Squash merge of the following:

From: budney 2650024 Renamed unsafe_mode to alternative_experience in subaru-community code. From: commaai/master Merge: 0e79ab3^..7104818 7104818 rename unsafeMode to alternativeExperience (commaai#878) e01c645 Toyota: increase torque rate limit (commaai#887) 0591f68 Honda: fix missing interceptor tests (commaai#886) 991638a Tesla: only allow cancel button (commaai#880) 499906f Nissan + Tesla: don't exit controls allowed on blocked message (commaai#877) ba10911 GM: enters controls on falling edge of button presses (commaai#876) 868fd53 Hyundai: enter controls on falling edge of buttons (commaai#875) 4acaebb Honda: enter controls on falling edge of button presses (commaai#874) e6722c7 Honda Nidec: match openpilot engagement behavior (commaai#872) a53528a Add more hints when troubleshooting panda (commaai#864) 5a7af82 Hyundai: only allow cancel while cruise is enabled (commaai#870) 891653f Docker: bump openpilot and fix Toyota EPS scale factor for test (commaai#869) 234e436 rename to enable_deepsleep 860e5a4 Red Panda: auto switching to CAN FD with BRS (commaai#868) 4f422ed C2: fix bootkick (commaai#854) de7e1e7 Deep sleep(stop) mode for pandas (commaai#832) e8e9d84 fix release script 51ccb9f HITL tests: change testing speeds (commaai#862) 8435bda CAN FD: adjust bit timing settings to SAE specifications J2284-4 and J2284-5 (commaai#861) cb88a17 Honda: revert back to button enable for Nidec (commaai#858) 2806eec python: add safety param arg to set_safety_mode 9d27011 misc CAN FD fixes (commaai#856) 0e79ab3 Fix USB enumeration detection for C2 (commaai#853)
budney · Mar 28, 2022 · af5c27d · af5c27d
1 parent 75c4895
commit af5c27d
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diff --git a/Dockerfile.panda b/Dockerfile.panda
@@ -62,7 +62,7 @@ RUN cd /tmp && \
     git clone https://github.com/martinl/openpilot.git tmppilot || true && \
     cd /tmp/tmppilot && \
     git fetch && \
-    git checkout cdd3598146c9e06362683e2993af730157abf0b6 && \
+    git checkout c6e0f1a94103ae6b6c879615a00ef0855560bd42 && \
     git submodule update --init cereal opendbc rednose_repo && \
     mkdir /tmp/openpilot && \
     cp -pR SConstruct site_scons/ tools/ selfdrive/ common/ cereal/ opendbc/ rednose/ /tmp/openpilot && \

diff --git a/board/README.md b/board/README.md
@@ -21,17 +21,21 @@ Programming
 **Panda**
 
 ```
-scons -u # Compile
-./flash.sh # Compile & Flash
+scons -u       # Compile
+./flash_h7.sh  # for red panda
+./flash.sh     # for other pandas
 ```
 
 Troubleshooting
 ----
 
 If your panda will not flash and is quickly blinking a single Green LED, use:
 ```
-./recover.sh
+./recover_h7.sh  # for red panda
+./recover.sh     # for other pandas
 ```
 
+A [panda paw](https://comma.ai/shop/products/panda-paw) can be used to put panda into DFU mode.
+
 
 [dfu-util](http://github.com/dsigma/dfu-util.git) for flashing
diff --git a/board/config.h b/board/config.h
@@ -7,6 +7,8 @@
 //#define DEBUG_SPI
 //#define DEBUG_FAULTS
 
+#define DEEPSLEEP_WAKEUP_DELAY 3U
+
 #define NULL ((void*)0)
 #define COMPILE_TIME_ASSERT(pred) ((void)sizeof(char[1 - (2 * ((int)(!(pred))))]))
 

diff --git a/board/drivers/bxcan.h b/board/drivers/bxcan.h
@@ -9,7 +9,12 @@ bool can_set_speed(uint8_t can_number) {
   CAN_TypeDef *CAN = CANIF_FROM_CAN_NUM(can_number);
   uint8_t bus_number = BUS_NUM_FROM_CAN_NUM(can_number);
 
