mawei/panda-meb
1
0
Fork 0
mirror of https://github.com/infiniteCable2/panda.git synced 2026-02-18 17:23:52 +08:00
Code Issues Packages Projects Releases Wiki Activity

cleanly put GMLAN on bus 3, love tests

Browse Source
This commit is contained in:
Firmware Batman
2017-07-18 21:05:09 -07:00
parent 4bc935e5d1
commit 639ea617b8
5 changed files with 156 additions and 104 deletions
Download Patch File Download Diff File Expand all files Collapse all files

33
board/can.h
View File

@@ -17,25 +17,23 @@ int can_err_cnt = 0;
#ifdef PANDA
CAN_TypeDef *cans[] = {CAN1, CAN2, CAN3};
uint8_t bus_lookup[] = {0,1,2};
uint8_t can_num_lookup[] = {0,1,2}; //bus num -> can num
int8_t can_forwarding[] = {-1,-1,-1};
uint32_t can_speed[] = {5000, 5000, 5000}; // 500 kbps
uint8_t can_num_lookup[] = {0,1,2,-1};
int8_t can_forwarding[] = {-1,-1,-1,-1};
uint32_t can_speed[] = {5000, 5000, 5000, 333};
#define CAN_MAX 3
#define BUS_MAX 4
#else
CAN_TypeDef *cans[] = {CAN2, CAN1};
CAN_TypeDef *cans[] = {CAN1, CAN2};
uint8_t bus_lookup[] = {1,0};
uint8_t can_num_lookup[] = {1,0}; //bus num -> can num
uint8_t can_num_lookup[] = {1,0};
int8_t can_forwarding[] = {-1,-1};
uint32_t can_speed[] = {5000, 5000};
#define CAN_MAX 2
#define BUS_MAX 2
#endif
#define NO_ACTIVE_GMLAN -1
int active_gmlan_port_id = NO_ACTIVE_GMLAN;
#define CANIF_FROM_CAN_NUM(num) (cans[bus_lookup[num]])
#define CANIF_FROM_BUS_NUM(num) (cans[num])
#define CANIF_FROM_CAN_NUM(num) (cans[num])
//#define CANIF_FROM_BUS_NUM(num) (cans[can_num_lookup[num]])
#define BUS_NUM_FROM_CAN_NUM(num) (bus_lookup[num])
#define CAN_NUM_FROM_BUS_NUM(num) (can_num_lookup[num])
@@ -56,8 +54,10 @@ int active_gmlan_port_id = NO_ACTIVE_GMLAN;
// 5000 = 500 kbps
#define can_speed_to_prescaler(x) (CAN_PCLK / CAN_QUANTA * 10 / (x))
void can_init(uint8_t bus_number) {
CAN_TypeDef *CAN = CANIF_FROM_BUS_NUM(bus_number);
void can_init(uint8_t can_number) {
if (can_number == 0xff) return;
CAN_TypeDef *CAN = CANIF_FROM_CAN_NUM(can_number);
set_can_enable(CAN, 1);
CAN->MCR = CAN_MCR_TTCM | CAN_MCR_INRQ;
@@ -66,7 +66,7 @@ void can_init(uint8_t bus_number) {
// set time quanta from defines
CAN->BTR = (CAN_BTR_TS1_0 * (CAN_SEQ1-1)) |
(CAN_BTR_TS2_0 * (CAN_SEQ2-1)) |
(can_speed_to_prescaler(can_speed[bus_number]) - 1);
(can_speed_to_prescaler(can_speed[BUS_NUM_FROM_CAN_NUM(can_number)]) - 1);
// silent loopback mode for debugging
if (can_loopback) {
@@ -87,6 +87,8 @@ void can_init(uint8_t bus_number) {
if (tmp == CAN_TIMEOUT) {
set_led(LED_BLUE, 1);
puts("CAN init FAILED!!!!!\n");
puth(can_number); puts(" ");
puth(BUS_NUM_FROM_CAN_NUM(can_number)); puts("\n");
}
// accept all filter
@@ -106,6 +108,9 @@ void can_init(uint8_t bus_number) {
//CAN->IER = CAN_IER_TMEIE | CAN_IER_FMPIE0 | CAN_IER_FMPIE1;
//CAN->IER = CAN_IER_TMEIE;
CAN->IER = CAN_IER_TMEIE | CAN_IER_FMPIE0;
// in case there are queued up messages
process_can(can_number);
}
void can_init_all() {

