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nopenpilot/selfdrive/boardd/pigeon.cc

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#include "selfdrive/boardd/pigeon.h"
#include <fcntl.h>
#include <termios.h>
#include <unistd.h>
#include <cassert>
#include <cerrno>
#include <optional>
#include "selfdrive/common/gpio.h"
#include "selfdrive/common/swaglog.h"
#include "selfdrive/common/util.h"
#include "selfdrive/locationd/ublox_msg.h"
// Termios on macos doesn't define all baud rate constants
#ifndef B460800
#define B460800 0010004
#endif
using namespace std::string_literals;
extern ExitHandler do_exit;
const std::string ack = "\xb5\x62\x05\x01\x02\x00";
const std::string nack = "\xb5\x62\x05\x00\x02\x00";
const std::string sos_save_ack = "\xb5\x62\x09\x14\x08\x00\x02\x00\x00\x00\x01\x00\x00\x00";
const std::string sos_save_nack = "\xb5\x62\x09\x14\x08\x00\x02\x00\x00\x00\x00\x00\x00\x00";
Pigeon * Pigeon::connect(Panda * p) {
PandaPigeon * pigeon = new PandaPigeon();
pigeon->connect(p);
return pigeon;
}
Pigeon * Pigeon::connect(const char * tty) {
TTYPigeon * pigeon = new TTYPigeon();
pigeon->connect(tty);
return pigeon;
}
bool Pigeon::wait_for_ack(const std::string &ack_, const std::string &nack_, int timeout_ms) {
std::string s;
const double start_t = millis_since_boot();
while (!do_exit) {
s += receive();
if (s.find(ack_) != std::string::npos) {
LOGD("Received ACK from ublox");
return true;
} else if (s.find(nack_) != std::string::npos) {
LOGE("Received NACK from ublox");
return false;
} else if (s.size() > 0x1000 || ((millis_since_boot() - start_t) > timeout_ms)) {
LOGE("No response from ublox");
return false;
}
util::sleep_for(1); // Allow other threads to be scheduled
}
return false;
}
bool Pigeon::wait_for_ack() {
return wait_for_ack(ack, nack);
}
bool Pigeon::send_with_ack(const std::string &cmd) {
send(cmd);
return wait_for_ack();
}
sos_restore_response Pigeon::wait_for_backup_restore_status(int timeout_ms) {
std::string s;
const double start_t = millis_since_boot();
while (!do_exit) {
s += receive();
size_t position = s.find("\xb5\x62\x09\x14\x08\x00\x03");
if (position != std::string::npos && s.size() >= (position + 11)) {
return static_cast<sos_restore_response>(s[position + 10]);
} else if (s.size() > 0x1000 || ((millis_since_boot() - start_t) > timeout_ms)) {
LOGE("No backup restore response from ublox");
return error;
}
util::sleep_for(1); // Allow other threads to be scheduled
}
return error;
}
void Pigeon::init() {
for (int i = 0; i < 10; i++) {
if (do_exit) return;
LOGW("panda GPS start");
// power off pigeon
set_power(false);
util::sleep_for(100);
// 9600 baud at init
set_baud(9600);
// power on pigeon
set_power(true);
util::sleep_for(500);
// baud rate upping
send("\x24\x50\x55\x42\x58\x2C\x34\x31\x2C\x31\x2C\x30\x30\x30\x37\x2C\x30\x30\x30\x33\x2C\x34\x36\x30\x38\x30\x30\x2C\x30\x2A\x31\x35\x0D\x0A"s);
util::sleep_for(100);
// set baud rate to 460800
set_baud(460800);
// init from ubloxd
// To generate this data, run selfdrive/locationd/test/ubloxd.py
if (!send_with_ack("\xB5\x62\x06\x00\x14\x00\x03\xFF\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x01\x00\x01\x00\x00\x00\x00\x00\x1E\x7F"s)) continue;
