329 lines
9.9 KiB
C
329 lines
9.9 KiB
C
// ///////////////////////// //
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// Jungle board v2 (STM32H7) //
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// ///////////////////////// //
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const gpio_t power_pins[] = {
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{.bank = GPIOA, .pin = 0},
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{.bank = GPIOA, .pin = 1},
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{.bank = GPIOF, .pin = 12},
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{.bank = GPIOA, .pin = 5},
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{.bank = GPIOC, .pin = 5},
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{.bank = GPIOB, .pin = 2},
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};
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const gpio_t sbu1_ignition_pins[] = {
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{.bank = GPIOD, .pin = 0},
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{.bank = GPIOD, .pin = 5},
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{.bank = GPIOD, .pin = 12},
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{.bank = GPIOD, .pin = 14},
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{.bank = GPIOE, .pin = 5},
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{.bank = GPIOE, .pin = 9},
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};
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const gpio_t sbu1_relay_pins[] = {
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{.bank = GPIOD, .pin = 1},
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{.bank = GPIOD, .pin = 6},
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{.bank = GPIOD, .pin = 11},
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{.bank = GPIOD, .pin = 15},
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{.bank = GPIOE, .pin = 6},
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{.bank = GPIOE, .pin = 10},
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};
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const gpio_t sbu2_ignition_pins[] = {
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{.bank = GPIOD, .pin = 3},
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{.bank = GPIOD, .pin = 8},
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{.bank = GPIOD, .pin = 9},
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{.bank = GPIOE, .pin = 0},
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{.bank = GPIOE, .pin = 7},
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{.bank = GPIOE, .pin = 11},
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};
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const gpio_t sbu2_relay_pins[] = {
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{.bank = GPIOD, .pin = 4},
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{.bank = GPIOD, .pin = 10},
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{.bank = GPIOD, .pin = 13},
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{.bank = GPIOE, .pin = 1},
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{.bank = GPIOE, .pin = 8},
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{.bank = GPIOE, .pin = 12},
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};
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const adc_channel_t sbu1_channels[] = {
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{.adc = ADC3, .channel = 12},
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{.adc = ADC3, .channel = 2},
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{.adc = ADC3, .channel = 4},
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{.adc = ADC3, .channel = 6},
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{.adc = ADC3, .channel = 8},
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{.adc = ADC3, .channel = 10},
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};
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const adc_channel_t sbu2_channels[] = {
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{.adc = ADC1, .channel = 13},
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{.adc = ADC3, .channel = 3},
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{.adc = ADC3, .channel = 5},
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{.adc = ADC3, .channel = 7},
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{.adc = ADC3, .channel = 9},
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{.adc = ADC3, .channel = 11},
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};
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void board_v2_set_led(uint8_t color, bool enabled) {
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switch (color) {
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case LED_RED:
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set_gpio_output(GPIOE, 4, !enabled);
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break;
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case LED_GREEN:
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set_gpio_output(GPIOE, 3, !enabled);
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break;
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case LED_BLUE:
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set_gpio_output(GPIOE, 2, !enabled);
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break;
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default:
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break;
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}
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}
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void board_v2_set_harness_orientation(uint8_t orientation) {
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switch (orientation) {
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case HARNESS_ORIENTATION_NONE:
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gpio_set_all_output(sbu1_ignition_pins, sizeof(sbu1_ignition_pins) / sizeof(gpio_t), false);
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gpio_set_all_output(sbu1_relay_pins, sizeof(sbu1_relay_pins) / sizeof(gpio_t), false);
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gpio_set_all_output(sbu2_ignition_pins, sizeof(sbu2_ignition_pins) / sizeof(gpio_t), false);
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gpio_set_all_output(sbu2_relay_pins, sizeof(sbu2_relay_pins) / sizeof(gpio_t), false);
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harness_orientation = orientation;
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break;
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case HARNESS_ORIENTATION_1:
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gpio_set_all_output(sbu1_ignition_pins, sizeof(sbu1_ignition_pins) / sizeof(gpio_t), false);
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gpio_set_all_output(sbu1_relay_pins, sizeof(sbu1_relay_pins) / sizeof(gpio_t), true);
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gpio_set_bitmask(sbu2_ignition_pins, sizeof(sbu2_ignition_pins) / sizeof(gpio_t), ignition);
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gpio_set_all_output(sbu2_relay_pins, sizeof(sbu2_relay_pins) / sizeof(gpio_t), false);
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harness_orientation = orientation;
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break;
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case HARNESS_ORIENTATION_2:
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gpio_set_bitmask(sbu1_ignition_pins, sizeof(sbu1_ignition_pins) / sizeof(gpio_t), ignition);
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gpio_set_all_output(sbu1_relay_pins, sizeof(sbu1_relay_pins) / sizeof(gpio_t), false);
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gpio_set_all_output(sbu2_ignition_pins, sizeof(sbu2_ignition_pins) / sizeof(gpio_t), false);
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gpio_set_all_output(sbu2_relay_pins, sizeof(sbu2_relay_pins) / sizeof(gpio_t), true);
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harness_orientation = orientation;
