openpilot v0.9.6 release
date: 2024-02-21T23:02:42 master commit: 0b4d08fab8e35a264bc7383e878538f8083c33e5
This commit is contained in:
FrogAi
261
panda/board/jungle/main_comms.h
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261
panda/board/jungle/main_comms.h
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extern int _app_start[0xc000]; // Only first 3 sectors of size 0x4000 are used
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int get_jungle_health_pkt(void *dat) {
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COMPILE_TIME_ASSERT(sizeof(struct jungle_health_t) <= USBPACKET_MAX_SIZE);
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struct jungle_health_t * health = (struct jungle_health_t*)dat;
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health->uptime_pkt = uptime_cnt;
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health->ch1_power = current_board->get_channel_power(1U);
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health->ch2_power = current_board->get_channel_power(2U);
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health->ch3_power = current_board->get_channel_power(3U);
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health->ch4_power = current_board->get_channel_power(4U);
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health->ch5_power = current_board->get_channel_power(5U);
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health->ch6_power = current_board->get_channel_power(6U);
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health->ch1_sbu1_mV = current_board->get_sbu_mV(1U, SBU1);
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health->ch1_sbu2_mV = current_board->get_sbu_mV(1U, SBU2);
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health->ch2_sbu1_mV = current_board->get_sbu_mV(2U, SBU1);
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health->ch2_sbu2_mV = current_board->get_sbu_mV(2U, SBU2);
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health->ch3_sbu1_mV = current_board->get_sbu_mV(3U, SBU1);
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health->ch3_sbu2_mV = current_board->get_sbu_mV(3U, SBU2);
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health->ch4_sbu1_mV = current_board->get_sbu_mV(4U, SBU1);
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health->ch4_sbu2_mV = current_board->get_sbu_mV(4U, SBU2);
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health->ch5_sbu1_mV = current_board->get_sbu_mV(5U, SBU1);
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health->ch5_sbu2_mV = current_board->get_sbu_mV(5U, SBU2);
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health->ch6_sbu1_mV = current_board->get_sbu_mV(6U, SBU1);
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health->ch6_sbu2_mV = current_board->get_sbu_mV(6U, SBU2);
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return sizeof(*health);
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}
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// send on serial, first byte to select the ring
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void comms_endpoint2_write(const uint8_t *data, uint32_t len) {
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UNUSED(data);
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UNUSED(len);
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}
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int comms_control_handler(ControlPacket_t *req, uint8_t *resp) {
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unsigned int resp_len = 0;
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uint32_t time;
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#ifdef DEBUG_COMMS
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print("raw control request: "); hexdump(req, sizeof(ControlPacket_t)); print("\n");
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print("- request "); puth(req->request); print("\n");
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print("- param1 "); puth(req->param1); print("\n");
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print("- param2 "); puth(req->param2); print("\n");
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#endif
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switch (req->request) {
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// **** 0xa0: Set panda power.
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case 0xa0:
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current_board->set_panda_power((req->param1 == 1U));
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break;
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// **** 0xa1: Set harness orientation.
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case 0xa1:
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current_board->set_harness_orientation(req->param1);
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break;
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// **** 0xa2: Set ignition.
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case 0xa2:
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current_board->set_ignition((req->param1 == 1U));
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break;
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// **** 0xa0: Set panda power per channel by bitmask.
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case 0xa3:
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current_board->set_panda_individual_power(req->param1, (req->param2 > 0U));
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break;
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// **** 0xa8: get microsecond timer
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case 0xa8:
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time = microsecond_timer_get();
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resp[0] = (time & 0x000000FFU);
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resp[1] = ((time & 0x0000FF00U) >> 8U);
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resp[2] = ((time & 0x00FF0000U) >> 16U);
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resp[3] = ((time & 0xFF000000U) >> 24U);
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resp_len = 4U;
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break;
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// **** 0xc0: reset communications
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case 0xc0:
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comms_can_reset();
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break;
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// **** 0xc1: get hardware type
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case 0xc1:
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resp[0] = hw_type;
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resp_len = 1;
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break;
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// **** 0xc2: CAN health stats
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case 0xc2:
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COMPILE_TIME_ASSERT(sizeof(can_health_t) <= USBPACKET_MAX_SIZE);
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if (req->param1 < 3U) {
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update_can_health_pkt(req->param1, 0U);
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can_health[req->param1].can_speed = (bus_config[req->param1].can_speed / 10U);
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can_health[req->param1].can_data_speed = (bus_config[req->param1].can_data_speed / 10U);
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can_health[req->param1].canfd_enabled = bus_config[req->param1].canfd_enabled;
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can_health[req->param1].brs_enabled = bus_config[req->param1].brs_enabled;
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can_health[req->param1].canfd_non_iso = bus_config[req->param1].canfd_non_iso;
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resp_len = sizeof(can_health[req->param1]);
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(void)memcpy(resp, &can_health[req->param1], resp_len);
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}
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break;
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// **** 0xc3: fetch MCU UID
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case 0xc3:
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(void)memcpy(resp, ((uint8_t *)UID_BASE), 12);
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resp_len = 12;
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break;
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// **** 0xd0: fetch serial (aka the provisioned dongle ID)
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case 0xd0:
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// addresses are OTP
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if (req->param1 == 1U) {
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(void)memcpy(resp, (uint8_t *)DEVICE_SERIAL_NUMBER_ADDRESS, 0x10);
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resp_len = 0x10;
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} else {
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get_provision_chunk(resp);
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resp_len = PROVISION_CHUNK_LEN;
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}
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break;
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// **** 0xd1: enter bootloader mode
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case 0xd1:
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// this allows reflashing of the bootstub
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switch (req->param1) {
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case 0:
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// only allow bootloader entry on debug builds
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#ifdef ALLOW_DEBUG
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print("-> entering bootloader\n");
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enter_bootloader_mode = ENTER_BOOTLOADER_MAGIC;
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NVIC_SystemReset();
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#endif
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break;
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case 1:
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print("-> entering softloader\n");
