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openpilot v0.8.8 release

pull/22002/head
Vehicle Researcher 2021-08-22 22:13:11 -07:00
parent 444aace15f
commit baffaeee93
193 changed files with 60566 additions and 1933 deletions
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1
Jenkinsfile vendored
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@ -49,7 +49,6 @@ def phone_steps(String device_type, steps) {
pipeline {
agent none
environment {
COMMA_JWT = credentials('athena-test-jwt')
TEST_DIR = "/data/openpilot"
SOURCE_DIR = "/data/openpilot_source/"
}

12
README.md
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@ -67,8 +67,8 @@ Supported Cars
| Acura | ILX 2016-19 | AcuraWatch Plus | openpilot | 25mph<sup>1</sup> | 25mph |
| Acura | RDX 2016-18 | AcuraWatch Plus | openpilot | 25mph<sup>1</sup> | 12mph |
| Acura | RDX 2019-21 | All | Stock | 0mph | 3mph |
| Honda | Accord 2018-20 | All | Stock | 0mph | 3mph |
| Honda | Accord Hybrid 2018-20 | All | Stock | 0mph | 3mph |
| Honda | Accord 2018-21 | All | Stock | 0mph | 3mph |
| Honda | Accord Hybrid 2018-21 | All | Stock | 0mph | 3mph |
| Honda | Civic Hatchback 2017-21 | Honda Sensing | Stock | 0mph | 12mph |
| Honda | Civic Coupe 2016-18 | Honda Sensing | openpilot | 0mph | 12mph |
| Honda | Civic Coupe 2019-20 | All | Stock | 0mph | 2mph<sup>2</sup> |
@ -110,7 +110,7 @@ Supported Cars
| Toyota | C-HR 2017-20 | All | Stock | 0mph | 0mph |
| Toyota | C-HR Hybrid 2017-19 | All | Stock | 0mph | 0mph |
| Toyota | Corolla 2017-19 | All | Stock<sup>3</sup>| 20mph<sup>1</sup> | 0mph |
| Toyota | Corolla 2020-21 | All | openpilot | 0mph | 0mph |
| Toyota | Corolla 2020-22 | All | openpilot | 0mph | 0mph |
| Toyota | Corolla Hatchback 2019-21 | All | openpilot | 0mph | 0mph |
| Toyota | Corolla Hybrid 2020-21 | All | openpilot | 0mph | 0mph |
| Toyota | Highlander 2017-19 | All | Stock<sup>3</sup>| 0mph | 0mph |
@ -163,13 +163,16 @@ Community Maintained Cars and Features
| Hyundai | Ioniq PHEV 2020 | SCC + LKAS | Stock | 0mph | 0mph |
| Hyundai | Kona 2020 | SCC + LKAS | Stock | 0mph | 0mph |
| Hyundai | Kona EV 2019 | SCC + LKAS | Stock | 0mph | 0mph |
| Hyundai | Kona Hybrid 2020 | SCC + LKAS | Stock | 0mph | 0mph |
| Hyundai | Santa Fe 2019-20 | All | Stock | 0mph | 0mph |
| Hyundai | Sonata 2018-2019 | SCC + LKAS | Stock | 0mph | 0mph |
| Hyundai | Sonata Hybrid 2021 | All | Stock | 0mph | 0mph |
| Hyundai | Veloster 2019-20 | SCC + LKAS | Stock | 5mph | 0mph |
| Jeep | Grand Cherokee 2016-18 | Adaptive Cruise | Stock | 0mph | 9mph |
| Jeep | Grand Cherokee 2019-20 | Adaptive Cruise | Stock | 0mph | 39mph |
| Kia | Forte 2018-2021 | SCC + LKAS | Stock | 0mph | 0mph |
| Kia | Niro EV 2020 | SCC + LKAS | Stock | 0mph | 0mph |
| Kia | Niro Hybrid 2021 | SCC + LKAS | Stock | 0mph | 0mph |
| Kia | Niro PHEV 2019 | SCC + LKAS | Stock | 10mph | 32mph |
| Kia | Optima 2017 | SCC + LKAS | Stock | 0mph | 32mph |
| Kia | Optima 2019 | SCC + LKAS | Stock | 0mph | 0mph |
@ -177,6 +180,7 @@ Community Maintained Cars and Features
| Kia | Sorento 2018-19 | SCC + LKAS | Stock | 0mph | 0mph |
| Kia | Stinger 2018 | SCC + LKAS | Stock | 0mph | 0mph |
| Kia | Ceed 2019 | SCC + LKAS | Stock | 0mph | 0mph |
| Kia | Telluride 2020 | SCC + LKAS | Stock | 0mph | 0mph |
| Nissan | Altima 2019-20 | ProPILOT | Stock | 0mph | 0mph |
| Nissan | Leaf 2018-20 | ProPILOT | Stock | 0mph | 0mph |
| Nissan | Rogue 2018-20 | ProPILOT | Stock | 0mph | 0mph |
@ -184,7 +188,7 @@ Community Maintained Cars and Features
| SEAT | Ateca 2018 | Driver Assistance | Stock | 0mph | 0mph |
| SEAT | Leon 2014-2020 | Driver Assistance | Stock | 0mph | 0mph |
| Škoda | Kodiaq 2018 | Driver Assistance | Stock | 0mph | 0mph |
| Škoda | Octavia 2015, 2019 | Driver Assistance | Stock | 0mph | 0mph |
| Škoda | Octavia 2015, 2018-19 | Driver Assistance | Stock | 0mph | 0mph |
| Škoda | Octavia RS 2016 | Driver Assistance | Stock | 0mph | 0mph |
| Škoda | Scala 2020 | Driver Assistance | Stock | 0mph | 0mph |
| Škoda | Superb 2015-18 | Driver Assistance | Stock | 0mph | 0mph |

16
RELEASES.md
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@ -1,3 +1,19 @@
Version 0.8.8 (2021-08-27)
========================
* New driving model with improved laneless performance
* Trained on 5000+ hours of diverse driving data from 3000+ users in 40+ countries
* Better anti-cheating methods during simulator training ensure the model hugs less when in laneless mode
* All new desire ground-truthing stack makes the model better at lane changes
* New driver monitoring model: improved performance on comma three
* NEOS 18 for comma two: update packages
* AGNOS 1.3 for comma three: fix display init at high temperatures
* Improved auto-exposure on comma three
* Honda Accord 2021 support thanks to csouers!
* Honda Accord Hybrid 2021 support thanks to csouers!
* Hyundai Kona Hybrid 2020 support thanks to haram-KONA!
* Hyundai Sonata Hybrid 2021 support thanks to Matt-Wash-Burn!
* Kia Niro Hybrid 2021 support thanks to tetious!
Version 0.8.7 (2021-07-31)
========================
* comma three support!

2
SAFETY.md
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@ -15,7 +15,7 @@ used safely** and openpilot is provided with no warranty of fitness for any purp
openpilot is developed in good faith to be compliant with FMVSS requirements and to follow
industry standards of safety for Level 2 Driver Assistance Systems. In particular, we observe
ISO26262 guidelines, including those from [pertinent documents](https://www.nhtsa.gov/sites/nhtsa.dot.gov/files/documents/13498a_812_573_alcsystemreport.pdf)
released by NHTSA. In addition, we impose strict coding guidelines (like [MISRA C : 2012](https://www.misra.org.uk/MISRAHome/MISRAC2012/tabid/196/Default.aspx))
released by NHTSA. In addition, we impose strict coding guidelines (like [MISRA C : 2012](https://www.misra.org.uk/what-is-misra/))
on parts of openpilot that are safety relevant. We also perform software-in-the-loop,
hardware-in-the-loop and in-vehicle tests before each software release.

28
SConstruct
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@ -166,6 +166,10 @@ else:
if arch != "Darwin":
ldflags += ["-Wl,--as-needed"]
# Enable swaglog include in submodules
cflags += ["-DSWAGLOG"]
cxxflags += ["-DSWAGLOG"]
# change pythonpath to this
lenv["PYTHONPATH"] = Dir("#").path
@ -344,6 +348,17 @@ if GetOption("clazy"):
Export('env', 'qt_env', 'arch', 'real_arch', 'SHARED', 'USE_WEBCAM')
SConscript(['selfdrive/common/SConscript'])
Import('_common', '_gpucommon', '_gpu_libs')
if SHARED:
common, gpucommon = abspath(common), abspath(gpucommon)
else:
common = [_common, 'json11']
gpucommon = [_gpucommon] + _gpu_libs
Export('common', 'gpucommon')
# cereal and messaging are shared with the system
SConscript(['cereal/SConscript'])
if SHARED:
@ -354,18 +369,7 @@ else:
messaging = [File('#cereal/libmessaging.a')]
visionipc = [File('#cereal/libvisionipc.a')]
Export('cereal', 'messaging')
SConscript(['selfdrive/common/SConscript'])
Import('_common', '_gpucommon', '_gpu_libs')
if SHARED:
common, gpucommon = abspath(common), abspath(gpucommon)
else:
common = [_common, 'json11']
gpucommon = [_gpucommon] + _gpu_libs
Export('common', 'gpucommon', 'visionipc')
Export('cereal', 'messaging', 'visionipc')
# Build rednose library and ekf models

12
cereal/SConscript
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@ -1,4 +1,4 @@
Import('env', 'envCython', 'arch')
Import('env', 'envCython', 'arch', 'common')
import shutil
@ -40,10 +40,10 @@ messaging_objects = env.SharedObject([
messaging_lib = env.Library('messaging', messaging_objects)
Depends('messaging/impl_zmq.cc', services_h)
env.Program('messaging/bridge', ['messaging/bridge.cc'], LIBS=[messaging_lib, 'zmq'])
env.Program('messaging/bridge', ['messaging/bridge.cc'], LIBS=[messaging_lib, 'zmq', common])
Depends('messaging/bridge.cc', services_h)
envCython.Program('messaging/messaging_pyx.so', 'messaging/messaging_pyx.pyx', LIBS=envCython["LIBS"]+[messaging_lib, "zmq"])
envCython.Program('messaging/messaging_pyx.so', 'messaging/messaging_pyx.pyx', LIBS=envCython["LIBS"]+[messaging_lib, "zmq", common])
# Build Vision IPC
@ -63,7 +63,7 @@ vipc_objects = env.SharedObject(vipc_sources)
vipc = env.Library('visionipc', vipc_objects)
libs = envCython["LIBS"]+["OpenCL", "zmq", vipc, messaging_lib]
libs = envCython["LIBS"]+["OpenCL", "zmq", vipc, messaging_lib, common]
if arch == "aarch64":
libs += ["adreno_utils"]
if arch == "Darwin":
@ -73,5 +73,5 @@ envCython.Program('visionipc/visionipc_pyx.so', 'visionipc/visionipc_pyx.pyx', L
if GetOption('test'):
env.Program('messaging/test_runner', ['messaging/test_runner.cc', 'messaging/msgq_tests.cc'], LIBS=[messaging_lib])
env.Program('visionipc/test_runner', ['visionipc/test_runner.cc', 'visionipc/visionipc_tests.cc'], LIBS=[vipc, messaging_lib, 'zmq', 'pthread', 'OpenCL'])
env.Program('messaging/test_runner', ['messaging/test_runner.cc', 'messaging/msgq_tests.cc'], LIBS=[messaging_lib, common])
env.Program('visionipc/test_runner', ['visionipc/test_runner.cc', 'visionipc/visionipc_tests.cc'], LIBS=[vipc, messaging_lib, 'zmq', 'pthread', 'OpenCL', common])

3
cereal/car.capnp
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@ -108,6 +108,7 @@ struct CarEvent @0x9b1657f34caf3ad3 {
driverCameraError @101;
wideRoadCameraError @102;
localizerMalfunction @103;
highCpuUsage @105;
driverMonitorLowAccDEPRECATED @68;
radarCanErrorDEPRECATED @15;
@ -156,6 +157,7 @@ struct CarState {
# steering wheel
steeringAngleDeg @7 :Float32;
steeringAngleOffsetDeg @37 :Float32; # Offset betweens sensors in case there multiple
steeringRateDeg @15 :Float32;
steeringTorque @8 :Float32; # TODO: standardize units
steeringTorqueEps @27 :Float32; # TODO: standardize units
@ -302,6 +304,7 @@ struct CarControl {
# range from -1.0 - 1.0
steer @2: Float32;
steeringAngleDeg @3: Float32;
accel @4: Float32; # m/s^2
}
struct CruiseControl {

17
cereal/log.capnp
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@ -289,15 +289,11 @@ struct CanData {
}
struct DeviceState @0xa4d8b5af2aa492eb {
freeSpacePercent @7 :Float32;
memoryUsagePercent @19 :Int8;
cpuUsagePercent @20 :Int8;
gpuUsagePercent @33 :Int8;
usbOnline @12 :Bool;
networkType @22 :NetworkType;
networkInfo @31 :NetworkInfo;
offroadPowerUsageUwh @23 :UInt32;
networkStrength @24 :NetworkStrength;
offroadPowerUsageUwh @23 :UInt32;
carBatteryCapacityUwh @25 :UInt32;
fanSpeedPercentDesired @10 :UInt16;
@ -306,6 +302,12 @@ struct DeviceState @0xa4d8b5af2aa492eb {
lastAthenaPingTime @32 :UInt64;
# system utilization
freeSpacePercent @7 :Float32;
memoryUsagePercent @19 :Int8;
gpuUsagePercent @33 :Int8;
cpuUsagePercent @34 :List(Int8); # per-core cpu usage
# power
batteryPercent @8 :Int16;
batteryStatus @9 :Text;
@ -365,6 +367,7 @@ struct DeviceState @0xa4d8b5af2aa492eb {
gpuDEPRECATED @5 :UInt16;
batDEPRECATED @6 :UInt32;
pa0DEPRECATED @21 :UInt16;
cpuUsagePercentDEPRECATED @20 :Int8;
}
struct PandaState @0xa7649e2575e4591e {
@ -432,7 +435,7 @@ struct PandaState @0xa7649e2575e4591e {
pedal @4;
uno @5;
dos @6;
red @7;
redPanda @7;
}
enum UsbPowerMode {
@ -934,7 +937,7 @@ struct LiveLocationKalman {
angularVelocityDevice @8 : Measurement;
# orientationNEDCalibrated transforms to rot matrix: NED_from_calibrated
orientationNEDCalibrated @9 : Measurement;
calibratedOrientationNED @9 : Measurement;
# Calibrated frame is simply device frame
# aligned with the vehicle

20
cereal/logger/logger.h 100644
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@ -0,0 +1,20 @@
#pragma once
#ifdef SWAGLOG
#include "selfdrive/common/swaglog.h"
#else
#define CLOUDLOG_DEBUG 10
#define CLOUDLOG_INFO 20
#define CLOUDLOG_WARNING 30
#define CLOUDLOG_ERROR 40
#define CLOUDLOG_CRITICAL 50
#define cloudlog(lvl, fmt, ...) printf(fmt "\n", ## __VA_ARGS__)
#define LOGD(fmt, ...) cloudlog(CLOUDLOG_DEBUG, fmt, ## __VA_ARGS__)
#define LOG(fmt, ...) cloudlog(CLOUDLOG_INFO, fmt, ## __VA_ARGS__)
#define LOGW(fmt, ...) cloudlog(CLOUDLOG_WARNING, fmt, ## __VA_ARGS__)
#define LOGE(fmt, ...) cloudlog(CLOUDLOG_ERROR, fmt, ## __VA_ARGS__)
#endif

14
cereal/messaging/__init__.py
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@ -13,6 +13,7 @@ from cereal.services import service_list
assert MultiplePublishersError
assert MessagingError
NO_TRAVERSAL_LIMIT = 2**64-1
AVG_FREQ_HISTORY = 100
SIMULATION = "SIMULATION" in os.environ
@ -26,6 +27,9 @@ except ImportError:
context = Context()
def log_from_bytes(dat: bytes) -> capnp.lib.capnp._DynamicStructReader:
return log.Event.from_bytes(dat, traversal_limit_in_words=NO_TRAVERSAL_LIMIT)
def new_message(service: Optional[str] = None, size: Optional[int] = None) -> capnp.lib.capnp._DynamicStructBuilder:
dat = log.Event.new_message()
dat.logMonoTime = int(sec_since_boot() * 1e9)
@ -83,7 +87,7 @@ def drain_sock(sock: SubSocket, wait_for_one: bool = False) -> List[capnp.lib.ca
if dat is None: # Timeout hit
break
dat = log.Event.from_bytes(dat)
dat = log_from_bytes(dat)
ret.append(dat)
return ret
@ -106,20 +110,20 @@ def recv_sock(sock: SubSocket, wait: bool = False) -> Union[None, capnp.lib.capn
dat = rcv
if dat is not None:
dat = log.Event.from_bytes(dat)
dat = log_from_bytes(dat)
return dat
def recv_one(sock: SubSocket) -> Union[None, capnp.lib.capnp._DynamicStructReader]:
dat = sock.receive()
if dat is not None:
dat = log.Event.from_bytes(dat)
dat = log_from_bytes(dat)
return dat
def recv_one_or_none(sock: SubSocket) -> Union[None, capnp.lib.capnp._DynamicStructReader]:
dat = sock.receive(non_blocking=True)
if dat is not None:
dat = log.Event.from_bytes(dat)
dat = log_from_bytes(dat)
return dat
def recv_one_retry(sock: SubSocket) -> capnp.lib.capnp._DynamicStructReader:
@ -127,7 +131,7 @@ def recv_one_retry(sock: SubSocket) -> capnp.lib.capnp._DynamicStructReader:
while True:
dat = sock.receive()
if dat is not None:
return log.Event.from_bytes(dat)
return log_from_bytes(dat)
class SubMaster():
def __init__(self, services: List[str], poll: Optional[List[str]] = None,

2
cereal/messaging/messaging.h
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@ -69,7 +69,7 @@ public:
SubMaster(const std::vector<const char *> &service_list,
const char *address = nullptr, const std::vector<const char *> &ignore_alive = {});
void update(int timeout = 1000);
void update_msgs(uint64_t current_time, std::vector<std::pair<std::string, cereal::Event::Reader>> messages);
void update_msgs(uint64_t current_time, const std::vector<std::pair<std::string, cereal::Event::Reader>> &messages);
inline bool allAlive(const std::vector<const char *> &service_list = {}) { return all_(service_list, false, true); }
inline bool allValid(const std::vector<const char *> &service_list = {}) { return all_(service_list, true, false); }
inline bool allAliveAndValid(const std::vector<const char *> &service_list = {}) { return all_(service_list, true, true); }

6
cereal/messaging/socketmaster.cc
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@ -92,7 +92,9 @@ void SubMaster::update(int timeout) {
SubMessage *m = messages_.at(s);
m->msg_reader->~FlatArrayMessageReader();
m->msg_reader = new (m->allocated_msg_reader) capnp::FlatArrayMessageReader(m->aligned_buf.align(msg));
capnp::ReaderOptions options;
options.traversalLimitInWords = kj::maxValue; // Don't limit
m->msg_reader = new (m->allocated_msg_reader) capnp::FlatArrayMessageReader(m->aligned_buf.align(msg), options);
delete msg;
messages.push_back({m->name, m->msg_reader->getRoot<cereal::Event>()});
}
@ -100,7 +102,7 @@ void SubMaster::update(int timeout) {
update_msgs(current_time, messages);
}
void SubMaster::update_msgs(uint64_t current_time, std::vector<std::pair<std::string, cereal::Event::Reader>> messages){
void SubMaster::update_msgs(uint64_t current_time, const std::vector<std::pair<std::string, cereal::Event::Reader>> &messages){
if (++frame == UINT64_MAX) frame = 1;
for(auto &kv : messages) {

3
cereal/services.py
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@ -61,6 +61,9 @@ services = {
"modelV2": (True, 20., 40),
"managerState": (True, 2., 1),
"uploaderState": (True, 0., 1),
# debug
"testJoystick": (False, 0.),
}
service_list = {name: Service(new_port(idx), *vals) for # type: ignore
idx, (name, vals) in enumerate(services.items())}

4
cereal/visionipc/visionbuf.h
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@ -55,8 +55,8 @@ class VisionBuf {
void init_cl(cl_device_id device_id, cl_context ctx);
void init_rgb(size_t width, size_t height, size_t stride);
void init_yuv(size_t width, size_t height);
void sync(int dir);
void free();
int sync(int dir);
int free();
};
void visionbuf_compute_aligned_width_and_height(int width, int height, int *aligned_w, int *aligned_h);

35
cereal/visionipc/visionbuf_cl.cc
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@ -60,27 +60,36 @@ void VisionBuf::import(){
}
void VisionBuf::sync(int dir) {
int VisionBuf::sync(int dir) {
int err = 0;
if (!this->buf_cl) return;
if (!this->buf_cl) return 0;
if (dir == VISIONBUF_SYNC_FROM_DEVICE) {
err = clEnqueueReadBuffer(this->copy_q, this->buf_cl, CL_FALSE, 0, this->len, this->addr, 0, NULL, NULL);
} else {
err = clEnqueueWriteBuffer(this->copy_q, this->buf_cl, CL_FALSE, 0, this->len, this->addr, 0, NULL, NULL);
}
assert(err == 0);
clFinish(this->copy_q);
}
void VisionBuf::free() {
if (this->buf_cl){
int err = clReleaseMemObject(this->buf_cl);
assert(err == 0);
clReleaseCommandQueue(this->copy_q);
if (err == 0){
err = clFinish(this->copy_q);
}
munmap(this->addr, this->len);
close(this->fd);
return err;
}
int VisionBuf::free() {
int err = 0;
if (this->buf_cl){
err = clReleaseMemObject(this->buf_cl);
if (err != 0) return err;
err = clReleaseCommandQueue(this->copy_q);
if (err != 0) return err;
}
err = munmap(this->addr, this->len);
if (err != 0) return err;
err = close(this->fd);
return err;
}

24
cereal/visionipc/visionbuf_ion.cc
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@ -104,9 +104,7 @@ void VisionBuf::init_cl(cl_device_id device_id, cl_context ctx) {
}
void VisionBuf::sync(int dir) {
int err;
int VisionBuf::sync(int dir) {
struct ion_flush_data flush_data = {0};
flush_data.handle = this->handle;
flush_data.vaddr = this->addr;
@ -124,19 +122,23 @@ void VisionBuf::sync(int dir) {
ION_IOC_INV_CACHES : ION_IOC_CLEAN_CACHES;
custom_data.arg = (unsigned long)&flush_data;
err = ioctl(ion_fd, ION_IOC_CUSTOM, &custom_data);
assert(err == 0);
return ioctl(ion_fd, ION_IOC_CUSTOM, &custom_data);
}
void VisionBuf::free() {
int VisionBuf::free() {
int err = 0;
if (this->buf_cl){
int err = clReleaseMemObject(this->buf_cl);
assert(err == 0);
err = clReleaseMemObject(this->buf_cl);
if (err != 0) return err;
}
munmap(this->addr, this->mmap_len);
close(this->fd);
err = munmap(this->addr, this->mmap_len);
if (err != 0) return err;
err = close(this->fd);
if (err != 0) return err;
struct ion_handle_data handle_data = {.handle = this->handle};
ioctl(ion_fd, ION_IOC_FREE, &handle_data);
return ioctl(ion_fd, ION_IOC_FREE, &handle_data);
}

21
cereal/visionipc/visionipc_client.cc
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@ -3,9 +3,10 @@
#include <iostream>
#include <thread>
#include "ipc.h"
#include "visionipc_client.h"
#include "visionipc_server.h"
#include "visionipc/ipc.h"
#include "visionipc/visionipc_client.h"
#include "visionipc/visionipc_server.h"
#include "logger/logger.h"
VisionIpcClient::VisionIpcClient(std::string name, VisionStreamType type, bool conflate, cl_device_id device_id, cl_context ctx) : name(name), type(type), device_id(device_id), ctx(ctx) {
msg_ctx = Context::create();
@ -21,8 +22,11 @@ bool VisionIpcClient::connect(bool blocking){
// Cleanup old buffers on reconnect
for (size_t i = 0; i < num_buffers; i++){
buffers[i].free();
if (buffers[i].free() != 0) {
LOGE("Failed to free buffer %zu", i);
}
}
num_buffers = 0;
// Connect to server socket and ask for all FDs of type
@ -101,7 +105,10 @@ VisionBuf * VisionIpcClient::recv(VisionIpcBufExtra * extra, const int timeout_m
*extra = packet->extra;
}
buf->sync(VISIONBUF_SYNC_TO_DEVICE);
if (buf->sync(VISIONBUF_SYNC_TO_DEVICE) != 0) {
LOGE("Failed to sync buffer");
}
delete r;
return buf;
}
@ -110,7 +117,9 @@ VisionBuf * VisionIpcClient::recv(VisionIpcBufExtra * extra, const int timeout_m
VisionIpcClient::~VisionIpcClient(){
for (size_t i = 0; i < num_buffers; i++){
buffers[i].free();
if (buffers[i].free() != 0) {
LOGE("Failed to free buffer %zu", i);
}
}
delete sock;

11
cereal/visionipc/visionipc_server.cc
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@ -10,6 +10,7 @@
#include "messaging/messaging.h"
#include "visionipc/ipc.h"
#include "visionipc/visionipc_server.h"
#include "logger/logger.h"
std::string get_endpoint_name(std::string name, VisionStreamType type){
if (messaging_use_zmq()){
@ -145,7 +146,11 @@ VisionBuf * VisionIpcServer::get_buffer(VisionStreamType type){
}
void VisionIpcServer::send(VisionBuf * buf, VisionIpcBufExtra * extra, bool sync){
if (sync) buf->sync(VISIONBUF_SYNC_FROM_DEVICE);
if (sync) {
if (buf->sync(VISIONBUF_SYNC_FROM_DEVICE) != 0) {
LOGE("Failed to sync buffer");
}
}
assert(buffers.count(buf->type));
assert(buf->idx < buffers[buf->type].size());
@ -165,7 +170,9 @@ VisionIpcServer::~VisionIpcServer(){
// VisionBuf cleanup
for( auto const& [type, buf] : buffers ) {
for (VisionBuf* b : buf){
b->free();
if (b->free() != 0) {
LOGE("Failed to free buffer");
}
delete b;
}
}

7
common/api/__init__.py
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@ -1,9 +1,12 @@
import jwt
import os
import requests
from datetime import datetime, timedelta
from common.basedir import PERSIST
from selfdrive.version import version
API_HOST = os.getenv('API_HOST', 'https://api.commadotai.com')
class Api():
def __init__(self, dongle_id):
self.dongle_id = dongle_id
@ -34,12 +37,10 @@ class Api():
def api_get(endpoint, method='GET', timeout=None, access_token=None, **params):
backend = "https://api.commadotai.com/"
headers = {}
if access_token is not None:
headers['Authorization'] = "JWT "+access_token
headers['User-Agent'] = "openpilot-" + version
return requests.request(method, backend+endpoint, timeout=timeout, headers=headers, params=params)
return requests.request(method, API_HOST + "/" + endpoint, timeout=timeout, headers=headers, params=params)

19
common/file_helpers.py
View File

@ -79,6 +79,25 @@ class NamedTemporaryDir():
self.close()
class CallbackReader:
"""Wraps a file, but overrides the read method to also
call a callback function with the number of bytes read so far."""
def __init__(self, f, callback, *args):
self.f = f
self.callback = callback
self.cb_args = args
self.total_read = 0
def __getattr__(self, attr):
return getattr(self.f, attr)
def read(self, *args, **kwargs):
chunk = self.f.read(*args, **kwargs)
self.total_read += len(chunk)
self.callback(*self.cb_args, self.total_read)
return chunk
def _get_fileobject_func(writer, temp_dir):
def _get_fileobject():
file_obj = writer.get_fileobject(dir=temp_dir)

12
common/filter_simple.py
View File

@ -1,9 +1,13 @@
class FirstOrderFilter():
class FirstOrderFilter:
# first order filter
def __init__(self, x0, ts, dt):
self.k = (dt / ts) / (1. + dt / ts)
def __init__(self, x0, rc, dt):
self.x = x0
self.dt = dt
self.update_alpha(rc)
def update_alpha(self, rc):
self.alpha = self.dt / (rc + self.dt)
def update(self, x):
self.x = (1. - self.k) * self.x + self.k * x
self.x = (1. - self.alpha) * self.x + self.alpha * x
return self.x

2
common/params_pxd.pxd
View File

@ -17,7 +17,7 @@ cdef extern from "selfdrive/common/params.h":
ALL
cdef cppclass Params:
Params(bool) nogil
Params() nogil
Params(string) nogil
string get(string, bool) nogil
bool getBool(string) nogil

4
common/params_pyx.pyx
View File

@ -30,11 +30,11 @@ class UnknownKeyName(Exception):
cdef class Params:
cdef c_Params* p
def __cinit__(self, d=None, bool persistent_params=False):
def __cinit__(self, d=None):
cdef string path
if d is None:
with nogil:
self.p = new c_Params(persistent_params)
self.p = new c_Params()
else:
path = <string>d.encode()
with nogil:

4
installer/continue_openpilot.sh
View File

@ -1,4 +0,0 @@
#!/usr/bin/bash
cd /data/openpilot
exec ./launch_openpilot.sh

10
installer/updater/update.json
View File

@ -1,7 +1,7 @@
{
"ota_url": "https://commadist.azureedge.net/neosupdate/ota-signed-c4f56c62c5603c86e2ae9d83008a8d42a91319979661d0c42fb97b85d9112266.zip",
"ota_hash": "c4f56c62c5603c86e2ae9d83008a8d42a91319979661d0c42fb97b85d9112266",
"recovery_url": "https://commadist.azureedge.net/neosupdate/recovery-c5db3790c3b09756e8e896187ddb3f1258315eb0a86030468baa187b84a3bbf5.img",
"recovery_len": 15209772,
"recovery_hash": "c5db3790c3b09756e8e896187ddb3f1258315eb0a86030468baa187b84a3bbf5"
"ota_url": "https://commadist.azureedge.net/neosupdate/ota-signed-5dc2575d713977666a8e14ae1b43a04d7f63123934c80fa10751d949a107653e.zip",
"ota_hash": "5dc2575d713977666a8e14ae1b43a04d7f63123934c80fa10751d949a107653e",
"recovery_url": "https://commadist.azureedge.net/neosupdate/recovery-f01a55c9ba52ca57668d1684c6bf4118efd31916b04f8c1fcd8495013d3677eb.img",
"recovery_len": 15222060,
"recovery_hash": "f01a55c9ba52ca57668d1684c6bf4118efd31916b04f8c1fcd8495013d3677eb"
}

17
launch_chffrplus.sh
View File

@ -10,11 +10,21 @@ DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null && pwd )"
function two_init {
# Wifi scan
wpa_cli IFNAME=wlan0 SCAN
# set IO scheduler
setprop sys.io.scheduler noop
for f in /sys/block/*/queue/scheduler; do
echo noop > $f
done
# *** shield cores 2-3 ***
# TODO: should we enable this?
# offline cores 2-3 to force recurring timers onto the other cores
#echo 0 > /sys/devices/system/cpu/cpu2/online
#echo 0 > /sys/devices/system/cpu/cpu3/online
#echo 1 > /sys/devices/system/cpu/cpu2/online
#echo 1 > /sys/devices/system/cpu/cpu3/online
# android gets two cores
echo 0-1 > /dev/cpuset/background/cpus
echo 0-1 > /dev/cpuset/system-background/cpus
@ -75,6 +85,9 @@ function two_init {
# disable bluetooth
service call bluetooth_manager 8
# wifi scan
wpa_cli IFNAME=wlan0 SCAN
# Check for NEOS update
if [ $(< /VERSION) != "$REQUIRED_NEOS_VERSION" ]; then
if [ -f "$DIR/scripts/continue.sh" ]; then

4
launch_env.sh
View File

@ -7,11 +7,11 @@ export OPENBLAS_NUM_THREADS=1
export VECLIB_MAXIMUM_THREADS=1
if [ -z "$REQUIRED_NEOS_VERSION" ]; then
export REQUIRED_NEOS_VERSION="17"
export REQUIRED_NEOS_VERSION="18"
fi
if [ -z "$AGNOS_VERSION" ]; then
export AGNOS_VERSION="1.2"
export AGNOS_VERSION="1.3"
fi
if [ -z "$PASSIVE" ]; then

BIN
models/dmonitoring_model_q.dlc
View File

Binary file not shown.

BIN
models/supercombo.dlc
View File

Binary file not shown.

