Merge branch 'master-new' of https://github.com/sunnypilot/panda into master-new

.github/workflows/drivers.yaml

@@ -10,7 +10,7 @@ jobs:
   build_socketcan:
     name: socketcan build
     runs-on: ubuntu-latest
-    timeout-minutes: 1
+    timeout-minutes: 2
     steps:
       - uses: actions/checkout@v2
       - name: Install dependencies

board/boards/cuatro.h

@@ -91,7 +91,7 @@ static void cuatro_init(void) {
   tres_set_ir_power(0U);
 
   // Clock source
-  clock_source_init();
+  clock_source_init(true);
 
   // Sound codec
   cuatro_set_amp_enabled(false);
@@ -105,8 +105,22 @@ static void cuatro_init(void) {
   sound_init();
 }
 
+static harness_configuration cuatro_harness_config = {
+  .has_harness = true,
+  .GPIO_SBU1 = GPIOC,
+  .GPIO_SBU2 = GPIOA,
+  .GPIO_relay_SBU1 = GPIOA,
+  .GPIO_relay_SBU2 = GPIOA,
+  .pin_SBU1 = 4,
+  .pin_SBU2 = 1,
+  .pin_relay_SBU1 = 9,
+  .pin_relay_SBU2 = 3,
+  .adc_channel_SBU1 = 4, // ADC12_INP4
+  .adc_channel_SBU2 = 17 // ADC1_INP17
+};
+
 board board_cuatro = {
-  .harness_config = &tres_harness_config,
+  .harness_config = &cuatro_harness_config,
   .has_spi = true,
   .has_canfd = true,
   .fan_max_rpm = 12500U,

board/boards/dos.h

@@ -106,7 +106,7 @@ static void dos_init(void) {
   dos_set_bootkick(true);
 
   // Init clock source (camera strobe) using PWM
-  clock_source_init();
+  clock_source_init(false);
 }
 
 static harness_configuration dos_harness_config = {

board/boards/tres.h

@@ -129,7 +129,7 @@ static void tres_init(void) {
   register_set_bits(&(GPIOC->OTYPER), GPIO_OTYPER_OT10 | GPIO_OTYPER_OT11); // open drain
 
   // Clock source
-  clock_source_init();
+  clock_source_init(false);
 }
 
 static harness_configuration tres_harness_config = {

board/drivers/can_common.h

@@ -166,9 +166,6 @@ void ignition_can_hook(CANPacket_t *to_push) {
     int addr = GET_ADDR(to_push);
     int len = GET_LEN(to_push);
 
-    // Check counter position on cars with overlap
-    static int prev_counter = -1;
-
     // GM exception
     if ((addr == 0x1F1) && (len == 8)) {
       // SystemPowerMode (2=Run, 3=Crank Request)
@@ -181,6 +178,7 @@ void ignition_can_hook(CANPacket_t *to_push) {
       // 0x152 overlaps with Subaru pre-global which has this bit as the high beam
       int counter = GET_BYTE(to_push, 1) & 0xFU;  // max is only 14
 
+      static int prev_counter = -1;
       if ((counter == ((prev_counter + 1) % 15)) && (prev_counter != -1)) {
         // VDM_OutputSignals->VDM_EpasPowerMode
         ignition_can = ((GET_BYTE(to_push, 7) >> 4U) & 0x3U) == 1U;  // VDM_EpasPowerMode_Drive_On=1
@@ -194,6 +192,7 @@ void ignition_can_hook(CANPacket_t *to_push) {
       // 0x221 overlaps with Rivian which has random data on byte 0
       int counter = GET_BYTE(to_push, 6) >> 4;
 
+      static int prev_counter = -1;
       if ((counter == ((prev_counter + 1) % 16)) && (prev_counter != -1)) {
         // VCFRONT_LVPowerState->VCFRONT_vehiclePowerState
         int power_state = (GET_BYTE(to_push, 0) >> 5U) & 0x3U;

board/drivers/clock_source.h

@@ -4,7 +4,7 @@ void clock_source_set_period(uint8_t period) {
   register_set(&(TIM1->ARR), ((period*10U) - 1U), 0xFFFFU);
 }
 
-void clock_source_init(void) {
+void clock_source_init(bool enable_channel1) {
   // Setup timer
   register_set(&(TIM1->PSC), ((APB2_TIMER_FREQ*100U)-1U), 0xFFFFU);           // Tick on 0.1 ms
   register_set(&(TIM1->ARR), ((CLOCK_SOURCE_PERIOD_MS*10U) - 1U), 0xFFFFU);   // Period
@@ -21,11 +21,14 @@ void clock_source_init(void) {
   NVIC_DisableIRQ(TIM1_CC_IRQn);
 
   // Set GPIO as timer channels
+  if (enable_channel1) {
+    set_gpio_alternate(GPIOA, 8, GPIO_AF1_TIM1);
+  }
   set_gpio_alternate(GPIOB, 14, GPIO_AF1_TIM1);
   set_gpio_alternate(GPIOB, 15, GPIO_AF1_TIM1);
 
   // Set PWM mode
-  register_set(&(TIM1->CCMR1), (0b110UL << TIM_CCMR1_OC2M_Pos), 0xFFFFU);
+  register_set(&(TIM1->CCMR1), (0b110UL << TIM_CCMR1_OC1M_Pos) | (0b110UL << TIM_CCMR1_OC2M_Pos), 0xFFFFU);
   register_set(&(TIM1->CCMR2), (0b110UL << TIM_CCMR2_OC3M_Pos), 0xFFFFU);
 
