parent
c3b02f3a74
commit
1515ec8bf5
|
@ -13,6 +13,7 @@ typedef void (*board_set_ir_power)(uint8_t percentage);
|
|||
typedef void (*board_set_fan_power)(uint8_t percentage);
|
||||
typedef void (*board_set_phone_power)(bool enabled);
|
||||
typedef void (*board_set_clock_source_mode)(uint8_t mode);
|
||||
typedef void (*board_set_siren)(bool enabled);
|
||||
|
||||
struct board {
|
||||
const char *board_type;
|
||||
|
@ -31,6 +32,7 @@ struct board {
|
|||
board_set_fan_power set_fan_power;
|
||||
board_set_phone_power set_phone_power;
|
||||
board_set_clock_source_mode set_clock_source_mode;
|
||||
board_set_siren set_siren;
|
||||
};
|
||||
|
||||
// ******************* Definitions ********************
|
||||
|
|
|
@ -158,6 +158,10 @@ void black_set_clock_source_mode(uint8_t mode){
|
|||
UNUSED(mode);
|
||||
}
|
||||
|
||||
void black_set_siren(bool enabled){
|
||||
UNUSED(enabled);
|
||||
}
|
||||
|
||||
void black_init(void) {
|
||||
common_init_gpio();
|
||||
|
||||
|
@ -244,5 +248,6 @@ const board board_black = {
|
|||
.set_fan_power = black_set_fan_power,
|
||||
.set_ir_power = black_set_ir_power,
|
||||
.set_phone_power = black_set_phone_power,
|
||||
.set_clock_source_mode = black_set_clock_source_mode
|
||||
.set_clock_source_mode = black_set_clock_source_mode,
|
||||
.set_siren = black_set_siren
|
||||
};
|
||||
|
|
|
@ -136,6 +136,10 @@ void dos_set_clock_source_mode(uint8_t mode){
|
|||
clock_source_init(mode);
|
||||
}
|
||||
|
||||
void dos_set_siren(bool enabled){
|
||||
set_gpio_output(GPIOC, 12, enabled);
|
||||
}
|
||||
|
||||
void dos_init(void) {
|
||||
common_init_gpio();
|
||||
|
||||
|
@ -228,5 +232,6 @@ const board board_dos = {
|
|||
.set_fan_power = dos_set_fan_power,
|
||||
.set_ir_power = dos_set_ir_power,
|
||||
.set_phone_power = dos_set_phone_power,
|
||||
.set_clock_source_mode = dos_set_clock_source_mode
|
||||
.set_clock_source_mode = dos_set_clock_source_mode,
|
||||
.set_siren = dos_set_siren
|
||||
};
|
||||
|
|
|
@ -49,5 +49,6 @@ const board board_grey = {
|
|||
.set_fan_power = white_set_fan_power,
|
||||
.set_ir_power = white_set_ir_power,
|
||||
.set_phone_power = white_set_phone_power,
|
||||
.set_clock_source_mode = white_set_clock_source_mode
|
||||
};
|
||||
.set_clock_source_mode = white_set_clock_source_mode,
|
||||
.set_siren = white_set_siren
|
||||
};
|
||||
|
|
|
@ -81,6 +81,10 @@ void pedal_set_clock_source_mode(uint8_t mode){
|
|||
UNUSED(mode);
|
||||
}
|
||||
|
||||
void pedal_set_siren(bool enabled){
|
||||
UNUSED(enabled);
|
||||
}
|
||||
|
||||
void pedal_init(void) {
|
||||
common_init_gpio();
|
||||
|
||||
|
@ -118,5 +122,6 @@ const board board_pedal = {
|
|||
.set_fan_power = pedal_set_fan_power,
|
||||
.set_ir_power = pedal_set_ir_power,
|
||||
.set_phone_power = pedal_set_phone_power,
|
||||
.set_clock_source_mode = pedal_set_clock_source_mode
|
||||
};
|
||||
.set_clock_source_mode = pedal_set_clock_source_mode,
|
||||
.set_siren = pedal_set_siren
|
||||
};
|
||||
|
|
|
@ -179,6 +179,10 @@ void uno_set_clock_source_mode(uint8_t mode){
|
|||
UNUSED(mode);
|
||||
}
|
||||
|
||||
void uno_set_siren(bool enabled){
|
||||
UNUSED(enabled);
|
||||
}
|
||||
|
||||
void uno_init(void) {
