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Clock source driver (#580) 

* Initial clock source implementation

* fix misra?

* Working now. Still need to fix board detection though

* Always stop pulse

* revert board detection bodge

Co-authored-by: Tici <robbe@comma.ai>
master
robbederks 2020-08-17 13:02:41 +02:00 committed by GitHub
parent 1e60160a45
commit c3b02f3a74
No known key found for this signature in database
GPG Key ID: 4AEE18F83AFDEB23
13 changed files with 174 additions and 28 deletions
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1
board/board.h
View File

@ -9,6 +9,7 @@
#ifdef PANDA
#include "drivers/fan.h"
#include "drivers/rtc.h"
#include "drivers/clock_source.h"
#include "boards/white.h"
#include "boards/grey.h"
#include "boards/black.h"

2
board/board_declarations.h
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@ -12,6 +12,7 @@ typedef uint32_t (*board_read_current)(void);
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);
struct board {
const char *board_type;
@ -29,6 +30,7 @@ struct board {
board_set_ir_power set_ir_power;
board_set_fan_power set_fan_power;
board_set_phone_power set_phone_power;
board_set_clock_source_mode set_clock_source_mode;
};
// ******************* Definitions ********************

7
board/boards/black.h
View File

@ -154,6 +154,10 @@ void black_set_phone_power(bool enabled){
UNUSED(enabled);
}
void black_set_clock_source_mode(uint8_t mode){
UNUSED(mode);
}
void black_init(void) {
common_init_gpio();
@ -239,5 +243,6 @@ const board board_black = {
.read_current = black_read_current,
.set_fan_power = black_set_fan_power,
.set_ir_power = black_set_ir_power,
.set_phone_power = black_set_phone_power
.set_phone_power = black_set_phone_power,
.set_clock_source_mode = black_set_clock_source_mode
};

2
board/boards/common.h
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@ -65,7 +65,7 @@ void peripherals_init(void){
RCC->APB1ENR |= RCC_APB1ENR_PWREN; // for RTC config
RCC->APB2ENR |= RCC_APB2ENR_USART1EN;
RCC->AHB2ENR |= RCC_AHB2ENR_OTGFSEN;
//RCC->APB2ENR |= RCC_APB2ENR_TIM1EN;
RCC->APB2ENR |= RCC_APB2ENR_TIM1EN; // clock source timer
RCC->APB2ENR |= RCC_APB2ENR_ADC1EN;
RCC->APB2ENR |= RCC_APB2ENR_SPI1EN;
RCC->APB2ENR |= RCC_APB2ENR_SYSCFGEN;

10
board/boards/dos.h
View File

@ -132,6 +132,10 @@ uint32_t dos_read_current(void){
return 0U;
}
void dos_set_clock_source_mode(uint8_t mode){
clock_source_init(mode);
}
void dos_init(void) {
common_init_gpio();
@ -189,6 +193,9 @@ void dos_init(void) {
// init multiplexer
can_set_obd(car_harness_status, false);
// Init clock source as internal free running
dos_set_clock_source_mode(CLOCK_SOURCE_MODE_FREE_RUNNING);
}
const harness_configuration dos_harness_config = {
@ -220,5 +227,6 @@ const board board_dos = {
.read_current = dos_read_current,
.set_fan_power = dos_set_fan_power,
.set_ir_power = dos_set_ir_power,
.set_phone_power = dos_set_phone_power
.set_phone_power = dos_set_phone_power,
.set_clock_source_mode = dos_set_clock_source_mode
};

3
board/boards/grey.h
View File

@ -48,5 +48,6 @@ const board board_grey = {
.read_current = white_read_current,
.set_fan_power = white_set_fan_power,
.set_ir_power = white_set_ir_power,
.set_phone_power = white_set_phone_power
.set_phone_power = white_set_phone_power,
.set_clock_source_mode = white_set_clock_source_mode
};