   // Enable output

board/drivers/clock_source_declarations.h

@@ -4,4 +4,4 @@
 #define CLOCK_SOURCE_PULSE_LEN_MS        2U
 
 void clock_source_set_period(uint8_t period);
-void clock_source_init(void);
+void clock_source_init(bool enable_channel1);

board/drivers/harness.h

@@ -100,13 +100,8 @@ void harness_init(void) {
   set_gpio_output(current_board->harness_config->GPIO_relay_SBU1, current_board->harness_config->pin_relay_SBU1, 1);
   set_gpio_output(current_board->harness_config->GPIO_relay_SBU2, current_board->harness_config->pin_relay_SBU2, 1);
 
-  // try to detect orientation
+  // detect initial orientation
   harness.status = harness_detect_orientation();
-  if (harness.status != HARNESS_STATUS_NC) {
-    print("detected car harness with orientation "); puth2(harness.status); print("\n");
-  } else {
-    print("failed to detect car harness!\n");
-  }
 
   // keep buses connected by default
   set_intercept_relay(false, false);

board/drivers/spi.h

@@ -108,7 +108,9 @@ void spi_rx_done(void) {
       response_len = 1U;
     } else {
       // response: NACK and reset state machine
-      print("- incorrect header sync or checksum "); hexdump(spi_buf_rx, SPI_HEADER_SIZE);
+      #ifdef DEBUG_SPI
+        print("- incorrect header sync or checksum "); hexdump(spi_buf_rx, SPI_HEADER_SIZE);
+      #endif
       spi_buf_tx[0] = SPI_NACK;
       next_rx_state = SPI_STATE_HEADER_NACK;
       response_len = 1U;
@@ -160,12 +162,14 @@ void spi_rx_done(void) {
     } else {
       // Checksum was incorrect
       response_ack = false;
-      print("- incorrect data checksum ");
-      puth4(spi_data_len_mosi);
-      print("\n");
-      hexdump(spi_buf_rx, SPI_HEADER_SIZE);
-      hexdump(&(spi_buf_rx[SPI_HEADER_SIZE]), MIN(spi_data_len_mosi, 64));
-      print("\n");
+      #ifdef DEBUG_SPI
+        print("- incorrect data checksum ");
+        puth4(spi_data_len_mosi);
+        print("\n");
+        hexdump(spi_buf_rx, SPI_HEADER_SIZE);
+        hexdump(&(spi_buf_rx[SPI_HEADER_SIZE]), MIN(spi_data_len_mosi, 64));
+        print("\n");
+      #endif
     }
 
     if (!response_ack) {

board/drivers/uart.h

@@ -145,10 +145,6 @@ void puth(unsigned int i) {
   puthx(i, 8U);
 }
 
-void puth2(unsigned int i) {
-  puthx(i, 2U);
-}
-
 #if defined(ENABLE_SPI) || defined(BOOTSTUB) || defined(DEBUG)
 void puth4(unsigned int i) {
   puthx(i, 4U);
@@ -160,7 +156,7 @@ void hexdump(const void *a, int l) {
   if (a != NULL) {
     for (int i=0; i < l; i++) {
       if ((i != 0) && ((i & 0xf) == 0)) print("\n");
-      puth2(((const unsigned char*)a)[i]);
+      puthx(((const unsigned char*)a)[i], 2U);
       print(" ");
     }
   }

board/drivers/uart_declarations.h

@@ -33,7 +33,6 @@ void putch(const char a);
 void print(const char *a);
 void puthx(uint32_t i, uint8_t len);
 void puth(unsigned int i);
-void puth2(unsigned int i);
 #if defined(ENABLE_SPI) || defined(BOOTSTUB) || defined(DEBUG)
 void puth4(unsigned int i);
 #endif

board/drivers/usb.h

@@ -538,21 +538,26 @@ void usb_irqhandler(void) {
   }
 
   if ((gintsts & USB_OTG_GINTSTS_USBRST) != 0U) {
-    print("USB reset\n");
+    #ifdef DEBUG_USB
+      print("USB reset\n");
+    #endif
     usb_reset();
   }
 
   if ((gintsts & USB_OTG_GINTSTS_ENUMDNE) != 0U) {
-    print("enumeration done");
+    #ifdef DEBUG_USB
+      print("enumeration done\n");
+    #endif
     // Full speed, ENUMSPD
     //puth(USBx_DEVICE->DSTS);
-    print("\n");
   }
 
   if ((gintsts & USB_OTG_GINTSTS_OTGINT) != 0U) {
-    print("OTG int:");
-    puth(USBx->GOTGINT);
-    print("\n");
+    #ifdef DEBUG_USB
+      print("OTG int:");
+      puth(USBx->GOTGINT);
+      print("\n");
+    #endif
 
     // getting ADTOCHG
     //USBx->GOTGINT = USBx->GOTGINT;

board/main_declarations.h

@@ -3,7 +3,6 @@
 // ******************** Prototypes ********************
 void print(const char *a);
 void puth(unsigned int i);
-void puth2(unsigned int i);
 void puth4(unsigned int i);
 void hexdump(const void *a, int l);
 typedef struct board board;