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Merge pull request #17 from commaai/detect_revc 

Detect revc
master
George Hotz 2017-06-28 22:08:04 -07:00 committed by GitHub
parent cffe6f3ff1 9acf24c9fd
commit 311d133288
14 changed files with 162 additions and 127 deletions
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11
board/build.mk
View File

@ -33,6 +33,11 @@ dfu:
$(DFU_UTIL) -a 0 -s 0x08004000 -D obj/$(PROJ_NAME).bin
$(DFU_UTIL) --reset-stm32 -a 0 -s 0x08000000
dfu_recover:
$(DFU_UTIL) -a 0 -s 0x08000000 -D obj/bootstub.$(PROJ_NAME).bin
$(DFU_UTIL) -a 0 -s 0x08004000 -D obj/$(PROJ_NAME).bin
$(DFU_UTIL) --reset-stm32 -a 0 -s 0x08000000
bootstub: obj/bootstub.$(PROJ_NAME).bin
./tools/enter_download_mode.py
$(DFU_UTIL) -a 0 -s 0x08000000 -D obj/bootstub.$(PROJ_NAME).bin
@ -62,7 +67,7 @@ endif
obj/cert.h: ../crypto/getcertheader.py
../crypto/getcertheader.py ../certs/debug.pub ../certs/release.pub > $@
obj/%.$(PROJ_NAME).o: %.c obj/cert.h obj/gitversion.h
obj/%.$(PROJ_NAME).o: %.c obj/cert.h obj/gitversion.h config.h
$(CC) $(CFLAGS) -o $@ -c $<
obj/%.$(PROJ_NAME).o: ../crypto/%.c
@ -71,13 +76,13 @@ obj/%.$(PROJ_NAME).o: ../crypto/%.c
obj/$(STARTUP_FILE).o: $(STARTUP_FILE).s
$(CC) $(CFLAGS) -o $@ -c $<
obj/$(PROJ_NAME).bin: obj/$(STARTUP_FILE).o obj/main.$(PROJ_NAME).o obj/early.$(PROJ_NAME).o
obj/$(PROJ_NAME).bin: obj/$(STARTUP_FILE).o obj/main.$(PROJ_NAME).o obj/early.$(PROJ_NAME).o obj/llgpio.$(PROJ_NAME).o
# hack
$(CC) -Wl,--section-start,.isr_vector=0x8004000 $(CFLAGS) -o obj/$(PROJ_NAME).elf $^
$(OBJCOPY) -v -O binary obj/$(PROJ_NAME).elf obj/code.bin
SETLEN=1 ../crypto/sign.py obj/code.bin $@ $(CERT)
obj/bootstub.$(PROJ_NAME).bin: obj/$(STARTUP_FILE).o obj/bootstub.$(PROJ_NAME).o obj/sha.$(PROJ_NAME).o obj/rsa.$(PROJ_NAME).o obj/early.$(PROJ_NAME).o
obj/bootstub.$(PROJ_NAME).bin: obj/$(STARTUP_FILE).o obj/bootstub.$(PROJ_NAME).o obj/sha.$(PROJ_NAME).o obj/rsa.$(PROJ_NAME).o obj/early.$(PROJ_NAME).o obj/llgpio.$(PROJ_NAME).o
$(CC) $(CFLAGS) -o obj/bootstub.$(PROJ_NAME).elf $^
$(OBJCOPY) -v -O binary obj/bootstub.$(PROJ_NAME).elf $@

1
board/can.h
View File

@ -99,4 +99,3 @@ int can_cksum(uint8_t *dat, int len, int addr, int idx) {
s = 8-s;
return s&0xF;
}

23
board/config.h 100644
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@ -0,0 +1,23 @@
#ifndef PANDA_CONFIG_H
#define PANDA_CONFIG_H
//#define DEBUG
//#define DEBUG_USB
//#define CAN_LOOPBACK_MODE
#ifdef STM32F4
#define PANDA
#include "stm32f4xx.h"
#else
#include "stm32f2xx.h"
#endif
#ifdef PANDA
#define ENABLE_CURRENT_SENSOR
#define ENABLE_SPI
#endif
#define USB_VID 0xbbaa
#define USB_PID 0xddcc
#endif

