mirror of https://github.com/commaai/panda.git
ELM327: Added LIN keep alive messages. Tests as well.
This commit is contained in:
Jessy Diamond Exum
parent
5ca692e8d3
commit
124d0a882f
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@ -111,6 +111,8 @@ static bool elm_mode_allow_long = false;
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static uint16_t elm_mode_timeout = ELM_MODE_TIMEOUT_DEFAULT;
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static uint16_t elm_mode_keepalive_period = ELM_MODE_KEEPALIVE_PERIOD_DEFAULT;
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bool lin_bus_initialized = false;
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/***********************************************
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*** ELM CLI response functions ***
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*** (for sending data back to the terminal) ***
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@ -289,12 +291,8 @@ static int ICACHE_FLASH_ATTR panda_usbemu_kline_read(uint16_t len) {
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static int ICACHE_FLASH_ATTR panda_usbemu_kline_write(elm_lin_obd_msg *msg) {
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elm_lin_usb_msg usb_msg = {};
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lin_last_sent_msg_len = (msg->priority & 0x07) + 4;
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memcpy(&lin_last_sent_msg, msg, lin_last_sent_msg_len);
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lin_await_msg_echo = true;
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usb_msg.usb_ep_num = PANDA_USB_LIN_WRITE_BUS_NUM; //USB Bulk Endpoint ID.
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usb_msg.payload_len = lin_last_sent_msg_len + 1;
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usb_msg.payload_len = (msg->priority & 0x07) + 4 + 1; //The +1 is for serial_port
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usb_msg.serial_port = 2;
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memcpy(&usb_msg.msg, msg, sizeof(elm_lin_obd_msg));
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@ -308,6 +306,7 @@ static int ICACHE_FLASH_ATTR panda_usbemu_kline_write(elm_lin_obd_msg *msg) {
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if(returned_count)
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os_printf("ELM LIN send expected 0 bytes back from panda. Got %d bytes instead\n", returned_count);
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if(returned_count > 0x40) return 0;
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return returned_count;
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}
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@ -434,11 +433,15 @@ typedef struct elm_protocol {
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elm_proto_type_t type;
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uint16_t cbaud; //Centibaud (cbaud * 10 = kbaud)
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void (*process_obd)(const struct elm_protocol*, const char*, uint16_t);
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//init is used to init and de-init a protocol. Init functions should
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//not do things that would leave a new protocol in an invalid state
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//after the new protocol's init is called (e.g. No arming timers).
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void (*init)(const struct elm_protocol*);
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char* name;
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} elm_protocol_t;
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static const elm_protocol_t* ICACHE_FLASH_ATTR elm_current_proto();
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void ICACHE_FLASH_ATTR elm_reset_aux_timer();
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static void ICACHE_FLASH_ATTR elm_autodetect_cb(bool);
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static const elm_protocol_t elm_protocols[];
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@ -474,20 +477,53 @@ static void ICACHE_FLASH_ATTR elm_process_obd_cmd_J1850(const elm_protocol_t* pr
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*** -> ISO 14230-4 implementation ***
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*****************************************************/
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bool lin_bus_initialized = false;
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const char *lin_cmd_backup = NULL; //Holds msg while bus init is done
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uint16_t lin_cmd_backup_len;
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uint16_t lin_cmd_backup_len = 0;
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bool lin_waiting_keepalive_echo = false;
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static void ICACHE_FLASH_ATTR elm_process_obd_cmd_LIN5baud(const elm_protocol_t* proto,
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const char *cmd, uint16_t len) {
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elm_append_rsp_const("BUS INIT: ...ERROR\r\r>");
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}
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bool ICACHE_FLASH_ATTR elm_lin_keepalive_echo() {
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if(lin_waiting_keepalive_echo) {
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for(int pass = 0; pass < 4 && lin_ringbuff_len < 5; pass++) {
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elm_LIN_read_into_ringbuff();
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}
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lin_waiting_keepalive_echo = false;
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//keepalive Echo should always come before other message echo.
