Squashed 'panda/' changes from 38dc4e6..1282e8f

1282e8f cap libusb1 version in setup (#183)
64bcc89 Subaru: 545 msg must be generated
9159df9 Merge branch '0.5.10-chyrsler'
f8ab74a L-line relay (#166)
11c4cdc Cleanup leftover jenkins command
22572d9 Fix Jenkins build dockerfiles with same name
1d2f8f0 Jenkins (#179)
f383eee Power saving: wake on RX and don't print durint IRQ
9540db7 Chrysler safety: better to mention messages we don't want to forward
1049502 chrysler: forward bus 0 to bus 2 (#177)
4276c38 Additional Power saving (#170)

git-subtree-dir: panda
git-subtree-split: 1282e8f

Author: Vehicle Researcher

.dockerignore

@@ -0,0 +1,3 @@
+.git
+.DS_Store
+boardesp/esp-open-sdk

Dockerfile

@@ -0,0 +1,64 @@
+FROM ubuntu:16.04
+ENV PYTHONUNBUFFERED 1
+
+RUN apt-get update && apt-get install -y \
+    autoconf \
+    automake \
+    bash \
+    bison \
+    bzip2 \
+    curl \
+    dfu-util \
+    flex \
+    g++ \
+    gawk \
+    gcc \
+    git \
+    gperf \
+    help2man \
+    iputils-ping \
+    libexpat-dev \
+    libstdc++-arm-none-eabi-newlib \
+    libtool \
+    libtool-bin \
+    libusb-1.0-0 \
+    make \
+    ncurses-dev \
+    network-manager \
+    python-dev \
+    python-serial \
+    sed \
+    texinfo \
+    unrar-free \
+    unzip \
+    wget \
+    build-essential \
+    python-dev \
+    python-pip \
+    screen \
+    vim \
+    wget \
+    wireless-tools
+
+RUN pip install --upgrade pip==18.0
+
+COPY requirements.txt /tmp/
+RUN pip install -r /tmp/requirements.txt
+
+RUN mkdir -p /home/batman
+ENV HOME /home/batman
+
+ENV PYTHONPATH /tmp:$PYTHONPATH
+
+COPY ./boardesp/get_sdk_ci.sh /tmp/panda/boardesp/
+
+RUN useradd --system -s /sbin/nologin pandauser
+RUN mkdir -p /tmp/panda/boardesp/esp-open-sdk
+RUN chown pandauser /tmp/panda/boardesp/esp-open-sdk
+USER pandauser
+RUN cd /tmp/panda/boardesp && ./get_sdk_ci.sh
+USER root
+
+COPY ./xx/pandaextra /tmp/pandaextra
+
+ADD ./panda.tar.gz /tmp/panda

