Additional Power saving (#170)

* Only turn on wifi if not eon

* Dont disable ESP in early

* Allow CAN to be turned off

 - CAN is turned off via timeout
 - CAN is turned on when either try to transmit or can is received
 - If only transmit is asleep, all messages should send okay
 - If receive is alseep, will miss first message while waking up
 - Sometimes will report error on second message while CAN perif wakes up
 - Saves 130mW!

* Power Saver Mode

 - Gray Panda power consumption 650mw -> 325mW
 - Turns off CAN, GMLAN, LIN, GPS when no activity for 10s
 - No acitvity is no CAN send, CAN Recv, Write to GPS

* Fix power_saving to better turn off can

 - On some cars when the can is turned off, it triggers a wakeup.
 Delaying the automatic wakeup seems to fix this

* Don't save power in pedal

* Cleanup power saving

board/drivers/can.h

@@ -23,6 +23,11 @@ can_buffer(tx2_q, 0x100)
   can_ring *can_queues[] = {&can_tx1_q, &can_tx2_q};
 #endif
 
+#ifdef PANDA
+// Forward declare
+void power_save_reset_timer();
+#endif
+
 // ********************* interrupt safe queue *********************
 
 int can_pop(can_ring *q, CAN_FIFOMailBox_TypeDef *elem) {
@@ -213,7 +218,7 @@ void can_init(uint8_t can_number) {
   CAN->FMR &= ~(CAN_FMR_FINIT);
 
   // enable certain CAN interrupts
-  CAN->IER |= CAN_IER_TMEIE | CAN_IER_FMPIE0;
+  CAN->IER |= CAN_IER_TMEIE | CAN_IER_FMPIE0 |  CAN_IER_WKUIE;
 
   switch (can_number) {
     case 0:
@@ -293,7 +298,6 @@ void can_set_gmlan(int bus) {
 void can_sce(CAN_TypeDef *CAN) {
   enter_critical_section();
 
-  can_err_cnt += 1;
   #ifdef DEBUG
     if (CAN==CAN1) puts("CAN1:  ");
     if (CAN==CAN2) puts("CAN2:  ");
@@ -315,16 +319,32 @@ void can_sce(CAN_TypeDef *CAN) {
 
   uint8_t can_number = CAN_NUM_FROM_CANIF(CAN);
   uint8_t bus_number = BUS_NUM_FROM_CAN_NUM(can_number);
-  if (can_autobaud_enabled[bus_number] && (CAN->ESR & CAN_ESR_LEC)) {
-    can_autobaud_speed_increment(can_number);
-    can_set_speed(can_number);
+
+  if (CAN->MSR & CAN_MSR_WKUI) {
+    //Waking from sleep
+    #ifdef DEBUG
+      puts("WAKE\n");
+    #endif
+    set_can_enable(CAN, 1);
+    CAN->MSR &= ~(CAN_MSR_WKUI);
+    CAN->MSR = CAN->MSR;
+#ifdef PANDA
+    power_save_reset_timer();
+#endif
+  } else {
+    can_err_cnt += 1;
+
+
+    if (can_autobaud_enabled[bus_number] && (CAN->ESR & CAN_ESR_LEC)) {
+      can_autobaud_speed_increment(can_number);
+      can_set_speed(can_number);
+    }
+
+    // clear current send
+    CAN->TSR |= CAN_TSR_ABRQ0;
+    CAN->MSR &= ~(CAN_MSR_ERRI);
+    CAN->MSR = CAN->MSR;
   }
-
-  // clear current send
-  CAN->TSR |= CAN_TSR_ABRQ0;
-  CAN->MSR &= ~(CAN_MSR_ERRI);
-  CAN->MSR = CAN->MSR;
-
   exit_critical_section();
 }
 
@@ -332,6 +352,9 @@ void can_sce(CAN_TypeDef *CAN) {
 
 void process_can(uint8_t can_number) {
   if (can_number == 0xff) return;
+#ifdef PANDA
+  power_save_reset_timer();
+#endif
 
   enter_critical_section();
 
@@ -375,6 +398,13 @@ void process_can(uint8_t can_number) {
     }
 
     if (can_pop(can_queues[bus_number], &to_send)) {
+      if (CAN->MCR & CAN_MCR_SLEEP) {
+        set_can_enable(CAN, 1);
+        CAN->MCR &= ~(CAN_MCR_SLEEP);
+        CAN->MCR |= CAN_MCR_INRQ;
+        while((CAN->MSR & CAN_MSR_INAK) != CAN_MSR_INAK);
+        CAN->MCR &= ~(CAN_MCR_INRQ);
+      }
       can_tx_cnt += 1;
       // only send if we have received a packet
       CAN->sTxMailBox[0].TDLR = to_send.RDLR;