80
board/gpio.h
View File

@@ -86,21 +86,9 @@ void periph_init() {
}
void set_can_mode(int can, int use_gmlan) {
// http://www.bittiming.can-wiki.info/#bxCAN
// 24 MHz, sample point at 87.5%
uint32_t pclk = 24000;
uint32_t num_time_quanta = 16;
uint32_t prescaler;
CAN_TypeDef *CAN = NULL;
if (can == 2) CAN = CAN2;
#ifdef CAN3
else if (can == 3) CAN = CAN3;
#endif
if (CAN == NULL) return;
// connects to CAN2 xcvr or GMLAN xcvr
if (use_gmlan) {
if (can == 2) {
if (can == 1) {
// B5,B6: disable normal mode
set_gpio_mode(GPIOB, 5, MODE_INPUT);
set_gpio_mode(GPIOB, 6, MODE_INPUT);
@@ -108,39 +96,19 @@ void set_can_mode(int can, int use_gmlan) {
// B12,B13: gmlan mode
set_gpio_alternate(GPIOB, 12, GPIO_AF9_CAN2);
set_gpio_alternate(GPIOB, 13, GPIO_AF9_CAN2);
/* GMLAN mode pins:
M0(B15) M1(B14) mode
=======================
0 0 sleep
1 0 100kbit
0 1 high voltage wakeup
1 1 33kbit (normal)
*/
} else if (revision == PANDA_REV_C && can == 3) {
#ifdef CAN3
} else if (revision == PANDA_REV_C && can == 2) {
// A8,A15: disable normal mode
set_gpio_mode(GPIOA, 8, MODE_INPUT);
set_gpio_mode(GPIOA, 15, MODE_INPUT);
#ifdef CAN3
// B3,B4: enable gmlan mode
set_gpio_alternate(GPIOB, 3, GPIO_AF11_CAN3);
set_gpio_alternate(GPIOB, 4, GPIO_AF11_CAN3);
#endif
}
// put gmlan transceiver in normal mode
set_gpio_output(GPIOB, 14, 1);
set_gpio_output(GPIOB, 15, 1);
// 83.3 kbps
// prescaler = pclk / num_time_quanta * 10 / 833;
// 33.3 kbps
prescaler = pclk / num_time_quanta * 10 / 333;
} else {
if (can == 2) {
if (can == 1) {
// B12,B13: disable gmlan mode
set_gpio_mode(GPIOB, 12, MODE_INPUT);
set_gpio_mode(GPIOB, 13, MODE_INPUT);
@@ -148,36 +116,19 @@ void set_can_mode(int can, int use_gmlan) {
// B5,B6: normal mode
set_gpio_alternate(GPIOB, 5, GPIO_AF9_CAN2);
set_gpio_alternate(GPIOB, 6, GPIO_AF9_CAN2);
} else if (can == 3) {
#ifdef CAN3
} else if (can == 2) {
if(revision == PANDA_REV_C){
// B3,B4: disable gmlan mode
set_gpio_mode(GPIOB, 3, MODE_INPUT);
set_gpio_mode(GPIOB, 4, MODE_INPUT);
}
#ifdef CAN3
// A8,A15: normal mode
set_gpio_alternate(GPIOA, 8, GPIO_AF11_CAN3);
set_gpio_alternate(GPIOA, 15, GPIO_AF11_CAN3);
#endif
}
// 500 kbps
prescaler = pclk / num_time_quanta / 500;
}
// init
CAN->MCR = CAN_MCR_TTCM | CAN_MCR_INRQ;
while((CAN->MSR & CAN_MSR_INAK) != CAN_MSR_INAK);
// set speed
// seg 1: 13 time quanta, seg 2: 2 time quanta
CAN->BTR = (CAN_BTR_TS1_0 * 12) |
CAN_BTR_TS2_0 | (prescaler - 1);
// running
CAN->MCR = CAN_MCR_TTCM;
while((CAN->MSR & CAN_MSR_INAK) == CAN_MSR_INAK);
}
// board specific
@@ -242,14 +193,27 @@ void gpio_init() {
// B5,B6: CAN 2
set_can_enable(CAN2, 0);
set_can_mode(2, 0);
set_can_mode(1, 0);
// A8,A15: CAN3
// A8,A15: CAN 3
#ifdef CAN3
set_can_enable(CAN3, 0);
set_can_mode(3, 0);
set_can_mode(2, 0);
#endif
/* GMLAN mode pins:
M0(B15) M1(B14) mode
=======================
0 0 sleep
1 0 100kbit
0 1 high voltage wakeup
1 1 33kbit (normal)
*/
// put gmlan transceiver in normal mode
set_gpio_output(GPIOB, 14, 1);
set_gpio_output(GPIOB, 15, 1);
#ifdef PANDA
// K-line enable moved from B4->B7 to make room for GMLAN on CAN3
if(revision == PANDA_REV_C)