7
board/boards/pedal.h
View File

@ -77,6 +77,10 @@ void pedal_set_phone_power(bool enabled){
UNUSED(enabled);
}
void pedal_set_clock_source_mode(uint8_t mode){
UNUSED(mode);
}
void pedal_init(void) {
common_init_gpio();
@ -113,5 +117,6 @@ const board board_pedal = {
.read_current = pedal_read_current,
.set_fan_power = pedal_set_fan_power,
.set_ir_power = pedal_set_ir_power,
.set_phone_power = pedal_set_phone_power
.set_phone_power = pedal_set_phone_power,
.set_clock_source_mode = pedal_set_clock_source_mode
};

7
board/boards/uno.h
View File

@ -175,6 +175,10 @@ uint32_t uno_read_current(void){
return 0U;
}
void uno_set_clock_source_mode(uint8_t mode){
UNUSED(mode);
}
void uno_init(void) {
common_init_gpio();
@ -282,5 +286,6 @@ const board board_uno = {
.read_current = uno_read_current,
.set_fan_power = uno_set_fan_power,
.set_ir_power = uno_set_ir_power,
.set_phone_power = uno_set_phone_power
.set_phone_power = uno_set_phone_power,
.set_clock_source_mode = uno_set_clock_source_mode
};

7
board/boards/white.h
View File

@ -242,6 +242,10 @@ void white_set_phone_power(bool enabled){
UNUSED(enabled);
}
void white_set_clock_source_mode(uint8_t mode){
UNUSED(mode);
}
void white_grey_common_init(void) {
common_init_gpio();
@ -343,5 +347,6 @@ const board board_white = {
.read_current = white_read_current,
.set_fan_power = white_set_fan_power,
.set_ir_power = white_set_ir_power,
.set_phone_power = white_set_phone_power
.set_phone_power = white_set_phone_power,
.set_clock_source_mode = white_set_clock_source_mode
};