34
board/early.c
View File

@ -1,14 +1,10 @@
#ifdef STM32F4
#define PANDA
#include "stm32f4xx.h"
#else
#include "stm32f2xx.h"
#endif
#include "config.h"
#include "early.h"
#include "llgpio.h"
int has_external_debug_serial = 0;
int is_giant_panda = 0;
int revision = PANDA_REV_AB;
void *g_pfnVectors;
// must call again from main because BSS is zeroed
@ -19,12 +15,28 @@ void detect() {
for (i=0;i<PULL_EFFECTIVE_DELAY;i++);
has_external_debug_serial = (GPIOA->IDR & (1 << 3)) == (1 << 3);
// detect is_giant_panda
is_giant_panda = 0;
#ifdef PANDA
GPIOB->PUPDR |= GPIO_PUPDR_PUPDR1_1;
// detect is_giant_panda
set_gpio_pullup(GPIOB, 1, PULL_DOWN);
for (i=0;i<PULL_EFFECTIVE_DELAY;i++);
is_giant_panda = (GPIOB->IDR & (1 << 1)) == (1 << 1);
is_giant_panda = get_gpio_input(GPIOB, 1);
// detect panda REV C.
// A13 floats in REV AB. In REV C, A13 is pulled up to 5V with a 10K
// resistor and attached to the USB power control chip CTRL
// line. Pulling A13 down with an internal 50k resistor in REV C
// will produce a voltage divider that results in a high logic
// level. Checking if this pin reads high with a pull down should
// differentiate REV AB from C.
set_gpio_mode(GPIOA, 13, MODE_INPUT);
set_gpio_pullup(GPIOA, 13, PULL_DOWN);
for (i=0;i<PULL_EFFECTIVE_DELAY;i++);
if(get_gpio_input(GPIOA, 13))
revision = PANDA_REV_C;
// RESET pull up/down
set_gpio_pullup(GPIOA, 13, PULL_NONE);
#endif
}

4
board/early.h
View File

@ -2,11 +2,15 @@
#define POST_BOOTLOADER_MAGIC 0xdeadb111
#define PULL_EFFECTIVE_DELAY 10
#define PANDA_REV_AB 0
#define PANDA_REV_C 1
extern uint32_t enter_bootloader_mode;
extern void *_app_start[];
extern void *g_pfnVectors;
extern int has_external_debug_serial;
extern int is_giant_panda;
extern int revision;
void spi_flasher();
void detect();

31
board/gpio.h
View File

@ -54,7 +54,7 @@ void set_led(int led_num, int on) {
// TODO: does this belong here?
void periph_init() {
void periph_init() {
// enable GPIOB, UART2, CAN, USB clock
RCC->AHB1ENR |= RCC_AHB1ENR_GPIOAEN;
RCC->AHB1ENR |= RCC_AHB1ENR_GPIOBEN;
@ -118,8 +118,7 @@ void set_can_mode(int can, int use_gmlan) {
1 1 33kbit (normal)
*/
#ifdef REVC
} else if (can == 3) {
} else if (revision == PANDA_REV_C && can == 3) {
// A8,A15: disable normal mode
set_gpio_mode(GPIOA, 8, MODE_INPUT);
set_gpio_mode(GPIOA, 15, MODE_INPUT);
@ -127,7 +126,6 @@ void set_can_mode(int can, int use_gmlan) {
// B3,B4: enable gmlan mode
set_gpio_alternate(GPIOB, 3, GPIO_AF11_CAN3);
set_gpio_alternate(GPIOB, 4, GPIO_AF11_CAN3);
#endif
}
// put gmlan transceiver in normal mode
@ -149,11 +147,11 @@ void set_can_mode(int can, int use_gmlan) {
set_gpio_alternate(GPIOB, 5, GPIO_AF9_CAN2);
set_gpio_alternate(GPIOB, 6, GPIO_AF9_CAN2);
} else if (can == 3) {
#ifdef REVC
if(revision == PANDA_REV_C){
// B3,B4: disable gmlan mode
set_gpio_mode(GPIOB, 3, MODE_INPUT);
set_gpio_mode(GPIOB, 4, MODE_INPUT);
#endif
}
// A8,A15: normal mode
set_gpio_alternate(GPIOA, 8, GPIO_AF11_CAN3);
@ -250,11 +248,10 @@ void gpio_init() {
#ifdef PANDA
// K-line enable moved from B4->B7 to make room for GMLAN on CAN3
#ifdef REVC
set_gpio_output(GPIOB, 7, 1);
#else
set_gpio_output(GPIOB, 4, 1);
#endif
if(revision == PANDA_REV_C)
set_gpio_output(GPIOB, 7, 1); // REV C
else
set_gpio_output(GPIOB, 4, 1); // REV AB
// C12,D2: K-Line setup on UART 5
set_gpio_alternate(GPIOC, 12, GPIO_AF8_UART5);
@ -270,10 +267,12 @@ void gpio_init() {
set_gpio_pullup(GPIOC, 11, PULL_UP);
#endif
#ifdef REVC
if(revision == PANDA_REV_C) {
// B2,A13: set DCP mode on the charger (breaks USB!)
/*set_gpio_output(GPIOB, 2, 0);
set_gpio_output(GPIOA, 13, 0);*/
#endif
}
//set_gpio_output(GPIOB, 2, 0);
//set_gpio_output(GPIOA, 13, 0);
//set_gpio_output(GPIOA, 13, 1); //CTRL 1
//set_gpio_output(GPIOB, 2, 0); //CTRL 2
}
}