1
panda/VERSION
View File

@ -1 +0,0 @@
v1.7.5

8
panda/__init__.py
View File

@ -1,3 +1,9 @@
# flake8: noqa
# pylint: skip-file
from .python import Panda, PandaWifiStreaming, PandaDFU, flash_release, BASEDIR, ensure_st_up_to_date, PandaSerial
from .python import Panda, PandaWifiStreaming, PandaDFU, flash_release, \
BASEDIR, ensure_st_up_to_date, PandaSerial, \
DEFAULT_FW_FN, DEFAULT_H7_FW_FN, MCU_TYPE_H7, MCU_TYPE_F4
from .python.config import BOOTSTUB_ADDRESS, BLOCK_SIZE_FX, APP_ADDRESS_FX, \
BLOCK_SIZE_H7, APP_ADDRESS_H7, DEVICE_SERIAL_NUMBER_ADDR_H7, \
DEVICE_SERIAL_NUMBER_ADDR_FX

28
panda/board/SConscript
View File

@ -8,6 +8,7 @@ if os.getenv("PEDAL"):
PROJECT = "pedal"
STARTUP_FILE = "stm32fx/startup_stm32f205xx.s"
LINKER_SCRIPT = "stm32fx/stm32fx_flash.ld"
APP_START_ADDRESS = "0x8004000"
MAIN = "pedal/main.c"
PROJECT_FLAGS = [
"-mcpu=cortex-m3",
@ -18,12 +19,32 @@ if os.getenv("PEDAL"):
"-DPEDAL",
]
if os.getenv("PEDAL_USB"):
PROJECT = "pedal_usb"
PROJECT_FLAGS.append("-DPEDAL_USB")
elif os.getenv("PANDA_H7"):
PROJECT = "panda_h7"
STARTUP_FILE = "stm32h7/startup_stm32h7x5xx.s"
LINKER_SCRIPT = "stm32h7/stm32h7x5_flash.ld"
APP_START_ADDRESS = "0x8020000"
MAIN = "main.c"
PROJECT_FLAGS = [
"-mcpu=cortex-m7",
"-mhard-float",
"-DSTM32H7",
"-DSTM32H725xx",
"-mfpu=fpv5-d16",
"-fsingle-precision-constant",
"-Os",
"-g",
"-DPANDA",
]
else:
PROJECT = "panda"
STARTUP_FILE = "stm32fx/startup_stm32f413xx.s"
LINKER_SCRIPT = "stm32fx/stm32fx_flash.ld"
APP_START_ADDRESS = "0x8004000"
MAIN = "main.c"
PROJECT_FLAGS = [
"-mcpu=cortex-m4",
@ -39,13 +60,11 @@ else:
def get_version(builder, build_type):
version_file = File('../VERSION').srcnode().abspath
version = open(version_file).read()
try:
git = subprocess.check_output(["git", "rev-parse", "--short=8", "HEAD"], encoding='utf8').strip()
except subprocess.CalledProcessError:
git = "unknown"
return f"{version}-{builder}-{git}-{build_type}"
return f"{builder}-{git}-{build_type}"
def to_c_uint32(x):
@ -110,6 +129,7 @@ else:
includes = [
"stm32fx/inc",
"stm32h7/inc",
"..",
".",
]
@ -150,7 +170,7 @@ bootstub_bin = panda_env.Objcopy(f"obj/bootstub.{PROJECT}.bin", bootstub_elf)
# Build main
main_elf = panda_env.Program(f"obj/{PROJECT}.elf", [startup, MAIN],
LINKFLAGS=["-Wl,--section-start,.isr_vector=0x8004000"] + flags)
LINKFLAGS=[f"-Wl,--section-start,.isr_vector={APP_START_ADDRESS}"] + flags)
main_bin = panda_env.Objcopy(f"obj/{PROJECT}.bin", main_elf)
# Sign main

44
panda/board/boards/black.h
View File

@ -127,41 +127,11 @@ void black_set_can_mode(uint8_t mode){
}
}
void black_usb_power_mode_tick(uint32_t uptime){
UNUSED(uptime);
// Not applicable
}
bool black_check_ignition(void){
// ignition is checked through harness
return harness_check_ignition();
}
uint32_t black_read_current(void){
// No current sense on black panda
return 0U;
}
void black_set_ir_power(uint8_t percentage){
UNUSED(percentage);
}
void black_set_fan_power(uint8_t percentage){
UNUSED(percentage);
}
void black_set_phone_power(bool enabled){
UNUSED(enabled);
}
void black_set_clock_source_mode(uint8_t mode){
UNUSED(mode);
}
void black_set_siren(bool enabled){
UNUSED(enabled);
}
void black_init(void) {
common_init_gpio();
@ -244,12 +214,12 @@ const board board_black = {
.set_usb_power_mode = black_set_usb_power_mode,
.set_gps_mode = black_set_gps_mode,
.set_can_mode = black_set_can_mode,
.usb_power_mode_tick = black_usb_power_mode_tick,
.usb_power_mode_tick = unused_usb_power_mode_tick,
.check_ignition = black_check_ignition,
.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_clock_source_mode = black_set_clock_source_mode,
.set_siren = black_set_siren
.read_current = unused_read_current,
.set_fan_power = unused_set_fan_power,
.set_ir_power = unused_set_ir_power,
.set_phone_power = unused_set_phone_power,
.set_clock_source_mode = unused_set_clock_source_mode,
.set_siren = unused_set_siren
};

1
panda/board/boards/board_declarations.h
View File

@ -49,6 +49,7 @@ struct board {
#define HW_TYPE_PEDAL 4U
#define HW_TYPE_UNO 5U
#define HW_TYPE_DOS 6U
#define HW_TYPE_RED_PANDA 7U
// LED colors
#define LED_RED 0U

29
panda/board/boards/dos.h
View File

@ -49,18 +49,10 @@ void dos_set_led(uint8_t color, bool enabled) {
}
}
void dos_set_gps_load_switch(bool enabled) {
UNUSED(enabled);
}
void dos_set_bootkick(bool enabled){
set_gpio_output(GPIOC, 4, !enabled);
}
void dos_set_phone_power(bool enabled){
UNUSED(enabled);
}
void dos_set_usb_power_mode(uint8_t mode) {
bool valid = false;
switch (mode) {
@ -81,10 +73,6 @@ void dos_set_usb_power_mode(uint8_t mode) {
}
}
void dos_set_gps_mode(uint8_t mode) {
UNUSED(mode);
}
void dos_set_can_mode(uint8_t mode){
switch (mode) {
case CAN_MODE_NORMAL:
@ -113,10 +101,6 @@ void dos_set_can_mode(uint8_t mode){
}
}
void dos_usb_power_mode_tick(uint32_t uptime){
UNUSED(uptime);
}
bool dos_check_ignition(void){
// ignition is checked through harness
return harness_check_ignition();
@ -136,11 +120,6 @@ void dos_set_fan_power(uint8_t percentage){
fan_set_power(percentage);
}
uint32_t dos_read_current(void){
// No current sense on Dos
return 0U;
}
void dos_set_clock_source_mode(uint8_t mode){
clock_source_init(mode);
}
@ -235,14 +214,14 @@ const board board_dos = {
.enable_can_transceivers = dos_enable_can_transceivers,
.set_led = dos_set_led,
.set_usb_power_mode = dos_set_usb_power_mode,
.set_gps_mode = dos_set_gps_mode,
.set_gps_mode = unused_set_gps_mode,
.set_can_mode = dos_set_can_mode,
.usb_power_mode_tick = dos_usb_power_mode_tick,
.usb_power_mode_tick = unused_usb_power_mode_tick,
.check_ignition = dos_check_ignition,
.read_current = dos_read_current,
.read_current = unused_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 = unused_set_phone_power,
.set_clock_source_mode = dos_set_clock_source_mode,
.set_siren = dos_set_siren
};

12
panda/board/boards/grey.h
View File

@ -48,12 +48,12 @@ const board board_grey = {
.set_usb_power_mode = white_set_usb_power_mode,
.set_gps_mode = grey_set_gps_mode,
.set_can_mode = white_set_can_mode,
.usb_power_mode_tick = white_usb_power_mode_tick,
.usb_power_mode_tick = unused_usb_power_mode_tick,
.check_ignition = white_check_ignition,
.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_clock_source_mode = white_set_clock_source_mode,
.set_siren = white_set_siren
.set_fan_power = unused_set_fan_power,
.set_ir_power = unused_set_ir_power,
.set_phone_power = unused_set_phone_power,
.set_clock_source_mode = unused_set_clock_source_mode,
.set_siren = unused_set_siren
};

44
panda/board/boards/pedal.h
View File

@ -50,41 +50,11 @@ void pedal_set_can_mode(uint8_t mode){
}
}
void pedal_usb_power_mode_tick(uint32_t uptime){
UNUSED(uptime);
// Not applicable
}
bool pedal_check_ignition(void){
// not supported on pedal
return false;
}
uint32_t pedal_read_current(void){
// No current sense on pedal
return 0U;
}
void pedal_set_ir_power(uint8_t percentage){
UNUSED(percentage);
}
void pedal_set_fan_power(uint8_t percentage){
UNUSED(percentage);
}
void pedal_set_phone_power(bool enabled){
UNUSED(enabled);
}
void pedal_set_clock_source_mode(uint8_t mode){
UNUSED(mode);
}
void pedal_set_siren(bool enabled){
UNUSED(enabled);
}
void pedal_init(void) {
common_init_gpio();
@ -121,12 +91,12 @@ const board board_pedal = {
.set_usb_power_mode = pedal_set_usb_power_mode,
.set_gps_mode = pedal_set_gps_mode,
.set_can_mode = pedal_set_can_mode,
.usb_power_mode_tick = pedal_usb_power_mode_tick,
.usb_power_mode_tick = unused_usb_power_mode_tick,
.check_ignition = pedal_check_ignition,
.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_clock_source_mode = pedal_set_clock_source_mode,
.set_siren = pedal_set_siren
.read_current = unused_read_current,
.set_fan_power = unused_set_fan_power,
.set_ir_power = unused_set_ir_power,
.set_phone_power = unused_set_phone_power,
.set_clock_source_mode = unused_set_clock_source_mode,
.set_siren = unused_set_siren
};

202
panda/board/boards/red.h 100644
View File

@ -0,0 +1,202 @@
// ///////////////////// //
// Red Panda + Harness //
// ///////////////////// //
void red_enable_can_transceiver(uint8_t transceiver, bool enabled) {
switch (transceiver) {
case 1U:
set_gpio_output(GPIOG, 11, !enabled);
break;
case 2U:
set_gpio_output(GPIOB, 3, !enabled);
break;
case 3U:
set_gpio_output(GPIOD, 7, !enabled);
break;
case 4U:
set_gpio_output(GPIOB, 4, !enabled);
break;
default:
break;
}
}
void red_enable_can_transceivers(bool enabled) {
uint8_t main_bus = (car_harness_status == HARNESS_STATUS_FLIPPED) ? 3U : 1U;
for (uint8_t i=1U; i<=4U; i++) {
// Leave main CAN always on for CAN-based ignition detection
if (i == main_bus) {
red_enable_can_transceiver(i, true);
} else {
red_enable_can_transceiver(i, enabled);
}
}
}
void red_set_led(uint8_t color, bool enabled) {
switch (color) {
case LED_RED:
set_gpio_output(GPIOE, 4, !enabled);
break;
case LED_GREEN:
set_gpio_output(GPIOE, 3, !enabled);
break;
case LED_BLUE:
set_gpio_output(GPIOE, 2, !enabled);
break;
default:
break;
}
}
void red_set_usb_load_switch(bool enabled) {
set_gpio_output(GPIOB, 14, !enabled);
}
void red_set_usb_power_mode(uint8_t mode) {
bool valid = false;
switch (mode) {
case USB_POWER_CLIENT:
red_set_usb_load_switch(false);
valid = true;
break;
case USB_POWER_CDP:
red_set_usb_load_switch(true);
valid = true;
break;
default:
break;
}
if (valid) {
usb_power_mode = mode;
}
}
void red_set_can_mode(uint8_t mode) {
switch (mode) {
case CAN_MODE_NORMAL:
case CAN_MODE_OBD_CAN2:
if ((bool)(mode == CAN_MODE_NORMAL) != (bool)(car_harness_status == HARNESS_STATUS_FLIPPED)) {
// B12,B13: disable normal mode
set_gpio_pullup(GPIOB, 12, PULL_NONE);
set_gpio_mode(GPIOB, 12, MODE_ANALOG);
set_gpio_pullup(GPIOB, 13, PULL_NONE);
set_gpio_mode(GPIOB, 13, MODE_ANALOG);
// B5,B6: FDCAN2 mode
set_gpio_pullup(GPIOB, 5, PULL_NONE);
set_gpio_alternate(GPIOB, 5, GPIO_AF9_FDCAN2);
set_gpio_pullup(GPIOB, 6, PULL_NONE);
set_gpio_alternate(GPIOB, 6, GPIO_AF9_FDCAN2);
} else {
// B5,B6: disable normal mode
set_gpio_pullup(GPIOB, 5, PULL_NONE);
set_gpio_mode(GPIOB, 5, MODE_ANALOG);
set_gpio_pullup(GPIOB, 6, PULL_NONE);
set_gpio_mode(GPIOB, 6, MODE_ANALOG);
// B12,B13: FDCAN2 mode
set_gpio_pullup(GPIOB, 12, PULL_NONE);
set_gpio_alternate(GPIOB, 12, GPIO_AF9_FDCAN2);
set_gpio_pullup(GPIOB, 13, PULL_NONE);
set_gpio_alternate(GPIOB, 13, GPIO_AF9_FDCAN2);
}
break;
default:
break;
}
}
bool red_check_ignition(void) {
// ignition is checked through harness
return harness_check_ignition();
}
void red_init(void) {
common_init_gpio();
//C4,A1: OBD_SBU1, OBD_SBU2
set_gpio_pullup(GPIOC, 4, PULL_NONE);
set_gpio_mode(GPIOC, 4, MODE_ANALOG);
set_gpio_pullup(GPIOA, 1, PULL_NONE);
set_gpio_mode(GPIOA, 1, MODE_ANALOG);
//C10,C11 : OBD_SBU1_RELAY, OBD_SBU2_RELAY
set_gpio_output_type(GPIOC, 10, OUTPUT_TYPE_OPEN_DRAIN);
set_gpio_pullup(GPIOC, 10, PULL_NONE);
set_gpio_mode(GPIOC, 10, MODE_OUTPUT);
set_gpio_output(GPIOC, 10, 1);
set_gpio_output_type(GPIOC, 11, OUTPUT_TYPE_OPEN_DRAIN);
set_gpio_pullup(GPIOC, 11, PULL_NONE);
set_gpio_mode(GPIOC, 11, MODE_OUTPUT);
set_gpio_output(GPIOC, 11, 1);
// Turn on USB load switch.
red_set_usb_load_switch(true);
// Set right power mode
red_set_usb_power_mode(USB_POWER_CDP);
// Initialize harness
harness_init();
// Enable CAN transceivers
red_enable_can_transceivers(true);
// Disable LEDs
red_set_led(LED_RED, false);
red_set_led(LED_GREEN, false);
red_set_led(LED_BLUE, false);
// Set normal CAN mode
red_set_can_mode(CAN_MODE_NORMAL);
// flip CAN0 and CAN2 if we are flipped
if (car_harness_status == HARNESS_STATUS_FLIPPED) {
can_flip_buses(0, 2);
}
}
const harness_configuration red_harness_config = {
.has_harness = true,
.GPIO_SBU1 = GPIOC,
.GPIO_SBU2 = GPIOA,
.GPIO_relay_SBU1 = GPIOC,
.GPIO_relay_SBU2 = GPIOC,
.pin_SBU1 = 4,
.pin_SBU2 = 1,
.pin_relay_SBU1 = 10,
.pin_relay_SBU2 = 11,
.adc_channel_SBU1 = 4, //ADC12_INP4
.adc_channel_SBU2 = 17 //ADC1_INP17
};
const board board_red = {
.board_type = "Red",
.harness_config = &red_harness_config,
.has_gps = false,
.has_hw_gmlan = false,
.has_obd = true,
.has_lin = false,
.has_rtc = false,
.init = red_init,
.enable_can_transceiver = red_enable_can_transceiver,
.enable_can_transceivers = red_enable_can_transceivers,
.set_led = red_set_led,
.set_usb_power_mode = red_set_usb_power_mode,
.set_gps_mode = unused_set_gps_mode,
.set_can_mode = red_set_can_mode,
.usb_power_mode_tick = unused_usb_power_mode_tick,
.check_ignition = red_check_ignition,
.read_current = unused_read_current,
.set_fan_power = unused_set_fan_power,
.set_ir_power = unused_set_ir_power,
.set_phone_power = unused_set_phone_power,
.set_clock_source_mode = unused_set_clock_source_mode,
.set_siren = unused_set_siren
};

19
panda/board/boards/uno.h
View File

@ -173,19 +173,6 @@ void uno_set_fan_power(uint8_t percentage){
fan_set_power(percentage);
}
uint32_t uno_read_current(void){
// No current sense on Uno
return 0U;
}
void uno_set_clock_source_mode(uint8_t mode){
UNUSED(mode);
}
void uno_set_siren(bool enabled){
UNUSED(enabled);
}
void uno_init(void) {
common_init_gpio();
@ -292,10 +279,10 @@ const board board_uno = {
.set_can_mode = uno_set_can_mode,
.usb_power_mode_tick = uno_usb_power_mode_tick,
.check_ignition = uno_check_ignition,
.read_current = uno_read_current,
.read_current = unused_read_current,
.set_fan_power = uno_set_fan_power,
.set_ir_power = uno_set_ir_power,
.set_phone_power = uno_set_phone_power,
.set_clock_source_mode = uno_set_clock_source_mode,
.set_siren = uno_set_siren
.set_clock_source_mode = unused_set_clock_source_mode,
.set_siren = unused_set_siren
};

31
panda/board/boards/unused_funcs.h 100644
View File

@ -0,0 +1,31 @@
void unused_set_gps_mode(uint8_t mode) {
UNUSED(mode);
}
void unused_usb_power_mode_tick(uint32_t uptime) {
UNUSED(uptime);
}
void unused_set_ir_power(uint8_t percentage) {
UNUSED(percentage);
}
void unused_set_fan_power(uint8_t percentage) {
UNUSED(percentage);
}
void unused_set_phone_power(bool enabled) {
UNUSED(enabled);
}
void unused_set_clock_source_mode(uint8_t mode) {
UNUSED(mode);
}
void unused_set_siren(bool enabled) {
UNUSED(enabled);
}
uint32_t unused_read_current(void) {
return 0U;
}

36
panda/board/boards/white.h
View File

@ -151,35 +151,11 @@ uint32_t white_read_current(void){
return adc_get(ADCCHAN_CURRENT);
}
void white_usb_power_mode_tick(uint32_t uptime){
UNUSED(uptime);
}
void white_set_ir_power(uint8_t percentage){
UNUSED(percentage);
}
void white_set_fan_power(uint8_t percentage){
UNUSED(percentage);
}
bool white_check_ignition(void){
// ignition is on PA1
return !get_gpio_input(GPIOA, 1);
}
void white_set_phone_power(bool enabled){
UNUSED(enabled);
}
void white_set_clock_source_mode(uint8_t mode){
UNUSED(mode);
}
void white_set_siren(bool enabled){
UNUSED(enabled);
}
void white_grey_common_init(void) {
common_init_gpio();
@ -277,12 +253,12 @@ const board board_white = {
.set_usb_power_mode = white_set_usb_power_mode,
.set_gps_mode = white_set_gps_mode,
.set_can_mode = white_set_can_mode,
.usb_power_mode_tick = white_usb_power_mode_tick,
.usb_power_mode_tick = unused_usb_power_mode_tick,
.check_ignition = white_check_ignition,
.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_clock_source_mode = white_set_clock_source_mode,
.set_siren = white_set_siren
.set_fan_power = unused_set_fan_power,
.set_ir_power = unused_set_ir_power,
.set_phone_power = unused_set_phone_power,
.set_clock_source_mode = unused_set_clock_source_mode,
.set_siren = unused_set_siren
};

2
panda/board/bootstub.c
View File

@ -17,7 +17,7 @@
#include "obj/cert.h"
#include "obj/gitversion.h"
#include "spi_flasher.h"
#include "flasher.h"
void __initialize_hardware_early(void) {
early_initialization();

7
panda/board/build_all.sh 100755
View File

@ -0,0 +1,7 @@
#!/usr/bin/env sh
set -e
scons -u
PANDA_H7=1 scons -u
PEDAL=1 scons -u
PEDAL=1 PEDAL_USB=1 scons -u

16
panda/board/config.h
View File

@ -34,7 +34,21 @@
#define MAX_RESP_LEN 0x40U
#define GET_BUS(msg) (((msg)->RDTR >> 4) & 0xFF)
#define GET_LEN(msg) ((msg)->RDTR & 0xF)
#define GET_ADDR(msg) ((((msg)->RIR & 4) != 0) ? ((msg)->RIR >> 3) : ((msg)->RIR >> 21))
#define GET_BYTE(msg, b) (((int)(b) > 3) ? (((msg)->RDHR >> (8U * ((unsigned int)(b) % 4U))) & 0xFFU) : (((msg)->RDLR >> (8U * (unsigned int)(b))) & 0xFFU))
#define GET_BYTES_04(msg) ((msg)->RDLR)
#define GET_BYTES_48(msg) ((msg)->RDHR)
#define GET_FLAG(value, mask) (((__typeof__(mask))(value) & (mask)) == (mask))
#define CAN_INIT_TIMEOUT_MS 500U
#include <stdbool.h>
#include "stm32fx/stm32fx_config.h"
#ifdef STM32H7
#include "stm32h7/stm32h7_config.h"
#else
#include "stm32fx/stm32fx_config.h"
#endif
#endif

228
panda/board/drivers/can.h → panda/board/drivers/bxcan.h
View File

@ -2,163 +2,7 @@
// CAN2_TX, CAN2_RX0, CAN2_SCE
// CAN3_TX, CAN3_RX0, CAN3_SCE
typedef struct {
volatile uint32_t w_ptr;
volatile uint32_t r_ptr;
uint32_t fifo_size;
CAN_FIFOMailBox_TypeDef *elems;
} can_ring;
#define CAN_BUS_RET_FLAG 0x80U
#define CAN_BUS_NUM_MASK 0x7FU
#define BUS_MAX 4U
uint32_t can_rx_errs = 0;
uint32_t can_send_errs = 0;
uint32_t can_fwd_errs = 0;
uint32_t gmlan_send_errs = 0;
extern int can_live;
extern int pending_can_live;
// must reinit after changing these
extern int can_loopback;
extern int can_silent;
extern uint32_t can_speed[4];
void can_set_forwarding(int from, int to);
bool can_init(uint8_t can_number);
void can_init_all(void);
bool can_tx_check_min_slots_free(uint32_t min);
void can_send(CAN_FIFOMailBox_TypeDef *to_push, uint8_t bus_number, bool skip_tx_hook);
bool can_pop(can_ring *q, CAN_FIFOMailBox_TypeDef *elem);
// Ignition detected from CAN meessages
bool ignition_can = false;
bool ignition_cadillac = false;
uint32_t ignition_can_cnt = 0U;
// end API
#define ALL_CAN_SILENT 0xFF
#define ALL_CAN_LIVE 0
int can_live = 0;
int pending_can_live = 0;
int can_loopback = 0;
int can_silent = ALL_CAN_SILENT;
// ********************* instantiate queues *********************
#define can_buffer(x, size) \
CAN_FIFOMailBox_TypeDef elems_##x[size]; \
can_ring can_##x = { .w_ptr = 0, .r_ptr = 0, .fifo_size = (size), .elems = (CAN_FIFOMailBox_TypeDef *)&(elems_##x) };
can_buffer(rx_q, 0x1000)
can_buffer(tx1_q, 0x100)
can_buffer(tx2_q, 0x100)
can_buffer(tx3_q, 0x100)
can_buffer(txgmlan_q, 0x100)
// FIXME:
// cppcheck-suppress misra-c2012-9.3
can_ring *can_queues[] = {&can_tx1_q, &can_tx2_q, &can_tx3_q, &can_txgmlan_q};
// global CAN stats
int can_rx_cnt = 0;
int can_tx_cnt = 0;
int can_txd_cnt = 0;
int can_err_cnt = 0;
int can_overflow_cnt = 0;
// ********************* interrupt safe queue *********************
bool can_pop(can_ring *q, CAN_FIFOMailBox_TypeDef *elem) {
bool ret = 0;
ENTER_CRITICAL();
if (q->w_ptr != q->r_ptr) {
*elem = q->elems[q->r_ptr];
if ((q->r_ptr + 1U) == q->fifo_size) {
q->r_ptr = 0;
} else {
q->r_ptr += 1U;
}
ret = 1;
}
EXIT_CRITICAL();
return ret;
}
bool can_push(can_ring *q, CAN_FIFOMailBox_TypeDef *elem) {
bool ret = false;
uint32_t next_w_ptr;
ENTER_CRITICAL();
if ((q->w_ptr + 1U) == q->fifo_size) {
next_w_ptr = 0;
} else {
next_w_ptr = q->w_ptr + 1U;
}
if (next_w_ptr != q->r_ptr) {
q->elems[q->w_ptr] = *elem;
q->w_ptr = next_w_ptr;
ret = true;
}
EXIT_CRITICAL();
if (!ret) {
can_overflow_cnt++;
#ifdef DEBUG
puts("can_push failed!\n");
#endif
}
return ret;
}
uint32_t can_slots_empty(can_ring *q) {
uint32_t ret = 0;
ENTER_CRITICAL();
if (q->w_ptr >= q->r_ptr) {
ret = q->fifo_size - 1U - q->w_ptr + q->r_ptr;
} else {
ret = q->r_ptr - q->w_ptr - 1U;
}
EXIT_CRITICAL();
return ret;
}
void can_clear(can_ring *q) {
ENTER_CRITICAL();
q->w_ptr = 0;
q->r_ptr = 0;
EXIT_CRITICAL();
}
// assign CAN numbering
// bus num: Can bus number on ODB connector. Sent to/from USB
// Min: 0; Max: 127; Bit 7 marks message as receipt (bus 129 is receipt for but 1)
// cans: Look up MCU can interface from bus number
// can number: numeric lookup for MCU CAN interfaces (0 = CAN1, 1 = CAN2, etc);
// bus_lookup: Translates from 'can number' to 'bus number'.
// can_num_lookup: Translates from 'bus number' to 'can number'.
// can_forwarding: Given a bus num, lookup bus num to forward to. -1 means no forward.
// Panda: Bus 0=CAN1 Bus 1=CAN2 Bus 2=CAN3
CAN_TypeDef *cans[] = {CAN1, CAN2, CAN3};
uint8_t bus_lookup[] = {0,1,2};
uint8_t can_num_lookup[] = {0,1,2,-1};
int8_t can_forwarding[] = {-1,-1,-1,-1};
uint32_t can_speed[] = {5000, 5000, 5000, 333};
#define CAN_MAX 3U
#define CANIF_FROM_CAN_NUM(num) (cans[num])
#define CAN_NUM_FROM_CANIF(CAN) ((CAN)==CAN1 ? 0 : ((CAN) == CAN2 ? 1 : 2))
#define BUS_NUM_FROM_CAN_NUM(num) (bus_lookup[num])
#define CAN_NUM_FROM_BUS_NUM(num) (can_num_lookup[num])
void process_can(uint8_t can_number);
bool can_set_speed(uint8_t can_number) {
bool ret = true;
@ -169,22 +13,6 @@ bool can_set_speed(uint8_t can_number) {
return ret;
}
void can_init_all(void) {
bool ret = true;
for (uint8_t i=0U; i < CAN_MAX; i++) {
can_clear(can_queues[i]);
ret &= can_init(i);
}
UNUSED(ret);
}
void can_flip_buses(uint8_t bus1, uint8_t bus2){
bus_lookup[bus1] = bus2;
bus_lookup[bus2] = bus1;
can_num_lookup[bus1] = bus2;
can_num_lookup[bus2] = bus1;
}
// TODO: Cleanup with new abstraction
void can_set_gmlan(uint8_t bus) {
if(current_board->has_hw_gmlan){
@ -323,34 +151,6 @@ void process_can(uint8_t can_number) {
}
}
void ignition_can_hook(CAN_FIFOMailBox_TypeDef *to_push) {
int bus = GET_BUS(to_push);
int addr = GET_ADDR(to_push);
int len = GET_LEN(to_push);
ignition_can_cnt = 0U; // reset counter
if (bus == 0) {
// TODO: verify on all supported GM models that we can reliably detect ignition using only this signal,
// since the 0x1F1 signal can briefly go low immediately after ignition
if ((addr == 0x160) && (len == 5)) {
// this message isn't all zeros when ignition is on
ignition_cadillac = GET_BYTES_04(to_push) != 0;
}
// GM exception
if ((addr == 0x1F1) && (len == 8)) {
// Bit 5 is ignition "on"
bool ignition_gm = ((GET_BYTE(to_push, 0) & 0x20) != 0);
ignition_can = ignition_gm || ignition_cadillac;
}
// Tesla exception
if ((addr == 0x348) && (len == 8)) {
// GTW_status
ignition_can = (GET_BYTE(to_push, 0) & 0x1) != 0;
}
}
}
// CAN receive handlers
// blink blue when we are receiving CAN messages
void can_rx(uint8_t can_number) {
@ -406,34 +206,6 @@ void CAN3_TX_IRQ_Handler(void) { process_can(2); }
void CAN3_RX0_IRQ_Handler(void) { can_rx(2); }
void CAN3_SCE_IRQ_Handler(void) { can_sce(CAN3); }
bool can_tx_check_min_slots_free(uint32_t min) {
return
(can_slots_empty(&can_tx1_q) >= min) &&
(can_slots_empty(&can_tx2_q) >= min) &&
(can_slots_empty(&can_tx3_q) >= min) &&
(can_slots_empty(&can_txgmlan_q) >= min);
}
void can_send(CAN_FIFOMailBox_TypeDef *to_push, uint8_t bus_number, bool skip_tx_hook) {
if (skip_tx_hook || safety_tx_hook(to_push) != 0) {
if (bus_number < BUS_MAX) {
// add CAN packet to send queue
// bus number isn't passed through
to_push->RDTR &= 0xF;
if ((bus_number == 3U) && (can_num_lookup[3] == 0xFFU)) {
gmlan_send_errs += bitbang_gmlan(to_push) ? 0U : 1U;
} else {
can_fwd_errs += can_push(can_queues[bus_number], to_push) ? 0U : 1U;
process_can(CAN_NUM_FROM_BUS_NUM(bus_number));
}
}
}
}
void can_set_forwarding(int from, int to) {
can_forwarding[from] = to;
}
bool can_init(uint8_t can_number) {
bool ret = false;

222
panda/board/drivers/can_common.h 100644
View File

@ -0,0 +1,222 @@
typedef struct {
volatile uint32_t w_ptr;
volatile uint32_t r_ptr;
uint32_t fifo_size;
CAN_FIFOMailBox_TypeDef *elems;
} can_ring;
#define CAN_BUS_RET_FLAG 0x80U
#define CAN_BUS_NUM_MASK 0x7FU
#define BUS_MAX 4U
uint32_t can_rx_errs = 0;
uint32_t can_send_errs = 0;
uint32_t can_fwd_errs = 0;
uint32_t gmlan_send_errs = 0;
extern int can_live;
extern int pending_can_live;
// must reinit after changing these
extern int can_loopback;
extern int can_silent;
extern uint32_t can_speed[4];
extern uint32_t can_data_speed[3];
// Ignition detected from CAN meessages
bool ignition_can = false;
bool ignition_cadillac = false;
uint32_t ignition_can_cnt = 0U;
#define ALL_CAN_SILENT 0xFF
#define ALL_CAN_LIVE 0
int can_live = 0;
int pending_can_live = 0;
int can_loopback = 0;
int can_silent = ALL_CAN_SILENT;
// ******************* functions prototypes *********************
bool can_init(uint8_t can_number);
void process_can(uint8_t can_number);
// ********************* instantiate queues *********************
#define can_buffer(x, size) \
CAN_FIFOMailBox_TypeDef elems_##x[size]; \
can_ring can_##x = { .w_ptr = 0, .r_ptr = 0, .fifo_size = (size), .elems = (CAN_FIFOMailBox_TypeDef *)&(elems_##x) };
can_buffer(rx_q, 0x1000)
can_buffer(tx1_q, 0x100)
can_buffer(tx2_q, 0x100)
can_buffer(tx3_q, 0x100)
can_buffer(txgmlan_q, 0x100)
// FIXME:
// cppcheck-suppress misra-c2012-9.3
can_ring *can_queues[] = {&can_tx1_q, &can_tx2_q, &can_tx3_q, &can_txgmlan_q};
// global CAN stats
int can_rx_cnt = 0;
int can_tx_cnt = 0;
int can_txd_cnt = 0;
int can_err_cnt = 0;
int can_overflow_cnt = 0;
// ********************* interrupt safe queue *********************
bool can_pop(can_ring *q, CAN_FIFOMailBox_TypeDef *elem) {
bool ret = 0;
ENTER_CRITICAL();
if (q->w_ptr != q->r_ptr) {
*elem = q->elems[q->r_ptr];
if ((q->r_ptr + 1U) == q->fifo_size) {
q->r_ptr = 0;
} else {
q->r_ptr += 1U;
}
ret = 1;
}
EXIT_CRITICAL();
return ret;
}
bool can_push(can_ring *q, CAN_FIFOMailBox_TypeDef *elem) {
bool ret = false;
uint32_t next_w_ptr;
ENTER_CRITICAL();
if ((q->w_ptr + 1U) == q->fifo_size) {
next_w_ptr = 0;
} else {
next_w_ptr = q->w_ptr + 1U;
}
if (next_w_ptr != q->r_ptr) {
q->elems[q->w_ptr] = *elem;
q->w_ptr = next_w_ptr;
ret = true;
}
EXIT_CRITICAL();
if (!ret) {
can_overflow_cnt++;
#ifdef DEBUG
puts("can_push failed!\n");
#endif
}
return ret;
}
uint32_t can_slots_empty(can_ring *q) {
uint32_t ret = 0;
ENTER_CRITICAL();
if (q->w_ptr >= q->r_ptr) {
ret = q->fifo_size - 1U - q->w_ptr + q->r_ptr;
} else {
ret = q->r_ptr - q->w_ptr - 1U;
}
EXIT_CRITICAL();
return ret;
}
void can_clear(can_ring *q) {
ENTER_CRITICAL();
q->w_ptr = 0;
q->r_ptr = 0;
EXIT_CRITICAL();
}
// assign CAN numbering
// bus num: Can bus number on ODB connector. Sent to/from USB
// Min: 0; Max: 127; Bit 7 marks message as receipt (bus 129 is receipt for but 1)
// cans: Look up MCU can interface from bus number
// can number: numeric lookup for MCU CAN interfaces (0 = CAN1, 1 = CAN2, etc);
// bus_lookup: Translates from 'can number' to 'bus number'.
// can_num_lookup: Translates from 'bus number' to 'can number'.
// can_forwarding: Given a bus num, lookup bus num to forward to. -1 means no forward.
// Helpers
// Panda: Bus 0=CAN1 Bus 1=CAN2 Bus 2=CAN3
uint8_t bus_lookup[] = {0,1,2};
uint8_t can_num_lookup[] = {0,1,2,-1};
int8_t can_forwarding[] = {-1,-1,-1,-1};
uint32_t can_speed[] = {5000, 5000, 5000, 333};
uint32_t can_data_speed[] = {5000, 5000, 5000}; //For CAN FD with BRS only
#define CAN_MAX 3U
#define CANIF_FROM_CAN_NUM(num) (cans[num])
#define BUS_NUM_FROM_CAN_NUM(num) (bus_lookup[num])
#define CAN_NUM_FROM_BUS_NUM(num) (can_num_lookup[num])
void can_init_all(void) {
bool ret = true;
for (uint8_t i=0U; i < CAN_MAX; i++) {
can_clear(can_queues[i]);
ret &= can_init(i);
}
UNUSED(ret);
}
void can_flip_buses(uint8_t bus1, uint8_t bus2){
bus_lookup[bus1] = bus2;
bus_lookup[bus2] = bus1;
can_num_lookup[bus1] = bus2;
can_num_lookup[bus2] = bus1;
}
void ignition_can_hook(CAN_FIFOMailBox_TypeDef *to_push) {
int bus = GET_BUS(to_push);
int addr = GET_ADDR(to_push);
int len = GET_LEN(to_push);
ignition_can_cnt = 0U; // reset counter
if (bus == 0) {
// TODO: verify on all supported GM models that we can reliably detect ignition using only this signal,
// since the 0x1F1 signal can briefly go low immediately after ignition
if ((addr == 0x160) && (len == 5)) {
// this message isn't all zeros when ignition is on
ignition_cadillac = GET_BYTES_04(to_push) != 0;
}
// GM exception
if ((addr == 0x1F1) && (len == 8)) {
// Bit 5 is ignition "on"
bool ignition_gm = ((GET_BYTE(to_push, 0) & 0x20) != 0);
ignition_can = ignition_gm || ignition_cadillac;
}
// Tesla exception
if ((addr == 0x348) && (len == 8)) {
// GTW_status
ignition_can = (GET_BYTE(to_push, 0) & 0x1) != 0;
}
}
}
bool can_tx_check_min_slots_free(uint32_t min) {
return
(can_slots_empty(&can_tx1_q) >= min) &&
(can_slots_empty(&can_tx2_q) >= min) &&
(can_slots_empty(&can_tx3_q) >= min) &&
(can_slots_empty(&can_txgmlan_q) >= min);
}
void can_send(CAN_FIFOMailBox_TypeDef *to_push, uint8_t bus_number, bool skip_tx_hook) {
if (skip_tx_hook || safety_tx_hook(to_push) != 0) {
if (bus_number < BUS_MAX) {
// add CAN packet to send queue
// bus number isn't passed through
to_push->RDTR &= 0xF;
if ((bus_number == 3U) && (can_num_lookup[3] == 0xFFU)) {
gmlan_send_errs += bitbang_gmlan(to_push) ? 0U : 1U;
} else {
can_fwd_errs += can_push(can_queues[bus_number], to_push) ? 0U : 1U;
process_can(CAN_NUM_FROM_BUS_NUM(bus_number));
}
}
}
}
void can_set_forwarding(int from, int to) {
can_forwarding[from] = to;
}