100
board/drivers/clock_source.h 100644
View File

@ -0,0 +1,100 @@
#define CLOCK_SOURCE_MODE_DISABLED 0U
#define CLOCK_SOURCE_MODE_FREE_RUNNING 1U
#define CLOCK_SOURCE_MODE_EXTERNAL_SYNC 2U
#define CLOCK_SOURCE_PERIOD_MS 50U
#define CLOCK_SOURCE_PULSE_LEN_MS 2U
uint8_t clock_source_mode = CLOCK_SOURCE_MODE_DISABLED;
void EXTI0_IRQ_Handler(void) {
volatile unsigned int pr = EXTI->PR & (1U << 0);
if (pr != 0U) {
if(clock_source_mode == CLOCK_SOURCE_MODE_EXTERNAL_SYNC){
// TODO: Implement!
}
}
EXTI->PR = (1U << 0);
}
void TIM1_UP_TIM10_IRQ_Handler(void) {
if((TIM1->SR & TIM_SR_UIF) != 0) {
if(clock_source_mode != CLOCK_SOURCE_MODE_DISABLED) {
// Start clock pulse
set_gpio_output(GPIOB, 14, true);
set_gpio_output(GPIOB, 15, true);
}
// Reset interrupt
TIM1->SR &= ~(TIM_SR_UIF);
}
}
void TIM1_CC_IRQ_Handler(void) {
if((TIM1->SR & TIM_SR_CC1IF) != 0) {
if(clock_source_mode != CLOCK_SOURCE_MODE_DISABLED) {
// End clock pulse
set_gpio_output(GPIOB, 14, false);
set_gpio_output(GPIOB, 15, false);
}
// Reset interrupt
TIM1->SR &= ~(TIM_SR_CC1IF);
}
}
void clock_source_init(uint8_t mode){
// Setup external clock signal interrupt
REGISTER_INTERRUPT(EXTI0_IRQn, EXTI0_IRQ_Handler, 110U, FAULT_INTERRUPT_RATE_CLOCK_SOURCE)
register_set(&(SYSCFG->EXTICR[0]), SYSCFG_EXTICR1_EXTI0_PB, 0xFU);
register_set_bits(&(EXTI->IMR), (1U << 0));
register_set_bits(&(EXTI->RTSR), (1U << 0));
register_clear_bits(&(EXTI->FTSR), (1U << 0));
// Setup timer
REGISTER_INTERRUPT(TIM1_UP_TIM10_IRQn, TIM1_UP_TIM10_IRQ_Handler, (1200U / CLOCK_SOURCE_PERIOD_MS) , FAULT_INTERRUPT_RATE_TIM1)
REGISTER_INTERRUPT(TIM1_CC_IRQn, TIM1_CC_IRQ_Handler, (1200U / CLOCK_SOURCE_PERIOD_MS) , FAULT_INTERRUPT_RATE_TIM1)
register_set(&(TIM1->PSC), (9600-1), 0xFFFFU); // Tick on 0.1 ms
register_set(&(TIM1->ARR), ((CLOCK_SOURCE_PERIOD_MS*10U) - 1U), 0xFFFFU); // Period
register_set(&(TIM1->CCMR1), 0U, 0xFFFFU); // No output on compare
register_set_bits(&(TIM1->CCER), TIM_CCER_CC1E); // Enable compare 1
register_set(&(TIM1->CCR1), (CLOCK_SOURCE_PULSE_LEN_MS*10U), 0xFFFFU); // Compare 1 value
register_set_bits(&(TIM1->DIER), TIM_DIER_UIE | TIM_DIER_CC1IE); // Enable interrupts
register_set(&(TIM1->CR1), TIM_CR1_CEN, 0x3FU); // Enable timer
// Set mode
switch(mode) {
case CLOCK_SOURCE_MODE_DISABLED:
// No clock signal
NVIC_DisableIRQ(EXTI0_IRQn);
NVIC_DisableIRQ(TIM1_UP_TIM10_IRQn);
NVIC_DisableIRQ(TIM1_CC_IRQn);
// Disable pulse if we were in the middle of it
set_gpio_output(GPIOB, 14, false);
set_gpio_output(GPIOB, 15, false);
clock_source_mode = CLOCK_SOURCE_MODE_DISABLED;
break;
case CLOCK_SOURCE_MODE_FREE_RUNNING:
// Clock signal is based on internal timer
NVIC_DisableIRQ(EXTI0_IRQn);
NVIC_EnableIRQ(TIM1_UP_TIM10_IRQn);
NVIC_EnableIRQ(TIM1_CC_IRQn);
clock_source_mode = CLOCK_SOURCE_MODE_FREE_RUNNING;
break;
case CLOCK_SOURCE_MODE_EXTERNAL_SYNC:
// Clock signal is based on external timer
NVIC_EnableIRQ(EXTI0_IRQn);
NVIC_EnableIRQ(TIM1_UP_TIM10_IRQn);
NVIC_EnableIRQ(TIM1_CC_IRQn);
clock_source_mode = CLOCK_SOURCE_MODE_EXTERNAL_SYNC;
break;
default:
puts("Unknown clock source mode: "); puth(mode); puts("\n");
break;
}
}

