254 lines
6.2 KiB
C
254 lines
6.2 KiB
C
// ///////////////////// //
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// Black Panda + Harness //
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// ///////////////////// //
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void black_enable_can_transciever(uint8_t transciever, bool enabled) {
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switch (transciever){
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case 1U:
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set_gpio_output(GPIOC, 1, !enabled);
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break;
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case 2U:
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set_gpio_output(GPIOC, 13, !enabled);
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break;
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case 3U:
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set_gpio_output(GPIOA, 0, !enabled);
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break;
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case 4U:
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set_gpio_output(GPIOB, 10, !enabled);
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break;
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default:
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puts("Invalid CAN transciever ("); puth(transciever); puts("): enabling failed\n");
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break;
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}
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}
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void black_enable_can_transcievers(bool enabled) {
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for(uint8_t i=1U; i<=4U; i++){
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// Leave main CAN always on for CAN-based ignition detection
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if((car_harness_status == HARNESS_STATUS_FLIPPED) ? (i == 3U) : (i == 1U)){
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black_enable_can_transciever(i, true);
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} else {
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black_enable_can_transciever(i, enabled);
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}
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}
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}
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void black_set_led(uint8_t color, bool enabled) {
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switch (color){
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case LED_RED:
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set_gpio_output(GPIOC, 9, !enabled);
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break;
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case LED_GREEN:
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set_gpio_output(GPIOC, 7, !enabled);
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break;
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case LED_BLUE:
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set_gpio_output(GPIOC, 6, !enabled);
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break;
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default:
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break;
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}
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}
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void black_set_gps_load_switch(bool enabled) {
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set_gpio_output(GPIOC, 12, enabled);
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}
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void black_set_usb_load_switch(bool enabled) {
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set_gpio_output(GPIOB, 1, !enabled);
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}
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void black_set_usb_power_mode(uint8_t mode) {
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bool valid = false;
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switch (mode) {
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case USB_POWER_CLIENT:
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black_set_usb_load_switch(false);
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valid = true;
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break;
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case USB_POWER_CDP:
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black_set_usb_load_switch(true);
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valid = true;
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break;
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default:
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puts("Invalid USB power mode\n");
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break;
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}
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if (valid) {
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usb_power_mode = mode;
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}
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}
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void black_set_gps_mode(uint8_t mode) {
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switch (mode) {
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case GPS_DISABLED:
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// GPS OFF
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set_gpio_output(GPIOC, 14, 0);
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set_gpio_output(GPIOC, 5, 0);
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break;
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case GPS_ENABLED:
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// GPS ON
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set_gpio_output(GPIOC, 14, 1);
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set_gpio_output(GPIOC, 5, 1);
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break;
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case GPS_BOOTMODE:
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set_gpio_output(GPIOC, 14, 1);
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set_gpio_output(GPIOC, 5, 0);
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break;
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default:
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puts("Invalid GPS mode\n");
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break;
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}
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}
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void black_set_can_mode(uint8_t mode){
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switch (mode) {
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case CAN_MODE_NORMAL:
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case CAN_MODE_OBD_CAN2:
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if ((bool)(mode == CAN_MODE_NORMAL) != (bool)(car_harness_status == HARNESS_STATUS_FLIPPED)) {
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// B12,B13: disable OBD mode
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set_gpio_mode(GPIOB, 12, MODE_INPUT);
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set_gpio_mode(GPIOB, 13, MODE_INPUT);
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// B5,B6: normal CAN2 mode
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set_gpio_alternate(GPIOB, 5, GPIO_AF9_CAN2);
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set_gpio_alternate(GPIOB, 6, GPIO_AF9_CAN2);
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} else {
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// B5,B6: disable normal CAN2 mode
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set_gpio_mode(GPIOB, 5, MODE_INPUT);
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set_gpio_mode(GPIOB, 6, MODE_INPUT);
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// B12,B13: OBD mode
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set_gpio_alternate(GPIOB, 12, GPIO_AF9_CAN2);
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set_gpio_alternate(GPIOB, 13, GPIO_AF9_CAN2);
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}
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break;
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default:
