Merge pull request #92 from commaai/pedal

Pedal
master
George Hotz 2018-03-02 12:18:39 -08:00 committed by GitHub
commit fbcc872114
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GPG Key ID: 4AEE18F83AFDEB23
8 changed files with 323 additions and 7 deletions

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@ -372,6 +372,8 @@ void can_rx(uint8_t can_number) {
}
}
#ifndef CUSTOM_CAN_INTERRUPTS
void CAN1_TX_IRQHandler() { process_can(0); }
void CAN1_RX0_IRQHandler() { can_rx(0); }
void CAN1_SCE_IRQHandler() { can_sce(CAN1); }
@ -386,6 +388,8 @@ void CAN3_RX0_IRQHandler() { can_rx(2); }
void CAN3_SCE_IRQHandler() { can_sce(CAN3); }
#endif
#endif
void can_send(CAN_FIFOMailBox_TypeDef *to_push, uint8_t bus_number) {
if (safety_tx_hook(to_push)) {
if (bus_number < BUS_MAX) {

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@ -88,7 +88,7 @@ uint32_t adc_get(int channel);
// ********************* DAC *********************
void dac_init();
uint32_t dac_set(int channel, uint32_t value);
void dac_set(int channel, uint32_t value);
// ********************* TIMER *********************

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@ -72,8 +72,15 @@ void clock_init() {
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;
#ifdef PEDAL
// comma pedal has a 16mhz crystal
RCC->PLLCFGR = RCC_PLLCFGR_PLLQ_2 | RCC_PLLCFGR_PLLM_3 |
RCC_PLLCFGR_PLLN_6 | RCC_PLLCFGR_PLLN_5 | RCC_PLLCFGR_PLLSRC_HSE;
#else
// NEO board has a 8mhz crystal
RCC->PLLCFGR = RCC_PLLCFGR_PLLQ_2 | RCC_PLLCFGR_PLLM_3 |
RCC_PLLCFGR_PLLN_7 | RCC_PLLCFGR_PLLN_6 | RCC_PLLCFGR_PLLSRC_HSE;
#endif
#endif
// start PLL
@ -132,8 +139,13 @@ void set_can_enable(CAN_TypeDef *CAN, int enabled) {
// CAN1_EN
set_gpio_output(GPIOC, 1, !enabled);
#else
// CAN1_EN
set_gpio_output(GPIOB, 3, enabled);
#ifdef PEDAL
// CAN1_EN (not flipped)
set_gpio_output(GPIOB, 3, !enabled);
#else
// CAN1_EN
set_gpio_output(GPIOB, 3, enabled);
#endif
#endif
} else if (CAN == CAN2) {
#ifdef PANDA
@ -285,6 +297,14 @@ void gpio_init() {
set_gpio_mode(GPIOC, 2, MODE_ANALOG);
set_gpio_mode(GPIOC, 3, MODE_ANALOG);
#ifdef PEDAL
// comma pedal has inputs on C0 and C1
set_gpio_mode(GPIOC, 0, MODE_ANALOG);
set_gpio_mode(GPIOC, 1, MODE_ANALOG);
// DAC outputs on A4 and A5
// apparently they don't need GPIO setup
#endif
// C8: FAN aka TIM3_CH4
set_gpio_alternate(GPIOC, 8, GPIO_AF2_TIM3);
@ -443,9 +463,10 @@ void early() {
if (enter_bootloader_mode == ENTER_BOOTLOADER_MAGIC) {
#ifdef PANDA
set_esp_mode(ESP_DISABLED);
#endif
set_led(LED_GREEN, 1);
jump_to_bootloader();
}

1
board/pedal/.gitignore vendored 100644
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@ -0,0 +1 @@
obj/*

