support can speed, and test it
Firmware Batman
parent
9f7bbcf487
commit
85c0940cf9
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@ -1,3 +1 @@
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""" Hack to support openpilot import scheme """
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from .panda import Panda, PandaHashMismatchException
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from .panda import Panda
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54
board/can.h
54
board/can.h
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@ -1,3 +1,47 @@
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// assign CAN numbering
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// bus num: Can bus number on ODB connector. Sent to/from USB
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// Min: 0; Max: 127; Bit 7 marks message as receipt (bus 129 is receipt for but 1)
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// cans: Look up MCU can interface from bus number
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// can number: numeric lookup for MCU CAN interfaces (0 = CAN1, 1 = CAN2, etc);
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// bus_lookup: Translates from 'can number' to 'bus number'.
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// can_num_lookup: Translates from 'bus number' to 'can number'.
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// can_forwarding: Given a bus num, lookup bus num to forward to. -1 means no forward.
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// NEO: Bus 1=CAN1 Bus 2=CAN2
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// Panda: Bus 0=CAN1 Bus 1=CAN2 Bus 2=CAN3
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#ifdef PANDA
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CAN_TypeDef *cans[] = {CAN1, CAN2, CAN3};
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uint8_t bus_lookup[] = {0,1,2};
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uint8_t can_num_lookup[] = {0,1,2}; //bus num -> can num
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int8_t can_forwarding[] = {-1,-1,-1};
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uint32_t can_speed[] = {5000, 5000, 5000}; // 500 kbps
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#define CAN_MAX 3
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#else
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CAN_TypeDef *cans[] = {CAN2, CAN1};
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uint8_t bus_lookup[] = {1,0};
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uint8_t can_num_lookup[] = {1,0}; //bus num -> can num
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int8_t can_forwarding[] = {-1,-1};
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uint32_t can_speed[] = {5000, 5000};
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#define CAN_MAX 2
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#endif
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#define NO_ACTIVE_GMLAN -1
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int active_gmlan_port_id = NO_ACTIVE_GMLAN;
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#define CANIF_FROM_CAN_NUM(num) (cans[bus_lookup[num]])
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#define CANIF_FROM_BUS_NUM(num) (cans[num])
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#define BUS_NUM_FROM_CAN_NUM(num) (bus_lookup[num])
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#define CAN_NUM_FROM_BUS_NUM(num) (can_num_lookup[num])
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#define CAN_BUS_RET_FLAG 0x80
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#define CAN_BUS_NUM_MASK 0x7F
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#define CAN_PCLK 24000
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// 333 = 33.3 kbps
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// 5000 = 500 kbps
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#define can_speed_to_prescaler(x) (CAN_PCLK / 16 * 10 / x)
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void can_init(uint8_t bus_number) {
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CAN_TypeDef *CAN = CANIF_FROM_BUS_NUM(bus_number);
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set_can_enable(CAN, 1);
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@ -5,17 +49,9 @@ void can_init(uint8_t bus_number) {
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CAN->MCR = CAN_MCR_TTCM | CAN_MCR_INRQ;
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while((CAN->MSR & CAN_MSR_INAK) != CAN_MSR_INAK);
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// http://www.bittiming.can-wiki.info/
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// PCLK = 24 MHz
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uint32_t pclk = 24000;
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uint32_t num_time_quanta = 16;
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// 500 kbps
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uint32_t prescaler = pclk / num_time_quanta / 500;
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// seg 1: 13 time quanta, seg 2: 2 time quanta
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CAN->BTR = (CAN_BTR_TS1_0 * 12) |
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CAN_BTR_TS2_0 | (prescaler - 1);
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CAN_BTR_TS2_0 | (can_speed_to_prescaler(can_speed[bus_number]) - 1);
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// silent loopback mode for debugging
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if (can_loopback) {
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97
board/main.c
97
board/main.c
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@ -7,39 +7,6 @@
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#define COMPILE_TIME_ASSERT(pred) \
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switch(0){case 0:case pred:;}
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// assign CAN numbering
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// bus num: Can bus number on ODB connector. Sent to/from USB
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// Min: 0; Max: 127; Bit 7 marks message as receipt (bus 129 is receipt for but 1)
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// cans: Look up MCU can interface from bus number
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// can number: numeric lookup for MCU CAN interfaces (0 = CAN1, 1 = CAN2, etc);
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// bus_lookup: Translates from 'can number' to 'bus number'.