Jenkinsfile

@@ -0,0 +1,55 @@
+pipeline {
+  agent any
+  environment {
+    AUTHOR = """${sh(
+                returnStdout: true,
+                script: "git --no-pager show -s --format='%an' ${GIT_COMMIT}"
+             ).trim()}"""
+
+    DOCKER_IMAGE_TAG = "panda:build-${env.BUILD_ID}"
+    DOCKER_NAME = "panda-test-${env.BUILD_ID}"
+  }
+  stages {
+    stage('Build Docker Image') {
+      steps {
+        timeout(time: 60, unit: 'MINUTES') {
+          script {
+            sh 'git clone --no-checkout --depth 1 [email protected]:commaai/xx.git || true'
+            sh 'cd xx && git fetch origin && git checkout origin/master -- pandaextra && cd ..' // Needed for certs for panda flashing
+            sh 'git archive -v -o panda.tar.gz --format=tar.gz HEAD'
+            dockerImage = docker.build("${env.DOCKER_IMAGE_TAG}")
+          }
+        }
+      }
+    }
+    stage('Test Dev Build') {
+      steps {
+        lock(resource: "Pandas", inversePrecedence: true, quantity:1){
+          timeout(time: 60, unit: 'MINUTES') {
+            sh "docker run --name ${env.DOCKER_NAME} --privileged --volume /dev/bus/usb:/dev/bus/usb --volume /var/run/dbus:/var/run/dbus --net host ${env.DOCKER_IMAGE_TAG} bash -c 'cd /tmp/panda; ./run_automated_tests.sh '"
+          }
+        }
+      }
+    }
+    stage('Test EON Build') {
+      steps {
+        lock(resource: "Pandas", inversePrecedence: true, quantity:1){
+          timeout(time: 60, unit: 'MINUTES') {
+            sh "docker cp ${env.DOCKER_NAME}:/tmp/panda/nosetests.xml test_results_dev.xml"
+            sh "touch EON && docker cp EON ${env.DOCKER_NAME}:/EON"
+            sh "docker start -a ${env.DOCKER_NAME}"
+          }
+        }
+      }
+    }
+  }
+  post {
+    always {
+      script {
+        sh "docker cp ${env.DOCKER_NAME}:/tmp/panda/nosetests.xml test_results_EON.xml"
+        sh "docker rm ${env.DOCKER_NAME}"
+      }
+      junit "test_results*.xml"
+    }
+  }
+}

VERSION

@@ -1 +1 @@
-v1.2.0
+v1.2.1

board/drivers/can.h

@@ -3,6 +3,8 @@
 #define ALL_CAN_BUT_MAIN_SILENT 0xFE
 #define ALL_CAN_LIVE 0
 
+#include "lline_relay.h"
+
 int can_live = 0, pending_can_live = 0, can_loopback = 0, can_silent = ALL_CAN_SILENT;
 
 // ********************* instantiate queues *********************
@@ -23,6 +25,11 @@ can_buffer(tx2_q, 0x100)
   can_ring *can_queues[] = {&can_tx1_q, &can_tx2_q};
 #endif
 
+#ifdef PANDA
+// Forward declare
+void power_save_reset_timer();
+#endif
+
 // ********************* interrupt safe queue *********************
 
 int can_pop(can_ring *q, CAN_FIFOMailBox_TypeDef *elem) {
@@ -213,7 +220,7 @@ void can_init(uint8_t can_number) {
   CAN->FMR &= ~(CAN_FMR_FINIT);
 
   // enable certain CAN interrupts
-  CAN->IER |= CAN_IER_TMEIE | CAN_IER_FMPIE0;
+  CAN->IER |= CAN_IER_TMEIE | CAN_IER_FMPIE0 |  CAN_IER_WKUIE;
 
   switch (can_number) {
     case 0:
@@ -293,7 +300,6 @@ void can_set_gmlan(int bus) {
 void can_sce(CAN_TypeDef *CAN) {
   enter_critical_section();
 
-  can_err_cnt += 1;
   #ifdef DEBUG
     if (CAN==CAN1) puts("CAN1:  ");
     if (CAN==CAN2) puts("CAN2:  ");
@@ -315,23 +321,42 @@ void can_sce(CAN_TypeDef *CAN) {
 
   uint8_t can_number = CAN_NUM_FROM_CANIF(CAN);
   uint8_t bus_number = BUS_NUM_FROM_CAN_NUM(can_number);
-  if (can_autobaud_enabled[bus_number] && (CAN->ESR & CAN_ESR_LEC)) {
-    can_autobaud_speed_increment(can_number);
-    can_set_speed(can_number);
-  }
 
-  // clear current send
-  CAN->TSR |= CAN_TSR_ABRQ0;
-  CAN->MSR &= ~(CAN_MSR_ERRI);
-  CAN->MSR = CAN->MSR;
+  if (CAN->MSR & CAN_MSR_WKUI) {
+    //Waking from sleep
+    #ifdef DEBUG
+      puts("WAKE\n");
+    #endif
+    set_can_enable(CAN, 1);
+    CAN->MSR &= ~(CAN_MSR_WKUI);
+    CAN->MSR = CAN->MSR;
+#ifdef PANDA
+    power_save_reset_timer();
+#endif
+  } else {
+    can_err_cnt += 1;
+
 