-  ret &= llcan_set_speed(CAN, bus_config[bus_number].can_speed, can_loopback, (unsigned int)(can_silent) & (1U << can_number));
+  ret &= llcan_set_speed(
+    CAN,
+    bus_config[bus_number].can_speed,
+    can_loopback,
+    (unsigned int)(can_silent) & (1U << can_number)
+  );
   return ret;
 }
 

diff --git a/board/drivers/can_common.h b/board/drivers/can_common.h
@@ -161,9 +161,9 @@ void can_clear(can_ring *q) {
 // Helpers
 // Panda:       Bus 0=CAN1   Bus 1=CAN2   Bus 2=CAN3
 bus_config_t bus_config[] = {
-  { .bus_lookup = 0U, .can_num_lookup = 0U, .can_speed = 5000U, .can_data_speed = 5000U, .canfd_enabled = false, .brs_enabled = false },
-  { .bus_lookup = 1U, .can_num_lookup = 1U, .can_speed = 5000U, .can_data_speed = 5000U, .canfd_enabled = false, .brs_enabled = false },
-  { .bus_lookup = 2U, .can_num_lookup = 2U, .can_speed = 5000U, .can_data_speed = 5000U, .canfd_enabled = false, .brs_enabled = false },
+  { .bus_lookup = 0U, .can_num_lookup = 0U, .can_speed = 5000U, .can_data_speed = 20000U, .canfd_enabled = false, .brs_enabled = false },
+  { .bus_lookup = 1U, .can_num_lookup = 1U, .can_speed = 5000U, .can_data_speed = 20000U, .canfd_enabled = false, .brs_enabled = false },
+  { .bus_lookup = 2U, .can_num_lookup = 2U, .can_speed = 5000U, .can_data_speed = 20000U, .canfd_enabled = false, .brs_enabled = false },
   { .bus_lookup = 0xFFU, .can_num_lookup = 0xFFU, .can_speed = 333U, .can_data_speed = 333U, .canfd_enabled = false, .brs_enabled = false },
 };
 

diff --git a/board/drivers/fdcan.h b/board/drivers/fdcan.h
@@ -17,7 +17,13 @@ bool can_set_speed(uint8_t can_number) {
   FDCAN_GlobalTypeDef *CANx = CANIF_FROM_CAN_NUM(can_number);
   uint8_t bus_number = BUS_NUM_FROM_CAN_NUM(can_number);
 
-  ret &= llcan_set_speed(CANx, bus_config[bus_number].can_speed, bus_config[bus_number].can_data_speed, can_loopback, (unsigned int)(can_silent) & (1U << can_number));
+  ret &= llcan_set_speed(
+    CANx,
+    bus_config[bus_number].can_speed,
+    bus_config[bus_number].can_data_speed,
+    can_loopback,
+    (unsigned int)(can_silent) & (1U << can_number)
+  );
   return ret;
 }
 
@@ -146,6 +152,9 @@ void can_rx(uint8_t can_number) {
       to_push.bus = bus_number;
       to_push.data_len_code = ((fifo->header[1] >> 16) & 0xFU);
 
+      bool canfd_frame = ((fifo->header[1] >> 21) & 0x1U);
+      bool brs_frame = ((fifo->header[1] >> 20) & 0x1U);
+
       uint8_t data_len_w = (dlc_to_len[to_push.data_len_code] / 4U);
       data_len_w += ((dlc_to_len[to_push.data_len_code] % 4U) > 0U) ? 1U : 0U;
       for (unsigned int i = 0; i < data_len_w; i++) {
@@ -173,6 +182,14 @@ void can_rx(uint8_t can_number) {
       current_board->set_led(LED_BLUE, true);
       can_send_errs += can_push(&can_rx_q, &to_push) ? 0U : 1U;
 
