354 lines
9.3 KiB
C
354 lines
9.3 KiB
C
// /////////// //
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// White Panda //
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// /////////// //
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void white_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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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 white_enable_can_transcievers(bool enabled) {
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uint8_t t1 = enabled ? 1U : 2U; // leave transciever 1 enabled to detect CAN ignition
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for(uint8_t i=t1; i<=3U; i++) {
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white_enable_can_transciever(i, enabled);
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}
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}
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void white_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 white_set_usb_power_mode(uint8_t mode){
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bool valid_mode = true;
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switch (mode) {
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case USB_POWER_CLIENT:
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// B2,A13: set client mode
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set_gpio_output(GPIOB, 2, 0);
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set_gpio_output(GPIOA, 13, 1);
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break;
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case USB_POWER_CDP:
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// B2,A13: set CDP mode
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set_gpio_output(GPIOB, 2, 1);
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set_gpio_output(GPIOA, 13, 1);
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break;
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case USB_POWER_DCP:
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// B2,A13: set DCP mode on the charger (breaks USB!)
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set_gpio_output(GPIOB, 2, 0);
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set_gpio_output(GPIOA, 13, 0);
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break;
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default:
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valid_mode = false;
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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_mode) {
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usb_power_mode = mode;
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}
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}
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void white_set_gps_mode(uint8_t mode) {
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switch (mode) {
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case GPS_DISABLED:
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// ESP 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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#ifndef EON
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case GPS_ENABLED:
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// ESP 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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#endif
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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 ESP/GPS mode\n");
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break;
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}
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}
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void white_set_can_mode(uint8_t mode){
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switch (mode) {
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case CAN_MODE_NORMAL:
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// B12,B13: disable GMLAN 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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// B3,B4: disable GMLAN mode
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set_gpio_mode(GPIOB, 3, MODE_INPUT);
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set_gpio_mode(GPIOB, 4, 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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// 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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break;
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case CAN_MODE_GMLAN_CAN2:
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// B5,B6: disable 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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// B3,B4: disable GMLAN mode
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set_gpio_mode(GPIOB, 3, MODE_INPUT);
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set_gpio_mode(GPIOB, 4, MODE_INPUT);
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// B12,B13: GMLAN 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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// 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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break;
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case CAN_MODE_GMLAN_CAN3:
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// A8,A15: disable CAN3 mode
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set_gpio_mode(GPIOA, 8, MODE_INPUT);
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set_gpio_mode(GPIOA, 15, MODE_INPUT);
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// B12,B13: disable GMLAN 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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// B3,B4: GMLAN mode
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set_gpio_alternate(GPIOB, 3, GPIO_AF11_CAN3);
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set_gpio_alternate(GPIOB, 4, GPIO_AF11_CAN3);
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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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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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uint32_t white_read_current(void){
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return adc_get(ADCCHAN_CURRENT);
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}
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uint32_t marker = 0;
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void white_usb_power_mode_tick(uint32_t uptime){
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// on EON or BOOTSTUB, no state machine
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#if !defined(BOOTSTUB) && !defined(EON)
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#define CURRENT_THRESHOLD 0xF00U
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#define CLICKS 5U // 5 seconds to switch modes
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uint32_t current = white_read_current();
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// ~0x9a = 500 ma
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// puth(current); puts("\n");
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switch (usb_power_mode) {
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case USB_POWER_CLIENT:
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if ((uptime - marker) >= CLICKS) {
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if (!is_enumerated) {
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puts("USBP: didn't enumerate, switching to CDP mode\n");
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// switch to CDP
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white_set_usb_power_mode(USB_POWER_CDP);
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marker = uptime;
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}
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}
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// keep resetting the timer if it's enumerated
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if (is_enumerated) {
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marker = uptime;
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}
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break;
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case USB_POWER_CDP:
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// been CLICKS clicks since we switched to CDP
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if ((uptime - marker) >= CLICKS) {
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// measure current draw, if positive and no enumeration, switch to DCP
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if (!is_enumerated && (current < CURRENT_THRESHOLD)) {
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puts("USBP: no enumeration with current draw, switching to DCP mode\n");
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white_set_usb_power_mode(USB_POWER_DCP);
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marker = uptime;
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}
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}
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// keep resetting the timer if there's no current draw in CDP
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if (current >= CURRENT_THRESHOLD) {
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marker = uptime;
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}
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break;
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case USB_POWER_DCP:
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// been at least CLICKS clicks since we switched to DCP
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if ((uptime - marker) >= CLICKS) {