203
panda/board/drivers/fdcan.h 100644
View File

@ -0,0 +1,203 @@
// IRQs: FDCAN1_IT0, FDCAN1_IT1
// FDCAN2_IT0, FDCAN2_IT1
// FDCAN3_IT0, FDCAN3_IT1
#define BUS_OFF_FAIL_LIMIT 2U
uint8_t bus_off_err[] = {0U, 0U, 0U};
FDCAN_GlobalTypeDef *cans[] = {FDCAN1, FDCAN2, FDCAN3};
bool can_set_speed(uint8_t can_number) {
bool ret = true;
FDCAN_GlobalTypeDef *CANx = CANIF_FROM_CAN_NUM(can_number);
uint8_t bus_number = BUS_NUM_FROM_CAN_NUM(can_number);
ret &= llcan_set_speed(CANx, can_speed[bus_number], can_data_speed[bus_number], can_loopback, (unsigned int)(can_silent) & (1U << can_number));
return ret;
}
void can_set_gmlan(uint8_t bus) {
UNUSED(bus);
puts("GMLAN not available on red panda\n");
}
void cycle_transceiver(uint8_t can_number) {
// FDCAN1 = trans 1, FDCAN3 = trans 3, FDCAN2 = trans 2 normal or 4 flipped harness
uint8_t transceiver_number = can_number;
if (can_number == 2U) {
uint8_t flip = (car_harness_status == HARNESS_STATUS_FLIPPED) ? 2U : 0U;
transceiver_number += flip;
}
current_board->enable_can_transceiver(transceiver_number, false);
delay(20000);
current_board->enable_can_transceiver(transceiver_number, true);
bus_off_err[can_number] = 0U;
puts("Cycled transceiver number: "); puth(transceiver_number); puts("\n");
}
// ***************************** CAN *****************************
void process_can(uint8_t can_number) {
if (can_number != 0xffU) {
ENTER_CRITICAL();
FDCAN_GlobalTypeDef *CANx = CANIF_FROM_CAN_NUM(can_number);
uint8_t bus_number = BUS_NUM_FROM_CAN_NUM(can_number);
CANx->IR |= FDCAN_IR_TFE; // Clear Tx FIFO Empty flag
if ((CANx->TXFQS & FDCAN_TXFQS_TFQF) == 0) {
CAN_FIFOMailBox_TypeDef to_send;
if (can_pop(can_queues[bus_number], &to_send)) {
can_tx_cnt += 1;
uint32_t TxFIFOSA = FDCAN_START_ADDRESS + (can_number * FDCAN_OFFSET) + (FDCAN_RX_FIFO_0_EL_CNT * FDCAN_RX_FIFO_0_EL_SIZE);
uint8_t tx_index = (CANx->TXFQS >> FDCAN_TXFQS_TFQPI_Pos) & 0x1F;
// only send if we have received a packet
CAN_FIFOMailBox_TypeDef *fifo;
fifo = (CAN_FIFOMailBox_TypeDef *)(TxFIFOSA + (tx_index * FDCAN_TX_FIFO_EL_SIZE));
// Convert from "mailbox type"
fifo->RIR = ((to_send.RIR & 0x6) << 28) | (to_send.RIR >> 3); // identifier format and frame type | identifier
//REDEBUG: enable CAN FD and BRS for test purposes
//fifo->RDTR = ((to_send.RDTR & 0xF) << 16) | ((to_send.RDTR) >> 16) | (1U << 21) | (1U << 20); // DLC (length) | timestamp | enable CAN FD | enable BRS
fifo->RDTR = ((to_send.RDTR & 0xF) << 16) | ((to_send.RDTR) >> 16); // DLC (length) | timestamp
fifo->RDLR = to_send.RDLR;
fifo->RDHR = to_send.RDHR;
CANx->TXBAR = (1UL << tx_index);
// Send back to USB
can_txd_cnt += 1;
CAN_FIFOMailBox_TypeDef to_push;
to_push.RIR = to_send.RIR;
to_push.RDTR = (to_send.RDTR & 0xFFFF000FU) | ((CAN_BUS_RET_FLAG | bus_number) << 4);
to_push.RDLR = to_send.RDLR;
to_push.RDHR = to_send.RDHR;
can_send_errs += can_push(&can_rx_q, &to_push) ? 0U : 1U;
if (can_tx_check_min_slots_free(MAX_CAN_MSGS_PER_BULK_TRANSFER)) {
usb_outep3_resume_if_paused();
}
}
}
// Recover after Bus-off state
if (((CANx->PSR & FDCAN_PSR_BO) != 0) && ((CANx->CCCR & FDCAN_CCCR_INIT) != 0)) {
bus_off_err[can_number] += 1U;
puts("CAN is in Bus_Off state! Resetting... CAN number: "); puth(can_number); puts("\n");
if (bus_off_err[can_number] > BUS_OFF_FAIL_LIMIT) {
cycle_transceiver(can_number);
}
CANx->IR = 0xFFC60000U; // Reset all flags(Only errors!)
CANx->CCCR &= ~(FDCAN_CCCR_INIT);
uint32_t timeout_counter = 0U;
while((CANx->CCCR & FDCAN_CCCR_INIT) != 0) {
// Delay for about 1ms
delay(10000);
timeout_counter++;
if(timeout_counter >= CAN_INIT_TIMEOUT_MS){
puts(CAN_NAME_FROM_CANIF(CANx)); puts(" Bus_Off reset timed out!\n");
break;
}
}
}
EXIT_CRITICAL();
}
}
// CAN receive handlers
// blink blue when we are receiving CAN messages
void can_rx(uint8_t can_number) {
FDCAN_GlobalTypeDef *CANx = CANIF_FROM_CAN_NUM(can_number);
uint8_t bus_number = BUS_NUM_FROM_CAN_NUM(can_number);
uint8_t rx_fifo_idx;
// Rx FIFO 0 new message
if((CANx->IR & FDCAN_IR_RF0N) != 0) {
CANx->IR |= FDCAN_IR_RF0N;
while((CANx->RXF0S & FDCAN_RXF0S_F0FL) != 0) {
can_rx_cnt += 1;
// can is live
pending_can_live = 1;
// getting new message index (0 to 63)
rx_fifo_idx = (uint8_t)((CANx->RXF0S >> FDCAN_RXF0S_F0GI_Pos) & 0x3F);
uint32_t RxFIFO0SA = FDCAN_START_ADDRESS + (can_number * FDCAN_OFFSET);
CAN_FIFOMailBox_TypeDef to_push;
CAN_FIFOMailBox_TypeDef *fifo;
// getting address
fifo = (CAN_FIFOMailBox_TypeDef *)(RxFIFO0SA + (rx_fifo_idx * FDCAN_RX_FIFO_0_EL_SIZE));
// Need to convert real CAN frame format to mailbox "type"
to_push.RIR = ((fifo->RIR >> 28) & 0x6) | (fifo->RIR << 3); // identifier format and frame type | identifier
to_push.RDTR = ((fifo->RDTR >> 16) & 0xF) | (fifo->RDTR << 16); // DLC (length) | timestamp
to_push.RDLR = fifo->RDLR;
to_push.RDHR = fifo->RDHR;
// modify RDTR for our API
to_push.RDTR = (to_push.RDTR & 0xFFFF000F) | (bus_number << 4);
// forwarding (panda only)
int bus_fwd_num = (can_forwarding[bus_number] != -1) ? can_forwarding[bus_number] : safety_fwd_hook(bus_number, &to_push);
if (bus_fwd_num != -1) {
CAN_FIFOMailBox_TypeDef to_send;
to_send.RIR = to_push.RIR;
to_send.RDTR = to_push.RDTR;
to_send.RDLR = to_push.RDLR;
to_send.RDHR = to_push.RDHR;
can_send(&to_send, bus_fwd_num, true);
}
can_rx_errs += safety_rx_hook(&to_push) ? 0U : 1U;
ignition_can_hook(&to_push);
current_board->set_led(LED_BLUE, true);
can_send_errs += can_push(&can_rx_q, &to_push) ? 0U : 1U;
// update read index
CANx->RXF0A = rx_fifo_idx;
}
} else if((CANx->IR & (FDCAN_IR_PEA | FDCAN_IR_PED | FDCAN_IR_RF0L | FDCAN_IR_RF0F | FDCAN_IR_EW | FDCAN_IR_MRAF | FDCAN_IR_TOO)) != 0) {
#ifdef DEBUG
puts("FDCAN error, FDCAN_IR: ");puth(CANx->IR);puts("\n");
#endif
CANx->IR |= (FDCAN_IR_PEA | FDCAN_IR_PED | FDCAN_IR_RF0L | FDCAN_IR_RF0F | FDCAN_IR_EW | FDCAN_IR_MRAF | FDCAN_IR_TOO); // Clean all error flags
can_err_cnt += 1;
} else {
}
}
void FDCAN1_IT0_IRQ_Handler(void) { can_rx(0); }
void FDCAN1_IT1_IRQ_Handler(void) { process_can(0); }
void FDCAN2_IT0_IRQ_Handler(void) { can_rx(1); }
void FDCAN2_IT1_IRQ_Handler(void) { process_can(1); }
void FDCAN3_IT0_IRQ_Handler(void) { can_rx(2); }
void FDCAN3_IT1_IRQ_Handler(void) { process_can(2); }
bool can_init(uint8_t can_number) {
bool ret = false;
REGISTER_INTERRUPT(FDCAN1_IT0_IRQn, FDCAN1_IT0_IRQ_Handler, CAN_INTERRUPT_RATE, FAULT_INTERRUPT_RATE_CAN_1)
REGISTER_INTERRUPT(FDCAN1_IT1_IRQn, FDCAN1_IT1_IRQ_Handler, CAN_INTERRUPT_RATE, FAULT_INTERRUPT_RATE_CAN_1)
REGISTER_INTERRUPT(FDCAN2_IT0_IRQn, FDCAN2_IT0_IRQ_Handler, CAN_INTERRUPT_RATE, FAULT_INTERRUPT_RATE_CAN_2)
REGISTER_INTERRUPT(FDCAN2_IT1_IRQn, FDCAN2_IT1_IRQ_Handler, CAN_INTERRUPT_RATE, FAULT_INTERRUPT_RATE_CAN_2)
REGISTER_INTERRUPT(FDCAN3_IT0_IRQn, FDCAN3_IT0_IRQ_Handler, CAN_INTERRUPT_RATE, FAULT_INTERRUPT_RATE_CAN_3)
REGISTER_INTERRUPT(FDCAN3_IT1_IRQn, FDCAN3_IT1_IRQ_Handler, CAN_INTERRUPT_RATE, FAULT_INTERRUPT_RATE_CAN_3)
if (can_number != 0xffU) {
FDCAN_GlobalTypeDef *CANx = CANIF_FROM_CAN_NUM(can_number);
ret &= can_set_speed(can_number);
ret &= llcan_init(CANx);
// in case there are queued up messages
process_can(can_number);
}
return ret;
}

6
panda/board/drivers/uart.h
View File

@ -38,6 +38,7 @@ typedef struct uart_ring {
// ***************************** Function prototypes *****************************
void debug_ring_callback(uart_ring *ring);
void uart_tx_ring(uart_ring *q);
void uart_send_break(uart_ring *u);
// ******************************** UART buffers ********************************
@ -138,11 +139,6 @@ void uart_flush_sync(uart_ring *q) {
}
}
void uart_send_break(uart_ring *u) {
while ((u->uart->CR1 & USART_CR1_SBK) != 0);
u->uart->CR1 |= USART_CR1_SBK;
}
void clear_uart_buff(uart_ring *q) {
ENTER_CRITICAL();
q->w_ptr_tx = 0;

4
panda/board/drivers/usb.h
View File

@ -123,7 +123,7 @@ uint8_t device_desc[] = {
0xFF, 0xFF, 0xFF, 0x40, // Class, Subclass, Protocol, Max Packet Size
TOUSBORDER(USB_VID), // idVendor
TOUSBORDER(USB_PID), // idProduct
0x00, 0x23, // bcdDevice
0x00, 0x00, // bcdDevice
0x01, 0x02, // Manufacturer, Product
0x03, 0x01 // Serial Number, Num Configurations
};
@ -526,6 +526,8 @@ void usb_setup(void) {
case USB_DESC_TYPE_DEVICE:
//puts(" writing device descriptor\n");
// set bcdDevice to hardware type
device_desc[13] = hw_type;
// setup transfer
USB_WritePacket(device_desc, MIN(sizeof(device_desc), setup.b.wLength.w), 0);
USBx_OUTEP(0)->DOEPCTL |= USB_OTG_DOEPCTL_CNAK;

5
panda/board/flash_h7.sh 100755
View File

@ -0,0 +1,5 @@
#!/usr/bin/env sh
set -e
PANDA_GEN3=1 scons -u
PYTHONPATH=.. python3 -c "from python import Panda; Panda().flash('obj/panda_h7.bin.signed')"

54
panda/board/spi_flasher.h → panda/board/flasher.h
View File

@ -1,6 +1,6 @@
// flasher state variables
uint32_t *prog_ptr = NULL;
int unlocked = 0;
bool unlocked = false;
#ifdef uart_ring
void debug_ring_callback(uart_ring *ring) {}
@ -26,32 +26,27 @@ int usb_cb_control_msg(USB_Setup_TypeDef *setup, uint8_t *resp, bool hardwired)
break;
// **** 0xb1: unlock flash
case 0xb1:
if (FLASH->CR & FLASH_CR_LOCK) {
FLASH->KEYR = 0x45670123;
FLASH->KEYR = 0xCDEF89AB;
if (flash_is_locked()) {
flash_unlock();
resp[1] = 0xff;
}
current_board->set_led(LED_GREEN, 1);
unlocked = 1;
prog_ptr = (uint32_t *)0x8004000;
unlocked = true;
prog_ptr = (uint32_t *)APP_START_ADDRESS;
break;
// **** 0xb2: erase sector
case 0xb2:
sec = setup->b.wValue.w;
// don't erase the bootloader
if (sec != 0 && sec < 12 && unlocked) {
FLASH->CR = (sec << 3) | FLASH_CR_SER;
FLASH->CR |= FLASH_CR_STRT;
while (FLASH->SR & FLASH_SR_BSY);
if (flash_erase_sector(sec, unlocked)) {
resp[1] = 0xff;
}
break;
// **** 0xd0: fetch serial number
case 0xd0:
#ifdef STM32F4
#ifndef STM32F2
// addresses are OTP
if (setup->b.wValue.w == 1) {
memcpy(resp, (void *)0x1fff79c0, 0x10);
memcpy(resp, (void *)DEVICE_SERIAL_NUMBER_ADDRESS, 0x10);
resp_len = 0x10;
} else {
get_provision_chunk(resp);
@ -93,6 +88,7 @@ int usb_cb_control_msg(USB_Setup_TypeDef *setup, uint8_t *resp, bool hardwired)
break;
// **** 0xd8: reset ST
case 0xd8:
flush_write_buffer();
NVIC_SystemReset();
break;
}
@ -122,11 +118,7 @@ void usb_cb_ep2_out(void *usbdata, int len, bool hardwired) {
UNUSED(hardwired);
current_board->set_led(LED_RED, 0);
for (int i = 0; i < len/4; i++) {
// program byte 1
FLASH->CR = FLASH_CR_PSIZE_1 | FLASH_CR_PG;
*prog_ptr = *(uint32_t*)(usbdata+(i*4));
while (FLASH->SR & FLASH_SR_BSY);
flash_write_word(prog_ptr, *(uint32_t*)(usbdata+(i*4)));
//*(uint64_t*)(&spi_tx_buf[0x30+(i*4)]) = *prog_ptr;
prog_ptr++;
@ -153,7 +145,7 @@ int spi_cb_rx(uint8_t *data, int len, uint8_t *data_out) {
#ifdef PEDAL
#include "stm32fx/llcan.h"
#include "stm32fx/llbxcan.h"
#define CAN CAN1
#define CAN_BL_INPUT 0x1
@ -278,10 +270,7 @@ void soft_flasher_start(void) {
enter_bootloader_mode = 0;
RCC->AHB1ENR |= RCC_AHB1ENR_DMA2EN;
RCC->APB2ENR |= RCC_APB2ENR_SPI1EN;
RCC->AHB2ENR |= RCC_AHB2ENR_OTGFSEN;
RCC->APB1ENR |= RCC_APB1ENR_USART2EN;
flasher_peripherals_init();
// pedal has the canloader
#ifdef PEDAL
@ -297,23 +286,8 @@ void soft_flasher_start(void) {
llcan_init(CAN1);
#endif
// 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);
// A2,A3: USART 2 for debugging
set_gpio_alternate(GPIOA, 2, GPIO_AF7_USART2);
set_gpio_alternate(GPIOA, 3, GPIO_AF7_USART2);
// 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;
// flasher
//spi_init();
gpio_usart2_init();
gpio_usb_init();
// enable USB
usb_init();

18
panda/board/main.c
View File

@ -12,7 +12,13 @@
#include "power_saving.h"
#include "safety.h"
#include "drivers/can.h"
#include "drivers/can_common.h"
#ifdef STM32H7
#include "drivers/fdcan.h"
#else
#include "drivers/bxcan.h"
#endif
#include "obj/gitversion.h"
@ -464,6 +470,7 @@ int usb_cb_control_msg(USB_Setup_TypeDef *setup, uint8_t *resp, bool hardwired)
// **** 0xde: set can bitrate
case 0xde:
if (setup->b.wValue.w < BUS_MAX) {
// TODO: add sanity check, ideally check if value is correct(from array of correct values)
can_speed[setup->b.wValue.w] = setup->b.wIndex.w;
bool ret = can_init(CAN_NUM_FROM_BUS_NUM(setup->b.wValue.w));
UNUSED(ret);
@ -617,6 +624,15 @@ int usb_cb_control_msg(USB_Setup_TypeDef *setup, uint8_t *resp, bool hardwired)
heartbeat_disabled = true;
break;
#endif
// **** 0xde: set CAN FD data bitrate
case 0xf9:
if (setup->b.wValue.w < CAN_MAX) {
// TODO: add sanity check, ideally check if value is correct(from array of correct values)
can_data_speed[setup->b.wValue.w] = setup->b.wIndex.w;
bool ret = can_init(CAN_NUM_FROM_BUS_NUM(setup->b.wValue.w));
UNUSED(ret);
}
break;
default:
puts("NO HANDLER ");
puth(setup->b.bRequest);

11
panda/board/recover_h7.sh 100755
View File

@ -0,0 +1,11 @@
#!/usr/bin/env sh
set -e
DFU_UTIL="dfu-util"
PANDA_H7=1 scons -u
PYTHONPATH=.. python3 -c "from python import Panda; Panda().reset(enter_bootstub=True); Panda().reset(enter_bootloader=True)" || true
sleep 1
$DFU_UTIL -d 0483:df11 -a 0 -s 0x08020000 -D obj/panda_h7.bin.signed
$DFU_UTIL -d 0483:df11 -a 0 -s 0x08000000:leave -D obj/bootstub.panda_h7.bin

8
panda/board/safety/safety_honda.h
View File

@ -7,8 +7,8 @@
// brake rising edge
// brake > 0mph
const CanMsg HONDA_N_TX_MSGS[] = {{0xE4, 0, 5}, {0x194, 0, 4}, {0x1FA, 0, 8}, {0x200, 0, 6}, {0x30C, 0, 8}, {0x33D, 0, 5}};
const CanMsg HONDA_BG_TX_MSGS[] = {{0xE4, 2, 5}, {0xE5, 2, 8}, {0x296, 0, 4}, {0x33D, 2, 5}}; // Bosch Giraffe
const CanMsg HONDA_BH_TX_MSGS[] = {{0xE4, 0, 5}, {0xE5, 0, 8}, {0x296, 1, 4}, {0x33D, 0, 5}}; // Bosch Harness
const CanMsg HONDA_BG_TX_MSGS[] = {{0xE4, 2, 5}, {0xE5, 2, 8}, {0x296, 0, 4}, {0x33D, 2, 5}, {0x33DA, 2, 5}, {0x33DB, 2, 8}}; // Bosch Giraffe
const CanMsg HONDA_BH_TX_MSGS[] = {{0xE4, 0, 5}, {0xE5, 0, 8}, {0x296, 1, 4}, {0x33D, 0, 5}, {0x33DA, 0, 5}, {0x33DB, 0, 8}}; // Bosch Harness
const CanMsg HONDA_BG_LONG_TX_MSGS[] = {{0xE4, 0, 5}, {0x1DF, 0, 8}, {0x1EF, 0, 8}, {0x1FA, 0, 8}, {0x30C, 0, 8}, {0x33D, 0, 5}, {0x39F, 0, 8}, {0x18DAB0F1, 0, 8}}; // Bosch Giraffe w/ gas and brakes
const CanMsg HONDA_BH_LONG_TX_MSGS[] = {{0xE4, 1, 5}, {0x1DF, 1, 8}, {0x1EF, 1, 8}, {0x1FA, 1, 8}, {0x30C, 1, 8}, {0x33D, 1, 5}, {0x39F, 1, 8}, {0x18DAB0F1, 1, 8}}; // Bosch Harness w/ gas and brakes
@ -274,7 +274,7 @@ static int honda_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
}
}
// Bosch supplemental control check
// Bosch supplemental control check
if (addr == 0xE5) {
if ((GET_BYTES_04(to_send) != 0x10800004) || ((GET_BYTES_48(to_send) & 0x00FFFFFF) != 0x0)) {
tx = 0;
@ -376,7 +376,7 @@ static int honda_bosch_fwd_hook(int bus_num, CAN_FIFOMailBox_TypeDef *to_fwd) {
}
if (bus_num == bus_rdr_cam) {
int addr = GET_ADDR(to_fwd);
int is_lkas_msg = (addr == 0xE4) || (addr == 0xE5) || (addr == 0x33D);
int is_lkas_msg = (addr == 0xE4) || (addr == 0xE5) || (addr == 0x33D) || (addr == 0x33DA) || (addr == 0x33DB);
if (!is_lkas_msg) {
bus_fwd = bus_rdr_car;
}

1
panda/board/stm32fx/board.h
View File

@ -2,6 +2,7 @@
// Hardware abstraction layer for all different supported boards //
// ///////////////////////////////////////////////////////////// //
#include "boards/board_declarations.h"
#include "boards/unused_funcs.h"
// ///// Board definition and detection ///// //
#include "drivers/harness.h"

22
panda/board/stm32fx/inc/stm32f2xx.h
View File

@ -10,8 +10,8 @@
* is using in the C source code, usually in main.c. This file contains:
* - Configuration section that allows to select:
* - The STM32F2xx device used in the target application
* - To use or not the peripheral’s drivers in application code(i.e.
* code will be based on direct access to peripheral’s registers
* - To use or not the peripheral’s drivers in application code(i.e.
* code will be based on direct access to peripheral’s registers
* rather than drivers API), this option is controlled by
* "#define USE_HAL_DRIVER"
*
@ -74,7 +74,7 @@
/* Uncomment the line below according to the target STM32 device used in your
application
*/
#if !defined (STM32F205xx) && !defined (STM32F215xx) && !defined (STM32F207xx) && !defined (STM32F217xx)
/* #if !defined (STM32F205xx) && !defined (STM32F215xx) && !defined (STM32F207xx) && !defined (STM32F217xx) */
/* #define STM32F205xx */ /*!< STM32F205RG, STM32F205VG, STM32F205ZG, STM32F205RF, STM32F205VF, STM32F205ZF,
STM32F205RE, STM32F205VE, STM32F205ZE, STM32F205RC, STM32F205VC, STM32F205ZC,
@ -84,7 +84,7 @@
STM32F207VE, STM32F207ZE, STM32F207IE, STM32F207VC, STM32F207ZC and STM32F207IC Devices */
/* #define STM32F217xx */ /*!< STM32F217VG, STM32F217ZG, STM32F217IG, STM32F217VE, STM32F217ZE and STM32F217IE Devices */
#endif
//#endif
/* Tip: To avoid modifying this file each time you need to switch between these
devices, you can define the device in your toolchain compiler preprocessor.
@ -118,14 +118,14 @@
* @{
*/
#if defined(STM32F205xx)
#include "stm32f205xx.h"
#elif defined(STM32F215xx)
#if defined(STM32F215xx)
#include "stm32f215xx.h"
#elif defined(STM32F207xx)
#include "stm32f207xx.h"
#elif defined(STM32F217xx)
#include "stm32f217xx.h"
#elif defined(STM32F205xx)
#include "stm32f205xx.h"
// #elif defined(STM32F207xx)
// #include "stm32f207xx.h"
// #elif defined(STM32F217xx)
// #include "stm32f217xx.h"
#else
#error "Please select first the target STM32F2xx device used in your application (in stm32f2xx.h file)"
#endif

98
panda/board/stm32fx/inc/stm32f4xx.h
View File

@ -10,8 +10,8 @@
* is using in the C source code, usually in main.c. This file contains:
* - Configuration section that allows to select:
* - The STM32F4xx device used in the target application
* - To use or not the peripheral’s drivers in application code(i.e.
* code will be based on direct access to peripheral’s registers
* - To use or not the peripheral’s drivers in application code(i.e.
* code will be based on direct access to peripheral’s registers
* rather than drivers API), this option is controlled by
* "#define USE_HAL_DRIVER"
*
@ -74,12 +74,12 @@
/* Uncomment the line below according to the target STM32 device used in your
application
*/
#if !defined (STM32F405xx) && !defined (STM32F415xx) && !defined (STM32F407xx) && !defined (STM32F417xx) && \
/* #if !defined (STM32F405xx) && !defined (STM32F415xx) && !defined (STM32F407xx) && !defined (STM32F417xx) && \
!defined (STM32F427xx) && !defined (STM32F437xx) && !defined (STM32F429xx) && !defined (STM32F439xx) && \
!defined (STM32F401xC) && !defined (STM32F401xE) && !defined (STM32F410Tx) && !defined (STM32F410Cx) && \
!defined (STM32F410Rx) && !defined (STM32F411xE) && !defined (STM32F446xx) && !defined (STM32F469xx) && \
!defined (STM32F479xx) && !defined (STM32F412Cx) && !defined (STM32F412Rx) && !defined (STM32F412Vx) && \
!defined (STM32F412Zx) && !defined (STM32F413xx) && !defined (STM32F423xx)
!defined (STM32F412Zx) && !defined (STM32F413xx) && !defined (STM32F423xx) */
/* #define STM32F405xx */ /*!< STM32F405RG, STM32F405VG and STM32F405ZG Devices */
/* #define STM32F415xx */ /*!< STM32F415RG, STM32F415VG and STM32F415ZG Devices */
/* #define STM32F407xx */ /*!< STM32F407VG, STM32F407VE, STM32F407ZG, STM32F407ZE, STM32F407IG and STM32F407IE Devices */
@ -109,7 +109,7 @@
/* #define STM32F413xx */ /*!< STM32F413CH, STM32F413MH, STM32F413RH, STM32F413VH, STM32F413ZH, STM32F413CG, STM32F413MG,
STM32F413RG, STM32F413VG and STM32F413ZG Devices */
/* #define STM32F423xx */ /*!< STM32F423CH, STM32F423RH, STM32F423VH and STM32F423ZH Devices */
#endif
//#endif
/* Tip: To avoid modifying this file each time you need to switch between these
devices, you can define the device in your toolchain compiler preprocessor.
@ -143,51 +143,51 @@
* @{
*/
#if defined(STM32F405xx)
#include "stm32f405xx.h"
#elif defined(STM32F415xx)
#include "stm32f415xx.h"
#elif defined(STM32F407xx)
#include "stm32f407xx.h"
#elif defined(STM32F417xx)
#include "stm32f417xx.h"
#elif defined(STM32F427xx)
#include "stm32f427xx.h"
#elif defined(STM32F437xx)
#include "stm32f437xx.h"
#elif defined(STM32F429xx)
#include "stm32f429xx.h"
#elif defined(STM32F439xx)
#include "stm32f439xx.h"
#elif defined(STM32F401xC)
#include "stm32f401xc.h"
#elif defined(STM32F401xE)
#include "stm32f401xe.h"
#elif defined(STM32F410Tx)
#include "stm32f410tx.h"
#elif defined(STM32F410Cx)
#include "stm32f410cx.h"
#elif defined(STM32F410Rx)
#include "stm32f410rx.h"
#elif defined(STM32F411xE)
#include "stm32f411xe.h"
#elif defined(STM32F446xx)
#include "stm32f446xx.h"
#elif defined(STM32F469xx)
#include "stm32f469xx.h"
#elif defined(STM32F479xx)
#include "stm32f479xx.h"
#elif defined(STM32F412Cx)
#include "stm32f412cx.h"
#elif defined(STM32F412Zx)
#include "stm32f412zx.h"
#elif defined(STM32F412Rx)
#include "stm32f412rx.h"
#elif defined(STM32F412Vx)
#include "stm32f412vx.h"
#elif defined(STM32F413xx)
// #if defined(STM32F405xx)
// #include "stm32f405xx.h"
// #elif defined(STM32F415xx)
// #include "stm32f415xx.h"
// #elif defined(STM32F407xx)
// #include "stm32f407xx.h"
// #elif defined(STM32F417xx)
// #include "stm32f417xx.h"
// #elif defined(STM32F427xx)
// #include "stm32f427xx.h"
// #elif defined(STM32F437xx)
// #include "stm32f437xx.h"
// #elif defined(STM32F429xx)
// #include "stm32f429xx.h"
// #elif defined(STM32F439xx)
// #include "stm32f439xx.h"
// #elif defined(STM32F401xC)
// #include "stm32f401xc.h"
// #elif defined(STM32F401xE)
// #include "stm32f401xe.h"
// #elif defined(STM32F410Tx)
// #include "stm32f410tx.h"
// #elif defined(STM32F410Cx)
// #include "stm32f410cx.h"
// #elif defined(STM32F410Rx)
// #include "stm32f410rx.h"
// #elif defined(STM32F411xE)
// #include "stm32f411xe.h"
// #elif defined(STM32F446xx)
// #include "stm32f446xx.h"
// #elif defined(STM32F469xx)
// #include "stm32f469xx.h"
// #elif defined(STM32F479xx)
// #include "stm32f479xx.h"
// #elif defined(STM32F412Cx)
// #include "stm32f412cx.h"
// #elif defined(STM32F412Zx)
// #include "stm32f412zx.h"
// #elif defined(STM32F412Rx)
// #include "stm32f412rx.h"
// #elif defined(STM32F412Vx)
// #include "stm32f412vx.h"
#if defined(STM32F413xx)
#include "stm32f413xx.h"
#elif defined(STM32F423xx)
#elif defined(STM32F423xx)
#include "stm32f423xx.h"
#else
#error "Please select first the target STM32F4xx device used in your application (in stm32f4xx.h file)"

9
panda/board/stm32fx/llcan.h → panda/board/stm32fx/llbxcan.h
View File

@ -8,15 +8,6 @@
// 5000 = 500 kbps
#define can_speed_to_prescaler(x) (CAN_PCLK / CAN_QUANTA * 10U / (x))
#define GET_BUS(msg) (((msg)->RDTR >> 4) & 0xFF)
#define GET_LEN(msg) ((msg)->RDTR & 0xF)
#define GET_ADDR(msg) ((((msg)->RIR & 4) != 0) ? ((msg)->RIR >> 3) : ((msg)->RIR >> 21))
#define GET_BYTE(msg, b) (((int)(b) > 3) ? (((msg)->RDHR >> (8U * ((unsigned int)(b) % 4U))) & 0xFFU) : (((msg)->RDLR >> (8U * (unsigned int)(b))) & 0xFFU))
#define GET_BYTES_04(msg) ((msg)->RDLR)
#define GET_BYTES_48(msg) ((msg)->RDHR)
#define GET_FLAG(value, mask) (((__typeof__(mask))(value) & (mask)) == (mask))
#define CAN_INIT_TIMEOUT_MS 500U
#define CAN_NAME_FROM_CANIF(CAN_DEV) (((CAN_DEV)==CAN1) ? "CAN1" : (((CAN_DEV) == CAN2) ? "CAN2" : "CAN3"))
void puts(const char *a);

28
panda/board/stm32fx/llflash.h 100644
View File

@ -0,0 +1,28 @@
bool flash_is_locked(void) {
return (FLASH->CR & FLASH_CR_LOCK);
}
void flash_unlock(void) {
FLASH->KEYR = 0x45670123;
FLASH->KEYR = 0xCDEF89AB;
}
bool flash_erase_sector(uint8_t sector, bool unlocked) {
// don't erase the bootloader(sector 0)
if (sector != 0 && sector < 12 && unlocked) {
FLASH->CR = (sector << 3) | FLASH_CR_SER;
FLASH->CR |= FLASH_CR_STRT;
while (FLASH->SR & FLASH_SR_BSY);
return true;
}
return false;
}
void flash_write_word(void *prog_ptr, uint32_t data) {
uint32_t *pp = prog_ptr;
FLASH->CR = FLASH_CR_PSIZE_1 | FLASH_CR_PG;
*pp = data;
while (FLASH->SR & FLASH_SR_BSY);
}
void flush_write_buffer(void) { }

5
panda/board/stm32fx/lluart.h
View File

@ -42,6 +42,11 @@ void uart_rx_ring(uart_ring *q){
}
}
void uart_send_break(uart_ring *u) {
while ((u->uart->CR1 & USART_CR1_SBK) != 0);
u->uart->CR1 |= USART_CR1_SBK;
}
// This function should be called on:
// * Half-transfer DMA interrupt
// * Full-transfer DMA interrupt

29
panda/board/stm32fx/peripherals.h
View File

@ -1,5 +1,18 @@
void gpio_usb_init(void) {
// 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;
}
void gpio_usart2_init(void) {
// A2,A3: USART 2 for debugging
set_gpio_alternate(GPIOA, 2, GPIO_AF7_USART2);
set_gpio_alternate(GPIOA, 3, GPIO_AF7_USART2);
}
// Common GPIO initialization
void common_init_gpio(void){
void common_init_gpio(void) {
// TODO: Is this block actually doing something???
// pull low to hold ESP in reset??
// enable OTG out tied to ground
@ -12,10 +25,7 @@ void common_init_gpio(void){
// C2: Voltage sense line
set_gpio_mode(GPIOC, 2, MODE_ANALOG);
// 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;
gpio_usb_init();
// A9,A10: USART 1 for talking to the GPS
set_gpio_alternate(GPIOA, 9, GPIO_AF7_USART1);
@ -31,8 +41,15 @@ void common_init_gpio(void){
#endif
}
void flasher_peripherals_init(void) {
RCC->AHB1ENR |= RCC_AHB1ENR_DMA2EN;
RCC->APB2ENR |= RCC_APB2ENR_SPI1EN;
RCC->AHB2ENR |= RCC_AHB2ENR_OTGFSEN;
RCC->APB1ENR |= RCC_APB1ENR_USART2EN;
}
// Peripheral initialization
void peripherals_init(void){
void peripherals_init(void) {
// enable GPIOB, UART2, CAN, USB clock
RCC->AHB1ENR |= RCC_AHB1ENR_GPIOAEN;
RCC->AHB1ENR |= RCC_AHB1ENR_GPIOBEN;

6
panda/board/stm32fx/stm32fx_config.h
View File

@ -67,8 +67,10 @@
#include "stm32fx/lluart.h"
#endif
#ifndef BOOTSTUB
#include "stm32fx/llcan.h"
#ifdef BOOTSTUB
#include "stm32fx/llflash.h"
#else
#include "stm32fx/llbxcan.h"
#endif
#if defined(PANDA) || defined(BOOTSTUB) || defined(PEDAL_USB)

2
panda/board/stm32fx/stm32fx_flash.ld
View File

@ -35,7 +35,7 @@ ENTRY(Reset_Handler)
/* Highest address of the user mode stack */
enter_bootloader_mode = 0x2001FFFC;
_estack = 0x2001FFFC; /* end of 128K RAM on AHB bus*/
_app_start = 0x08004000; /* Reserve 16K for bootloader */
_app_start = 0x08004000; /* Reserve Sector 0(16K) for bootloader */
/* Generate a link error if heap and stack don't fit into RAM */
_Min_Heap_Size = 0; /* required amount of heap */

36
panda/board/stm32h7/board.h 100644
View File

@ -0,0 +1,36 @@
// ///////////////////////////////////////////////////////////// //
// Hardware abstraction layer for all different supported boards //
// ///////////////////////////////////////////////////////////// //
#include "boards/board_declarations.h"
#include "boards/unused_funcs.h"
// ///// Board definition and detection ///// //
#include "drivers/harness.h"
#include "drivers/fan.h"
#include "stm32h7/llfan.h"
#include "stm32h7/llrtc.h"
#include "drivers/rtc.h"
#include "boards/red.h"
uint8_t board_id(void) {
return detect_with_pull(GPIOF, 7, PULL_UP) |
(detect_with_pull(GPIOF, 8, PULL_UP) << 1U) |
(detect_with_pull(GPIOF, 9, PULL_UP) << 2U) |
(detect_with_pull(GPIOF, 10, PULL_UP) << 3U);
}
void detect_board_type(void) {
if(board_id() == 0U){
hw_type = HW_TYPE_RED_PANDA;
current_board = &board_red;
} else {
hw_type = HW_TYPE_UNKNOWN;
puts("Hardware type is UNKNOWN!\n");
}
}
bool has_external_debug_serial = 0;
void detect_external_debug_serial(void) {
// detect if external serial debugging is present
has_external_debug_serial = detect_with_pull(GPIOA, 3, PULL_DOWN);
}