+      // Enable CAN FD and BRS if CAN FD message was received
+      if (!(bus_config[can_number].canfd_enabled) && (canfd_frame)) {
+        bus_config[can_number].canfd_enabled = true;
+      }
+      if (!(bus_config[can_number].brs_enabled) && (brs_frame)) {
+        bus_config[can_number].brs_enabled = true;
+      }
+
       // update read index
       CANx->RXF0A = rx_fifo_idx;
     }

diff --git a/board/drivers/usb.h b/board/drivers/usb.h
@@ -685,6 +685,7 @@ void usb_irqhandler(void) {
 
   if ((gintsts & USB_OTG_GINTSTS_USBRST) != 0) {
     puts("USB reset\n");
+    usb_enumerated = false;
     usb_reset();
   }
 
@@ -941,3 +942,11 @@ void usb_outep3_resume_if_paused(void) {
   }
   EXIT_CRITICAL();
 }
+
+void usb_soft_disconnect(bool enable) {
+  if (enable) {
+    USBx_DEVICE->DCTL |= USB_OTG_DCTL_SDIS;
+  } else {
+    USBx_DEVICE->DCTL &= ~USB_OTG_DCTL_SDIS;
+  }
+}
diff --git a/board/faults.h b/board/faults.h
@@ -25,6 +25,7 @@
 #define FAULT_INTERRUPT_RATE_KLINE_INIT     (1U << 19)
 #define FAULT_INTERRUPT_RATE_CLOCK_SOURCE   (1U << 20)
 #define FAULT_INTERRUPT_RATE_TICK           (1U << 21)
+#define FAULT_INTERRUPT_RATE_EXTI           (1U << 22)
 
 // Permanent faults
 #define PERMANENT_FAULTS 0U

diff --git a/board/health.h b/board/health.h
@@ -1,5 +1,5 @@
-// When changing this struct, boardd and python/__init__.py needs to be kept up to date!
-#define HEALTH_PACKET_VERSION 3
+// When changing this struct, python/__init__.py needs to be kept up to date!
+#define HEALTH_PACKET_VERSION 4
 struct __attribute__((packed)) health_t {
   uint32_t uptime_pkt;
   uint32_t voltage_pkt;
@@ -20,6 +20,6 @@ struct __attribute__((packed)) health_t {
   uint8_t fault_status_pkt;
   uint8_t power_save_enabled_pkt;
   uint8_t heartbeat_lost_pkt;
-  uint16_t unsafe_mode_pkt;
+  uint16_t alternative_experience_pkt;
   uint32_t blocked_msg_cnt_pkt;
 };
diff --git a/board/main.c b/board/main.c
@@ -248,7 +248,7 @@ void tick_handler(void) {
         }
 
         // enter CDP mode when car starts to ensure we are charging a turned off EON
-        if (check_started() && (usb_power_mode != USB_POWER_CDP)) {
+        if (check_started() && ((usb_power_mode != USB_POWER_CDP) || !usb_enumerated)) {
           current_board->set_usb_power_mode(USB_POWER_CDP);
         }
       }
@@ -276,6 +276,38 @@ void tick_handler(void) {
   TICK_TIMER->SR = 0;
 }
 
