rbiasini
GitHub
parent
4f73cb48b8
commit
bce279a627
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@ -29,13 +29,9 @@ jobs:
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command: |
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docker run panda_build /bin/bash -c "cd /panda/board; make bin"
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- run:
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name: Build Honda Pedal STM image
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name: Build Pedal STM image
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command: |
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docker run panda_build /bin/bash -c "cd /panda/board/pedal_honda; make obj/comma.bin"
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- run:
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name: Build Toyota Pedal STM image
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command: |
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docker run panda_build /bin/bash -c "cd /panda/board/pedal_toyota; make obj/comma.bin"
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docker run panda_build /bin/bash -c "cd /panda/board/pedal; make obj/comma.bin"
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- run:
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name: Build NEO STM image
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command: |
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@ -70,21 +70,24 @@ int usb_cb_control_msg(USB_Setup_TypeDef *setup, uint8_t *resp, int hardwired) {
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#endif
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// ***************************** honda can checksum *****************************
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// ***************************** pedal can checksum *****************************
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int can_cksum(uint8_t *dat, int len, int addr, int idx) {
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int i;
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int s = 0;
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for (i = 0; i < len; i++) {
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s += (dat[i] >> 4);
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s += dat[i] & 0xF;
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uint8_t pedal_checksum(uint8_t *dat, int len) {
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uint8_t crc = 0xFF;
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uint8_t poly = 0xD5; // standard crc8
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int i, j;
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for (i = len - 1; i >= 0; i--) {
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crc ^= dat[i];
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for (j = 0; j < 8; j++) {
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if ((crc & 0x80) != 0) {
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crc = (uint8_t)((crc << 1) ^ poly);
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}
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else {
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crc <<= 1;
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}
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}
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}
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s += (addr>>0)&0xF;
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s += (addr>>4)&0xF;
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s += (addr>>8)&0xF;
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s += idx;
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s = 8-s;
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return s&0xF;
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return crc;
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}
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// ***************************** can port *****************************
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@ -92,6 +95,8 @@ int can_cksum(uint8_t *dat, int len, int addr, int idx) {
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// addresses to be used on CAN
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#define CAN_GAS_INPUT 0x200
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#define CAN_GAS_OUTPUT 0x201
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#define CAN_GAS_SIZE 6
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#define COUNTER_CYCLE 0xF
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void CAN1_TX_IRQHandler() {
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// clear interrupt
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@ -134,14 +139,19 @@ void CAN1_RX0_IRQHandler() {
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}
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// normal packet
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uint8_t *dat = (uint8_t *)&CAN->sFIFOMailBox[0].RDLR;
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uint8_t *dat2 = (uint8_t *)&CAN->sFIFOMailBox[0].RDHR;
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uint8_t dat[8];
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uint8_t *rdlr = (uint8_t *)&CAN->sFIFOMailBox[0].RDLR;
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uint8_t *rdhr = (uint8_t *)&CAN->sFIFOMailBox[0].RDHR;
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for (int i=0; i<4; i++) {
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dat[i] = rdlr[i];
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dat[i+4] = rdhr[i];
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}
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uint16_t value_0 = (dat[0] << 8) | dat[1];
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uint16_t value_1 = (dat[2] << 8) | dat[3];
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uint8_t enable = (dat2[0] >> 7) & 1;
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uint8_t index = (dat2[1] >> 4) & 3;
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if (can_cksum(dat, 5, CAN_GAS_INPUT, index) == (dat2[1] & 0xF)) {
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if (((current_index+1)&3) == index) {
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uint8_t enable = (dat[4] >> 7) & 1;
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uint8_t index = dat[4] & COUNTER_CYCLE;
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if (pedal_checksum(dat, CAN_GAS_SIZE - 1) == dat[5]) {
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if (((current_index + 1) & COUNTER_CYCLE) == index) {
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#ifdef DEBUG
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puts("setting gas ");
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puth(value);
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@ -196,18 +206,18 @@ void TIM3_IRQHandler() {
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// check timer for sending the user pedal and clearing the CAN
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if ((CAN->TSR & CAN_TSR_TME0) == CAN_TSR_TME0) {
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uint8_t dat[8];
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dat[0] = (pdl0>>8)&0xFF;
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dat[1] = (pdl0>>0)&0xFF;
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dat[2] = (pdl1>>8)&0xFF;
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dat[3] = (pdl1>>0)&0xFF;
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dat[4] = state;
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dat[5] = can_cksum(dat, 5, CAN_GAS_OUTPUT, pkt_idx) | (pkt_idx<<4);
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dat[0] = (pdl0>>8) & 0xFF;
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dat[1] = (pdl0>>0) & 0xFF;
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dat[2] = (pdl1>>8) & 0xFF;
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dat[3] = (pdl1>>0) & 0xFF;
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dat[4] = (state & 0xF) << 4 | pkt_idx;
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dat[5] = pedal_checksum(dat, CAN_GAS_SIZE - 1);
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CAN->sTxMailBox[0].TDLR = dat[0] | (dat[1]<<8) | (dat[2]<<16) | (dat[3]<<24);
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CAN->sTxMailBox[0].TDHR = dat[4] | (dat[5]<<8);
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CAN->sTxMailBox[0].TDTR = 6; // len of packet is 5
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CAN->sTxMailBox[0].TIR = (CAN_GAS_OUTPUT << 21) | 1;
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++pkt_idx;
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pkt_idx &= 3;
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pkt_idx &= COUNTER_CYCLE;
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} else {
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// old can packet hasn't sent!