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// can_num_lookup: Translates from 'bus number' to 'can number'.
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// can_forwarding: Given a bus num, lookup bus num to forward to. -1 means no forward.
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// NEO: Bus 1=CAN1 Bus 2=CAN2
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// Panda: Bus 0=CAN1 Bus 1=CAN2 Bus 2=CAN3
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#ifdef PANDA
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CAN_TypeDef *cans[] = {CAN1, CAN2, CAN3};
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uint8_t bus_lookup[] = {0,1,2};
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uint8_t can_num_lookup[] = {0,1,2}; //bus num -> can num
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int8_t can_forwarding[] = {-1,-1,-1};
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#define CAN_MAX 3
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#else
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CAN_TypeDef *cans[] = {CAN2, CAN1};
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uint8_t bus_lookup[] = {1,0};
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uint8_t can_num_lookup[] = {1,0}; //bus num -> can num
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int8_t can_forwarding[] = {-1,-1};
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#define CAN_MAX 2
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#endif
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#define CANIF_FROM_CAN_NUM(num) (cans[bus_lookup[num]])
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#define CANIF_FROM_BUS_NUM(num) (cans[num])
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#define BUS_NUM_FROM_CAN_NUM(num) (bus_lookup[num])
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#define CAN_NUM_FROM_BUS_NUM(num) (can_num_lookup[num])
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#define CAN_BUS_RET_FLAG 0x80
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#define CAN_BUS_NUM_MASK 0x7F
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// *** end config ***
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#include "obj/gitversion.h"
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@ -312,21 +279,6 @@ void process_can(uint8_t can_number) {
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CAN->TSR |= CAN_TSR_RQCP0;
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}
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// send more, possible for these to not trigger?
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void CAN1_TX_IRQHandler() {
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process_can(0);
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}
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void CAN2_TX_IRQHandler() {
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process_can(1);
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}
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void CAN3_TX_IRQHandler() {
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process_can(2);
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}
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void send_can(CAN_FIFOMailBox_TypeDef *to_push, uint8_t bus_number);
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// CAN receive handlers
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@ -372,39 +324,18 @@ void can_rx(uint8_t can_number) {
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}
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}
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void CAN1_RX0_IRQHandler() {
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//puts("CANRX1");
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//delay(10000);
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can_rx(0);
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}
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void CAN1_TX_IRQHandler() { process_can(0); }
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void CAN1_RX0_IRQHandler() { can_rx(0); }
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void CAN1_SCE_IRQHandler() { can_sce(CAN1); }
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void CAN2_RX0_IRQHandler() {
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//puts("CANRX0");
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//delay(10000);
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can_rx(1);
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}
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void CAN3_RX0_IRQHandler() {
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//puts("CANRX0");
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//delay(10000);
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can_rx(2);
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}
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void CAN1_SCE_IRQHandler() {
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//puts("CAN1_SCE\n");
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can_sce(CAN1);
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}
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void CAN2_SCE_IRQHandler() {
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//puts("CAN2_SCE\n");
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can_sce(CAN2);
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}
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void CAN2_TX_IRQHandler() { process_can(1); }
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void CAN2_RX0_IRQHandler() { can_rx(1); }
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void CAN2_SCE_IRQHandler() { can_sce(CAN2); }
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#ifdef CAN3
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void CAN3_SCE_IRQHandler() {
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//puts("CAN3_SCE\n");
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can_sce(CAN3);
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}
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void CAN3_TX_IRQHandler() { process_can(2); }
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void CAN3_RX0_IRQHandler() { can_rx(2); }
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void CAN3_SCE_IRQHandler() { can_sce(CAN3); }
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#endif
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@ -603,6 +534,13 @@ int usb_cb_control_msg(USB_Setup_TypeDef *setup, uint8_t *resp, int hardwired) {
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can_forwarding[setup->b.wValue.w] = -1;
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}
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break;
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// **** 0xde: set can bitrate
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case 0xde:
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if (setup->b.wValue.w < CAN_MAX) {
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can_speed[setup->b.wValue.w] = setup->b.wIndex.w;
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can_init(setup->b.wValue.w);
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}
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break;
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// **** 0xe0: uart read
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case 0xe0:
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ur = get_ring_by_number(setup->b.wValue.w);