54
panda/board/stm32h7/clock.h 100644
View File

@ -0,0 +1,54 @@
void clock_init(void) {
//Set power mode to direct SMPS power supply(depends on the board layout)
register_set(&(PWR->CR3), PWR_CR3_SMPSEN, 0xFU); // powered only by SMPS
//Set VOS level to VOS0. (VOS3 to 170Mhz, VOS2 to 300Mhz, VOS1 to 400Mhz, VOS0 to 550Mhz)
register_set(&(PWR->D3CR), PWR_D3CR_VOS_1, 0xC000U); //VOS2
while ((PWR->CSR1 & PWR_CSR1_ACTVOSRDY) == 0);
while ((PWR->CSR1 & PWR_CSR1_ACTVOS) != (PWR->D3CR & PWR_D3CR_VOS)); // check that VOS level was actually set
// Configure Flash ACR register LATENCY and WRHIGHFREQ (VOS0 range!)
register_set(&(FLASH->ACR), FLASH_ACR_LATENCY_2WS | 0x20U, 0x3FU); // VOS2, AXI 100MHz-150MHz
// enable external oscillator HSE
register_set_bits(&(RCC->CR), RCC_CR_HSEON);
while ((RCC->CR & RCC_CR_HSERDY) == 0);
// Specify the frequency source for PLL1, divider for DIVM1, divider for DIVM2 : HSE, 5, 5
register_set(&(RCC->PLLCKSELR), RCC_PLLCKSELR_PLLSRC_HSE | RCC_PLLCKSELR_DIVM1_0 | RCC_PLLCKSELR_DIVM1_2 | RCC_PLLCKSELR_DIVM2_0 | RCC_PLLCKSELR_DIVM2_2, 0x3F3F3U);
// *** PLL1 start ***
// Specify multiplier N and dividers P, Q, R for PLL1 : 48, 1, 5, 2
register_set(&(RCC->PLL1DIVR), 0x104002FU, 0x7F7FFFFFU);
// Specify the input and output frequency ranges, enable dividers for PLL1
register_set(&(RCC->PLLCFGR), RCC_PLLCFGR_PLL1RGE_2 | RCC_PLLCFGR_DIVP1EN | RCC_PLLCFGR_DIVQ1EN | RCC_PLLCFGR_DIVR1EN, 0x7000CU);
// Enable PLL1
register_set_bits(&(RCC->CR), RCC_CR_PLL1ON);
while((RCC->CR & RCC_CR_PLL1RDY) == 0);
// *** PLL1 end ***
//////////////OTHER CLOCKS////////////////////
// RCC HCLK Clock Source / RCC APB3 Clock Source / RCC SYS Clock Source
register_set(&(RCC->D1CFGR), RCC_D1CFGR_HPRE_DIV2 | RCC_D1CFGR_D1PPRE_DIV2 | RCC_D1CFGR_D1CPRE_DIV1, 0xF7FU);
// RCC APB1 Clock Source / RCC APB2 Clock Source
register_set(&(RCC->D2CFGR), RCC_D2CFGR_D2PPRE1_DIV2 | RCC_D2CFGR_D2PPRE2_DIV2, 0x770U);
// RCC APB4 Clock Source
register_set(&(RCC->D3CFGR), RCC_D3CFGR_D3PPRE_DIV2, 0x70U);
// PLL2P for ADC
register_clear_bits(&(RCC->D3CFGR), RCC_D3CCIPR_ADCSEL);
// Set SysClock source to PLL
register_set(&(RCC->CFGR), RCC_CFGR_SW_PLL1, 0x7U);
while((RCC->CFGR & RCC_CFGR_SWS) != RCC_CFGR_SWS_PLL1);
// SYSCFG peripheral clock enable
register_set_bits(&(RCC->AHB4ENR), RCC_APB4ENR_SYSCFGEN);
//////////////END OTHER CLOCKS////////////////////
// Configure clock source for USB
register_set(&(RCC->D2CCIP2R), RCC_D2CCIP2R_USBSEL_0, RCC_D2CCIP2R_USBSEL); //PLL1Q
// Configure clock source for FDCAN
register_set(&(RCC->D2CCIP1R), RCC_D2CCIP1R_FDCANSEL_0, RCC_D2CCIP1R_FDCANSEL); //PLL1Q
// Configure clock source for ADC1,2,3
register_set(&(RCC->D3CCIPR), RCC_D3CCIPR_ADCSEL_1, RCC_D3CCIPR_ADCSEL); //per_ck(currently HSE)
//Enable the Clock Security System
register_set_bits(&(RCC->CR), RCC_CR_CSSHSEON);
//Enable Vdd33usb supply level detector
register_set_bits(&(PWR->CR3), PWR_CR3_USB33DEN);
}

284
panda/board/stm32h7/inc/cmsis_compiler.h 100644
View File

@ -0,0 +1,284 @@
/**************************************************************************//**
* @file cmsis_compiler.h
* @brief CMSIS compiler generic header file
* @version V5.1.0
* @date 09. October 2018
******************************************************************************/
/*
* Copyright (c) 2009-2018 Arm Limited. All rights reserved.
*
* SPDX-License-Identifier: Apache-2.0
*
* Licensed under the Apache License, Version 2.0 (the License); you may
* not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an AS IS BASIS, WITHOUT
* WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*/
#ifndef __CMSIS_COMPILER_H
#define __CMSIS_COMPILER_H
#include <stdint.h>
/*
* Arm Compiler 4/5
*/
#if defined ( __CC_ARM )
#include "cmsis_armcc.h"
/*
* Arm Compiler 6.6 LTM (armclang)
*/
#elif defined (__ARMCC_VERSION) && (__ARMCC_VERSION >= 6010050) && (__ARMCC_VERSION < 6100100)
#include "cmsis_armclang_ltm.h"
/*
* Arm Compiler above 6.10.1 (armclang)
*/
#elif defined (__ARMCC_VERSION) && (__ARMCC_VERSION >= 6100100)
#include "cmsis_armclang.h"
/*
* GNU Compiler
*/
#elif defined ( __GNUC__ )
#include "cmsis_gcc.h"
/*
* IAR Compiler
*/
#elif defined ( __ICCARM__ )
#include <cmsis_iccarm.h>
/*
* TI Arm Compiler
*/
#elif defined ( __TI_ARM__ )
#include <cmsis_ccs.h>
#ifndef __ASM
#define __ASM __asm
#endif
#ifndef __INLINE
#define __INLINE inline
#endif
#ifndef __STATIC_INLINE
#define __STATIC_INLINE static inline
#endif
#ifndef __STATIC_FORCEINLINE
#define __STATIC_FORCEINLINE __STATIC_INLINE
#endif
#ifndef __NO_RETURN
#define __NO_RETURN __attribute__((noreturn))
#endif
#ifndef __USED
#define __USED __attribute__((used))
#endif
#ifndef __WEAK
#define __WEAK __attribute__((weak))
#endif
#ifndef __PACKED
#define __PACKED __attribute__((packed))
#endif
#ifndef __PACKED_STRUCT
#define __PACKED_STRUCT struct __attribute__((packed))
#endif
#ifndef __PACKED_UNION
#define __PACKED_UNION union __attribute__((packed))
#endif
#ifndef __UNALIGNED_UINT32 /* deprecated */
struct __attribute__((packed)) T_UINT32 { uint32_t v; };
#define __UNALIGNED_UINT32(x) (((struct T_UINT32 *)(x))->v)
#endif
#ifndef __UNALIGNED_UINT16_WRITE
__PACKED_STRUCT T_UINT16_WRITE { uint16_t v; };
#define __UNALIGNED_UINT16_WRITE(addr, val) (void)((((struct T_UINT16_WRITE *)(void*)(addr))->v) = (val))
#endif
#ifndef __UNALIGNED_UINT16_READ
__PACKED_STRUCT T_UINT16_READ { uint16_t v; };
#define __UNALIGNED_UINT16_READ(addr) (((const struct T_UINT16_READ *)(const void *)(addr))->v)
#endif
#ifndef __UNALIGNED_UINT32_WRITE
__PACKED_STRUCT T_UINT32_WRITE { uint32_t v; };
#define __UNALIGNED_UINT32_WRITE(addr, val) (void)((((struct T_UINT32_WRITE *)(void *)(addr))->v) = (val))
#endif
#ifndef __UNALIGNED_UINT32_READ
__PACKED_STRUCT T_UINT32_READ { uint32_t v; };
#define __UNALIGNED_UINT32_READ(addr) (((const struct T_UINT32_READ *)(const void *)(addr))->v)
#endif
#ifndef __ALIGNED
#define __ALIGNED(x) __attribute__((aligned(x)))
#endif
#ifndef __RESTRICT
#define __RESTRICT __restrict
#endif
#ifndef __COMPILER_BARRIER
#warning No compiler specific solution for __COMPILER_BARRIER. __COMPILER_BARRIER is ignored.
#define __COMPILER_BARRIER() (void)0
#endif
/*
* TASKING Compiler
*/
#elif defined ( __TASKING__ )
/*
* The CMSIS functions have been implemented as intrinsics in the compiler.
* Please use "carm -?i" to get an up to date list of all intrinsics,
* Including the CMSIS ones.
*/
#ifndef __ASM
#define __ASM __asm
#endif
#ifndef __INLINE
#define __INLINE inline
#endif
#ifndef __STATIC_INLINE
#define __STATIC_INLINE static inline
#endif
#ifndef __STATIC_FORCEINLINE
#define __STATIC_FORCEINLINE __STATIC_INLINE
#endif
#ifndef __NO_RETURN
#define __NO_RETURN __attribute__((noreturn))
#endif
#ifndef __USED
#define __USED __attribute__((used))
#endif
#ifndef __WEAK
#define __WEAK __attribute__((weak))
#endif
#ifndef __PACKED
#define __PACKED __packed__
#endif
#ifndef __PACKED_STRUCT
#define __PACKED_STRUCT struct __packed__
#endif
#ifndef __PACKED_UNION
#define __PACKED_UNION union __packed__
#endif
#ifndef __UNALIGNED_UINT32 /* deprecated */
struct __packed__ T_UINT32 { uint32_t v; };
#define __UNALIGNED_UINT32(x) (((struct T_UINT32 *)(x))->v)
#endif
#ifndef __UNALIGNED_UINT16_WRITE
__PACKED_STRUCT T_UINT16_WRITE { uint16_t v; };
#define __UNALIGNED_UINT16_WRITE(addr, val) (void)((((struct T_UINT16_WRITE *)(void *)(addr))->v) = (val))
#endif
#ifndef __UNALIGNED_UINT16_READ
__PACKED_STRUCT T_UINT16_READ { uint16_t v; };
#define __UNALIGNED_UINT16_READ(addr) (((const struct T_UINT16_READ *)(const void *)(addr))->v)
#endif
#ifndef __UNALIGNED_UINT32_WRITE
__PACKED_STRUCT T_UINT32_WRITE { uint32_t v; };
#define __UNALIGNED_UINT32_WRITE(addr, val) (void)((((struct T_UINT32_WRITE *)(void *)(addr))->v) = (val))
#endif
#ifndef __UNALIGNED_UINT32_READ
__PACKED_STRUCT T_UINT32_READ { uint32_t v; };
#define __UNALIGNED_UINT32_READ(addr) (((const struct T_UINT32_READ *)(const void *)(addr))->v)
#endif
#ifndef __ALIGNED
#define __ALIGNED(x) __align(x)
#endif
#ifndef __RESTRICT
#warning No compiler specific solution for __RESTRICT. __RESTRICT is ignored.
#define __RESTRICT
#endif
#ifndef __COMPILER_BARRIER
#warning No compiler specific solution for __COMPILER_BARRIER. __COMPILER_BARRIER is ignored.
#define __COMPILER_BARRIER() (void)0
#endif
/*
* COSMIC Compiler
*/
#elif defined ( __CSMC__ )
#include <cmsis_csm.h>
#ifndef __ASM
#define __ASM _asm
#endif
#ifndef __INLINE
#define __INLINE inline
#endif
#ifndef __STATIC_INLINE
#define __STATIC_INLINE static inline
#endif
#ifndef __STATIC_FORCEINLINE
#define __STATIC_FORCEINLINE __STATIC_INLINE
#endif
#ifndef __NO_RETURN
// NO RETURN is automatically detected hence no warning here
#define __NO_RETURN
#endif
#ifndef __USED
#warning No compiler specific solution for __USED. __USED is ignored.
#define __USED
#endif
#ifndef __WEAK
#define __WEAK __weak
#endif
#ifndef __PACKED
#define __PACKED @packed
#endif
#ifndef __PACKED_STRUCT
#define __PACKED_STRUCT @packed struct
#endif
#ifndef __PACKED_UNION
#define __PACKED_UNION @packed union
#endif
#ifndef __UNALIGNED_UINT32 /* deprecated */
@packed struct T_UINT32 { uint32_t v; };
#define __UNALIGNED_UINT32(x) (((struct T_UINT32 *)(x))->v)
#endif
#ifndef __UNALIGNED_UINT16_WRITE
__PACKED_STRUCT T_UINT16_WRITE { uint16_t v; };
#define __UNALIGNED_UINT16_WRITE(addr, val) (void)((((struct T_UINT16_WRITE *)(void *)(addr))->v) = (val))
#endif
#ifndef __UNALIGNED_UINT16_READ
__PACKED_STRUCT T_UINT16_READ { uint16_t v; };
#define __UNALIGNED_UINT16_READ(addr) (((const struct T_UINT16_READ *)(const void *)(addr))->v)
#endif
#ifndef __UNALIGNED_UINT32_WRITE
__PACKED_STRUCT T_UINT32_WRITE { uint32_t v; };
#define __UNALIGNED_UINT32_WRITE(addr, val) (void)((((struct T_UINT32_WRITE *)(void *)(addr))->v) = (val))
#endif
#ifndef __UNALIGNED_UINT32_READ
__PACKED_STRUCT T_UINT32_READ { uint32_t v; };
#define __UNALIGNED_UINT32_READ(addr) (((const struct T_UINT32_READ *)(const void *)(addr))->v)
#endif
#ifndef __ALIGNED
#warning No compiler specific solution for __ALIGNED. __ALIGNED is ignored.
#define __ALIGNED(x)
#endif
#ifndef __RESTRICT
#warning No compiler specific solution for __RESTRICT. __RESTRICT is ignored.
#define __RESTRICT
#endif
#ifndef __COMPILER_BARRIER
#warning No compiler specific solution for __COMPILER_BARRIER. __COMPILER_BARRIER is ignored.
#define __COMPILER_BARRIER() (void)0
#endif
#else
#error Unknown compiler.
#endif
#endif /* __CMSIS_COMPILER_H */

2169
panda/board/stm32h7/inc/cmsis_gcc.h 100644
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File diff suppressed because it is too large Load Diff

40
panda/board/stm32h7/inc/cmsis_version.h 100644
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@ -0,0 +1,40 @@
/**************************************************************************//**
* @file cmsis_version.h
* @brief CMSIS Core(M) Version definitions
* @version V5.0.3
* @date 24. June 2019
******************************************************************************/
/*
* Copyright (c) 2009-2019 ARM Limited. All rights reserved.
*
* SPDX-License-Identifier: Apache-2.0
*
* Licensed under the Apache License, Version 2.0 (the License); you may
* not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an AS IS BASIS, WITHOUT
* WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*/
#if defined ( __ICCARM__ )
#pragma system_include /* treat file as system include file for MISRA check */
#elif defined (__clang__)
#pragma clang system_header /* treat file as system include file */
#endif
#ifndef __CMSIS_VERSION_H
#define __CMSIS_VERSION_H
/* CMSIS Version definitions */
#define __CM_CMSIS_VERSION_MAIN ( 5U) /*!< [31:16] CMSIS Core(M) main version */
#define __CM_CMSIS_VERSION_SUB ( 3U) /*!< [15:0] CMSIS Core(M) sub version */
#define __CM_CMSIS_VERSION ((__CM_CMSIS_VERSION_MAIN << 16U) | \
__CM_CMSIS_VERSION_SUB ) /*!< CMSIS Core(M) version number */
#endif

2725
panda/board/stm32h7/inc/core_cm7.h 100644
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File diff suppressed because it is too large Load Diff

346
panda/board/stm32h7/inc/mpu_armv8.h 100644
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@ -0,0 +1,346 @@
/******************************************************************************
* @file mpu_armv8.h
* @brief CMSIS MPU API for Armv8-M and Armv8.1-M MPU
* @version V5.1.0
* @date 08. March 2019
******************************************************************************/
/*
* Copyright (c) 2017-2019 Arm Limited. All rights reserved.
*
* SPDX-License-Identifier: Apache-2.0
*
* Licensed under the Apache License, Version 2.0 (the License); you may
* not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an AS IS BASIS, WITHOUT
* WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*/
#if defined ( __ICCARM__ )
#pragma system_include /* treat file as system include file for MISRA check */
#elif defined (__clang__)
#pragma clang system_header /* treat file as system include file */
#endif
#ifndef ARM_MPU_ARMV8_H
#define ARM_MPU_ARMV8_H
/** \brief Attribute for device memory (outer only) */
#define ARM_MPU_ATTR_DEVICE ( 0U )
/** \brief Attribute for non-cacheable, normal memory */
#define ARM_MPU_ATTR_NON_CACHEABLE ( 4U )
/** \brief Attribute for normal memory (outer and inner)
* \param NT Non-Transient: Set to 1 for non-transient data.
* \param WB Write-Back: Set to 1 to use write-back update policy.
* \param RA Read Allocation: Set to 1 to use cache allocation on read miss.
* \param WA Write Allocation: Set to 1 to use cache allocation on write miss.
*/
#define ARM_MPU_ATTR_MEMORY_(NT, WB, RA, WA) \
(((NT & 1U) << 3U) | ((WB & 1U) << 2U) | ((RA & 1U) << 1U) | (WA & 1U))
/** \brief Device memory type non Gathering, non Re-ordering, non Early Write Acknowledgement */
#define ARM_MPU_ATTR_DEVICE_nGnRnE (0U)
/** \brief Device memory type non Gathering, non Re-ordering, Early Write Acknowledgement */
#define ARM_MPU_ATTR_DEVICE_nGnRE (1U)
/** \brief Device memory type non Gathering, Re-ordering, Early Write Acknowledgement */
#define ARM_MPU_ATTR_DEVICE_nGRE (2U)
/** \brief Device memory type Gathering, Re-ordering, Early Write Acknowledgement */
#define ARM_MPU_ATTR_DEVICE_GRE (3U)
/** \brief Memory Attribute
* \param O Outer memory attributes
* \param I O == ARM_MPU_ATTR_DEVICE: Device memory attributes, else: Inner memory attributes
*/
#define ARM_MPU_ATTR(O, I) (((O & 0xFU) << 4U) | (((O & 0xFU) != 0U) ? (I & 0xFU) : ((I & 0x3U) << 2U)))
/** \brief Normal memory non-shareable */
#define ARM_MPU_SH_NON (0U)
/** \brief Normal memory outer shareable */
#define ARM_MPU_SH_OUTER (2U)
/** \brief Normal memory inner shareable */
#define ARM_MPU_SH_INNER (3U)
/** \brief Memory access permissions
* \param RO Read-Only: Set to 1 for read-only memory.
* \param NP Non-Privileged: Set to 1 for non-privileged memory.
*/
#define ARM_MPU_AP_(RO, NP) (((RO & 1U) << 1U) | (NP & 1U))
/** \brief Region Base Address Register value
* \param BASE The base address bits [31:5] of a memory region. The value is zero extended. Effective address gets 32 byte aligned.
* \param SH Defines the Shareability domain for this memory region.
* \param RO Read-Only: Set to 1 for a read-only memory region.
* \param NP Non-Privileged: Set to 1 for a non-privileged memory region.
* \oaram XN eXecute Never: Set to 1 for a non-executable memory region.
*/
#define ARM_MPU_RBAR(BASE, SH, RO, NP, XN) \
((BASE & MPU_RBAR_BASE_Msk) | \
((SH << MPU_RBAR_SH_Pos) & MPU_RBAR_SH_Msk) | \
((ARM_MPU_AP_(RO, NP) << MPU_RBAR_AP_Pos) & MPU_RBAR_AP_Msk) | \
((XN << MPU_RBAR_XN_Pos) & MPU_RBAR_XN_Msk))
/** \brief Region Limit Address Register value
* \param LIMIT The limit address bits [31:5] for this memory region. The value is one extended.
* \param IDX The attribute index to be associated with this memory region.
*/
#define ARM_MPU_RLAR(LIMIT, IDX) \
((LIMIT & MPU_RLAR_LIMIT_Msk) | \
((IDX << MPU_RLAR_AttrIndx_Pos) & MPU_RLAR_AttrIndx_Msk) | \
(MPU_RLAR_EN_Msk))
#if defined(MPU_RLAR_PXN_Pos)
/** \brief Region Limit Address Register with PXN value
* \param LIMIT The limit address bits [31:5] for this memory region. The value is one extended.
* \param PXN Privileged execute never. Defines whether code can be executed from this privileged region.
* \param IDX The attribute index to be associated with this memory region.
*/
#define ARM_MPU_RLAR_PXN(LIMIT, PXN, IDX) \
((LIMIT & MPU_RLAR_LIMIT_Msk) | \
((PXN << MPU_RLAR_PXN_Pos) & MPU_RLAR_PXN_Msk) | \
((IDX << MPU_RLAR_AttrIndx_Pos) & MPU_RLAR_AttrIndx_Msk) | \
(MPU_RLAR_EN_Msk))
#endif
/**
* Struct for a single MPU Region
*/
typedef struct {
uint32_t RBAR; /*!< Region Base Address Register value */
uint32_t RLAR; /*!< Region Limit Address Register value */
} ARM_MPU_Region_t;
/** Enable the MPU.
* \param MPU_Control Default access permissions for unconfigured regions.
*/
__STATIC_INLINE void ARM_MPU_Enable(uint32_t MPU_Control)
{
MPU->CTRL = MPU_Control | MPU_CTRL_ENABLE_Msk;
#ifdef SCB_SHCSR_MEMFAULTENA_Msk
SCB->SHCSR |= SCB_SHCSR_MEMFAULTENA_Msk;
#endif
__DSB();
__ISB();
}
/** Disable the MPU.
*/
__STATIC_INLINE void ARM_MPU_Disable(void)
{
__DMB();
#ifdef SCB_SHCSR_MEMFAULTENA_Msk
SCB->SHCSR &= ~SCB_SHCSR_MEMFAULTENA_Msk;
#endif
MPU->CTRL &= ~MPU_CTRL_ENABLE_Msk;
}
#ifdef MPU_NS
/** Enable the Non-secure MPU.
* \param MPU_Control Default access permissions for unconfigured regions.
*/
__STATIC_INLINE void ARM_MPU_Enable_NS(uint32_t MPU_Control)
{
MPU_NS->CTRL = MPU_Control | MPU_CTRL_ENABLE_Msk;
#ifdef SCB_SHCSR_MEMFAULTENA_Msk
SCB_NS->SHCSR |= SCB_SHCSR_MEMFAULTENA_Msk;
#endif
__DSB();
__ISB();
}
/** Disable the Non-secure MPU.
*/
__STATIC_INLINE void ARM_MPU_Disable_NS(void)
{
__DMB();
#ifdef SCB_SHCSR_MEMFAULTENA_Msk
SCB_NS->SHCSR &= ~SCB_SHCSR_MEMFAULTENA_Msk;
#endif
MPU_NS->CTRL &= ~MPU_CTRL_ENABLE_Msk;
}
#endif
/** Set the memory attribute encoding to the given MPU.
* \param mpu Pointer to the MPU to be configured.
* \param idx The attribute index to be set [0-7]
* \param attr The attribute value to be set.
*/
__STATIC_INLINE void ARM_MPU_SetMemAttrEx(MPU_Type* mpu, uint8_t idx, uint8_t attr)
{
const uint8_t reg = idx / 4U;
const uint32_t pos = ((idx % 4U) * 8U);
const uint32_t mask = 0xFFU << pos;
if (reg >= (sizeof(mpu->MAIR) / sizeof(mpu->MAIR[0]))) {
return; // invalid index
}
mpu->MAIR[reg] = ((mpu->MAIR[reg] & ~mask) | ((attr << pos) & mask));
}
/** Set the memory attribute encoding.
* \param idx The attribute index to be set [0-7]
* \param attr The attribute value to be set.
*/
__STATIC_INLINE void ARM_MPU_SetMemAttr(uint8_t idx, uint8_t attr)
{
ARM_MPU_SetMemAttrEx(MPU, idx, attr);
}
#ifdef MPU_NS
/** Set the memory attribute encoding to the Non-secure MPU.
* \param idx The attribute index to be set [0-7]
* \param attr The attribute value to be set.
*/
__STATIC_INLINE void ARM_MPU_SetMemAttr_NS(uint8_t idx, uint8_t attr)
{
ARM_MPU_SetMemAttrEx(MPU_NS, idx, attr);
}
#endif
/** Clear and disable the given MPU region of the given MPU.
* \param mpu Pointer to MPU to be used.
* \param rnr Region number to be cleared.
*/
__STATIC_INLINE void ARM_MPU_ClrRegionEx(MPU_Type* mpu, uint32_t rnr)
{
mpu->RNR = rnr;
mpu->RLAR = 0U;
}
/** Clear and disable the given MPU region.
* \param rnr Region number to be cleared.
*/
__STATIC_INLINE void ARM_MPU_ClrRegion(uint32_t rnr)
{
ARM_MPU_ClrRegionEx(MPU, rnr);
}
#ifdef MPU_NS
/** Clear and disable the given Non-secure MPU region.
* \param rnr Region number to be cleared.
*/
__STATIC_INLINE void ARM_MPU_ClrRegion_NS(uint32_t rnr)
{
ARM_MPU_ClrRegionEx(MPU_NS, rnr);
}
#endif
/** Configure the given MPU region of the given MPU.
* \param mpu Pointer to MPU to be used.
* \param rnr Region number to be configured.
* \param rbar Value for RBAR register.
* \param rlar Value for RLAR register.
*/
__STATIC_INLINE void ARM_MPU_SetRegionEx(MPU_Type* mpu, uint32_t rnr, uint32_t rbar, uint32_t rlar)
{
mpu->RNR = rnr;
mpu->RBAR = rbar;
mpu->RLAR = rlar;
}
/** Configure the given MPU region.
* \param rnr Region number to be configured.
* \param rbar Value for RBAR register.
* \param rlar Value for RLAR register.
*/
__STATIC_INLINE void ARM_MPU_SetRegion(uint32_t rnr, uint32_t rbar, uint32_t rlar)
{
ARM_MPU_SetRegionEx(MPU, rnr, rbar, rlar);
}
#ifdef MPU_NS
/** Configure the given Non-secure MPU region.
* \param rnr Region number to be configured.
* \param rbar Value for RBAR register.
* \param rlar Value for RLAR register.
*/
__STATIC_INLINE void ARM_MPU_SetRegion_NS(uint32_t rnr, uint32_t rbar, uint32_t rlar)
{
ARM_MPU_SetRegionEx(MPU_NS, rnr, rbar, rlar);
}
#endif
/** Memcopy with strictly ordered memory access, e.g. for register targets.
* \param dst Destination data is copied to.
* \param src Source data is copied from.
* \param len Amount of data words to be copied.
*/
__STATIC_INLINE void ARM_MPU_OrderedMemcpy(volatile uint32_t* dst, const uint32_t* __RESTRICT src, uint32_t len)
{
uint32_t i;
for (i = 0U; i < len; ++i)
{
dst[i] = src[i];
}
}
/** Load the given number of MPU regions from a table to the given MPU.
* \param mpu Pointer to the MPU registers to be used.
* \param rnr First region number to be configured.
* \param table Pointer to the MPU configuration table.
* \param cnt Amount of regions to be configured.
*/
__STATIC_INLINE void ARM_MPU_LoadEx(MPU_Type* mpu, uint32_t rnr, ARM_MPU_Region_t const* table, uint32_t cnt)
{
const uint32_t rowWordSize = sizeof(ARM_MPU_Region_t)/4U;
if (cnt == 1U) {
mpu->RNR = rnr;
ARM_MPU_OrderedMemcpy(&(mpu->RBAR), &(table->RBAR), rowWordSize);
} else {
uint32_t rnrBase = rnr & ~(MPU_TYPE_RALIASES-1U);
uint32_t rnrOffset = rnr % MPU_TYPE_RALIASES;
mpu->RNR = rnrBase;
while ((rnrOffset + cnt) > MPU_TYPE_RALIASES) {
uint32_t c = MPU_TYPE_RALIASES - rnrOffset;
ARM_MPU_OrderedMemcpy(&(mpu->RBAR)+(rnrOffset*2U), &(table->RBAR), c*rowWordSize);
table += c;
cnt -= c;
rnrOffset = 0U;
rnrBase += MPU_TYPE_RALIASES;
mpu->RNR = rnrBase;
}
ARM_MPU_OrderedMemcpy(&(mpu->RBAR)+(rnrOffset*2U), &(table->RBAR), cnt*rowWordSize);
}
}
/** Load the given number of MPU regions from a table.
* \param rnr First region number to be configured.
* \param table Pointer to the MPU configuration table.
* \param cnt Amount of regions to be configured.
*/
__STATIC_INLINE void ARM_MPU_Load(uint32_t rnr, ARM_MPU_Region_t const* table, uint32_t cnt)
{
ARM_MPU_LoadEx(MPU, rnr, table, cnt);
}
#ifdef MPU_NS
/** Load the given number of MPU regions from a table to the Non-secure MPU.
* \param rnr First region number to be configured.
* \param table Pointer to the MPU configuration table.
* \param cnt Amount of regions to be configured.
*/
__STATIC_INLINE void ARM_MPU_Load_NS(uint32_t rnr, ARM_MPU_Region_t const* table, uint32_t cnt)
{
ARM_MPU_LoadEx(MPU_NS, rnr, table, cnt);
}
#endif
#endif

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/**
******************************************************************************
* @file stm32h7xx.h
* @author MCD Application Team
* @brief CMSIS STM32H7xx Device Peripheral Access Layer Header File.
*
* The file is the unique include file that the application programmer
* is using in the C source code, usually in main.c. This file contains:
* - Configuration section that allows to select:
* - The STM32H7xx device used in the target application
* - To use or not the peripheral’s drivers in application code(i.e.
* code will be based on direct access to peripheral’s registers
* rather than drivers API), this option is controlled by
* "#define USE_HAL_DRIVER"
*
******************************************************************************
* @attention
*
* <h2><center>&copy; Copyright (c) 2017 STMicroelectronics.
* All rights reserved.</center></h2>
*
* This software component is licensed by ST under BSD 3-Clause license,
* the "License"; You may not use this file except in compliance with the
* License. You may obtain a copy of the License at:
* opensource.org/licenses/BSD-3-Clause
*
******************************************************************************
*/
/** @addtogroup CMSIS
* @{
*/
/** @addtogroup stm32h7xx
* @{
*/
#ifndef STM32H7xx_H
#define STM32H7xx_H
#ifdef __cplusplus
extern "C" {
#endif /* __cplusplus */
/** @addtogroup Library_configuration_section
* @{
*/
/**
* @brief STM32 Family
*/
#if !defined (STM32H7)
#define STM32H7
#endif /* STM32H7 */
/* Uncomment the line below according to the target STM32H7 device used in your
application
*/
/* #if !defined (STM32H743xx) && !defined (STM32H753xx) && !defined (STM32H750xx) && !defined (STM32H742xx) && \
!defined (STM32H745xx) && !defined (STM32H755xx) && !defined (STM32H747xx) && !defined (STM32H757xx) && \
!defined (STM32H7A3xx) && !defined (STM32H7A3xxQ) && !defined (STM32H7B3xx) && !defined (STM32H7B3xxQ) && !defined (STM32H7B0xx) && !defined (STM32H7B0xxQ) && \
!defined (STM32H735xx) && !defined (STM32H733xx) && !defined (STM32H730xx) && !defined (STM32H730xxQ) && !defined (STM32H725xx) && !defined (STM32H723xx) */
/* #define STM32H742xx */ /*!< STM32H742VI, STM32H742ZI, STM32H742AI, STM32H742II, STM32H742BI, STM32H742XI Devices */
/* #define STM32H743xx */ /*!< STM32H743VI, STM32H743ZI, STM32H743AI, STM32H743II, STM32H743BI, STM32H743XI Devices */
/* #define STM32H753xx */ /*!< STM32H753VI, STM32H753ZI, STM32H753AI, STM32H753II, STM32H753BI, STM32H753XI Devices */
/* #define STM32H750xx */ /*!< STM32H750V, STM32H750I, STM32H750X Devices */
/* #define STM32H747xx */ /*!< STM32H747ZI, STM32H747AI, STM32H747II, STM32H747BI, STM32H747XI Devices */
/* #define STM32H757xx */ /*!< STM32H757ZI, STM32H757AI, STM32H757II, STM32H757BI, STM32H757XI Devices */
/* #define STM32H745xx */ /*!< STM32H745ZI, STM32H745II, STM32H745BI, STM32H745XI Devices */
/* #define STM32H755xx */ /*!< STM32H755ZI, STM32H755II, STM32H755BI, STM32H755XI Devices */
/* #define STM32H7B0xx */ /*!< STM32H7B0ABIxQ, STM32H7B0IBTx, STM32H7B0RBTx, STM32H7B0VBTx, STM32H7B0ZBTx, STM32H7B0IBKxQ */
/* #define STM32H7A3xx */ /*!< STM32H7A3IIK6, STM32H7A3IIT6, STM32H7A3NIH6, STM32H7A3RIT6, STM32H7A3VIH6, STM32H7A3VIT6, STM32H7A3ZIT6 */
/* #define STM32H7A3xxQ */ /*!< STM32H7A3QIY6Q, STM32H7A3IIK6Q, STM32H7A3IIT6Q, STM32H7A3LIH6Q, STM32H7A3VIH6Q, STM32H7A3VIT6Q, STM32H7A3AII6Q, STM32H7A3ZIT6Q */
/* #define STM32H7B3xx */ /*!< STM32H7B3IIK6, STM32H7B3IIT6, STM32H7B3NIH6, STM32H7B3RIT6, STM32H7B3VIH6, STM32H7B3VIT6, STM32H7B3ZIT6 */
/* #define STM32H7B3xxQ */ /*!< STM32H7B3QIY6Q, STM32H7B3IIK6Q, STM32H7B3IIT6Q, STM32H7B3LIH6Q, STM32H7B3VIH6Q, STM32H7B3VIT6Q, STM32H7B3AII6Q, STM32H7B3ZIT6Q */
/* #define STM32H735xx */ /*!< STM32H735AGI6, STM32H735IGK6, STM32H735RGV6, STM32H735VGT6, STM32H735VGY6, STM32H735ZGT6 Devices */
/* #define STM32H733xx */ /*!< STM32H733VGH6, STM32H733VGT6, STM32H733ZGI6, STM32H733ZGT6, Devices */
/* #define STM32H730xx */ /*!< STM32H730VBH6, STM32H730VBT6, STM32H730ZBT6, STM32H730ZBI6 Devices */
/* #define STM32H730xxQ */ /*!< STM32H730IBT6Q, STM32H730ABI6Q, STM32H730IBK6Q Devices */
/* #define STM32H725xx */ /*!< STM32H725AGI6, STM32H725IGK6, STM32H725IGT6, STM32H725RGV6, STM32H725VGT6, STM32H725VGY6, STM32H725ZGT6, STM32H725REV6, SM32H725VET6, STM32H725ZET6, STM32H725AEI6, STM32H725IET6, STM32H725IEK6 Devices */
/* #define STM32H723xx */ /*!< STM32H723VGH6, STM32H723VGT6, STM32H723ZGI6, STM32H723ZGT6, STM32H723VET6, STM32H723VEH6, STM32H723ZET6, STM32H723ZEI6 Devices */
/* #endif */
/* Tip: To avoid modifying this file each time you need to switch between these
devices, you can define the device in your toolchain compiler preprocessor.
*/
#if defined(DUAL_CORE) && !defined(CORE_CM4) && !defined(CORE_CM7)
#error "Dual core device, please select CORE_CM4 or CORE_CM7"
#endif
#if !defined (USE_HAL_DRIVER)
/**
* @brief Comment the line below if you will not use the peripherals drivers.
In this case, these drivers will not be included and the application code will
be based on direct access to peripherals registers
*/
/*#define USE_HAL_DRIVER */
#endif /* USE_HAL_DRIVER */
/**
* @brief CMSIS Device version number V1.10.0
*/
#define __STM32H7xx_CMSIS_DEVICE_VERSION_MAIN (0x01) /*!< [31:24] main version */
#define __STM32H7xx_CMSIS_DEVICE_VERSION_SUB1 (0x0A) /*!< [23:16] sub1 version */
#define __STM32H7xx_CMSIS_DEVICE_VERSION_SUB2 (0x00) /*!< [15:8] sub2 version */
#define __STM32H7xx_CMSIS_DEVICE_VERSION_RC (0x00) /*!< [7:0] release candidate */
#define __STM32H7xx_CMSIS_DEVICE_VERSION ((__STM32H7xx_CMSIS_DEVICE_VERSION_MAIN << 24)\
|(__STM32H7xx_CMSIS_DEVICE_VERSION_SUB1 << 16)\
|(__STM32H7xx_CMSIS_DEVICE_VERSION_SUB2 << 8 )\
|(__STM32H7xx_CMSIS_DEVICE_VERSION_RC))
/**
* @}
*/
/** @addtogroup Device_Included
* @{
*/
#if defined(STM32H743xx)
#include "stm32h743xx.h"
// #elif defined(STM32H753xx)
// #include "stm32h753xx.h"
// #elif defined(STM32H750xx)
// #include "stm32h750xx.h"
// #elif defined(STM32H742xx)
// #include "stm32h742xx.h"
// #elif defined(STM32H745xx)
// #include "stm32h745xx.h"
// #elif defined(STM32H755xx)
// #include "stm32h755xx.h"
// #elif defined(STM32H747xx)
// #include "stm32h747xx.h"
// #elif defined(STM32H757xx)
// #include "stm32h757xx.h"
// #elif defined(STM32H7B0xx)
// #include "stm32h7b0xx.h"
// #elif defined(STM32H7B0xxQ)
// #include "stm32h7b0xxq.h"
// #elif defined(STM32H7A3xx)
// #include "stm32h7a3xx.h"
// #elif defined(STM32H7B3xx)
// #include "stm32h7b3xx.h"
// #elif defined(STM32H7A3xxQ)
// #include "stm32h7a3xxq.h"
// #elif defined(STM32H7B3xxQ)
// #include "stm32h7b3xxq.h"
#elif defined(STM32H735xx)
#include "stm32h735xx.h"
// #elif defined(STM32H733xx)
// #include "stm32h733xx.h"
// #elif defined(STM32H730xx)
// #include "stm32h730xx.h"
// #elif defined(STM32H730xxQ)
// #include "stm32h730xxq.h"
#elif defined(STM32H725xx)
#include "stm32h725xx.h"
// #elif defined(STM32H723xx)
// #include "stm32h723xx.h"
#else
#error "Please select first the target STM32H7xx device used in your application (in stm32h7xx.h file)"
#endif
/**
* @}
*/
/** @addtogroup Exported_types
* @{
*/
typedef enum
{
RESET = 0,
SET = !RESET
} FlagStatus, ITStatus;
typedef enum
{
DISABLE = 0,
ENABLE = !DISABLE
} FunctionalState;
#define IS_FUNCTIONAL_STATE(STATE) (((STATE) == DISABLE) || ((STATE) == ENABLE))
typedef enum
{
SUCCESS = 0,
ERROR = !SUCCESS
} ErrorStatus;
/**
* @}
*/
/** @addtogroup Exported_macros
* @{
*/
#define SET_BIT(REG, BIT) ((REG) |= (BIT))
#define CLEAR_BIT(REG, BIT) ((REG) &= ~(BIT))
#define READ_BIT(REG, BIT) ((REG) & (BIT))
#define CLEAR_REG(REG) ((REG) = (0x0))
#define WRITE_REG(REG, VAL) ((REG) = (VAL))
#define READ_REG(REG) ((REG))
#define MODIFY_REG(REG, CLEARMASK, SETMASK) WRITE_REG((REG), (((READ_REG(REG)) & (~(CLEARMASK))) | (SETMASK)))
#define POSITION_VAL(VAL) (__CLZ(__RBIT(VAL)))
/**
* @}
*/
#if defined (USE_HAL_DRIVER)
#include "stm32h7xx_hal.h"
#endif /* USE_HAL_DRIVER */
#ifdef __cplusplus
}
#endif /* __cplusplus */
#endif /* STM32H7xx_H */
/**
* @}
*/
/**
* @}
*/
/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/

