initial commit

.gitignore

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+*.pyc
+.*.swp
+*.o
+

LICENSE

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+Copyright (c) 2016, Comma.ai, Inc.
+
+Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files (the "Software"), to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in all copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.

README.md

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+Welcome to panda
+======
+
+[panda](http://github.com/commaai/panda) is the nicest universal car interface you've ever seen. 
+
+It supports 3x CAN, 2x LIN, and 1x GMLAN.
+
+It uses an [STM32F413](http://www.st.com/en/microcontrollers/stm32f413-423.html?querycriteria=productId=LN2004) for low level stuff and an [ESP8266](https://en.wikipedia.org/wiki/ESP8266) for wifi. They are connected over high speed SPI, so the panda is actually capable of dumping the full contents of the busses over wifi, unlike every other dongle on amazon. ELM327 is weak, panda is strong.
+
+It is 2nd gen hardware, reusing code and parts from the [NEO](https://github.com/commaai/neo) interface board.
+
+Directory structure
+------
+
+- board      -- Code that runs on the STM32
+- boardesp   -- Code that runs on the ESP8266
+- lib        -- Python userspace library for interfacing with the panda
+- tests      -- Tests and helper programs for panda
+
+Usage
+------
+
+Programming the STM32
+```
+cd board
+./get_sdk.sh
+make
+```
+
+Programming the ESP
+```
+cd boardesp
+./get_sdk.sh
+make
+```
+
+Licensing
+------
+
+panda software is released under the MIT license. See LICENSE
+

TODO

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+== Needed ==
+* Change the SPI interface to support all USB commands
+* Support panda lib abstractly connecting over wifi or USB
+* Refactor the Honda safety code to be universal
+
+== Wanted ==
+* Change USB to use interrupt endpoint instead of bulk for can recv
+* Write elm327 emulator in boardesp/elm327.c and make it work with Torque
+* Write a kernel driver to support socketcan. Kline as serial interfaces?
+* Write a Windows J2534 DLL to support windows tools
+

board/.gitignore

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+obj/*

board/Makefile

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+# :set noet
+PROJ_NAME = panda
+CFLAGS  = -g -O0 -Wall
+
+CFLAGS += -mlittle-endian -mthumb -mcpu=cortex-m4
+CFLAGS += -mhard-float -DSTM32F4 -DSTM32F413xx
+STARTUP_FILE = startup_stm32f413xx
+
+include build.mk
+

board/Makefile.legacy

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+# :set noet
+PROJ_NAME = comma
+CFLAGS  = -g -O0 -Wall
+
+CFLAGS += -mlittle-endian -mthumb -mcpu=cortex-m3
+CFLAGS += -msoft-float -DSTM32F2 -DSTM32F205xx
+STARTUP_FILE = startup_stm32f205xx
+
+include build.mk

board/README

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+== Building ==
+
+./get_sdk.sh
+
+dfu-util from 
+[email protected]:dsigma/dfu-util.git
+
+
+

board/adc.h

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+// ACCEL1 = ADC10
+// ACCEL2 = ADC11
+// VOLT_S = ADC12
+// CURR_S = ADC13
+
+#define ADCCHAN_ACCEL0 10
+#define ADCCHAN_ACCEL1 11
+#define ADCCHAN_VOLTAGE 12
+#define ADCCHAN_CURRENT 13
+
+void adc_init() {
+  // global setup
+  ADC->CCR = ADC_CCR_TSVREFE | ADC_CCR_VBATE;
+  //ADC1->CR2 = ADC_CR2_ADON | ADC_CR2_EOCS | ADC_CR2_DDS;
+  ADC1->CR2 = ADC_CR2_ADON;
+
+  // long
+  //ADC1->SMPR1 = ADC_SMPR1_SMP10 | ADC_SMPR1_SMP11 | ADC_SMPR1_SMP12 | ADC_SMPR1_SMP13;
+  ADC1->SMPR1 = ADC_SMPR1_SMP12 | ADC_SMPR1_SMP13;
+}
+
+uint32_t adc_get(int channel) {
+
+  // includes length
+  //ADC1->SQR1 = 0;
+
+  // select channel
+  ADC1->JSQR = channel << 15;
+
+  //ADC1->CR1 = ADC_CR1_DISCNUM_0;
+  //ADC1->CR1 = ADC_CR1_EOCIE;
+
+  ADC1->SR &= ~(ADC_SR_JEOC);
+  ADC1->CR2 |= ADC_CR2_JSWSTART;
+  while (!(ADC1->SR & ADC_SR_JEOC));
+
+  return ADC1->JDR1;
+}
+

