L-line relay (#166)

* Initial version of L-Line Relay

* lline relay fix build, add to health

* Add lline relay to safety

* Lline relay fix build

* Fix tests

* Add lline safety init. Dont fwd with relay closed

* Turn on relay with CAN

* relay hook

* More reliable lline relay

* Longer LLine timeout

* Only turn on wifi if not eon

* Dont disable ESP in early

* Allow CAN to be turned off

 - CAN is turned off via USB.
 - CAN is turned on when either try to transmit or can is received
 - If only transmit is asleep, all messages should send okay
 - If receive is alseep, will miss first message while waking up
 - Sometimes will report error on second message while CAN perif wakes up
 - Saves 130mW!

* Power Saver Mode

 - Gray Panda power consumption 650mw -> 325mW
 - Turns off CAN, GMLAN, LIN, GPS when no activity for 10s
 - No acitvity is no CAN send, CAN Recv, Write to GPS

* Fix power_saving to better turn off can

 - On some cars when the can is turned off, it triggers a wakeup.
 Delaying the automatic wakeup seems to fix this

* Don't save power in pedal

* Fix relay clicking on startup

* Fix duplicate include

* consistent relay setting

* relay_status can be added when needed, as it's started_alt was consumed in other places

* need to skip forwarding only if relay control is claimed

* unneded change

* make lline_relay.h not depending on can.h

* less spaghetti I guess

* less lines

* reset pedal changes

* no unused input

* update version

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 *********************
@@ -453,14 +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 +120,7 @@ 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;
@@ -391,7 +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

board/main.c

@@ -163,6 +163,14 @@ void usb_cb_ep3_out(uint8_t *usbdata, int len, int hardwired) {
 
     uint8_t bus_number = (to_push.RDTR >> 4) & CAN_BUS_NUM_MASK;
     can_send(&to_push, bus_number);
+
+    #ifdef PANDA
+      // Enable relay on can message if allowed.
+      // Temporary until OP has support for relay
+      if (safety_relay_hook()) {
+        set_lline_output(1);
+      }
+    #endif
   }
 }
 
@@ -444,6 +452,16 @@ int usb_cb_control_msg(USB_Setup_TypeDef *setup, uint8_t *resp, int hardwired) {
         }
         break;
       }
+    // **** 0xf3: set l-line relay
+    case 0xf3:
+      {
+        #ifdef PANDA
+          if (safety_relay_hook()) {
+            set_lline_output(setup->b.wValue.w == 1);
+          }
+        #endif
+        break;
+      }
     default:
       puts("NO HANDLER ");
       puth(setup->b.bRequest);

board/safety.h

@@ -29,6 +29,10 @@ int driver_limit_check(int val, int val_last, struct sample_t *val_driver,
 int rt_rate_limit_check(int val, int val_last, const int MAX_RT_DELTA);
 #ifdef PANDA
 float interpolate(struct lookup_t xy, float x);
+
+void lline_relay_init (void);
+void lline_relay_release (void);
+void set_lline_output(int to_set);
 #endif
 
 typedef void (*safety_hook_init)(int16_t param);
@@ -37,6 +41,7 @@ typedef int (*tx_hook)(CAN_FIFOMailBox_TypeDef *to_send);
 typedef int (*tx_lin_hook)(int lin_num, uint8_t *data, int len);
 typedef int (*ign_hook)();
 typedef int (*fwd_hook)(int bus_num, CAN_FIFOMailBox_TypeDef *to_fwd);
+typedef int (*relay_hook)();
 
 typedef struct {
   safety_hook_init init;
@@ -45,6 +50,7 @@ typedef struct {
   tx_hook tx;
   tx_lin_hook tx_lin;
   fwd_hook fwd;
+  relay_hook relay;
 } safety_hooks;
 