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/**
******************************************************************************
* @file stm32h7xx_hal_def.h
* @author MCD Application Team
* @brief This file contains HAL common defines, enumeration, macros and
* structures definitions.
******************************************************************************
* @attention
*
* <h2><center>&copy; Copyright (c) 2017 STMicroelectronics.
* All rights reserved.</center></h2>
*
* This software component is licensed by ST under BSD 3-Clause license,
* the "License"; You may not use this file except in compliance with the
* License. You may obtain a copy of the License at:
* opensource.org/licenses/BSD-3-Clause
*
******************************************************************************
*/
/* Define to prevent recursive inclusion -------------------------------------*/
#ifndef STM32H7xx_HAL_DEF
#define STM32H7xx_HAL_DEF
#ifdef __cplusplus
extern "C" {
#endif
/* Includes ------------------------------------------------------------------*/
#include "stm32h7xx.h"
//#include "Legacy/stm32_hal_legacy.h"
//#include <stddef.h>
//#include <math.h>
/* Exported types ------------------------------------------------------------*/
/**
* @brief HAL Status structures definition
*/
typedef enum
{
HAL_OK = 0x00,
HAL_ERROR = 0x01,
HAL_BUSY = 0x02,
HAL_TIMEOUT = 0x03
} HAL_StatusTypeDef;
/**
* @brief HAL Lock structures definition
*/
typedef enum
{
HAL_UNLOCKED = 0x00,
HAL_LOCKED = 0x01
} HAL_LockTypeDef;
/* Exported macro ------------------------------------------------------------*/
#define HAL_MAX_DELAY 0xFFFFFFFFU
#define HAL_IS_BIT_SET(REG, BIT) (((REG) & (BIT)) == (BIT))
#define HAL_IS_BIT_CLR(REG, BIT) (((REG) & (BIT)) == 0U)
#define __HAL_LINKDMA(__HANDLE__, __PPP_DMA_FIELD__, __DMA_HANDLE__) \
do{ \
(__HANDLE__)->__PPP_DMA_FIELD__ = &(__DMA_HANDLE__); \
(__DMA_HANDLE__).Parent = (__HANDLE__); \
} while(0)
#define UNUSED(x) ((void)(x))
/** @brief Reset the Handle's State field.
* @param __HANDLE__: specifies the Peripheral Handle.
* @note This macro can be used for the following purpose:
* - When the Handle is declared as local variable; before passing it as parameter
* to HAL_PPP_Init() for the first time, it is mandatory to use this macro
* to set to 0 the Handle's "State" field.
* Otherwise, "State" field may have any random value and the first time the function
* HAL_PPP_Init() is called, the low level hardware initialization will be missed
* (i.e. HAL_PPP_MspInit() will not be executed).
* - When there is a need to reconfigure the low level hardware: instead of calling
* HAL_PPP_DeInit() then HAL_PPP_Init(), user can make a call to this macro then HAL_PPP_Init().
* In this later function, when the Handle's "State" field is set to 0, it will execute the function
* HAL_PPP_MspInit() which will reconfigure the low level hardware.
* @retval None
*/
#define __HAL_RESET_HANDLE_STATE(__HANDLE__) ((__HANDLE__)->State = 0)
#if (USE_RTOS == 1)
#error " USE_RTOS should be 0 in the current HAL release "
#else
#define __HAL_LOCK(__HANDLE__) \
do{ \
if((__HANDLE__)->Lock == HAL_LOCKED) \
{ \
return HAL_BUSY; \
} \
else \
{ \
(__HANDLE__)->Lock = HAL_LOCKED; \
} \
}while (0)
#define __HAL_UNLOCK(__HANDLE__) \
do{ \
(__HANDLE__)->Lock = HAL_UNLOCKED; \
}while (0)
#endif /* USE_RTOS */
#if defined (__ARMCC_VERSION) && (__ARMCC_VERSION >= 6010050) /* ARM Compiler V6 */
#ifndef __weak
#define __weak __attribute__((weak))
#endif
#ifndef __packed
#define __packed __attribute__((packed))
#endif
#elif defined ( __GNUC__ ) && !defined (__CC_ARM) /* GNU Compiler */
#ifndef __weak
#define __weak __attribute__((weak))
#endif /* __weak */
#ifndef __packed
#define __packed __attribute__((__packed__))
#endif /* __packed */
#endif /* __GNUC__ */
/* Macro to get variable aligned on 4-bytes, for __ICCARM__ the directive "#pragma data_alignment=4" must be used instead */
#if defined (__ARMCC_VERSION) && (__ARMCC_VERSION >= 6010050) /* ARM Compiler V6 */
#ifndef __ALIGN_BEGIN
#define __ALIGN_BEGIN
#endif
#ifndef __ALIGN_END
#define __ALIGN_END __attribute__ ((aligned (4)))
#endif
#elif defined ( __GNUC__ ) && !defined (__CC_ARM) /* GNU Compiler */
#ifndef __ALIGN_END
#define __ALIGN_END __attribute__ ((aligned (4)))
#endif /* __ALIGN_END */
#ifndef __ALIGN_BEGIN
#define __ALIGN_BEGIN
#endif /* __ALIGN_BEGIN */
#else
#ifndef __ALIGN_END
#define __ALIGN_END
#endif /* __ALIGN_END */
#ifndef __ALIGN_BEGIN
#if defined (__CC_ARM) /* ARM Compiler V5 */
#define __ALIGN_BEGIN __align(4)
#elif defined (__ICCARM__) /* IAR Compiler */
#define __ALIGN_BEGIN
#endif /* __CC_ARM */
#endif /* __ALIGN_BEGIN */
#endif /* __GNUC__ */
/* Macro to get variable aligned on 32-bytes,needed for cache maintenance purpose */
#if defined (__GNUC__) /* GNU Compiler */
#define ALIGN_32BYTES(buf) buf __attribute__ ((aligned (32)))
#elif defined (__ICCARM__) /* IAR Compiler */
#define ALIGN_32BYTES(buf) _Pragma("data_alignment=32") buf
#elif defined (__CC_ARM) /* ARM Compiler */
#define ALIGN_32BYTES(buf) __align(32) buf
#endif
/**
* @brief __RAM_FUNC definition
*/
#if defined ( __CC_ARM ) || (defined (__ARMCC_VERSION) && (__ARMCC_VERSION >= 6010050))
/* ARM Compiler V4/V5 and V6
--------------------------
RAM functions are defined using the toolchain options.
Functions that are executed in RAM should reside in a separate source module.
Using the 'Options for File' dialog you can simply change the 'Code / Const'
area of a module to a memory space in physical RAM.
Available memory areas are declared in the 'Target' tab of the 'Options for Target'
dialog.
*/
#define __RAM_FUNC
#elif defined ( __ICCARM__ )
/* ICCARM Compiler
---------------
RAM functions are defined using a specific toolchain keyword "__ramfunc".
*/
#define __RAM_FUNC __ramfunc
#elif defined ( __GNUC__ )
/* GNU Compiler
------------
RAM functions are defined using a specific toolchain attribute
"__attribute__((section(".RamFunc")))".
*/
#define __RAM_FUNC __attribute__((section(".RamFunc")))
#endif
/**
* @brief __NOINLINE definition
*/
#if defined ( __CC_ARM ) || (defined (__ARMCC_VERSION) && (__ARMCC_VERSION >= 6010050)) || defined ( __GNUC__ )
/* ARM V4/V5 and V6 & GNU Compiler
-------------------------------
*/
#define __NOINLINE __attribute__ ( (noinline) )
#elif defined ( __ICCARM__ )
/* ICCARM Compiler
---------------
*/
#define __NOINLINE _Pragma("optimize = no_inline")
#endif
#ifdef __cplusplus
}
#endif
#endif /* STM32H7xx_HAL_DEF */
/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/

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panda/board/stm32h7/inc/stm32h7xx_hal_gpio_ex.h 100644
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@ -0,0 +1,489 @@
/**
******************************************************************************
* @file stm32h7xx_hal_gpio_ex.h
* @author MCD Application Team
* @brief Header file of GPIO HAL Extension module.
******************************************************************************
* @attention
*
* <h2><center>&copy; COPYRIGHT(c) 2017 STMicroelectronics.
* All rights reserved.</center></h2>
*
* This software component is licensed by ST under BSD 3-Clause license,
* the "License"; You may not use this file except in compliance with the
* License. You may obtain a copy of the License at:
* opensource.org/licenses/BSD-3-Clause
*
******************************************************************************
*/
/* Define to prevent recursive inclusion -------------------------------------*/
#ifndef STM32H7xx_HAL_GPIO_EX_H
#define STM32H7xx_HAL_GPIO_EX_H
#ifdef __cplusplus
extern "C" {
#endif
/* Includes ------------------------------------------------------------------*/
#include "stm32h7xx_hal_def.h"
/** @addtogroup STM32H7xx_HAL_Driver
* @{
*/
/** @addtogroup GPIOEx GPIOEx
* @{
*/
/* Exported types ------------------------------------------------------------*/
/* Exported constants --------------------------------------------------------*/
/** @defgroup GPIOEx_Exported_Constants GPIO Exported Constants
* @{
*/
/** @defgroup GPIO_Alternate_function_selection GPIO Alternate Function Selection
* @{
*/
/**
* @brief AF 0 selection
*/
#define GPIO_AF0_RTC_50Hz ((uint8_t)0x00) /* RTC_50Hz Alternate Function mapping */
#define GPIO_AF0_MCO ((uint8_t)0x00) /* MCO (MCO1 and MCO2) Alternate Function mapping */
#define GPIO_AF0_SWJ ((uint8_t)0x00) /* SWJ (SWD and JTAG) Alternate Function mapping */
#define GPIO_AF0_LCDBIAS ((uint8_t)0x00) /* LCDBIAS Alternate Function mapping */
#define GPIO_AF0_TRACE ((uint8_t)0x00) /* TRACE Alternate Function mapping */
#if defined (PWR_CPUCR_PDDS_D2) /* PWR D1 and D2 domains exists */
#define GPIO_AF0_C1DSLEEP ((uint8_t)0x00) /* Cortex-M7 Deep Sleep Alternate Function mapping : available on STM32H7 Rev.B and above */
#define GPIO_AF0_C1SLEEP ((uint8_t)0x00) /* Cortex-M7 Sleep Alternate Function mapping : available on STM32H7 Rev.B and above */
#define GPIO_AF0_D1PWREN ((uint8_t)0x00) /* Domain 1 PWR enable Alternate Function mapping : available on STM32H7 Rev.B and above */
#define GPIO_AF0_D2PWREN ((uint8_t)0x00) /* Domain 2 PWR enable Alternate Function mapping : available on STM32H7 Rev.B and above */
#if defined(DUAL_CORE)
#define GPIO_AF0_C2DSLEEP ((uint8_t)0x00) /* Cortex-M4 Deep Sleep Alternate Function mapping : available on STM32H7 Rev.B and above */
#define GPIO_AF0_C2SLEEP ((uint8_t)0x00) /* Cortex-M4 Sleep Alternate Function mapping : available on STM32H7 Rev.B and above */
#endif /* DUAL_CORE */
#endif /* PWR_CPUCR_PDDS_D2 */
/**
* @brief AF 1 selection
*/
#define GPIO_AF1_TIM1 ((uint8_t)0x01) /* TIM1 Alternate Function mapping */
#define GPIO_AF1_TIM2 ((uint8_t)0x01) /* TIM2 Alternate Function mapping */
#define GPIO_AF1_TIM16 ((uint8_t)0x01) /* TIM16 Alternate Function mapping */
#define GPIO_AF1_TIM17 ((uint8_t)0x01) /* TIM17 Alternate Function mapping */
#define GPIO_AF1_LPTIM1 ((uint8_t)0x01) /* LPTIM1 Alternate Function mapping */
#if defined(HRTIM1)
#define GPIO_AF1_HRTIM1 ((uint8_t)0x01) /* HRTIM1 Alternate Function mapping */
#endif /* HRTIM1 */
#if defined(SAI4)
#define GPIO_AF1_SAI4 ((uint8_t)0x01) /* SAI4 Alternate Function mapping : available on STM32H72xxx/STM32H73xxx */
#endif /* SAI4 */
#define GPIO_AF1_FMC ((uint8_t)0x01) /* FMC Alternate Function mapping : available on STM32H72xxx/STM32H73xxx */
/**
* @brief AF 2 selection
*/
#define GPIO_AF2_TIM3 ((uint8_t)0x02) /* TIM3 Alternate Function mapping */
#define GPIO_AF2_TIM4 ((uint8_t)0x02) /* TIM4 Alternate Function mapping */
#define GPIO_AF2_TIM5 ((uint8_t)0x02) /* TIM5 Alternate Function mapping */
#define GPIO_AF2_TIM12 ((uint8_t)0x02) /* TIM12 Alternate Function mapping */
#define GPIO_AF2_SAI1 ((uint8_t)0x02) /* SAI1 Alternate Function mapping */
#if defined(HRTIM1)
#define GPIO_AF2_HRTIM1 ((uint8_t)0x02) /* HRTIM1 Alternate Function mapping */
#endif /* HRTIM1 */
#define GPIO_AF2_TIM15 ((uint8_t)0x02) /* TIM15 Alternate Function mapping : available on STM32H7A3xxx/STM32H7B3xxx/STM32H7B0xxx and STM32H72xxx/STM32H73xxx */
#if defined(FDCAN3)
#define GPIO_AF2_FDCAN3 ((uint8_t)0x02) /* FDCAN3 Alternate Function mapping */
#endif /*FDCAN3*/
/**
* @brief AF 3 selection
*/
#define GPIO_AF3_TIM8 ((uint8_t)0x03) /* TIM8 Alternate Function mapping */
#define GPIO_AF3_LPTIM2 ((uint8_t)0x03) /* LPTIM2 Alternate Function mapping */
#define GPIO_AF3_DFSDM1 ((uint8_t)0x03) /* DFSDM Alternate Function mapping */
#define GPIO_AF3_LPTIM3 ((uint8_t)0x03) /* LPTIM3 Alternate Function mapping */
#define GPIO_AF3_LPTIM4 ((uint8_t)0x03) /* LPTIM4 Alternate Function mapping */
#define GPIO_AF3_LPTIM5 ((uint8_t)0x03) /* LPTIM5 Alternate Function mapping */
#define GPIO_AF3_LPUART ((uint8_t)0x03) /* LPUART Alternate Function mapping */
#if defined(OCTOSPIM)
#define GPIO_AF3_OCTOSPIM_P1 ((uint8_t)0x03) /* OCTOSPI Manager Port 1 Alternate Function mapping */
#define GPIO_AF3_OCTOSPIM_P2 ((uint8_t)0x03) /* OCTOSPI Manager Port 2 Alternate Function mapping */
#endif /* OCTOSPIM */
#if defined(HRTIM1)
#define GPIO_AF3_HRTIM1 ((uint8_t)0x03) /* HRTIM1 Alternate Function mapping */
#endif /* HRTIM1 */
#define GPIO_AF3_LTDC ((uint8_t)0x03) /* LTDC Alternate Function mapping : available on STM32H72xxx/STM32H73xxx */
/**
* @brief AF 4 selection
*/
#define GPIO_AF4_I2C1 ((uint8_t)0x04) /* I2C1 Alternate Function mapping */
#define GPIO_AF4_I2C2 ((uint8_t)0x04) /* I2C2 Alternate Function mapping */
#define GPIO_AF4_I2C3 ((uint8_t)0x04) /* I2C3 Alternate Function mapping */
#define GPIO_AF4_I2C4 ((uint8_t)0x04) /* I2C4 Alternate Function mapping */
#if defined(I2C5)
#define GPIO_AF4_I2C5 ((uint8_t)0x04) /* I2C5 Alternate Function mapping */
#endif /* I2C5*/
#define GPIO_AF4_TIM15 ((uint8_t)0x04) /* TIM15 Alternate Function mapping */
#define GPIO_AF4_CEC ((uint8_t)0x04) /* CEC Alternate Function mapping */
#define GPIO_AF4_LPTIM2 ((uint8_t)0x04) /* LPTIM2 Alternate Function mapping */
#define GPIO_AF4_USART1 ((uint8_t)0x04) /* USART1 Alternate Function mapping */
#if defined(USART10)
#define GPIO_AF4_USART10 ((uint8_t)0x04) /* USART10 Alternate Function mapping : available on STM32H72xxx/STM32H73xxx */
#endif /*USART10*/
#define GPIO_AF4_DFSDM1 ((uint8_t)0x04) /* DFSDM Alternate Function mapping */
#if defined(DFSDM2_BASE)
#define GPIO_AF4_DFSDM2 ((uint8_t)0x04) /* DFSDM2 Alternate Function mapping */
#endif /* DFSDM2_BASE */
#define GPIO_AF4_DCMI ((uint8_t)0x04) /* DCMI Alternate Function mapping : available on STM32H7A3xxx/STM32H7B3xxx/STM32H7B0xxx and STM32H72xxx/STM32H73xxx */
#if defined(PSSI)
#define GPIO_AF4_PSSI ((uint8_t)0x04) /* PSSI Alternate Function mapping */
#endif /* PSSI */
#if defined(OCTOSPIM)
#define GPIO_AF4_OCTOSPIM_P1 ((uint8_t)0x04) /* OCTOSPI Manager Port 1 Alternate Function mapping : available on STM32H72xxx/STM32H73xxx */
#endif /* OCTOSPIM */
/**
* @brief AF 5 selection
*/
#define GPIO_AF5_SPI1 ((uint8_t)0x05) /* SPI1 Alternate Function mapping */
#define GPIO_AF5_SPI2 ((uint8_t)0x05) /* SPI2 Alternate Function mapping */
#define GPIO_AF5_SPI3 ((uint8_t)0x05) /* SPI3 Alternate Function mapping */
#define GPIO_AF5_SPI4 ((uint8_t)0x05) /* SPI4 Alternate Function mapping */
#define GPIO_AF5_SPI5 ((uint8_t)0x05) /* SPI5 Alternate Function mapping */
#define GPIO_AF5_SPI6 ((uint8_t)0x05) /* SPI6 Alternate Function mapping */
#define GPIO_AF5_CEC ((uint8_t)0x05) /* CEC Alternate Function mapping */
#if defined(FDCAN3)
#define GPIO_AF5_FDCAN3 ((uint8_t)0x05) /* FDCAN3 Alternate Function mapping */
#endif /*FDCAN3*/
/**
* @brief AF 6 selection
*/
#define GPIO_AF6_SPI2 ((uint8_t)0x06) /* SPI2 Alternate Function mapping */
#define GPIO_AF6_SPI3 ((uint8_t)0x06) /* SPI3 Alternate Function mapping */
#define GPIO_AF6_SAI1 ((uint8_t)0x06) /* SAI1 Alternate Function mapping */
#define GPIO_AF6_I2C4 ((uint8_t)0x06) /* I2C4 Alternate Function mapping */
#if defined(I2C5)
#define GPIO_AF6_I2C5 ((uint8_t)0x06) /* I2C5 Alternate Function mapping */
#endif /* I2C5*/
#define GPIO_AF6_DFSDM1 ((uint8_t)0x06) /* DFSDM Alternate Function mapping */
#define GPIO_AF6_UART4 ((uint8_t)0x06) /* UART4 Alternate Function mapping */
#if defined(DFSDM2_BASE)
#define GPIO_AF6_DFSDM2 ((uint8_t)0x06) /* DFSDM2 Alternate Function mapping */
#endif /* DFSDM2_BASE */
#if defined(SAI3)
#define GPIO_AF6_SAI3 ((uint8_t)0x06) /* SAI3 Alternate Function mapping */
#endif /* SAI3 */
#if defined(OCTOSPIM)
#define GPIO_AF6_OCTOSPIM_P1 ((uint8_t)0x06) /* OCTOSPI Manager Port 1 Alternate Function mapping */
#endif /* OCTOSPIM */
/**
* @brief AF 7 selection
*/
#define GPIO_AF7_SPI2 ((uint8_t)0x07) /* SPI2 Alternate Function mapping */
#define GPIO_AF7_SPI3 ((uint8_t)0x07) /* SPI3 Alternate Function mapping */
#define GPIO_AF7_SPI6 ((uint8_t)0x07) /* SPI6 Alternate Function mapping */
#define GPIO_AF7_USART1 ((uint8_t)0x07) /* USART1 Alternate Function mapping */
#define GPIO_AF7_USART2 ((uint8_t)0x07) /* USART2 Alternate Function mapping */
#define GPIO_AF7_USART3 ((uint8_t)0x07) /* USART3 Alternate Function mapping */
#define GPIO_AF7_USART6 ((uint8_t)0x07) /* USART6 Alternate Function mapping */
#define GPIO_AF7_UART7 ((uint8_t)0x07) /* UART7 Alternate Function mapping */
#define GPIO_AF7_SDMMC1 ((uint8_t)0x07) /* SDMMC1 Alternate Function mapping */
/**
* @brief AF 8 selection
*/
#define GPIO_AF8_SPI6 ((uint8_t)0x08) /* SPI6 Alternate Function mapping */
#if defined(SAI2)
#define GPIO_AF8_SAI2 ((uint8_t)0x08) /* SAI2 Alternate Function mapping */
#endif /*SAI2*/
#define GPIO_AF8_UART4 ((uint8_t)0x08) /* UART4 Alternate Function mapping */
#define GPIO_AF8_UART5 ((uint8_t)0x08) /* UART5 Alternate Function mapping */
#define GPIO_AF8_UART8 ((uint8_t)0x08) /* UART8 Alternate Function mapping */
#define GPIO_AF8_SPDIF ((uint8_t)0x08) /* SPDIF Alternate Function mapping */
#define GPIO_AF8_LPUART ((uint8_t)0x08) /* LPUART Alternate Function mapping */
#define GPIO_AF8_SDMMC1 ((uint8_t)0x08) /* SDMMC1 Alternate Function mapping */
#if defined(SAI4)
#define GPIO_AF8_SAI4 ((uint8_t)0x08) /* SAI4 Alternate Function mapping */
#endif /* SAI4 */
/**
* @brief AF 9 selection
*/
#define GPIO_AF9_FDCAN1 ((uint8_t)0x09) /* FDCAN1 Alternate Function mapping */
#define GPIO_AF9_FDCAN2 ((uint8_t)0x09) /* FDCAN2 Alternate Function mapping */
#define GPIO_AF9_TIM13 ((uint8_t)0x09) /* TIM13 Alternate Function mapping */
#define GPIO_AF9_TIM14 ((uint8_t)0x09) /* TIM14 Alternate Function mapping */
#define GPIO_AF9_SDMMC2 ((uint8_t)0x09) /* SDMMC2 Alternate Function mapping */
#define GPIO_AF9_LTDC ((uint8_t)0x09) /* LTDC Alternate Function mapping */
#define GPIO_AF9_SPDIF ((uint8_t)0x09) /* SPDIF Alternate Function mapping */
#define GPIO_AF9_FMC ((uint8_t)0x09) /* FMC Alternate Function mapping */
#if defined(QUADSPI)
#define GPIO_AF9_QUADSPI ((uint8_t)0x09) /* QUADSPI Alternate Function mapping */
#endif /* QUADSPI */
#if defined(SAI4)
#define GPIO_AF9_SAI4 ((uint8_t)0x09) /* SAI4 Alternate Function mapping */
#endif /* SAI4 */
#if defined(OCTOSPIM)
#define GPIO_AF9_OCTOSPIM_P1 ((uint8_t)0x09) /* OCTOSPI Manager Port 1 Alternate Function mapping */
#define GPIO_AF9_OCTOSPIM_P2 ((uint8_t)0x09) /* OCTOSPI Manager Port 2 Alternate Function mapping */
#endif /* OCTOSPIM */
/**
* @brief AF 10 selection
*/
#if defined(SAI2)
#define GPIO_AF10_SAI2 ((uint8_t)0x0A) /* SAI2 Alternate Function mapping */
#endif /*SAI2*/
#define GPIO_AF10_SDMMC2 ((uint8_t)0x0A) /* SDMMC2 Alternate Function mapping */
#if defined(USB2_OTG_FS)
#define GPIO_AF10_OTG2_FS ((uint8_t)0x0A) /* OTG2_FS Alternate Function mapping */
#endif /*USB2_OTG_FS*/
#define GPIO_AF10_COMP1 ((uint8_t)0x0A) /* COMP1 Alternate Function mapping */
#define GPIO_AF10_COMP2 ((uint8_t)0x0A) /* COMP2 Alternate Function mapping */
#if defined(LTDC)
#define GPIO_AF10_LTDC ((uint8_t)0x0A) /* LTDC Alternate Function mapping */
#endif /*LTDC*/
#define GPIO_AF10_CRS_SYNC ((uint8_t)0x0A) /* CRS Sync Alternate Function mapping : available on STM32H7 Rev.B and above */
#if defined(QUADSPI)
#define GPIO_AF10_QUADSPI ((uint8_t)0x0A) /* QUADSPI Alternate Function mapping */
#endif /* QUADSPI */
#if defined(SAI4)
#define GPIO_AF10_SAI4 ((uint8_t)0x0A) /* SAI4 Alternate Function mapping */
#endif /* SAI4 */
#if !defined(USB2_OTG_FS)
#define GPIO_AF10_OTG1_FS ((uint8_t)0x0A) /* OTG1_FS Alternate Function mapping : available on STM32H7A3xxx/STM32H7B3xxx/STM32H7B0xxx and STM32H72xxx/STM32H73xxx */
#endif /* !USB2_OTG_FS */
#define GPIO_AF10_OTG1_HS ((uint8_t)0x0A) /* OTG1_HS Alternate Function mapping */
#if defined(OCTOSPIM)
#define GPIO_AF10_OCTOSPIM_P1 ((uint8_t)0x0A) /* OCTOSPI Manager Port 1 Alternate Function mapping */
#endif /* OCTOSPIM */
#define GPIO_AF10_TIM8 ((uint8_t)0x0A) /* TIM8 Alternate Function mapping */
#define GPIO_AF10_FMC ((uint8_t)0x0A) /* FMC Alternate Function mapping : available on STM32H7A3xxx/STM32H7B3xxx/STM32H7B0xxx and STM32H72xxx/STM32H73xxx */
/**
* @brief AF 11 selection
*/
#define GPIO_AF11_SWP ((uint8_t)0x0B) /* SWP Alternate Function mapping */
#define GPIO_AF11_MDIOS ((uint8_t)0x0B) /* MDIOS Alternate Function mapping */
#define GPIO_AF11_UART7 ((uint8_t)0x0B) /* UART7 Alternate Function mapping */
#define GPIO_AF11_SDMMC2 ((uint8_t)0x0B) /* SDMMC2 Alternate Function mapping */
#define GPIO_AF11_DFSDM1 ((uint8_t)0x0B) /* DFSDM1 Alternate Function mapping */
#define GPIO_AF11_COMP1 ((uint8_t)0x0B) /* COMP1 Alternate Function mapping */
#define GPIO_AF11_COMP2 ((uint8_t)0x0B) /* COMP2 Alternate Function mapping */
#define GPIO_AF11_TIM1 ((uint8_t)0x0B) /* TIM1 Alternate Function mapping */
#define GPIO_AF11_TIM8 ((uint8_t)0x0B) /* TIM8 Alternate Function mapping */
#define GPIO_AF11_I2C4 ((uint8_t)0x0B) /* I2C4 Alternate Function mapping */
#if defined(DFSDM2_BASE)
#define GPIO_AF11_DFSDM2 ((uint8_t)0x0B) /* DFSDM2 Alternate Function mapping */
#endif /* DFSDM2_BASE */
#if defined(USART10)
#define GPIO_AF11_USART10 ((uint8_t)0x0B) /* USART10 Alternate Function mapping */
#endif /* USART10 */
#if defined(UART9)
#define GPIO_AF11_UART9 ((uint8_t)0x0B) /* UART9 Alternate Function mapping */
#endif /* UART9 */
#if defined(ETH)
#define GPIO_AF11_ETH ((uint8_t)0x0B) /* ETH Alternate Function mapping */
#endif /* ETH */
#if defined(LTDC)
#define GPIO_AF11_LTDC ((uint8_t)0x0B) /* LTDC Alternate Function mapping : available on STM32H7A3xxx/STM32H7B3xxx/STM32H7B0xxx and STM32H72xxx/STM32H73xxx */
#endif /*LTDC*/
#if defined(OCTOSPIM)
#define GPIO_AF11_OCTOSPIM_P1 ((uint8_t)0x0B) /* OCTOSPI Manager Port 1 Alternate Function mapping */
#endif /* OCTOSPIM */
/**
* @brief AF 12 selection
*/
#define GPIO_AF12_FMC ((uint8_t)0x0C) /* FMC Alternate Function mapping */
#define GPIO_AF12_SDMMC1 ((uint8_t)0x0C) /* SDMMC1 Alternate Function mapping */
#define GPIO_AF12_MDIOS ((uint8_t)0x0C) /* MDIOS Alternate Function mapping */
#define GPIO_AF12_COMP1 ((uint8_t)0x0C) /* COMP1 Alternate Function mapping */
#define GPIO_AF12_COMP2 ((uint8_t)0x0C) /* COMP2 Alternate Function mapping */
#define GPIO_AF12_TIM1 ((uint8_t)0x0C) /* TIM1 Alternate Function mapping */
#define GPIO_AF12_TIM8 ((uint8_t)0x0C) /* TIM8 Alternate Function mapping */
#if defined(LTDC)
#define GPIO_AF12_LTDC ((uint8_t)0x0C) /* LTDC Alternate Function mapping */
#endif /*LTDC*/
#if defined(USB2_OTG_FS)
#define GPIO_AF12_OTG1_FS ((uint8_t)0x0C) /* OTG1_FS Alternate Function mapping */
#endif /* USB2_OTG_FS */
#if defined(OCTOSPIM)
#define GPIO_AF12_OCTOSPIM_P1 ((uint8_t)0x0C) /* OCTOSPI Manager Port 1 Alternate Function mapping */
#endif /* OCTOSPIM */
/**
* @brief AF 13 selection
*/
#define GPIO_AF13_DCMI ((uint8_t)0x0D) /* DCMI Alternate Function mapping */
#define GPIO_AF13_COMP1 ((uint8_t)0x0D) /* COMP1 Alternate Function mapping */
#define GPIO_AF13_COMP2 ((uint8_t)0x0D) /* COMP2 Alternate Function mapping */
#if defined(LTDC)
#define GPIO_AF13_LTDC ((uint8_t)0x0D) /* LTDC Alternate Function mapping */
#endif /*LTDC*/
#if defined(DSI)
#define GPIO_AF13_DSI ((uint8_t)0x0D) /* DSI Alternate Function mapping */
#endif /* DSI */
#if defined(PSSI)
#define GPIO_AF13_PSSI ((uint8_t)0x0D) /* PSSI Alternate Function mapping */
#endif /* PSSI */
#define GPIO_AF13_TIM1 ((uint8_t)0x0D) /* TIM1 Alternate Function mapping */
#if defined(TIM23)
#define GPIO_AF13_TIM23 ((uint8_t)0x0D) /* TIM23 Alternate Function mapping */
#endif /*TIM23*/
/**
* @brief AF 14 selection
*/
#define GPIO_AF14_LTDC ((uint8_t)0x0E) /* LTDC Alternate Function mapping */
#define GPIO_AF14_UART5 ((uint8_t)0x0E) /* UART5 Alternate Function mapping */
#if defined(TIM24)
#define GPIO_AF14_TIM24 ((uint8_t)0x0E) /* TIM24 Alternate Function mapping */
#endif /*TIM24*/
/**
* @brief AF 15 selection
*/
#define GPIO_AF15_EVENTOUT ((uint8_t)0x0F) /* EVENTOUT Alternate Function mapping */
#define IS_GPIO_AF(AF) ((AF) <= (uint8_t)0x0F)
/**
* @}
*/
/**
* @}
*/
/* Exported macro ------------------------------------------------------------*/
/** @defgroup GPIOEx_Exported_Macros GPIO Exported Macros
* @{
*/
/**
* @}
*/
/* Exported functions --------------------------------------------------------*/
/** @defgroup GPIOEx_Exported_Functions GPIO Exported Functions
* @{
*/
/**
* @}
*/
/* Private types -------------------------------------------------------------*/
/* Private variables ---------------------------------------------------------*/
/* Private constants ---------------------------------------------------------*/
/** @defgroup GPIOEx_Private_Constants GPIO Private Constants
* @{
*/
/**
* @brief GPIO pin available on the platform
*/
/* Defines the available pins per GPIOs */
#define GPIOA_PIN_AVAILABLE GPIO_PIN_All
#define GPIOB_PIN_AVAILABLE GPIO_PIN_All
#define GPIOC_PIN_AVAILABLE GPIO_PIN_All
#define GPIOD_PIN_AVAILABLE GPIO_PIN_All
#define GPIOE_PIN_AVAILABLE GPIO_PIN_All
#define GPIOF_PIN_AVAILABLE GPIO_PIN_All
#define GPIOG_PIN_AVAILABLE GPIO_PIN_All
#if defined(GPIOI)
#define GPIOI_PIN_AVAILABLE GPIO_PIN_All
#endif /*GPIOI*/
#if defined(GPIOI)
#define GPIOJ_PIN_AVAILABLE GPIO_PIN_All
#else
#define GPIOJ_PIN_AVAILABLE (GPIO_PIN_8 | GPIO_PIN_9 | GPIO_PIN_10 | GPIO_PIN_11 )
#endif /* GPIOI */
#define GPIOH_PIN_AVAILABLE GPIO_PIN_All
#if defined(GPIOI)
#define GPIOK_PIN_AVAILABLE (GPIO_PIN_0 | GPIO_PIN_1 | GPIO_PIN_2 | GPIO_PIN_3 | GPIO_PIN_4 | \
GPIO_PIN_5 | GPIO_PIN_6 | GPIO_PIN_7)
#else
#define GPIOK_PIN_AVAILABLE (GPIO_PIN_0 | GPIO_PIN_1 | GPIO_PIN_2 )
#endif /* GPIOI */
/**
* @}
*/
/* Private macros ------------------------------------------------------------*/
/** @defgroup GPIOEx_Private_Macros GPIO Private Macros
* @{
*/
/** @defgroup GPIOEx_Get_Port_Index GPIO Get Port Index
* @{
*/
#if defined(GPIOI)
#define GPIO_GET_INDEX(__GPIOx__) (((__GPIOx__) == (GPIOA))? 0UL :\
((__GPIOx__) == (GPIOB))? 1UL :\
((__GPIOx__) == (GPIOC))? 2UL :\
((__GPIOx__) == (GPIOD))? 3UL :\
((__GPIOx__) == (GPIOE))? 4UL :\
((__GPIOx__) == (GPIOF))? 5UL :\
((__GPIOx__) == (GPIOG))? 6UL :\
((__GPIOx__) == (GPIOH))? 7UL :\
((__GPIOx__) == (GPIOI))? 8UL :\
((__GPIOx__) == (GPIOJ))? 9UL : 10UL)
#else
#define GPIO_GET_INDEX(__GPIOx__) (((__GPIOx__) == (GPIOA))? 0UL :\
((__GPIOx__) == (GPIOB))? 1UL :\
((__GPIOx__) == (GPIOC))? 2UL :\
((__GPIOx__) == (GPIOD))? 3UL :\
((__GPIOx__) == (GPIOE))? 4UL :\
((__GPIOx__) == (GPIOF))? 5UL :\
((__GPIOx__) == (GPIOG))? 6UL :\
((__GPIOx__) == (GPIOH))? 7UL :\
((__GPIOx__) == (GPIOJ))? 9UL : 10UL)
#endif /* GPIOI */
/**
* @}
*/
/** @defgroup GPIOEx_IS_Alternat_function_selection GPIO Check Alternate Function
* @{
*/
/**
* @}
*/
/**
* @}
*/
/* Private functions ---------------------------------------------------------*/
/** @defgroup GPIOEx_Private_Functions GPIO Private Functions
* @{
*/
/**
* @}
*/
/**
* @}
*/
/**
* @}
*/
#ifdef __cplusplus
}
#endif
#endif /* STM32H7xx_HAL_GPIO_EX_H */
/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/