26
board/libc.h
View File

@ -12,29 +12,18 @@
// **** 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
// enable external oscillator
RCC->CR |= RCC_CR_HSEON;
while ((RCC->CR & RCC_CR_HSERDY) == 0);
// divide shit
RCC->CFGR = RCC_CFGR_HPRE_DIV1 | RCC_CFGR_PPRE2_DIV2 | RCC_CFGR_PPRE1_DIV4;
#ifdef USE_INTERNAL_OSC
#ifdef PANDA
RCC->PLLCFGR = RCC_PLLCFGR_PLLQ_2 | RCC_PLLCFGR_PLLM_3 |
RCC_PLLCFGR_PLLN_6 | RCC_PLLCFGR_PLLN_5 | RCC_PLLCFGR_PLLSRC_HSI;
RCC_PLLCFGR_PLLN_6 | RCC_PLLCFGR_PLLN_5 | RCC_PLLCFGR_PLLSRC_HSE;
#else
#ifdef PANDA
RCC->PLLCFGR = RCC_PLLCFGR_PLLQ_2 | RCC_PLLCFGR_PLLM_3 |
RCC_PLLCFGR_PLLN_6 | RCC_PLLCFGR_PLLN_5 | RCC_PLLCFGR_PLLSRC_HSE;
#else
RCC->PLLCFGR = RCC_PLLCFGR_PLLQ_2 | RCC_PLLCFGR_PLLM_3 |
RCC_PLLCFGR_PLLN_7 | RCC_PLLCFGR_PLLN_6 | RCC_PLLCFGR_PLLSRC_HSE;
#endif
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
@ -84,4 +73,3 @@ int memcmp(const void * ptr1, const void * ptr2, unsigned int num) {
}
return 0;
}

37
board/llgpio.c 100644
View File

@ -0,0 +1,37 @@
#include "config.h"
#include "llgpio.h"
void set_gpio_mode(GPIO_TypeDef *GPIO, int pin, int mode) {
uint32_t tmp = GPIO->MODER;
tmp &= ~(3 << (pin*2));
tmp |= (mode << (pin*2));
GPIO->MODER = tmp;
}
void set_gpio_output(GPIO_TypeDef *GPIO, int pin, int val) {
if (val) {
GPIO->ODR |= (1 << pin);
} else {
GPIO->ODR &= ~(1 << pin);
}
set_gpio_mode(GPIO, pin, MODE_OUTPUT);
}
void set_gpio_alternate(GPIO_TypeDef *GPIO, int pin, int mode) {
uint32_t tmp = GPIO->AFR[pin>>3];
tmp &= ~(0xF << ((pin&7)*4));
tmp |= mode << ((pin&7)*4);
GPIO->AFR[pin>>3] = tmp;
set_gpio_mode(GPIO, pin, MODE_ALTERNATE);
}
void set_gpio_pullup(GPIO_TypeDef *GPIO, int pin, int mode) {
uint32_t tmp = GPIO->PUPDR;
tmp &= ~(3 << (pin*2));
tmp |= (mode << (pin*2));
GPIO->PUPDR = tmp;
}
int get_gpio_input(GPIO_TypeDef *GPIO, int pin) {
return (GPIO->IDR & (1 << pin)) == (1 << pin);
}