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state = FAULT_SEND;
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@ -1 +0,0 @@
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obj/*
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@ -1,58 +0,0 @@
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# :set noet
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PROJ_NAME = comma
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CFLAGS = -O2 -Wall -std=gnu11 -DPEDAL
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CFLAGS += -mlittle-endian -mthumb -mcpu=cortex-m3
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CFLAGS += -msoft-float -DSTM32F2 -DSTM32F205xx
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CFLAGS += -I ../inc -I ../ -I ../../ -nostdlib
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CFLAGS += -T../stm32_flash.ld
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STARTUP_FILE = startup_stm32f205xx
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CC = arm-none-eabi-gcc
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OBJCOPY = arm-none-eabi-objcopy
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OBJDUMP = arm-none-eabi-objdump
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DFU_UTIL = "dfu-util"
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# pedal only uses the debug cert
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CERT = ../../certs/debug
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CFLAGS += "-DALLOW_DEBUG"
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canflash: obj/$(PROJ_NAME).bin
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../../tests/pedal/enter_canloader.py $<
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usbflash: obj/$(PROJ_NAME).bin
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../../tests/pedal/enter_canloader.py; sleep 0.5
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PYTHONPATH=../../ python -c "from python import Panda; p = [x for x in [Panda(x) for x in Panda.list()] if x.bootstub]; assert(len(p)==1); p[0].flash('obj/$(PROJ_NAME).bin', reconnect=False)"
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recover: obj/bootstub.bin obj/$(PROJ_NAME).bin
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../../tests/pedal/enter_canloader.py --recover; sleep 0.5
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$(DFU_UTIL) -d 0483:df11 -a 0 -s 0x08004000 -D obj/$(PROJ_NAME).bin
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$(DFU_UTIL) -d 0483:df11 -a 0 -s 0x08000000:leave -D obj/bootstub.bin
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obj/main.o: main.c ../*.h
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mkdir -p obj
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$(CC) $(CFLAGS) -o $@ -c $<
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obj/bootstub.o: ../bootstub.c ../*.h
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mkdir -p obj
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$(CC) $(CFLAGS) -o $@ -c $<
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obj/$(STARTUP_FILE).o: ../$(STARTUP_FILE).s
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$(CC) $(CFLAGS) -o $@ -c $<
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obj/%.o: ../../crypto/%.c
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$(CC) $(CFLAGS) -o $@ -c $<
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obj/$(PROJ_NAME).bin: obj/$(STARTUP_FILE).o obj/main.o
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# hack
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$(CC) -Wl,--section-start,.isr_vector=0x8004000 $(CFLAGS) -o obj/$(PROJ_NAME).elf $^
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$(OBJCOPY) -v -O binary obj/$(PROJ_NAME).elf obj/code.bin
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SETLEN=1 ../../crypto/sign.py obj/code.bin $@ $(CERT)
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obj/bootstub.bin: obj/$(STARTUP_FILE).o obj/bootstub.o obj/sha.o obj/rsa.o
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$(CC) $(CFLAGS) -o obj/bootstub.$(PROJ_NAME).elf $^
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$(OBJCOPY) -v -O binary obj/bootstub.$(PROJ_NAME).elf $@
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clean:
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rm -f obj/*
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@ -1,30 +0,0 @@
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MOVE ALL FILES TO board/pedal TO FLASH
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This is the firmware for the comma pedal. It borrows a lot from panda.
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The comma pedal is a gas pedal interceptor for Honda/Acura. It allows you to "virtually" press the pedal.
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This is the open source software. Note that it is not ready to use yet.