|
||||
common_init_gpio();
|
||||
|
||||
|
@ -287,5 +291,6 @@ const board board_uno = {
|
|||
.set_fan_power = uno_set_fan_power,
|
||||
.set_ir_power = uno_set_ir_power,
|
||||
.set_phone_power = uno_set_phone_power,
|
||||
.set_clock_source_mode = uno_set_clock_source_mode
|
||||
.set_clock_source_mode = uno_set_clock_source_mode,
|
||||
.set_siren = uno_set_siren
|
||||
};
|
||||
|
|
|
@ -246,6 +246,10 @@ void white_set_clock_source_mode(uint8_t mode){
|
|||
UNUSED(mode);
|
||||
}
|
||||
|
||||
void white_set_siren(bool enabled){
|
||||
UNUSED(enabled);
|
||||
}
|
||||
|
||||
void white_grey_common_init(void) {
|
||||
common_init_gpio();
|
||||
|
||||
|
@ -348,5 +352,6 @@ const board board_white = {
|
|||
.set_fan_power = white_set_fan_power,
|
||||
.set_ir_power = white_set_ir_power,
|
||||
.set_phone_power = white_set_phone_power,
|
||||
.set_clock_source_mode = white_set_clock_source_mode
|
||||
.set_clock_source_mode = white_set_clock_source_mode,
|
||||
.set_siren = white_set_siren
|
||||
};
|
||||
|
|
158
board/main.c
158
board/main.c
|
@ -610,6 +610,10 @@ int usb_cb_control_msg(USB_Setup_TypeDef *setup, uint8_t *resp, bool hardwired)
|
|||
case 0xf5:
|
||||
current_board->set_clock_source_mode(setup->b.wValue.w);
|
||||
break;
|
||||
// **** 0xf6: set siren enabled
|
||||
case 0xf6:
|
||||
siren_enabled = (setup->b.wValue.w != 0U);
|
||||
break;
|
||||
default:
|
||||
puts("NO HANDLER ");
|
||||
puth(setup->b.bRequest);
|
||||
|
@ -667,87 +671,97 @@ void __attribute__ ((noinline)) enable_fpu(void) {
|
|||
#define EON_HEARTBEAT_IGNITION_CNT_ON 5U
|
||||
#define EON_HEARTBEAT_IGNITION_CNT_OFF 2U
|
||||
|
||||
// called at 1Hz
|
||||
// called at 8Hz
|
||||
uint8_t loop_counter = 0U;
|
||||
void TIM1_BRK_TIM9_IRQ_Handler(void) {
|
||||
if (TIM9->SR != 0) {
|
||||
can_live = pending_can_live;
|
||||
// siren
|
||||
current_board->set_siren((loop_counter & 1U) && siren_enabled);
|
||||
|
||||
current_board->usb_power_mode_tick(uptime_cnt);
|
||||
// decimated to 1Hz
|
||||
if(loop_counter == 0U){
|
||||
can_live = pending_can_live;
|
||||
|
||||
//puth(usart1_dma); puts(" "); puth(DMA2_Stream5->M0AR); puts(" "); puth(DMA2_Stream5->NDTR); puts("\n");
|
||||
current_board->usb_power_mode_tick(uptime_cnt);
|
||||
|
||||
// reset this every 16th pass
|
||||
if ((uptime_cnt & 0xFU) == 0U) {
|
||||
pending_can_live = 0;
|
||||
}
|
||||
#ifdef DEBUG
|
||||
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
|
||||
//puth(usart1_dma); puts(" "); puth(DMA2_Stream5->M0AR); puts(" "); puth(DMA2_Stream5->NDTR); puts("\n");
|
||||
|
||||
// Tick drivers
|
||||
fan_tick();
|
||||
|
||||
// set green LED to be controls allowed
|
||||
current_board->set_led(LED_GREEN, controls_allowed);
|
||||
|
||||
// turn off the blue LED, turned on by CAN
|
||||
// unless we are in power saving mode
|
||||
current_board->set_led(LED_BLUE, (uptime_cnt & 1U) && (power_save_status == POWER_SAVE_STATUS_ENABLED));
|
||||
|
||||
// increase heartbeat counter and cap it at the uint32 limit
|
||||
if (heartbeat_counter < __UINT32_MAX__) {
|
||||
heartbeat_counter += 1U;
|
||||
}
|
||||
|
||||
#ifdef EON
|
||||
// check heartbeat counter if we are running EON code.
