loopback test is working over wifi

board/main.c

@@ -410,7 +410,7 @@ void set_fan_speed(int fan_speed) {
 }
 
 int usb_cb_ep1_in(uint8_t *usbdata, int len) {
-  CAN_FIFOMailBox_TypeDef reply[4];
+  CAN_FIFOMailBox_TypeDef *reply = (CAN_FIFOMailBox_TypeDef *)usbdata;;
 
   int ilen = 0;
   while (ilen < min(len/0x10, 4) && pop(&can_rx_q, &reply[ilen])) ilen++;
@@ -592,23 +592,37 @@ void ADC_IRQHandler(void) {
 uint8_t spi_buf[SPI_BUF_SIZE];
 int spi_buf_count = 0;
 int spi_total_count = 0;
-uint8_t spi_tx_buf[0x40];
+uint8_t spi_tx_buf[0x44];
 
 void handle_spi(uint8_t *data, int len) {
-  memset(spi_tx_buf, 0xaa, 0x10);
-  spi_tx_buf[0] = 1;
-  spi_tx_buf[1] = 2;
-  spi_tx_buf[2] = 3;
-  spi_tx_buf[3] = 4;
-  spi_tx_buf[4] = 5;
-  spi_tx_buf[5] = 6;
-  spi_tx_dma(spi_tx_buf, 0x10);
-
-  // last thing
-  hexdump(data, len);
+  memset(spi_tx_buf, 0xaa, 0x44);
+  // data[0]  = endpoint
+  // data[2]  = length
+  // data[4:] = data
+  int *resp_len = (int*)spi_tx_buf;
+  *resp_len = 0;
+  switch (data[0]) {
+    case 0:
+      // control transfer
+      *resp_len = usb_cb_control_msg(data+4, spi_tx_buf+4);
+      break;
+    case 1:
+      // ep 1, read
+      *resp_len = usb_cb_ep1_in(spi_tx_buf+4, 0x40);
+      break;
+    case 2:
+      // ep 2, send serial
+      usb_cb_ep2_out(data+4, data[2]);
+      break;
+    case 3:
+      // ep 3, send CAN
+      usb_cb_ep3_out(data+4, data[2]);
+      break;
+  }
+  spi_tx_dma(spi_tx_buf, 0x44);
 }
 
-void SPI1_IRQHandler(void) {
+/*void SPI1_IRQHandler(void) {
   // status is 0x43
   if (SPI1->SR & SPI_SR_RXNE) {
     uint8_t dat = SPI1->DR;
@@ -633,7 +647,7 @@ void SPI1_IRQHandler(void) {
     puth(stat);
     puts("\n");
   }
-}
+}*/
 
 // SPI RX
 void DMA2_Stream2_IRQHandler(void) {
@@ -654,6 +668,7 @@ void DMA2_Stream2_IRQHandler(void) {
 void DMA2_Stream3_IRQHandler(void) {
   // ack
   DMA2->LIFCR = DMA_LIFCR_CTCIF3;
+  //puts("spi tx done\n");
 
   // reenable interrupt
   //EXTI->IMR |= (1 << 4);
@@ -666,7 +681,7 @@ void EXTI4_IRQHandler(void) {
   if (pr & (1 << 4)) {
     spi_total_count = 0;
     spi_rx_dma(spi_buf, 0x14);
-    puts("exti4\n");
+    //puts("exti4\n");
   }
   EXTI->PR = pr;
 }

boardesp/proxy.c

@@ -26,6 +26,9 @@ struct espconn tcp_conn;
 // TCP specific protocol structure.
 esp_tcp tcp_proto;
 
+uint32_t sendData[0x14] = {0};
+uint32_t recvData[0x40] = {0};
+
 static void ICACHE_FLASH_ATTR tcp_rx_cb(void *arg, char *data, uint16_t len) {
   if (GPIO_REG_READ(GPIO_OUT_ADDRESS) & (1 << pin)) {
     // set gpio low
@@ -38,9 +41,6 @@ static void ICACHE_FLASH_ATTR tcp_rx_cb(void *arg, char *data, uint16_t len) {
   // nothing too big
   if (len > 0x14) return;
 
-  uint32_t value = 0xD3D4D5D6;
-  uint32_t sendData[0x40] = {0};
-
   SpiData spiData;
 
   spiData.cmd = 2;
@@ -50,17 +50,35 @@ static void ICACHE_FLASH_ATTR tcp_rx_cb(void *arg, char *data, uint16_t len) {
 
   // manual CS pin
   gpio_output_set(0, (1 << 5), 0, 0);
+  memset(sendData, 0xCC, 0x14);
+
+  // send request
   memcpy(((void*)sendData), data, len);
   spiData.data = sendData;
   spiData.dataLen = 0x14;
   SPIMasterSendData(SpiNum_HSPI, &spiData);
 
