mirror of https://github.com/commaai/panda.git
Merge pull request #13 from diamondman/usb_bulk_to_interrupt
Usb bulk to interrupt
This commit is contained in:
George Hotz
GitHub
commit
47a1329e9e
130
board/usb.h
130
board/usb.h
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@ -128,29 +128,49 @@ uint8_t device_desc[] = {
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uint8_t configuration_desc[] = {
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DSCR_CONFIG_LEN, DSCR_CONFIG_TYPE, // Length, Type,
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0x27, 0x00, // Total Len (uint16)
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TOUSBORDER(0x0045), // Total Len (uint16)
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0x01, 0x01, 0x00, // Num Interface, Config Value, Configuration
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0xc0, 0x32, // Attributes, Max Power
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// interface 0
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// interface 0 ALT 0
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DSCR_INTERFACE_LEN, DSCR_INTERFACE_TYPE, // Length, Type
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0x00, 0x00, 0x03, // Index, Alt Index idx, Endpoint count
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0xff, 0xFF, 0xFF, // Class, Subclass, Protocol
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0XFF, 0xFF, 0xFF, // Class, Subclass, Protocol
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0x00, // Interface
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// endpoint 1, read CAN
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DSCR_ENDPOINT_LEN, DSCR_ENDPOINT_TYPE, // Length, Type
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ENDPOINT_RCV | 1, ENDPOINT_TYPE_BULK, // Endpoint Num/Direction, Type
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TOUSBORDER(0x0040), // Max Packet (0x0040)
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0x00, // Polling Interval
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// endpoint 2, send serial
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DSCR_ENDPOINT_LEN, DSCR_ENDPOINT_TYPE, // Length, Type
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ENDPOINT_SND | 2, ENDPOINT_TYPE_BULK, // Endpoint Num/Direction, Type
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TOUSBORDER(0x0040), // Max Packet (0x0040)
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0x00, // Polling Interval
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// endpoint 3, send CAN
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DSCR_ENDPOINT_LEN, DSCR_ENDPOINT_TYPE, // Length, Type
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ENDPOINT_SND | 3, ENDPOINT_TYPE_BULK, // Endpoint Num/Direction, Type
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TOUSBORDER(0x0040), // Max Packet (0x0040)
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0x00, // Polling Interval
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// endpoint 1, read CAN
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DSCR_ENDPOINT_LEN, DSCR_ENDPOINT_TYPE, // Length, Type
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ENDPOINT_RCV | 1, ENDPOINT_TYPE_BULK, // Endpoint Num/Direction, Type
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TOUSBORDER(0x0040), // Max Packet (0x0040)
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0x00, // Polling Interval (NA)
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// endpoint 2, send serial
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DSCR_ENDPOINT_LEN, DSCR_ENDPOINT_TYPE, // Length, Type
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ENDPOINT_SND | 2, ENDPOINT_TYPE_BULK, // Endpoint Num/Direction, Type
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TOUSBORDER(0x0040), // Max Packet (0x0040)
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0x00, // Polling Interval
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// endpoint 3, send CAN
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DSCR_ENDPOINT_LEN, DSCR_ENDPOINT_TYPE, // Length, Type
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ENDPOINT_SND | 3, ENDPOINT_TYPE_BULK, // Endpoint Num/Direction, Type
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TOUSBORDER(0x0040), // Max Packet (0x0040)
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0x00, // Polling Interval
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// interface 0 ALT 1
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DSCR_INTERFACE_LEN, DSCR_INTERFACE_TYPE, // Length, Type
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0x00, 0x01, 0x03, // Index, Alt Index idx, Endpoint count
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0XFF, 0xFF, 0xFF, // Class, Subclass, Protocol
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0x00, // Interface
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// endpoint 1, read CAN
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DSCR_ENDPOINT_LEN, DSCR_ENDPOINT_TYPE, // Length, Type
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ENDPOINT_RCV | 1, ENDPOINT_TYPE_INT, // Endpoint Num/Direction, Type
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TOUSBORDER(0x0040), // Max Packet (0x0040)
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0x05, // Polling Interval (5 frames)
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// endpoint 2, send serial
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DSCR_ENDPOINT_LEN, DSCR_ENDPOINT_TYPE, // Length, Type
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ENDPOINT_SND | 2, ENDPOINT_TYPE_BULK, // Endpoint Num/Direction, Type
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TOUSBORDER(0x0040), // Max Packet (0x0040)
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0x00, // Polling Interval
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// endpoint 3, send CAN
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DSCR_ENDPOINT_LEN, DSCR_ENDPOINT_TYPE, // Length, Type
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ENDPOINT_SND | 3, ENDPOINT_TYPE_BULK, // Endpoint Num/Direction, Type
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TOUSBORDER(0x0040), // Max Packet (0x0040)
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0x00, // Polling Interval
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};
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uint8_t string_0_desc[] = {
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@ -183,6 +203,9 @@ uint16_t string_3_desc[] = {
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USB_Setup_TypeDef setup;
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uint8_t usbdata[0x100];
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// Store the current interface alt setting.
