retropilot/panda
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okay fine big gpio refactor, untested on legacy

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This commit is contained in:
Firmware Batman 2017-05-17 11:12:59 -07:00
parent b7bcc2d200
commit c35720fe82
2 changed files with 115 additions and 139 deletions
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24
board/can.h
View file

@ -1,27 +1,5 @@
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
}
set_can_enable(CAN, 1);
CAN->MCR = CAN_MCR_TTCM | CAN_MCR_INRQ;
while((CAN->MSR & CAN_MSR_INAK) != CAN_MSR_INAK);

230
board/gpio.h
View file

@ -4,6 +4,56 @@
#include "stm32f2xx_hal_gpio_ex.h"
#endif
#include "llgpio.h"
void set_can_enable(CAN_TypeDef *CAN, int enabled) {
// enable CAN busses
if (CAN == CAN1) {
#ifdef PANDA
// CAN1_EN
set_gpio_output(GPIOC, 1, !enabled);
#else
// CAN1_EN
set_gpio_output(GPIOB, 3, enabled);
#endif
} else if (CAN == CAN2) {
#ifdef PANDA
// CAN2_EN
set_gpio_output(GPIOC, 13, !enabled);
#else
// CAN2_EN
set_gpio_output(GPIOC, 4, enabled);
#endif
#ifdef CAN3
} else if (CAN == CAN3) {
// CAN3_EN
set_gpio_output(GPIOA, 0, !enabled);
#endif
}
}
#ifdef PANDA
#define LED_RED 9
#define LED_GREEN 7
#define LED_BLUE 6
#else
#define LED_RED 10
#define LED_GREEN 11
#define LED_BLUE -1
#endif
void set_led(int led_num, int on) {
if (led_num == -1) return;
#ifdef PANDA
set_gpio_output(GPIOC, led_num, !on);
#else
set_gpio_output(GPIOB, led_num, !on);
#endif
}
// TODO: does this belong here?
void periph_init() {
// enable GPIOB, UART2, CAN, USB clock
RCC->AHB1ENR |= RCC_AHB1ENR_GPIOAEN;
@ -107,149 +157,97 @@ void gpio_init() {
GPIOB->AFR[0] = 0;
GPIOB->AFR[1] = 0;
// enable USB power tied to +
GPIOA->MODER = GPIO_MODER_MODER0_0;
// C2,C3: analog mode, voltage and current sense
set_gpio_mode(GPIOC, 2, MODE_ANALOG);
set_gpio_mode(GPIOC, 3, MODE_ANALOG);
// always set to zero, ESP in boot mode and reset
//GPIOB->MODER = GPIO_MODER_MODER0_0;
// C8: FAN aka TIM3_CH4
set_gpio_alternate(GPIOC, 8, GPIO_AF2_TIM3);
// analog mode
GPIOC->MODER |= GPIO_MODER_MODER3 | GPIO_MODER_MODER2;
//GPIOC->MODER |= GPIO_MODER_MODER1 | GPIO_MODER_MODER0;
// turn off LEDs and set mode
set_led(LED_RED, 0);
set_led(LED_GREEN, 0);
set_led(LED_BLUE, 0);
// FAN on C9, aka TIM3_CH4
GPIOC->MODER |= GPIO_MODER_MODER8_1;
GPIOC->AFR[1] = GPIO_AF2_TIM3 << ((8-8)*4);
// IGNITION on C13
// turn off CANs and set mode
set_can_enable(CAN1, 0);
set_can_enable(CAN2, 0);
#ifdef CAN3
set_can_enable(CAN3, 0);
#endif
#ifdef PANDA
// turn off LEDs and set mode