board/bootstub.c

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+void *_origin = 0x8004000;
+
+#ifdef STM32F4
+  #define PANDA
+  #include "stm32f4xx.h"
+#else
+  #include "stm32f2xx.h"
+#endif
+
+#include "early.h"
+
+void __initialize_hardware_early() {
+  early();
+
+  // jump to flash
+  ((void(*)()) _app_start[1])();
+}
+
+int main() {
+  return 0;
+}
+

board/build.mk

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+CFLAGS += -I inc -nostdlib
+CFLAGS += -Tstm32_flash.ld
+
+CC = arm-none-eabi-gcc
+OBJCOPY = arm-none-eabi-objcopy
+OBJDUMP = arm-none-eabi-objdump
+
+MACHINE = $(shell uname -m)
+OS = $(shell uname -o)
+
+ifeq ($(OS),GNU/Linux)
+  MACHINE := "$(MACHINE)-linux"
+endif
+
+# this pushes the unchangable bootstub too
+all: obj/bootstub.$(PROJ_NAME).bin obj/$(PROJ_NAME).bin
+	./tools/enter_download_mode.py
+	./tools/dfu-util-$(MACHINE) -a 0 -s 0x08000000 -D obj/bootstub.$(PROJ_NAME).bin
+	./tools/dfu-util-$(MACHINE) -a 0 -s 0x08004000 -D obj/$(PROJ_NAME).bin
+	./tools/dfu-util-$(MACHINE) --reset-stm32 -a 0 -s 0x08000000
+
+ota: obj/$(PROJ_NAME).bin
+	./tools/ota.py $<
+
+ifneq ($(wildcard ../.git/HEAD),) 
+obj/gitversion.h: ../.git/HEAD ../.git/index
+	echo "const uint8_t gitversion[] = \"$(shell git rev-parse HEAD)\";" > $@
+else
+obj/gitversion.h: 
+	echo "const uint8_t gitversion[] = \"RELEASE\";" > $@
+endif
+
+obj/bootstub.$(PROJ_NAME).o: bootstub.c early.h
+	$(CC) $(CFLAGS) -o $@ -c $<
+
+obj/main.$(PROJ_NAME).o: main.c *.h obj/gitversion.h
+	$(CC) $(CFLAGS) -o $@ -c $<
+
+obj/$(STARTUP_FILE).o: $(STARTUP_FILE).s
+	mkdir -p obj
+	$(CC) $(CFLAGS) -o $@ -c $<
+
+obj/$(PROJ_NAME).bin: obj/$(STARTUP_FILE).o obj/main.$(PROJ_NAME).o
+  # hack
+	$(CC) -Wl,--section-start,.isr_vector=0x8004000 $(CFLAGS) -o obj/$(PROJ_NAME).elf $^
+	$(OBJCOPY) -v -O binary obj/$(PROJ_NAME).elf $@
+
+obj/bootstub.$(PROJ_NAME).bin: obj/$(STARTUP_FILE).o obj/bootstub.$(PROJ_NAME).o
+	$(CC) $(CFLAGS) -o obj/bootstub.$(PROJ_NAME).elf $^
+	$(OBJCOPY) -v -O binary obj/bootstub.$(PROJ_NAME).elf $@
+
+clean:
+	rm -f obj/*
+