45
board/llgpio.h
View File

@ -1,40 +1,23 @@
#ifndef PANDA_LLGPIO_H
#define PANDA_LLGPIO_H
#define MODE_INPUT 0
#define MODE_OUTPUT 1
#define MODE_ALTERNATE 2
#define MODE_ANALOG 3
void set_gpio_mode(GPIO_TypeDef *GPIO, int pin, int mode) {
uint32_t tmp = GPIO->MODER;
tmp &= ~(3 << (pin*2));
tmp |= (mode << (pin*2));
GPIO->MODER = tmp;
}
void set_gpio_output(GPIO_TypeDef *GPIO, int pin, int val) {
if (val) {
GPIO->ODR |= (1 << pin);
} else {
GPIO->ODR &= ~(1 << pin);
}
set_gpio_mode(GPIO, pin, MODE_OUTPUT);
}
void set_gpio_alternate(GPIO_TypeDef *GPIO, int pin, int mode) {
uint32_t tmp = GPIO->AFR[pin>>3];
tmp &= ~(0xF << ((pin&7)*4));
tmp |= mode << ((pin&7)*4);
GPIO->AFR[pin>>3] = tmp;
set_gpio_mode(GPIO, pin, MODE_ALTERNATE);
}
#define PULL_NONE 0
#define PULL_UP 1
#define PULL_DOWN 2
#define PULL_DOWN 2
void set_gpio_pullup(GPIO_TypeDef *GPIO, int pin, int mode) {
uint32_t tmp = GPIO->PUPDR;
tmp &= ~(3 << (pin*2));
tmp |= (mode << (pin*2));
GPIO->PUPDR = tmp;
}
void set_gpio_mode(GPIO_TypeDef *GPIO, int pin, int mode);
void set_gpio_output(GPIO_TypeDef *GPIO, int pin, int val);
void set_gpio_alternate(GPIO_TypeDef *GPIO, int pin, int mode);
void set_gpio_pullup(GPIO_TypeDef *GPIO, int pin, int mode);
int get_gpio_input(GPIO_TypeDef *GPIO, int pin);
#endif

23
board/main.c
View File

@ -1,27 +1,8 @@
//#define DEBUG
//#define DEBUG_USB
//#define CAN_LOOPBACK_MODE
//#define USE_INTERNAL_OSC
//#define REVC
#ifdef STM32F4
#define PANDA
#include "stm32f4xx.h"
#else
#include "stm32f2xx.h"
#endif
#ifdef PANDA
#define ENABLE_CURRENT_SENSOR
#define ENABLE_SPI
#endif
#define USB_VID 0xbbaa
#define USB_PID 0xddcc
#include "config.h"
#include "early.h"
#define NULL ((void*)0)
#include "early.h"
// assign CAN numbering
// old: CAN1 = 1 CAN2 = 0

1
drivers/linux/panda.c
View File

@ -6,6 +6,7 @@
* @brief Driver for the Comma.ai Panda CAN adapter to allow it to be controlled via
* the Linux SocketCAN interface.
* @see https://github.com/commaai/panda for the full project.
* @see Inspired by net/can/usb/mcba_usb.c from Linux Kernel 4.12-rc4.
*/
#include <linux/can.h>

7
panda/__init__.py
View File

@ -95,8 +95,7 @@ class Panda(object):
self._handle = device.open()
if claim:
self._handle.claimInterface(0)
# TODO: Do we need to cupport claim=False?
self._handle.setInterfaceAltSetting(0,0)
self._handle.setInterfaceAltSetting(0, 0)
break
assert self._handle != None
@ -222,7 +221,7 @@ class Panda(object):
if len(ret) == 0:
break
bret += ret
return bret
return bytes(bret)
def kline_ll_recv(self, cnt, bus=2):
echo = bytearray()
@ -242,7 +241,7 @@ class Panda(object):
x += get_checksum(x)
for i in range(0, len(x), 0xf):
ts = x[i:i+0xf]
self._handle.bulkWrite(2, chr(bus)+ts)
self._handle.bulkWrite(2, chr(bus).encode()+ts)
echo = self.kline_ll_recv(len(ts), bus=bus)
if echo != ts:
print("**** ECHO ERROR %d ****" % i)