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int current_int0_alt_setting = 0;
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// packet read and write
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void *USB_ReadPacket(void *dest, uint16_t len) {
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@ -198,14 +221,17 @@ void *USB_ReadPacket(void *dest, uint16_t len) {
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void USB_WritePacket(const uint8_t *src, uint16_t len, uint32_t ep) {
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#ifdef DEBUG_USB
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puts("writing ");
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hexdump(src, len);
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puts("writing ");
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hexdump(src, len);
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#endif
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uint8_t numpacket = (len+(MAX_RESP_LEN-1))/MAX_RESP_LEN;
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uint32_t count32b = 0, i = 0;
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count32b = (len + 3) / 4;
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// bullshit
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USBx_INEP(ep)->DIEPTSIZ = (USB_OTG_DIEPTSIZ_PKTCNT & (1 << 19)) | (len & USB_OTG_DIEPTSIZ_XFRSIZ);
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USBx_INEP(ep)->DIEPTSIZ = ((numpacket << 19) & USB_OTG_DIEPTSIZ_PKTCNT) |
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(len & USB_OTG_DIEPTSIZ_XFRSIZ);
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USBx_INEP(ep)->DIEPCTL |= (USB_OTG_DIEPCTL_CNAK | USB_OTG_DIEPCTL_EPENA);
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// load the FIFO
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@ -374,6 +400,12 @@ void usb_setup() {
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USB_WritePacket((void*)&resp, 2, 0);
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USBx_OUTEP(0)->DOEPCTL |= USB_OTG_DOEPCTL_CNAK;
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break;
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case USB_REQ_SET_INTERFACE:
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// Store the alt setting number for IN EP behavior.
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current_int0_alt_setting = setup.b.wValue.w;
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USB_WritePacket(0, 0, 0);
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USBx_OUTEP(0)->DOEPCTL |= USB_OTG_DOEPCTL_CNAK;
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break;
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default:
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resp_len = usb_cb_control_msg(&setup, resp, 1);
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USB_WritePacket(resp, min(resp_len, setup.b.wLength.w), 0);
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@ -515,7 +547,6 @@ void usb_irqhandler(void) {
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puts("\n");
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#endif
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if (((rxst & USB_OTG_GRXSTSP_PKTSTS) >> 17) == STS_DATA_UPDT) {
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int endpoint = (rxst & USB_OTG_GRXSTSP_EPNUM);
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int len = (rxst & USB_OTG_GRXSTSP_BCNT) >> 4;
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@ -632,8 +663,7 @@ void usb_irqhandler(void) {
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USBx_OUTEP(3)->DOEPINT = USBx_OUTEP(3)->DOEPINT;
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}
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// in endpoint hit
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// interrupt endpoint hit (Page 1221)
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if (gintsts & USB_OTG_GINTSTS_IEPINT) {
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#ifdef DEBUG_USB
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puts(" ");
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@ -643,29 +673,51 @@ void usb_irqhandler(void) {
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puts(" IN ENDPOINT\n");
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#endif
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// this happens first
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if (USBx_INEP(1)->DIEPINT & USB_OTG_DIEPINT_XFRC) {
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#ifdef DEBUG_USB
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puts(" IN PACKET SEND\n");
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#endif
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//USBx_DEVICE->DIEPEMPMSK = ~(1 << 1);
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}
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// Should likely check the EP of the IN request even if there is
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// only one IN endpoint.
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// *** IN token received when TxFIFO is empty
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if (USBx_INEP(1)->DIEPINT & USB_OTG_DIEPMSK_ITTXFEMSK) {
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#ifdef DEBUG_USB
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// No need to set NAK in OTG_DIEPCTL0 when nothing to send,
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// Appears USB core automatically sets NAK. WritePacket clears it.
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// Handle the two interface alternate settings. Setting 0 is has
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// EP1 as bulk. Setting 1 has EP1 as interrupt. The code to handle
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// these two EP variations are very similar and can be
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// restructured for smaller code footprint. Keeping split out for
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// now for clarity.