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break;
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default:
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print("Tried to set an unsupported harness orientation: "); puth(orientation); print("\n");
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break;
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}
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}
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void board_v2_enable_can_transciever(uint8_t transciever, bool enabled) {
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switch (transciever) {
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case 1U:
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set_gpio_output(GPIOG, 11, !enabled);
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break;
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case 2U:
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set_gpio_output(GPIOB, 3, !enabled);
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break;
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case 3U:
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set_gpio_output(GPIOD, 7, !enabled);
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break;
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case 4U:
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set_gpio_output(GPIOB, 4, !enabled);
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break;
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default:
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print("Invalid CAN transciever ("); puth(transciever); print("): enabling failed\n");
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break;
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}
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}
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void board_v2_enable_header_pin(uint8_t pin_num, bool enabled) {
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if (pin_num < 8U) {
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set_gpio_output(GPIOG, pin_num, enabled);
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} else {
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print("Invalid pin number ("); puth(pin_num); print("): enabling failed\n");
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}
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}
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void board_v2_set_can_mode(uint8_t mode) {
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board_v2_enable_can_transciever(2U, false);
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board_v2_enable_can_transciever(4U, false);
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switch (mode) {
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case CAN_MODE_NORMAL:
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// B12,B13: disable normal mode
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set_gpio_pullup(GPIOB, 12, PULL_NONE);
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set_gpio_mode(GPIOB, 12, MODE_ANALOG);
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set_gpio_pullup(GPIOB, 13, PULL_NONE);
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set_gpio_mode(GPIOB, 13, MODE_ANALOG);
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// B5,B6: FDCAN2 mode
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set_gpio_pullup(GPIOB, 5, PULL_NONE);
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set_gpio_alternate(GPIOB, 5, GPIO_AF9_FDCAN2);
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set_gpio_pullup(GPIOB, 6, PULL_NONE);
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set_gpio_alternate(GPIOB, 6, GPIO_AF9_FDCAN2);
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can_mode = CAN_MODE_NORMAL;
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board_v2_enable_can_transciever(2U, true);
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break;
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case CAN_MODE_OBD_CAN2:
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// B5,B6: disable normal mode
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set_gpio_pullup(GPIOB, 5, PULL_NONE);
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set_gpio_mode(GPIOB, 5, MODE_ANALOG);
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set_gpio_pullup(GPIOB, 6, PULL_NONE);
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set_gpio_mode(GPIOB, 6, MODE_ANALOG);
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// B12,B13: FDCAN2 mode
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set_gpio_pullup(GPIOB, 12, PULL_NONE);
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set_gpio_alternate(GPIOB, 12, GPIO_AF9_FDCAN2);
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set_gpio_pullup(GPIOB, 13, PULL_NONE);
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set_gpio_alternate(GPIOB, 13, GPIO_AF9_FDCAN2);
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can_mode = CAN_MODE_OBD_CAN2;
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board_v2_enable_can_transciever(4U, true);
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break;
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default:
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break;
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}
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}
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bool panda_power = false;
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uint8_t panda_power_bitmask = 0U;
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void board_v2_set_panda_power(bool enable) {
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panda_power = enable;
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gpio_set_all_output(power_pins, sizeof(power_pins) / sizeof(gpio_t), enable);
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if (enable) {
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panda_power_bitmask = 0xFFU;
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} else {
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panda_power_bitmask = 0U;
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}
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}
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void board_v2_set_panda_individual_power(uint8_t port_num, bool enable) {
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port_num -= 1U;
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if (port_num < 6U) {
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panda_power_bitmask &= ~(1U << port_num);
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panda_power_bitmask |= (enable ? 1U : 0U) << port_num;
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} else {
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print("Invalid port number ("); puth(port_num); print("): enabling failed\n");
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}
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gpio_set_bitmask(power_pins, sizeof(power_pins) / sizeof(gpio_t), (uint32_t)panda_power_bitmask);
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}
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bool board_v2_get_button(void) {
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return get_gpio_input(GPIOG, 15);
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}
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void board_v2_set_ignition(bool enabled) {
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ignition = enabled ? 0xFFU : 0U;
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board_v2_set_harness_orientation(harness_orientation);
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}
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void board_v2_set_individual_ignition(uint8_t bitmask) {
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ignition = bitmask;
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board_v2_set_harness_orientation(harness_orientation);
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}
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float board_v2_get_channel_power(uint8_t channel) {