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// if no current draw, switch back to CDP
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if (current >= CURRENT_THRESHOLD) {
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puts("USBP: no current draw, switching back to CDP mode\n");
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white_set_usb_power_mode(USB_POWER_CDP);
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marker = uptime;
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}
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}
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// keep resetting the timer if there's current draw in DCP
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if (current < CURRENT_THRESHOLD) {
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marker = uptime;
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}
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break;
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default:
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puts("USB power mode invalid\n"); // set_usb_power_mode prevents assigning invalid values
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break;
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}
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#else
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UNUSED(uptime);
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#endif
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}
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void white_set_ir_power(uint8_t percentage){
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UNUSED(percentage);
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}
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void white_set_fan_power(uint8_t percentage){
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UNUSED(percentage);
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}
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bool white_check_ignition(void){
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// ignition is on PA1
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return !get_gpio_input(GPIOA, 1);
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}
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void white_set_phone_power(bool enabled){
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UNUSED(enabled);
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}
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void white_set_clock_source_mode(uint8_t mode){
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UNUSED(mode);
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}
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void white_set_siren(bool enabled){
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UNUSED(enabled);
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}
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void white_grey_common_init(void) {
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common_init_gpio();
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// C3: current sense
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set_gpio_mode(GPIOC, 3, MODE_ANALOG);
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// A1: started_alt
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set_gpio_pullup(GPIOA, 1, PULL_UP);
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// A2, A3: USART 2 for debugging
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set_gpio_alternate(GPIOA, 2, GPIO_AF7_USART2);
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set_gpio_alternate(GPIOA, 3, GPIO_AF7_USART2);
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// A4, A5, A6, A7: SPI
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set_gpio_alternate(GPIOA, 4, GPIO_AF5_SPI1);
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set_gpio_alternate(GPIOA, 5, GPIO_AF5_SPI1);
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set_gpio_alternate(GPIOA, 6, GPIO_AF5_SPI1);
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set_gpio_alternate(GPIOA, 7, GPIO_AF5_SPI1);
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// B12: GMLAN, ignition sense, pull up
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set_gpio_pullup(GPIOB, 12, PULL_UP);
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/* GMLAN mode pins:
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M0(B15) M1(B14) mode
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=======================
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0 0 sleep
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1 0 100kbit
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0 1 high voltage wakeup
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1 1 33kbit (normal)
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*/
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set_gpio_output(GPIOB, 14, 1);
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set_gpio_output(GPIOB, 15, 1);
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// B7: K-line enable
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set_gpio_output(GPIOB, 7, 1);
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// C12, D2: Setup K-line (UART5)
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set_gpio_alternate(GPIOC, 12, GPIO_AF8_UART5);
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set_gpio_alternate(GPIOD, 2, GPIO_AF8_UART5);
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set_gpio_pullup(GPIOD, 2, PULL_UP);
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// L-line enable
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set_gpio_output(GPIOA, 14, 1);
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// C10, C11: L-Line setup (USART3)
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set_gpio_alternate(GPIOC, 10, GPIO_AF7_USART3);
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set_gpio_alternate(GPIOC, 11, GPIO_AF7_USART3);
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set_gpio_pullup(GPIOC, 11, PULL_UP);
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// Enable CAN transcievers
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white_enable_can_transcievers(true);
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// Disable LEDs
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white_set_led(LED_RED, false);
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white_set_led(LED_GREEN, false);
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white_set_led(LED_BLUE, false);
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// Set normal CAN mode
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white_set_can_mode(CAN_MODE_NORMAL);
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// Init usb power mode
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uint32_t voltage = adc_get_voltage();
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// Init in CDP mode only if panda is powered by 12V.
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// Otherwise a PC would not be able to flash a standalone panda with EON build
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if (voltage > 8000U) { // 8V threshold
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white_set_usb_power_mode(USB_POWER_CDP);
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} else {
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white_set_usb_power_mode(USB_POWER_CLIENT);
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}
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}
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void white_init(void) {
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white_grey_common_init();
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// Set ESP off by default
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current_board->set_gps_mode(GPS_DISABLED);
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}
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const harness_configuration white_harness_config = {
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.has_harness = false
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};
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const board board_white = {
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.board_type = "White",
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.harness_config = &white_harness_config,
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.init = white_init,
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.enable_can_transciever = white_enable_can_transciever,
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.enable_can_transcievers = white_enable_can_transcievers,
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.set_led = white_set_led,
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.set_usb_power_mode = white_set_usb_power_mode,
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.set_gps_mode = white_set_gps_mode,
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.set_can_mode = white_set_can_mode,
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.usb_power_mode_tick = white_usb_power_mode_tick,
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.check_ignition = white_check_ignition,
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.read_current = white_read_current,
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.set_fan_power = white_set_fan_power,
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.set_ir_power = white_set_ir_power,
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.set_phone_power = white_set_phone_power,
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.set_clock_source_mode = white_set_clock_source_mode,
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.set_siren = white_set_siren
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};
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