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//TODO add default case. Should it NAK?
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switch(current_int0_alt_setting){
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case 0: ////// Bulk config
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// *** IN token received when TxFIFO is empty
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if (USBx_INEP(1)->DIEPINT & USB_OTG_DIEPMSK_ITTXFEMSK) {
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#ifdef DEBUG_USB
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puts(" IN PACKET QUEUE\n");
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#endif
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// TODO: always assuming max len, can we get the length?
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USB_WritePacket((void *)resp, usb_cb_ep1_in(resp, 0x40, 1), 1);
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#endif
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// TODO: always assuming max len, can we get the length?
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USB_WritePacket((void *)resp, usb_cb_ep1_in(resp, 0x40, 1), 1);
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}
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break;
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case 1: ////// Interrupt config
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// Check if there is anything to actually send.
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if (can_rx_q.w_ptr != can_rx_q.r_ptr) {
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// *** IN token received when TxFIFO is empty
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if (USBx_INEP(1)->DIEPINT & USB_OTG_DIEPMSK_ITTXFEMSK) {
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#ifdef DEBUG_USB
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puts(" IN PACKET QUEUE\n");
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#endif
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// TODO: always assuming max len, can we get the length?
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USB_WritePacket((void *)resp, usb_cb_ep1_in(resp, 0x40, 1), 1);
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}
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}
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break;
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}
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// clear interrupts
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USBx_INEP(0)->DIEPINT = USBx_INEP(0)->DIEPINT;
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USBx_INEP(0)->DIEPINT = USBx_INEP(0)->DIEPINT; // Why ep0?
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USBx_INEP(1)->DIEPINT = USBx_INEP(1)->DIEPINT;
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}
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// clear all interrupts we handled
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USBx_DEVICE->DAINT = daint;
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USBx->GOTGINT = gotgint;
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@ -82,25 +82,27 @@ class Panda(object):
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def __init__(self, serial=None, claim=True):
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if serial == "WIFI":
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self.handle = WifiHandle()
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self._handle = WifiHandle()
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print("opening WIFI device")
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else:
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context = usb1.USBContext()
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self.handle = None
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self._handle = None
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for device in context.getDeviceList(skip_on_error=True):
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if device.getVendorID() == 0xbbaa and device.getProductID() == 0xddcc:
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if serial is None or device.getSerialNumber() == serial:
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print("opening device", device.getSerialNumber())
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self.handle = device.open()
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self._handle = device.open()
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if claim:
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self.handle.claimInterface(0)
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self._handle.claimInterface(0)
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# TODO: Do we need to cupport claim=False?
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self._handle.setInterfaceAltSetting(0,0)
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break
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assert self.handle != None
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assert self._handle != None
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def close(self):
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self.handle.close()
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self._handle.close()
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@staticmethod
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def list():
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@ -116,7 +118,7 @@ class Panda(object):
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# ******************* health *******************
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def health(self):
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dat = self.handle.controlRead(Panda.REQUEST_TYPE, 0xd2, 0, 0, 13)
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dat = self._handle.controlRead(Panda.REQUEST_TYPE, 0xd2, 0, 0, 13)
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a = struct.unpack("IIBBBBB", dat)
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return {"voltage": a[0], "current": a[1],
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"started": a[2], "controls_allowed": a[3],
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@ -128,38 +130,38 @@ class Panda(object):
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def enter_bootloader(self):
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try:
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self.handle.controlWrite(Panda.REQUEST_TYPE, 0xd1, 0, 0, b'')
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self._handle.controlWrite(Panda.REQUEST_TYPE, 0xd1, 0, 0, b'')
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except Exception as e:
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print(e)
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pass
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def get_serial(self):
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dat = self.handle.controlRead(Panda.REQUEST_TYPE, 0xd0, 0, 0, 0x20)
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dat = self._handle.controlRead(Panda.REQUEST_TYPE, 0xd0, 0, 0, 0x20)
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hashsig, calc_hash = dat[0x1c:], hashlib.sha1(dat[0:0x1c]).digest()[0:4]
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if hashsig != calc_hash:
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raise PandaHashMismatchException(calc_hash, hashsig)