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== Test Plan ==
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* Startup
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** Confirm STATE_FAULT_STARTUP
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* Timeout
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** Send value
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** Confirm value is output
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** Stop sending messages
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** Confirm value is passthru after 100ms
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** Confirm STATE_FAULT_TIMEOUT
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* Random values
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** Send random 6 byte messages
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** Confirm random values cause passthru
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** Confirm STATE_FAULT_BAD_CHECKSUM
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* Same message lockout
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** Send same message repeated
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** Confirm timeout behavior
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* Don't set enable
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** Confirm no output
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* Set enable and values
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** Confirm output
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@ -1,291 +0,0 @@
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//#define DEBUG
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//#define CAN_LOOPBACK_MODE
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//#define USE_INTERNAL_OSC
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#include "../config.h"
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#include "drivers/drivers.h"
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#include "drivers/llgpio.h"
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#include "gpio.h"
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#define CUSTOM_CAN_INTERRUPTS
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#include "libc.h"
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#include "safety.h"
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#include "drivers/adc.h"
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#include "drivers/uart.h"
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#include "drivers/dac.h"
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#include "drivers/can.h"
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#include "drivers/timer.h"
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#define CAN CAN1
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//#define PEDAL_USB
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#ifdef PEDAL_USB
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#include "drivers/usb.h"
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#endif
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#define ENTER_BOOTLOADER_MAGIC 0xdeadbeef
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uint32_t enter_bootloader_mode;
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void __initialize_hardware_early() {
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early();
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}
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// ********************* serial debugging *********************
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void debug_ring_callback(uart_ring *ring) {
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char rcv;
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while (getc(ring, &rcv)) {
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putc(ring, rcv);
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}
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}
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#ifdef PEDAL_USB
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int usb_cb_ep1_in(uint8_t *usbdata, int len, int hardwired) { return 0; }
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void usb_cb_ep2_out(uint8_t *usbdata, int len, int hardwired) {}
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void usb_cb_ep3_out(uint8_t *usbdata, int len, int hardwired) {}
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void usb_cb_enumeration_complete() {}
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int usb_cb_control_msg(USB_Setup_TypeDef *setup, uint8_t *resp, int hardwired) {
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int resp_len = 0;
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uart_ring *ur = NULL;
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switch (setup->b.bRequest) {
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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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if (!ur) break;
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if (ur == &esp_ring) uart_dma_drain();
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// read
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while ((resp_len < min(setup->b.wLength.w, MAX_RESP_LEN)) &&
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getc(ur, (char*)&resp[resp_len])) {
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++resp_len;
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}
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break;
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}
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return resp_len;
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}
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#endif
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// ***************************** toyota can checksum ****************************
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int can_cksum(uint8_t *dat, uint8_t len, uint16_t addr)
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{
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uint8_t checksum = 0;
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checksum =((addr & 0xFF00) >> 8) + (addr & 0x00FF) + len + 1;
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//uint16_t temp_msg = msg;
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for (int ii = 0; ii < len; ii++)
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{
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checksum += (dat[ii]);
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//temp_msg = temp_msg >> 8;
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}
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//return ((msg & ~0xFF) & (checksum & 0xFF));
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return checksum;
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}
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// ***************************** can port *****************************
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// addresses to be used on CAN
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#define CAN_GAS_INPUT 0x200
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#define CAN_GAS_OUTPUT 0x201
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void CAN1_TX_IRQHandler() {
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// clear interrupt
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CAN->TSR |= CAN_TSR_RQCP0;
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}
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// two independent values
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uint16_t gas_set_0 = 0;
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uint16_t gas_set_1 = 0;
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#define MAX_TIMEOUT 10
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uint32_t timeout = 0;
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#define NO_FAULT 0
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#define FAULT_BAD_CHECKSUM 1
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#define FAULT_SEND 2
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#define FAULT_SCE 3
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#define FAULT_STARTUP 4
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#define FAULT_TIMEOUT 5
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#define FAULT_INVALID 6
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uint8_t state = FAULT_STARTUP;
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void CAN1_RX0_IRQHandler() {
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while (CAN->RF0R & CAN_RF0R_FMP0) {
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#ifdef DEBUG