66
board/main.c
View File

@@ -43,9 +43,14 @@ typedef struct {
can_buffer(rx_q, 0x1000)
can_buffer(tx1_q, 0x100)
can_buffer(tx2_q, 0x100)
can_buffer(tx3_q, 0x100)
can_ring *can_queues[] = {&can_tx1_q, &can_tx2_q, &can_tx3_q};
#ifdef PANDA
can_buffer(tx3_q, 0x100)
can_buffer(txgmlan_q, 0x100)
can_ring *can_queues[] = {&can_tx1_q, &can_tx2_q, &can_tx3_q, &can_txgmlan_q};
#else
can_ring *can_queues[] = {&can_tx1_q, &can_tx2_q};
#endif
// ********************* IRQ helpers *********************
@@ -280,6 +285,8 @@ int putc(uart_ring *q, char elem) {
// ***************************** CAN *****************************
void process_can(uint8_t can_number) {
if (can_number == 0xff) return;
enter_critical_section();
CAN_TypeDef *CAN = CANIF_FROM_CAN_NUM(can_number);
@@ -571,12 +578,45 @@ int usb_cb_control_msg(USB_Setup_TypeDef *setup, uint8_t *resp, int hardwired) {
break;
// **** 0xdb: set GMLAN multiplexing mode
case 0xdb:
if (setup->b.wIndex.w == 1) {
set_can_mode(3, 0); // TODO: Make set_can_mode bus num 'sane' as well.
set_can_mode(2, setup->b.wValue.w);
} else if (setup->b.wIndex.w == 2) {
set_can_mode(2, 0);
set_can_mode(3, setup->b.wValue.w);
if (setup->b.wValue.w == 1) {
// GMLAN ON
if (setup->b.wIndex.w == 1) {
puts("GMLAN on CAN2\n");
// GMLAN on CAN2
set_can_mode(1, 1);
bus_lookup[1] = 3;
can_num_lookup[1] = -1;
can_num_lookup[3] = 1;
can_init(1);
} else if (setup->b.wIndex.w == 2) {
puts("GMLAN on CAN3\n");
// GMLAN on CAN3
set_can_mode(2, 1);
bus_lookup[2] = 3;
can_num_lookup[2] = -1;
can_num_lookup[3] = 2;
can_init(2);
}
} else {
// GMLAN OFF
switch (can_num_lookup[3]) {
case 1:
puts("disable GMLAN on CAN2\n");
set_can_mode(1, 0);
bus_lookup[1] = 1;
can_num_lookup[1] = 1;
can_num_lookup[3] = -1;
can_init(1);
break;
case 2:
puts("disable GMLAN on CAN3\n");
set_can_mode(2, 0);
bus_lookup[2] = 2;
can_num_lookup[2] = 2;
can_num_lookup[3] = -1;
can_init(2);
break;
}
}
break;
// **** 0xdc: set safety mode
@@ -592,18 +632,18 @@ int usb_cb_control_msg(USB_Setup_TypeDef *setup, uint8_t *resp, int hardwired) {
case 0xdd:
// wValue = Can Bus Num to forward from
// wIndex = Can Bus Num to forward to
if (setup->b.wValue.w < CAN_MAX && setup->b.wIndex.w < CAN_MAX &&
setup->b.wValue.w != setup->b.wIndex.w) { //Set forwarding
if (setup->b.wValue.w < BUS_MAX && setup->b.wIndex.w < BUS_MAX &&
setup->b.wValue.w != setup->b.wIndex.w) { // set forwarding
can_forwarding[setup->b.wValue.w] = setup->b.wIndex.w & CAN_BUS_NUM_MASK;
} else if(setup->b.wValue.w < CAN_MAX && setup->b.wIndex.w == 0xFF){ //Clear Forwarding
} else if(setup->b.wValue.w < BUS_MAX && setup->b.wIndex.w == 0xFF){ //Clear Forwarding
can_forwarding[setup->b.wValue.w] = -1;
}
break;
// **** 0xde: set can bitrate
case 0xde:
if (setup->b.wValue.w < CAN_MAX) {
if (setup->b.wValue.w < BUS_MAX) {
can_speed[setup->b.wValue.w] = setup->b.wIndex.w;
can_init(setup->b.wValue.w);
can_init(CAN_NUM_FROM_BUS_NUM(setup->b.wValue.w));
}
break;
// **** 0xe0: uart read

