WHEEL_SPEED_FL", 0x1d0, 0),
("WHEEL_SPEED_FR", 0x1d0, 0),
("WHEEL_SPEED_RL", 0x1d0, 0),
("STEER_ANGLE", 0x156, 0),
#("STEER_TORQUE_SENSOR", 0x18f, 0),
("GEAR", 0x191, 0),
("WHEELS_MOVING", 0x1b0, 1),
("DOOR_OPEN_FL", 0x405, 1),
("DOOR_OPEN_FR", 0x405, 1),
("DOOR_OPEN_RL", 0x405, 1),
("DOOR_OPEN_RR", 0x405, 1),
("CRUISE_SPEED_PCM", 0x324, 0),
("SEATBELT_DRIVER_LAMP", 0x305, 1),
("SEATBELT_DRIVER_LATCHED", 0x305, 0),
("BRAKE_PRESSED", 0x17c, 0),
#("CAR_GAS", 0x130, 0),
("PEDAL_GAS", 0x17C, 0),
("CRUISE_BUTTONS", 0x1a6, 0),
("ESP_DISABLED", 0x1a4, 1),
("HUD_LEAD", 0x30c, 0),
("USER_BRAKE", 0x1a4, 0),
#("STEER_STATUS", 0x18f, 5),
("WHEEL_SPEED_RR", 0x1d0, 0),
("BRAKE_ERROR_1", 0x1b0, 1),
("BRAKE_ERROR_2", 0x1b0, 1),
("GEAR_SHIFTER", 0x191, 0),
("MAIN_ON", 0x1a6, 0),
("ACC_STATUS", 0x17c, 0),
("PEDAL_GAS", 0x17c, 0),
("CRUISE_SETTING", 0x1a6, 0),
("LEFT_BLINKER", 0x294, 0),
("RIGHT_BLINKER", 0x294, 0),
("COUNTER", 0x324, 0),
("ENGINE_RPM", 0x17C, 0)
]
checks = [
(0x156, 100),
(0x158, 100),
(0x17c, 100),
#(0x1a3, 50),
(0x1a4, 50),
(0x1a6, 50),
(0x1b0, 50),
(0x1d0, 50),
(0x305, 10),
(0x324, 10),
(0x405, 3),
]
# add gas interceptor reading if we are using it
if not brake_only:
if CP.enableGas:
signals.append(("INTERCEPTOR_GAS", 0x201, 0))
checks.append((0x201, 50))
return CANParser(dbc_f, signals, checks)
def fingerprint(logcan):
print "waiting for fingerprint..."
brake_only = True
finger = {}
st = None
while 1:
possible_cars = []
for a in messaging.drain_sock(logcan, wait_for_one=True):
if st is None:
st = sec_since_boot()
for adr, _, msg, idx in can_capnp_to_can_list(a.can):
# pedal
if adr == 0x201 and idx == 0:
brake_only = False
if idx == 0:
finger[adr] = len(msg)
# check for a single match
for f in fingerprints:
is_possible = True
for adr in finger:
# confirm all messages we have seen match
if adr not in fingerprints[f] or fingerprints[f][adr] != finger[adr]:
#print "mismatch", f, adr
is_possible = False
break
if is_possible:
possible_cars.append(f)
# if we only have one car choice and it's been 100ms since we got our first message, exit
if len(possible_cars) == 1 and st is not None and (sec_since_boot()-st) > 0.1:
break
elif len(possible_cars) == 0:
print finger
raise Exception("car doesn't match any fingerprints")
print "fingerprinted", possible_cars[0]
return brake_only, possible_cars[0]
class CarState(object):
def __init__(self, logcan):
self.torque_mod = False
self.brake_only, self.car_type = fingerprint(logcan)
# assuming if you have a pedal interceptor you also have a torque mod
if not self.brake_only:
self.torque_mod = True
if self.car_type == "HONDA CIVIC 2016 TOURING":
def __init__(self, CP, logcan):
self.civic = False
self.accord = False
if CP.carFingerprint == "HONDA CIVIC 2016 TOURING":
self.civic = True
elif self.car_type == "ACURA ILX 2016 ACURAWATCH PLUS":
elif CP.carFingerprint == "ACURA ILX 2016 ACURAWATCH PLUS":
self.civic = False
elif CP.carFingerprint == "HONDA ACCORD 2016 TOURING":
# fake civic
self.accord = True
else:
raise ValueError("unsupported car %s" % self.car_type)
raise ValueError("unsupported car %s" % CP.carFingerprint)
self.brake_only = CP.enableCruise
self.CP = CP
# initialize can parser
self.cp = get_can_parser(self.civic, self.brake_only)
self.cp = get_can_parser(CP)
self.user_gas, self.user_gas_pressed = 0., 0
@ -192,12 +202,6 @@ class CarState(object):
# TODO: actually make this work
self.a_ego = 0.
# speed in UI is shown as few % higher
self.ui_speed_fudge = 1.01 if self.civic else 1.025
# load vehicle params
self.VP = VehicleParams(self.civic, self.brake_only, self.torque_mod)
def update(self, can_pub_main):
cp = self.cp
cp.update_can(can_pub_main)
@ -230,10 +234,14 @@ class CarState(object):
# error 7 (permanent)
#self.steer_error = cp.vl[0x18F]['STEER_STATUS'] in [5,7]
# whitelist instead of blacklist, safer at the expense of disengages
self.steer_error = cp.vl[0x18F]['STEER_STATUS'] not in [0,2,4,6]
self.steer_not_allowed = cp.vl[0x18F]['STEER_STATUS'] != 0
if cp.vl[0x18F]['STEER_STATUS'] != 0:
print cp.vl[0x18F]['STEER_STATUS']
if self.accord:
self.steer_error = False
self.steer_not_allowed = False
else:
self.steer_error = cp.vl[0x18F]['STEER_STATUS'] not in [0,2,4,6]
self.steer_not_allowed = cp.vl[0x18F]['STEER_STATUS'] != 0
if cp.vl[0x18F]['STEER_STATUS'] != 0:
print cp.vl[0x18F]['STEER_STATUS']
self.brake_error = cp.vl[0x1B0]['BRAKE_ERROR_1'] or cp.vl[0x1B0]['BRAKE_ERROR_2']
self.esp_disabled = cp.vl[0x1A4]['ESP_DISABLED']
# calc best v_ego estimate, by averaging two opposite corners
@ -243,10 +251,11 @@ class CarState(object):
# blend in transmission speed at low speed, since it has more low speed accuracy
self.v_weight = np.interp(self.v_wheel, v_weight_bp, v_weight_v)
self.v_ego = (1. - self.v_weight) * cp.vl[0x158]['XMISSION_SPEED'] + self.v_weight * self.v_wheel
if not self.brake_only:
if self.CP.enableGas:
# this is a hack
self.user_gas = cp.vl[0x201]['INTERCEPTOR_GAS']
self.user_gas_pressed = self.user_gas > 0 # this works because interceptor read < 0 when pedal position is 0. Once calibrated, this will change
#print user_gas, user_gas_pressed
#print self.user_gas, self.user_gas_pressed
if self.civic:
self.gear_shifter = cp.vl[0x191]['GEAR_SHIFTER']
self.angle_steers = cp.vl[0x14A]['STEER_ANGLE']
@ -258,6 +267,17 @@ class CarState(object):
self.blinker_on = cp.vl[0x326]['LEFT_BLINKER'] or cp.vl[0x326]['RIGHT_BLINKER']
self.left_blinker_on = cp.vl[0x326]['LEFT_BLINKER']
self.right_blinker_on = cp.vl[0x326]['RIGHT_BLINKER']
elif self.accord:
self.gear_shifter = cp.vl[0x191]['GEAR_SHIFTER']
self.angle_steers = cp.vl[0x156]['STEER_ANGLE']
self.gear = 0 # TODO: accord has CVT... needs rev engineering
self.cruise_setting = cp.vl[0x1A6]['CRUISE_SETTING']
self.cruise_buttons = cp.vl[0x1A6]['CRUISE_BUTTONS']
self.main_on = cp.vl[0x1A6]['MAIN_ON']
self.gear_shifter_valid = self.gear_shifter in [1,8] # TODO: 1/P allowed for debug
self.blinker_on = cp.vl[0x294]['LEFT_BLINKER'] or cp.vl[0x294]['RIGHT_BLINKER']
self.left_blinker_on = cp.vl[0x294]['LEFT_BLINKER']
self.right_blinker_on = cp.vl[0x294]['RIGHT_BLINKER']
else:
self.gear_shifter = cp.vl[0x1A3]['GEAR_SHIFTER']
self.angle_steers = cp.vl[0x156]['STEER_ANGLE']
@ -269,11 +289,16 @@ class CarState(object):
self.blinker_on = cp.vl[0x294]['LEFT_BLINKER'] or cp.vl[0x294]['RIGHT_BLINKER']
self.left_blinker_on = cp.vl[0x294]['LEFT_BLINKER']
self.right_blinker_on = cp.vl[0x294]['RIGHT_BLINKER']
self.car_gas = cp.vl[0x130]['CAR_GAS']
if self.accord:
# on the accord, this doesn't seem to include cruise control
self.car_gas = cp.vl[0x17C]['PEDAL_GAS']
self.steer_override = False
else:
self.car_gas = cp.vl[0x130]['CAR_GAS']
self.steer_override = abs(cp.vl[0x18F]['STEER_TORQUE_SENSOR']) > 1200
self.brake_pressed = cp.vl[0x17C]['BRAKE_PRESSED']
self.user_brake = cp.vl[0x1A4]['USER_BRAKE']
self.standstill = not cp.vl[0x1B0]['WHEELS_MOVING']
self.steer_override = abs(cp.vl[0x18F]['STEER_TORQUE_SENSOR']) > 1200
self.v_cruise_pcm = cp.vl[0x324]['CRUISE_SPEED_PCM']
self.pcm_acc_status = cp.vl[0x17C]['ACC_STATUS']
self.pedal_gas = cp.vl[0x17C]['PEDAL_GAS']

