Release 260111

opendbc_repo/opendbc/safety/board/can.h

@@ -0,0 +1,4 @@
+#pragma once
+#include "can_declarations.h"
+
+static const unsigned char dlc_to_len[] = {0U, 1U, 2U, 3U, 4U, 5U, 6U, 7U, 8U, 12U, 16U, 20U, 24U, 32U, 48U, 64U};

opendbc_repo/opendbc/safety/board/can_declarations.h

@@ -0,0 +1,27 @@
+#pragma once
+
+#define CANPACKET_HEAD_SIZE 6U
+
+// TODO: this is always CANFD
+#if !defined(STM32F4)
+  #define CANFD
+  #define CANPACKET_DATA_SIZE_MAX 64U
+#else
+  #define CANPACKET_DATA_SIZE_MAX 8U
+#endif
+
+typedef struct {
+  unsigned char fd : 1;
+  unsigned char bus : 3;
+  unsigned char data_len_code : 4;  // lookup length with dlc_to_len
+  unsigned char rejected : 1;
+  unsigned char returned : 1;
+  unsigned char extended : 1;
+  unsigned int addr : 29;
+  unsigned char checksum;
+  unsigned char data[CANPACKET_DATA_SIZE_MAX];
+} __attribute__((packed, aligned(4))) CANPacket_t;
+
+#define GET_BUS(msg) ((msg)->bus)
+#define GET_LEN(msg) (dlc_to_len[(msg)->data_len_code])
+#define GET_ADDR(msg) ((msg)->addr)

opendbc_repo/opendbc/safety/board/drivers/can_common.h

@@ -0,0 +1,18 @@
+#include "can_common_declarations.h"
+
+uint8_t calculate_checksum(const uint8_t *dat, uint32_t len) {
+  uint8_t checksum = 0U;
+  for (uint32_t i = 0U; i < len; i++) {
+    checksum ^= dat[i];
+  }
+  return checksum;
+}
+
+void can_set_checksum(CANPacket_t *packet) {
+  packet->checksum = 0U;
+  packet->checksum = calculate_checksum((uint8_t *) packet, CANPACKET_HEAD_SIZE + GET_LEN(packet));
+}
+
+bool can_check_checksum(CANPacket_t *packet) {
+  return (calculate_checksum((uint8_t *) packet, CANPACKET_HEAD_SIZE + GET_LEN(packet)) == 0U);
+}

opendbc_repo/opendbc/safety/board/drivers/can_common_declarations.h

@@ -0,0 +1,4 @@
+#pragma once
+
+uint8_t calculate_checksum(const uint8_t *dat, uint32_t len);
+void can_set_checksum(CANPacket_t *packet);

opendbc_repo/opendbc/safety/board/fake_stm.h

@@ -0,0 +1,29 @@
+// minimal code to fake a panda for tests
+#include <stdio.h>
+#include <stdint.h>
+#include <stdlib.h>
+
+#include "utils.h"
+
+#define ALLOW_DEBUG
+#define PANDA
+
+void print(const char *a) {
+  printf("%s", a);
+}
+
+void puth(unsigned int i) {
+  printf("%u", i);
+}
+
+typedef struct {
+  uint32_t CNT;
+} TIM_TypeDef;
+
+TIM_TypeDef timer;
+TIM_TypeDef *MICROSECOND_TIMER = &timer;
+uint32_t microsecond_timer_get(void);
+
+uint32_t microsecond_timer_get(void) {
+  return MICROSECOND_TIMER->CNT;
+}

opendbc_repo/opendbc/safety/board/faults.h

@@ -0,0 +1,25 @@
+#include "faults_declarations.h"
+
+uint8_t fault_status = FAULT_STATUS_NONE;
+uint32_t faults = 0U;
+
+void fault_occurred(uint32_t fault) {
+  if ((faults & fault) == 0U) {
+    if ((PERMANENT_FAULTS & fault) != 0U) {
+      print("Permanent fault occurred: 0x"); puth(fault); print("\n");
+      fault_status = FAULT_STATUS_PERMANENT;
+    } else {
+      print("Temporary fault occurred: 0x"); puth(fault); print("\n");
+      fault_status = FAULT_STATUS_TEMPORARY;
+    }
+  }
+  faults |= fault;
+}
+
+void fault_recovered(uint32_t fault) {
+  if ((PERMANENT_FAULTS & fault) == 0U) {
+    faults &= ~fault;
+  } else {
+    print("Cannot recover from a permanent fault!\n");
+  }
+}

opendbc_repo/opendbc/safety/board/faults_declarations.h

@@ -0,0 +1,18 @@
+#pragma once
+
+#define FAULT_STATUS_NONE 0U
+#define FAULT_STATUS_TEMPORARY 1U
+#define FAULT_STATUS_PERMANENT 2U
+
+// Fault types, excerpt from cereal.log.PandaState.FaultType for safety tests
+#define FAULT_RELAY_MALFUNCTION             (1UL << 0)
+// ...
+
+// Permanent faults
+#define PERMANENT_FAULTS 0U
+
+extern uint8_t fault_status;
+extern uint32_t faults;
+
+void fault_occurred(uint32_t fault);
+void fault_recovered(uint32_t fault);

opendbc_repo/opendbc/safety/board/utils.h

@@ -0,0 +1,47 @@
+// cppcheck-suppress-macro misra-c2012-1.2; allow __typeof__ extension
+#define MIN(a, b) ({ \
+  __typeof__ (a) _a = (a); \
+  __typeof__ (b) _b = (b); \
+  (_a < _b) ? _a : _b; \
+})
+
+// cppcheck-suppress-macro misra-c2012-1.2; allow __typeof__ extension
+#define MAX(a, b) ({ \
+  __typeof__ (a) _a = (a); \
+  __typeof__ (b) _b = (b); \
+  (_a > _b) ? _a : _b; \
+})
+
+// cppcheck-suppress-macro misra-c2012-1.2; allow __typeof__ extension
+#define CLAMP(x, low, high) ({ \
+  __typeof__(x) __x = (x); \
+  __typeof__(low) __low = (low);\
+  __typeof__(high) __high = (high);\
+  (__x > __high) ? __high : ((__x < __low) ? __low : __x); \
+})
+
+// cppcheck-suppress-macro misra-c2012-1.2; allow __typeof__ extension
+#define ABS(a) ({ \
+  __typeof__ (a) _a = (a); \
+  (_a > 0) ? _a : (-_a); \
+})
+
+#ifndef NULL
+// this just provides a standard implementation of NULL
+// in lieu of including libc in the panda build
+// cppcheck-suppress [misra-c2012-21.1]
+#define NULL ((void*)0)
+#endif
+
+// STM32 HAL defines this
+#ifndef UNUSED
+#define UNUSED(x) ((void)(x))
+#endif
+
+#define COMPILE_TIME_ASSERT(pred) ((void)sizeof(char[1 - (2 * (!(pred) ? 1 : 0))]))
+
+// compute the time elapsed (in microseconds) from 2 counter samples
+// case where ts < ts_last is ok: overflow is properly re-casted into uint32_t
+uint32_t get_ts_elapsed(uint32_t ts, uint32_t ts_last) {
+  return ts - ts_last;
+}