 // This can be set by the safety hooks.
@@ -91,6 +97,10 @@ int safety_fwd_hook(int bus_num, CAN_FIFOMailBox_TypeDef *to_fwd) {
   return current_hooks->fwd(bus_num, to_fwd);
 }
 
+int safety_relay_hook(void) {
+  return current_hooks->relay();
+}
+
 typedef struct {
   uint16_t id;
   const safety_hooks *hooks;

board/safety/safety_cadillac.h

@@ -115,6 +115,9 @@ static int cadillac_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
 static void cadillac_init(int16_t param) {
   controls_allowed = 0;
   cadillac_ign = 0;
+  #ifdef PANDA
+    lline_relay_release();
+  #endif
 }
 
 static int cadillac_ign_hook() {
@@ -128,4 +131,5 @@ const safety_hooks cadillac_hooks = {
   .tx_lin = nooutput_tx_lin_hook,
   .ignition = cadillac_ign_hook,
   .fwd = alloutput_fwd_hook,
+  .relay = nooutput_relay_hook,
 };

board/safety/safety_chrysler.h

@@ -127,6 +127,9 @@ static int chrysler_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
 
 static void chrysler_init(int16_t param) {
   chrysler_camera_detected = 0;
+  #ifdef PANDA
+    lline_relay_release();
+  #endif
 }
 
 static int chrysler_fwd_hook(int bus_num, CAN_FIFOMailBox_TypeDef *to_fwd) {
@@ -150,4 +153,5 @@ const safety_hooks chrysler_hooks = {
   .tx_lin = nooutput_tx_lin_hook,
   .ignition = default_ign_hook,
   .fwd = chrysler_fwd_hook,
+  .relay = nooutput_relay_hook,
 };

board/safety/safety_defaults.h

@@ -8,6 +8,9 @@ int default_ign_hook() {
 
 static void nooutput_init(int16_t param) {
   controls_allowed = 0;
+  #ifdef PANDA
+    lline_relay_release();
+  #endif
 }
 
 static int nooutput_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
@@ -22,6 +25,10 @@ static int nooutput_fwd_hook(int bus_num, CAN_FIFOMailBox_TypeDef *to_fwd) {
   return -1;
 }
 
+static int nooutput_relay_hook(int to_set) {
+  return false;
+}
+
 const safety_hooks nooutput_hooks = {
   .init = nooutput_init,
   .rx = default_rx_hook,
@@ -29,12 +36,16 @@ const safety_hooks nooutput_hooks = {
   .tx_lin = nooutput_tx_lin_hook,
   .ignition = default_ign_hook,
   .fwd = nooutput_fwd_hook,
+  .relay = nooutput_relay_hook,
 };
 
 // *** all output safety mode ***
 
 static void alloutput_init(int16_t param) {
   controls_allowed = 1;
+  #ifdef PANDA
+    lline_relay_release();
+  #endif
 }
 
 static int alloutput_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
@@ -49,6 +60,10 @@ static int alloutput_fwd_hook(int bus_num, CAN_FIFOMailBox_TypeDef *to_fwd) {
   return -1;
 }
 
+static int alloutput_relay_hook(int to_set) {
+  return true;
+}
+
 const safety_hooks alloutput_hooks = {
   .init = alloutput_init,
   .rx = default_rx_hook,
@@ -56,4 +71,5 @@ const safety_hooks alloutput_hooks = {
   .tx_lin = alloutput_tx_lin_hook,
   .ignition = default_ign_hook,
   .fwd = alloutput_fwd_hook,
+  .relay = alloutput_relay_hook,
 };

board/safety/safety_elm327.h

@@ -42,4 +42,5 @@ const safety_hooks elm327_hooks = {
   .tx_lin = elm327_tx_lin_hook,
   .ignition = default_ign_hook,
   .fwd = elm327_fwd_hook,
+  .relay = nooutput_relay_hook,
 };

