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panda/board/gpio.h

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#ifdef STM32F4
#include "stm32f4xx_hal_gpio_ex.h"
#else
#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(GPIOB, 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;
RCC->AHB1ENR |= RCC_AHB1ENR_GPIOBEN;
RCC->AHB1ENR |= RCC_AHB1ENR_GPIOCEN;
RCC->AHB1ENR |= RCC_AHB1ENR_GPIODEN;
RCC->AHB1ENR |= RCC_AHB1ENR_DMA2EN;
RCC->APB1ENR |= RCC_APB1ENR_USART2EN;
RCC->APB1ENR |= RCC_APB1ENR_USART3EN;
#ifdef PANDA
RCC->APB1ENR |= RCC_APB1ENR_UART5EN;
#endif
RCC->APB1ENR |= RCC_APB1ENR_CAN1EN;
RCC->APB1ENR |= RCC_APB1ENR_CAN2EN;
#ifdef CAN3
RCC->APB1ENR |= RCC_APB1ENR_CAN3EN;
#endif
RCC->APB1ENR |= RCC_APB1ENR_DACEN;
RCC->APB1ENR |= RCC_APB1ENR_TIM3EN;
//RCC->APB1ENR |= RCC_APB1ENR_TIM4EN;
RCC->APB2ENR |= RCC_APB2ENR_USART1EN;
RCC->AHB2ENR |= RCC_AHB2ENR_OTGFSEN;
RCC->APB2ENR |= RCC_APB2ENR_TIM1EN;
RCC->APB2ENR |= RCC_APB2ENR_ADC1EN;
RCC->APB2ENR |= RCC_APB2ENR_SPI1EN;
// needed?
RCC->APB2ENR |= RCC_APB2ENR_SYSCFGEN;
}
void set_can_mode(int can, int use_gmlan) {
// http://www.bittiming.can-wiki.info/#bxCAN
// 24 MHz, sample point at 87.5%
uint32_t pclk = 24000;
uint32_t num_time_quanta = 16;
uint32_t prescaler;
CAN_TypeDef *CAN = NULL;
if (can == 2) CAN = CAN2;
#ifdef CAN3
else if (can == 3) CAN = CAN3;
#endif
if (CAN == NULL) return;
// connects to CAN2 xcvr or GMLAN xcvr
if (use_gmlan) {
if (can == 2) {
// B5,B6: disable normal mode
set_gpio_mode(GPIOB, 5, MODE_INPUT);
set_gpio_mode(GPIOB, 6, MODE_INPUT);
// B12,B13: gmlan mode
set_gpio_alternate(GPIOB, 12, GPIO_AF9_CAN2);
set_gpio_alternate(GPIOB, 13, GPIO_AF9_CAN2);
/* GMLAN mode pins:
M0(B15) M1(B14) mode
=======================
0 0 sleep
1 0 100kbit
0 1 high voltage wakeup
1 1 33kbit (normal)
*/
#ifdef REVC
} else if (can == 3) {
// A8,A15: disable normal mode
set_gpio_mode(GPIOA, 8, MODE_INPUT);
set_gpio_mode(GPIOA, 15, MODE_INPUT);
// B3,B4: enable gmlan mode
set_gpio_alternate(GPIOB, 3, GPIO_AF11_CAN3);
set_gpio_alternate(GPIOB, 4, GPIO_AF11_CAN3);
#endif
}
// put gmlan transceiver in normal mode
set_gpio_output(GPIOB, 14, 1);
set_gpio_output(GPIOB, 15, 1);
// 83.3 kbps
// prescaler = pclk / num_time_quanta * 10 / 833;
// 33.3 kbps
prescaler = pclk / num_time_quanta * 10 / 333;
} else {
if (can == 2) {
// B12,B13: disable gmlan mode
set_gpio_mode(GPIOB, 12, MODE_INPUT);
set_gpio_mode(GPIOB, 13, MODE_INPUT);
// B5,B6: normal mode
set_gpio_alternate(GPIOB, 5, GPIO_AF9_CAN2);
set_gpio_alternate(GPIOB, 6, GPIO_AF9_CAN2);
} else if (can == 3) {
#ifdef REVC
// B3,B4: disable gmlan mode
set_gpio_mode(GPIOB, 3, MODE_INPUT);
set_gpio_mode(GPIOB, 4, MODE_INPUT);
#endif
// A8,A15: normal mode
set_gpio_alternate(GPIOA, 8, GPIO_AF11_CAN3);
set_gpio_alternate(GPIOA, 15, GPIO_AF11_CAN3);
}
// 500 kbps
prescaler = pclk / num_time_quanta / 500;
}
// init
CAN->MCR = CAN_MCR_TTCM | CAN_MCR_INRQ;
while((CAN->MSR & CAN_MSR_INAK) != CAN_MSR_INAK);
// set speed
// seg 1: 13 time quanta, seg 2: 2 time quanta
CAN->BTR = (CAN_BTR_TS1_0 * 12) |
CAN_BTR_TS2_0 | (prescaler - 1);
// running
CAN->MCR = CAN_MCR_TTCM;
while((CAN->MSR & CAN_MSR_INAK) == CAN_MSR_INAK);
}
// board specific
void gpio_init() {
// pull low to hold ESP in reset??