37
selfdrive/car/honda/hondacan.py
View File

@ -44,15 +44,39 @@ def create_gas_command(gas_amount, idx):
msg = struct.pack("!H", gas_amount)
return make_can_msg(0x200, msg, idx, 0)
def create_accord_steering_control(apply_steer, idx):
# TODO: doesn't work for some reason
if apply_steer == 0:
dat = [0, 0, 0x40, 0]
else:
dat = [0,0,0,0]
rp = clip(apply_steer/0xF, -0xFF, 0xFF)
if rp < 0:
rp += 512
dat[0] |= (rp >> 5) & 0xf
dat[1] |= (rp) & 0x1f
if idx == 1:
dat[0] |= 0x20
dat[1] |= 0x20 # always
dat[3] = -(dat[0]+dat[1]+dat[2]) & 0x7f
# not first byte
dat[1] |= 0x80
dat[2] |= 0x80
dat[3] |= 0x80
dat = ''.join(map(chr, dat))
return [0,0,dat,8]
def create_steering_control(apply_steer, idx):
"""Creates a CAN message for the Honda DBC STEERING_CONTROL."""
msg = struct.pack("!h", apply_steer) + ("\x80\x00" if apply_steer != 0 else "\x00\x00")
return make_can_msg(0xe4, msg, idx, 0)
def create_ui_commands(pcm_speed, hud, civic, idx):
def create_ui_commands(pcm_speed, hud, civic, accord, idx):
"""Creates an iterable of CAN messages for the UIs."""
commands = []
pcm_speed_real = np.clip(int(round(pcm_speed / 0.002763889)), 0,
pcm_speed_real = np.clip(int(round(pcm_speed / 0.002759506)), 0,
64000) # conversion factor from dbc file
msg_0x30c = struct.pack("!HBBBBB", pcm_speed_real, hud.pcm_accel,
hud.v_cruise, hud.X2, hud.car, hud.X4)
@ -63,13 +87,14 @@ def create_ui_commands(pcm_speed, hud, civic, idx):
if civic: # 2 more msgs
msg_0x35e = chr(0) * 7
commands.append(make_can_msg(0x35e, msg_0x35e, idx, 0))
if civic or accord:
msg_0x39f = (
chr(0) * 2 + chr(hud.acc_alert) + chr(0) + chr(0xff) + chr(0x7f) + chr(0)
)
commands.append(make_can_msg(0x39f, msg_0x39f, idx, 0))
return commands
def create_radar_commands(v_ego, civic, idx):
def create_radar_commands(v_ego, civic, accord, idx):
"""Creates an iterable of CAN messages for the radar system."""
commands = []
v_ego_kph = np.clip(int(round(v_ego * CV.MS_TO_KPH)), 0, 255)
@ -81,6 +106,12 @@ def create_radar_commands(v_ego, civic, idx):
msg_0x301 = "\x02\x38\x44\x32\x4f\x00\x00"
# add 8 on idx.
commands.append(make_can_msg(0x300, msg_0x300, idx + 8, 1))
elif accord:
# 0300( 768)( 69) f9008ad0100000ef
# 0301( 769)( 69) 0ed8522256000029
msg_0x301 = "\x0e\xd8\x52\x22\x56\x00\x00"
# add 0xc on idx? WTF is this?
commands.append(make_can_msg(0x300, msg_0x300, idx + 0xc, 1))
else:
msg_0x301 = "\x0f\x18\x51\x02\x5a\x00\x00"
commands.append(make_can_msg(0x300, msg_0x300, idx, 1))

53
selfdrive/car/honda/interface.py
View File

@ -10,7 +10,7 @@ from selfdrive.boardd.boardd import can_capnp_to_can_list
from cereal import car
import zmq
from common.services import service_list
from selfdrive.services import service_list
import selfdrive.messaging as messaging
# Car button codes
@ -37,32 +37,36 @@ class BP:
class CarInterface(object):
def __init__(self, read_only=False):
context = zmq.Context()
self.logcan = messaging.sub_sock(context, service_list['can'].port)
def __init__(self, CP, logcan, sendcan=None):
self.logcan = logcan
self.CP = CP
self.frame = 0
self.can_invalid_count = 0
# *** init the major players ***
self.CS = CarState(self.logcan)
self.CS = CarState(CP, self.logcan)
# sending if read only is False
if not read_only:
self.sendcan = messaging.pub_sock(context, service_list['sendcan'].port)
if sendcan is not None:
self.sendcan = sendcan
self.CC = CarController()
def getVehicleParams(self):
return self.CS.VP
if self.CS.accord:
self.accord_msg = []
# returns a car.CarState
def update(self):
# ******************* do can recv *******************
can_pub_main = []
canMonoTimes = []
for a in messaging.drain_sock(self.logcan):
canMonoTimes.append(a.logMonoTime)
can_pub_main.extend(can_capnp_to_can_list(a.can, [0,2]))
if self.CS.accord:
self.accord_msg.extend(can_capnp_to_can_list(a.can, [9]))
self.accord_msg = self.accord_msg[-1:]
self.CS.update(can_pub_main)
# create message
@ -77,7 +81,7 @@ class CarInterface(object):
# gas pedal
ret.gas = self.CS.car_gas / 256.0
if self.CS.VP.brake_only:
if not self.CP.enableGas:
ret.gasPressed = self.CS.pedal_gas > 0
else:
ret.gasPressed = self.CS.user_gas_pressed
@ -89,8 +93,24 @@ class CarInterface(object):
# steering wheel
# TODO: units
ret.steeringAngle = self.CS.angle_steers
ret.steeringTorque = self.CS.cp.vl[0x18F]['STEER_TORQUE_SENSOR']
ret.steeringPressed = self.CS.steer_override
if self.CS.accord:
# TODO: move this into the CAN parser
ret.steeringTorque = 0
if len(self.accord_msg) > 0:
aa = map(lambda x: ord(x)&0x7f, self.accord_msg[0][2])
if len(aa) != 5 or (-(aa[0]+aa[1]+aa[2]+aa[3]))&0x7f != aa[4]:
print "ACCORD MSG BAD LEN OR CHECKSUM!"
# TODO: throw an error here?
else:
st = ((aa[0]&0xF) << 5) + (aa[1]&0x1F)
if st >= 256:
st = -(512-st)
ret.steeringTorque = st
ret.steeringPressed = abs(ret.steeringTorque) > 20
else:
ret.steeringTorque = self.CS.cp.vl[0x18F]['STEER_TORQUE_SENSOR']
ret.steeringPressed = self.CS.steer_override
# cruise state
ret.cruiseState.enabled = self.CS.pcm_acc_status != 0
@ -227,12 +247,3 @@ class CarInterface(object):
self.frame += 1
return not (c.enabled and not self.CC.controls_allowed)
if __name__ == "__main__":
CI = CarInterface(read_only=True)
while 1:
cs = CI.update()
print(chr(27) + "[2J")
print cs
time.sleep(0.1)

12
selfdrive/common/cereal.mk
View File

@ -1,17 +1,19 @@
CEREAL_CFLAGS = -I$(PHONELIBS)/capnp-c/include
CEREAL_CXXFLAGS = -I$(PHONELIBS)/capnp-cpp/include
CEREAL_LIBS = -L$(PHONELIBS)/capnp-cpp/aarch64/lib/ \
-L$(PHONELIBS)/capnp-c/aarch64/lib/ \
-l:libcapn.a -l:libcapnp.a -l:libkj.a
ifeq ($(CEREAL_LIBS),)
CEREAL_LIBS = -L$(PHONELIBS)/capnp-cpp/aarch64/lib/ \
-L$(PHONELIBS)/capnp-c/aarch64/lib/ \
-l:libcapn.a -l:libcapnp.a -l:libkj.a
endif
CEREAL_OBJS = ../../cereal/gen/c/log.capnp.o ../../cereal/gen/c/car.capnp.o
log.capnp.o: ../../cereal/gen/cpp/log.capnp.c++
@echo "[ CXX ] $@"
$(CXX) $(CXXFLAGS) $(CEREAL_CFLAGS) \
$(CXX) $(CXXFLAGS) $(CEREAL_CXXFLAGS) \
-c -o '$@' '$<'
car.capnp.o: ../../cereal/gen/cpp/car.capnp.c++
@echo "[ CXX ] $@"
$(CXX) $(CXXFLAGS) $(CEREAL_CFLAGS) \
$(CXX) $(CXXFLAGS) $(CEREAL_CXXFLAGS) \
-c -o '$@' '$<'

4
selfdrive/common/framebuffer.cc
View File

@ -33,6 +33,10 @@ struct FramebufferState {
EGLContext context;
};
extern "C" void framebuffer_set_power(FramebufferState *s, int mode) {
SurfaceComposerClient::setDisplayPowerMode(s->dtoken, mode);
}
extern "C" FramebufferState* framebuffer_init(
const char* name, int32_t layer,
EGLDisplay *out_display, EGLSurface *out_surface,