if (!send_with_ack("\xB5\x62\x06\x00\x14\x00\x00\xFF\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x19\x35"s)) continue;
if (!send_with_ack("\xB5\x62\x06\x00\x14\x00\x01\x00\x00\x00\xC0\x08\x00\x00\x00\x08\x07\x00\x01\x00\x01\x00\x00\x00\x00\x00\xF4\x80"s)) continue;
if (!send_with_ack("\xB5\x62\x06\x00\x14\x00\x04\xFF\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x1D\x85"s)) continue;
if (!send_with_ack("\xB5\x62\x06\x00\x00\x00\x06\x18"s)) continue;
if (!send_with_ack("\xB5\x62\x06\x00\x01\x00\x01\x08\x22"s)) continue;
if (!send_with_ack("\xB5\x62\x06\x00\x01\x00\x03\x0A\x24"s)) continue;
if (!send_with_ack("\xB5\x62\x06\x08\x06\x00\x64\x00\x01\x00\x00\x00\x79\x10"s)) continue;
if (!send_with_ack("\xB5\x62\x06\x24\x24\x00\x05\x00\x04\x03\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x5A\x63"s)) continue;
if (!send_with_ack("\xB5\x62\x06\x1E\x14\x00\x00\x00\x00\x00\x01\x03\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x3C\x37"s)) continue;
if (!send_with_ack("\xB5\x62\x06\x39\x08\x00\xFF\xAD\x62\xAD\x1E\x63\x00\x00\x83\x0C"s)) continue;
if (!send_with_ack("\xB5\x62\x06\x24\x00\x00\x2A\x84"s)) continue;
if (!send_with_ack("\xB5\x62\x06\x23\x00\x00\x29\x81"s)) continue;
if (!send_with_ack("\xB5\x62\x06\x1E\x00\x00\x24\x72"s)) continue;
if (!send_with_ack("\xB5\x62\x06\x39\x00\x00\x3F\xC3"s)) continue;
if (!send_with_ack("\xB5\x62\x06\x01\x03\x00\x01\x07\x01\x13\x51"s)) continue;
if (!send_with_ack("\xB5\x62\x06\x01\x03\x00\x02\x15\x01\x22\x70"s)) continue;
if (!send_with_ack("\xB5\x62\x06\x01\x03\x00\x02\x13\x01\x20\x6C"s)) continue;
if (!send_with_ack("\xB5\x62\x06\x01\x03\x00\x0A\x09\x01\x1E\x70"s)) continue;
if (!send_with_ack("\xB5\x62\x06\x01\x03\x00\x0A\x0B\x01\x20\x74"s)) continue;
// check the backup restore status
send("\xB5\x62\x09\x14\x00\x00\x1D\x60"s);
sos_restore_response restore_status = wait_for_backup_restore_status();
switch(restore_status) {
case restored:
LOGW("almanac backup restored");
// clear the backup
send_with_ack("\xB5\x62\x06\x01\x03\x00\x0A\x0B\x01\x20\x74"s);
break;
case no_backup:
LOGW("no almanac backup found");
break;
default:
LOGE("failed to restore almanac backup, status: %d", restore_status);
}
auto time = util::get_time();
if (util::time_valid(time)) {
LOGW("Sending current time to ublox");
send(ublox::build_ubx_mga_ini_time_utc(time));
}
LOGW("panda GPS on");
return;
}
LOGE("failed to initialize panda GPS");
}
void Pigeon::stop() {
LOGW("Storing almanac in ublox flash");
// Controlled GNSS stop
send("\xB5\x62\x06\x04\x04\x00\x00\x00\x08\x00\x16\x74"s);
// Store almanac in flash
send("\xB5\x62\x09\x14\x04\x00\x00\x00\x00\x00\x21\xEC"s);
if (wait_for_ack(sos_save_ack, sos_save_nack)) {
LOGW("Done storing almanac");
} else {
LOGE("Error storing almanac");
}
}
void PandaPigeon::connect(Panda * p) {
panda = p;
}
void PandaPigeon::set_baud(int baud) {
panda->usb_write(0xe2, 1, 0);
panda->usb_write(0xe4, 1, baud/300);
}
void PandaPigeon::send(const std::string &s) {
int len = s.length();
const char * dat = s.data();
unsigned char a[0x20+1];
a[0] = 1;
for (int i=0; i<len; i+=0x20) {
int ll = std::min(0x20, len-i);
memcpy(&a[1], &dat[i], ll);
panda->usb_bulk_write(2, a, ll+1);
}
}
std::string PandaPigeon::receive() {
std::string r;
r.reserve(0x1000 + 0x40);