105
panda/board/stm32h7/inc/system_stm32h7xx.h 100644
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/**
******************************************************************************
* @file system_stm32h7xx.h
* @author MCD Application Team
* @brief CMSIS Cortex-Mx Device System Source File for STM32H7xx devices.
******************************************************************************
* @attention
*
* <h2><center>&copy; Copyright (c) 2017 STMicroelectronics.
* All rights reserved.</center></h2>
*
* This software component is licensed by ST under BSD 3-Clause license,
* the "License"; You may not use this file except in compliance with the
* License. You may obtain a copy of the License at:
* opensource.org/licenses/BSD-3-Clause
*
******************************************************************************
*/
/** @addtogroup CMSIS
* @{
*/
/** @addtogroup stm32h7xx_system
* @{
*/
/**
* @brief Define to prevent recursive inclusion
*/
#ifndef SYSTEM_STM32H7XX_H
#define SYSTEM_STM32H7XX_H
#ifdef __cplusplus
extern "C" {
#endif
/** @addtogroup STM32H7xx_System_Includes
* @{
*/
/**
* @}
*/
/** @addtogroup STM32H7xx_System_Exported_types
* @{
*/
/* This variable is updated in three ways:
1) by calling CMSIS function SystemCoreClockUpdate()
2) by calling HAL API function HAL_RCC_GetSysClockFreq()
3) each time HAL_RCC_ClockConfig() is called to configure the system clock frequency
Note: If you use this function to configure the system clock; then there
is no need to call the 2 first functions listed above, since SystemCoreClock
variable is updated automatically.
*/
extern uint32_t SystemCoreClock; /*!< System Domain1 Clock Frequency */
extern uint32_t SystemD2Clock; /*!< System Domain2 Clock Frequency */
extern const uint8_t D1CorePrescTable[16] ; /*!< D1CorePrescTable prescalers table values */
/**
* @}
*/
/** @addtogroup STM32H7xx_System_Exported_Constants
* @{
*/
/**
* @}
*/
/** @addtogroup STM32H7xx_System_Exported_Macros
* @{
*/
/**
* @}
*/
/** @addtogroup STM32H7xx_System_Exported_Functions
* @{
*/
extern void SystemInit(void);
extern void SystemCoreClockUpdate(void);
/**
* @}
*/
#ifdef __cplusplus
}
#endif
#endif /* SYSTEM_STM32H7XX_H */
/**
* @}
*/
/**
* @}
*/
/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/

74
panda/board/stm32h7/interrupt_handlers.h 100644
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// ********************* Bare interrupt handlers *********************
// Interrupts for STM32H7x5
void WWDG_IRQHandler(void) {handle_interrupt(WWDG_IRQn);}
void PVD_AVD_IRQHandler(void) {handle_interrupt(PVD_AVD_IRQn);}
void TAMP_STAMP_IRQHandler(void) {handle_interrupt(TAMP_STAMP_IRQn);}
void RTC_WKUP_IRQHandler(void) {handle_interrupt(RTC_WKUP_IRQn);}
void FLASH_IRQHandler(void) {handle_interrupt(FLASH_IRQn);}
void RCC_IRQHandler(void) {handle_interrupt(RCC_IRQn);}
void EXTI0_IRQHandler(void) {handle_interrupt(EXTI0_IRQn);}
void EXTI1_IRQHandler(void) {handle_interrupt(EXTI1_IRQn);}
void EXTI2_IRQHandler(void) {handle_interrupt(EXTI2_IRQn);}
void EXTI3_IRQHandler(void) {handle_interrupt(EXTI3_IRQn);}
void EXTI4_IRQHandler(void) {handle_interrupt(EXTI4_IRQn);}
void DMA1_Stream0_IRQHandler(void) {handle_interrupt(DMA1_Stream0_IRQn);}
void DMA1_Stream1_IRQHandler(void) {handle_interrupt(DMA1_Stream1_IRQn);}
void DMA1_Stream2_IRQHandler(void) {handle_interrupt(DMA1_Stream2_IRQn);}
void DMA1_Stream3_IRQHandler(void) {handle_interrupt(DMA1_Stream3_IRQn);}
void DMA1_Stream4_IRQHandler(void) {handle_interrupt(DMA1_Stream4_IRQn);}
void DMA1_Stream5_IRQHandler(void) {handle_interrupt(DMA1_Stream5_IRQn);}
void DMA1_Stream6_IRQHandler(void) {handle_interrupt(DMA1_Stream6_IRQn);}
void ADC_IRQHandler(void) {handle_interrupt(ADC_IRQn);}
void EXTI9_5_IRQHandler(void) {handle_interrupt(EXTI9_5_IRQn);}
void TIM1_BRK_IRQHandler(void) {handle_interrupt(TIM1_BRK_IRQn);}
void TIM1_UP_TIM10_IRQHandler(void) {handle_interrupt(TIM1_UP_TIM10_IRQn);}
void TIM1_TRG_COM_IRQHandler(void) {handle_interrupt(TIM1_TRG_COM_IRQn);}
void TIM1_CC_IRQHandler(void) {handle_interrupt(TIM1_CC_IRQn);}
void TIM2_IRQHandler(void) {handle_interrupt(TIM2_IRQn);}
void TIM3_IRQHandler(void) {handle_interrupt(TIM3_IRQn);}
void TIM4_IRQHandler(void) {handle_interrupt(TIM4_IRQn);}
void I2C1_EV_IRQHandler(void) {handle_interrupt(I2C1_EV_IRQn);}
void I2C1_ER_IRQHandler(void) {handle_interrupt(I2C1_ER_IRQn);}
void I2C2_EV_IRQHandler(void) {handle_interrupt(I2C2_EV_IRQn);}
void I2C2_ER_IRQHandler(void) {handle_interrupt(I2C2_ER_IRQn);}
void SPI1_IRQHandler(void) {handle_interrupt(SPI1_IRQn);}
void SPI2_IRQHandler(void) {handle_interrupt(SPI2_IRQn);}
void USART1_IRQHandler(void) {handle_interrupt(USART1_IRQn);}
void USART2_IRQHandler(void) {handle_interrupt(USART2_IRQn);}
void USART3_IRQHandler(void) {handle_interrupt(USART3_IRQn);}
void EXTI15_10_IRQHandler(void) {handle_interrupt(EXTI15_10_IRQn);}
void RTC_Alarm_IRQHandler(void) {handle_interrupt(RTC_Alarm_IRQn);}
void TIM8_BRK_TIM12_IRQHandler(void) {handle_interrupt(TIM8_BRK_TIM12_IRQn);}
void TIM8_UP_TIM13_IRQHandler(void) {handle_interrupt(TIM8_UP_TIM13_IRQn);}
void TIM8_TRG_COM_TIM14_IRQHandler(void) {handle_interrupt(TIM8_TRG_COM_TIM14_IRQn);}
void TIM8_CC_IRQHandler(void) {handle_interrupt(TIM8_CC_IRQn);}
void DMA1_Stream7_IRQHandler(void) {handle_interrupt(DMA1_Stream7_IRQn);}
void TIM5_IRQHandler(void) {handle_interrupt(TIM5_IRQn);}
void SPI3_IRQHandler(void) {handle_interrupt(SPI3_IRQn);}
void UART4_IRQHandler(void) {handle_interrupt(UART4_IRQn);}
void UART5_IRQHandler(void) {handle_interrupt(UART5_IRQn);}
void TIM6_DAC_IRQHandler(void) {handle_interrupt(TIM6_DAC_IRQn);}
void TIM7_IRQHandler(void) {handle_interrupt(TIM7_IRQn);}
void DMA2_Stream0_IRQHandler(void) {handle_interrupt(DMA2_Stream0_IRQn);}
void DMA2_Stream1_IRQHandler(void) {handle_interrupt(DMA2_Stream1_IRQn);}
void DMA2_Stream2_IRQHandler(void) {handle_interrupt(DMA2_Stream2_IRQn);}
void DMA2_Stream3_IRQHandler(void) {handle_interrupt(DMA2_Stream3_IRQn);}
void DMA2_Stream4_IRQHandler(void) {handle_interrupt(DMA2_Stream4_IRQn);}
void DMA2_Stream5_IRQHandler(void) {handle_interrupt(DMA2_Stream5_IRQn);}
void DMA2_Stream6_IRQHandler(void) {handle_interrupt(DMA2_Stream6_IRQn);}
void DMA2_Stream7_IRQHandler(void) {handle_interrupt(DMA2_Stream7_IRQn);}
void USART6_IRQHandler(void) {handle_interrupt(USART6_IRQn);}
void I2C3_EV_IRQHandler(void) {handle_interrupt(I2C3_EV_IRQn);}
void I2C3_ER_IRQHandler(void) {handle_interrupt(I2C3_ER_IRQn);}
void FDCAN1_IT0_IRQHandler(void) {handle_interrupt(FDCAN1_IT0_IRQn);}
void FDCAN1_IT1_IRQHandler(void) {handle_interrupt(FDCAN1_IT1_IRQn);}
void FDCAN2_IT0_IRQHandler(void) {handle_interrupt(FDCAN2_IT0_IRQn);}
void FDCAN2_IT1_IRQHandler(void) {handle_interrupt(FDCAN2_IT1_IRQn);}
void FDCAN3_IT0_IRQHandler(void) {handle_interrupt(FDCAN3_IT0_IRQn);}
void FDCAN3_IT1_IRQHandler(void) {handle_interrupt(FDCAN3_IT1_IRQn);}
void FDCAN_CAL_IRQHandler(void) {handle_interrupt(FDCAN_CAL_IRQn);}
void OTG_HS_EP1_OUT_IRQHandler(void) {handle_interrupt(OTG_HS_EP1_OUT_IRQn);}
void OTG_HS_EP1_IN_IRQHandler(void) {handle_interrupt(OTG_HS_EP1_IN_IRQn);}
void OTG_HS_WKUP_IRQHandler(void) {handle_interrupt(OTG_HS_WKUP_IRQn);}
void OTG_HS_IRQHandler(void) {handle_interrupt(OTG_HS_IRQn);}

48
panda/board/stm32h7/lladc.h 100644
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// 5VOUT_S = ADC12_INP5
// VOLT_S = ADC1_INP2
#define ADCCHAN_VOLTAGE 2
void adc_init(void) {
ADC1->CR &= ~(ADC_CR_DEEPPWD); //Reset deep-power-down mode
ADC1->CR |= ADC_CR_ADVREGEN; // Enable ADC regulator
while(!(ADC1->ISR & ADC_ISR_LDORDY));
ADC1->CR &= ~(ADC_CR_ADCALDIF); // Choose single-ended calibration
ADC1->CR |= ADC_CR_ADCALLIN; // Lineriality calibration
ADC1->CR |= ADC_CR_ADCAL; // Start calibrtation
while((ADC1->CR & ADC_CR_ADCAL) != 0);
ADC1->ISR |= ADC_ISR_ADRDY;
ADC1->CR |= ADC_CR_ADEN;
while(!(ADC1->ISR & ADC_ISR_ADRDY));
}
uint32_t adc_get(unsigned int channel) {
ADC1->SQR1 &= ~(ADC_SQR1_L);
ADC1->SQR1 = (channel << 6U);
ADC1->SMPR1 = (0x7U << (channel * 3U) );
ADC1->PCSEL_RES0 = (0x1U << channel);
ADC1->CR |= ADC_CR_ADSTART;
while (!(ADC1->ISR & ADC_ISR_EOC));
uint16_t res = ADC1->DR;
while (!(ADC1->ISR & ADC_ISR_EOS));
ADC1->ISR |= ADC_ISR_EOS;
return res;
}
uint32_t adc_get_voltage(void) {
// REVC has a 10, 1 (1/11) voltage divider
// Here is the calculation for the scale (s)
// ADCV = VIN_S * (1/11) * (65535/3.3)
// RETVAL = ADCV * s = VIN_S*1000
// s = 1000/((65535/3.3)*(1/11)) = 0.553902494
// Avoid needing floating point math, so output in mV
return (adc_get(ADCCHAN_VOLTAGE) * 5539U) / 10000U;
}

2
panda/board/stm32h7/llfan.h 100644
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void EXTI2_IRQ_Handler(void) { }
void fan_init(void){ }

210
panda/board/stm32h7/llfdcan.h 100644
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@ -0,0 +1,210 @@
#define FDCAN_MESSAGE_RAM_SIZE 0x2800UL
#define FDCAN_START_ADDRESS 0x4000AC00UL
#define FDCAN_OFFSET 3412UL // bytes for each FDCAN module
#define FDCAN_OFFSET_W 853UL // words for each FDCAN module
#define FDCAN_END_ADDRESS 0x4000D3FCUL // Message RAM has a width of 4 Bytes
// With this settings we can go up to 6Mbit/s
#define CAN_SYNC_JW 1U // 1 to 4
#define CAN_PHASE_SEG1 6U // =(PROP_SEG + PHASE_SEG1) , 1 to 16
#define CAN_PHASE_SEG2 1U // 1 to 8
#define CAN_PCLK 48000U // Sourced from PLL1Q
#define CAN_QUANTA (1U + CAN_PHASE_SEG1 + CAN_PHASE_SEG2)
// Valid speeds in kbps and their prescalers:
// 10=600, 20=300, 50=120, 83.333=72, 100=60, 125=48, 250=24, 500=12, 1000=6, 2000=3, 3000=2, 6000=1
#define can_speed_to_prescaler(x) (CAN_PCLK / CAN_QUANTA * 10U / (x))
// RX FIFO 0
#define FDCAN_RX_FIFO_0_EL_CNT 32UL
#define FDCAN_RX_FIFO_0_HEAD_SIZE 8UL // bytes
#define FDCAN_RX_FIFO_0_DATA_SIZE 8UL // bytes
#define FDCAN_RX_FIFO_0_EL_SIZE (FDCAN_RX_FIFO_0_HEAD_SIZE + FDCAN_RX_FIFO_0_DATA_SIZE)
#define FDCAN_RX_FIFO_0_EL_W_SIZE (FDCAN_RX_FIFO_0_EL_SIZE / 4UL)
#define FDCAN_RX_FIFO_0_OFFSET 0UL
// TX FIFO
#define FDCAN_TX_FIFO_EL_CNT 32UL
#define FDCAN_TX_FIFO_HEAD_SIZE 8UL // bytes
#define FDCAN_TX_FIFO_DATA_SIZE 8UL // bytes
#define FDCAN_TX_FIFO_EL_SIZE (FDCAN_TX_FIFO_HEAD_SIZE + FDCAN_TX_FIFO_DATA_SIZE)
#define FDCAN_TX_FIFO_EL_W_SIZE (FDCAN_TX_FIFO_EL_SIZE / 4UL)
#define FDCAN_TX_FIFO_OFFSET (FDCAN_RX_FIFO_0_OFFSET + (FDCAN_RX_FIFO_0_EL_CNT * FDCAN_RX_FIFO_0_EL_W_SIZE))
#define CAN_NAME_FROM_CANIF(CAN_DEV) (((CAN_DEV)==FDCAN1) ? "FDCAN1" : (((CAN_DEV) == FDCAN2) ? "FDCAN2" : "FDCAN3"))
#define CAN_NUM_FROM_CANIF(CAN_DEV) (((CAN_DEV)==FDCAN1) ? 0UL : (((CAN_DEV) == FDCAN2) ? 1UL : 2UL))
// For backwards compatibility with safety code
typedef struct {
__IO uint32_t RIR; /*!< CAN receive FIFO mailbox identifier register */
__IO uint32_t RDTR; /*!< CAN receive FIFO mailbox data length control and time stamp register */
__IO uint32_t RDLR; /*!< CAN receive FIFO mailbox data low register */
__IO uint32_t RDHR; /*!< CAN receive FIFO mailbox data high register */
} CAN_FIFOMailBox_TypeDef;
void puts(const char *a);
bool fdcan_request_init(FDCAN_GlobalTypeDef *CANx) {
bool ret = true;
// Exit from sleep mode
CANx->CCCR &= ~(FDCAN_CCCR_CSR);
while ((CANx->CCCR & FDCAN_CCCR_CSA) == FDCAN_CCCR_CSA);
// Request init
uint32_t timeout_counter = 0U;
CANx->CCCR |= FDCAN_CCCR_INIT;
while ((CANx->CCCR & FDCAN_CCCR_INIT) == 0) {
// Delay for about 1ms
delay(10000);
timeout_counter++;
if (timeout_counter >= CAN_INIT_TIMEOUT_MS){
ret = false;
break;
}
}
return ret;
}
bool fdcan_exit_init(FDCAN_GlobalTypeDef *CANx) {
bool ret = true;
CANx->CCCR &= ~(FDCAN_CCCR_INIT);
uint32_t timeout_counter = 0U;
while ((CANx->CCCR & FDCAN_CCCR_INIT) != 0) {
// Delay for about 1ms
delay(10000);
timeout_counter++;
if (timeout_counter >= CAN_INIT_TIMEOUT_MS) {
ret = false;
break;
}
}
return ret;
}
bool llcan_set_speed(FDCAN_GlobalTypeDef *CANx, uint32_t speed, uint32_t data_speed, bool loopback, bool silent) {
bool ret = fdcan_request_init(CANx);
if (ret) {
// Enable config change
CANx->CCCR |= FDCAN_CCCR_CCE;
//Reset operation mode to Normal
CANx->CCCR &= ~(FDCAN_CCCR_TEST);
CANx->TEST &= ~(FDCAN_TEST_LBCK);
CANx->CCCR &= ~(FDCAN_CCCR_MON);
CANx->CCCR &= ~(FDCAN_CCCR_ASM);
// Set the nominal bit timing register
CANx->NBTP = ((CAN_SYNC_JW-1U)<<FDCAN_NBTP_NSJW_Pos) | ((CAN_PHASE_SEG1-1U)<<FDCAN_NBTP_NTSEG1_Pos) | ((CAN_PHASE_SEG2-1U)<<FDCAN_NBTP_NTSEG2_Pos) | ((can_speed_to_prescaler(speed)-1U)<<FDCAN_NBTP_NBRP_Pos);
// Set the data bit timing register
CANx->DBTP = ((CAN_SYNC_JW-1U)<<FDCAN_DBTP_DSJW_Pos) | ((CAN_PHASE_SEG1-1U)<<FDCAN_DBTP_DTSEG1_Pos) | ((CAN_PHASE_SEG2-1U)<<FDCAN_DBTP_DTSEG2_Pos) | ((can_speed_to_prescaler(data_speed)-1U)<<FDCAN_DBTP_DBRP_Pos);
// Silent loopback is known as internal loopback in the docs
if (loopback) {
CANx->CCCR |= FDCAN_CCCR_TEST;
CANx->TEST |= FDCAN_TEST_LBCK;
CANx->CCCR |= FDCAN_CCCR_MON;
}
// Silent is known as bus monitoring in the docs
if (silent) {
CANx->CCCR |= FDCAN_CCCR_MON;
}
ret = fdcan_exit_init(CANx);
if (!ret) {
puts(CAN_NAME_FROM_CANIF(CANx)); puts(" set_speed timed out! (2)\n");
}
} else {
puts(CAN_NAME_FROM_CANIF(CANx)); puts(" set_speed timed out! (1)\n");
}
return ret;
}
bool llcan_init(FDCAN_GlobalTypeDef *CANx) {
uint32_t can_number = CAN_NUM_FROM_CANIF(CANx);
bool ret = fdcan_request_init(CANx);
if (ret) {
// Enable config change
CANx->CCCR |= FDCAN_CCCR_CCE;
// Enable automatic retransmission
CANx->CCCR &= ~(FDCAN_CCCR_DAR);
// Enable transmission pause feature
CANx->CCCR |= FDCAN_CCCR_TXP;
// Disable protocol exception handling
CANx->CCCR |= FDCAN_CCCR_PXHD;
// FD with BRS
CANx->CCCR |= (FDCAN_CCCR_FDOE | FDCAN_CCCR_BRSE);
// Set TX mode to FIFO
CANx->TXBC &= ~(FDCAN_TXBC_TFQM);
// Configure TX element size (for now 8 bytes, no need to change)
//CANx->TXESC |= 0x000U;
//Configure RX FIFO0, FIFO1, RX buffer element sizes (no need for now, using classic 8 bytes)
register_set(&(CANx->RXESC), 0x0U, (FDCAN_RXESC_F0DS | FDCAN_RXESC_F1DS | FDCAN_RXESC_RBDS));
// Disable filtering, accept all valid frames received
CANx->XIDFC &= ~(FDCAN_XIDFC_LSE); // No extended filters
CANx->SIDFC &= ~(FDCAN_SIDFC_LSS); // No standard filters
CANx->GFC &= ~(FDCAN_GFC_RRFE); // Accept extended remote frames
CANx->GFC &= ~(FDCAN_GFC_RRFS); // Accept standard remote frames
CANx->GFC &= ~(FDCAN_GFC_ANFE); // Accept extended frames to FIFO 0
CANx->GFC &= ~(FDCAN_GFC_ANFS); // Accept standard frames to FIFO 0
uint32_t RxFIFO0SA = FDCAN_START_ADDRESS + (can_number * FDCAN_OFFSET);
uint32_t TxFIFOSA = RxFIFO0SA + (FDCAN_RX_FIFO_0_EL_CNT * FDCAN_RX_FIFO_0_EL_SIZE);
// RX FIFO 0
CANx->RXF0C = (FDCAN_RX_FIFO_0_OFFSET + (can_number * FDCAN_OFFSET_W)) << FDCAN_RXF0C_F0SA_Pos;
CANx->RXF0C |= FDCAN_RX_FIFO_0_EL_CNT << FDCAN_RXF0C_F0S_Pos;
// RX FIFO 0 switch to non-blocking (overwrite) mode
CANx->RXF0C |= FDCAN_RXF0C_F0OM;
// TX FIFO (mode set earlier)
CANx->TXBC = (FDCAN_TX_FIFO_OFFSET + (can_number * FDCAN_OFFSET_W)) << FDCAN_TXBC_TBSA_Pos;
CANx->TXBC |= FDCAN_TX_FIFO_EL_CNT << FDCAN_TXBC_TFQS_Pos;
// Flush allocated RAM
uint32_t EndAddress = TxFIFOSA + (FDCAN_TX_FIFO_EL_CNT * FDCAN_TX_FIFO_EL_SIZE);
for (uint32_t RAMcounter = RxFIFO0SA; RAMcounter < EndAddress; RAMcounter += 4U) {
*(uint32_t *)(RAMcounter) = 0x00000000;
}
// Enable both interrupts for each module
CANx->ILE = (FDCAN_ILE_EINT0 | FDCAN_ILE_EINT1);
CANx->IE &= 0x0U; // Reset all interrupts
// Messages for INT0
CANx->IE |= FDCAN_IE_RF0NE; // Rx FIFO 0 new message
// Messages for INT1 (Only TFE works??)
CANx->ILS |= FDCAN_ILS_TFEL;
CANx->IE |= FDCAN_IE_TFEE; // Tx FIFO empty
ret = fdcan_exit_init(CANx);
if(!ret) {
puts(CAN_NAME_FROM_CANIF(CANx)); puts(" llcan_init timed out (2)!\n");
}
if (CANx == FDCAN1) {
NVIC_EnableIRQ(FDCAN1_IT0_IRQn);
NVIC_EnableIRQ(FDCAN1_IT1_IRQn);
} else if (CANx == FDCAN2) {
NVIC_EnableIRQ(FDCAN2_IT0_IRQn);
NVIC_EnableIRQ(FDCAN2_IT1_IRQn);
} else if (CANx == FDCAN3) {
NVIC_EnableIRQ(FDCAN3_IT0_IRQn);
NVIC_EnableIRQ(FDCAN3_IT1_IRQn);
} else {
puts("Invalid CAN: initialization failed\n");
}
} else {
puts(CAN_NAME_FROM_CANIF(CANx)); puts(" llcan_init timed out (1)!\n");
}
return ret;
}
void llcan_clear_send(FDCAN_GlobalTypeDef *CANx) {
// From H7 datasheet: Transmit cancellation is not intended for Tx FIFO operation.
UNUSED(CANx);
}

33
panda/board/stm32h7/llflash.h 100644
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bool flash_is_locked(void) {
return (FLASH->CR1 & FLASH_CR_LOCK);
}
void flash_unlock(void) {
FLASH->KEYR1 = 0x45670123;
FLASH->KEYR1 = 0xCDEF89AB;
}
bool flash_erase_sector(uint8_t sector, bool unlocked) {
// don't erase the bootloader(sector 0)
if (sector != 0 && sector < 8 && unlocked) {
FLASH->CR1 = (sector << 8) | FLASH_CR_SER;
FLASH->CR1 |= FLASH_CR_START;
while (FLASH->SR1 & FLASH_SR_QW);
return true;
}
return false;
}
void flash_write_word(void *prog_ptr, uint32_t data) {
uint32_t *pp = prog_ptr;
FLASH->CR1 |= FLASH_CR_PG;
*pp = data;
while (FLASH->SR1 & FLASH_SR_QW);
}
void flush_write_buffer(void) {
if (FLASH->SR1 & FLASH_SR_WBNE) {
FLASH->CR1 |= FLASH_CR_FW;
while (FLASH->SR1 & FLASH_CR_FW);
}
}

9
panda/board/stm32h7/llrtc.h 100644
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#define RCC_BDCR_MASK (RCC_BDCR_RTCEN | RCC_BDCR_RTCSEL | RCC_BDCR_LSEDRV | RCC_BDCR_LSEBYP | RCC_BDCR_LSEON)
void enable_bdomain_protection(void) {
register_clear_bits(&(PWR->CR1), PWR_CR1_DBP);
}
void disable_bdomain_protection(void) {
register_set_bits(&(PWR->CR1), PWR_CR1_DBP);
}

5
panda/board/stm32h7/lluart.h 100644
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void uart_init(uart_ring *q, int baud) { UNUSED(q); UNUSED(baud); }
void uart_set_baud(USART_TypeDef *u, unsigned int baud) { UNUSED(u); UNUSED(baud); }
void dma_pointer_handler(uart_ring *q, uint32_t dma_ndtr) { UNUSED(q); UNUSED(dma_ndtr); }
void uart_rx_ring(uart_ring *q) { UNUSED(q); }
void uart_tx_ring(uart_ring *q) { UNUSED(q); }

98
panda/board/stm32h7/llusb.h 100644
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typedef struct
{
__IO uint32_t HPRT;
}
USB_OTG_HostPortTypeDef;
USB_OTG_GlobalTypeDef *USBx = USB_OTG_HS;
#define USBx_HOST ((USB_OTG_HostTypeDef *)((uint32_t)USBx + USB_OTG_HOST_BASE))
#define USBx_HOST_PORT ((USB_OTG_HostPortTypeDef *)((uint32_t)USBx + USB_OTG_HOST_PORT_BASE))
#define USBx_DEVICE ((USB_OTG_DeviceTypeDef *)((uint32_t)USBx + USB_OTG_DEVICE_BASE))
#define USBx_INEP(i) ((USB_OTG_INEndpointTypeDef *)((uint32_t)USBx + USB_OTG_IN_ENDPOINT_BASE + ((i) * USB_OTG_EP_REG_SIZE)))
#define USBx_OUTEP(i) ((USB_OTG_OUTEndpointTypeDef *)((uint32_t)USBx + USB_OTG_OUT_ENDPOINT_BASE + ((i) * USB_OTG_EP_REG_SIZE)))
#define USBx_DFIFO(i) *(__IO uint32_t *)((uint32_t)USBx + USB_OTG_FIFO_BASE + ((i) * USB_OTG_FIFO_SIZE))
#define USBx_PCGCCTL *(__IO uint32_t *)((uint32_t)USBx + USB_OTG_PCGCCTL_BASE)
#define USBD_FS_TRDT_VALUE 6U
#define USB_OTG_SPEED_FULL 3U
#define DCFG_FRAME_INTERVAL_80 0U
void usb_irqhandler(void);
void OTG_HS_IRQ_Handler(void) {
NVIC_DisableIRQ(OTG_HS_IRQn);
usb_irqhandler();
NVIC_EnableIRQ(OTG_HS_IRQn);
}
void usb_init(void) {
REGISTER_INTERRUPT(OTG_HS_IRQn, OTG_HS_IRQ_Handler, 1500000U, FAULT_INTERRUPT_RATE_USB) // TODO: Find out a better rate limit for USB. Now it's the 1.5MB/s rate
// Disable global interrupt
USBx->GAHBCFG &= ~(USB_OTG_GAHBCFG_GINT);
// Select FS Embedded PHY
USBx->GUSBCFG |= USB_OTG_GUSBCFG_PHYSEL;
// Force device mode
USBx->GUSBCFG &= ~(USB_OTG_GUSBCFG_FHMOD | USB_OTG_GUSBCFG_FDMOD);
USBx->GUSBCFG |= USB_OTG_GUSBCFG_FDMOD;
delay(250000); // Wait for about 25ms (explicitly stated in H7 ref manual)
// Wait for AHB master IDLE state.
while ((USBx->GRSTCTL & USB_OTG_GRSTCTL_AHBIDL) == 0);
// Core Soft Reset
USBx->GRSTCTL |= USB_OTG_GRSTCTL_CSRST;
while ((USBx->GRSTCTL & USB_OTG_GRSTCTL_CSRST) == USB_OTG_GRSTCTL_CSRST);
// Activate the USB Transceiver
USBx->GCCFG |= USB_OTG_GCCFG_PWRDWN;
for (uint8_t i = 0U; i < 15U; i++) {
USBx->DIEPTXF[i] = 0U;
}
// VBUS Sensing setup
USBx_DEVICE->DCTL |= USB_OTG_DCTL_SDIS;
// Deactivate VBUS Sensing B
USBx->GCCFG &= ~(USB_OTG_GCCFG_VBDEN);
// B-peripheral session valid override enable
USBx->GOTGCTL |= USB_OTG_GOTGCTL_BVALOEN;
USBx->GOTGCTL |= USB_OTG_GOTGCTL_BVALOVAL;
// Restart the Phy Clock
USBx_PCGCCTL = 0U;
// Device mode configuration
USBx_DEVICE->DCFG |= DCFG_FRAME_INTERVAL_80;
USBx_DEVICE->DCFG |= USB_OTG_SPEED_FULL | USB_OTG_DCFG_NZLSOHSK;
// Flush FIFOs
USBx->GRSTCTL = (USB_OTG_GRSTCTL_TXFFLSH | (0x10U << 6));
while ((USBx->GRSTCTL & USB_OTG_GRSTCTL_TXFFLSH) == USB_OTG_GRSTCTL_TXFFLSH);
USBx->GRSTCTL = USB_OTG_GRSTCTL_RXFFLSH;
while ((USBx->GRSTCTL & USB_OTG_GRSTCTL_RXFFLSH) == USB_OTG_GRSTCTL_RXFFLSH);
// Clear all pending Device Interrupts
USBx_DEVICE->DIEPMSK = 0U;
USBx_DEVICE->DOEPMSK = 0U;
USBx_DEVICE->DAINTMSK = 0U;
USBx_DEVICE->DIEPMSK &= ~(USB_OTG_DIEPMSK_TXFURM);
// Disable all interrupts.
USBx->GINTMSK = 0U;
// Clear any pending interrupts
USBx->GINTSTS = 0xBFFFFFFFU;
// Enable interrupts matching to the Device mode ONLY
USBx->GINTMSK = USB_OTG_GINTMSK_USBRST | USB_OTG_GINTMSK_ENUMDNEM | USB_OTG_GINTMSK_OTGINT |
USB_OTG_GINTMSK_RXFLVLM | USB_OTG_GINTMSK_GONAKEFFM | USB_OTG_GINTMSK_GINAKEFFM |
USB_OTG_GINTMSK_OEPINT | USB_OTG_GINTMSK_IEPINT | USB_OTG_GINTMSK_USBSUSPM |
USB_OTG_GINTMSK_CIDSCHGM | USB_OTG_GINTMSK_SRQIM | USB_OTG_GINTMSK_MMISM | USB_OTG_GINTMSK_EOPFM;
// Set USB Turnaround time
USBx->GUSBCFG |= ((USBD_FS_TRDT_VALUE << 10) & USB_OTG_GUSBCFG_TRDT);
// Enables the controller's Global Int in the AHB Config reg
USBx->GAHBCFG |= USB_OTG_GAHBCFG_GINT;
// Soft disconnect disable:
USBx_DEVICE->DCTL &= ~(USB_OTG_DCTL_SDIS);
// enable the IRQ
NVIC_EnableIRQ(OTG_HS_IRQn);
}