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return [dat[0:0x10], dat[0x10:0x10+10]]
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def get_secret(self):
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return self.handle.controlRead(Panda.REQUEST_TYPE, 0xd0, 1, 0, 0x10)
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return self._handle.controlRead(Panda.REQUEST_TYPE, 0xd0, 1, 0, 0x10)
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# ******************* configuration *******************
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def set_controls_allowed(self, on):
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self.handle.controlWrite(Panda.REQUEST_TYPE, 0xdc, (0x1337 if on else 0), 0, b'')
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self._handle.controlWrite(Panda.REQUEST_TYPE, 0xdc, (0x1337 if on else 0), 0, b'')
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def set_gmlan(self, on, bus=2):
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self.handle.controlWrite(Panda.REQUEST_TYPE, 0xdb, 1, bus, b'')
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self._handle.controlWrite(Panda.REQUEST_TYPE, 0xdb, 1, bus, b'')
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def set_uart_baud(self, uart, rate):
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self.handle.controlWrite(Panda.REQUEST_TYPE, 0xe1, uart, rate, b'')
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self._handle.controlWrite(Panda.REQUEST_TYPE, 0xe1, uart, rate, b'')
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def set_uart_parity(self, uart, parity):
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# parity, 0=off, 1=even, 2=odd
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self.handle.controlWrite(Panda.REQUEST_TYPE, 0xe2, uart, parity, b'')
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self._handle.controlWrite(Panda.REQUEST_TYPE, 0xe2, uart, parity, b'')
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def set_uart_callback(self, uart, install):
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self.handle.controlWrite(Panda.REQUEST_TYPE, 0xe3, uart, int(install), b'')
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self._handle.controlWrite(Panda.REQUEST_TYPE, 0xe3, uart, int(install), b'')
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# ******************* can *******************
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@ -179,7 +181,7 @@ class Panda(object):
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while True:
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try:
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print("DAT: %s"%b''.join(snds).__repr__())
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self.handle.bulkWrite(3, b''.join(snds))
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self._handle.bulkWrite(3, b''.join(snds))
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break
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except (usb1.USBErrorIO, usb1.USBErrorOverflow):
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print("CAN: BAD SEND MANY, RETRYING")
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@ -191,7 +193,7 @@ class Panda(object):
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dat = bytearray()
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while True:
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try:
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dat = self.handle.bulkRead(1, 0x10*256)
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dat = self._handle.bulkRead(1, 0x10*256)
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break
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except (usb1.USBErrorIO, usb1.USBErrorOverflow):
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print("CAN: BAD RECV, RETRYING")
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@ -200,22 +202,22 @@ class Panda(object):
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# ******************* serial *******************
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def serial_read(self, port_number):
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return self.handle.controlRead(Panda.REQUEST_TYPE, 0xe0, port_number, 0, 0x40)
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return self._handle.controlRead(Panda.REQUEST_TYPE, 0xe0, port_number, 0, 0x40)
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def serial_write(self, port_number, ln):
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return self.handle.bulkWrite(2, chr(port_number) + ln)
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return self._handle.bulkWrite(2, chr(port_number) + ln)
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# ******************* kline *******************
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# pulse low for wakeup
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def kline_wakeup(self):
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self.handle.controlWrite(Panda.REQUEST_TYPE, 0xf0, 0, 0, b'')
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self._handle.controlWrite(Panda.REQUEST_TYPE, 0xf0, 0, 0, b'')
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def kline_drain(self, bus=2):
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# drain buffer
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bret = bytearray()
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while True:
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ret = self.handle.controlRead(Panda.REQUEST_TYPE, 0xe0, bus, 0, 0x40)
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ret = self._handle.controlRead(Panda.REQUEST_TYPE, 0xe0, bus, 0, 0x40)
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if len(ret) == 0:
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break
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bret += ret
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@ -224,7 +226,7 @@ class Panda(object):
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def kline_ll_recv(self, cnt, bus=2):
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echo = bytearray()
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while len(echo) != cnt:
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echo += self.handle.controlRead(Panda.REQUEST_TYPE, 0xe0, bus, 0, cnt-len(echo))
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echo += self._handle.controlRead(Panda.REQUEST_TYPE, 0xe0, bus, 0, cnt-len(echo))
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return echo
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def kline_send(self, x, bus=2, checksum=True):
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@ -239,7 +241,7 @@ class Panda(object):
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x += get_checksum(x)
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for i in range(0, len(x), 0xf):
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ts = x[i:i+0xf]
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self.handle.bulkWrite(2, chr(bus)+ts)
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self._handle.bulkWrite(2, chr(bus)+ts)
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echo = self.kline_ll_recv(len(ts), bus=bus)
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if echo != ts:
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print("**** ECHO ERROR %d ****" % i)
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