+void EXTI_IRQ_Handler(void) {
+  if (check_exti_irq()) {
+    exti_irq_clear();
+    clock_init();
+
+    current_board->set_usb_power_mode(USB_POWER_CDP);
+    set_power_save_state(POWER_SAVE_STATUS_DISABLED);
+    deepsleep_requested = false;
+    heartbeat_counter = 0U;
+    usb_soft_disconnect(false);
+
+    NVIC_EnableIRQ(TICK_TIMER_IRQ);
+  }
+}
+
+uint8_t rtc_counter = 0;
+void RTC_WKUP_IRQ_Handler(void) {
+  exti_irq_clear();
+  clock_init();
+
+  rtc_counter++;
+  if ((rtc_counter % 2U) == 0U) {
+    current_board->set_led(LED_BLUE, false);
+  } else {
+    current_board->set_led(LED_BLUE, true);
+  }
+
+  if (rtc_counter == __UINT8_MAX__) {
+    rtc_counter = 1U;
+  }
+}
+
 
 int main(void) {
   // Init interrupt table
@@ -387,7 +419,25 @@ int main(void) {
         }
       #endif
     } else {
+      if (deepsleep_requested && !usb_enumerated && !check_started()) {
+        usb_soft_disconnect(true);
+        current_board->set_fan_power(0U);
+        current_board->set_usb_power_mode(USB_POWER_CLIENT);
+        NVIC_DisableIRQ(TICK_TIMER_IRQ);
+        delay(512000U);
+
+        // Init IRQs for CAN transceiver and ignition line
+        exti_irq_init();
+
+        // Init RTC Wakeup event on EXTI22
+        REGISTER_INTERRUPT(RTC_WKUP_IRQn, RTC_WKUP_IRQ_Handler, 10U, FAULT_INTERRUPT_RATE_EXTI)
+        rtc_wakeup_init();
+
+        // STOP mode
+        SCB->SCR |= SCB_SCR_SLEEPDEEP_Msk;
+      }
       __WFI();
+      SCB->SCR &= ~SCB_SCR_SLEEPDEEP_Msk;
     }
   }
 

diff --git a/board/main_declarations.h b/board/main_declarations.h
@@ -23,6 +23,9 @@ bool heartbeat_disabled = false;            // set over USB
 bool heartbeat_engaged = false;             // openpilot enabled, passed in heartbeat USB command
 uint32_t heartbeat_engaged_mismatches = 0;  // count of mismatches between heartbeat_engaged and controls_allowed
 
+// Enter deep sleep mode
+bool deepsleep_requested = false;
+
 // siren state
 bool siren_enabled = false;
 uint32_t siren_countdown = 0; // siren plays while countdown > 0

diff --git a/board/safety.h b/board/safety.h
@@ -206,7 +206,7 @@ bool addr_safety_check(CANPacket_t *to_push,
 
 void generic_rx_checks(bool stock_ecu_detected) {
   // exit controls on rising edge of gas press
-  if (gas_pressed && !gas_pressed_prev && !(unsafe_mode & UNSAFE_DISABLE_DISENGAGE_ON_GAS)) {
+  if (gas_pressed && !gas_pressed_prev && !(alternative_experience & ALT_EXP_DISABLE_DISENGAGE_ON_GAS)) {
     controls_allowed = 0;
   }
   gas_pressed_prev = gas_pressed;
@@ -278,6 +278,7 @@ int set_safety_hooks(uint16_t mode, int16_t param) {
   vehicle_speed = 0;
   vehicle_moving = false;
   acc_main_on = false;
+  cruise_button_prev = 0;
   desired_torque_last = 0;
   rt_torque_last = 0;
   ts_angle_last = 0;

diff --git a/board/safety/safety_ford.h b/board/safety/safety_ford.h
@@ -12,7 +12,7 @@ static int ford_rx_hook(CANPacket_t *to_push) {
 
   int addr = GET_ADDR(to_push);
   int bus = GET_BUS(to_push);
-  bool unsafe_allow_gas = unsafe_mode & UNSAFE_DISABLE_DISENGAGE_ON_GAS;
+  bool alt_exp_allow_gas = alternative_experience & ALT_EXP_DISABLE_DISENGAGE_ON_GAS;
 