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enter_bootloader_mode = ENTER_SOFTLOADER_MAGIC;
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NVIC_SystemReset();
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break;
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default:
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print("Bootloader mode invalid\n");
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break;
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}
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break;
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// **** 0xd2: get health packet
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case 0xd2:
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resp_len = get_jungle_health_pkt(resp);
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break;
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// **** 0xd3: get first 64 bytes of signature
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case 0xd3:
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{
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resp_len = 64;
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char * code = (char*)_app_start;
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int code_len = _app_start[0];
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(void)memcpy(resp, &code[code_len], resp_len);
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}
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break;
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// **** 0xd4: get second 64 bytes of signature
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case 0xd4:
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{
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resp_len = 64;
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char * code = (char*)_app_start;
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int code_len = _app_start[0];
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(void)memcpy(resp, &code[code_len + 64], resp_len);
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}
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break;
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// **** 0xd6: get version
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case 0xd6:
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COMPILE_TIME_ASSERT(sizeof(gitversion) <= USBPACKET_MAX_SIZE);
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(void)memcpy(resp, gitversion, sizeof(gitversion));
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resp_len = sizeof(gitversion) - 1U;
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break;
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// **** 0xd8: reset ST
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case 0xd8:
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NVIC_SystemReset();
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break;
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// **** 0xdb: set OBD CAN multiplexing mode
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case 0xdb:
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if (req->param1 == 1U) {
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// Enable OBD CAN
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current_board->set_can_mode(CAN_MODE_OBD_CAN2);
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} else {
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// Disable OBD CAN
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current_board->set_can_mode(CAN_MODE_NORMAL);
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}
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break;
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// **** 0xdd: get healthpacket and CANPacket versions
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case 0xdd:
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resp[0] = JUNGLE_HEALTH_PACKET_VERSION;
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resp[1] = CAN_PACKET_VERSION;
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resp[2] = CAN_HEALTH_PACKET_VERSION;
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resp_len = 3;
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break;
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// **** 0xde: set can bitrate
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case 0xde:
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if ((req->param1 < PANDA_BUS_CNT) && is_speed_valid(req->param2, speeds, sizeof(speeds)/sizeof(speeds[0]))) {
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bus_config[req->param1].can_speed = req->param2;
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bool ret = can_init(CAN_NUM_FROM_BUS_NUM(req->param1));
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UNUSED(ret);
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}
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break;
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// **** 0xe0: debug read
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case 0xe0:
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// read
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while ((resp_len < MIN(req->length, USBPACKET_MAX_SIZE)) && get_char(get_ring_by_number(0), (char*)&resp[resp_len])) {
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++resp_len;
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}
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break;
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// **** 0xe5: set CAN loopback (for testing)
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case 0xe5:
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can_loopback = (req->param1 > 0U);
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can_init_all();
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break;
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// **** 0xf1: Clear CAN ring buffer.
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case 0xf1:
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if (req->param1 == 0xFFFFU) {
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print("Clearing CAN Rx queue\n");
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can_clear(&can_rx_q);
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} else if (req->param1 < PANDA_BUS_CNT) {
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print("Clearing CAN Tx queue\n");
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can_clear(can_queues[req->param1]);
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} else {
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print("Clearing CAN CAN ring buffer failed: wrong bus number\n");
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}
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break;
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// **** 0xf2: Clear debug ring buffer.
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case 0xf2:
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print("Clearing debug queue.\n");
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clear_uart_buff(get_ring_by_number(0));
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break;
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// **** 0xf4: Set CAN transceiver enable pin
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case 0xf4:
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current_board->enable_can_transciever(req->param1, req->param2 > 0U);
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break;
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// **** 0xf5: Set CAN silent mode
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case 0xf5:
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can_silent = (req->param1 > 0U) ? ALL_CAN_SILENT : ALL_CAN_LIVE;
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can_init_all();
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break;
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// **** 0xf7: enable/disable header pin by number
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case 0xf7:
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current_board->enable_header_pin(req->param1, req->param2 > 0U);
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break;
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// **** 0xf9: set CAN FD data bitrate
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case 0xf9:
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if ((req->param1 < PANDA_CAN_CNT) &&
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current_board->has_canfd &&
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is_speed_valid(req->param2, data_speeds, sizeof(data_speeds)/sizeof(data_speeds[0]))) {
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bus_config[req->param1].can_data_speed = req->param2;
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bus_config[req->param1].canfd_enabled = (req->param2 >= bus_config[req->param1].can_speed);
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bus_config[req->param1].brs_enabled = (req->param2 > bus_config[req->param1].can_speed);
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bool ret = can_init(CAN_NUM_FROM_BUS_NUM(req->param1));
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UNUSED(ret);
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}
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break;
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// **** 0xfc: set CAN FD non-ISO mode
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case 0xfc:
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if ((req->param1 < PANDA_CAN_CNT) && current_board->has_canfd) {
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bus_config[req->param1].canfd_non_iso = (req->param2 != 0U);
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bool ret = can_init(CAN_NUM_FROM_BUS_NUM(req->param1));
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UNUSED(ret);
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}
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break;
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default:
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print("NO HANDLER ");
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puth(req->request);
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print("\n");
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break;
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}
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return resp_len;
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}
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