GPIOC->ODR |= (1 << 6) | (1 << 7) | (1 << 9);
GPIOC->MODER |= GPIO_MODER_MODER6_0 | GPIO_MODER_MODER7_0 | GPIO_MODER_MODER9_0;
// set mode for ESP_RST line and enable it
// (done in init_hardware_early
//GPIOC->ODR |= (1 << 14) | (1 << 5);
//GPIOC->MODER |= GPIO_MODER_MODER14_0 | GPIO_MODER_MODER5_0;
// panda CAN enables
GPIOC->ODR |= (1 << 13) | (1 << 1);
GPIOC->MODER |= GPIO_MODER_MODER13_0 | GPIO_MODER_MODER1_0;
// enable started_alt
GPIOA->PUPDR |= GPIO_PUPDR_PUPDR1_0;
#else
// turn off LEDs and set mode
GPIOB->ODR = (1 << 10) | (1 << 11) | (1 << 12);
GPIOB->MODER = GPIO_MODER_MODER10_0 | GPIO_MODER_MODER11_0 | GPIO_MODER_MODER12_0;
// non panda CAN enables
GPIOB->MODER |= GPIO_MODER_MODER3_0 | GPIO_MODER_MODER7_0;
#endif
// enable started_alt on the panda
#ifdef PANDA
set_gpio_pullup(GPIOA, 1, PULL_UP);
#endif
// CAN 2 in normal mode
set_can2_mode(0);
// CAN 1
GPIOB->MODER |= GPIO_MODER_MODER8_1 | GPIO_MODER_MODER9_1;
// B8,B9: CAN 1
#ifdef STM32F4
GPIOB->AFR[1] |= GPIO_AF8_CAN1 << ((8-8)*4) | GPIO_AF8_CAN1 << ((9-8)*4);
set_gpio_alternate(GPIOB, 8, GPIO_AF8_CAN1);
set_gpio_alternate(GPIOB, 9, GPIO_AF8_CAN1);
#else
GPIOB->AFR[1] |= GPIO_AF9_CAN1 << ((8-8)*4) | GPIO_AF9_CAN1 << ((9-8)*4);
set_gpio_alternate(GPIOB, 8, GPIO_AF9_CAN1);
set_gpio_alternate(GPIOB, 9, GPIO_AF9_CAN1);
#endif
// K enable + L enable
#ifdef REVC
// K-line enable moved from B4->B7 to make room for GMLAN on CAN3
GPIOB->ODR |= (1 << 7);
GPIOB->MODER |= GPIO_MODER_MODER7_0;
#else
GPIOB->ODR |= (1 << 4);
GPIOB->MODER |= GPIO_MODER_MODER4_0;
#endif
#ifdef REVC
// K-line enable moved from B4->B7 to make room for GMLAN on CAN3
set_gpio_output(GPIOB, 7, 1);
#else
set_gpio_output(GPIOB, 4, 1);
#endif
GPIOA->ODR |= (1 << 14);
GPIOA->MODER |= GPIO_MODER_MODER14_0;
// L-line enable
set_gpio_output(GPIOA, 14, 1);
#ifdef REVC
// set DCP mode on the charger
/*GPIOB->ODR &= ~(1 << 2);
GPIOB->MODER |= GPIO_MODER_MODER2_0;
GPIOA->ODR &= ~(1 << 13);
GPIOA->MODER |= GPIO_MODER_MODER13_0;*/
#endif
#ifdef REVC
// set DCP mode on the charger (breaks USB!)
set_gpio_output(GPIOB, 2, 0);
set_gpio_output(GPIOA, 13, 0);
#endif
// USART 2 for debugging
GPIOA->MODER |= GPIO_MODER_MODER2_1 | GPIO_MODER_MODER3_1;
GPIOA->AFR[0] = GPIO_AF7_USART2 << (2*4) | GPIO_AF7_USART2 << (3*4);
// A2,A3: USART 2 for debugging
set_gpio_alternate(GPIOA, 2, GPIO_AF7_USART2);
set_gpio_alternate(GPIOA, 3, GPIO_AF7_USART2);
// USART 1 for talking to the ESP
GPIOA->MODER |= GPIO_MODER_MODER9_1 | GPIO_MODER_MODER10_1;
GPIOA->AFR[1] = GPIO_AF7_USART1 << ((9-8)*4) | GPIO_AF7_USART1 << ((10-8)*4);