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if(lin_ringbuff_len >= 5 && !elm_LIN_ringbuff_memcmp("\xc1\x33\xf1\x3e\x23", 5)){
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lin_ringbuff_consume(5);
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return true;
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} else {
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os_printf("Keep alive echo failed\n");
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return false;
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}
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}
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return true;
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}
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void ICACHE_FLASH_ATTR elm_LINFast_keepalive_timer_cb(void *arg) {
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if(!lin_bus_initialized) {
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os_printf("WARNING! Elm LIN keepalive timer running while bus is not initialized\n");
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return;
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}
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if(loopcount) {
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os_printf("WARNING! Elm LIN keepalive timer during a tx/rx loop!\n");
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return;
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}
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if(lin_ringbuff_len) {
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os_printf("WARNING! lin_ringbuff_len should be 0 when a keepalive echo is processed.\n");
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return;
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}
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if(!elm_lin_keepalive_echo()) {
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lin_bus_initialized = false;
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return;
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}
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elm_lin_obd_msg msg = {};
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msg.priority = 0xC0 | 1;
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@ -503,21 +539,34 @@ void ICACHE_FLASH_ATTR elm_LINFast_keepalive_timer_cb(void *arg) {
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os_printf("\n");
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#endif
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//TODO handle all this crap with not shouting ERROR on failed keepallive msg.
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lin_waiting_keepalive_echo = true;
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panda_usbemu_kline_write(&msg);
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elm_reset_aux_timer();
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}
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static void ICACHE_FLASH_ATTR elm_init_LINFast(const elm_protocol_t* proto){
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lin_bus_initialized = false;
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lin_await_msg_echo = false;
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lin_ringbuff_clear();
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os_timer_disarm(&elm_proto_aux_timeout);
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os_timer_setfn(&elm_proto_aux_timeout, (os_timer_func_t *)elm_LINFast_keepalive_timer_cb, proto);
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lin_bus_initialized = false;
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lin_await_msg_echo = false;
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lin_waiting_keepalive_echo = false;
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lin_cmd_backup = NULL;
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lin_cmd_backup_len = 0;
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lin_ringbuff_clear();
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panda_clear_lin_txrx();
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}
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int ICACHE_FLASH_ATTR elm_LINFast_process_echo() {
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if(!elm_lin_keepalive_echo()) {
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os_printf("Keepalive echo not detected.\n");
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lin_ringbuff_clear();
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return -1;
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}
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if(!lin_await_msg_echo) {
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os_printf("Echo abort. Nothing waiting echo\n");
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return 1;
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@ -579,7 +628,7 @@ void ICACHE_FLASH_ATTR elm_LINFast_timer_cb(void *arg){
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elm_tcp_tx_flush();
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}
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loopcount = 0;
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lin_bus_initialized = 0;
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lin_bus_initialized = false;
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return;
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}
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@ -632,6 +681,7 @@ void ICACHE_FLASH_ATTR elm_LINFast_timer_cb(void *arg){
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}
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lin_ringbuff_consume(newmsg_len);
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//elm_reset_aux_timer();
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} else {
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break; //Stop consuming data if there is not enough data for the next msg.
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}
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@ -655,6 +705,8 @@ void ICACHE_FLASH_ATTR elm_LINFast_timer_cb(void *arg){
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elm_autodetect_cb(got_msg_this_run_backup);
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}
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//TX RX over, resume Keepalive timer
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elm_reset_aux_timer();
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}
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}
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@ -735,15 +787,19 @@ void ICACHE_FLASH_ATTR elm_LINFast_businit_timer_cb(void *arg){