123
panda/board/stm32h7/peripherals.h 100644
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void gpio_usb_init(void) {
// A11,A12: USB:
set_gpio_alternate(GPIOA, 11, GPIO_AF10_OTG1_FS);
set_gpio_alternate(GPIOA, 12, GPIO_AF10_OTG1_FS);
GPIOA->OSPEEDR = GPIO_OSPEEDR_OSPEED11 | GPIO_OSPEEDR_OSPEED12;
}
void gpio_usart2_init(void) {
// A2,A3: USART 2 for debugging
set_gpio_alternate(GPIOA, 2, GPIO_AF7_USART2);
set_gpio_alternate(GPIOA, 3, GPIO_AF7_USART2);
}
// Common GPIO initialization
void common_init_gpio(void) {
/// E2,E3,E4: RGB LED
set_gpio_pullup(GPIOE, 2, PULL_NONE);
set_gpio_mode(GPIOE, 2, MODE_OUTPUT);
set_gpio_pullup(GPIOE, 3, PULL_NONE);
set_gpio_mode(GPIOE, 3, MODE_OUTPUT);
set_gpio_pullup(GPIOE, 4, PULL_NONE);
set_gpio_mode(GPIOE, 4, MODE_OUTPUT);
// F7,F8,F9,F10: BOARD ID
set_gpio_pullup(GPIOF, 7, PULL_NONE);
set_gpio_mode(GPIOF, 7, MODE_INPUT);
set_gpio_pullup(GPIOF, 8, PULL_NONE);
set_gpio_mode(GPIOF, 8, MODE_INPUT);
set_gpio_pullup(GPIOF, 9, PULL_NONE);
set_gpio_mode(GPIOF, 9, MODE_INPUT);
set_gpio_pullup(GPIOF, 10, PULL_NONE);
set_gpio_mode(GPIOF, 10, MODE_INPUT);
// G11,B3,D7,B4: transceiver enable
set_gpio_pullup(GPIOG, 11, PULL_NONE);
set_gpio_mode(GPIOG, 11, MODE_OUTPUT);
// Speed was set to high by default after reset, changing to low
GPIOB->OSPEEDR = GPIO_OSPEEDR_OSPEED3;
set_gpio_pullup(GPIOB, 3, PULL_NONE);
set_gpio_mode(GPIOB, 3, MODE_OUTPUT);
set_gpio_pullup(GPIOD, 7, PULL_NONE);
set_gpio_mode(GPIOD, 7, MODE_OUTPUT);
set_gpio_pullup(GPIOB, 4, PULL_NONE);
set_gpio_mode(GPIOB, 4, MODE_OUTPUT);
// B14: usb load switch
set_gpio_pullup(GPIOB, 14, PULL_NONE);
set_gpio_mode(GPIOB, 14, MODE_OUTPUT);
//B1,F11 5VOUT_S, VOLT_S
set_gpio_pullup(GPIOB, 1, PULL_NONE);
set_gpio_mode(GPIOB, 1, MODE_ANALOG);
set_gpio_pullup(GPIOF, 11, PULL_NONE);
set_gpio_mode(GPIOF, 11, MODE_ANALOG);
gpio_usb_init();
// B8,B9: FDCAN1
set_gpio_pullup(GPIOB, 8, PULL_NONE);
set_gpio_alternate(GPIOB, 8, GPIO_AF9_FDCAN1);
set_gpio_pullup(GPIOB, 9, PULL_NONE);
set_gpio_alternate(GPIOB, 9, GPIO_AF9_FDCAN1);
// B5,B6 (mplex to B12,B13): FDCAN2
set_gpio_pullup(GPIOB, 12, PULL_NONE);
set_gpio_pullup(GPIOB, 13, PULL_NONE);
set_gpio_pullup(GPIOB, 5, PULL_NONE);
set_gpio_alternate(GPIOB, 5, GPIO_AF9_FDCAN2);
set_gpio_pullup(GPIOB, 6, PULL_NONE);
set_gpio_alternate(GPIOB, 6, GPIO_AF9_FDCAN2);
// G9,G10: FDCAN3
set_gpio_pullup(GPIOG, 9, PULL_NONE);
set_gpio_alternate(GPIOG, 9, GPIO_AF2_FDCAN3);
set_gpio_pullup(GPIOG, 10, PULL_NONE);
set_gpio_alternate(GPIOG, 10, GPIO_AF2_FDCAN3);
}
void flasher_peripherals_init(void) {
RCC->AHB1ENR |= RCC_AHB1ENR_USB1OTGHSEN;
}
// Peripheral initialization
void peripherals_init(void) {
// enable GPIO(A,B,C,D,E,F,G,H)
RCC->AHB4ENR |= RCC_AHB4ENR_GPIOAEN;
RCC->AHB4ENR |= RCC_AHB4ENR_GPIOBEN;
RCC->AHB4ENR |= RCC_AHB4ENR_GPIOCEN;
RCC->AHB4ENR |= RCC_AHB4ENR_GPIODEN;
RCC->AHB4ENR |= RCC_AHB4ENR_GPIOEEN;
RCC->AHB4ENR |= RCC_AHB4ENR_GPIOFEN;
RCC->AHB4ENR |= RCC_AHB4ENR_GPIOGEN;
RCC->APB1LENR |= RCC_APB1LENR_TIM2EN; // main counter
RCC->APB1LENR |= RCC_APB1LENR_TIM6EN; // interrupt timer
RCC->APB2ENR |= RCC_APB2ENR_TIM8EN; // clock source timer
RCC->APB1LENR |= RCC_APB1LENR_TIM12EN; // slow loop
RCC->APB1HENR |= RCC_APB1HENR_FDCANEN; // FDCAN core enable
RCC->AHB1ENR |= RCC_AHB1ENR_ADC12EN; // Enable ADC clocks
// HS USB enable, also LP is needed for CSleep state(__WFI())
RCC->AHB1ENR |= RCC_AHB1ENR_USB1OTGHSEN;
RCC->AHB1LPENR |= RCC_AHB1LPENR_USB1OTGHSLPEN;
RCC->AHB1LPENR &= ~(RCC_AHB1LPENR_USB1OTGHSULPILPEN);
}
void enable_interrupt_timer(void) {
register_set_bits(&(RCC->APB1LENR), RCC_APB1LENR_TIM6EN); // Enable interrupt timer peripheral
}

767
panda/board/stm32h7/startup_stm32h7x5xx.s 100644
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/**
******************************************************************************
* @file startup_stm32h735xx.s
* @author MCD Application Team
* @brief STM32H735xx Devices vector table for GCC based toolchain.
* This module performs:
* - Set the initial SP
* - Set the initial PC == Reset_Handler,
* - Set the vector table entries with the exceptions ISR address
* - Branches to main in the C library (which eventually
* calls main()).
* After Reset the Cortex-M processor is in Thread mode,
* priority is Privileged, and the Stack is set to Main.
******************************************************************************
* @attention
*
* <h2><center>&copy; Copyright (c) 2019 STMicroelectronics.
* All rights reserved.</center></h2>
*
* This software component is licensed by ST under BSD 3-Clause license,
* the "License"; You may not use this file except in compliance with the
* License. You may obtain a copy of the License at:
* opensource.org/licenses/BSD-3-Clause
*
******************************************************************************
*/
.syntax unified
.cpu cortex-m7
.fpu softvfp
.thumb
.global g_pfnVectors
.global Default_Handler
/* start address for the initialization values of the .data section.
defined in linker script */
.word _sidata
/* start address for the .data section. defined in linker script */
.word _sdata
/* end address for the .data section. defined in linker script */
.word _edata
/* start address for the .bss section. defined in linker script */
.word _sbss
/* end address for the .bss section. defined in linker script */
.word _ebss
/* stack used for SystemInit_ExtMemCtl; always internal RAM used */
/**
* @brief This is the code that gets called when the processor first
* starts execution following a reset event. Only the absolutely
* necessary set is performed, after which the application
* supplied main() routine is called.
* @param None
* @retval : None
*/
.section .text.Reset_Handler
.weak Reset_Handler
.type Reset_Handler, %function
Reset_Handler:
ldr sp, =_estack /* set stack pointer */
bl __initialize_hardware_early
/* Copy the data segment initializers from flash to SRAM */
ldr r0, =_sdata
ldr r1, =_edata
ldr r2, =_sidata
movs r3, #0
b LoopCopyDataInit
CopyDataInit:
ldr r4, [r2, r3]
str r4, [r0, r3]
adds r3, r3, #4
LoopCopyDataInit:
adds r4, r0, r3
cmp r4, r1
bcc CopyDataInit
/* Zero fill the bss segment. */
ldr r2, =_sbss
ldr r4, =_ebss
movs r3, #0
b LoopFillZerobss
FillZerobss:
str r3, [r2]
adds r2, r2, #4
LoopFillZerobss:
cmp r2, r4
bcc FillZerobss
/* Call the clock system intitialization function.*/
/* bl SystemInit */
/* Call static constructors */
/* bl __libc_init_array */
/* Call the application's entry point.*/
bl main
bx lr
.size Reset_Handler, .-Reset_Handler
/**
* @brief This is the code that gets called when the processor receives an
* unexpected interrupt. This simply enters an infinite loop, preserving
* the system state for examination by a debugger.
* @param None
* @retval None
*/
.section .text.Default_Handler,"ax",%progbits
Default_Handler:
Infinite_Loop:
b Infinite_Loop
.size Default_Handler, .-Default_Handler
/******************************************************************************
*
* The minimal vector table for a Cortex M. Note that the proper constructs
* must be placed on this to ensure that it ends up at physical address
* 0x0000.0000.
*
*******************************************************************************/
.section .isr_vector,"a",%progbits
.type g_pfnVectors, %object
.size g_pfnVectors, .-g_pfnVectors
g_pfnVectors:
.word _estack
.word Reset_Handler
.word NMI_Handler
.word HardFault_Handler
.word MemManage_Handler
.word BusFault_Handler
.word UsageFault_Handler
.word 0
.word 0
.word 0
.word 0
.word SVC_Handler
.word DebugMon_Handler
.word 0
.word PendSV_Handler
.word SysTick_Handler
/* External Interrupts */
.word WWDG_IRQHandler /* Window WatchDog */
.word PVD_AVD_IRQHandler /* PVD/AVD through EXTI Line detection */
.word TAMP_STAMP_IRQHandler /* Tamper and TimeStamps through the EXTI line */
.word RTC_WKUP_IRQHandler /* RTC Wakeup through the EXTI line */
.word FLASH_IRQHandler /* FLASH */
.word RCC_IRQHandler /* RCC */
.word EXTI0_IRQHandler /* EXTI Line0 */
.word EXTI1_IRQHandler /* EXTI Line1 */
.word EXTI2_IRQHandler /* EXTI Line2 */
.word EXTI3_IRQHandler /* EXTI Line3 */
.word EXTI4_IRQHandler /* EXTI Line4 */
.word DMA1_Stream0_IRQHandler /* DMA1 Stream 0 */
.word DMA1_Stream1_IRQHandler /* DMA1 Stream 1 */
.word DMA1_Stream2_IRQHandler /* DMA1 Stream 2 */
.word DMA1_Stream3_IRQHandler /* DMA1 Stream 3 */
.word DMA1_Stream4_IRQHandler /* DMA1 Stream 4 */
.word DMA1_Stream5_IRQHandler /* DMA1 Stream 5 */
.word DMA1_Stream6_IRQHandler /* DMA1 Stream 6 */
.word ADC_IRQHandler /* ADC1, ADC2 and ADC3s */
.word FDCAN1_IT0_IRQHandler /* FDCAN1 interrupt line 0 */
.word FDCAN2_IT0_IRQHandler /* FDCAN2 interrupt line 0 */
.word FDCAN1_IT1_IRQHandler /* FDCAN1 interrupt line 1 */
.word FDCAN2_IT1_IRQHandler /* FDCAN2 interrupt line 1 */
.word EXTI9_5_IRQHandler /* External Line[9:5]s */
.word TIM1_BRK_IRQHandler /* TIM1 Break interrupt */
.word TIM1_UP_IRQHandler /* TIM1 Update interrupt */
.word TIM1_TRG_COM_IRQHandler /* TIM1 Trigger and Commutation interrupt */
.word TIM1_CC_IRQHandler /* TIM1 Capture Compare */
.word TIM2_IRQHandler /* TIM2 */
.word TIM3_IRQHandler /* TIM3 */
.word TIM4_IRQHandler /* TIM4 */
.word I2C1_EV_IRQHandler /* I2C1 Event */
.word I2C1_ER_IRQHandler /* I2C1 Error */
.word I2C2_EV_IRQHandler /* I2C2 Event */
.word I2C2_ER_IRQHandler /* I2C2 Error */
.word SPI1_IRQHandler /* SPI1 */
.word SPI2_IRQHandler /* SPI2 */
.word USART1_IRQHandler /* USART1 */
.word USART2_IRQHandler /* USART2 */
.word USART3_IRQHandler /* USART3 */
.word EXTI15_10_IRQHandler /* External Line[15:10]s */
.word RTC_Alarm_IRQHandler /* RTC Alarm (A and B) through EXTI Line */
.word 0 /* Reserved */
.word TIM8_BRK_TIM12_IRQHandler /* TIM8 Break and TIM12 */
.word TIM8_UP_TIM13_IRQHandler /* TIM8 Update and TIM13 */
.word TIM8_TRG_COM_TIM14_IRQHandler /* TIM8 Trigger and Commutation and TIM14 */
.word TIM8_CC_IRQHandler /* TIM8 Capture Compare */
.word DMA1_Stream7_IRQHandler /* DMA1 Stream7 */
.word FMC_IRQHandler /* FMC */
.word SDMMC1_IRQHandler /* SDMMC1 */
.word TIM5_IRQHandler /* TIM5 */
.word SPI3_IRQHandler /* SPI3 */
.word UART4_IRQHandler /* UART4 */
.word UART5_IRQHandler /* UART5 */
.word TIM6_DAC_IRQHandler /* TIM6 and DAC1&2 underrun errors */
.word TIM7_IRQHandler /* TIM7 */
.word DMA2_Stream0_IRQHandler /* DMA2 Stream 0 */
.word DMA2_Stream1_IRQHandler /* DMA2 Stream 1 */
.word DMA2_Stream2_IRQHandler /* DMA2 Stream 2 */
.word DMA2_Stream3_IRQHandler /* DMA2 Stream 3 */
.word DMA2_Stream4_IRQHandler /* DMA2 Stream 4 */
.word ETH_IRQHandler /* Ethernet */
.word ETH_WKUP_IRQHandler /* Ethernet Wakeup through EXTI line */
.word FDCAN_CAL_IRQHandler /* FDCAN calibration unit interrupt*/
.word 0 /* Reserved */
.word 0 /* Reserved */
.word 0 /* Reserved */
.word 0 /* Reserved */
.word DMA2_Stream5_IRQHandler /* DMA2 Stream 5 */
.word DMA2_Stream6_IRQHandler /* DMA2 Stream 6 */
.word DMA2_Stream7_IRQHandler /* DMA2 Stream 7 */
.word USART6_IRQHandler /* USART6 */
.word I2C3_EV_IRQHandler /* I2C3 event */
.word I2C3_ER_IRQHandler /* I2C3 error */
.word OTG_HS_EP1_OUT_IRQHandler /* USB OTG HS End Point 1 Out */
.word OTG_HS_EP1_IN_IRQHandler /* USB OTG HS End Point 1 In */
.word OTG_HS_WKUP_IRQHandler /* USB OTG HS Wakeup through EXTI */
.word OTG_HS_IRQHandler /* USB OTG HS */
.word DCMI_PSSI_IRQHandler /* DCMI, PSSI */
.word CRYP_IRQHandler /* CRYP */
.word HASH_RNG_IRQHandler /* Hash and Rng */
.word FPU_IRQHandler /* FPU */
.word UART7_IRQHandler /* UART7 */
.word UART8_IRQHandler /* UART8 */
.word SPI4_IRQHandler /* SPI4 */
.word SPI5_IRQHandler /* SPI5 */
.word SPI6_IRQHandler /* SPI6 */
.word SAI1_IRQHandler /* SAI1 */
.word LTDC_IRQHandler /* LTDC */
.word LTDC_ER_IRQHandler /* LTDC error */
.word DMA2D_IRQHandler /* DMA2D */
.word 0 /* Reserved */
.word OCTOSPI1_IRQHandler /* OCTOSPI1 */
.word LPTIM1_IRQHandler /* LPTIM1 */
.word CEC_IRQHandler /* HDMI_CEC */
.word I2C4_EV_IRQHandler /* I2C4 Event */
.word I2C4_ER_IRQHandler /* I2C4 Error */
.word SPDIF_RX_IRQHandler /* SPDIF_RX */
.word 0 /* Reserved */
.word 0 /* Reserved */
.word 0 /* Reserved */
.word 0 /* Reserved */
.word DMAMUX1_OVR_IRQHandler /* DMAMUX1 Overrun interrupt */
.word 0 /* Reserved */
.word 0 /* Reserved */
.word 0 /* Reserved */
.word 0 /* Reserved */
.word 0 /* Reserved */
.word 0 /* Reserved */
.word 0 /* Reserved */
.word DFSDM1_FLT0_IRQHandler /* DFSDM Filter0 Interrupt */
.word DFSDM1_FLT1_IRQHandler /* DFSDM Filter1 Interrupt */
.word DFSDM1_FLT2_IRQHandler /* DFSDM Filter2 Interrupt */
.word DFSDM1_FLT3_IRQHandler /* DFSDM Filter3 Interrupt */
.word 0 /* Reserved */
.word SWPMI1_IRQHandler /* Serial Wire Interface 1 global interrupt */
.word TIM15_IRQHandler /* TIM15 global Interrupt */
.word TIM16_IRQHandler /* TIM16 global Interrupt */
.word TIM17_IRQHandler /* TIM17 global Interrupt */
.word MDIOS_WKUP_IRQHandler /* MDIOS Wakeup Interrupt */
.word MDIOS_IRQHandler /* MDIOS global Interrupt */
.word 0 /* Reserved */
.word MDMA_IRQHandler /* MDMA global Interrupt */
.word 0 /* Reserved */
.word SDMMC2_IRQHandler /* SDMMC2 global Interrupt */
.word HSEM1_IRQHandler /* HSEM1 global Interrupt */
.word 0 /* Reserved */
.word ADC3_IRQHandler /* ADC3 global Interrupt */
.word DMAMUX2_OVR_IRQHandler /* DMAMUX Overrun interrupt */
.word BDMA_Channel0_IRQHandler /* BDMA Channel 0 global Interrupt */
.word BDMA_Channel1_IRQHandler /* BDMA Channel 1 global Interrupt */
.word BDMA_Channel2_IRQHandler /* BDMA Channel 2 global Interrupt */
.word BDMA_Channel3_IRQHandler /* BDMA Channel 3 global Interrupt */
.word BDMA_Channel4_IRQHandler /* BDMA Channel 4 global Interrupt */
.word BDMA_Channel5_IRQHandler /* BDMA Channel 5 global Interrupt */
.word BDMA_Channel6_IRQHandler /* BDMA Channel 6 global Interrupt */
.word BDMA_Channel7_IRQHandler /* BDMA Channel 7 global Interrupt */
.word COMP1_IRQHandler /* COMP1 global Interrupt */
.word LPTIM2_IRQHandler /* LP TIM2 global interrupt */
.word LPTIM3_IRQHandler /* LP TIM3 global interrupt */
.word LPTIM4_IRQHandler /* LP TIM4 global interrupt */
.word LPTIM5_IRQHandler /* LP TIM5 global interrupt */
.word LPUART1_IRQHandler /* LP UART1 interrupt */
.word 0 /* Reserved */
.word CRS_IRQHandler /* Clock Recovery Global Interrupt */
.word ECC_IRQHandler /* ECC diagnostic Global Interrupt */
.word SAI4_IRQHandler /* SAI4 global interrupt */
.word DTS_IRQHandler /* Digital Temperature Sensor interrupt */
.word 0 /* Reserved */
.word WAKEUP_PIN_IRQHandler /* Interrupt for all 6 wake-up pins */
.word OCTOSPI2_IRQHandler /* OCTOSPI2 Interrupt */
.word OTFDEC1_IRQHandler /* OTFDEC1 Interrupt */
.word OTFDEC2_IRQHandler /* OTFDEC2 Interrupt */
.word FMAC_IRQHandler /* FMAC Interrupt */
.word CORDIC_IRQHandler /* CORDIC Interrupt */
.word UART9_IRQHandler /* UART9 Interrupt */
.word USART10_IRQHandler /* UART10 Interrupt */
.word I2C5_EV_IRQHandler /* I2C5 Event Interrupt */
.word I2C5_ER_IRQHandler /* I2C5 Error Interrupt */
.word FDCAN3_IT0_IRQHandler /* FDCAN3 interrupt line 0 */
.word FDCAN3_IT1_IRQHandler /* FDCAN3 interrupt line 1 */
.word TIM23_IRQHandler /* TIM23 global interrupt */
.word TIM24_IRQHandler /* TIM24 global interrupt */
/*******************************************************************************
*
* Provide weak aliases for each Exception handler to the Default_Handler.
* As they are weak aliases, any function with the same name will override
* this definition.
*
*******************************************************************************/
.weak NMI_Handler
.thumb_set NMI_Handler,Default_Handler
.weak HardFault_Handler
.thumb_set HardFault_Handler,Default_Handler
.weak MemManage_Handler
.thumb_set MemManage_Handler,Default_Handler
.weak BusFault_Handler
.thumb_set BusFault_Handler,Default_Handler
.weak UsageFault_Handler
.thumb_set UsageFault_Handler,Default_Handler
.weak SVC_Handler
.thumb_set SVC_Handler,Default_Handler
.weak DebugMon_Handler
.thumb_set DebugMon_Handler,Default_Handler
.weak PendSV_Handler
.thumb_set PendSV_Handler,Default_Handler
.weak SysTick_Handler
.thumb_set SysTick_Handler,Default_Handler
.weak WWDG_IRQHandler
.thumb_set WWDG_IRQHandler,Default_Handler
.weak PVD_AVD_IRQHandler
.thumb_set PVD_AVD_IRQHandler,Default_Handler
.weak TAMP_STAMP_IRQHandler
.thumb_set TAMP_STAMP_IRQHandler,Default_Handler
.weak RTC_WKUP_IRQHandler
.thumb_set RTC_WKUP_IRQHandler,Default_Handler
.weak FLASH_IRQHandler
.thumb_set FLASH_IRQHandler,Default_Handler
.weak RCC_IRQHandler
.thumb_set RCC_IRQHandler,Default_Handler
.weak EXTI0_IRQHandler
.thumb_set EXTI0_IRQHandler,Default_Handler
.weak EXTI1_IRQHandler
.thumb_set EXTI1_IRQHandler,Default_Handler
.weak EXTI2_IRQHandler
.thumb_set EXTI2_IRQHandler,Default_Handler
.weak EXTI3_IRQHandler
.thumb_set EXTI3_IRQHandler,Default_Handler
.weak EXTI4_IRQHandler
.thumb_set EXTI4_IRQHandler,Default_Handler
.weak DMA1_Stream0_IRQHandler
.thumb_set DMA1_Stream0_IRQHandler,Default_Handler
.weak DMA1_Stream1_IRQHandler
.thumb_set DMA1_Stream1_IRQHandler,Default_Handler
.weak DMA1_Stream2_IRQHandler
.thumb_set DMA1_Stream2_IRQHandler,Default_Handler
.weak DMA1_Stream3_IRQHandler
.thumb_set DMA1_Stream3_IRQHandler,Default_Handler
.weak DMA1_Stream4_IRQHandler
.thumb_set DMA1_Stream4_IRQHandler,Default_Handler
.weak DMA1_Stream5_IRQHandler
.thumb_set DMA1_Stream5_IRQHandler,Default_Handler
.weak DMA1_Stream6_IRQHandler
.thumb_set DMA1_Stream6_IRQHandler,Default_Handler
.weak ADC_IRQHandler
.thumb_set ADC_IRQHandler,Default_Handler
.weak FDCAN1_IT0_IRQHandler
.thumb_set FDCAN1_IT0_IRQHandler,Default_Handler
.weak FDCAN2_IT0_IRQHandler
.thumb_set FDCAN2_IT0_IRQHandler,Default_Handler
.weak FDCAN1_IT1_IRQHandler
.thumb_set FDCAN1_IT1_IRQHandler,Default_Handler
.weak FDCAN2_IT1_IRQHandler
.thumb_set FDCAN2_IT1_IRQHandler,Default_Handler
.weak EXTI9_5_IRQHandler
.thumb_set EXTI9_5_IRQHandler,Default_Handler
.weak TIM1_BRK_IRQHandler
.thumb_set TIM1_BRK_IRQHandler,Default_Handler
.weak TIM1_UP_IRQHandler
.thumb_set TIM1_UP_IRQHandler,Default_Handler
.weak TIM1_TRG_COM_IRQHandler
.thumb_set TIM1_TRG_COM_IRQHandler,Default_Handler
.weak TIM1_CC_IRQHandler
.thumb_set TIM1_CC_IRQHandler,Default_Handler
.weak TIM2_IRQHandler
.thumb_set TIM2_IRQHandler,Default_Handler
.weak TIM3_IRQHandler
.thumb_set TIM3_IRQHandler,Default_Handler
.weak TIM4_IRQHandler
.thumb_set TIM4_IRQHandler,Default_Handler
.weak I2C1_EV_IRQHandler
.thumb_set I2C1_EV_IRQHandler,Default_Handler
.weak I2C1_ER_IRQHandler
.thumb_set I2C1_ER_IRQHandler,Default_Handler
.weak I2C2_EV_IRQHandler
.thumb_set I2C2_EV_IRQHandler,Default_Handler
.weak I2C2_ER_IRQHandler
.thumb_set I2C2_ER_IRQHandler,Default_Handler
.weak SPI1_IRQHandler
.thumb_set SPI1_IRQHandler,Default_Handler
.weak SPI2_IRQHandler
.thumb_set SPI2_IRQHandler,Default_Handler
.weak USART1_IRQHandler
.thumb_set USART1_IRQHandler,Default_Handler
.weak USART2_IRQHandler
.thumb_set USART2_IRQHandler,Default_Handler
.weak USART3_IRQHandler
.thumb_set USART3_IRQHandler,Default_Handler
.weak EXTI15_10_IRQHandler
.thumb_set EXTI15_10_IRQHandler,Default_Handler
.weak RTC_Alarm_IRQHandler
.thumb_set RTC_Alarm_IRQHandler,Default_Handler
.weak TIM8_BRK_TIM12_IRQHandler
.thumb_set TIM8_BRK_TIM12_IRQHandler,Default_Handler
.weak TIM8_UP_TIM13_IRQHandler
.thumb_set TIM8_UP_TIM13_IRQHandler,Default_Handler
.weak TIM8_TRG_COM_TIM14_IRQHandler
.thumb_set TIM8_TRG_COM_TIM14_IRQHandler,Default_Handler
.weak TIM8_CC_IRQHandler
.thumb_set TIM8_CC_IRQHandler,Default_Handler
.weak DMA1_Stream7_IRQHandler
.thumb_set DMA1_Stream7_IRQHandler,Default_Handler
.weak FMC_IRQHandler
.thumb_set FMC_IRQHandler,Default_Handler
.weak SDMMC1_IRQHandler
.thumb_set SDMMC1_IRQHandler,Default_Handler
.weak TIM5_IRQHandler
.thumb_set TIM5_IRQHandler,Default_Handler
.weak SPI3_IRQHandler
.thumb_set SPI3_IRQHandler,Default_Handler
.weak UART4_IRQHandler
.thumb_set UART4_IRQHandler,Default_Handler
.weak UART5_IRQHandler
.thumb_set UART5_IRQHandler,Default_Handler
.weak TIM6_DAC_IRQHandler
.thumb_set TIM6_DAC_IRQHandler,Default_Handler
.weak TIM7_IRQHandler
.thumb_set TIM7_IRQHandler,Default_Handler
.weak DMA2_Stream0_IRQHandler
.thumb_set DMA2_Stream0_IRQHandler,Default_Handler
.weak DMA2_Stream1_IRQHandler
.thumb_set DMA2_Stream1_IRQHandler,Default_Handler
.weak DMA2_Stream2_IRQHandler
.thumb_set DMA2_Stream2_IRQHandler,Default_Handler
.weak DMA2_Stream3_IRQHandler
.thumb_set DMA2_Stream3_IRQHandler,Default_Handler
.weak DMA2_Stream4_IRQHandler
.thumb_set DMA2_Stream4_IRQHandler,Default_Handler
.weak ETH_IRQHandler
.thumb_set ETH_IRQHandler,Default_Handler
.weak ETH_WKUP_IRQHandler
.thumb_set ETH_WKUP_IRQHandler,Default_Handler
.weak FDCAN_CAL_IRQHandler
.thumb_set FDCAN_CAL_IRQHandler,Default_Handler
.weak DMA2_Stream5_IRQHandler
.thumb_set DMA2_Stream5_IRQHandler,Default_Handler
.weak DMA2_Stream6_IRQHandler
.thumb_set DMA2_Stream6_IRQHandler,Default_Handler
.weak DMA2_Stream7_IRQHandler
.thumb_set DMA2_Stream7_IRQHandler,Default_Handler
.weak USART6_IRQHandler
.thumb_set USART6_IRQHandler,Default_Handler
.weak I2C3_EV_IRQHandler
.thumb_set I2C3_EV_IRQHandler,Default_Handler
.weak I2C3_ER_IRQHandler
.thumb_set I2C3_ER_IRQHandler,Default_Handler
.weak OTG_HS_EP1_OUT_IRQHandler
.thumb_set OTG_HS_EP1_OUT_IRQHandler,Default_Handler
.weak OTG_HS_EP1_IN_IRQHandler
.thumb_set OTG_HS_EP1_IN_IRQHandler,Default_Handler
.weak OTG_HS_WKUP_IRQHandler
.thumb_set OTG_HS_WKUP_IRQHandler,Default_Handler
.weak OTG_HS_IRQHandler
.thumb_set OTG_HS_IRQHandler,Default_Handler
.weak DCMI_PSSI_IRQHandler
.thumb_set DCMI_PSSI_IRQHandler,Default_Handler
.weak CRYP_IRQHandler
.thumb_set CRYP_IRQHandler,Default_Handler
.weak HASH_RNG_IRQHandler
.thumb_set HASH_RNG_IRQHandler,Default_Handler
.weak FPU_IRQHandler
.thumb_set FPU_IRQHandler,Default_Handler
.weak UART7_IRQHandler
.thumb_set UART7_IRQHandler,Default_Handler
.weak UART8_IRQHandler
.thumb_set UART8_IRQHandler,Default_Handler
.weak SPI4_IRQHandler
.thumb_set SPI4_IRQHandler,Default_Handler
.weak SPI5_IRQHandler
.thumb_set SPI5_IRQHandler,Default_Handler
.weak SPI6_IRQHandler
.thumb_set SPI6_IRQHandler,Default_Handler
.weak SAI1_IRQHandler
.thumb_set SAI1_IRQHandler,Default_Handler
.weak LTDC_IRQHandler
.thumb_set LTDC_IRQHandler,Default_Handler
.weak LTDC_ER_IRQHandler
.thumb_set LTDC_ER_IRQHandler,Default_Handler
.weak DMA2D_IRQHandler
.thumb_set DMA2D_IRQHandler,Default_Handler
.weak OCTOSPI1_IRQHandler
.thumb_set OCTOSPI1_IRQHandler,Default_Handler
.weak LPTIM1_IRQHandler
.thumb_set LPTIM1_IRQHandler,Default_Handler
.weak CEC_IRQHandler
.thumb_set CEC_IRQHandler,Default_Handler
.weak I2C4_EV_IRQHandler
.thumb_set I2C4_EV_IRQHandler,Default_Handler
.weak I2C4_ER_IRQHandler
.thumb_set I2C4_ER_IRQHandler,Default_Handler
.weak SPDIF_RX_IRQHandler
.thumb_set SPDIF_RX_IRQHandler,Default_Handler
.weak DMAMUX1_OVR_IRQHandler
.thumb_set DMAMUX1_OVR_IRQHandler,Default_Handler
.weak DFSDM1_FLT0_IRQHandler
.thumb_set DFSDM1_FLT0_IRQHandler,Default_Handler
.weak DFSDM1_FLT1_IRQHandler
.thumb_set DFSDM1_FLT1_IRQHandler,Default_Handler
.weak DFSDM1_FLT2_IRQHandler
.thumb_set DFSDM1_FLT2_IRQHandler,Default_Handler
.weak DFSDM1_FLT3_IRQHandler
.thumb_set DFSDM1_FLT3_IRQHandler,Default_Handler
.weak SWPMI1_IRQHandler
.thumb_set SWPMI1_IRQHandler,Default_Handler
.weak TIM15_IRQHandler
.thumb_set TIM15_IRQHandler,Default_Handler
.weak TIM16_IRQHandler
.thumb_set TIM16_IRQHandler,Default_Handler
.weak TIM17_IRQHandler
.thumb_set TIM17_IRQHandler,Default_Handler
.weak MDIOS_WKUP_IRQHandler
.thumb_set MDIOS_WKUP_IRQHandler,Default_Handler
.weak MDIOS_IRQHandler
.thumb_set MDIOS_IRQHandler,Default_Handler
.weak MDMA_IRQHandler
.thumb_set MDMA_IRQHandler,Default_Handler
.weak SDMMC2_IRQHandler
.thumb_set SDMMC2_IRQHandler,Default_Handler
.weak HSEM1_IRQHandler
.thumb_set HSEM1_IRQHandler,Default_Handler
.weak ADC3_IRQHandler
.thumb_set ADC3_IRQHandler,Default_Handler
.weak DMAMUX2_OVR_IRQHandler
.thumb_set DMAMUX2_OVR_IRQHandler,Default_Handler
.weak BDMA_Channel0_IRQHandler
.thumb_set BDMA_Channel0_IRQHandler,Default_Handler
.weak BDMA_Channel1_IRQHandler
.thumb_set BDMA_Channel1_IRQHandler,Default_Handler
.weak BDMA_Channel2_IRQHandler
.thumb_set BDMA_Channel2_IRQHandler,Default_Handler
.weak BDMA_Channel3_IRQHandler
.thumb_set BDMA_Channel3_IRQHandler,Default_Handler
.weak BDMA_Channel4_IRQHandler
.thumb_set BDMA_Channel4_IRQHandler,Default_Handler
.weak BDMA_Channel5_IRQHandler
.thumb_set BDMA_Channel5_IRQHandler,Default_Handler
.weak BDMA_Channel6_IRQHandler
.thumb_set BDMA_Channel6_IRQHandler,Default_Handler
.weak BDMA_Channel7_IRQHandler
.thumb_set BDMA_Channel7_IRQHandler,Default_Handler
.weak COMP1_IRQHandler
.thumb_set COMP1_IRQHandler,Default_Handler
.weak LPTIM2_IRQHandler
.thumb_set LPTIM2_IRQHandler,Default_Handler
.weak LPTIM3_IRQHandler
.thumb_set LPTIM3_IRQHandler,Default_Handler
.weak LPTIM4_IRQHandler
.thumb_set LPTIM4_IRQHandler,Default_Handler
.weak LPTIM5_IRQHandler
.thumb_set LPTIM5_IRQHandler,Default_Handler
.weak LPUART1_IRQHandler
.thumb_set LPUART1_IRQHandler,Default_Handler
.weak CRS_IRQHandler
.thumb_set CRS_IRQHandler,Default_Handler
.weak ECC_IRQHandler
.thumb_set ECC_IRQHandler,Default_Handler
.weak SAI4_IRQHandler
.thumb_set SAI4_IRQHandler,Default_Handler
.weak DTS_IRQHandler
.thumb_set DTS_IRQHandler,Default_Handler
.weak WAKEUP_PIN_IRQHandler
.thumb_set WAKEUP_PIN_IRQHandler,Default_Handler
.weak OCTOSPI2_IRQHandler
.thumb_set OCTOSPI2_IRQHandler,Default_Handler
.weak OTFDEC1_IRQHandler
.thumb_set OTFDEC1_IRQHandler,Default_Handler
.weak OTFDEC2_IRQHandler
.thumb_set OTFDEC2_IRQHandler,Default_Handler
.weak FMAC_IRQHandler
.thumb_set FMAC_IRQHandler,Default_Handler
.weak CORDIC_IRQHandler
.thumb_set CORDIC_IRQHandler,Default_Handler
.weak UART9_IRQHandler
.thumb_set UART9_IRQHandler,Default_Handler
.weak USART10_IRQHandler
.thumb_set USART10_IRQHandler,Default_Handler
.weak I2C5_EV_IRQHandler
.thumb_set I2C5_EV_IRQHandler,Default_Handler
.weak I2C5_ER_IRQHandler
.thumb_set I2C5_ER_IRQHandler,Default_Handler
.weak FDCAN3_IT0_IRQHandler
.thumb_set FDCAN3_IT0_IRQHandler,Default_Handler
.weak FDCAN3_IT1_IRQHandler
.thumb_set FDCAN3_IT1_IRQHandler,Default_Handler
.weak TIM23_IRQHandler
.thumb_set TIM23_IRQHandler,Default_Handler
.weak TIM24_IRQHandler
.thumb_set TIM24_IRQHandler,Default_Handler
/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/