31
selfdrive/common/framebuffer.h
View File

@ -14,8 +14,37 @@ FramebufferState* framebuffer_init(
EGLDisplay *out_display, EGLSurface *out_surface,
int *out_w, int *out_h);
void framebuffer_set_power(FramebufferState *s, int mode);
/* Display power modes */
enum {
/* The display is turned off (blanked). */
HWC_POWER_MODE_OFF = 0,
/* The display is turned on and configured in a low power state
* that is suitable for presenting ambient information to the user,
* possibly with lower fidelity than normal but greater efficiency. */
HWC_POWER_MODE_DOZE = 1,
/* The display is turned on normally. */
HWC_POWER_MODE_NORMAL = 2,
/* The display is configured as in HWC_POWER_MODE_DOZE but may
* stop applying frame buffer updates from the graphics subsystem.
* This power mode is effectively a hint from the doze dream to
* tell the hardware that it is done drawing to the display for the
* time being and that the display should remain on in a low power
* state and continue showing its current contents indefinitely
* until the mode changes.
*
* This mode may also be used as a signal to enable hardware-based doze
* functionality. In this case, the doze dream is effectively
* indicating that the hardware is free to take over the display
* and manage it autonomously to implement low power always-on display
* functionality. */
HWC_POWER_MODE_DOZE_SUSPEND = 3,
};
#ifdef __cplusplus
}
#endif
#endif
#endif

13
selfdrive/common/mutex.h
View File

@ -1,13 +0,0 @@
#ifndef COMMON_MUTEX_H
#define COMMON_MUTEX_H
#include <pthread.h>
static inline void mutex_init_reentrant(pthread_mutex_t *mutex) {
pthread_mutexattr_t attr;
pthread_mutexattr_init(&attr);
pthread_mutexattr_settype(&attr, PTHREAD_MUTEX_RECURSIVE);
pthread_mutex_init(mutex, &attr);
}
#endif

124
selfdrive/common/params.c 100644
View File

@ -0,0 +1,124 @@
#include "selfdrive/common/params.h"
#include "selfdrive/common/util.h"
#define _GNU_SOURCE
#include <sys/file.h>
#include <unistd.h>
#include <stdlib.h>
#include <stdio.h>
int write_db_value(const char* params_path, const char* key, const char* value,
size_t value_size) {
int lock_fd = -1;
int tmp_fd = -1;
int result;
char tmp_path[1024];
char path[1024];
// Write value to temp.
result =
snprintf(tmp_path, sizeof(tmp_path), "%s/.tmp_value_XXXXXX", params_path);
if (result < 0) {
goto cleanup;
}
tmp_fd = mkstemp(tmp_path);
const ssize_t bytes_written = write(tmp_fd, value, value_size);
if (bytes_written != value_size) {
result = -20;
goto cleanup;
}
result = snprintf(path, sizeof(path), "%s/.lock", params_path);
if (result < 0) {
goto cleanup;
}
lock_fd = open(path, 0);
result = snprintf(path, sizeof(path), "%s/d/%s", params_path, key);
if (result < 0) {
goto cleanup;
}
// Take lock.
result = flock(lock_fd, LOCK_EX);
if (result < 0) {
goto cleanup;
}
// Move temp into place.
result = rename(tmp_path, path);
cleanup:
// Release lock.
if (lock_fd >= 0) {
close(lock_fd);
}
if (tmp_fd >= 0) {
if (result < 0) {
remove(tmp_path);
}
close(tmp_fd);
}
return result;
}
int read_db_value(const char* params_path, const char* key, char** value,
size_t* value_sz) {
int lock_fd = -1;
int result;
char path[1024];
result = snprintf(path, sizeof(path), "%s/.lock", params_path);
if (result < 0) {
goto cleanup;
}
lock_fd = open(path, 0);
result = snprintf(path, sizeof(path), "%s/d/%s", params_path, key);
if (result < 0) {
goto cleanup;
}
// Take lock.
result = flock(lock_fd, LOCK_EX);
if (result < 0) {
goto cleanup;
}
// Read value.
// TODO(mgraczyk): If there is a lot of contention, we can release the lock
// after opening the file, before reading.
*value = read_file(path, value_sz);
if (*value == NULL) {
result = -22;
goto cleanup;
}
// Remove one for null byte.
if (value_sz != NULL) {
*value_sz -= 1;
}
result = 0;
cleanup:
// Release lock.
if (lock_fd >= 0) {
close(lock_fd);
}
return result;
}
void read_db_value_blocking(const char* params_path, const char* key,
char** value, size_t* value_sz) {
while (1) {
const int result = read_db_value(params_path, key, value, value_sz);
if (result == 0) {
return;
} else {
// Sleep for 0.1 seconds.
usleep(100000);
}
}
}

35
selfdrive/common/params.h 100644
View File

@ -0,0 +1,35 @@
#ifndef _SELFDRIVE_COMMON_PARAMS_H_
#define _SELFDRIVE_COMMON_PARAMS_H_
#include <stddef.h>
#ifdef __cplusplus
extern "C" {
#endif
int write_db_value(const char* params_path, const char* key, const char* value,
size_t value_size);
// Reads a value from the params database.
// Inputs:
// params_path: The path of the database, eg /sdcard/params.
// key: The key to read.
// value: A pointer where a newly allocated string containing the db value will
// be written.
// value_sz: A pointer where the size of value will be written. Does not
// include the NULL terminator.
//
// Returns: Negative on failure, otherwise 0.
int read_db_value(const char* params_path, const char* key, char** value,
size_t* value_sz);
// Reads a value from the params database, blocking until successful.
// Inputs are the same as read_db_value.
void read_db_value_blocking(const char* params_path, const char* key,
char** value, size_t* value_sz);
#ifdef __cplusplus
} // extern "C"
#endif
#endif // _SELFDRIVE_COMMON_PARAMS_H_

5
selfdrive/common/swaglog.c
View File

@ -1,3 +1,5 @@
#define _GNU_SOURCE
#include <stdio.h>
#include <stdlib.h>
#include <stdarg.h>
@ -48,7 +50,7 @@ static void cloudlog_init() {
s.inited = true;
}
void cloudlog_e(int levelnum, const char* filename, int lineno, const char* func, const char* srctime,
void cloudlog_e(int levelnum, const char* filename, int lineno, const char* func,
const char* fmt, ...) {
pthread_mutex_lock(&s.lock);
cloudlog_init();
@ -77,7 +79,6 @@ void cloudlog_e(int levelnum, const char* filename, int lineno, const char* func
json_append_member(log_j, "filename", json_mkstring(filename));
json_append_member(log_j, "lineno", json_mknumber(lineno));
json_append_member(log_j, "funcname", json_mkstring(func));
json_append_member(log_j, "srctime", json_mkstring(srctime));
json_append_member(log_j, "created", json_mknumber(seconds_since_epoch()));
char* log_s = json_encode(log_j);

4
selfdrive/common/swaglog.h
View File

@ -11,7 +11,7 @@
extern "C" {
#endif
void cloudlog_e(int levelnum, const char* filename, int lineno, const char* func, const char* srctime,
void cloudlog_e(int levelnum, const char* filename, int lineno, const char* func,
const char* fmt, ...) /*__attribute__ ((format (printf, 6, 7)))*/;
void cloudlog_bind(const char* k, const char* v);
@ -21,7 +21,7 @@ void cloudlog_bind(const char* k, const char* v);
#endif
#define cloudlog(lvl, fmt, ...) cloudlog_e(lvl, __FILE__, __LINE__, \
__func__, __DATE__ " " __TIME__, \
__func__, \
fmt, ## __VA_ARGS__)
#define LOGD(fmt, ...) cloudlog(CLOUDLOG_DEBUG, fmt, ## __VA_ARGS__)

10
selfdrive/common/timing.h
View File

@ -13,7 +13,13 @@ static inline uint64_t nanos_since_boot() {
static inline double millis_since_boot() {
struct timespec t;
clock_gettime(CLOCK_BOOTTIME, &t);
return t.tv_sec * 1000.0 + t.tv_nsec / 1000000.0;
return t.tv_sec * 1000.0 + t.tv_nsec * 1e-6;
}
static inline double seconds_since_boot() {
struct timespec t;
clock_gettime(CLOCK_BOOTTIME, &t);
return (double)t.tv_sec + t.tv_nsec * 1e-9;;
}
static inline uint64_t nanos_since_epoch() {
@ -25,7 +31,7 @@ static inline uint64_t nanos_since_epoch() {
static inline double seconds_since_epoch() {
struct timespec t;
clock_gettime(CLOCK_REALTIME, &t);
return (double)t.tv_sec + t.tv_nsec / 1000000000.0;
return (double)t.tv_sec + t.tv_nsec * 1e-9;
}
#endif

0
selfdrive/ui/touch.c → selfdrive/common/touch.c
View File

8
selfdrive/ui/touch.h → selfdrive/common/touch.h
View File

@ -1,6 +1,10 @@
#ifndef TOUCH_H
#define TOUCH_H
#ifdef __cplusplus
extern "C" {
#endif
typedef struct TouchState {
int fd;
int last_x, last_y;
@ -9,4 +13,8 @@ typedef struct TouchState {
void touch_init(TouchState *s);
int touch_poll(TouchState *s, int *out_x, int *out_y);
#ifdef __cplusplus
}
#endif
#endif

27
selfdrive/common/util.c 100644
View File

@ -0,0 +1,27 @@
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include <assert.h>
void* read_file(const char* path, size_t* out_len) {
FILE* f = fopen(path, "r");
if (!f) {
return NULL;
}
fseek(f, 0, SEEK_END);
long f_len = ftell(f);
rewind(f);
char* buf = malloc(f_len + 1);
assert(buf);
memset(buf, 0, f_len + 1);
size_t num_read = fread(buf, f_len, 1, f);
assert(num_read == 1);
fclose(f);
if (out_len) {
*out_len = f_len + 1;
}
return buf;
}