-  spiData.data = sendData;
-  spiData.dataLen = 0x44;
+  // give the ST time to be ready, 1 ms
+  // TODO: how can we do this better?
+  os_delay_us(1000);
+
+  // blank out recvData
+  memset(recvData, 0xBB, 0x44);
+
+  // receive the length
+  spiData.data = recvData;
+  spiData.dataLen = 4;
   SPIMasterRecvData(SpiNum_HSPI, &spiData);
+  int length = recvData[0];
+
+  // got response, 0x40 works, 0x44 does not
+  spiData.data = recvData+1;
+  spiData.dataLen = 0x40;
+  SPIMasterRecvData(SpiNum_HSPI, &spiData);
+
   gpio_output_set((1 << 5), 0, 0, 0);
 
-  espconn_send(&tcp_conn, sendData, 0x40);
+  espconn_send(&tcp_conn, recvData, 0x44);
 }
 
 void ICACHE_FLASH_ATTR tcp_connect_cb(void *arg) {

lib/panda.py

@@ -5,6 +5,11 @@ import socket
 import usb1
 from usb1 import USBErrorIO, USBErrorOverflow
 
+try:
+  from hexdump import hexdump
+except:
+  pass
+
 # stupid tunneling of USB over wifi and SPI
 class WifiHandle(object):
   def __init__(self, ip="192.168.0.10", port=1337):
@@ -12,31 +17,31 @@ class WifiHandle(object):
 
   def __recv(self):
     ret = self.sock.recv(0x44)
-    from hexdump import hexdump
-    hexdump(ret)
-    return ret
+    length = struct.unpack("I", ret[0:4])[0]
+    return ret[4:4+length]
 
   def controlWrite(self, request_type, request, value, index, data, timeout=0):
-    # ignore data, panda doesn't use it
-    return self.controlRead(self, request_type, request, value, index, 0, timeout)
+    # ignore data in reply, panda doesn't use it
+    return self.controlRead(request_type, request, value, index, 0, timeout)
 
   def controlRead(self, request_type, request, value, index, length, timeout=0):
-    self.sock.send(struct.pack("IBBHHH", 0, request_type, request, value, index, length))
+    self.sock.send(struct.pack("HHBBHHH", 0, 0, request_type, request, value, index, length))
     return self.__recv()
 
   def bulkWrite(self, endpoint, data, timeout=0):
     assert len(data) <= 0x10
-    self.sock.send(struct.pack("I", endpoint)+data)
+    self.sock.send(struct.pack("HH", endpoint, len(data))+data)
     self.__recv()  # to /dev/null
 
   def bulkRead(self, endpoint, length, timeout=0):
-    self.sock.send(struct.pack("I", endpoint))
+    self.sock.send(struct.pack("HH", endpoint, 0))
     return self.__recv()
 
 class Panda(object):
   def __init__(self, serial=None, claim=True):
     if serial == "WIFI":
       self.handle = WifiHandle()
+      print "opening WIFI device"
     else:
       context = usb1.USBContext()
 
@@ -66,7 +71,7 @@ class Panda(object):
   # ******************* health *******************
 
   def health(self):
-    dat = self.handle.controlRead(usb1.TYPE_VENDOR | usb1.RECIPIENT_DEVICE, 0xd2, 0, 0, 0x20)
+    dat = self.handle.controlRead(usb1.TYPE_VENDOR | usb1.RECIPIENT_DEVICE, 0xd2, 0, 0, 13)
     a = struct.unpack("IIBBBBB", dat)
     return {"voltage": a[0], "current": a[1],
             "started": a[2], "controls_allowed": a[3],
@@ -156,8 +161,8 @@ class Panda(object):
     self.kline_drain(bus=bus)
     if checksum:
       x += get_checksum(x)
-    for i in range(0, len(x), 0x10):
-      ts = x[i:i+0x10]
+    for i in range(0, len(x), 0xf):
+      ts = x[i:i+0xf]
       self.handle.bulkWrite(2, chr(bus)+ts)
       echo = self.kline_ll_recv(len(ts), bus=bus)
       if echo != ts:

tests/loopback_test.py

@@ -14,6 +14,14 @@ def get_test_string():
 def run_test():
   pandas = Panda.list()
   print pandas
+
+  if len(pandas) == 0:
+    print "NO PANDAS"
+    assert False
+
+  if len(pandas) == 1:
+    # if we only have one on USB, assume the other is on wifi
+    pandas.append("WIFI")
   h = map(lambda x: Panda(x), pandas)
   print h
 

tests/standalone_test.py

@@ -0,0 +1,11 @@
+#!/usr/bin/env python
+import os
+from panda.lib.panda import Panda
+
+if __name__ == "__main__":
+  if os.getenv("WIFI") is not None:
+    p = Panda("WIFI")
+  else:
+    p = Panda()
+  print p.health()
+