board/safety/safety_ford.h

@@ -90,4 +90,5 @@ const safety_hooks ford_hooks = {
   .tx_lin = nooutput_tx_lin_hook,
   .ignition = default_ign_hook,
   .fwd = nooutput_fwd_hook,
+  .relay = nooutput_relay_hook,
 };

board/safety/safety_gm.h

@@ -228,6 +228,9 @@ static int gm_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
 static void gm_init(int16_t param) {
   controls_allowed = 0;
   gm_ignition_started = 0;
+  #ifdef PANDA
+    lline_relay_release();
+  #endif
 }
 
 static int gm_ign_hook() {
@@ -241,5 +244,5 @@ const safety_hooks gm_hooks = {
   .tx_lin = nooutput_tx_lin_hook,
   .ignition = gm_ign_hook,
   .fwd = nooutput_fwd_hook,
+  .relay = nooutput_relay_hook,
 };
-

board/safety/safety_gm_ascm.h

@@ -48,5 +48,6 @@ const safety_hooks gm_ascm_hooks = {
   .tx_lin = nooutput_tx_lin_hook,
   .ignition = default_ign_hook,
   .fwd = gm_ascm_fwd_hook,
+  .relay = nooutput_relay_hook,
 };
 

board/safety/safety_honda.h

@@ -136,6 +136,9 @@ static void honda_init(int16_t param) {
   controls_allowed = 0;
   bosch_hardware = false;
   honda_alt_brake_msg = false;
+  #ifdef PANDA
+    lline_relay_release();
+  #endif
 }
 
 static void honda_bosch_init(int16_t param) {
@@ -143,6 +146,9 @@ static void honda_bosch_init(int16_t param) {
   bosch_hardware = true;
   // Checking for alternate brake override from safety parameter
   honda_alt_brake_msg = param == 1 ? true : false;
+  #ifdef PANDA
+    lline_relay_release();
+  #endif
 }
 
 static int honda_fwd_hook(int bus_num, CAN_FIFOMailBox_TypeDef *to_fwd) {
@@ -176,6 +182,7 @@ const safety_hooks honda_hooks = {
   .tx_lin = nooutput_tx_lin_hook,
   .ignition = default_ign_hook,
   .fwd = honda_fwd_hook,
+  .relay = nooutput_relay_hook,
 };
 
 const safety_hooks honda_bosch_hooks = {
@@ -185,4 +192,5 @@ const safety_hooks honda_bosch_hooks = {
   .tx_lin = nooutput_tx_lin_hook,
   .ignition = default_ign_hook,
   .fwd = honda_bosch_fwd_hook,
+  .relay = nooutput_relay_hook,
 };

board/safety/safety_hyundai.h

@@ -152,6 +152,9 @@ static int hyundai_fwd_hook(int bus_num, CAN_FIFOMailBox_TypeDef *to_fwd) {
 static void hyundai_init(int16_t param) {
   controls_allowed = 0;
   hyundai_giraffe_switch_2 = 0;
+  #ifdef PANDA
+    lline_relay_release();
+  #endif
 }
 
 const safety_hooks hyundai_hooks = {
@@ -161,4 +164,5 @@ const safety_hooks hyundai_hooks = {
   .tx_lin = nooutput_tx_lin_hook,
   .ignition = default_ign_hook,
   .fwd = hyundai_fwd_hook,
+  .relay = nooutput_relay_hook,
 };

board/safety/safety_subaru.h

@@ -14,6 +14,11 @@ int subaru_desired_torque_last = 0;
 uint32_t subaru_ts_last = 0;
 struct sample_t subaru_torque_driver;         // last few driver torques measured
 