board/gpio.h

@@ -120,6 +120,7 @@ void periph_init() {
   RCC->APB1ENR |= RCC_APB1ENR_TIM2EN;
   RCC->APB1ENR |= RCC_APB1ENR_TIM3EN;
   RCC->APB1ENR |= RCC_APB1ENR_TIM4EN;
+  RCC->APB1ENR |= RCC_APB1ENR_TIM6EN;
   RCC->APB2ENR |= RCC_APB2ENR_USART1EN;
   RCC->AHB2ENR |= RCC_AHB2ENR_OTGFSEN;
   RCC->APB2ENR |= RCC_APB2ENR_TIM1EN;
@@ -475,4 +476,3 @@ void early() {
     enter_bootloader_mode = ENTER_SOFTLOADER_MAGIC;
   }
 }
-

board/main.c

@@ -20,6 +20,8 @@
 #include "drivers/spi.h"
 #include "drivers/timer.h"
 
+#include "power_saving.h"
+
 
 // ***************************** fan *****************************
 
@@ -141,6 +143,7 @@ void usb_cb_ep2_out(uint8_t *usbdata, int len, int hardwired) {
   uart_ring *ur = get_ring_by_number(usbdata[0]);
   if (!ur) return;
   if ((usbdata[0] < 2) || safety_tx_lin_hook(usbdata[0]-2, usbdata+1, len-1)) {
+    if (ur == &esp_ring) power_save_reset_timer();
     for (int i = 1; i < len; i++) while (!putc(ur, usbdata[i]));
   }
 }
@@ -572,6 +575,9 @@ int main() {
 #ifdef PANDA
   spi_init();
 #endif
+#ifdef DEBUG
+  puts("DEBUG ENABLED\n");
+#endif
 
   // set PWM
   fan_init();
@@ -581,6 +587,8 @@ int main() {
 
   __enable_irq();
 
+  power_save_init();
+
   // if the error interrupt is enabled to quickly when the CAN bus is active
   // something bad happens and you can't connect to the device over USB
   delay(10000000);

board/pedal/main.c

@@ -295,6 +295,7 @@ int main() {
   puts("**** INTERRUPTS ON ****\n");
   __enable_irq();
 
+
   // main pedal loop
   while (1) {
     pedal();
@@ -302,4 +303,3 @@ int main() {
 