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os_printf("BUS INITIALIZED\n");
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//os_timer_disarm(&elm_proto_aux_timeout);
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//os_timer_arm(&elm_proto_aux_timeout, elm_mode_keepalive_period, 0);
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elm_reset_aux_timer();
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if(!is_auto_detecting) {
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elm_append_rsp_const("OK\r");
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elm_tcp_tx_flush();
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//Do the send that was delayed
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proto->process_obd(proto, lin_cmd_backup, lin_cmd_backup_len);
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if(lin_cmd_backup_len) {
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elm_tcp_tx_flush();
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proto->process_obd(proto, lin_cmd_backup, lin_cmd_backup_len);
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} else {
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elm_append_rsp_const("\r>");
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elm_tcp_tx_flush();
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}
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} else {
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os_printf("LIN success. Silent because in autodetect.\n");
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elm_autodetect_cb(true);
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@ -762,6 +818,7 @@ void ICACHE_FLASH_ATTR elm_LINFast_businit_timer_cb(void *arg){
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} else {
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elm_autodetect_cb(false);
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}
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elm_reset_aux_timer();
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}
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}
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@ -775,9 +832,11 @@ static void ICACHE_FLASH_ATTR elm_process_obd_cmd_LINFast(const elm_protocol_t*
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return;
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}
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panda_clear_lin_txrx();
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os_timer_disarm(&elm_proto_aux_timeout);
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if(!lin_bus_initialized) {
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panda_clear_lin_txrx();
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if(!is_auto_detecting)
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elm_append_rsp_const("BUS INIT: ");
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@ -788,6 +847,7 @@ static void ICACHE_FLASH_ATTR elm_process_obd_cmd_LINFast(const elm_protocol_t*
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msg.dat[0] = 0x81;
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msg.dat[1] = 0x81; // checksum
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os_printf("WAKEUP PULSE\n");
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panda_kline_wakeup_pulse();
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} else {
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bytelen = min(bytelen, 7);
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@ -812,6 +872,9 @@ static void ICACHE_FLASH_ATTR elm_process_obd_cmd_LINFast(const elm_protocol_t*
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os_printf("\n");
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#endif
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lin_last_sent_msg_len = (msg.priority & 0x07) + 4;
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memcpy(&lin_last_sent_msg, &msg, lin_last_sent_msg_len);
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lin_await_msg_echo = true;
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panda_usbemu_kline_write(&msg);
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loopcount = LOOPCOUNT_FULL + 1;
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@ -820,11 +883,6 @@ static void ICACHE_FLASH_ATTR elm_process_obd_cmd_LINFast(const elm_protocol_t*
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if(lin_bus_initialized) {
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os_timer_setfn(&elm_timeout, (os_timer_func_t *)elm_LINFast_timer_cb, proto);
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elm_LINFast_timer_cb((void*)proto);
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//TODO Decide when to start this timer
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//os_timer_disarm(&elm_proto_aux_timeout);
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//os_timer_arm(&elm_proto_aux_timeout, elm_mode_keepalive_period, 0);
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//os_timer_arm(&elm_timeout, 50, 0);
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} else {
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os_timer_setfn(&elm_timeout, (os_timer_func_t *)elm_LINFast_businit_timer_cb, proto);
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elm_LINFast_businit_timer_cb((void*)proto);
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@ -1053,21 +1111,22 @@ static void ICACHE_FLASH_ATTR elm_autodetect_cb(bool proto_worked){
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elm_current_proto()->process_obd(elm_current_proto(),
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elm_staged_auto_msg, elm_staged_auto_msg_len);
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} else {
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os_printf("Autodetect proto failed\n");
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for(elm_autodetect_proto_iter++; elm_autodetect_proto_iter < ELM_PROTOCOL_COUNT;
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elm_autodetect_proto_iter++){
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const elm_protocol_t *proto = &elm_protocols[elm_autodetect_proto_iter];
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if(proto->supported && proto->type != AUTO) {
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os_printf("*** AUTO trying '%s'\n", proto->name);
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os_printf("*** AUTO trying '%s'\n", proto->name);
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proto->init(proto);
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proto->process_obd(proto, "0100\r", 5);
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proto->process_obd(proto, "0100\r", 5); // Try sending on the bus