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@ -0,0 +1,32 @@
# :set noet
PROJ_NAME = comma
CFLAGS = -O2 -Wall -std=gnu11
CFLAGS += -mlittle-endian -mthumb -mcpu=cortex-m3
CFLAGS += -msoft-float -DSTM32F2 -DSTM32F205xx
CFLAGS += -I ../inc -I ../ -nostdlib
CFLAGS += -T../stm32_flash.ld
CC = arm-none-eabi-gcc
OBJCOPY = arm-none-eabi-objcopy
OBJDUMP = arm-none-eabi-objdump
all: obj/$(PROJ_NAME).bin
#$(OBJDUMP) -d obj/$(PROJ_NAME).elf
dfu-util -d 0483:df11 -a 0 -s 0x08000000:leave -D $<
obj/main.o: main.c ../*.h
mkdir -p obj
$(CC) $(CFLAGS) -o $@ -c $<
obj/startup_stm32f205xx.o: ../startup_stm32f205xx.s
mkdir -p obj
$(CC) $(CFLAGS) -o $@ -c $<
obj/$(PROJ_NAME).bin: obj/startup_stm32f205xx.o obj/main.o
$(CC) $(CFLAGS) -o obj/$(PROJ_NAME).elf $^
$(OBJCOPY) -v -O binary obj/$(PROJ_NAME).elf $@
clean:
rm -f obj/*

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@ -0,0 +1,6 @@
This is the firmware for the comma pedal. It borrows a lot from panda.
The comma pedal is a gas pedal interceptor for Honda/Acura. It allows you to "virtually" press the pedal.
This is the open source software. Open source hardware coming soon.