42
board/faults.h
View File

@ -3,26 +3,28 @@
#define FAULT_STATUS_PERMANENT 2U
// Fault types
#define FAULT_RELAY_MALFUNCTION (1U << 0)
#define FAULT_UNUSED_INTERRUPT_HANDLED (1U << 1)
#define FAULT_INTERRUPT_RATE_CAN_1 (1U << 2)
#define FAULT_INTERRUPT_RATE_CAN_2 (1U << 3)
#define FAULT_INTERRUPT_RATE_CAN_3 (1U << 4)
#define FAULT_INTERRUPT_RATE_TACH (1U << 5)
#define FAULT_INTERRUPT_RATE_GMLAN (1U << 6)
#define FAULT_INTERRUPT_RATE_INTERRUPTS (1U << 7)
#define FAULT_INTERRUPT_RATE_SPI_DMA (1U << 8)
#define FAULT_INTERRUPT_RATE_SPI_CS (1U << 9)
#define FAULT_INTERRUPT_RATE_UART_1 (1U << 10)
#define FAULT_INTERRUPT_RATE_UART_2 (1U << 11)
#define FAULT_INTERRUPT_RATE_UART_3 (1U << 12)
#define FAULT_INTERRUPT_RATE_UART_5 (1U << 13)
#define FAULT_INTERRUPT_RATE_UART_DMA (1U << 14)
#define FAULT_INTERRUPT_RATE_USB (1U << 15)
#define FAULT_INTERRUPT_RATE_TIM1 (1U << 16)
#define FAULT_INTERRUPT_RATE_TIM3 (1U << 17)
#define FAULT_REGISTER_DIVERGENT (1U << 18)
#define FAULT_INTERRUPT_RATE_KLINE_INIT (1U << 19)
#define FAULT_RELAY_MALFUNCTION (1U << 0)
#define FAULT_UNUSED_INTERRUPT_HANDLED (1U << 1)
#define FAULT_INTERRUPT_RATE_CAN_1 (1U << 2)
#define FAULT_INTERRUPT_RATE_CAN_2 (1U << 3)
#define FAULT_INTERRUPT_RATE_CAN_3 (1U << 4)
#define FAULT_INTERRUPT_RATE_TACH (1U << 5)
#define FAULT_INTERRUPT_RATE_GMLAN (1U << 6)
#define FAULT_INTERRUPT_RATE_INTERRUPTS (1U << 7)
#define FAULT_INTERRUPT_RATE_SPI_DMA (1U << 8)
#define FAULT_INTERRUPT_RATE_SPI_CS (1U << 9)
#define FAULT_INTERRUPT_RATE_UART_1 (1U << 10)
#define FAULT_INTERRUPT_RATE_UART_2 (1U << 11)
#define FAULT_INTERRUPT_RATE_UART_3 (1U << 12)
#define FAULT_INTERRUPT_RATE_UART_5 (1U << 13)
#define FAULT_INTERRUPT_RATE_UART_DMA (1U << 14)
#define FAULT_INTERRUPT_RATE_USB (1U << 15)
#define FAULT_INTERRUPT_RATE_TIM1 (1U << 16)
#define FAULT_INTERRUPT_RATE_TIM3 (1U << 17)
#define FAULT_REGISTER_DIVERGENT (1U << 18)
#define FAULT_INTERRUPT_RATE_KLINE_INIT (1U << 19)
#define FAULT_INTERRUPT_RATE_CLOCK_SOURCE (1U << 20)
#define FAULT_INTERRUPT_RATE_TIM9 (1U << 21)
// Permanent faults
#define PERMANENT_FAULTS 0U

6
board/main.c
View File

@ -606,6 +606,10 @@ int usb_cb_control_msg(USB_Setup_TypeDef *setup, uint8_t *resp, bool hardwired)
}
}
break;
// **** 0xf5: set clock source mode
case 0xf5:
current_board->set_clock_source_mode(setup->b.wValue.w);
break;
default:
puts("NO HANDLER ");
puth(setup->b.bRequest);
@ -754,7 +758,7 @@ int main(void) {
init_interrupts(true);
// 1s timer
REGISTER_INTERRUPT(TIM1_BRK_TIM9_IRQn, TIM1_BRK_TIM9_IRQ_Handler, 2U, FAULT_INTERRUPT_RATE_TIM1)
REGISTER_INTERRUPT(TIM1_BRK_TIM9_IRQn, TIM1_BRK_TIM9_IRQ_Handler, 2U, FAULT_INTERRUPT_RATE_TIM9)
// shouldn't have interrupts here, but just in case
disable_interrupts();

8
python/__init__.py
View File

@ -148,6 +148,10 @@ class Panda(object):
HW_TYPE_PEDAL = b'\x04'
HW_TYPE_UNO = b'\x05'
CLOCK_SOURCE_MODE_DISABLED = 0
CLOCK_SOURCE_MODE_FREE_RUNNING = 1
CLOCK_SOURCE_MODE_EXTERNAL_SYNC = 2
def __init__(self, serial=None, claim=True):
self._serial = serial
self._handle = None
@ -665,3 +669,7 @@ class Panda(object):
# ****************** Phone *****************
def set_phone_power(self, enabled):
self._handle.controlWrite(Panda.REQUEST_OUT, 0xb3, int(enabled), 0, b'')
# ************** Clock Source **************
def set_clock_source_mode(self, mode):
self._handle.controlWrite(Panda.REQUEST_OUT, 0xf5, int(mode), 0, b'')