+    if (can_autobaud_enabled[bus_number] && (CAN->ESR & CAN_ESR_LEC)) {
+      can_autobaud_speed_increment(can_number);
+      can_set_speed(can_number);
+    }
+
+    // clear current send
+    CAN->TSR |= CAN_TSR_ABRQ0;
+    CAN->MSR &= ~(CAN_MSR_ERRI);
+    CAN->MSR = CAN->MSR;
+  }
   exit_critical_section();
 }
 
 // ***************************** CAN *****************************
 
 void process_can(uint8_t can_number) {
   if (can_number == 0xff) return;
+#ifdef PANDA
+  power_save_reset_timer();
+#endif
 
   enter_critical_section();
 
@@ -375,6 +400,13 @@ void process_can(uint8_t can_number) {
     }
 
     if (can_pop(can_queues[bus_number], &to_send)) {
+      if (CAN->MCR & CAN_MCR_SLEEP) {
+        set_can_enable(CAN, 1);
+        CAN->MCR &= ~(CAN_MCR_SLEEP);
+        CAN->MCR |= CAN_MCR_INRQ;
+        while((CAN->MSR & CAN_MSR_INAK) != CAN_MSR_INAK);
+        CAN->MCR &= ~(CAN_MCR_INRQ);
+      }
       can_tx_cnt += 1;
       // only send if we have received a packet
       CAN->sTxMailBox[0].TDLR = to_send.RDLR;
@@ -390,6 +422,9 @@ void process_can(uint8_t can_number) {
 // CAN receive handlers
 // blink blue when we are receiving CAN messages
 void can_rx(uint8_t can_number) {
+  #ifdef PANDA
+    power_save_reset_timer();
+  #endif
   CAN_TypeDef *CAN = CANIF_FROM_CAN_NUM(can_number);
   uint8_t bus_number = BUS_NUM_FROM_CAN_NUM(can_number);
   while (CAN->RF0R & CAN_RF0R_FMP0) {
@@ -420,14 +455,16 @@ void can_rx(uint8_t can_number) {
 
     // forwarding (panda only)
     #ifdef PANDA
-      int bus_fwd_num = can_forwarding[bus_number] != -1 ? can_forwarding[bus_number] : safety_fwd_hook(bus_number, &to_push);
-      if (bus_fwd_num != -1) {
-        CAN_FIFOMailBox_TypeDef to_send;
-        to_send.RIR = to_push.RIR | 1; // TXRQ
-        to_send.RDTR = to_push.RDTR;
-        to_send.RDLR = to_push.RDLR;
-        to_send.RDHR = to_push.RDHR;
-        can_send(&to_send, bus_fwd_num);
+      if ((get_lline_status() != 0) || !relay_control) { //Relay engaged or relay isn't controlled, allow fwd
+        int bus_fwd_num = can_forwarding[bus_number] != -1 ? can_forwarding[bus_number] : safety_fwd_hook(bus_number, &to_push);
+        if (bus_fwd_num != -1) {
+          CAN_FIFOMailBox_TypeDef to_send;
+          to_send.RIR = to_push.RIR | 1; // TXRQ
+          to_send.RDTR = to_push.RDTR;
+          to_send.RDLR = to_push.RDLR;
+          to_send.RDHR = to_push.RDHR;
+          can_send(&to_send, bus_fwd_num);
+        }
       }
     #endif
 

