panda/board/config.h

#ifndef PANDA_CONFIG_H
#define PANDA_CONFIG_H

//#define DEBUG
//#define DEBUG_UART
//#define DEBUG_USB
//#define DEBUG_SPI
//#define DEBUG_FAULTS

#ifdef STM32F4
  #include "stm32f4xx.h"
  #ifndef GATEWAY
    #define PANDA
  #endif
#else
  #include "stm32f2xx.h"
#endif

#define USB_VID 0xbbaaU

#ifdef BOOTSTUB
#define USB_PID 0xddeeU
#else
#define USB_PID 0xddccU
#endif

#include <stdbool.h>
#define NULL ((void*)0)
#define COMPILE_TIME_ASSERT(pred) ((void)sizeof(char[1 - (2 * ((int)(!(pred))))]))

#define MIN(a,b) \
 ({ __typeof__ (a) _a = (a); \
     __typeof__ (b) _b = (b); \
   (_a < _b) ? _a : _b; })

#define MAX(a,b) \
 ({ __typeof__ (a) _a = (a); \
     __typeof__ (b) _b = (b); \
   (_a > _b) ? _a : _b; })

#define ABS(a) \
 ({ __typeof__ (a) _a = (a); \
   (_a > 0) ? _a : (-_a); })

#define MAX_RESP_LEN 0x40U

// Around (1Mbps / 8 bits/byte / 12 bytes per message)
#define CAN_INTERRUPT_RATE 12000U

#endif
Panda firmware auto detects REV C hardware. 2017-06-27 20:27:24 -06:00			`#ifndef PANDA_CONFIG_H`
			`#define PANDA_CONFIG_H`

