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Enabled emulated control writes over USB.

master
Jessy Diamond Exum 2017-07-06 15:17:33 -07:00
parent daad2dc062
commit 133cfe9703
4 changed files with 25 additions and 23 deletions
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15
board/main.c
View File

@ -20,7 +20,6 @@ int safety_tx_lin_hook(int lin_num, uint8_t *data, int len, int hardwired);
#include "honda_safety.h"
#endif
// debug safety check: is controls allowed?
int started = 0;
// optional features
@ -129,11 +128,11 @@ void set_fan_speed(int fan_speed) {
TIM3->CCR3 = fan_speed;
}
void usb_cb_ep0_out(uint8_t *usbdata, int len, int hardwired) {
if (setup.b.bRequest == 0xde) {
void usb_cb_ep0_out(USB_Setup_TypeDef *setup, uint8_t *usbdata, int hardwired) {
if (setup->b.bRequest == 0xde) {
puts("Setting baud rate from usb\n");
uint32_t bitrate = *(int*)usbdata;
uint16_t canb_id = setup.b.wValue.w;
uint16_t canb_id = setup->b.wValue.w;
if (can_ports[canb_id].gmlan)
can_ports[canb_id].gmlan_bitrate = bitrate;
@ -438,7 +437,9 @@ int spi_buf_count = 0;
int spi_total_count = 0;
uint8_t spi_tx_buf[0x44];
//TODO Jessy: Audit for overflows
void handle_spi(uint8_t *data, int len) {
USB_Setup_TypeDef *fake_setup;
memset(spi_tx_buf, 0xaa, 0x44);
// data[0] = endpoint
// data[2] = length
@ -448,7 +449,11 @@ void handle_spi(uint8_t *data, int len) {
switch (data[0]) {
case 0:
// control transfer
*resp_len = usb_cb_control_msg((USB_Setup_TypeDef *)(data+4), spi_tx_buf+4, 0);
fake_setup = (USB_Setup_TypeDef *)(data+4);
*resp_len = usb_cb_control_msg(fake_setup, spi_tx_buf+4, 0);
// Handle CTRL writes with data
if (*resp_len == 0 && (fake_setup->b.bmRequestType & 0x80) == 0 && fake_setup->b.wLength.w)
usb_cb_ep0_out(fake_setup, data+4+sizeof(USB_Setup_TypeDef), 0);
break;
case 1:
// ep 1, read

4
board/usb.h
View File

@ -82,7 +82,7 @@ USB_Setup_TypeDef;
// interfaces
void usb_cb_enumeration_complete();
int usb_cb_control_msg(USB_Setup_TypeDef *setup, uint8_t *usbdata, int hardwired);
void usb_cb_ep0_out(uint8_t *usbdata, int len, int hardwired);
void usb_cb_ep0_out(USB_Setup_TypeDef *setup, uint8_t *usbdata, int hardwired);
int usb_cb_ep1_in(uint8_t *usbdata, int len, int hardwired);
void usb_cb_ep2_out(uint8_t *usbdata, int len, int hardwired);
void usb_cb_ep3_out(uint8_t *usbdata, int len, int hardwired);
@ -581,7 +581,7 @@ void usb_irqhandler(void) {
#endif
if(endpoint == 0){
usb_cb_ep0_out(usbdata, len, 1);
usb_cb_ep0_out(&setup, usbdata, 1);
}
if (endpoint == 2) {

7
panda/__init__.py
View File

@ -57,8 +57,11 @@ class WifiHandle(object):
return ret[4:4+length]
def controlWrite(self, request_type, request, value, index, data, timeout=0):
# ignore data in reply, panda doesn't use it
return self.controlRead(request_type, request, value, index, 0, timeout)
self.sock.send(
struct.pack("HHBBHHH", 0, 0, request_type, request, value, index, len(data)) + data
)
retdata = self.__recv()
assert len(retdata) == 0
def controlRead(self, request_type, request, value, index, length, timeout=0):
self.sock.send(struct.pack("HHBBHHH", 0, 0, request_type, request, value, index, length))

22
tests/loopback_test.py
View File

@ -35,11 +35,6 @@ def run_test_w_pandas(pandas, can_speeds, gmlan_speeds, sleep_duration=0):
for hh in h:
hh.set_controls_allowed(True)
# Currently can not set can/gmlan baud over wifi.
set_speed = not any((p._serial == "WIFI" for p in h))
if not set_speed:
print("*** Can not set speed on wifi pandas ***")
# test both directions
for ho in permutations(range(len(h)), r=2):
print("***************** TESTING", ho)
@ -86,15 +81,14 @@ def run_test_w_pandas(pandas, can_speeds, gmlan_speeds, sleep_duration=0):
panda_snd.set_gmlan(bus, gmlan)
panda_rcv.set_gmlan(bus, gmlan)
if set_speed:
if gmlan:
print("Setting GMLAN %d Speed to %d" % (bus, gmlan_speeds[bus]))
panda_snd.set_can_baud(bus, gmlan_speeds[bus])
panda_rcv.set_can_baud(bus, gmlan_speeds[bus])
else:
print("Setting CanBus %d Speed to %d" % (bus, can_speeds[bus]))
panda_snd.set_can_baud(bus, can_speeds[bus])
panda_rcv.set_can_baud(bus, can_speeds[bus])
if gmlan:
print("Setting GMLAN %d Speed to %d" % (bus, gmlan_speeds[bus]))
panda_snd.set_can_baud(bus, gmlan_speeds[bus])
panda_rcv.set_can_baud(bus, gmlan_speeds[bus])
else:
print("Setting CanBus %d Speed to %d" % (bus, can_speeds[bus]))
panda_snd.set_can_baud(bus, can_speeds[bus])
panda_rcv.set_can_baud(bus, can_speeds[bus])
# send the characters
# pick addresses high enough to not conflict with honda code