Merge pull request #114 from diamondman/new_panda_code

Pulled in new panda firmware and updated boardd to support the changes.

cereal/log.capnp

@@ -205,7 +205,7 @@ struct CanData {
   address @0 :UInt32;
   busTime @1 :UInt16;
   dat     @2 :Data;
-  src     @3 :Int8;
+  src     @3 :UInt8;
 }
 
 struct ThermalData {

selfdrive/boardd/boardd.cc

@@ -31,11 +31,16 @@ pthread_mutex_t usb_lock;
 
 bool spoofing_started = false;
 bool fake_send = false;
+bool loopback_can = false;
 
 // double the FIFO size
 #define RECV_SIZE (0x1000)
 #define TIMEOUT 0
 
+#define SAFETY_NOOUTPUT  0x0000
+#define SAFETY_HONDA     0x0001
+#define SAFETY_ALLOUTPUT 0x1337
+
 bool usb_connect() {
   int err;
 
@@ -48,22 +53,36 @@ bool usb_connect() {
   err = libusb_claim_interface(dev_handle, 0);
   if (err != 0) { return false; }
 
+  if(loopback_can) {
+    libusb_control_transfer(dev_handle, 0xc0, 0xe5, 1, 0, NULL, 0, TIMEOUT);
+  }
+
   // power off ESP
   libusb_control_transfer(dev_handle, 0xc0, 0xd9, 0, 0, NULL, 0, TIMEOUT);
 
   // forward CAN1 to CAN3...soon
   //libusb_control_transfer(dev_handle, 0xc0, 0xdd, 1, 2, NULL, 0, TIMEOUT);
-  
+
   // set UART modes for Honda Accord
   for (int uart = 2; uart <= 3; uart++) {
     // 9600 baud
-    libusb_control_transfer(dev_handle, 0xc0, 0xe1, uart, 9600, NULL, 0, TIMEOUT);
+    libusb_control_transfer(dev_handle, 0x40, 0xe1, uart, 9600, NULL, 0, TIMEOUT);
     // even parity
-    libusb_control_transfer(dev_handle, 0xc0, 0xe2, uart, 1, NULL, 0, TIMEOUT);
+    libusb_control_transfer(dev_handle, 0x40, 0xe2, uart, 1, NULL, 0, TIMEOUT);
     // callback 1
-    libusb_control_transfer(dev_handle, 0xc0, 0xe3, uart, 1, NULL, 0, TIMEOUT);
+    libusb_control_transfer(dev_handle, 0x40, 0xe3, uart, 1, NULL, 0, TIMEOUT);
   }
 
+  // TODO: Boardd should be able to set the baud rate
+  int baud = 500000;
+  libusb_control_transfer(dev_handle, 0x40, 0xde, 0, 0,
+                          (unsigned char *)&baud, sizeof(baud), TIMEOUT); // CAN1
+  libusb_control_transfer(dev_handle, 0x40, 0xde, 1, 0,
+                          (unsigned char *)&baud, sizeof(baud), TIMEOUT); // CAN2
+
+  // TODO: Boardd should be able to be told which safety model to use
+  libusb_control_transfer(dev_handle, 0x40, 0xdc, SAFETY_HONDA, 0, NULL, 0, TIMEOUT);
+
   return true;
 }
 
@@ -90,7 +109,7 @@ void can_recv(void *s) {
 
   // do recv
   pthread_mutex_lock(&usb_lock);
- 
+
   do {
     err = libusb_bulk_transfer(dev_handle, 0x81, (uint8_t*)data, RECV_SIZE, &recv, TIMEOUT);
     if (err != 0) { handle_usb_issue(err, __func__); }
@@ -127,13 +146,13 @@ void can_recv(void *s) {
     canData[i].setBusTime(data[i*4+1] >> 16);
     int len = data[i*4+1]&0xF;
     canData[i].setDat(kj::arrayPtr((uint8_t*)&data[i*4+2], len));
-    canData[i].setSrc((data[i*4+1] >> 4) & 0xf);
+    canData[i].setSrc((data[i*4+1] >> 4) & 0xff);
   }
 
   // send to can
   auto words = capnp::messageToFlatArray(msg);
   auto bytes = words.asBytes();
-  zmq_send(s, bytes.begin(), bytes.size(), 0); 
+  zmq_send(s, bytes.begin(), bytes.size(), 0);
 }
 
 void can_health(void *s) {
@@ -181,7 +200,7 @@ void can_health(void *s) {
   // send to health
   auto words = capnp::messageToFlatArray(msg);
   auto bytes = words.asBytes();
-  zmq_send(s, bytes.begin(), bytes.size(), 0); 
+  zmq_send(s, bytes.begin(), bytes.size(), 0);
 }
 
 
@@ -316,6 +335,10 @@ int main() {
     fake_send = true;
   }
 
+  if(getenv("BOARDD_LOOPBACK")){
+    loopback_can = true;
+  }
+
   // init libusb
   err = libusb_init(&ctx);
   assert(err == 0);
@@ -357,4 +380,3 @@ int main() {
   libusb_close(dev_handle);
   libusb_exit(ctx);
 }
-

selfdrive/boardd/boardd.py

@@ -18,6 +18,10 @@
 
 # TODO: rewrite in C to save CPU
 
+SAFETY_NOOUTPUT = 0
+SAFETY_HONDA = 1
+SAFETY_ALLOUTPUT = 0x1337
+
 # *** serialization functions ***
 def can_list_to_can_capnp(can_msgs, msgtype='can'):
   dat = messaging.new_message()
@@ -94,6 +98,7 @@ def can_init():
     if device.getVendorID() == 0xbbaa and device.getProductID() == 0xddcc:
       handle = device.open()
       handle.claimInterface(0)
+      handle.controlWrite(0x40, 0xdc, SAFETY_HONDA, 0, b'')
 
   if handle is None:
     print "CAN NOT FOUND"
@@ -190,4 +195,3 @@ def main(gctx=None):
 
 if __name__ == "__main__":
   main()
-

selfdrive/boardd/test_boardd_loopback.py

@@ -0,0 +1,49 @@
+"""Run boardd with the BOARDD_LOOPBACK envvar before running this test."""
+
+import os
+import random
+import zmq
+import time
+
+from selfdrive.boardd.boardd import can_list_to_can_capnp
+from selfdrive.messaging import drain_sock, pub_sock, sub_sock
+from selfdrive.services import service_list
+
+def get_test_string():
+  return b"test"+os.urandom(10)
+
+BUS = 0
+
+def main():
+    context = zmq.Context()
+
+    rcv = sub_sock(context, service_list['can'].port) # port 8006
+    snd = pub_sock(context, service_list['sendcan'].port) # port 8017
+    time.sleep(0.3) # wait to bind before send/recv
+
+    for _ in range(10):
+        at = random.randint(1024, 2000)
+        st = get_test_string()[0:8]
+        snd.send(can_list_to_can_capnp([[at, 0, st, 0]], msgtype='sendcan').to_bytes())
+        time.sleep(0.1)
+        res = drain_sock(rcv, True)
+        assert len(res) == 1
+
+        res = res[0].can
+        assert len(res) == 2
+
+        msg0, msg1 = res
+
+        assert msg0.dat == st
+        assert msg1.dat == st
+
+        assert msg0.address == at
+        assert msg1.address == at
+
+        assert msg0.src == 0x80 | BUS
+        assert msg1.src == BUS
+
+    print("Success")
+
+if __name__ == "__main__":
+    main()