// enable OTG out tied to ground
GPIOA->ODR = 0;
GPIOB->ODR = 0;
GPIOA->PUPDR = 0;
//GPIOC->ODR = 0;
GPIOB->AFR[0] = 0;
GPIOB->AFR[1] = 0;
// C2,C3: analog mode, voltage and current sense
set_gpio_mode(GPIOC, 2, MODE_ANALOG);
set_gpio_mode(GPIOC, 3, MODE_ANALOG);
// C8: FAN aka TIM3_CH4
set_gpio_alternate(GPIOC, 8, GPIO_AF2_TIM3);
// turn off LEDs and set mode
set_led(LED_RED, 0);
set_led(LED_GREEN, 0);
set_led(LED_BLUE, 0);
// 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;
#ifdef PANDA
// enable started_alt on the panda
set_gpio_pullup(GPIOA, 1, PULL_UP);
// A2,A3: USART 2 for debugging
set_gpio_alternate(GPIOA, 2, GPIO_AF7_USART2);
set_gpio_alternate(GPIOA, 3, GPIO_AF7_USART2);
// 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);
// B12: GMLAN, ignition sense, pull up
set_gpio_pullup(GPIOB, 12, PULL_UP);
// 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);
#endif
// B8,B9: CAN 1
set_can_enable(CAN1, 0);
#ifdef STM32F4
set_gpio_alternate(GPIOB, 8, GPIO_AF8_CAN1);
set_gpio_alternate(GPIOB, 9, GPIO_AF8_CAN1);
#else
set_gpio_alternate(GPIOB, 8, GPIO_AF9_CAN1);
set_gpio_alternate(GPIOB, 9, GPIO_AF9_CAN1);
#endif
// B5,B6: CAN 2
set_can_enable(CAN2, 0);
set_can_mode(2, 0);
// A8,A15: CAN3
#ifdef CAN3
set_can_enable(CAN3, 0);
set_can_mode(3, 0);
#endif
#ifdef PANDA
// K-line enable moved from B4->B7 to make room for GMLAN on CAN3
#ifdef REVC
set_gpio_output(GPIOB, 7, 1);
#else
set_gpio_output(GPIOB, 4, 1);
#endif
// C12,D2: K-Line setup on UART 5
set_gpio_alternate(GPIOC, 12, GPIO_AF8_UART5);
set_gpio_alternate(GPIOD, 2, GPIO_AF8_UART5);
set_gpio_pullup(GPIOD, 2, PULL_UP);
// L-line enable
set_gpio_output(GPIOA, 14, 1);
// C10,C11: L-Line setup on USART 3
set_gpio_alternate(GPIOC, 10, GPIO_AF7_USART3);
set_gpio_alternate(GPIOC, 11, GPIO_AF7_USART3);
set_gpio_pullup(GPIOC, 11, PULL_UP);
#endif
#ifdef REVC
// B2,A13: set DCP mode on the charger (breaks USB!)
/*set_gpio_output(GPIOB, 2, 0);
set_gpio_output(GPIOA, 13, 0);*/
#endif
}
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