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return;
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}
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}
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//if(elm_autodetect_main()) return;
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is_auto_detecting = false;
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os_printf("Autodetect failed\n");
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elm_append_rsp_const("UNABLE TO CONNECT\r\r>");
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elm_tcp_tx_flush();
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os_printf("Autodetect failed\n");
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}
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}
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@ -1077,17 +1136,9 @@ static void ICACHE_FLASH_ATTR elm_process_obd_cmd_AUTO(const elm_protocol_t* pro
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elm_staged_auto_msg_len = len;
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elm_staged_auto_msg = cmd;
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is_auto_detecting = true;
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for(elm_autodetect_proto_iter = 0; elm_autodetect_proto_iter < ELM_PROTOCOL_COUNT;
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elm_autodetect_proto_iter++){
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const elm_protocol_t *proto = &elm_protocols[elm_autodetect_proto_iter];
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if(proto->supported && proto->type != AUTO) {
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os_printf("*** AUTO trying '%s'\n", proto->name);
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proto->init(proto);
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proto->process_obd(proto, "0100\r", 5); // Try sending on the bus
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return;
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}
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}
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os_printf("ERROR: auto detect entering invalid state.\n");
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elm_autodetect_proto_iter = 0;
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elm_autodetect_cb(false);
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}
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/*****************************************************
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@ -1115,10 +1166,14 @@ static const elm_protocol_t* ICACHE_FLASH_ATTR elm_current_proto() {
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return &elm_protocols[elm_selected_protocol];
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}
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void ICACHE_FLASH_ATTR elm_switch_proto(){
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const elm_protocol_t* proto = elm_current_proto();
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if(!proto->supported) return;
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if(proto->init) proto->init(proto);
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void ICACHE_FLASH_ATTR elm_reset_aux_timer() {
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os_timer_disarm(&elm_proto_aux_timeout);
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if(elm_mode_keepalive_period)
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os_timer_arm(&elm_proto_aux_timeout, elm_mode_keepalive_period, 0);
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}
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void ICACHE_FLASH_ATTR elm_proto_reinit(const elm_protocol_t *proto) {
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if(proto->init) proto->init(proto);
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}
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/*******************************************
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@ -1191,6 +1246,7 @@ static const at_cmd_reg_t at_cmd_reg[] = {
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{"M0", 2, 2, AT_M0},
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//{"M1", 2, 2, AT_M1},
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{"NL", 2, 2, AT_NL},
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{"PC", 2, 2, AT_PC},
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{"S0", 2, 2, AT_S0}, // Added ELM 1.3, expected by Torque
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{"S1", 2, 2, AT_S1}, // Added ELM 1.3, expected by Torque
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{"SP", 2, 3, AT_SP},
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@ -1275,6 +1331,13 @@ static void ICACHE_FLASH_ATTR elm_process_at_cmd(char *cmd, uint16_t len) {
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case AT_NL: //DISABLE LONG MESSAGE SUPPORT (>7 BYTES)
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elm_mode_allow_long = false;
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break;
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case AT_PC: //PROTOCOL CANCEL (Stop timers and stuff)
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{
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//Init functions should idenpotently prepare the protocol to be used.
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//Thus, the init function can be used as a protocol cancel function
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elm_proto_reinit(elm_current_proto());
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break;
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}
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case AT_S0: //DISABLE PRINTING SPACES IN ECU RESPONSES
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elm_mode_print_spaces = false;
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break;
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@ -1287,9 +1350,15 @@ static void ICACHE_FLASH_ATTR elm_process_at_cmd(char *cmd, uint16_t len) {
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elm_append_rsp_const("?\r\r");
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return;
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}
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//De-Init previous protocol
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elm_proto_reinit(elm_current_proto());
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elm_selected_protocol = tmp;
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elm_mode_auto_protocol = (tmp == 0);
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elm_switch_proto();