board/drivers/lline_relay.h

@@ -0,0 +1,88 @@
+#ifdef PANDA
+
+int relay_control = 0;  // True if relay is controlled through l-line
+
+/* Conrol a relay connected to l-line pin */
+
+// 160us cycles, 1 high, 25 low
+
+volatile int turn_on_relay = 0;
+volatile int on_cycles = 25;
+
+//5s timeout
+#define LLINE_TIMEOUT_CYCLES 31250
+volatile int timeout_cycles = LLINE_TIMEOUT_CYCLES;
+
+void TIM5_IRQHandler(void) {
+  if (TIM5->SR & TIM_SR_UIF) {
+    on_cycles--;
+    timeout_cycles--;
+    if (timeout_cycles == 0) {
+      turn_on_relay = 0;
+    }
+    if (on_cycles > 0) {
+      if (turn_on_relay) {
+        set_gpio_output(GPIOC, 10, 0);
+      }
+    }
+    else {
+      set_gpio_output(GPIOC, 10, 1);
+      on_cycles = 25;
+    }
+  }
+  TIM5->ARR = 160-1;
+  TIM5->SR = 0;
+}
+
+void lline_relay_init (void) {
+  set_lline_output(0);
+  relay_control = 1;
+  set_gpio_output(GPIOC, 10, 1);
+
+  // setup
+  TIM5->PSC = 48-1; // tick on 1 us
+  TIM5->CR1 = TIM_CR1_CEN;   // enable
+  TIM5->ARR = 50-1;         // 50 us
+  TIM5->DIER = TIM_DIER_UIE; // update interrupt
+  TIM5->CNT = 0;
+
+  NVIC_EnableIRQ(TIM5_IRQn);
+
+#ifdef DEBUG
+  puts("INIT LLINE\n");
+  puts(" SR ");
+  putui(TIM5->SR);
+  puts(" PSC ");
+  putui(TIM5->PSC);
+  puts(" CR1 ");
+  putui(TIM5->CR1);
+  puts(" ARR ");
+  putui(TIM5->ARR);
+  puts(" DIER ");
+  putui(TIM5->DIER);
+  puts(" SR ");
+  putui(TIM5->SR);
+  puts(" CNT ");
+  putui(TIM5->CNT);
+  puts("\n");
+#endif
+}
+
+void lline_relay_release (void) {
+  set_lline_output(0);
+  relay_control = 0;
+  puts("RELEASE LLINE\n");
+  set_gpio_alternate(GPIOC, 10, GPIO_AF7_USART3);
+  NVIC_DisableIRQ(TIM5_IRQn);
+}
+
+void set_lline_output(int to_set) {
+  timeout_cycles = LLINE_TIMEOUT_CYCLES;
+  turn_on_relay = to_set;
+}
+
+int get_lline_status() {
+  return turn_on_relay;
+}
+
+#endif

board/gpio.h

@@ -120,6 +120,8 @@ void periph_init() {
   RCC->APB1ENR |= RCC_APB1ENR_TIM2EN;
   RCC->APB1ENR |= RCC_APB1ENR_TIM3EN;
   RCC->APB1ENR |= RCC_APB1ENR_TIM4EN;
+  RCC->APB1ENR |= RCC_APB1ENR_TIM5EN;
+  RCC->APB1ENR |= RCC_APB1ENR_TIM6EN;
   RCC->APB2ENR |= RCC_APB2ENR_USART1EN;
   RCC->AHB2ENR |= RCC_AHB2ENR_OTGFSEN;
   RCC->APB2ENR |= RCC_APB2ENR_TIM1EN;
@@ -390,7 +392,9 @@ void gpio_init() {
     set_gpio_output(GPIOA, 14, 1);
 
     // C10,C11: L-Line setup on USART 3
-    set_gpio_alternate(GPIOC, 10, GPIO_AF7_USART3);
+    // LLine now used for relay output
+    set_gpio_output(GPIOC, 10, 1);
+    //set_gpio_alternate(GPIOC, 10, GPIO_AF7_USART3);
     set_gpio_alternate(GPIOC, 11, GPIO_AF7_USART3);
     set_gpio_pullup(GPIOC, 11, PULL_UP);
   #endif
@@ -475,4 +479,3 @@ void early() {
     enter_bootloader_mode = ENTER_SOFTLOADER_MAGIC;
   }
 }
-