// A9,A10: USART 1 for talking to the ESP
set_gpio_alternate(GPIOA, 9, GPIO_AF7_USART1);
set_gpio_alternate(GPIOA, 10, GPIO_AF7_USART1);
// USART 3 is L-Line
GPIOC->MODER |= GPIO_MODER_MODER10_1 | GPIO_MODER_MODER11_1;
GPIOC->AFR[1] |= GPIO_AF7_USART3 << ((10-8)*4) | GPIO_AF7_USART3 << ((11-8)*4);
GPIOC->PUPDR = GPIO_PUPDR_PUPDR11_0;
// USB
GPIOA->MODER |= GPIO_MODER_MODER11_1 | GPIO_MODER_MODER12_1;
// A11,A12: USB
set_gpio_alternate(GPIOA, 11, GPIO_AF10_OTG_FS);
set_gpio_alternate(GPIOA, 12, GPIO_AF10_OTG_FS);
GPIOA->OSPEEDR = GPIO_OSPEEDER_OSPEEDR11 | GPIO_OSPEEDER_OSPEEDR12;
GPIOA->AFR[1] |= GPIO_AF10_OTG_FS << ((11-8)*4) | GPIO_AF10_OTG_FS << ((12-8)*4);
GPIOA->PUPDR |= GPIO_PUPDR_PUPDR2_0 | GPIO_PUPDR_PUPDR3_0;
// GMLAN, ignition sense, pull up
GPIOB->PUPDR |= GPIO_PUPDR_PUPDR12_0;
// B12: GMLAN, ignition sense, pull up
set_gpio_pullup(GPIOB, 12, PULL_UP);
// setup SPI
GPIOA->MODER |= GPIO_MODER_MODER4_1 | GPIO_MODER_MODER5_1 |
GPIO_MODER_MODER6_1 | GPIO_MODER_MODER7_1;
GPIOA->AFR[0] |= GPIO_AF5_SPI1 << (4*4) | GPIO_AF5_SPI1 << (5*4) |
GPIO_AF5_SPI1 << (6*4) | GPIO_AF5_SPI1 << (7*4);
// A4,A5,A6,A7: setup SPI
set_gpio_alternate(GPIOA, 4, GPIO_AF5_SPI1);
set_gpio_alternate(GPIOA, 5, GPIO_AF5_SPI1);
set_gpio_alternate(GPIOA, 6, GPIO_AF5_SPI1);
set_gpio_alternate(GPIOA, 7, GPIO_AF5_SPI1);
// CAN3 setup
#ifdef CAN3
GPIOA->MODER |= GPIO_MODER_MODER8_1 | GPIO_MODER_MODER15_1;
GPIOA->AFR[1] |= GPIO_AF11_CAN3 << ((8-8)*4) | GPIO_AF11_CAN3 << ((15-8)*4);
set_gpio_alternate(GPIOA, 8, GPIO_AF11_CAN3);
set_gpio_alternate(GPIOA, 15, GPIO_AF11_CAN3);
#endif
// K-Line setup
#ifdef PANDA
GPIOC->AFR[1] |= GPIO_AF8_UART5 << ((12-8)*4);
GPIOC->MODER |= GPIO_MODER_MODER12_1;
GPIOD->AFR[0] = GPIO_AF8_UART5 << (2*4);
GPIOD->MODER = GPIO_MODER_MODER2_1;
GPIOD->PUPDR = GPIO_PUPDR_PUPDR2_0;
// C10,C11: USART 3 is L-Line
set_gpio_alternate(GPIOC, 10, GPIO_AF7_USART3);
set_gpio_alternate(GPIOC, 11, GPIO_AF7_USART3);
set_gpio_pullup(GPIOC, 11, PULL_UP);
// K-Line setup
set_gpio_alternate(GPIOC, 12, GPIO_AF8_UART5);
set_gpio_alternate(GPIOD, 2, GPIO_AF8_UART5);
set_gpio_pullup(GPIOD, 2, PULL_UP);
#endif
}
#ifdef PANDA
#define LED_RED 9
#define LED_GREEN 7
#define LED_BLUE 6
#else
#define LED_RED 10
#define LED_GREEN 11
#define LED_BLUE -1
#endif
void set_led(int led_num, int on) {
if (led_num == -1) return;
if (on) {
// turn on
#ifdef PANDA
GPIOC->ODR &= ~(1 << led_num);
#else
GPIOB->ODR &= ~(1 << led_num);
#endif
} else {
// turn off
#ifdef PANDA
GPIOC->ODR |= (1 << led_num);
#else
GPIOB->ODR |= (1 << led_num);
#endif
}
}