4
selfdrive/common/util.h
View File

@ -19,4 +19,8 @@
#define ARRAYSIZE(x) (sizeof(x)/sizeof(x[0]))
// Returns NULL on failure, otherwise the NULL-terminated file contents.
void* read_file(const char* path, size_t* out_len);
#endif

65
selfdrive/common/utilpp.h 100644
View File

@ -0,0 +1,65 @@
#ifndef UTILPP_H
#define UTILPP_H
#include <cstdio>
#include <unistd.h>
#include <string>
#include <sstream>
#include <fstream>
namespace util {
inline bool starts_with(std::string s, std::string prefix) {
return s.compare(0, prefix.size(), prefix) == 0;
}
template<typename ... Args>
inline std::string string_format( const std::string& format, Args ... args ) {
size_t size = snprintf( nullptr, 0, format.c_str(), args ... ) + 1;
std::unique_ptr<char[]> buf( new char[ size ] );
snprintf( buf.get(), size, format.c_str(), args ... );
return std::string( buf.get(), buf.get() + size - 1 );
}
inline std::string read_file(std::string fn) {
std::ifstream t(fn);
std::stringstream buffer;
buffer << t.rdbuf();
return buffer.str();
}
inline std::string tohex(const uint8_t* buf, size_t buf_size) {
std::unique_ptr<char[]> hexbuf(new char[buf_size*2+1]);
for (int i=0; i<buf_size; i++) {
sprintf(&hexbuf[i*2], "%02x", buf[i]);
}
hexbuf[buf_size*2] = 0;
return std::string(hexbuf.get(), hexbuf.get() + buf_size*2);
}
inline std::string base_name(std::string const & path) {
size_t pos = path.find_last_of("/");
if (pos == std::string::npos) return path;
return path.substr(pos + 1);
}
inline std::string dir_name(std::string const & path) {
size_t pos = path.find_last_of("/");
if (pos == std::string::npos) return "";
return path.substr(0, pos);
}
inline std::string readlink(std::string path) {
char buff[PATH_MAX];
ssize_t len = ::readlink(path.c_str(), buff, sizeof(buff)-1);
if (len != -1) {
buff[len] = '\0';
return std::string(buff);
}
return "";
}
}
#endif

2
selfdrive/common/version.h
View File

@ -1 +1 @@
const char *openpilot_version = "0.2.9";
const char *openpilot_version = "0.3.0-devel";

122
selfdrive/common/visionipc.c
View File

@ -5,6 +5,7 @@
#include <assert.h>
#include <errno.h>
#include <sys/mman.h>
#include <sys/socket.h>
#include <sys/un.h>
@ -115,13 +116,124 @@ int vipc_recv(int fd, VisionPacket *out_p) {
return ret;
}
int vipc_send(int fd, const VisionPacket p2) {
assert(p2.num_fds <= VIPC_MAX_FDS);
int vipc_send(int fd, const VisionPacket *p2) {
assert(p2->num_fds <= VIPC_MAX_FDS);
VisionPacketWire p = {
.type = p2.type,
.d = p2.d,
.type = p2->type,
.d = p2->d,
};
return sendrecv_with_fds(true, fd, (void*)&p, sizeof(p), (int*)p2.fds, p2.num_fds, NULL);
return sendrecv_with_fds(true, fd, (void*)&p, sizeof(p), (int*)p2->fds, p2->num_fds, NULL);
}
void visionbufs_load(VisionBuf *bufs, const VisionStreamBufs *stream_bufs,
int num_fds, const int* fds) {
for (int i=0; i<num_fds; i++) {
if (bufs[i].addr) {
munmap(bufs[i].addr, bufs[i].len);
bufs[i].addr = NULL;
close(bufs[i].fd);
}
bufs[i].fd = fds[i];
bufs[i].len = stream_bufs->buf_len;
bufs[i].addr = mmap(NULL, bufs[i].len,
PROT_READ | PROT_WRITE,
MAP_SHARED, bufs[i].fd, 0);
// printf("b %d %zu -> %p\n", bufs[i].fd, bufs[i].len, bufs[i].addr);
assert(bufs[i].addr != MAP_FAILED);
}
}
int visionstream_init(VisionStream *s, VisionStreamType type, bool tbuffer, VisionStreamBufs *out_bufs_info) {
int err;
memset(s, 0, sizeof(*s));
s->last_idx = -1;
s->ipc_fd = vipc_connect();
if (s->ipc_fd < 0) return -1;
VisionPacket p = {
.type = VIPC_STREAM_SUBSCRIBE,
.d = { .stream_sub = {
.type = type,
.tbuffer = tbuffer,
}, },
};
err = vipc_send(s->ipc_fd, &p);
if (err < 0) {
close(s->ipc_fd);
return -1;
}
VisionPacket rp;
err = vipc_recv(s->ipc_fd, &rp);
if (err <= 0) {
close(s->ipc_fd);
return -1;
}
assert(rp.type = VIPC_STREAM_BUFS);
assert(rp.d.stream_bufs.type == type);
s->bufs_info = rp.d.stream_bufs;
s->num_bufs = rp.num_fds;
s->bufs = calloc(s->num_bufs, sizeof(VisionBuf));
assert(s->bufs);
visionbufs_load(s->bufs, &rp.d.stream_bufs, s->num_bufs, rp.fds);
if (out_bufs_info) {
*out_bufs_info = s->bufs_info;
}
return 0;
}
VisionBuf* visionstream_get(VisionStream *s, VisionBufExtra *out_extra) {
int err;
VisionPacket rp;
err = vipc_recv(s->ipc_fd, &rp);
if (err <= 0) {
return NULL;
}
assert(rp.type == VIPC_STREAM_ACQUIRE);
if (s->last_idx >= 0) {
VisionPacket rep = {
.type = VIPC_STREAM_RELEASE,
.d = { .stream_rel = {
.type = rp.d.stream_acq.type,
.idx = s->last_idx,
}}
};
err = vipc_send(s->ipc_fd, &rep);
if (err <= 0) {
return NULL;
}
}
s->last_idx = rp.d.stream_acq.idx;
assert(s->last_idx < s->num_bufs);
if (out_extra) {
*out_extra = rp.d.stream_acq.extra;
}
return &s->bufs[s->last_idx];
}
void visionstream_destroy(VisionStream *s) {
for (int i=0; i<s->num_bufs; i++) {
if (s->bufs[i].addr) {
munmap(s->bufs[i].addr, s->bufs[i].len);
s->bufs[i].addr = NULL;
close(s->bufs[i].fd);
}
}
if (s->bufs) free(s->bufs);
close(s->ipc_fd);
}

92
selfdrive/common/visionipc.h
View File

@ -1,39 +1,71 @@
#ifndef VISIONIPC_H
#define VISIONIPC_H
#include <stddef.h>
#include <stdint.h>
#include <stdbool.h>
#define VIPC_SOCKET_PATH "/tmp/vision_socket"
#define VIPC_MAX_FDS 64
#ifdef __cplusplus
extern "C" {
#endif
#define VISION_INVALID 0
#define VISION_UI_SUBSCRIBE 1
#define VISION_UI_BUFS 2
#define VISION_UI_ACQUIRE 3
#define VISION_UI_RELEASE 4
typedef enum VisionIPCPacketType {
VIPC_INVALID = 0,
VIPC_STREAM_SUBSCRIBE,
VIPC_STREAM_BUFS,
VIPC_STREAM_ACQUIRE,
VIPC_STREAM_RELEASE,
} VisionIPCPacketType;
typedef struct VisionUIBufs {
int width, height, stride;
int front_width, front_height, front_stride;
typedef enum VisionStreamType {
VISION_STREAM_UI_BACK,
VISION_STREAM_UI_FRONT,
VISION_STREAM_YUV,
VISION_STREAM_MAX,
} VisionStreamType;
typedef struct VisionUIInfo {
int big_box_x, big_box_y;
int big_box_width, big_box_height;
int transformed_width, transformed_height;
int front_box_x, front_box_y;
int front_box_width, front_box_height;
} VisionUIInfo;
typedef struct VisionStreamBufs {
VisionStreamType type;
int width, height, stride;
size_t buf_len;
int num_bufs;
size_t front_buf_len;
int num_front_bufs;
} VisionUIBufs;
union {
VisionUIInfo ui_info;
} buf_info;
} VisionStreamBufs;
typedef struct VisionBufExtra {
uint32_t frame_id; // only for yuv
} VisionBufExtra;
typedef union VisionPacketData {
VisionUIBufs ui_bufs;
struct {
bool front;
VisionStreamType type;
bool tbuffer;
} stream_sub;
VisionStreamBufs stream_bufs;
struct {
VisionStreamType type;
int idx;
} ui_acq, ui_rel;
VisionBufExtra extra;
} stream_acq;
struct {
VisionStreamType type;
int idx;
} stream_rel;
} VisionPacketData;
typedef struct VisionPacket {
@ -43,8 +75,34 @@ typedef struct VisionPacket {
int fds[VIPC_MAX_FDS];
} VisionPacket;
int vipc_connect();
int vipc_connect(void);
int vipc_recv(int fd, VisionPacket *out_p);
int vipc_send(int fd, const VisionPacket p);
int vipc_send(int fd, const VisionPacket *p);
typedef struct VisionBuf {
int fd;
size_t len;
void* addr;
} VisionBuf;
void visionbufs_load(VisionBuf *bufs, const VisionStreamBufs *stream_bufs,
int num_fds, const int* fds);
typedef struct VisionStream {
int ipc_fd;
int last_idx;
int num_bufs;
VisionStreamBufs bufs_info;
VisionBuf *bufs;
} VisionStream;
int visionstream_init(VisionStream *s, VisionStreamType type, bool tbuffer, VisionStreamBufs *out_bufs_info);
VisionBuf* visionstream_get(VisionStream *s, VisionBufExtra *out_extra);
void visionstream_destroy(VisionStream *s);
#ifdef __cplusplus
}
#endif
#endif