|
||||
// if the heartbeat has been gone for a while, go to SILENT safety mode and enter power save
|
||||
if (heartbeat_counter >= (check_started() ? EON_HEARTBEAT_IGNITION_CNT_ON : EON_HEARTBEAT_IGNITION_CNT_OFF)) {
|
||||
puts("EON hasn't sent a heartbeat for 0x");
|
||||
puth(heartbeat_counter);
|
||||
puts(" seconds. Safety is set to SILENT mode.\n");
|
||||
if (current_safety_mode != SAFETY_SILENT) {
|
||||
set_safety_mode(SAFETY_SILENT, 0U);
|
||||
// reset this every 16th pass
|
||||
if ((uptime_cnt & 0xFU) == 0U) {
|
||||
pending_can_live = 0;
|
||||
}
|
||||
if (power_save_status != POWER_SAVE_STATUS_ENABLED) {
|
||||
set_power_save_state(POWER_SAVE_STATUS_ENABLED);
|
||||
#ifdef DEBUG
|
||||
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
|
||||
|
||||
// Tick drivers
|
||||
fan_tick();
|
||||
|
||||
// set green LED to be controls allowed
|
||||
current_board->set_led(LED_GREEN, controls_allowed);
|
||||
|
||||
// turn off the blue LED, turned on by CAN
|
||||
// unless we are in power saving mode
|
||||
current_board->set_led(LED_BLUE, (uptime_cnt & 1U) && (power_save_status == POWER_SAVE_STATUS_ENABLED));
|
||||
|
||||
// increase heartbeat counter and cap it at the uint32 limit
|
||||
if (heartbeat_counter < __UINT32_MAX__) {
|
||||
heartbeat_counter += 1U;
|
||||
}
|
||||
|
||||
// Also disable IR when the heartbeat goes missing
|
||||
current_board->set_ir_power(0U);
|
||||
#ifdef EON
|
||||
// check heartbeat counter if we are running EON code.
|
||||
// if the heartbeat has been gone for a while, go to SILENT safety mode and enter power save
|
||||
if (heartbeat_counter >= (check_started() ? EON_HEARTBEAT_IGNITION_CNT_ON : EON_HEARTBEAT_IGNITION_CNT_OFF)) {
|
||||
puts("EON hasn't sent a heartbeat for 0x");
|
||||
puth(heartbeat_counter);
|
||||
puts(" seconds. Safety is set to SILENT mode.\n");
|
||||
if (current_safety_mode != SAFETY_SILENT) {
|
||||
set_safety_mode(SAFETY_SILENT, 0U);
|
||||
}
|
||||
if (power_save_status != POWER_SAVE_STATUS_ENABLED) {
|
||||
set_power_save_state(POWER_SAVE_STATUS_ENABLED);
|
||||
}
|
||||
|
||||
// If enumerated but no heartbeat (phone up, boardd not running), turn the fan on to cool the device
|
||||
if(usb_enumerated()){
|
||||
current_board->set_fan_power(50U);
|
||||
} else {
|
||||
current_board->set_fan_power(0U);
|
||||
// Also disable IR when the heartbeat goes missing
|
||||
current_board->set_ir_power(0U);
|
||||
|
||||
// If enumerated but no heartbeat (phone up, boardd not running), turn the fan on to cool the device
|
||||
if(usb_enumerated()){
|
||||
current_board->set_fan_power(50U);
|
||||
} else {
|
||||
current_board->set_fan_power(0U);
|
||||
}
|
||||
}
|
||||
|
||||