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puts("CAN RX\n");
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#endif
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uint32_t address = CAN->sFIFOMailBox[0].RIR>>21;
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if (address == CAN_GAS_INPUT) {
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// softloader entry
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if (CAN->sFIFOMailBox[0].RDLR == 0xdeadface) {
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if (CAN->sFIFOMailBox[0].RDHR == 0x0ab00b1e) {
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enter_bootloader_mode = ENTER_SOFTLOADER_MAGIC;
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NVIC_SystemReset();
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} else if (CAN->sFIFOMailBox[0].RDHR == 0x02b00b1e) {
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enter_bootloader_mode = ENTER_BOOTLOADER_MAGIC;
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NVIC_SystemReset();
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}
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}
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// normal packet
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uint8_t *dat = (uint8_t *)&CAN->sFIFOMailBox[0].RDLR;
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uint8_t *dat2 = (uint8_t *)&CAN->sFIFOMailBox[0].RDHR;
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uint16_t value_0 = (dat[0] << 8) | dat[1];
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uint16_t value_1 = (dat[2] << 8) | dat[3];
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uint8_t enable = (dat2[0] >> 7) & 1;
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uint8_t index = 0;
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if (can_cksum(dat, 5, CAN_GAS_INPUT) == dat2[1]) {
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if (index == 0) {
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#ifdef DEBUG
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puts("setting gas ");
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puth(value);
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puts("\n");
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#endif
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if (enable) {
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gas_set_0 = value_0;
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gas_set_1 = value_1;
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} else {
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// clear the fault state if values are 0
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if (value_0 == 0 && value_1 == 0) {
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state = NO_FAULT;
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} else {
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state = FAULT_INVALID;
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}
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gas_set_0 = gas_set_1 = 0;
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}
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// clear the timeout
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timeout = 0;
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}
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} else {
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// wrong checksum = fault
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state = FAULT_BAD_CHECKSUM;
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}
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}
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// next
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CAN->RF0R |= CAN_RF0R_RFOM0;
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}
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}
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void CAN1_SCE_IRQHandler() {
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state = FAULT_SCE;
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can_sce(CAN);
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}
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int pdl0 = 0, pdl1 = 0;
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int led_value = 0;
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void TIM3_IRQHandler() {
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#ifdef DEBUG
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puth(TIM3->CNT);
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puts(" ");
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puth(pdl0);
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puts(" ");
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puth(pdl1);
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puts("\n");
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#endif
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// check timer for sending the user pedal and clearing the CAN
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if ((CAN->TSR & CAN_TSR_TME0) == CAN_TSR_TME0) {
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uint8_t dat[8];
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dat[0] = (pdl0>>8)&0xFF;
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dat[1] = (pdl0>>0)&0xFF;
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dat[2] = (pdl1>>8)&0xFF;
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dat[3] = (pdl1>>0)&0xFF;
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dat[4] = state;
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dat[5] = can_cksum(dat, 5, CAN_GAS_OUTPUT);
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CAN->sTxMailBox[0].TDLR = dat[0] | (dat[1]<<8) | (dat[2]<<16) | (dat[3]<<24);
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CAN->sTxMailBox[0].TDHR = dat[4] | (dat[5]<<8);
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CAN->sTxMailBox[0].TDTR = 6; // len of packet is 5
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CAN->sTxMailBox[0].TIR = (CAN_GAS_OUTPUT << 21) | 1;
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} else {
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// old can packet hasn't sent!
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state = FAULT_SEND;
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#ifdef DEBUG
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puts("CAN MISS\n");
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#endif
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}
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// blink the LED
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set_led(LED_GREEN, led_value);
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led_value = !led_value;
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TIM3->SR = 0;
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// up timeout for gas set
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if (timeout == MAX_TIMEOUT) {
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state = FAULT_TIMEOUT;
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} else {
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timeout += 1;
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}
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}
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// ***************************** main code *****************************
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void pedal() {
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// read/write
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pdl0 = adc_get(ADCCHAN_ACCEL0);
|
||||
pdl1 = adc_get(ADCCHAN_ACCEL1);
|
||||
|
||||
// write the pedal to the DAC
|
||||
if (state == NO_FAULT) {
|
||||
dac_set(0, max(gas_set_0, pdl0));
|
||||
dac_set(1, max(gas_set_1, pdl1));
|
||||
} else {
|
||||
dac_set(0, pdl0);
|
||||
dac_set(1, pdl1);
|
||||
}
|
||||
|
||||
// feed the watchdog
|
||||
IWDG->KR = 0xAAAA;
|
||||
}
|
||||
|
||||
int main() {
|
||||
__disable_irq();
|
||||
|
||||
// init devices
|
||||
clock_init();
|
||||
periph_init();
|
||||
gpio_init();
|
||||
|
||||
#ifdef PEDAL_USB
|
||||
// enable USB
|
||||
usb_init();
|
||||
#endif
|
||||
|
||||
// pedal stuff
|
||||
dac_init();
|
||||
adc_init();
|
||||
|
||||
// init can
|
||||
can_silent = ALL_CAN_LIVE;
|
||||
can_init(0);
|
||||
|
||||
// 48mhz / 65536 ~= 732
|
||||
timer_init(TIM3, 15);
|
||||
NVIC_EnableIRQ(TIM3_IRQn);
|
||||
|
||||
// setup watchdog
|
||||
IWDG->KR = 0x5555;
|
||||
IWDG->PR = 0; // divider /4
|
||||
// 0 = 0.125 ms, let's have a 50ms watchdog
|
||||
IWDG->RLR = 400 - 1;
|
||||
IWDG->KR = 0xCCCC;
|
||||
|
||||
puts("**** INTERRUPTS ON ****\n");
|
||||
__enable_irq();
|
||||
|
||||
// main pedal loop
|
||||
while (1) {
|
||||
pedal();
|
||||
}
|
||||
|
||||
return 0;
|
||||
}
|
||||
Loading…
Reference in New Issue