18
selfdrive/config.py
View File

@ -10,7 +10,7 @@ class Conversions:
KNOTS_TO_MS = 1/1.9438
MS_TO_KNOTS = 1.9438
# Car tecode decimal minutes into decimal degrees, can work with numpy arrays as input
# Car decode decimal minutes into decimal degrees, can work with numpy arrays as input
@staticmethod
def dm2d(dm):
degs = np.round(dm/100.)
@ -56,19 +56,3 @@ class UIParams:
car_back = 1.8796 * lidar_zoom
car_color = 110
class VehicleParams:
def __init__(self, civic, brake_only=False, torque_mod=False):
if civic:
self.wheelbase = 2.67
self.steer_ratio = 15.3
self.slip_factor = 0.0014
self.civic = True
else:
self.wheelbase = 2.67 # from http://www.edmunds.com/acura/ilx/2016/sedan/features-specs/
self.steer_ratio = 15.3 # from http://www.edmunds.com/acura/ilx/2016/road-test-specs/
self.slip_factor = 0.0014
self.civic = False
self.brake_only = brake_only
self.torque_mod = torque_mod
self.ui_speed_fudge = 1.01 if self.civic else 1.025

173
selfdrive/controls/controlsd.py
View File

@ -4,31 +4,25 @@ import zmq
import numpy as np
import selfdrive.messaging as messaging
from cereal import car
from cereal import car, log
from selfdrive.swaglog import cloudlog
from common.numpy_fast import clip
from common.fingerprints import fingerprint
from selfdrive.config import Conversions as CV
from common.services import service_list
from selfdrive.services import service_list
from common.realtime import sec_since_boot, set_realtime_priority, Ratekeeper
from common.profiler import Profiler
from common.params import Params
from selfdrive.controls.lib.drive_helpers import learn_angle_offset
from selfdrive.controls.lib.longcontrol import LongControl
from selfdrive.controls.lib.latcontrol import LatControl
from selfdrive.controls.lib.pathplanner import PathPlanner
from selfdrive.controls.lib.adaptivecruise import AdaptiveCruise
from selfdrive.controls.lib.alertmanager import AlertManager
car_type = os.getenv("CAR")
if car_type is not None:
exec('from selfdrive.car.'+car_type+'.interface import CarInterface')
else:
from selfdrive.car.honda.interface import CarInterface
V_CRUISE_MAX = 144
V_CRUISE_MIN = 8
V_CRUISE_DELTA = 8
@ -42,22 +36,35 @@ def controlsd_thread(gctx, rate=100): #rate in Hz
carcontrol = messaging.pub_sock(context, service_list['carControl'].port)
thermal = messaging.sub_sock(context, service_list['thermal'].port)
live20 = messaging.sub_sock(context, service_list['live20'].port)
model = messaging.sub_sock(context, service_list['model'].port)
health = messaging.sub_sock(context, service_list['health'].port)
plan_sock = messaging.sub_sock(context, service_list['plan'].port)
# connects to can and sendcan
CI = CarInterface()
VP = CI.getVehicleParams()
logcan = messaging.sub_sock(context, service_list['can'].port)
PP = PathPlanner(model)
AC = AdaptiveCruise(live20)
# connects to can
CP = fingerprint(logcan)
# import the car from the fingerprint
cloudlog.info("controlsd is importing %s", CP.carName)
exec('from selfdrive.car.'+CP.carName+'.interface import CarInterface')
sendcan = messaging.pub_sock(context, service_list['sendcan'].port)
CI = CarInterface(CP, logcan, sendcan)
# write CarParams
Params().put("CarParams", CP.to_bytes())
AM = AlertManager()
LoC = LongControl()
LaC = LatControl()
# fake plan
plan = log.Plan.new_message()
plan.lateralValid = False
plan.longitudinalValid = False
last_plan_time = 0
# controls enabled state
enabled = False
last_enable_request = 0
@ -128,7 +135,7 @@ def controlsd_thread(gctx, rate=100): #rate in Hz
if b.type == "altButton1" and b.pressed:
rear_view_toggle = not rear_view_toggle
if not VP.brake_only and enabled and not b.pressed:
if not CP.enableCruise and enabled and not b.pressed:
if b.type == "accelCruise":
v_cruise_kph = v_cruise_kph - (v_cruise_kph % V_CRUISE_DELTA) + V_CRUISE_DELTA
elif b.type == "decelCruise":
@ -166,13 +173,6 @@ def controlsd_thread(gctx, rate=100): #rate in Hz
prof.checkpoint("Health")
# *** getting model logic ***
PP.update(cur_time, CS.vEgo)
if rk.frame % 5 == 2:
# *** run this at 20hz again ***
angle_offset = learn_angle_offset(enabled, CS.vEgo, angle_offset, np.asarray(PP.d_poly), LaC.y_des, CS.steeringPressed)
# disable if the pedals are pressed while engaged, this is a user disable
if enabled:
if CS.gasPressed or CS.brakePressed:
@ -192,60 +192,63 @@ def controlsd_thread(gctx, rate=100): #rate in Hz
AM.add("outOfSpace", enabled)
enable_request = False
if VP.brake_only:
if CP.enableCruise:
enable_condition = ((cur_time - last_enable_request) < 0.2) and CS.cruiseState.enabled
else:
enable_condition = enable_request
if CP.enableCruise and CS.cruiseState.enabled:
v_cruise_kph = CS.cruiseState.speed * CV.MS_TO_KPH
prof.checkpoint("AdaptiveCruise")
# *** what's the plan ***
new_plan = messaging.recv_sock(plan_sock)
if new_plan is not None:
plan = new_plan.plan
plan = plan.as_builder() # plan can change in controls
last_plan_time = cur_time
# check plan for timeout
if cur_time - last_plan_time > 0.5:
plan.lateralValid = False
plan.longitudinalValid = False
# gives 18 seconds before decel begins (w 6 minute timeout)
if awareness_status < -0.05:
plan.aTargetMax = min(plan.aTargetMax, -0.2)
plan.aTargetMin = min(plan.aTargetMin, plan.aTargetMax)
if enable_request or enable_condition or enabled:
# add all alerts from car
for alert in CS.errors:
AM.add(alert, enabled)
if AC.dead:
if not plan.longitudinalValid:
AM.add("radarCommIssue", enabled)
if PP.dead:
AM.add("modelCommIssue", enabled)
if not plan.lateralValid:
# If the model is not broadcasting, assume that it is because
# the user has uploaded insufficient data for calibration.
# Other cases that would trigger this are rare and unactionable by the user.
AM.add("dataNeeded", enabled)
if overtemp:
AM.add("overheat", enabled)
prof.checkpoint("Model")
if enable_condition and not enabled and not AM.alertPresent():
print "*** enabling controls"
# beep for enabling
AM.add("enable", enabled)
# enable both lateral and longitudinal controls
enabled = True
# on activation, let's always set v_cruise from where we are, even if PCM ACC is active
v_cruise_kph = int(round(max(CS.vEgo * CV.MS_TO_KPH * VP.ui_speed_fudge, V_CRUISE_ENABLE_MIN)))
# 6 minutes driver you're on
awareness_status = 1.0
# reset the PID loops
LaC.reset()
# start long control at actual speed
LoC.reset(v_pid = CS.vEgo)
if VP.brake_only and CS.cruiseState.enabled:
v_cruise_kph = CS.cruiseState.speed * CV.MS_TO_KPH
# *** put the adaptive in adaptive cruise control ***
AC.update(cur_time, CS.vEgo, CS.steeringAngle, LoC.v_pid, awareness_status, VP)
prof.checkpoint("AdaptiveCruise")
# *** angle offset learning ***
if rk.frame % 5 == 2 and plan.lateralValid:
# *** run this at 20hz again ***
angle_offset = learn_angle_offset(enabled, CS.vEgo, angle_offset, np.asarray(plan.dPoly), LaC.y_des, CS.steeringPressed)
# *** gas/brake PID loop ***
final_gas, final_brake = LoC.update(enabled, CS.vEgo, v_cruise_kph, AC.v_target_lead, AC.a_target, AC.jerk_factor, VP)
final_gas, final_brake = LoC.update(enabled, CS.vEgo, v_cruise_kph,
plan.vTarget,
[plan.aTargetMin, plan.aTargetMax],
plan.jerkFactor, CP)
# *** steering PID loop ***
final_steer, sat_flag = LaC.update(enabled, CS.vEgo, CS.steeringAngle, CS.steeringPressed, PP.d_poly, angle_offset, VP)
final_steer, sat_flag = LaC.update(enabled, CS.vEgo, CS.steeringAngle, CS.steeringPressed, plan.dPoly, angle_offset, CP)
prof.checkpoint("PID")
@ -269,6 +272,26 @@ def controlsd_thread(gctx, rate=100): #rate in Hz
else:
soft_disable_timer = None
if enable_condition and not enabled and not AM.alertPresent():
print "*** enabling controls"
# beep for enabling
AM.add("enable", enabled)
# enable both lateral and longitudinal controls
enabled = True
# on activation, let's always set v_cruise from where we are, even if PCM ACC is active
v_cruise_kph = int(round(max(CS.vEgo * CV.MS_TO_KPH, V_CRUISE_ENABLE_MIN)))
# 6 minutes driver you're on
awareness_status = 1.0
# reset the PID loops
LaC.reset()
# start long control at actual speed
LoC.reset(v_pid = CS.vEgo)
# *** push the alerts to current ***
alert_text_1, alert_text_2, visual_alert, audible_alert = AM.process_alerts(cur_time)
@ -282,14 +305,22 @@ def controlsd_thread(gctx, rate=100): #rate in Hz
CC.steeringTorque = float(final_steer)
CC.cruiseControl.override = True
CC.cruiseControl.cancel = bool((not VP.brake_only) or (not enabled and CS.cruiseState.enabled)) # always cancel if we have an interceptor
CC.cruiseControl.speedOverride = float((LoC.v_pid - .3) if (VP.brake_only and final_brake == 0.) else 0.0)
CC.cruiseControl.accelOverride = float(AC.a_pcm)
CC.cruiseControl.cancel = bool((not CP.enableCruise) or (not enabled and CS.cruiseState.enabled)) # always cancel if we have an interceptor
# brake discount removes a sharp nonlinearity
brake_discount = (1.0 - clip(final_brake*3., 0.0, 1.0))
CC.cruiseControl.speedOverride = float(max(0.0, ((LoC.v_pid - .5) * brake_discount)) if CP.enableCruise else 0.0)
#CC.cruiseControl.accelOverride = float(AC.a_pcm)
# TODO: fix this
CC.cruiseControl.accelOverride = float(1.0)
CC.hudControl.setSpeed = float(v_cruise_kph * CV.KPH_TO_MS)
CC.hudControl.speedVisible = enabled
CC.hudControl.lanesVisible = enabled
CC.hudControl.leadVisible = bool(AC.has_lead)
#CC.hudControl.leadVisible = bool(AC.has_lead)
# TODO: fix this
CC.hudControl.leadVisible = False
CC.hudControl.visualAlert = visual_alert
CC.hudControl.audibleAlert = audible_alert
@ -320,8 +351,8 @@ def controlsd_thread(gctx, rate=100): #rate in Hz
# what packets were used to process
dat.live100.canMonoTimes = list(CS.canMonoTimes)
dat.live100.mdMonoTime = PP.logMonoTime
dat.live100.l20MonoTime = AC.logMonoTime
#dat.live100.mdMonoTime = PP.logMonoTime
#dat.live100.l20MonoTime = AC.logMonoTime
# if controls is enabled
dat.live100.enabled = enabled
@ -344,10 +375,10 @@ def controlsd_thread(gctx, rate=100): #rate in Hz
dat.live100.uiSteer = float(LaC.Ui_steer)
# processed radar state, should add a_pcm?
dat.live100.vTargetLead = float(AC.v_target_lead)
dat.live100.aTargetMin = float(AC.a_target[0])
dat.live100.aTargetMax = float(AC.a_target[1])
dat.live100.jerkFactor = float(AC.jerk_factor)
dat.live100.vTargetLead = float(plan.vTarget)
dat.live100.aTargetMin = float(plan.aTargetMin)
dat.live100.aTargetMax = float(plan.aTargetMax)
dat.live100.jerkFactor = float(plan.jerkFactor)
# lag
dat.live100.cumLagMs = -rk.remaining*1000.