   if (addr == 0x217) {
     // wheel speeds are 14 bits every 16
@@ -47,7 +47,7 @@ static int ford_rx_hook(CANPacket_t *to_push) {
   // exit controls on rising edge of gas press
   if (addr == 0x204) {
     gas_pressed = ((GET_BYTE(to_push, 0) & 0x03U) | GET_BYTE(to_push, 1)) != 0U;
-    if (!unsafe_allow_gas && gas_pressed && !gas_pressed_prev) {
+    if (!alt_exp_allow_gas && gas_pressed && !gas_pressed_prev) {
       controls_allowed = 0;
     }
     gas_pressed_prev = gas_pressed;
@@ -73,8 +73,8 @@ static int ford_tx_hook(CANPacket_t *to_send) {
   // disallow actuator commands if gas or brake (with vehicle moving) are pressed
   // and the the latching controls_allowed flag is True
   int pedal_pressed = brake_pressed_prev && vehicle_moving;
-  bool unsafe_allow_gas = unsafe_mode & UNSAFE_DISABLE_DISENGAGE_ON_GAS;
-  if (!unsafe_allow_gas) {
+  bool alt_exp_allow_gas = alternative_experience & ALT_EXP_DISABLE_DISENGAGE_ON_GAS;
+  if (!alt_exp_allow_gas) {
     pedal_pressed = pedal_pressed || gas_pressed_prev;
   }
   bool current_controls_allowed = controls_allowed && !(pedal_pressed);

diff --git a/board/safety/safety_gm.h b/board/safety/safety_gm.h
@@ -34,6 +34,14 @@ AddrCheckStruct gm_addr_checks[] = {
 #define GM_RX_CHECK_LEN (sizeof(gm_addr_checks) / sizeof(gm_addr_checks[0]))
 addr_checks gm_rx_checks = {gm_addr_checks, GM_RX_CHECK_LEN};
 
+
+enum {
+  GM_BTN_UNPRESS = 1,
+  GM_BTN_RESUME = 2,
+  GM_BTN_SET = 3,
+  GM_BTN_CANCEL = 6,
+};
+
 static int gm_rx_hook(CANPacket_t *to_push) {
 
   bool valid = addr_safety_check(to_push, &gm_rx_checks, NULL, NULL, NULL);
@@ -57,17 +65,20 @@ static int gm_rx_hook(CANPacket_t *to_push) {
     // ACC steering wheel buttons
     if (addr == 481) {
       int button = (GET_BYTE(to_push, 5) & 0x70U) >> 4;
-      switch (button) {
-        case 2:  // resume
-        case 3:  // set
-          controls_allowed = 1;
-          break;
-        case 6:  // cancel
-          controls_allowed = 0;
-          break;
-        default:
-          break;  // any other button is irrelevant
+
+      // exit controls on cancel press
+      if (button == GM_BTN_CANCEL) {
+        controls_allowed = 0;
+      }
+
+      // enter controls on falling edge of set or resume
+      bool set = (button == GM_BTN_UNPRESS) && (cruise_button_prev == GM_BTN_SET);
+      bool res = (button == GM_BTN_UNPRESS) && (cruise_button_prev == GM_BTN_RESUME);
+      if (set || res) {
+        controls_allowed = 1;
       }
+
+      cruise_button_prev = button;
     }
 
     if (addr == 201) {
@@ -113,8 +124,8 @@ static int gm_tx_hook(CANPacket_t *to_send) {
   // disallow actuator commands if gas or brake (with vehicle moving) are pressed
   // and the the latching controls_allowed flag is True
   int pedal_pressed = brake_pressed_prev && vehicle_moving;
-  bool unsafe_allow_gas = unsafe_mode & UNSAFE_DISABLE_DISENGAGE_ON_GAS;
-  if (!unsafe_allow_gas) {
+  bool alt_exp_allow_gas = alternative_experience & ALT_EXP_DISABLE_DISENGAGE_ON_GAS;
+  if (!alt_exp_allow_gas) {
     pedal_pressed = pedal_pressed || gas_pressed_prev;
   }
   bool current_controls_allowed = controls_allowed && !pedal_pressed;