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float ret = 0.0f;
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if ((channel >= 1U) && (channel <= 6U)) {
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uint16_t readout = adc_get_mV(ADC1, channel - 1U); // these are mapped nicely in hardware
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ret = (((float) readout / 33e6) - 0.8e-6) / 52e-6 * 12.0f;
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} else {
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print("Invalid channel ("); puth(channel); print(")\n");
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}
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return ret;
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}
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uint16_t board_v2_get_sbu_mV(uint8_t channel, uint8_t sbu) {
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uint16_t ret = 0U;
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if ((channel >= 1U) && (channel <= 6U)) {
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switch(sbu){
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case SBU1:
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ret = adc_get_mV(sbu1_channels[channel - 1U].adc, sbu1_channels[channel - 1U].channel);
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break;
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case SBU2:
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ret = adc_get_mV(sbu2_channels[channel - 1U].adc, sbu2_channels[channel - 1U].channel);
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break;
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default:
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print("Invalid SBU ("); puth(sbu); print(")\n");
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break;
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}
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} else {
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print("Invalid channel ("); puth(channel); print(")\n");
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}
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return ret;
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}
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void board_v2_init(void) {
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common_init_gpio();
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// Disable LEDs
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board_v2_set_led(LED_RED, false);
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board_v2_set_led(LED_GREEN, false);
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board_v2_set_led(LED_BLUE, false);
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// Normal CAN mode
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board_v2_set_can_mode(CAN_MODE_NORMAL);
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// Enable CAN transcievers
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for(uint8_t i = 1; i <= 4; i++) {
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board_v2_enable_can_transciever(i, true);
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}
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// Set to no harness orientation
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board_v2_set_harness_orientation(HARNESS_ORIENTATION_NONE);
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// Enable panda power by default
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board_v2_set_panda_power(true);
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// Current monitor channels
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adc_init(ADC1);
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register_set_bits(&SYSCFG->PMCR, SYSCFG_PMCR_PA0SO | SYSCFG_PMCR_PA1SO); // open up analog switches for PA0_C and PA1_C
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set_gpio_mode(GPIOF, 11, MODE_ANALOG);
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set_gpio_mode(GPIOA, 6, MODE_ANALOG);
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set_gpio_mode(GPIOC, 4, MODE_ANALOG);
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set_gpio_mode(GPIOB, 1, MODE_ANALOG);
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// SBU channels
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adc_init(ADC3);
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set_gpio_mode(GPIOC, 2, MODE_ANALOG);
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set_gpio_mode(GPIOC, 3, MODE_ANALOG);
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set_gpio_mode(GPIOF, 9, MODE_ANALOG);
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set_gpio_mode(GPIOF, 7, MODE_ANALOG);
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set_gpio_mode(GPIOF, 5, MODE_ANALOG);
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set_gpio_mode(GPIOF, 3, MODE_ANALOG);
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set_gpio_mode(GPIOF, 10, MODE_ANALOG);
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set_gpio_mode(GPIOF, 8, MODE_ANALOG);
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set_gpio_mode(GPIOF, 6, MODE_ANALOG);
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set_gpio_mode(GPIOF, 4, MODE_ANALOG);
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set_gpio_mode(GPIOC, 0, MODE_ANALOG);
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set_gpio_mode(GPIOC, 1, MODE_ANALOG);
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// Header pins
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set_gpio_mode(GPIOG, 0, MODE_OUTPUT);
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set_gpio_mode(GPIOG, 1, MODE_OUTPUT);
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set_gpio_mode(GPIOG, 2, MODE_OUTPUT);
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set_gpio_mode(GPIOG, 3, MODE_OUTPUT);
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set_gpio_mode(GPIOG, 4, MODE_OUTPUT);
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set_gpio_mode(GPIOG, 5, MODE_OUTPUT);
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set_gpio_mode(GPIOG, 6, MODE_OUTPUT);
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set_gpio_mode(GPIOG, 7, MODE_OUTPUT);
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}
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void board_v2_tick(void) {}
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const board board_v2 = {
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.has_canfd = true,
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.has_sbu_sense = true,
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.avdd_mV = 3300U,
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.init = &board_v2_init,
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.set_led = &board_v2_set_led,
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.board_tick = &board_v2_tick,
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.get_button = &board_v2_get_button,
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.set_panda_power = &board_v2_set_panda_power,
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.set_panda_individual_power = &board_v2_set_panda_individual_power,
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.set_ignition = &board_v2_set_ignition,
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.set_individual_ignition = &board_v2_set_individual_ignition,
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.set_harness_orientation = &board_v2_set_harness_orientation,
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.set_can_mode = &board_v2_set_can_mode,
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.enable_can_transciever = &board_v2_enable_can_transciever,
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.enable_header_pin = &board_v2_enable_header_pin,
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.get_channel_power = &board_v2_get_channel_power,
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.get_sbu_mV = &board_v2_get_sbu_mV,
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};
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