// enter CDP mode when car starts to ensure we are charging a turned off EON
|
||||
if (check_started() && (usb_power_mode != USB_POWER_CDP)) {
|
||||
current_board->set_usb_power_mode(USB_POWER_CDP);
|
||||
}
|
||||
#endif
|
||||
|
||||
// check registers
|
||||
check_registers();
|
||||
|
||||
// set ignition_can to false after 2s of no CAN seen
|
||||
if (ignition_can_cnt > 2U) {
|
||||
ignition_can = false;
|
||||
};
|
||||
|
||||
// on to the next one
|
||||
uptime_cnt += 1U;
|
||||
safety_mode_cnt += 1U;
|
||||
ignition_can_cnt += 1U;
|
||||
|
||||
// synchronous safety check
|
||||
safety_tick(current_hooks);
|
||||
}
|
||||
|
||||
// enter CDP mode when car starts to ensure we are charging a turned off EON
|
||||
if (check_started() && (usb_power_mode != USB_POWER_CDP)) {
|
||||
current_board->set_usb_power_mode(USB_POWER_CDP);
|
||||
}
|
||||
#endif
|
||||
|
||||
// check registers
|
||||
check_registers();
|
||||
|
||||
// set ignition_can to false after 2s of no CAN seen
|
||||
if (ignition_can_cnt > 2U) {
|
||||
ignition_can = false;
|
||||
};
|
||||
|
||||
// on to the next one
|
||||
uptime_cnt += 1U;
|
||||
safety_mode_cnt += 1U;
|
||||
ignition_can_cnt += 1U;
|
||||
|
||||
// synchronous safety check
|
||||
safety_tick(current_hooks);
|
||||
loop_counter++;
|
||||
loop_counter %= 8U;
|
||||
}
|
||||
TIM9->SR = 0;
|
||||
}
|
||||
|
@ -757,8 +771,8 @@ int main(void) {
|
|||
// Init interrupt table
|
||||
init_interrupts(true);
|
||||
|
||||
// 1s timer
|
||||
REGISTER_INTERRUPT(TIM1_BRK_TIM9_IRQn, TIM1_BRK_TIM9_IRQ_Handler, 2U, FAULT_INTERRUPT_RATE_TIM9)
|
||||
// 8Hz timer
|
||||
REGISTER_INTERRUPT(TIM1_BRK_TIM9_IRQn, TIM1_BRK_TIM9_IRQ_Handler, 10U, FAULT_INTERRUPT_RATE_TIM9)
|
||||
|
||||
// shouldn't have interrupts here, but just in case
|
||||
disable_interrupts();
|
||||
|
@ -830,8 +844,8 @@ int main(void) {
|
|||
spi_init();
|
||||
#endif
|
||||
|
||||
// 1hz
|
||||
timer_init(TIM9, 1464);
|
||||
// 8hz
|
||||
timer_init(TIM9, 183);
|
||||
NVIC_EnableIRQ(TIM1_BRK_TIM9_IRQn);
|
||||
|
||||
#ifdef DEBUG
|
||||
|
|
|
@ -13,3 +13,4 @@ const board *current_board;
|
|||
bool is_enumerated = 0;
|
||||
uint32_t heartbeat_counter = 0;
|
||||
uint32_t uptime_cnt = 0;
|
||||
bool siren_enabled = false;
|
||||
|
|
|
@ -673,3 +673,7 @@ class Panda(object):
|
|||
# ************** Clock Source **************
|
||||
def set_clock_source_mode(self, mode):
|
||||
self._handle.controlWrite(Panda.REQUEST_OUT, 0xf5, int(mode), 0, b'')
|
||||
|
||||
# ****************** Siren *****************
|
||||
def set_siren(self, enabled):
|
||||
self._handle.controlWrite(Panda.REQUEST_OUT, 0xf6, int(enabled), 0, b'')
|
||||
|
|
Loading…
Reference in New Issue