99 lines
3.3 KiB
C
99 lines
3.3 KiB
C
uint8_t car_harness_status = 0U;
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#define HARNESS_STATUS_NC 0U
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#define HARNESS_STATUS_NORMAL 1U
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#define HARNESS_STATUS_FLIPPED 2U
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// Threshold voltage (mV) for either of the SBUs to be below before deciding harness is connected
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#define HARNESS_CONNECTED_THRESHOLD 2500U
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struct harness_configuration {
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const bool has_harness;
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GPIO_TypeDef *GPIO_SBU1;
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GPIO_TypeDef *GPIO_SBU2;
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GPIO_TypeDef *GPIO_relay_SBU1;
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GPIO_TypeDef *GPIO_relay_SBU2;
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uint8_t pin_SBU1;
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uint8_t pin_SBU2;
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uint8_t pin_relay_SBU1;
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uint8_t pin_relay_SBU2;
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uint8_t adc_channel_SBU1;
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uint8_t adc_channel_SBU2;
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};
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// this function will be the API for tici
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void set_intercept_relay(bool intercept) {
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if (car_harness_status != HARNESS_STATUS_NC) {
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if (intercept) {
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puts("switching harness to intercept (relay on)\n");
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} else {
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puts("switching harness to passthrough (relay off)\n");
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}
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if(car_harness_status == HARNESS_STATUS_NORMAL){
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set_gpio_output(current_board->harness_config->GPIO_relay_SBU2, current_board->harness_config->pin_relay_SBU2, !intercept);
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} else {
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set_gpio_output(current_board->harness_config->GPIO_relay_SBU1, current_board->harness_config->pin_relay_SBU1, !intercept);
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}
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}
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}
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bool harness_check_ignition(void) {
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bool ret = false;
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switch(car_harness_status){
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case HARNESS_STATUS_NORMAL:
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ret = !get_gpio_input(current_board->harness_config->GPIO_SBU1, current_board->harness_config->pin_SBU1);
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break;
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case HARNESS_STATUS_FLIPPED:
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ret = !get_gpio_input(current_board->harness_config->GPIO_SBU2, current_board->harness_config->pin_SBU2);
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break;
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default:
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break;
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}
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return ret;
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}
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uint8_t harness_detect_orientation(void) {
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uint8_t ret = HARNESS_STATUS_NC;
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#ifndef BOOTSTUB
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uint32_t sbu1_voltage = adc_get(current_board->harness_config->adc_channel_SBU1);
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uint32_t sbu2_voltage = adc_get(current_board->harness_config->adc_channel_SBU2);
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// Detect connection and orientation
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if((sbu1_voltage < HARNESS_CONNECTED_THRESHOLD) || (sbu2_voltage < HARNESS_CONNECTED_THRESHOLD)){
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if (sbu1_voltage < sbu2_voltage) {
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// orientation flipped (PANDA_SBU1->HARNESS_SBU1(relay), PANDA_SBU2->HARNESS_SBU2(ign))
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ret = HARNESS_STATUS_FLIPPED;
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} else {
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// orientation normal (PANDA_SBU2->HARNESS_SBU1(relay), PANDA_SBU1->HARNESS_SBU2(ign))
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ret = HARNESS_STATUS_NORMAL;
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}
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}
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#endif
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return ret;
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}
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void harness_init(void) {
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// delay such that the connection is fully made before trying orientation detection
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current_board->set_led(LED_BLUE, true);
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delay(10000000);
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current_board->set_led(LED_BLUE, false);
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// try to detect orientation
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uint8_t ret = harness_detect_orientation();
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if (ret != HARNESS_STATUS_NC) {
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puts("detected car harness with orientation "); puth2(ret); puts("\n");
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car_harness_status = ret;
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// set the SBU lines to be inputs before using the relay. The lines are not 5V tolerant in ADC mode!
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set_gpio_mode(current_board->harness_config->GPIO_SBU1, current_board->harness_config->pin_SBU1, MODE_INPUT);
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set_gpio_mode(current_board->harness_config->GPIO_SBU2, current_board->harness_config->pin_SBU2, MODE_INPUT);
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// keep busses connected by default
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set_intercept_relay(false);
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} else {
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puts("failed to detect car harness!\n");
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}
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}
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