30
selfdrive/controls/lib/adaptivecruise.py
View File

@ -19,13 +19,13 @@ def calc_cruise_accel_limits(v_ego):
_A_TOTAL_MAX_V = [1.5, 1.9, 3.2]
_A_TOTAL_MAX_BP = [0., 20., 40.]
def limit_accel_in_turns(v_ego, angle_steers, a_target, a_pcm, VP):
def limit_accel_in_turns(v_ego, angle_steers, a_target, a_pcm, CP):
#*** this function returns a limited long acceleration allowed, depending on the existing lateral acceleration
# this should avoid accelerating when losing the target in turns
deg_to_rad = np.pi / 180. # from can reading to rad
a_total_max = interp(v_ego, _A_TOTAL_MAX_BP, _A_TOTAL_MAX_V)
a_y = v_ego**2 * angle_steers * deg_to_rad / (VP.steer_ratio * VP.wheelbase)
a_y = v_ego**2 * angle_steers * deg_to_rad / (CP.steerRatio * CP.wheelBase)
a_x_allowed = math.sqrt(max(a_total_max**2 - a_y**2, 0.))
a_target[1] = min(a_target[1], a_x_allowed)
@ -168,8 +168,9 @@ def calc_acc_accel_limits(d_lead, d_des, v_ego, v_pid, v_lead, v_rel, a_lead,
a_lead_contr, a_target[1])
# second call of calc_positive_accel_limit is used to limit the pcm throttle
# control (only useful when we don't control throttle directly)
a_pcm = calc_positive_accel_limit(d_lead, d_des, v_ego, v_rel, v_ego, v_rel,
v_coast, v_target, a_lead_contr, a_pcm)
a_pcm = calc_positive_accel_limit(d_lead, d_des, v_ego, v_rel, v_ego,
v_rel, v_coast, v_target,
a_lead_contr, a_pcm)
#*** compute max decel ***
v_offset = 1. # assume the car is 1m/s slower
@ -236,20 +237,9 @@ def calc_ttc(d_rel, v_rel, a_rel, v_lead):
return ttc
def limit_accel_driver_awareness(v_ego, a_target, a_pcm, awareness_status):
decel_bp = [0. , 40.]
decel_v = [-0.3, -0.2]
decel = interp(v_ego, decel_bp, decel_v)
# gives 18 seconds before decel begins (w 6 minute timeout)
if awareness_status < -0.05:
a_target[1] = min(a_target[1], decel)
a_target[0] = min(a_target[1], a_target[0])
a_pcm = 0.
return a_target, a_pcm
MAX_SPEED_POSSIBLE = 55.
def compute_speed_with_leads(v_ego, angle_steers, v_pid, l1, l2, awareness_status, VP):
def compute_speed_with_leads(v_ego, angle_steers, v_pid, l1, l2, CP):
# drive limits
# TODO: Make lims function of speed (more aggressive at low speed).
a_lim = [-3., 1.5]
@ -263,7 +253,7 @@ def compute_speed_with_leads(v_ego, angle_steers, v_pid, l1, l2, awareness_statu
a_pcm = 1
#*** limit max accel in sharp turns
a_target, a_pcm = limit_accel_in_turns(v_ego, angle_steers, a_target, a_pcm, VP)
a_target, a_pcm = limit_accel_in_turns(v_ego, angle_steers, a_target, a_pcm, CP)
jerk_factor = 0.
if l1 is not None and l1.status:
@ -305,8 +295,6 @@ def compute_speed_with_leads(v_ego, angle_steers, v_pid, l1, l2, awareness_statu
jerk_factor = calc_jerk_factor(l1.dRel, l1.vRel)
# force coasting decel if driver hasn't been controlling car in a while
a_target, a_pcm = limit_accel_driver_awareness(v_ego, a_target, a_pcm, awareness_status)
return v_target_lead, a_target, a_pcm, jerk_factor
@ -317,7 +305,7 @@ class AdaptiveCruise(object):
self.l1, self.l2 = None, None
self.logMonoTime = 0
self.dead = True
def update(self, cur_time, v_ego, angle_steers, v_pid, awareness_status, VP):
def update(self, cur_time, v_ego, angle_steers, v_pid, CP):
l20 = messaging.recv_sock(self.live20)
if l20 is not None:
self.l1 = l20.live20.leadOne
@ -331,5 +319,5 @@ class AdaptiveCruise(object):
self.dead = True
self.v_target_lead, self.a_target, self.a_pcm, self.jerk_factor = \
compute_speed_with_leads(v_ego, angle_steers, v_pid, self.l1, self.l2, awareness_status, VP)
compute_speed_with_leads(v_ego, angle_steers, v_pid, self.l1, self.l2, CP)
self.has_lead = self.v_target_lead != MAX_SPEED_POSSIBLE

1
selfdrive/controls/lib/alertmanager.py
View File

@ -57,6 +57,7 @@ class AlertManager(object):
"espDisabled": alert("Take Control Immediately","ESP Off", ET.SOFT_DISABLE, "steerRequired", "chimeRepeated", 1., 3., 3.),
"wrongCarMode": alert("Comma Unavailable","Main Switch Off", ET.NO_ENTRY, None, "chimeDouble", .4, 0., 3.),
"outOfSpace": alert("Comma Unavailable","Out of Space", ET.NO_ENTRY, None, "chimeDouble", .4, 0., 3.),
"dataNeeded": alert("Comma Unavailable","Data needed for calibration. Upload drive, try again", ET.NO_ENTRY, None, "chimeDouble", .4, 0., 3.),
"ethicalDilemma": alert("Take Control Immediately","Ethical Dilemma Detected", ET.IMMEDIATE_DISABLE, "steerRequired", "chimeRepeated", 1., 3., 3.),
"startup": alert("Always Keep Hands on Wheel","Be Ready to Take Over Any Time", ET.NO_ENTRY, None, None, 0., 0., 15.),
}