4
tests/debug_console.py
View File

@ -18,7 +18,7 @@ if __name__ == "__main__":
if os.getenv("SERIAL"):
serials = filter(lambda x: x==os.getenv("SERIAL"), serials)
pandas = map(lambda x: Panda(x, False), serials)
pandas = list(map(lambda x: Panda(x, False), serials))
while True:
for i, panda in enumerate(pandas):
while True:
@ -28,7 +28,7 @@ if __name__ == "__main__":
sys.stdout.flush()
else:
break
if select.select([sys.stdin], [], [], 0)[0][0] == sys.stdin:
if select.select([sys.stdin], [], [], 0) == ([sys.stdin], [], []):
ln = sys.stdin.readline()
panda.serial_write(port_number, ln)
time.sleep(0.01)

42
tests/loopback_test.py
View File

@ -12,7 +12,7 @@ sys.path.append(os.path.join(os.path.dirname(os.path.realpath(__file__)), ".."))
from panda import Panda
def get_test_string():
return "test"+os.urandom(10)
return b"test"+os.urandom(10)
def run_test():
pandas = Panda.list()
@ -28,8 +28,8 @@ def run_test():
run_test_w_pandas(pandas)
def run_test_w_pandas(pandas):
h = map(lambda x: Panda(x), pandas)
print(h)
h = list(map(lambda x: Panda(x), pandas))
print("H", h)
for hh in h:
hh.set_controls_allowed(True)
@ -48,50 +48,54 @@ def run_test_w_pandas(pandas):
# send the characters
st = get_test_string()
st = "\xaa"+chr(len(st)+3)+st
st = b"\xaa"+chr(len(st)+3).encode()+st
h[ho[0]].kline_send(st, bus=bus, checksum=False)
# check for receive
ret = h[ho[1]].kline_drain(bus=bus)
print("ST Data:")
hexdump(st)
print("RET Data:")
hexdump(ret)
assert st == ret
print("K/L pass", bus, ho)
print("K/L pass", bus, ho, "\n")
# **** test can line loopback ****
for bus in [0,1,4,5,6]:
print("test can", bus)
panda0 = h[ho[0]]
panda1 = h[ho[1]]
print("\ntest can", bus)
# flush
cans_echo = h[ho[0]].can_recv()
cans_loop = h[ho[1]].can_recv()
cans_echo = panda0.can_recv()
cans_loop = panda1.can_recv()
# set GMLAN mode
if bus == 5:
h[ho[0]].set_gmlan(True,2)
h[ho[1]].set_gmlan(True,2)
panda0.set_gmlan(True,2)
panda1.set_gmlan(True,2)
bus = 1 # GMLAN is multiplexed with CAN2
elif bus == 6:
# on REV B panda, this just retests CAN2 GMLAN
h[ho[0]].set_gmlan(True,3)
h[ho[1]].set_gmlan(True,3)
panda0.set_gmlan(True,3)
panda1.set_gmlan(True,3)
bus = 4 # GMLAN is also multiplexed with CAN3
else:
h[ho[0]].set_gmlan(False)
h[ho[1]].set_gmlan(False)
panda0.set_gmlan(False)
panda1.set_gmlan(False)
# send the characters
# pick addresses high enough to not conflict with honda code
at = random.randint(1024, 2000)
st = get_test_string()[0:8]
h[ho[0]].can_send(at, st, bus)
panda0.can_send(at, st, bus)
time.sleep(0.1)
# check for receive
cans_echo = h[ho[0]].can_recv()
cans_loop = h[ho[1]].can_recv()
cans_echo = panda0.can_recv()
cans_loop = panda1.can_recv()
print(bus, cans_echo, cans_loop)
print("Bus", bus, "echo", cans_echo, "loop", cans_loop)
assert len(cans_echo) == 1
assert len(cans_loop) == 1
@ -118,4 +122,4 @@ if __name__ == "__main__":
while True:
print("************* testing %d" % i)
run_test()
i += 1
i += 1