Black panda Jenkins (commaai#256)

* Jenkins test refactor and black panda addition

* Added HW types needed by previous commit

* Fixed ignition interrupts when not on EON build

* Added functions for load switches

* More test scripts for black panda

* Added NONE power mode to the code

* Fixed race condition when setting GPIO pins was interrupted.

* Added relay test script

* Fixed flashing with critical sections and GPS load switch

* Fixing critical depth after reboot

* Made the loopback test asserting

* Made critical depth a local variable to avoid race conditions

* Added GPS to power savings mode

* Fixed DFU mode on white panda and bumped version

* Fixed PEDAL_USB compilation error

* Fixed misra compliance of new critical depth code

* Cleaned up heartbeat logic in the testing code. Re-added ALL_CAN_BUT_MAIN_SILENT. Bumped version. Improved critical section code.

* Fixed DFU flashing (once again)

* Fixed VERSION

* Added relay endurance test

* Changed to alloutput on ELM mode for fingerprinting.

* Fixed minor remarks

Author: robbederks

.gitignore

@@ -4,6 +4,7 @@
 *.o
 *.so
 *.d
+*.dump
 a.out
 *~
 .#*
@@ -12,4 +13,5 @@ pandacan.egg-info/
 board/obj/
 examples/output.csv
 .DS_Store
+.vscode
 nosetests.xml

VERSION

@@ -1 +1 @@
-v1.4.3
+v1.4.6

board/board_declarations.h

@@ -24,7 +24,7 @@ struct board {
 };
 
 // ******************* Definitions ********************
-// These should match the enum in cereal/log.capnp
+// These should match the enums in cereal/log.capnp and __init__.py
 #define HW_TYPE_UNKNOWN 0U
 #define HW_TYPE_WHITE_PANDA 1U
 #define HW_TYPE_GREY_PANDA 2U
@@ -54,4 +54,4 @@ struct board {
 #define CAN_MODE_OBD_CAN2 3U
 
 // ********************* Globals **********************
-uint8_t usb_power_mode = USB_POWER_NONE;
+uint8_t usb_power_mode = USB_POWER_NONE;

board/boards/black.h

@@ -23,8 +23,9 @@ void black_enable_can_transciever(uint8_t transciever, bool enabled) {
 }
 
 void black_enable_can_transcievers(bool enabled) {
-  for(uint8_t i=1; i<=4U; i++)
+  for(uint8_t i=1U; i<=4U; i++){
     black_enable_can_transciever(i, enabled);
+  }
 }
 
 void black_set_led(uint8_t color, bool enabled) {
@@ -43,26 +44,41 @@ void black_set_led(uint8_t color, bool enabled) {
   }
 }
 
-void black_set_usb_power_mode(uint8_t mode){
+void black_set_gps_load_switch(bool enabled) {
+  set_gpio_output(GPIOC, 12, enabled);
+}
+
+void black_set_usb_load_switch(bool enabled) {
+  set_gpio_output(GPIOB, 1, !enabled);
+}
+
+void black_set_usb_power_mode(uint8_t mode) {
   usb_power_mode = mode;
-  puts("Trying to set USB power mode on black panda. This is not supported.\n");
+  if (mode == USB_POWER_NONE) {
+    black_set_usb_load_switch(false);
+  } else {
+    black_set_usb_load_switch(true);
+  }
 }
 
 void black_set_esp_gps_mode(uint8_t mode) {
   switch (mode) {
     case ESP_GPS_DISABLED:
-      // ESP OFF
+      // GPS OFF
       set_gpio_output(GPIOC, 14, 0);
       set_gpio_output(GPIOC, 5, 0);
+      black_set_gps_load_switch(false);
       break;
     case ESP_GPS_ENABLED:
-      // ESP ON
+      // GPS ON
       set_gpio_output(GPIOC, 14, 1);
       set_gpio_output(GPIOC, 5, 1);
+      black_set_gps_load_switch(true);
       break;
     case ESP_GPS_BOOTMODE:
       set_gpio_output(GPIOC, 14, 1);
       set_gpio_output(GPIOC, 5, 0);
+      black_set_gps_load_switch(true);
       break;
     default:
       puts("Invalid ESP/GPS mode\n");
@@ -132,9 +148,11 @@ void black_init(void) {
   // C8: FAN aka TIM3_CH3
   set_gpio_alternate(GPIOC, 8, GPIO_AF2_TIM3);
 