32
selfdrive/controls/lib/drive_helpers.py
View File

@ -1,5 +1,5 @@
import numpy as np
from common.numpy_fast import clip, interp
from common.numpy_fast import clip
def rate_limit(new_value, last_value, dw_step, up_step):
return clip(new_value, last_value + dw_step, last_value + up_step)
@ -21,33 +21,3 @@ def learn_angle_offset(lateral_control, v_ego, angle_offset, d_poly, y_des, stee
return angle_offset
def actuator_hystereses(final_brake, braking, brake_steady, v_ego, civic):
# hyst params... TODO: move these to VehicleParams
brake_hyst_on = 0.055 if civic else 0.1 # to activate brakes exceed this value
brake_hyst_off = 0.005 # to deactivate brakes below this value
brake_hyst_gap = 0.01 # don't change brake command for small ocilalitons within this value
#*** histeresys logic to avoid brake blinking. go above 0.1 to trigger
if (final_brake < brake_hyst_on and not braking) or final_brake < brake_hyst_off:
final_brake = 0.
braking = final_brake > 0.
# for small brake oscillations within brake_hyst_gap, don't change the brake command
if final_brake == 0.:
brake_steady = 0.
elif final_brake > brake_steady + brake_hyst_gap:
brake_steady = final_brake - brake_hyst_gap
elif final_brake < brake_steady - brake_hyst_gap:
brake_steady = final_brake + brake_hyst_gap
final_brake = brake_steady
if not civic:
brake_on_offset_v = [.25, .15] # min brake command on brake activation. below this no decel is perceived
brake_on_offset_bp = [15., 30.] # offset changes VS speed to not have too abrupt decels at high speeds
# offset the brake command for threshold in the brake system. no brake torque perceived below it
brake_on_offset = interp(v_ego, brake_on_offset_bp, brake_on_offset_v)
brake_offset = brake_on_offset - brake_hyst_on
if final_brake > 0.0:
final_brake += brake_offset
return final_brake, braking, brake_steady

21
selfdrive/controls/lib/latcontrol.py
View File

@ -2,10 +2,10 @@ import math
import numpy as np
from common.numpy_fast import clip
def calc_curvature(v_ego, angle_steers, VP, angle_offset=0):
def calc_curvature(v_ego, angle_steers, CP, angle_offset=0):
deg_to_rad = np.pi/180.
angle_steers_rad = (angle_steers - angle_offset) * deg_to_rad
curvature = angle_steers_rad/(VP.steer_ratio * VP.wheelbase * (1. + VP.slip_factor * v_ego**2))
curvature = angle_steers_rad/(CP.steerRatio * CP.wheelBase * (1. + CP.slipFactor * v_ego**2))
return curvature
def calc_d_lookahead(v_ego):
@ -19,26 +19,23 @@ def calc_d_lookahead(v_ego):
d_lookahead = offset_lookahead + math.sqrt(max(v_ego, 0)) * coeff_lookahead
return d_lookahead
def calc_lookahead_offset(v_ego, angle_steers, d_lookahead, VP, angle_offset):
def calc_lookahead_offset(v_ego, angle_steers, d_lookahead, CP, angle_offset):
#*** this function return teh lateral offset given the steering angle, speed and the lookahead distance
curvature = calc_curvature(v_ego, angle_steers, VP, angle_offset)
curvature = calc_curvature(v_ego, angle_steers, CP, angle_offset)
# clip is to avoid arcsin NaNs due to too sharp turns
y_actual = d_lookahead * np.tan(np.arcsin(np.clip(d_lookahead * curvature, -0.999, 0.999))/2.)
return y_actual, curvature
def pid_lateral_control(v_ego, y_actual, y_des, Ui_steer, steer_max,
steer_override, sat_count, enabled, half_pid, rate):
steer_override, sat_count, enabled, Kp, Ki, rate):
sat_count_rate = 1./rate
sat_count_limit = 0.8 # after 0.8s of continuous saturation, an alert will be sent
error_steer = y_des - y_actual
Ui_unwind_speed = 0.3/rate #.3 per second
if not half_pid:
Kp, Ki = 12.0, 1.0
else:
Kp, Ki = 6.0, .5 # 2x limit in ILX
Up_steer = error_steer*Kp
Ui_steer_new = Ui_steer + error_steer*Ki * 1./rate
output_steer_new = Ui_steer_new + Up_steer
@ -99,7 +96,7 @@ class LatControl(object):
def reset(self):
self.Ui_steer = 0.
def update(self, enabled, v_ego, angle_steers, steer_override, d_poly, angle_offset, VP):
def update(self, enabled, v_ego, angle_steers, steer_override, d_poly, angle_offset, CP):
rate = 100
steer_max = 1.0
@ -109,14 +106,14 @@ class LatControl(object):
# calculate actual offset at the lookahead point
self.y_actual, _ = calc_lookahead_offset(v_ego, angle_steers,
d_lookahead, VP, angle_offset)
d_lookahead, CP, angle_offset)
# desired lookahead offset
self.y_des = np.polyval(d_poly, d_lookahead)
output_steer, self.Up_steer, self.Ui_steer, self.lateral_control_sat, self.sat_count, sat_flag = pid_lateral_control(
v_ego, self.y_actual, self.y_des, self.Ui_steer, steer_max,
steer_override, self.sat_count, enabled, VP.torque_mod, rate)
steer_override, self.sat_count, enabled, CP.steerKp, CP.steerKi, rate)
final_steer = clip(output_steer, -steer_max, steer_max)
return final_steer, sat_flag

14
selfdrive/controls/lib/longcontrol.py
View File

@ -96,7 +96,7 @@ def pid_long_control(v_ego, v_pid, Ui_accel_cmd, gas_max, brake_max, jerk_factor
Kp = interp(v_ego, _KP_BP, _KP_V)
Ki = interp(v_ego, _kI_BP, _kI_V)
# scle Kp and Ki by jerk factor drom drive_thread
# scale Kp and Ki by jerk factor from drive_thread
Kp = (1. + jerk_factor)*Kp
Ki = (1. + jerk_factor)*Ki
@ -155,7 +155,7 @@ class LongControl(object):
self.Ui_accel_cmd = 0.
self.v_pid = v_pid
def update(self, enabled, v_ego, v_cruise, v_target_lead, a_target, jerk_factor, VP):
def update(self, enabled, v_ego, v_cruise, v_target_lead, a_target, jerk_factor, CP):
brake_max_bp = [0., 5., 20., 100.] # speeds
brake_max_v = [1.0, 1.0, 0.8, 0.8] # values
@ -163,12 +163,12 @@ class LongControl(object):
brake_max = interp(v_ego, brake_max_bp, brake_max_v)
# TODO: not every time
if VP.brake_only:
gas_max = 0
else:
if CP.enableGas:
gas_max_bp = [0., 100.] # speeds
gas_max_v = [0.6, 0.6] # values
gas_max = interp(v_ego, gas_max_bp, gas_max_v)
else:
gas_max = 0
overshoot_allowance = 2.0 # overshoot allowed when changing accel sign
@ -177,7 +177,7 @@ class LongControl(object):
# limit max target speed based on cruise setting:
v_cruise_mph = round(v_cruise * CV.KPH_TO_MPH) # what's displayed in mph on the IC
v_target = min(v_target_lead, v_cruise_mph * CV.MPH_TO_MS / VP.ui_speed_fudge)
v_target = min(v_target_lead, v_cruise_mph * CV.MPH_TO_MS)
max_speed_delta_up = a_target[1]*1.0/rate
max_speed_delta_down = a_target[0]*1.0/rate
@ -211,7 +211,7 @@ class LongControl(object):
self.v_pid = v_target
# to avoid too much wind up on acceleration, limit positive speed error
if not VP.brake_only:
if CP.enableGas:
max_speed_error = interp(v_ego, _MAX_SPEED_ERROR_BP, _MAX_SPEED_ERROR_V)
self.v_pid = min(self.v_pid, v_ego + max_speed_error)

80
selfdrive/controls/plannerd.py 100755
View File

@ -0,0 +1,80 @@
#!/usr/bin/env python
import os
import zmq
import numpy as np
import selfdrive.messaging as messaging
from selfdrive.services import service_list
from common.realtime import sec_since_boot, set_realtime_priority
from common.params import Params
from selfdrive.swaglog import cloudlog
from cereal import car
from selfdrive.controls.lib.pathplanner import PathPlanner
from selfdrive.controls.lib.adaptivecruise import AdaptiveCruise
def plannerd_thread(gctx):
context = zmq.Context()
poller = zmq.Poller()
carstate = messaging.sub_sock(context, service_list['carState'].port, poller)
live20 = messaging.sub_sock(context, service_list['live20'].port)
model = messaging.sub_sock(context, service_list['model'].port)
plan = messaging.pub_sock(context, service_list['plan'].port)
# wait for stats about the car to come in from controls
cloudlog.info("plannerd is waiting for CarParams")
CP = car.CarParams.from_bytes(Params().get("CarParams", block=True))
cloudlog.info("plannerd got CarParams")
CS = None
PP = PathPlanner(model)
AC = AdaptiveCruise(live20)
# start the loop
set_realtime_priority(2)
# this runs whenever we get a packet that can change the plan
while True:
polld = poller.poll(timeout=1000)
for sock, mode in polld:
if mode != zmq.POLLIN or sock != carstate:
continue
cur_time = sec_since_boot()
CS = messaging.recv_sock(carstate).carState
PP.update(cur_time, CS.vEgo)
# LoC.v_pid -> CS.vEgo
# TODO: is this change okay?
AC.update(cur_time, CS.vEgo, CS.steeringAngle, CS.vEgo, CP)
# **** send the plan ****
plan_send = messaging.new_message()
plan_send.init('plan')
# lateral plan
plan_send.plan.lateralValid = not PP.dead
if plan_send.plan.lateralValid:
plan_send.plan.dPoly = map(float, PP.d_poly)
# longitudal plan
plan_send.plan.longitudinalValid = not AC.dead
if plan_send.plan.longitudinalValid:
plan_send.plan.vTarget = float(AC.v_target_lead)
plan_send.plan.aTargetMin = float(AC.a_target[0])
plan_send.plan.aTargetMax = float(AC.a_target[1])
plan_send.plan.jerkFactor = float(AC.jerk_factor)
plan.send(plan_send.to_bytes())
def main(gctx=None):
plannerd_thread(gctx)
if __name__ == "__main__":
main()