			`//#define DEBUG`
UART instability fix with high interrupt load (#283) * Fixed UART overrun error * Added stability test scripts * Refactored UART code. ESP/GPS now uses DMA in circular mode to directly write into the ring buffer, saving a bunch of interrupts and potential race conditions. * Changed stability test to use amount of bytes instead of amount of non-zero messages, since the ring buffer pointer is only updated on half or full DMA transfer or on line idle (e.g. no more 1 char messages from the gps) * Increase data limit. It's too low sometimes in normal operation * Forgot to set write pointer in ring buffer * Increased test limit even more 2019-10-04 14:28:56 -06:00			`//#define DEBUG_UART`
Panda firmware auto detects REV C hardware. 2017-06-27 20:27:24 -06:00			`//#define DEBUG_USB`
refactor SPI and make flasher reliable 2017-07-24 13:31:47 -06:00			`//#define DEBUG_SPI`
Interrupt refactor (NVIC_SM_1: #334) and Fault handling (#377) (PR #373) 2019-11-27 19:11:21 -07:00			`//#define DEBUG_FAULTS`
Panda firmware auto detects REV C hardware. 2017-06-27 20:27:24 -06:00
Revert commits that broke USB for openpilot. Revert "fix openpilot board flashing" This reverts commit 8ff93ad5da39f8dc4bf6fe632f26418b696fd230. Revert "Fixed output_enabled led not turning off when mode changed to no output." This reverts commit 27a8af11075d92d03c389713694a879905877cf0. Revert "Fixed loopback test for new GMLAN 'can4' behavior." This reverts commit 59592f599af01a667b4fd966e613b8f504d62dc2. Revert "GMLAN is now always mapped through CAN4 (index 3)" This reverts commit 329c09102435bfd9b1fbb60694139a5ff7bf4148. Revert "Removed compile time config for CAN loopback, implemented as usb message." This reverts commit e1a4c3298557fccf854ed5cbda448f8c0015b7ea. Revert "Change all output safety mode identifier to prevent user mistakes." This reverts commit 6b363e2e92fcd5e7f25b5458fe9008ff8f9fd664. Revert "untabify" This reverts commit 191f67b083e182323ba956c3ab75df10bec2f863. Revert "Refactor of safety to support more modular additions of safety policies." This reverts commit e5b524eddc82e53587cc47dcf15b22fd35890a92. Revert "Split up some more header files into compilation units." This reverts commit e2a78912f5b649822974fc0e974ec50d9d9c7d10. Revert "Enabled emulated control writes over USB." This reverts commit 133cfe970379d6881de26289616d1d9085bb5986. Revert "Moved CAN and USART code out of main.c and into more appropriate files." This reverts commit daad2dc0620d629e7db0dd68dee5595ed2b57160. Revert "Large Panda CAN cleanup. Restrict GMLAN to valid baud rates." This reverts commit a0616a2bc2ac2bfd99223aaa84912e6f649c9d54. Revert "Panda library now correctly sends USB direction bit." This reverts commit 1712c901d4b46b2726b3165a7cb2e91c281c662b. Revert "Board makefile now automatically calculates header file dependencies." This reverts commit 4a8d4e597b397ca6d68dd5dd2a376c8354dc3422. Revert "Loopback test works over wifi. (Disable trying to send over wifi)" This reverts commit dae636968af482e170aade1d785a1e197e9f3c04. Revert "Fix legacy board build" This reverts commit 62bf4e575686c84c672eb0d341ad41f174141c2d. Revert "Style cop" This reverts commit c439f43726feb30cf2ec486ffcad6ac94ab5e128. Revert "Untabify" This reverts commit 41e5eec6211c23836535af49380f74350a0ceb12. Revert "Fixed disabling gmlan." This reverts commit 5e1e45a4afade384b628e44587dd8e37d3dcd8cd. Revert "Removed dead code, standardized canid in more commands, better erroring behavior." This reverts commit b59aeb6d87ddd85406ec42e4ed8a74a232d506a4. Revert "loopback test works with new CAN bus ids." This reverts commit 75970861cf2b025173afb906e4e243861bed506a. Revert "Large reorganization of code and early integration of can bitrate setting." This reverts commit a1ed7b62ee66ec8f56bba488c38c67b69eead8cf. 2017-07-12 12:25:10 -06:00			`#ifdef STM32F4`
			`#include "stm32f4xx.h"`
add smartdsu and ibst boards 2021-05-18 09:51:05 -06:00			`#ifndef GATEWAY`
			`#define PANDA`
			`#endif`
Revert commits that broke USB for openpilot. Revert "fix openpilot board flashing" This reverts commit 8ff93ad5da39f8dc4bf6fe632f26418b696fd230. Revert "Fixed output_enabled led not turning off when mode changed to no output." This reverts commit 27a8af11075d92d03c389713694a879905877cf0. Revert "Fixed loopback test for new GMLAN 'can4' behavior." This reverts commit 59592f599af01a667b4fd966e613b8f504d62dc2. Revert "GMLAN is now always mapped through CAN4 (index 3)" This reverts commit 329c09102435bfd9b1fbb60694139a5ff7bf4148. Revert "Removed compile time config for CAN loopback, implemented as usb message." This reverts commit e1a4c3298557fccf854ed5cbda448f8c0015b7ea. Revert "Change all output safety mode identifier to prevent user mistakes." This reverts commit 6b363e2e92fcd5e7f25b5458fe9008ff8f9fd664. Revert "untabify" This reverts commit 191f67b083e182323ba956c3ab75df10bec2f863. Revert "Refactor of safety to support more modular additions of safety policies." This reverts commit e5b524eddc82e53587cc47dcf15b22fd35890a92. Revert "Split up some more header files into compilation units." This reverts commit e2a78912f5b649822974fc0e974ec50d9d9c7d10. Revert "Enabled emulated control writes over USB." This reverts commit 133cfe970379d6881de26289616d1d9085bb5986. Revert "Moved CAN and USART code out of main.c and into more appropriate files." This reverts commit daad2dc0620d629e7db0dd68dee5595ed2b57160. Revert "Large Panda CAN cleanup. Restrict GMLAN to valid baud rates." This reverts commit a0616a2bc2ac2bfd99223aaa84912e6f649c9d54. Revert "Panda library now correctly sends USB direction bit." This reverts commit 1712c901d4b46b2726b3165a7cb2e91c281c662b. Revert "Board makefile now automatically calculates header file dependencies." This reverts commit 4a8d4e597b397ca6d68dd5dd2a376c8354dc3422. Revert "Loopback test works over wifi. (Disable trying to send over wifi)" This reverts commit dae636968af482e170aade1d785a1e197e9f3c04. Revert "Fix legacy board build" This reverts commit 62bf4e575686c84c672eb0d341ad41f174141c2d. Revert "Style cop" This reverts commit c439f43726feb30cf2ec486ffcad6ac94ab5e128. Revert "Untabify" This reverts commit 41e5eec6211c23836535af49380f74350a0ceb12. Revert "Fixed disabling gmlan." This reverts commit 5e1e45a4afade384b628e44587dd8e37d3dcd8cd. Revert "Removed dead code, standardized canid in more commands, better erroring behavior." This reverts commit b59aeb6d87ddd85406ec42e4ed8a74a232d506a4. Revert "loopback test works with new CAN bus ids." This reverts commit 75970861cf2b025173afb906e4e243861bed506a. Revert "Large reorganization of code and early integration of can bitrate setting." This reverts commit a1ed7b62ee66ec8f56bba488c38c67b69eead8cf. 2017-07-12 12:25:10 -06:00			`#else`
			`#include "stm32f2xx.h"`
			`#endif`
Large reorganization of code and early integration of can bitrate setting. 2017-06-30 14:51:56 -06:00
10_1 violations: Operands shall not be of an inappropriate essential type (#233) * 10_1 violations 2019-07-03 00:43:06 -06:00			`#define USB_VID 0xbbaaU`
write soft flasher 2017-07-24 16:16:22 -06:00
			`#ifdef BOOTSTUB`
10_1 violations: Operands shall not be of an inappropriate essential type (#233) * 10_1 violations 2019-07-03 00:43:06 -06:00			`#define USB_PID 0xddeeU`
write soft flasher 2017-07-24 16:16:22 -06:00			`#else`
10_1 violations: Operands shall not be of an inappropriate essential type (#233) * 10_1 violations 2019-07-03 00:43:06 -06:00			`#define USB_PID 0xddccU`
write soft flasher 2017-07-24 16:16:22 -06:00			`#endif`
loopback test works with new CAN bus ids. 2017-06-30 17:41:36 -06:00
write soft flasher 2017-07-24 16:16:22 -06:00			`#include <stdbool.h>`
refactor continues 2017-07-21 00:42:19 -06:00			`#define NULL ((void*)0)`
Misra update (#280) * Updated cppcheck ref. New rules to be fixed * changed 2 MACRO names that had more than 31 characters in common * Fix newly popped 10.4: same type on arithmetic ops * Fix 18.4: operators should not be applied to an expression * ensure a NULL pointer isn't dereferenced 2019-09-27 18:18:02 -06:00			`#define COMPILE_TIME_ASSERT(pred) ((void)sizeof(char[1 - (2 * ((int)(!(pred))))]))`
refactor continues 2017-07-21 00:42:19 -06:00
capitalize MIN and MAX macros (#220) 2019-06-17 14:48:14 -06:00			`#define MIN(a,b) \`
refactoring 2017-07-21 12:48:03 -06:00			`({ __typeof__ (a) _a = (a); \`
			`__typeof__ (b) _b = (b); \`
Misra 12.1 violation in MIN/MAX macros 2019-06-17 19:39:17 -06:00			`(_a < _b) ? _a : _b; })`
refactoring 2017-07-21 12:48:03 -06:00
capitalize MIN and MAX macros (#220) 2019-06-17 14:48:14 -06:00			`#define MAX(a,b) \`
refactoring 2017-07-21 12:48:03 -06:00			`({ __typeof__ (a) _a = (a); \`
			`__typeof__ (b) _b = (b); \`
Misra 12.1 violation in MIN/MAX macros 2019-06-17 19:39:17 -06:00			`(_a > _b) ? _a : _b; })`
refactoring 2017-07-21 12:48:03 -06:00
Toyota: add missing offset from speed signal (#469) * Toyota: add missing offset from speed signal * Let's also define ABS value in macro 2020-03-11 18:30:30 -06:00			`#define ABS(a) \`
			`({ __typeof__ (a) _a = (a); \`
			`(_a > 0) ? _a : (-_a); })`

Misra 10.4: Both operands of an operator in which the usual arithmetic conversions are performed shall have the same essential type category (#240) * Almost done with 10.4, a couple of non-obvious violations remaining 2019-07-04 02:04:58 -06:00			`#define MAX_RESP_LEN 0x40U`
write soft flasher 2017-07-24 16:16:22 -06:00
Interrupt refactor (NVIC_SM_1: #334) and Fault handling (#377) (PR #373) 2019-11-27 19:11:21 -07:00			`// Around (1Mbps / 8 bits/byte / 12 bytes per message)`
			`#define CAN_INTERRUPT_RATE 12000U`

Panda firmware auto detects REV C hardware. 2017-06-27 20:27:24 -06:00			`#endif`
write soft flasher 2017-07-24 16:16:22 -06:00