-  // C12: GPS load switch. Turn on permanently for now
-  set_gpio_output(GPIOC, 12, true);
-  //set_gpio_output(GPIOC, 12, false); //TODO: stupid inverted switch on prototype
+  // Turn on GPS load switch.
+  black_set_gps_load_switch(true);
+
+  // Turn on USB load switch.
+  black_set_usb_load_switch(true);
 
   // Initialize harness
   harness_init();

board/boards/white.h

@@ -285,6 +285,13 @@ void white_init(void) {
 
   // Set normal CAN mode
   white_set_can_mode(CAN_MODE_NORMAL);
+
+  // Setup ignition interrupts
+  SYSCFG->EXTICR[1] = SYSCFG_EXTICR1_EXTI1_PA;
+  EXTI->IMR |= (1U << 1);
+  EXTI->RTSR |= (1U << 1);
+  EXTI->FTSR |= (1U << 1);
+  NVIC_EnableIRQ(EXTI1_IRQn);
 }
 
 const harness_configuration white_harness_config = {

board/main.c

@@ -78,9 +78,11 @@ void started_interrupt_handler(uint8_t interrupt_line) {
     // jenky debounce
     delay(100000);
 
-    // set power savings mode here
-    int power_save_state = current_board->check_ignition() ? POWER_SAVE_STATUS_DISABLED : POWER_SAVE_STATUS_ENABLED;
-    set_power_save_state(power_save_state);
+    // set power savings mode here if on EON build
+    #ifdef EON
+      int power_save_state = current_board->check_ignition() ? POWER_SAVE_STATUS_DISABLED : POWER_SAVE_STATUS_ENABLED;
+      set_power_save_state(power_save_state);
+    #endif
   }
   EXTI->PR = (1U << interrupt_line);
 }
@@ -100,14 +102,6 @@ void EXTI3_IRQHandler(void) {
   started_interrupt_handler(3);
 }
 
-void started_interrupt_init(void) {
-  SYSCFG->EXTICR[1] = SYSCFG_EXTICR1_EXTI1_PA;
-  EXTI->IMR |= (1U << 1);
-  EXTI->RTSR |= (1U << 1);
-  EXTI->FTSR |= (1U << 1);
-  NVIC_EnableIRQ(EXTI1_IRQn);
-}
-
 // ****************************** safety mode ******************************
 
 // this is the only way to leave silent mode
@@ -116,30 +110,29 @@ void set_safety_mode(uint16_t mode, int16_t param) {
   if (err == -1) {
     puts("Error: safety set mode failed\n");
   } else {
-    if (mode == SAFETY_NOOUTPUT) {
-      can_silent = ALL_CAN_SILENT;
-    } else {
-      can_silent = ALL_CAN_LIVE;
-    }
-
     switch (mode) {
         case SAFETY_NOOUTPUT:
           set_intercept_relay(false);
           if(hw_type == HW_TYPE_BLACK_PANDA){
             current_board->set_can_mode(CAN_MODE_NORMAL);
           }
+          can_silent = ALL_CAN_SILENT;
           break;
         case SAFETY_ELM327:
           set_intercept_relay(false);
+          heartbeat_counter = 0U;
           if(hw_type == HW_TYPE_BLACK_PANDA){
             current_board->set_can_mode(CAN_MODE_OBD_CAN2);
           }
+          can_silent = ALL_CAN_LIVE;
           break;
         default:
           set_intercept_relay(true);
+          heartbeat_counter = 0U;
           if(hw_type == HW_TYPE_BLACK_PANDA){
             current_board->set_can_mode(CAN_MODE_NORMAL);
           }
+          can_silent = ALL_CAN_LIVE;
           break;
       }          
     if (safety_ignition_hook() != -1) {
@@ -464,7 +457,10 @@ int usb_cb_control_msg(USB_Setup_TypeDef *setup, uint8_t *resp, bool hardwired)
       break;
     // **** 0xe6: set USB power
     case 0xe6:
-      if (setup->b.wValue.w == 1U) {
+      if (setup->b.wValue.w == 0U) {
+        puts("user setting NONE mode\n");
+        current_board->set_usb_power_mode(USB_POWER_NONE);
+      } else if (setup->b.wValue.w == 1U) {
         puts("user setting CDP mode\n");
         current_board->set_usb_power_mode(USB_POWER_CDP);
       } else if (setup->b.wValue.w == 2U) {
@@ -610,11 +606,10 @@ void TIM3_IRQHandler(void) {
       pending_can_live = 0;
     }
     #ifdef DEBUG
-      //TODO: re-enable
-      //puts("** blink ");
-      //puth(can_rx_q.r_ptr); puts(" "); puth(can_rx_q.w_ptr); puts("  ");
-      //puth(can_tx1_q.r_ptr); puts(" "); puth(can_tx1_q.w_ptr); puts("  ");
-      //puth(can_tx2_q.r_ptr); puts(" "); puth(can_tx2_q.w_ptr); puts("\n");
+      puts("** blink ");
+      puth(can_rx_q.r_ptr); puts(" "); puth(can_rx_q.w_ptr); puts("  ");
+      puth(can_tx1_q.r_ptr); puts(" "); puth(can_tx1_q.w_ptr); puts("  ");
+      puth(can_tx2_q.r_ptr); puts(" "); puth(can_tx2_q.w_ptr); puts("\n");
     #endif
 