board/can.h

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+void can_init(CAN_TypeDef *CAN) {
+  // enable CAN busses
+  if (CAN == CAN1) {
+    #ifdef PANDA
+      // CAN1_EN
+      GPIOC->ODR &= ~(1 << 1);
+    #else
+      // CAN1_EN
+      GPIOB->ODR |= (1 << 3);
+    #endif
+  } else if (CAN == CAN2) {
+    #ifdef PANDA
+      // CAN2_EN
+      GPIOC->ODR &= ~(1 << 13);
+    #else
+      // CAN2_EN
+      GPIOB->ODR |= (1 << 4);
+    #endif
+  #ifdef CAN3
+  } else if (CAN == CAN3) {
+    // CAN3_EN
+    GPIOA->ODR &= ~(1 << 0);
+  #endif
+  }
+
+  CAN->MCR = CAN_MCR_TTCM | CAN_MCR_INRQ;
+  while((CAN->MSR & CAN_MSR_INAK) != CAN_MSR_INAK);
+
+  // PCLK = 24000000, 500000 is 48 clocks
+  // from http://www.bittiming.can-wiki.ino/
+  CAN->BTR = 0x001c0002;
+
+  // loopback mode for debugging
+  #ifdef CAN_LOOPBACK_MODE
+    CAN->BTR |= CAN_BTR_SILM | CAN_BTR_LBKM;
+  #endif
+
+  // reset
+  CAN->MCR = CAN_MCR_TTCM;
+
+  #define CAN_TIMEOUT 1000000
+  int tmp = 0;
+  while((CAN->MSR & CAN_MSR_INAK) == CAN_MSR_INAK && tmp < CAN_TIMEOUT) tmp++;
+
+  if (tmp == CAN_TIMEOUT) {
+    set_led(LED_BLUE, 1);
+    puts("CAN init FAILED!!!!!\n");
+  } else {
+    puts("CAN init done\n");
+  }
+
+  // accept all filter
+  CAN->FMR |= CAN_FMR_FINIT;
+
+  // no mask
+  CAN->sFilterRegister[0].FR1 = 0;
+  CAN->sFilterRegister[0].FR2 = 0;
+  CAN->sFilterRegister[14].FR1 = 0;
+  CAN->sFilterRegister[14].FR2 = 0;
+  CAN->FA1R |= 1 | (1 << 14);
+
+  CAN->FMR &= ~(CAN_FMR_FINIT);
+
+  // enable all CAN interrupts
+  CAN->IER = 0xFFFFFFFF;
+  //CAN->IER = CAN_IER_TMEIE | CAN_IER_FMPIE0 | CAN_IER_FMPIE1;
+}
+
+// CAN error
+void can_sce(CAN_TypeDef *CAN) {
+  #ifdef DEBUG
+    if (CAN==CAN1) puts("CAN1:  ");
+    if (CAN==CAN2) puts("CAN2:  ");
+    #ifdef CAN3
+      if (CAN==CAN3) puts("CAN3:  ");
+    #endif
+    puts("MSR:");
+    puth(CAN->MSR);
+    puts(" TSR:");
+    puth(CAN->TSR);
+    puts(" RF0R:");
+    puth(CAN->RF0R);
+    puts(" RF1R:");
+    puth(CAN->RF1R);
+    puts(" ESR:");
+    puth(CAN->ESR);
+    puts("\n");
+  #endif
+
+  // clear
+  //CAN->sTxMailBox[0].TIR &= ~(CAN_TI0R_TXRQ);
+  CAN->TSR |= CAN_TSR_ABRQ0;
+  //CAN->ESR |= CAN_ESR_LEC;
+  //CAN->MSR &= ~(CAN_MSR_ERRI);
+  CAN->MSR = CAN->MSR;
+}
+
+int can_cksum(uint8_t *dat, int len, int addr, int idx) {
+  int i;
+  int s = 0;
+  for (i = 0; i < len; i++) {
+    s += (dat[i] >> 4);
+    s += dat[i] & 0xF;
+  }
+  s += (addr>>0)&0xF;
+  s += (addr>>4)&0xF;
+  s += (addr>>8)&0xF;
+  s += idx;
+  s = 8-s;
+  return s&0xF;
+}
+

board/dac.h

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+void dac_init() {
+  // no buffers required since we have an opamp
+  //DAC->CR = DAC_CR_EN1 | DAC_CR_BOFF1 | DAC_CR_EN2 | DAC_CR_BOFF2;
+  DAC->DHR12R1 = 0;
+  DAC->DHR12R2 = 0;
+  DAC->CR = DAC_CR_EN1 | DAC_CR_EN2;
+}
+
+void dac_set(int channel, uint32_t value) {
+  if (channel == 0) {
+    DAC->DHR12R1 = value;
+  } else if (channel == 1) {
+    DAC->DHR12R2 = value;
+  }
+}
+