75
panda/board/stm32h7/stm32h7_config.h 100644
View File

@ -0,0 +1,75 @@
#include "stm32h7/inc/stm32h7xx.h"
#include "stm32h7/inc/stm32h7xx_hal_gpio_ex.h"
#define MCU_IDCODE 0x483U
// from the linker script
#define APP_START_ADDRESS 0x8020000U
#define CORE_FREQ 240U // in Mhz
//APB1 - 120Mhz, APB2 - 120Mhz
#define APB1_FREQ CORE_FREQ/2U
#define APB2_FREQ CORE_FREQ/2U
#define BOOTLOADER_ADDRESS 0x1FF09804U
// Around (1Mbps / 8 bits/byte / 12 bytes per message)
#define CAN_INTERRUPT_RATE 12000U // FIXME: should raise to 16000 ?
#define MAX_LED_FADE 10240U
// Threshold voltage (mV) for either of the SBUs to be below before deciding harness is connected
#define HARNESS_CONNECTED_THRESHOLD 40000U
// There are 163 external interrupt sources (see stm32f735xx.h)
#define NUM_INTERRUPTS 163U
#define TICK_TIMER_IRQ TIM8_BRK_TIM12_IRQn
#define TICK_TIMER TIM12
#define MICROSECOND_TIMER TIM2
#define INTERRUPT_TIMER_IRQ TIM6_DAC_IRQn
#define INTERRUPT_TIMER TIM6
#define PROVISION_CHUNK_ADDRESS 0x080FFFE0U
#define DEVICE_SERIAL_NUMBER_ADDRESS 0x080FFFC0U
#ifndef BOOTSTUB
#include "main_declarations.h"
#else
#include "bootstub_declarations.h"
#endif
#include "libc.h"
#include "critical.h"
#include "faults.h"
#include "drivers/registers.h"
#include "drivers/interrupts.h"
#include "drivers/gpio.h"
#include "stm32h7/peripherals.h"
#include "stm32h7/interrupt_handlers.h"
#include "drivers/timers.h"
#include "stm32h7/lladc.h"
#include "stm32h7/board.h"
#include "stm32h7/clock.h"
#if !defined (BOOTSTUB) && defined(PANDA)
#include "drivers/uart.h"
#include "stm32h7/lluart.h"
#endif
#ifdef BOOTSTUB
#include "stm32h7/llflash.h"
#else
#include "stm32h7/llfdcan.h"
#endif
#include "stm32h7/llusb.h"
void early_gpio_float(void) {
RCC->AHB4ENR = RCC_AHB4ENR_GPIOAEN | RCC_AHB4ENR_GPIOBEN | RCC_AHB4ENR_GPIOCEN | RCC_AHB4ENR_GPIODEN | RCC_AHB4ENR_GPIOEEN | RCC_AHB4ENR_GPIOFEN | RCC_AHB4ENR_GPIOGEN | RCC_AHB4ENR_GPIOHEN;
GPIOA->MODER = 0; GPIOB->MODER = 0; GPIOC->MODER = 0; GPIOD->MODER = 0; GPIOE->MODER = 0; GPIOF->MODER = 0; GPIOG->MODER = 0; GPIOH->MODER = 0;
GPIOA->ODR = 0; GPIOB->ODR = 0; GPIOC->ODR = 0; GPIOD->ODR = 0; GPIOE->ODR = 0; GPIOF->ODR = 0; GPIOG->ODR = 0; GPIOH->ODR = 0;
GPIOA->PUPDR = 0; GPIOB->PUPDR = 0; GPIOC->PUPDR = 0; GPIOD->PUPDR = 0; GPIOE->PUPDR = 0; GPIOF->PUPDR = 0; GPIOG->PUPDR = 0; GPIOH->PUPDR = 0;
}

186
panda/board/stm32h7/stm32h7x5_flash.ld 100644
View File

@ -0,0 +1,186 @@
/*
******************************************************************************
**
** File : LinkerScript.ld
**
** Author : Auto-generated by System Workbench for STM32
**
** Abstract : Linker script for STM32H735ZGTx series
** 1024Kbytes FLASH and 560Kbytes RAM
**
** Set heap size, stack size and stack location according
** to application requirements.
**
** Set memory bank area and size if external memory is used.
**
** Target : STMicroelectronics STM32
**
** Distribution: The file is distributed “as is,” without any warranty
** of any kind.
**
*****************************************************************************
** @attention
**
** <h2><center>&copy; COPYRIGHT(c) 2019 STMicroelectronics</center></h2>
**
** Redistribution and use in source and binary forms, with or without modification,
** are permitted provided that the following conditions are met:
** 1. Redistributions of source code must retain the above copyright notice,
** this list of conditions and the following disclaimer.
** 2. Redistributions in binary form must reproduce the above copyright notice,
** this list of conditions and the following disclaimer in the documentation
** and/or other materials provided with the distribution.
** 3. Neither the name of STMicroelectronics nor the names of its contributors
** may be used to endorse or promote products derived from this software
** without specific prior written permission.
**
** THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
** AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
** IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
** DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
** FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
** DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
** SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
** CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
** OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
** OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
**
*****************************************************************************
*/
/* Entry Point */
ENTRY(Reset_Handler)
/* Highest address of the user mode stack */
enter_bootloader_mode = 0x38001FFC;
_estack = 0x20020000; /* end of RAM */
_app_start = 0x08020000; /* Reserve Sector 0(128K) for bootloader */
/* Generate a link error if heap and stack don't fit into RAM */
_Min_Heap_Size = 0x200; /* required amount of heap */
_Min_Stack_Size = 0x400; /* required amount of stack */
/* Specify the memory areas */
MEMORY
{
DTCMRAM (xrw) : ORIGIN = 0x20000000, LENGTH = 128K
RAM_D1 (xrw) : ORIGIN = 0x24000000, LENGTH = 320K
RAM_D2 (xrw) : ORIGIN = 0x30000000, LENGTH = 32K
RAM_D3 (xrw) : ORIGIN = 0x38000000, LENGTH = 16K
ITCMRAM (xrw) : ORIGIN = 0x00000000, LENGTH = 64K
FLASH (rx) : ORIGIN = 0x8000000, LENGTH = 1024K
}
/* Define output sections */
SECTIONS
{
/* The startup code goes first into FLASH */
.isr_vector :
{
. = ALIGN(4);
KEEP(*(.isr_vector)) /* Startup code */
. = ALIGN(4);
} >FLASH
/* The program code and other data goes into FLASH */
.text :
{
. = ALIGN(4);
*(.text) /* .text sections (code) */
*(.text*) /* .text* sections (code) */
*(.glue_7) /* glue arm to thumb code */
*(.glue_7t) /* glue thumb to arm code */
*(.eh_frame)
KEEP (*(.init))
KEEP (*(.fini))
. = ALIGN(4);
_etext = .; /* define a global symbols at end of code */
} >FLASH
/* Constant data goes into FLASH */
.rodata :
{
. = ALIGN(4);
*(.rodata) /* .rodata sections (constants, strings, etc.) */
*(.rodata*) /* .rodata* sections (constants, strings, etc.) */
. = ALIGN(4);
} >FLASH
.ARM.extab : { *(.ARM.extab* .gnu.linkonce.armextab.*) } >FLASH
.ARM : {
__exidx_start = .;
*(.ARM.exidx*)
__exidx_end = .;
} >FLASH
.preinit_array :
{
PROVIDE_HIDDEN (__preinit_array_start = .);
KEEP (*(.preinit_array*))
PROVIDE_HIDDEN (__preinit_array_end = .);
} >FLASH
.init_array :
{
PROVIDE_HIDDEN (__init_array_start = .);
KEEP (*(SORT(.init_array.*)))
KEEP (*(.init_array*))
PROVIDE_HIDDEN (__init_array_end = .);
} >FLASH
.fini_array :
{
PROVIDE_HIDDEN (__fini_array_start = .);
KEEP (*(SORT(.fini_array.*)))
KEEP (*(.fini_array*))
PROVIDE_HIDDEN (__fini_array_end = .);
} >FLASH
/* used by the startup to initialize data */
_sidata = LOADADDR(.data);
/* Initialized data sections goes into RAM, load LMA copy after code */
.data :
{
. = ALIGN(4);
_sdata = .; /* create a global symbol at data start */
*(.data) /* .data sections */
*(.data*) /* .data* sections */
. = ALIGN(4);
_edata = .; /* define a global symbol at data end */
} >DTCMRAM AT> FLASH
/* Uninitialized data section */
. = ALIGN(4);
.bss :
{
/* This is used by the startup in order to initialize the .bss secion */
_sbss = .; /* define a global symbol at bss start */
__bss_start__ = _sbss;
*(.bss)
*(.bss*)
*(COMMON)
. = ALIGN(4);
_ebss = .; /* define a global symbol at bss end */
__bss_end__ = _ebss;
} >DTCMRAM
/* User_heap_stack section, used to check that there is enough RAM left */
._user_heap_stack :
{
. = ALIGN(8);
PROVIDE ( end = . );
PROVIDE ( _end = . );
. = . + _Min_Heap_Size;
. = . + _Min_Stack_Size;
. = ALIGN(8);
} >DTCMRAM
.ARM.attributes 0 : { *(.ARM.attributes) }
}

38
panda/python/__init__.py
View File

@ -8,17 +8,16 @@ import os
import time
import traceback
import sys
from .dfu import PandaDFU # pylint: disable=import-error
from .dfu import PandaDFU, MCU_TYPE_F2, MCU_TYPE_F4, MCU_TYPE_H7 # pylint: disable=import-error
from .flash_release import flash_release # noqa pylint: disable=import-error
from .update import ensure_st_up_to_date # noqa pylint: disable=import-error
from .serial import PandaSerial # noqa pylint: disable=import-error
from .isotp import isotp_send, isotp_recv # pylint: disable=import-error
from .config import DEFAULT_FW_FN, DEFAULT_H7_FW_FN # noqa pylint: disable=import-error
__version__ = '0.0.9'
BASEDIR = os.path.join(os.path.dirname(os.path.realpath(__file__)), "../")
DEFAULT_FW_FN = os.path.join(BASEDIR, "board", "obj", "panda.bin.signed")
DEBUG = os.getenv("PANDADEBUG") is not None
@ -139,6 +138,11 @@ class Panda(object):
HW_TYPE_PEDAL = b'\x04'
HW_TYPE_UNO = b'\x05'
HW_TYPE_DOS = b'\x06'
HW_TYPE_RED_PANDA = b'\x07'
F2_DEVICES = [HW_TYPE_PEDAL]
F4_DEVICES = [HW_TYPE_WHITE_PANDA, HW_TYPE_GREY_PANDA, HW_TYPE_BLACK_PANDA, HW_TYPE_UNO, HW_TYPE_DOS]
H7_DEVICES = [HW_TYPE_RED_PANDA]
CLOCK_SOURCE_MODE_DISABLED = 0
CLOCK_SOURCE_MODE_FREE_RUNNING = 1
@ -151,6 +155,7 @@ class Panda(object):
self._serial = serial
self._handle = None
self.connect(claim)
self._mcu_type = self.get_mcu_type()
def close(self):
self._handle.close()
@ -225,7 +230,7 @@ class Panda(object):
except Exception:
print("reconnecting is taking %d seconds..." % (i + 1))
try:
dfu = PandaDFU(PandaDFU.st_serial_to_dfu_serial(self._serial))
dfu = PandaDFU(PandaDFU.st_serial_to_dfu_serial(self._serial, self._mcu_type))
dfu.recover()
except Exception:
pass
@ -262,6 +267,8 @@ class Panda(object):
pass
def flash(self, fn=DEFAULT_FW_FN, code=None, reconnect=True):
if self._mcu_type == MCU_TYPE_H7 and fn == DEFAULT_FW_FN:
fn = DEFAULT_H7_FW_FN
print("flash: main version is " + self.get_version())
if not self.bootstub:
self.reset(enter_bootstub=True)
@ -291,7 +298,7 @@ class Panda(object):
if timeout is not None and (time.time() - t_start) > timeout:
return False
dfu = PandaDFU(PandaDFU.st_serial_to_dfu_serial(self._serial))
dfu = PandaDFU(PandaDFU.st_serial_to_dfu_serial(self._serial, self._mcu_type))
dfu.recover()
# reflash after recover
@ -401,9 +408,25 @@ class Panda(object):
def is_dos(self):
return self.get_type() == Panda.HW_TYPE_DOS
def is_red(self):
return self.get_type() == Panda.HW_TYPE_RED_PANDA
def get_mcu_type(self):
hw_type = self.get_type()
if hw_type in Panda.F2_DEVICES:
return MCU_TYPE_F2
elif hw_type in Panda.F4_DEVICES:
return MCU_TYPE_F4
elif hw_type in Panda.H7_DEVICES:
return MCU_TYPE_H7
return None
def has_obd(self):
return (self.is_uno() or self.is_dos() or self.is_black())
return (self.is_uno() or self.is_dos() or self.is_black() or self.is_red())
def has_canfd(self):
return self._mcu_type in Panda.H7_DEVICES
def get_serial(self):
dat = self._handle.controlRead(Panda.REQUEST_IN, 0xd0, 0, 0, 0x20)
@ -460,6 +483,9 @@ class Panda(object):
def set_can_speed_kbps(self, bus, speed):
self._handle.controlWrite(Panda.REQUEST_OUT, 0xde, bus, int(speed * 10), b'')
def set_can_data_speed_kbps(self, bus, speed):
self._handle.controlWrite(Panda.REQUEST_OUT, 0xf9, bus, int(speed * 10), b'')
def set_uart_baud(self, uart, rate):
self._handle.controlWrite(Panda.REQUEST_OUT, 0xe4, uart, int(rate / 300), b'')

18
panda/python/config.py 100644
View File

@ -0,0 +1,18 @@
import os
BASEDIR = os.path.join(os.path.dirname(os.path.realpath(__file__)), "../")
BOOTSTUB_ADDRESS = 0x8000000
BLOCK_SIZE_FX = 0x800
APP_ADDRESS_FX = 0x8004000
DEVICE_SERIAL_NUMBER_ADDR_FX = 0x1FFF79C0
DEFAULT_FW_FN = os.path.join(BASEDIR, "board", "obj", "panda.bin.signed")
DEFAULT_BOOTSTUB_FN = os.path.join(BASEDIR, "board", "obj", "bootstub.panda.bin")
BLOCK_SIZE_H7 = 0x400
APP_ADDRESS_H7 = 0x8020000
DEVICE_SERIAL_NUMBER_ADDR_H7 = 0x080FFFC0
DEFAULT_H7_FW_FN = os.path.join(BASEDIR, "board", "obj", "panda_h7.bin.signed")
DEFAULT_H7_BOOTSTUB_FN = os.path.join(BASEDIR, "board", "obj", "bootstub.panda_h7.bin")

35
panda/python/dfu.py
View File

@ -1,10 +1,14 @@
import os
import usb1
import struct
import binascii
from .config import BOOTSTUB_ADDRESS, APP_ADDRESS_H7, APP_ADDRESS_FX, BLOCK_SIZE_H7, BLOCK_SIZE_FX, DEFAULT_H7_BOOTSTUB_FN, DEFAULT_BOOTSTUB_FN
MCU_TYPE_F2 = 0
MCU_TYPE_F4 = 1
MCU_TYPE_H7 = 2
# *** DFU mode ***
DFU_DNLOAD = 1
DFU_UPLOAD = 2
DFU_GETSTATUS = 3
@ -21,6 +25,7 @@ class PandaDFU(object):
except Exception:
continue
if this_dfu_serial == dfu_serial or dfu_serial is None:
self._mcu_type = self.get_mcu_type(device)
self._handle = device.open()
return
raise Exception("failed to open " + dfu_serial if dfu_serial is not None else "DFU device")
@ -41,11 +46,18 @@ class PandaDFU(object):
return dfu_serials
@staticmethod
def st_serial_to_dfu_serial(st):
def st_serial_to_dfu_serial(st, mcu_type=MCU_TYPE_F4):
if st is None or st == "none":
return None
uid_base = struct.unpack("H" * 6, bytes.fromhex(st))
return binascii.hexlify(struct.pack("!HHH", uid_base[1] + uid_base[5], uid_base[0] + uid_base[4] + 0xA, uid_base[3])).upper().decode("utf-8")
if mcu_type == MCU_TYPE_H7:
return binascii.hexlify(struct.pack("!HHH", uid_base[1] + uid_base[5], uid_base[0] + uid_base[4], uid_base[3])).upper().decode("utf-8")
else:
return binascii.hexlify(struct.pack("!HHH", uid_base[1] + uid_base[5], uid_base[0] + uid_base[4] + 0xA, uid_base[3])).upper().decode("utf-8")
# TODO: Find a way to detect F4 vs F2
def get_mcu_type(self, dev):
return MCU_TYPE_H7 if dev.getbcdDevice() == 512 else MCU_TYPE_F4
def status(self):
while 1:
@ -85,14 +97,17 @@ class PandaDFU(object):
def program_bootstub(self, code_bootstub):
self.clear_status()
self.erase(0x8004000)
self.erase(0x8000000)
self.program(0x8000000, code_bootstub, 0x800)
self.erase(BOOTSTUB_ADDRESS)
if self._mcu_type == MCU_TYPE_H7:
self.erase(APP_ADDRESS_H7)
self.program(BOOTSTUB_ADDRESS, code_bootstub, BLOCK_SIZE_H7)
else:
self.erase(APP_ADDRESS_FX)
self.program(BOOTSTUB_ADDRESS, code_bootstub, BLOCK_SIZE_FX)
self.reset()
def recover(self):
from panda import BASEDIR
fn = os.path.join(BASEDIR, "board", "obj", "bootstub.panda.bin")
fn = DEFAULT_H7_BOOTSTUB_FN if self._mcu_type == MCU_TYPE_H7 else DEFAULT_BOOTSTUB_FN
with open(fn, "rb") as f:
code = f.read()
@ -101,7 +116,7 @@ class PandaDFU(object):
def reset(self):
# **** Reset ****
self._handle.controlWrite(0x21, DFU_DNLOAD, 0, 0, b"\x21" + struct.pack("I", 0x8000000))
self._handle.controlWrite(0x21, DFU_DNLOAD, 0, 0, b"\x21" + struct.pack("I", BOOTSTUB_ADDRESS))
self.status()
try:
self._handle.controlWrite(0x21, DFU_DNLOAD, 2, 0, b"")

7
release/files_common
View File

@ -275,6 +275,7 @@ selfdrive/hardware/hw.h
selfdrive/hardware/eon/__init__.py
selfdrive/hardware/eon/hardware.h
selfdrive/hardware/eon/hardware.py
selfdrive/hardware/eon/androidd.py
selfdrive/hardware/tici/__init__.py
selfdrive/hardware/tici/hardware.py
selfdrive/hardware/tici/amplifier.py
@ -310,7 +311,9 @@ selfdrive/logcatd/logcatd_android.cc
selfdrive/logcatd/logcatd_systemd.cc
selfdrive/proclogd/SConscript
selfdrive/proclogd/proclogd.cc
selfdrive/proclogd/main.cc
selfdrive/proclogd/proclog.cc
selfdrive/proclogd/proclog.h
selfdrive/loggerd/SConscript
selfdrive/loggerd/encoder.h
@ -502,6 +505,7 @@ cereal/log.capnp
cereal/services.py
cereal/SConscript
cereal/include/**
cereal/logger/logger.h
cereal/messaging/.gitignore
cereal/messaging/__init__.py
cereal/messaging/bridge.cc
@ -525,7 +529,6 @@ cereal/visionipc/*.pxd
panda/.gitignore
panda/__init__.py
panda/VERSION
panda/board/**
panda/certs/**
panda/crypto/**

2
release/files_tici
View File

@ -1,5 +1,3 @@
installer/continue_openpilot.sh
phonelibs/mapbox-gl-native-qt/include/*
selfdrive/timezoned.py

77
selfdrive/athena/athenad.py
View File

@ -22,6 +22,7 @@ from websocket import ABNF, WebSocketTimeoutException, WebSocketException, creat
import cereal.messaging as messaging
from cereal.services import service_list
from common.api import Api
from common.file_helpers import CallbackReader
from common.basedir import PERSIST
from common.params import Params
from common.realtime import sec_since_boot
@ -41,6 +42,7 @@ RECONNECT_TIMEOUT_S = 70
RETRY_DELAY = 10 # seconds
MAX_RETRY_COUNT = 30 # Try for at most 5 minutes if upload fails immediately
WS_FRAME_SIZE = 4096
dispatcher["echo"] = lambda s: s
recv_queue: Any = queue.Queue()
@ -49,7 +51,9 @@ upload_queue: Any = queue.Queue()
log_send_queue: Any = queue.Queue()
log_recv_queue: Any = queue.Queue()
cancelled_uploads: Any = set()
UploadItem = namedtuple('UploadItem', ['path', 'url', 'headers', 'created_at', 'id', 'retry_count'], defaults=(0,))
UploadItem = namedtuple('UploadItem', ['path', 'url', 'headers', 'created_at', 'id', 'retry_count', 'current', 'progress'], defaults=(0, False, 0))
cur_upload_items = {}
def handle_long_poll(ws):
@ -100,35 +104,53 @@ def jsonrpc_handler(end_event):
def upload_handler(end_event):
tid = threading.get_ident()
while not end_event.is_set():
cur_upload_items[tid] = None
try:
item = upload_queue.get(timeout=1)
if item.id in cancelled_uploads:
cancelled_uploads.remove(item.id)
cur_upload_items[tid] = upload_queue.get(timeout=1)._replace(current=True)
if cur_upload_items[tid].id in cancelled_uploads:
cancelled_uploads.remove(cur_upload_items[tid].id)
continue
try:
_do_upload(item)
except (requests.exceptions.Timeout, requests.exceptions.ConnectionError, requests.exceptions.SSLError) as e:
cloudlog.warning(f"athena.upload_handler.retry {e} {item}")
def cb(sz, cur):
cur_upload_items[tid] = cur_upload_items[tid]._replace(progress=cur / sz if sz else 1)
if item.retry_count < MAX_RETRY_COUNT:
item = item._replace(retry_count=item.retry_count + 1)
_do_upload(cur_upload_items[tid], cb)
except (requests.exceptions.Timeout, requests.exceptions.ConnectionError, requests.exceptions.SSLError) as e:
cloudlog.warning(f"athena.upload_handler.retry {e} {cur_upload_items[tid]}")
if cur_upload_items[tid].retry_count < MAX_RETRY_COUNT:
item = cur_upload_items[tid]
item = item._replace(
retry_count=item.retry_count + 1,
progress=0,
current=False
)
upload_queue.put_nowait(item)
cur_upload_items[tid] = None
for _ in range(RETRY_DELAY):
time.sleep(1)
if end_event.is_set():
break
except queue.Empty:
pass
except Exception:
cloudlog.exception("athena.upload_handler.exception")
def _do_upload(upload_item):
def _do_upload(upload_item, callback=None):
with open(upload_item.path, "rb") as f:
size = os.fstat(f.fileno()).st_size
if callback:
f = CallbackReader(f, callback, size)
return requests.put(upload_item.url,
data=f,
headers={**upload_item.headers, 'Content-Length': str(size)},
@ -171,11 +193,29 @@ def setNavDestination(latitude=0, longitude=0):
return {"success": 1}
@dispatcher.add_method
def listDataDirectory():
files = [os.path.relpath(os.path.join(dp, f), ROOT) for dp, dn, fn in os.walk(ROOT) for f in fn]
def scan_dir(path, prefix):
files = list()
# only walk directories that match the prefix
# (glob and friends traverse entire dir tree)
with os.scandir(path) as i:
for e in i:
rel_path = os.path.relpath(e.path, ROOT)
if e.is_dir(follow_symlinks=False):
# add trailing slash
rel_path = os.path.join(rel_path, '')
# if prefix is a partial dir name, current dir will start with prefix
# if prefix is a partial file name, prefix with start with dir name
if rel_path.startswith(prefix) or prefix.startswith(rel_path):
files.extend(scan_dir(e.path, prefix))
else:
if rel_path.startswith(prefix):
files.append(rel_path)
return files
@dispatcher.add_method
def listDataDirectory(prefix=''):
return scan_dir(ROOT, prefix)
@dispatcher.add_method
def reboot():
@ -212,7 +252,8 @@ def uploadFileToUrl(fn, url, headers):
@dispatcher.add_method
def listUploadQueue():
return [item._asdict() for item in list(upload_queue.queue)]
items = list(upload_queue.queue) + list(cur_upload_items.values())
return [i._asdict() for i in items if i is not None]
@dispatcher.add_method
@ -466,7 +507,11 @@ def ws_send(ws, end_event):
data = send_queue.get_nowait()
except queue.Empty:
data = log_send_queue.get(timeout=1)
ws.send(data)
for i in range(0, len(data), WS_FRAME_SIZE):
frame = data[i:i+WS_FRAME_SIZE]
last = i + WS_FRAME_SIZE >= len(data)
opcode = ABNF.OPCODE_TEXT if i == 0 else ABNF.OPCODE_CONT
ws.send_frame(ABNF.create_frame(frame, opcode, last))
except queue.Empty:
pass
except Exception:
@ -514,6 +559,8 @@ def main():
manage_tokens(api)
conn_retries = 0
cur_upload_items.clear()
handle_long_poll(ws)
except (KeyboardInterrupt, SystemExit):
break

3
selfdrive/boardd/boardd.cc
View File

@ -445,9 +445,10 @@ void hardware_control_thread() {
if (sm.updated("driverCameraState")) {
auto event = sm["driverCameraState"];
int cur_integ_lines = event.getDriverCameraState().getIntegLines();
float cur_gain = event.getDriverCameraState().getGain();
if (Hardware::TICI()) {
cur_integ_lines = integ_lines_filter.update(cur_integ_lines);
cur_integ_lines = integ_lines_filter.update(cur_integ_lines * cur_gain);
}
last_front_frame_t = event.getLogMonoTime();

31
selfdrive/boardd/panda.cc
View File

@ -11,8 +11,10 @@
#include "selfdrive/common/swaglog.h"
#include "selfdrive/common/util.h"
Panda::Panda() {
Panda::Panda(std::string serial) {
// init libusb
ssize_t num_devices;
libusb_device **dev_list = NULL;
int err = libusb_init(&ctx);
if (err != 0) { goto fail; }
@ -22,8 +24,28 @@ Panda::Panda() {
libusb_set_debug(ctx, 3);
#endif
dev_handle = libusb_open_device_with_vid_pid(ctx, 0xbbaa, 0xddcc);
if (dev_handle == NULL) { goto fail; }
// connect by serial
num_devices = libusb_get_device_list(ctx, &dev_list);
if (num_devices < 0) { goto fail; }
for (size_t i = 0; i < num_devices; ++i) {
libusb_device_descriptor desc;
libusb_get_device_descriptor(dev_list[i], &desc);
if (desc.idVendor == 0xbbaa && desc.idProduct == 0xddcc) {
libusb_open(dev_list[i], &dev_handle);
if (dev_handle == NULL) { goto fail; }
unsigned char desc_serial[25];
int ret = libusb_get_string_descriptor_ascii(dev_handle, desc.iSerialNumber, desc_serial, sizeof(desc_serial));
if (ret < 0) { goto fail; }
if (serial.empty() || serial.compare(reinterpret_cast<const char*>(desc_serial)) == 0) {
break;
}
libusb_close(dev_handle);
dev_handle = NULL;
}
}
libusb_free_device_list(dev_list, 1);
if (libusb_kernel_driver_active(dev_handle, 0) == 1) {
libusb_detach_kernel_driver(dev_handle, 0);
@ -47,6 +69,9 @@ Panda::Panda() {
fail:
cleanup();
if (dev_list != NULL) {
libusb_free_device_list(dev_list, 1);
}
throw std::runtime_error("Error connecting to panda");
}

2
selfdrive/boardd/panda.h
View File

@ -49,7 +49,7 @@ class Panda {
void cleanup();
public:
Panda();
Panda(std::string serial="");
~Panda();
std::atomic<bool> connected = true;

54
selfdrive/camerad/cameras/camera_common.cc
View File

@ -127,8 +127,6 @@ bool CameraBuf::acquire() {
const size_t globalWorkSize[] = {size_t(camera_state->ci.frame_width), size_t(camera_state->ci.frame_height)};
const size_t localWorkSize[] = {DEBAYER_LOCAL_WORKSIZE, DEBAYER_LOCAL_WORKSIZE};
CL_CHECK(clSetKernelArg(krnl_debayer, 2, localMemSize, 0));
int ggain = camera_state->analog_gain + 4*camera_state->dc_gain_enabled;
CL_CHECK(clSetKernelArg(krnl_debayer, 3, sizeof(int), &ggain));
CL_CHECK(clEnqueueNDRangeKernel(q, krnl_debayer, 2, NULL, globalWorkSize, localWorkSize,
0, 0, &debayer_event));
#else
@ -193,11 +191,11 @@ void fill_frame_data(cereal::FrameData::Builder &framed, const FrameMetadata &fr
}
kj::Array<uint8_t> get_frame_image(const CameraBuf *b) {
static const int x_min = getenv("XMIN") ? atoi(getenv("XMIN")) : 0;
static const int y_min = getenv("YMIN") ? atoi(getenv("YMIN")) : 0;
static const int env_xmax = getenv("XMAX") ? atoi(getenv("XMAX")) : -1;
static const int env_ymax = getenv("YMAX") ? atoi(getenv("YMAX")) : -1;
static const int scale = getenv("SCALE") ? atoi(getenv("SCALE")) : 1;
static const int x_min = util::getenv("XMIN", 0);
static const int y_min = util::getenv("YMIN", 0);
static const int env_xmax = util::getenv("XMAX", -1);
static const int env_ymax = util::getenv("YMAX", -1);
static const int scale = util::getenv("SCALE", 1);
assert(b->cur_rgb_buf);
@ -280,39 +278,30 @@ static void publish_thumbnail(PubMaster *pm, const CameraBuf *b) {
free(thumbnail_buffer);
}
float set_exposure_target(const CameraBuf *b, int x_start, int x_end, int x_skip, int y_start, int y_end, int y_skip, int analog_gain, bool hist_ceil, bool hl_weighted) {
const uint8_t *pix_ptr = b->cur_yuv_buf->y;
float set_exposure_target(const CameraBuf *b, int x_start, int x_end, int x_skip, int y_start, int y_end, int y_skip) {
int lum_med;
uint32_t lum_binning[256] = {0};
const uint8_t *pix_ptr = b->cur_yuv_buf->y;
unsigned int lum_total = 0;
for (int y = y_start; y < y_end; y += y_skip) {
for (int x = x_start; x < x_end; x += x_skip) {
uint8_t lum = pix_ptr[(y * b->rgb_width) + x];
if (hist_ceil && lum < 80 && lum_binning[lum] > HISTO_CEIL_K * (y_end - y_start) * (x_end - x_start) / x_skip / y_skip / 256) {
continue;
}
lum_binning[lum]++;
lum_total += 1;
}
}
// Find mean lumimance value
unsigned int lum_cur = 0;
int lum_med = 0;
int lum_med_alt = 0;
for (lum_med=255; lum_med>=0; lum_med--) {
for (lum_med = 255; lum_med >= 0; lum_med--) {
lum_cur += lum_binning[lum_med];
if (hl_weighted) {
int lum_med_tmp = 0;
int hb = HLC_THRESH + (10 - analog_gain);
if (lum_cur > 0 && lum_med > hb) {
lum_med_tmp = (lum_med - hb) + 100;
}
lum_med_alt = lum_med_alt>lum_med_tmp?lum_med_alt:lum_med_tmp;
}
if (lum_cur >= lum_total / 2) {
break;
}
}
lum_med = lum_med_alt>0 ? lum_med + lum_med/32*lum_cur*abs(lum_med_alt - lum_med)/lum_total:lum_med;
return lum_med / 256.0;
}
@ -355,18 +344,12 @@ static void driver_cam_auto_exposure(CameraState *c, SubMaster &sm) {
struct ExpRect {int x1, x2, x_skip, y1, y2, y_skip;};
const CameraBuf *b = &c->buf;
bool hist_ceil = false, hl_weighted = false;
int x_offset = 0, y_offset = 0;
int frame_width = b->rgb_width, frame_height = b->rgb_height;
#ifndef QCOM2
int analog_gain = -1;
#else
int analog_gain = c->analog_gain;
#endif
ExpRect def_rect;
if (Hardware::TICI()) {
hist_ceil = hl_weighted = true;
x_offset = 630, y_offset = 156;
frame_width = 668, frame_height = frame_width / 1.33;
def_rect = {96, 1832, 2, 242, 1148, 4};
@ -377,7 +360,7 @@ static void driver_cam_auto_exposure(CameraState *c, SubMaster &sm) {
static ExpRect rect = def_rect;
// use driver face crop for AE
if (sm.updated("driverState")) {
if (Hardware::EON() && sm.updated("driverState")) {
if (auto state = sm["driverState"].getDriverState(); state.getFaceProb() > 0.4) {
auto face_position = state.getFacePosition();
int x = is_rhd ? 0 : frame_width - (0.5 * frame_height);
@ -385,16 +368,15 @@ static void driver_cam_auto_exposure(CameraState *c, SubMaster &sm) {
int y = (face_position[1] + 0.5) * frame_height + y_offset;
rect = {std::max(0, x - 72), std::min(b->rgb_width - 1, x + 72), 2,
std::max(0, y - 72), std::min(b->rgb_height - 1, y + 72), 1};
} else {
rect = def_rect;
}
}
camera_autoexposure(c, set_exposure_target(b, rect.x1, rect.x2, rect.x_skip, rect.y1, rect.y2, rect.y_skip, analog_gain, hist_ceil, hl_weighted));
camera_autoexposure(c, set_exposure_target(b, rect.x1, rect.x2, rect.x_skip, rect.y1, rect.y2, rect.y_skip));
}
void common_process_driver_camera(SubMaster *sm, PubMaster *pm, CameraState *c, int cnt) {
if (cnt % 3 == 0) {
int j = Hardware::TICI() ? 1 : 3;
if (cnt % j == 0) {
sm->update(0);
driver_cam_auto_exposure(c, *sm);
}

8
selfdrive/camerad/cameras/camera_common.h
View File

@ -27,16 +27,13 @@
#define CAMERA_ID_MAX 9
#define UI_BUF_COUNT 4
#define LOG_CAMERA_ID_FCAMERA 0
#define LOG_CAMERA_ID_DCAMERA 1
#define LOG_CAMERA_ID_ECAMERA 2
#define LOG_CAMERA_ID_QCAMERA 3
#define LOG_CAMERA_ID_MAX 4
#define HLC_THRESH 222
#define HLC_A 80
#define HISTO_CEIL_K 5
const bool env_send_driver = getenv("SEND_DRIVER") != NULL;
const bool env_send_road = getenv("SEND_ROAD") != NULL;
const bool env_send_wide_road = getenv("SEND_WIDE_ROAD") != NULL;
@ -62,6 +59,7 @@ typedef struct LogCameraInfo {
bool is_h265;
bool downscale;
bool has_qcamera;
bool trigger_rotate;
} LogCameraInfo;
typedef struct FrameMetadata {
@ -134,7 +132,7 @@ typedef void (*process_thread_cb)(MultiCameraState *s, CameraState *c, int cnt);
void fill_frame_data(cereal::FrameData::Builder &framed, const FrameMetadata &frame_data);
kj::Array<uint8_t> get_frame_image(const CameraBuf *b);
float set_exposure_target(const CameraBuf *b, int x_start, int x_end, int x_skip, int y_start, int y_end, int y_skip, int analog_gain, bool hist_ceil, bool hl_weighted);
float set_exposure_target(const CameraBuf *b, int x_start, int x_end, int x_skip, int y_start, int y_end, int y_skip);
std::thread start_process_thread(MultiCameraState *cameras, CameraState *cs, process_thread_cb callback);
void common_process_driver_camera(SubMaster *sm, PubMaster *pm, CameraState *c, int cnt);

2
selfdrive/camerad/cameras/camera_qcom.cc
View File

@ -1113,7 +1113,7 @@ void process_road_camera(MultiCameraState *s, CameraState *c, int cnt) {
if (cnt % 3 == 0) {
const int x = 290, y = 322, width = 560, height = 314;
const int skip = 1;
camera_autoexposure(c, set_exposure_target(b, x, x + width, skip, y, y + height, skip, -1, false, false));
camera_autoexposure(c, set_exposure_target(b, x, x + width, skip, y, y + height, skip));
}
}

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