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@ -652,7 +590,8 @@ int usb_cb_control_msg(USB_Setup_TypeDef *setup, uint8_t *resp, int hardwired) {
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can_loopback = (setup->b.wValue.w > 0);
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can_init_all();
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break;
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case 0xf0: // k-line wValue pulse on uart2
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// **** 0xf0: do k-line wValue pulse on uart2 for Acura
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case 0xf0:
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if (setup->b.wValue.w == 1) {
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GPIOC->ODR &= ~(1 << 10);
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GPIOC->MODER &= ~GPIO_MODER_MODER10_1;
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@ -10,12 +10,6 @@ import time
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__version__ = '0.0.3'
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class PandaHashMismatchException(Exception):
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def __init__(self, hash_, expected_hash):
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super(PandaHashMismatchException, self).__init__(
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"Hash '%s' did not match the expected hash '%s'"%\
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(binascii.hexlify(hash_), binascii.hexlify(expected_hash)))
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def parse_can_buffer(dat):
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ret = []
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for j in range(0, len(dat), 0x10):
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@ -153,8 +147,7 @@ class Panda(object):
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def get_serial(self):
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dat = self._handle.controlRead(Panda.REQUEST_IN, 0xd0, 0, 0, 0x20)
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hashsig, calc_hash = dat[0x1c:], hashlib.sha1(dat[0:0x1c]).digest()[0:4]
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if hashsig != calc_hash:
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raise PandaHashMismatchException(calc_hash, hashsig)
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assert(hashsig == calc_hash)
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return [dat[0:0x10], dat[0x10:0x10+10]]
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def get_secret(self):
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@ -179,6 +172,9 @@ class Panda(object):
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# set can loopback mode for all buses
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self._handle.controlWrite(Panda.REQUEST_OUT, 0xe5, int(enable), 0, b'')
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def set_can_speed_kbps(self, bus, speed):
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self._handle.controlWrite(Panda.REQUEST_OUT, 0xde, bus, int(speed*10), b'')
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def set_uart_baud(self, uart, rate):
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self._handle.controlWrite(Panda.REQUEST_OUT, 0xe1, uart, rate, b'')
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#!/bin/bash
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nosetests -s tests/automated/*.py
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nosetests -x -s tests/automated/*.py
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@ -1,6 +1,7 @@
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import os
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import time
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from panda import Panda
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from nose.tools import timed, assert_equal, assert_less
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# must run first
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def test_build_download_connect():
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@ -27,11 +28,14 @@ def test_can_loopback():
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# enable CAN loopback mode
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p.set_can_loopback(True)
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# set bus 0 speed to 250
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p.set_can_speed_kbps(0, 250)
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# send a message on bus 0
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p.can_send(0x1aa, "message", 0)
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# confirm receive both on loopback and send receipt
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time.sleep(0.1)
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time.sleep(0.05)
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r = p.can_recv()
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sr = filter(lambda x: x[3] == 0x80, r)
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lb = filter(lambda x: x[3] == 0, r)
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@ -55,7 +59,38 @@ def test_safety_nooutput():
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p.can_send(0x1aa, "message", 0)
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# confirm receive nothing
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time.sleep(0.1)
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time.sleep(0.05)
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r = p.can_recv()
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assert len(r) == 0
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def test_throughput():
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p = connect_wo_esp()
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# enable output mode
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p.set_safety_mode(Panda.SAFETY_ALLOUTPUT)
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# enable CAN loopback mode
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p.set_can_loopback(True)
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for speed in [100,250,500,1000]:
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# set bus 0 speed to speed
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p.set_can_speed_kbps(0, speed)
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time.sleep(0.05)
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st = time.time()
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for i in range(100):
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# send a message on bus 0
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p.can_send(0x1aa, "message", 0)
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r = []
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while len(r) < 200 and (time.time() - st) < 3:
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r.extend(p.can_recv())
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assert_equal(len(r), 200)
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et = (time.time()-st)*1000.0
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mt = (20000.0/speed)
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assert_less(et, mt)
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print "loopback 100 messages at speed %d in %.2f ms < %.2f ms" % (speed, et, mt)
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