unsigned char dat[0x40];
while (r.length() < 0x1000) {
int len = panda->usb_read(0xe0, 1, 0, dat, sizeof(dat));
if (len <= 0) break;
r.append((char*)dat, len);
}
return r;
}
void PandaPigeon::set_power(bool power) {
panda->usb_write(0xd9, power, 0);
}
PandaPigeon::~PandaPigeon() {
}
void handle_tty_issue(int err, const char func[]) {
LOGE_100("tty error %d \"%s\" in %s", err, strerror(err), func);
}
void TTYPigeon::connect(const char * tty) {
pigeon_tty_fd = HANDLE_EINTR(open(tty, O_RDWR));
if (pigeon_tty_fd < 0) {
handle_tty_issue(errno, __func__);
assert(pigeon_tty_fd >= 0);
}
int err = tcgetattr(pigeon_tty_fd, &pigeon_tty);
assert(err == 0);
// configure tty
pigeon_tty.c_cflag &= ~PARENB; // disable parity
pigeon_tty.c_cflag &= ~CSTOPB; // single stop bit
pigeon_tty.c_cflag |= CS8; // 8 bits per byte
pigeon_tty.c_cflag &= ~CRTSCTS; // no RTS/CTS flow control
pigeon_tty.c_cflag |= CREAD | CLOCAL; // turn on READ & ignore ctrl lines
pigeon_tty.c_lflag &= ~ICANON; // disable canonical mode
pigeon_tty.c_lflag &= ~ISIG; // disable interpretation of INTR, QUIT and SUSP
pigeon_tty.c_iflag &= ~(IXON | IXOFF | IXANY); // turn off software flow ctrl
pigeon_tty.c_iflag &= ~(IGNBRK|BRKINT|PARMRK|ISTRIP|INLCR|IGNCR|ICRNL); // disable any special handling of received bytes
pigeon_tty.c_oflag &= ~OPOST; // prevent special interpretation of output bytes
pigeon_tty.c_oflag &= ~ONLCR; // prevent conversion of newline to carriage return/line feed
// configure blocking behavior
pigeon_tty.c_cc[VMIN] = 0; // min amount of characters returned
pigeon_tty.c_cc[VTIME] = 0; // max blocking time in s/10 (0=inf)
err = tcsetattr(pigeon_tty_fd, TCSANOW, &pigeon_tty);
assert(err == 0);
}
void TTYPigeon::set_baud(int baud) {
speed_t baud_const = 0;
switch(baud) {
case 9600:
baud_const = B9600;
break;
case 460800:
baud_const = B460800;
break;
default:
assert(false);
}
// make sure everything is tx'ed before changing baud
int err = tcdrain(pigeon_tty_fd);
assert(err == 0);
// change baud
err = tcgetattr(pigeon_tty_fd, &pigeon_tty);
assert(err == 0);
err = cfsetspeed(&pigeon_tty, baud_const);
assert(err == 0);
err = tcsetattr(pigeon_tty_fd, TCSANOW, &pigeon_tty);
assert(err == 0);
// flush
err = tcflush(pigeon_tty_fd, TCIOFLUSH);
assert(err == 0);
}
void TTYPigeon::send(const std::string &s) {
int err = HANDLE_EINTR(write(pigeon_tty_fd, s.data(), s.length()));
if(err < 0) { handle_tty_issue(err, __func__); }
err = tcdrain(pigeon_tty_fd);
if(err < 0) { handle_tty_issue(err, __func__); }
}
std::string TTYPigeon::receive() {
std::string r;
r.reserve(0x1000 + 0x40);
char dat[0x40];
while (r.length() < 0x1000) {
int len = read(pigeon_tty_fd, dat, sizeof(dat));
if(len < 0) {
handle_tty_issue(len, __func__);
} else if (len == 0) {
break;
} else {
r.append(dat, len);
}
}
return r;
}
void TTYPigeon::set_power(bool power) {
#ifdef QCOM2
int err = 0;
err += gpio_init(GPIO_UBLOX_RST_N, true);
err += gpio_init(GPIO_UBLOX_SAFEBOOT_N, true);
err += gpio_init(GPIO_UBLOX_PWR_EN, true);
err += gpio_set(GPIO_UBLOX_RST_N, power);
err += gpio_set(GPIO_UBLOX_SAFEBOOT_N, power);
err += gpio_set(GPIO_UBLOX_PWR_EN, power);
assert(err == 0);
#endif
}
TTYPigeon::~TTYPigeon() {
close(pigeon_tty_fd);
}
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