10
panda/__init__.py
View File

@@ -83,6 +83,9 @@ class Panda(object):
SERIAL_LIN1 = 2
SERIAL_LIN2 = 3
GMLAN_CAN2 = 1
GMLAN_CAN3 = 2
REQUEST_IN = usb1.ENDPOINT_IN | usb1.TYPE_VENDOR | usb1.RECIPIENT_DEVICE
REQUEST_OUT = usb1.ENDPOINT_OUT | usb1.TYPE_VENDOR | usb1.RECIPIENT_DEVICE
@@ -177,8 +180,11 @@ class Panda(object):
# TODO: This feature may not work correctly with saturated buses
self._handle.controlWrite(Panda.REQUEST_OUT, 0xdd, from_bus, to_bus, b'')
def set_gmlan(self, on, bus=2):
self._handle.controlWrite(Panda.REQUEST_OUT, 0xdb, int(on), bus, b'')
def set_gmlan(self, bus=2):
if bus is None:
self._handle.controlWrite(Panda.REQUEST_OUT, 0xdb, 0, 0, b'')
elif bus in [Panda.GMLAN_CAN2, Panda.GMLAN_CAN3]:
self._handle.controlWrite(Panda.REQUEST_OUT, 0xdb, 1, bus, b'')
def set_can_loopback(self, enable):
# set can loopback mode for all buses

71
tests/automated/usb_to_can.py
View File

@@ -108,6 +108,27 @@ def test_reliability():
sys.stdout.write("P")
sys.stdout.flush()
def time_many_sends(p, bus):
MSG_COUNT = 100
st = time.time()
p.can_send_many([(0x1aa, 0, "\xaa"*8, bus)]*MSG_COUNT)
r = []
while len(r) < 200 and (time.time() - st) < 3:
r.extend(p.can_recv())
sent_echo = filter(lambda x: x[3] == 0x80 | bus, r)
loopback_resp = filter(lambda x: x[3] == bus, r)
assert_equal(len(sent_echo), 100)
assert_equal(len(loopback_resp), 100)
et = (time.time()-st)*1000.0
comp_kbps = (1+11+1+1+1+4+8*8+15+1+1+1+7)*MSG_COUNT / et
return comp_kbps
def test_throughput():
p = connect_wo_esp()
@@ -117,36 +138,52 @@ def test_throughput():
# enable CAN loopback mode
p.set_can_loopback(True)
MSG_COUNT = 100
for speed in [100,250,500,750,1000]:
# set bus 0 speed to speed
p.set_can_speed_kbps(0, speed)
time.sleep(0.05)
st = time.time()
p.can_send_many([(0x1aa, 0, "\xaa"*8, 0)]*MSG_COUNT)
r = []
while len(r) < 200 and (time.time() - st) < 3:
r.extend(p.can_recv())
sent_echo = filter(lambda x: x[3] == 0x80, r)
loopback_resp = filter(lambda x: x[3] == 0, r)
assert_equal(len(sent_echo), 100)
assert_equal(len(loopback_resp), 100)
et = (time.time()-st)*1000.0
comp_kbps = time_many_sends(p, 0)
# bit count from https://en.wikipedia.org/wiki/CAN_bus
comp_kbps = (1+11+1+1+1+4+8*8+15+1+1+1+7)*MSG_COUNT / et
saturation_pct = (comp_kbps/speed) * 100.0
assert_greater(saturation_pct, 80)
assert_less(saturation_pct, 100)
print("loopback 100 messages at speed %d in %.2f ms, comp speed is %.2f, percent %.2f" % (speed, et, comp_kbps, saturation_pct))
print("loopback 100 messages at speed %d, comp speed is %.2f, percent %.2f" % (speed, comp_kbps, saturation_pct))
def test_gmlan():
p = connect_wo_esp()
# enable output mode
p.set_safety_mode(Panda.SAFETY_ALLOUTPUT)
# enable CAN loopback mode
p.set_can_loopback(True)
SPEED_NORMAL = 500
SPEED_GMLAN = 33.3
p.set_can_speed_kbps(1, SPEED_NORMAL)
p.set_can_speed_kbps(2, SPEED_NORMAL)
p.set_can_speed_kbps(3, SPEED_GMLAN)
# set gmlan on CAN2
for bus in [Panda.GMLAN_CAN2, Panda.GMLAN_CAN3, Panda.GMLAN_CAN2, Panda.GMLAN_CAN3]:
p.set_gmlan(bus)
comp_kbps_gmlan = time_many_sends(p, 3)
assert_greater(comp_kbps_gmlan, 0.8 * SPEED_GMLAN)
assert_less(comp_kbps_gmlan, 1.0 * SPEED_GMLAN)
p.set_gmlan(None)
comp_kbps_normal = time_many_sends(p, bus)
assert_greater(comp_kbps_normal, 0.8 * SPEED_NORMAL)
assert_less(comp_kbps_normal, 1.0 * SPEED_NORMAL)
print("%d: %.2f kbps vs %.2f kbps" % (bus, comp_kbps_gmlan, comp_kbps_normal))
# this will fail if you have hardware serial connected
def test_serial_debug():
p = connect_wo_esp()
junk = p.serial_read(Panda.SERIAL_DEBUG)