+static void subaru_init(int16_t param) {
+  #ifdef PANDA
+    lline_relay_init();
+  #endif
+}
 
 static void subaru_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
   int bus_number = (to_push->RDTR >> 4) & 0xFF;
@@ -122,10 +127,11 @@ static int subaru_fwd_hook(int bus_num, CAN_FIFOMailBox_TypeDef *to_fwd) {
 }
 
 const safety_hooks subaru_hooks = {
-  .init = nooutput_init,
+  .init = subaru_init,
   .rx = subaru_rx_hook,
   .tx = subaru_tx_hook,
   .tx_lin = nooutput_tx_lin_hook,
   .ignition = default_ign_hook,
   .fwd = subaru_fwd_hook,
+  .relay = alloutput_relay_hook,
 };

board/safety/safety_tesla.h

@@ -230,6 +230,9 @@ static void tesla_init(int16_t param)
   controls_allowed = 0;
   tesla_ignition_started = 0;
   gmlan_switch_init(1); //init the gmlan switch with 1s timeout enabled
+  #ifdef PANDA
+    lline_relay_release();
+  #endif
 }
 
 static int tesla_ign_hook()
@@ -284,4 +287,5 @@ const safety_hooks tesla_hooks = {
     .tx_lin = tesla_tx_lin_hook,
     .ignition = tesla_ign_hook,
     .fwd = tesla_fwd_hook,
+    .relay = nooutput_relay_hook,
 };

board/safety/safety_toyota.h

@@ -160,6 +160,9 @@ static void toyota_init(int16_t param) {
   toyota_giraffe_switch_1 = 0;
   toyota_camera_forwarded = 0;
   toyota_dbc_eps_torque_factor = param;
+  #ifdef PANDA
+    lline_relay_release();
+  #endif
 }
 
 static int toyota_fwd_hook(int bus_num, CAN_FIFOMailBox_TypeDef *to_fwd) {
@@ -181,6 +184,7 @@ const safety_hooks toyota_hooks = {
   .tx_lin = nooutput_tx_lin_hook,
   .ignition = default_ign_hook,
   .fwd = toyota_fwd_hook,
+  .relay = nooutput_relay_hook,
 };
 
 static void toyota_nolimits_init(int16_t param) {
@@ -189,6 +193,9 @@ static void toyota_nolimits_init(int16_t param) {
   toyota_giraffe_switch_1 = 0;
   toyota_camera_forwarded = 0;
   toyota_dbc_eps_torque_factor = param;
+  #ifdef PANDA
+    lline_relay_release();
+  #endif
 }
 
 const safety_hooks toyota_nolimits_hooks = {
@@ -198,4 +205,5 @@ const safety_hooks toyota_nolimits_hooks = {
   .tx_lin = nooutput_tx_lin_hook,
   .ignition = default_ign_hook,
   .fwd = toyota_fwd_hook,
+  .relay = nooutput_relay_hook,
 };

board/safety/safety_toyota_ipas.h

@@ -152,5 +152,5 @@ const safety_hooks toyota_ipas_hooks = {
   .tx_lin = nooutput_tx_lin_hook,
   .ignition = default_ign_hook,
   .fwd = toyota_fwd_hook,
+  .relay = nooutput_relay_hook,
 };
-

python/__init__.py

@@ -392,6 +392,9 @@ class Panda(object):
     elif bus in [Panda.GMLAN_CAN2, Panda.GMLAN_CAN3]:
       self._handle.controlWrite(Panda.REQUEST_OUT, 0xdb, 1, bus, b'')
 
+  def set_lline_relay(self, enable):
+    self._handle.controlWrite(Panda.REQUEST_OUT, 0xf3, int(enable), 0, b'')
+
   def set_can_loopback(self, enable):
     # set can loopback mode for all buses
     self._handle.controlWrite(Panda.REQUEST_OUT, 0xe5, int(enable), 0, b'')

tests/safety/test.c

@@ -246,3 +246,12 @@ void reset_gmlan_switch_timeout(void){
 
 void gmlan_switch_init(int timeout_enable){
 }
+
+void lline_relay_init (void) {
+}
+
+void lline_relay_release (void) {
+}
+
+void set_lline_output(int to_set) {
+}