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//Init new protocol
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elm_proto_reinit(elm_current_proto());
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break;
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case AT_SPA: //SET PROTOCOL WITH AUTO FALLBACK
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tmp = elm_decode_hex_char(cmd[3]);
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@ -1297,9 +1366,15 @@ static void ICACHE_FLASH_ATTR elm_process_at_cmd(char *cmd, uint16_t len) {
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elm_append_rsp_const("?\r\r");
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return;
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}
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//De-Init previous protocol
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elm_proto_reinit(elm_current_proto());
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elm_selected_protocol = tmp;
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elm_mode_auto_protocol = true;
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elm_switch_proto();
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//Init new protocol
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elm_proto_reinit(elm_current_proto());
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break;
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case AT_ST: //SET TIMEOUT
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if(!elm_check_valid_hex_chars(&cmd[2], 2)) {
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@ -1311,17 +1386,19 @@ static void ICACHE_FLASH_ATTR elm_process_at_cmd(char *cmd, uint16_t len) {
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//20 for CAN, 4 for LIN
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elm_mode_timeout = tmp ? tmp*20 : ELM_MODE_TIMEOUT_DEFAULT;
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break;
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case AT_SW:
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case AT_SW: //SET WAKEUP TIME INTERVAL
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if(!elm_check_valid_hex_chars(&cmd[2], 2)) {
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elm_append_rsp_const("?\r\r");
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return;
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}
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elm_mode_keepalive_period = max(elm_decode_hex_byte(&cmd[2]), 0x20) * 20;
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tmp = elm_decode_hex_byte(&cmd[2]);
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elm_mode_keepalive_period = tmp ? max(tmp, 0x20) * 20 : 0;
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if(lin_bus_initialized){
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os_timer_disarm(&elm_proto_aux_timeout);
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//if(elm_mode_keepalive_period)
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// os_timer_arm(&elm_proto_aux_timeout, elm_mode_keepalive_period, 0);
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if(elm_mode_keepalive_period)
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os_timer_arm(&elm_proto_aux_timeout, elm_mode_keepalive_period, 0);
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}
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break;
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case AT_Z: //RESET
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@ -1339,7 +1416,8 @@ static void ICACHE_FLASH_ATTR elm_process_at_cmd(char *cmd, uint16_t len) {
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elm_append_rsp_const("\r\r");
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elm_append_rsp_const(IDENT_MSG);
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panda_set_safety_mode(0xE327);
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elm_switch_proto();
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||||
elm_proto_reinit(elm_current_proto());
|
||||
return;
|
||||
default:
|
||||
elm_append_rsp_const("?\r\r");
|
||||
|
|
@ -1440,6 +1518,17 @@ void ICACHE_FLASH_ATTR elm_tcp_disconnect_cb(void *arg){
|
|||
|
||||
prev = iter;
|
||||
}
|
||||
|
||||
if(connection_list == NULL) {
|
||||
//If all clients are disconnected, reset the protocol (cancels
|
||||
//keep alive timers). This will not detect inproperly killed
|
||||
//connections. In this case, periodic events associated with the
|
||||
//current protocol will continue until a new client attaches, a
|
||||
//command is sent generating a response (ELM will try to responde
|
||||
//to the dead connection, and remove it upon error), and finally,
|
||||
//the new client disconnects. OFC a power cycle is also an option.
|
||||
elm_proto_reinit(elm_current_proto());
|
||||
}
|
||||
}
|
||||
|
||||
void ICACHE_FLASH_ATTR elm_tcp_connect_cb(void *arg) {
|
||||
|
|
|
|||
|
|
@ -342,6 +342,34 @@ def test_elm_panda_safety_mode_KWPFast():
|
|||
|
||||
assert did_send(0xC0, 0x33, 0xF1, b'\x01\x0B') #good! (obd func req)
|
||||
|
||||
def test_elm_lin_keepalive():
|
||||
s = elm_connect()
|
||||
serial = os.getenv("CANSIMSERIAL") if os.getenv("CANSIMSERIAL") else None
|
||||
sim = elm_car_simulator.ELMCarSimulator(serial, can=False, silent=True)
|
||||
sim.start()
|
||||
|
||||
try:
|
||||
sync_reset(s)
|
||||
send_compare(s, b'ATSP5\r', b"ATSP5\rOK\r\r>") # Set Proto
|
||||
send_compare(s, b'ATE0\r', b'ATE0\rOK\r\r>') # Echo OFF
|
||||
send_compare(s, b'ATS0\r', b'OK\r\r>') # Spaces OFF
|
||||
send_compare(s, b'ATH0\r', b'OK\r\r>') # Headers OFF
|
||||
|
||||
send_compare(s, b'0100\r', b"BUS INIT: OK\r4100FFFFFFFE\r\r>")
|
||||
assert sim.lin_active
|
||||
time.sleep(6)
|
||||
assert sim.lin_active
|
||||
|
||||
send_compare(s, b'ATPC\r', b"OK\r\r>") #STOP KEEPALIVE
|
||||
assert sim.lin_active
|
||||
time.sleep(6)
|
||||
assert not sim.lin_active
|
||||
|
||||
finally:
|
||||
sim.stop()
|
||||
sim.join()
|
||||
s.close()
|
||||
|
||||
#////////////
|
||||
def test_elm_protocol_autodetect_ISO15765():
|
||||
s = elm_connect()
|
||||
|
|
|
|||
|
|
@ -84,6 +84,7 @@ class ELMCarSimulator():
|
|||
continue
|
||||
|
||||
lin_buff += lin_msg
|
||||
#print(" ** Buff", lin_buff)
|
||||
if lin_buff.endswith(b'\x00\xc1\x33\xf1\x81\x66'): # Leading 0 is wakeup
|
||||
lin_buff = bytearray()
|
||||
self.__lin_active = True
|
||||
|
|
@ -128,6 +129,10 @@ class ELMCarSimulator():
|
|||
self.__lin_timer = None
|
||||
self.__lin_active = False
|
||||
|
||||
@property
|
||||
def lin_active(self):
|
||||
return self.__lin_active
|
||||
|
||||
def __lin_process_msg(self, priority, toaddr, fromaddr, data):
|
||||
self.__reset_lin_timeout()
|
||||
|
||||
|
|
|
|||
Loading…
Reference in New Issue