252
board/pedal/main.c 100644
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@ -0,0 +1,252 @@
//#define DEBUG
//#define CAN_LOOPBACK_MODE
//#define USE_INTERNAL_OSC
#define PEDAL
#include "../config.h"
#include "drivers/drivers.h"
#include "drivers/llgpio.h"
#include "gpio.h"
#define CUSTOM_CAN_INTERRUPTS
#include "libc.h"
#include "safety.h"
#include "drivers/adc.h"
#include "drivers/uart.h"
#include "drivers/dac.h"
#include "drivers/can.h"
#include "drivers/timer.h"
#define CAN CAN1
//#define PEDAL_USB
#ifdef PEDAL_USB
#include "drivers/usb.h"
#endif
#define ENTER_BOOTLOADER_MAGIC 0xdeadbeef
uint32_t enter_bootloader_mode;
void __initialize_hardware_early() {
if (enter_bootloader_mode == ENTER_BOOTLOADER_MAGIC) {
enter_bootloader_mode = 0;
void (*bootloader)(void) = (void (*)(void)) (*((uint32_t *)0x1fff0004));
bootloader();
// LOOP
while(1);
}
}
// ********************* serial debugging *********************
void debug_ring_callback(uart_ring *ring) {
char rcv;
while (getc(ring, &rcv)) {
putc(ring, rcv);
}
}
#ifdef PEDAL_USB
int usb_cb_ep1_in(uint8_t *usbdata, int len, int hardwired) { return 0; }
void usb_cb_ep2_out(uint8_t *usbdata, int len, int hardwired) {}
void usb_cb_ep3_out(uint8_t *usbdata, int len, int hardwired) {}
void usb_cb_enumeration_complete() {}
int usb_cb_control_msg(USB_Setup_TypeDef *setup, uint8_t *resp, int hardwired) {
int resp_len = 0;
uart_ring *ur = NULL;
switch (setup->b.bRequest) {
// **** 0xe0: uart read
case 0xe0:
ur = get_ring_by_number(setup->b.wValue.w);
if (!ur) break;
if (ur == &esp_ring) uart_dma_drain();
// read
while ((resp_len < min(setup->b.wLength.w, MAX_RESP_LEN)) &&
getc(ur, (char*)&resp[resp_len])) {
++resp_len;
}
break;
}
return resp_len;
}
#endif
// ***************************** honda can checksum *****************************
int can_cksum(uint8_t *dat, int len, int addr, int idx) {
int i;
int s = 0;
for (i = 0; i < len; i++) {
s += (dat[i] >> 4);
s += dat[i] & 0xF;
}
s += (addr>>0)&0xF;
s += (addr>>4)&0xF;
s += (addr>>8)&0xF;
s += idx;
s = 8-s;
return s&0xF;
}
// ***************************** can port *****************************
// addresses to be used on CAN
#define CAN_GAS_INPUT 0x200
#define CAN_GAS_OUTPUT 0x201
void CAN1_TX_IRQHandler() {
// clear interrupt
CAN->TSR |= CAN_TSR_RQCP0;
}
uint16_t gas_set = 0;
uint32_t timeout = 0;
uint32_t current_index = 0;
void CAN1_RX0_IRQHandler() {
while (CAN->RF0R & CAN_RF0R_FMP0) {
#ifdef DEBUG
puts("CAN RX\n");
#endif
uint32_t address = CAN->sFIFOMailBox[0].RIR>>21;
if (address == CAN_GAS_INPUT) {
uint8_t *dat = (uint8_t *)&CAN->sFIFOMailBox[0].RDLR;
uint16_t value = (dat[0] << 8) | dat[1];
uint8_t index = (dat[2] >> 4) & 3;
if (can_cksum(dat, 2, CAN_GAS_INPUT, index) == (dat[2] & 0xF)) {
if (((current_index+1)&3) == index) {
// TODO: set and start timeout
#ifdef DEBUG
puts("setting gas ");
puth(value);
puts("\n");
#endif
gas_set = value;
timeout = 0;
}
// TODO: better lockout? prevents same spam
current_index = index;
}
}
// next
CAN->RF0R |= CAN_RF0R_RFOM0;
}
}
void CAN1_SCE_IRQHandler() {
can_sce(CAN);
}
int pdl0 = 0, pdl1 = 0;
int pkt_idx = 0;
int led_value = 0;
void TIM3_IRQHandler() {
#ifdef DEBUG
puth(TIM3->CNT);
puts(" ");
puth(pdl0);
puts(" ");
puth(pdl1);
puts("\n");
#endif
// check timer for sending the user pedal and clearing the CAN
if ((CAN->TSR & CAN_TSR_TME0) == CAN_TSR_TME0) {
uint8_t *dat = (uint8_t *)&CAN->sTxMailBox[0].TDLR;
CAN->sTxMailBox[0].TDLR = (((pdl0>>8)&0xFF)<<0) |
(((pdl0>>0)&0xFF)<<8) |
(((pdl1>>8)&0xFF)<<16) |
(((pdl1>>0)&0xFF)<<24);
CAN->sTxMailBox[0].TDHR = can_cksum(dat, 4, CAN_GAS_OUTPUT, pkt_idx) | (pkt_idx << 4);
CAN->sTxMailBox[0].TDTR = 5; // len of packet is 4
CAN->sTxMailBox[0].TIR = (CAN_GAS_OUTPUT << 21) | 1;
++pkt_idx;
pkt_idx &= 3;
} else {
// old can packet hasn't sent!
// TODO: do something?
#ifdef DEBUG
puts("CAN MISS\n");
#endif
}
// blink the LED
set_led(LED_GREEN, led_value);
led_value = !led_value;
TIM3->SR = 0;
// up timeout for gas set
timeout++;
}
// ***************************** main code *****************************
void pedal() {
// read/write
pdl0 = adc_get(ADCCHAN_ACCEL0);
pdl1 = adc_get(ADCCHAN_ACCEL1);
// write the pedal to the DAC
if (timeout < 10) {
dac_set(0, max(gas_set, pdl0));
dac_set(1, max(gas_set*2, pdl1));
} else {
dac_set(0, pdl0);
dac_set(1, pdl1);
}
}
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_all();
// 48mhz / 65536 ~= 732
timer_init(TIM3, 15);
// needed?
NVIC_EnableIRQ(CAN1_TX_IRQn);
NVIC_EnableIRQ(CAN1_RX0_IRQn);
NVIC_EnableIRQ(CAN1_SCE_IRQn);
NVIC_EnableIRQ(TIM3_IRQn);
puts("**** INTERRUPTS ON ****\n");
__enable_irq();
// main pedal loop
while (1) {
pedal();
}
return 0;
}

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@ -28,7 +28,7 @@ def can_printer():
if sec_since_boot() - lp > 0.1:
dd = chr(27) + "[2J"
dd += "%5.2f\n" % (sec_since_boot() - start)
for k,v in sorted(zip(msgs.keys(), map(lambda x: x[-1].encode("hex"), msgs.values()))):
for k,v in sorted(zip(msgs.keys(), map(lambda x: str(x[-1]).encode("hex"), msgs.values()))):
dd += "%s(%6d) %s\n" % ("%04X(%4d)" % (k,k),len(msgs[k]), v)
print(dd)
lp = sec_since_boot()