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puts("Tried to set unsupported CAN mode: "); puth(mode); puts("\n");
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break;
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}
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}
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void black_usb_power_mode_tick(uint32_t uptime){
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UNUSED(uptime);
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// Not applicable
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}
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bool black_check_ignition(void){
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// ignition is checked through harness
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return harness_check_ignition();
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}
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uint32_t black_read_current(void){
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// No current sense on black panda
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return 0U;
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}
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void black_set_ir_power(uint8_t percentage){
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UNUSED(percentage);
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}
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void black_set_fan_power(uint8_t percentage){
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UNUSED(percentage);
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}
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void black_set_phone_power(bool enabled){
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UNUSED(enabled);
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}
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void black_set_clock_source_mode(uint8_t mode){
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UNUSED(mode);
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}
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void black_set_siren(bool enabled){
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UNUSED(enabled);
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}
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void black_init(void) {
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common_init_gpio();
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// A8,A15: normal CAN3 mode
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set_gpio_alternate(GPIOA, 8, GPIO_AF11_CAN3);
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set_gpio_alternate(GPIOA, 15, GPIO_AF11_CAN3);
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// C0: OBD_SBU1 (orientation detection)
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// C3: OBD_SBU2 (orientation detection)
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set_gpio_mode(GPIOC, 0, MODE_ANALOG);
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set_gpio_mode(GPIOC, 3, MODE_ANALOG);
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// Set default state of GPS
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current_board->set_gps_mode(GPS_ENABLED);
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// C10: OBD_SBU1_RELAY (harness relay driving output)
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// C11: OBD_SBU2_RELAY (harness relay driving output)
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set_gpio_mode(GPIOC, 10, MODE_OUTPUT);
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set_gpio_mode(GPIOC, 11, MODE_OUTPUT);
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set_gpio_output_type(GPIOC, 10, OUTPUT_TYPE_OPEN_DRAIN);
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set_gpio_output_type(GPIOC, 11, OUTPUT_TYPE_OPEN_DRAIN);
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set_gpio_output(GPIOC, 10, 1);
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set_gpio_output(GPIOC, 11, 1);
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// Turn on GPS load switch.
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black_set_gps_load_switch(true);
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// Turn on USB load switch.
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black_set_usb_load_switch(true);
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// Set right power mode
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black_set_usb_power_mode(USB_POWER_CDP);
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// Initialize harness
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harness_init();
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// Enable CAN transcievers
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black_enable_can_transcievers(true);
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// Disable LEDs
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black_set_led(LED_RED, false);
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black_set_led(LED_GREEN, false);
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black_set_led(LED_BLUE, false);
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// Set normal CAN mode
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black_set_can_mode(CAN_MODE_NORMAL);
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// flip CAN0 and CAN2 if we are flipped
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if (car_harness_status == HARNESS_STATUS_FLIPPED) {
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can_flip_buses(0, 2);
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}
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// init multiplexer
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can_set_obd(car_harness_status, false);
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}
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const harness_configuration black_harness_config = {
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.has_harness = true,
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.GPIO_SBU1 = GPIOC,
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.GPIO_SBU2 = GPIOC,
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.GPIO_relay_SBU1 = GPIOC,
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.GPIO_relay_SBU2 = GPIOC,
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.pin_SBU1 = 0,
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.pin_SBU2 = 3,
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.pin_relay_SBU1 = 10,
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.pin_relay_SBU2 = 11,
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.adc_channel_SBU1 = 10,
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.adc_channel_SBU2 = 13
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};
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const board board_black = {
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.board_type = "Black",
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.harness_config = &black_harness_config,
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.init = black_init,
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.enable_can_transciever = black_enable_can_transciever,
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.enable_can_transcievers = black_enable_can_transcievers,
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.set_led = black_set_led,
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.set_usb_power_mode = black_set_usb_power_mode,
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.set_gps_mode = black_set_gps_mode,
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.set_can_mode = black_set_can_mode,
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.usb_power_mode_tick = black_usb_power_mode_tick,
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.check_ignition = black_check_ignition,
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.read_current = black_read_current,
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.set_fan_power = black_set_fan_power,
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.set_ir_power = black_set_ir_power,
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.set_phone_power = black_set_phone_power,
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.set_clock_source_mode = black_set_clock_source_mode,
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.set_siren = black_set_siren
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};
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