27
selfdrive/controls/radard.py
View File

@ -8,20 +8,18 @@ from collections import defaultdict
from fastcluster import linkage_vector
import selfdrive.messaging as messaging
from selfdrive.services import service_list
from selfdrive.controls.lib.latcontrol import calc_lookahead_offset
from selfdrive.controls.lib.pathplanner import PathPlanner
from selfdrive.config import VehicleParams
from selfdrive.controls.lib.radar_helpers import Track, Cluster, fcluster, RDR_TO_LDR
from selfdrive.swaglog import cloudlog
from common.services import service_list
from cereal import car
from common.params import Params
from common.realtime import sec_since_boot, set_realtime_priority, Ratekeeper
from common.kalman.ekf import EKF, SimpleSensor
radar_type = os.getenv("RADAR")
if radar_type is not None:
exec('from selfdrive.radar.'+car_type+'.interface import RadarInterface')
else:
from selfdrive.radar.nidec.interface import RadarInterface
#vision point
DIMSV = 2
@ -49,6 +47,15 @@ class EKFV1D(EKF):
def radard_thread(gctx=None):
set_realtime_priority(1)
# wait for stats about the car to come in from controls
cloudlog.info("radard is waiting for CarParams")
CP = car.CarParams.from_bytes(Params().get("CarParams", block=True))
cloudlog.info("radard got CarParams")
# import the radar from the fingerprint
cloudlog.info("radard is importing %s", CP.radarName)
exec('from selfdrive.radar.'+CP.radarName+'.interface import RadarInterface')
context = zmq.Context()
# *** subscribe to features and model from visiond
@ -62,10 +69,6 @@ def radard_thread(gctx=None):
live20 = messaging.pub_sock(context, service_list['live20'].port)
liveTracks = messaging.pub_sock(context, service_list['liveTracks'].port)
# subscribe to stats about the car
# TODO: move this to new style packet
VP = VehicleParams(False, False) # same for ILX and civic
path_x = np.arange(0.0, 140.0, 0.1) # 140 meters is max
# Time-alignment
@ -129,7 +132,7 @@ def radard_thread(gctx=None):
if enabled: # use path from model path_poly
path_y = np.polyval(PP.d_poly, path_x)
else: # use path from steer, set angle_offset to 0 since calibration does not exactly report the physical offset
path_y = calc_lookahead_offset(v_ego, steer_angle, path_x, VP, angle_offset=0)[0]
path_y = calc_lookahead_offset(v_ego, steer_angle, path_x, CP, angle_offset=0)[0]
# *** remove missing points from meta data ***
for ids in tracks.keys():

36
selfdrive/debug/can_printer.py 100755
View File

@ -0,0 +1,36 @@
#!/usr/bin/env python
import os
import struct
from collections import defaultdict
from common.realtime import sec_since_boot
import zmq
import selfdrive.messaging as messaging
from selfdrive.services import service_list
def can_printer():
context = zmq.Context()
logcan = messaging.sub_sock(context, service_list['can'].port)
start = sec_since_boot()
lp = sec_since_boot()
msgs = defaultdict(list)
canbus = int(os.getenv("CAN", 0))
while 1:
can_recv = messaging.drain_sock(logcan, wait_for_one=True)
for x in can_recv:
for y in x.can:
if y.src == canbus:
msgs[y.address].append(y.dat)
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()))):
dd += "%s(%6d) %s\n" % ("%04X(%4d)" % (k,k),len(msgs[k]), v)
print dd
lp = sec_since_boot()
if __name__ == "__main__":
can_printer()

8
selfdrive/debug/dump.py
View File

@ -5,7 +5,7 @@ import zmq
from hexdump import hexdump
import selfdrive.messaging as messaging
from common.services import service_list
from selfdrive.services import service_list
if __name__ == "__main__":
context = zmq.Context()
@ -13,11 +13,11 @@ if __name__ == "__main__":
parser = argparse.ArgumentParser(description='Sniff a communcation socket')
parser.add_argument('--raw', action='store_true')
parser.add_argument("socket", type=str,
help="socket name")
parser.add_argument("socket", type=str, nargs='*', help="socket name")
args = parser.parse_args()
messaging.sub_sock(context, service_list[args.socket].port, poller)
for m in args.socket if len(args.socket) > 0 else service_list:
messaging.sub_sock(context, service_list[m].port, poller)
while 1:
polld = poller.poll(timeout=1000)

94
selfdrive/debug/test_carcontroller.py 100755
View File

@ -0,0 +1,94 @@
#!/usr/bin/env python
from evdev import InputDevice
from select import select
import time
import numpy as np
import zmq
from cereal import car
import selfdrive.messaging as messaging
from selfdrive.services import service_list
from common.realtime import Ratekeeper
from common.fingerprints import fingerprint
if __name__ == "__main__":
# ***** connect to joystick *****
# we use a Mad Catz V.1
dev = InputDevice("/dev/input/event8")
print dev
button_values = [0]*7
axis_values = [0.0, 0.0, 0.0]
# ***** connect to car *****
context = zmq.Context()
logcan = messaging.sub_sock(context, service_list['can'].port)
sendcan = messaging.pub_sock(context, service_list['sendcan'].port)
CP = fingerprint(logcan)
exec('from selfdrive.car.'+CP.carName+'.interface import CarInterface')
CI = CarInterface(CP, logcan, sendcan)
rk = Ratekeeper(100)
while 1:
# **** handle joystick ****
r, w, x = select([dev], [], [], 0.0)
if dev in r:
for event in dev.read():
# button event
if event.type == 1:
btn = event.code - 288
if btn >= 0 and btn < 7:
button_values[btn] = int(event.value)
# axis move event
if event.type == 3:
if event.code < 3:
if event.code == 2:
axis_values[event.code] = np.clip((255-int(event.value))/250.0, 0.0, 1.0)
else:
DEADZONE = 5
if event.value-DEADZONE < 128 and event.value+DEADZONE > 128:
event.value = 128
axis_values[event.code] = np.clip((int(event.value)-128)/120.0, -1.0, 1.0)
print axis_values, button_values
# **** handle car ****
CS = CI.update()
print CS
CC = car.CarControl.new_message()
CC.enabled = True
CC.gas = float(np.clip(-axis_values[1], 0, 1.0))
CC.brake = float(np.clip(axis_values[1], 0, 1.0))
CC.steeringTorque = float(axis_values[0])
CC.hudControl.speedVisible = bool(button_values[1])
CC.hudControl.lanesVisible = bool(button_values[2])
CC.hudControl.leadVisible = bool(button_values[3])
CC.cruiseControl.override = bool(button_values[0])
CC.cruiseControl.cancel = bool(button_values[-1])
CC.hudControl.setSpeed = float(axis_values[2] * 100.0)
# TODO: test alerts
CC.hudControl.visualAlert = "none"
CC.hudControl.audibleAlert = "none"
print CC
if not CI.apply(CC):
print "CONTROLS FAILED"
rk.keep_time()

53
selfdrive/debug/test_carstate.py 100755
View File

@ -0,0 +1,53 @@
#!/usr/bin/env python
import os
import zmq
import selfdrive.messaging as messaging
from selfdrive.services import service_list
from common.fingerprints import fingerprint
def bpressed(CS, btype):
for b in CS.buttonEvents:
if b.type == btype:
return True
return False
def test_loop():
context = zmq.Context()
logcan = messaging.sub_sock(context, service_list['can'].port)
CP = fingerprint(logcan)
exec('from selfdrive.car.'+CP.carName+'.interface import CarInterface')
CI = CarInterface(CP, logcan, None)
state = 0
states = [
"'seatbeltNotLatched' in CS.errors",
"CS.gasPressed",
"CS.brakePressed",
"CS.steeringPressed",
"bpressed(CS, 'leftBlinker')",
"bpressed(CS, 'rightBlinker')",
"bpressed(CS, 'cancel')",
"bpressed(CS, 'accelCruise')",
"bpressed(CS, 'decelCruise')",
"bpressed(CS, 'altButton1')",
"'doorOpen' in CS.errors",
"False"]
while 1:
# read CAN
CS = CI.update()
while eval(states[state]) == True:
state += 1
print "IN STATE %d: waiting for %s" % (state, states[state])
#print CS
if __name__ == "__main__":
test_loop()

2
selfdrive/logcatd/Makefile
View File

@ -20,7 +20,7 @@ ZMQ_LIBS = -L$(PHONELIBS)/zmq/aarch64/lib \
.PHONY: all
all: logcatd
-include ../common/cereal.mk
include ../common/cereal.mk
OBJS = logcatd.o \
$(CEREAL_OBJS)

4
selfdrive/loggerd/Makefile 100644
View File

@ -0,0 +1,4 @@
-include build_from_src.mk
release:
@echo "loggerd: this is a release"

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