   return 0;
 }
-

board/power_saving.h

@@ -0,0 +1,160 @@
+#define POWER_SAVE_STATUS_DISABLED 0
+//Moving to enabled, but can wakeup not yet enabled
+#define POWER_SAVE_STATUS_SWITCHING 1
+#define POWER_SAVE_STATUS_ENABLED 2
+
+volatile int power_save_status = POWER_SAVE_STATUS_DISABLED;
+
+void power_save_enable(void) {
+  power_save_status = POWER_SAVE_STATUS_SWITCHING;
+  puts("Saving power\n");
+  //Turn off can transciever
+  set_can_enable(CAN1, 0);
+  set_can_enable(CAN2, 0);
+#ifdef PANDA
+  set_can_enable(CAN3, 0);
+#endif
+
+  //Turn off GMLAN
+  set_gpio_output(GPIOB, 14, 0);
+  set_gpio_output(GPIOB, 15, 0);
+
+#ifdef PANDA
+  //Turn off LIN K
+  if (revision == PANDA_REV_C) {
+    set_gpio_output(GPIOB, 7, 0); // REV C
+  } else {
+    set_gpio_output(GPIOB, 4, 0); // REV AB
+  }
+  // LIN L
+  set_gpio_output(GPIOA, 14, 0);
+#endif
+
+  if (is_grey_panda) {
+    char* UBLOX_SLEEP_MSG = "\xb5\x62\x06\x04\x04\x00\x01\x00\x08\x00\x17\x78";
+    int len = 12;
+    uart_ring *ur = get_ring_by_number(1);
+    for (int i = 0; i < len; i++) while (!putc(ur, UBLOX_SLEEP_MSG[i]));
+  }
+
+  //Setup timer for can enable
+  TIM6->PSC = 48-1; // tick on 1 us
+
+  TIM6->ARR = 12; // 12us
+  // Enable, One-Pulse Mode, Only overflow interrupt
+  TIM6->CR1 = TIM_CR1_CEN | TIM_CR1_OPM | TIM_CR1_URS;
+  TIM6->EGR = TIM_EGR_UG;
+  TIM6->CR1 |= TIM_CR1_CEN;
+}
+
+void power_save_enable_can_wake(void) {
+  // CAN Automatic Wake must be done a little while after the sleep
+  // On some cars turning off the can transciver can trigger the wakeup
+  power_save_status = POWER_SAVE_STATUS_ENABLED;
+  puts("Turning can off\n");
+  CAN1->MCR |= CAN_MCR_SLEEP;
+  CAN1->MCR |= CAN_MCR_AWUM;
+
+  CAN2->MCR |= CAN_MCR_SLEEP;
+  CAN2->MCR |= CAN_MCR_AWUM;
+#ifdef PANDA
+  CAN3->MCR |= CAN_MCR_SLEEP;
+  CAN3->MCR |= CAN_MCR_AWUM;
+#endif
+
+  //set timer back
+  TIM6->PSC = 48000-1; // tick on 1 ms
+  TIM6->ARR = 10000; // 10s
+  // Enable, One-Pulse Mode, Only overflow interrupt
+  TIM6->CR1 = TIM_CR1_OPM | TIM_CR1_URS;
+  TIM6->EGR = TIM_EGR_UG;
+}
+
+void power_save_disable(void) {
+  power_save_status = POWER_SAVE_STATUS_DISABLED;
+  puts("not Saving power\n");
+  TIM6->CR1 |= TIM_CR1_CEN; //Restart timer
+  TIM6->CNT = 0;
+
+  //Turn on can
+  set_can_enable(CAN1, 1);
+  set_can_enable(CAN2, 1);
+
+#ifdef PANDA
+  set_can_enable(CAN3, 1);
+#endif
+
+  //Turn on GMLAN
+  set_gpio_output(GPIOB, 14, 1);
+  set_gpio_output(GPIOB, 15, 1);
+
+#ifdef PANDA
+  //Turn on LIN K
+  if (revision == PANDA_REV_C) {
+    set_gpio_output(GPIOB, 7, 1); // REV C
+  } else {
+    set_gpio_output(GPIOB, 4, 1); // REV AB
+  }
+  // LIN L
+  set_gpio_output(GPIOA, 14, 1);
+#endif
+
+  if (is_grey_panda) {
+    char* UBLOX_WAKE_MSG = "\xb5\x62\x06\x04\x04\x00\x01\x00\x09\x00\x18\x7a";
+    int len = 12;
+    uart_ring *ur = get_ring_by_number(1);
+    for (int i = 0; i < len; i++) while (!putc(ur, UBLOX_WAKE_MSG[i]));
+  }
+
+  //set timer back
+  TIM6->PSC = 48000-1; // tick on 1 ms
+  TIM6->ARR = 10000; // 10s
+  // Enable, One-Pulse Mode, Only overflow interrupt
+  TIM6->CR1 = TIM_CR1_CEN | TIM_CR1_OPM | TIM_CR1_URS;
+  TIM6->EGR = TIM_EGR_UG;
+  TIM6->CR1 |= TIM_CR1_CEN;
+}
+
+
+
+// Reset timer when activity
+void power_save_reset_timer() {
+  TIM6->CNT = 0;
+  if (power_save_status != POWER_SAVE_STATUS_DISABLED){
+    power_save_disable();
+  }
+}
+
+void power_save_init(void) {
+  puts("Saving power init\n");
+  TIM6->PSC = 48000-1; // tick on 1 ms
+
+
+  TIM6->ARR = 10000; // 10s
+  // Enable, One-Pulse Mode, Only overflow interrupt
+  TIM6->CR1 = TIM_CR1_CEN | TIM_CR1_OPM | TIM_CR1_URS;
+  TIM6->EGR = TIM_EGR_UG;
+  NVIC_EnableIRQ(TIM6_DAC_IRQn);
+  puts("Saving power init done\n");
+  TIM6->DIER = TIM_DIER_UIE;
+  TIM6->CR1 |= TIM_CR1_CEN;
+}
+
+void TIM6_DAC_IRQHandler(void) {
+  puts("TIM6 ");
+  putui(TIM6->SR);
+  puts("\n");
+  //Timeout switch to power saving mode.
+  if (TIM6->SR & TIM_SR_UIF) {
+    TIM6->SR = 0;
+#ifdef EON
+    if (power_save_status == POWER_SAVE_STATUS_DISABLED) {
+      power_save_enable();
+    } else if (power_save_status == POWER_SAVE_STATUS_SWITCHING) {
+      power_save_enable_can_wake();
+    }
+#endif
+  } else {
+    TIM6->CR1 |= TIM_CR1_CEN;
+  }
+}

python/__init__.py

@@ -390,6 +390,10 @@ class Panda(object):
     # set can loopback mode for all buses
     self._handle.controlWrite(Panda.REQUEST_OUT, 0xe5, int(enable), 0, b'')
 
+  def set_can_enable(self, bus_num, enable):
+    # sets the can transciever enable pin
+    self._handle.controlWrite(Panda.REQUEST_OUT, 0xf4, int(bus_num), int(enable), b'')
+
   def set_can_speed_kbps(self, bus, speed):
     self._handle.controlWrite(Panda.REQUEST_OUT, 0xde, bus, int(speed*10), b'')