     // set green LED to be controls allowed
@@ -730,11 +725,6 @@ int main(void) {
   /*if (current_board->check_ignition()) {
     set_power_save_state(POWER_SAVE_STATUS_ENABLED);
   }*/
-
-  if (hw_type != HW_TYPE_BLACK_PANDA) {
-    // interrupt on started line
-    started_interrupt_init();
-  }
 #endif
 
   // 48mhz / 65536 ~= 732 / 732 = 1

board/power_saving.h

@@ -28,6 +28,13 @@ void set_power_save_state(int state) {
     // Switch CAN transcievers
     current_board->enable_can_transcievers(enable);
 
+    // Switch EPS/GPS
+    if (enable) {
+      current_board->set_esp_gps_mode(ESP_GPS_ENABLED);
+    } else {
+      current_board->set_esp_gps_mode(ESP_GPS_DISABLED);
+    }
+    
     if(hw_type != HW_TYPE_BLACK_PANDA){
       // turn on GMLAN
       set_gpio_output(GPIOB, 14, enable);

python/__init__.py

@@ -135,6 +135,12 @@ class Panda(object):
   REQUEST_IN = usb1.ENDPOINT_IN | usb1.TYPE_VENDOR | usb1.RECIPIENT_DEVICE
   REQUEST_OUT = usb1.ENDPOINT_OUT | usb1.TYPE_VENDOR | usb1.RECIPIENT_DEVICE
 
+  HW_TYPE_UNKNOWN = '\x00'
+  HW_TYPE_WHITE_PANDA = '\x01'
+  HW_TYPE_GREY_PANDA = '\x02'
+  HW_TYPE_BLACK_PANDA = '\x03'
+  HW_TYPE_PEDAL = '\x04'
+
   def __init__(self, serial=None, claim=True):
     self._serial = serial
     self._handle = None
@@ -363,11 +369,14 @@ def get_version(self):
   def get_type(self):
     return self._handle.controlRead(Panda.REQUEST_IN, 0xc1, 0, 0, 0x40)
 
+  def is_white(self):
+    return self.get_type() == Panda.HW_TYPE_WHITE_PANDA
+
   def is_grey(self):
-    return self.get_type() == "\x02"
+    return self.get_type() == Panda.HW_TYPE_GREY_PANDA
 
   def is_black(self):
-    return self.get_type() == "\x03"
+    return self.get_type() == Panda.HW_TYPE_BLACK_PANDA
 
   def get_serial(self):
     dat = self._handle.controlRead(Panda.REQUEST_IN, 0xd0, 0, 0, 0x20)
@@ -470,6 +479,7 @@ def can_recv(self):
         break
       except (usb1.USBErrorIO, usb1.USBErrorOverflow):
         print("CAN: BAD RECV, RETRYING")
+	time.sleep(0.1)
     return parse_can_buffer(dat)
 
   def can_clear(self, bus):

tests/automated/1_program.py

@@ -1,15 +1,13 @@
 import os
 from panda import Panda
-from helpers import panda_color_to_serial, test_white_and_grey
+from helpers import panda_type_to_serial, test_white_and_grey, test_all_pandas, panda_connect_and_init
 
-@test_white_and_grey
-@panda_color_to_serial
-def test_recover(serial=None):
-  p = Panda(serial=serial)
+@test_all_pandas
+@panda_connect_and_init
+def test_recover(p):
   assert p.recover(timeout=30)
 
-@test_white_and_grey
-@panda_color_to_serial
-def test_flash(serial=None):
-  p = Panda(serial=serial)
+@test_all_pandas
+@panda_connect_and_init
+def test_flash(p):
   p.flash()