cuatro power readout (#1869)

* refactor voltage / current reading

* fix bug and add readout to cuatro

* fix misra?

* just suppress then

---------

Co-authored-by: Comma Device <device@comma.ai>

board/boards/black.h

@@ -180,7 +180,8 @@ const board board_black = {
   .set_led = black_set_led,
   .set_can_mode = black_set_can_mode,
   .check_ignition = black_check_ignition,
-  .read_current = unused_read_current,
+  .read_voltage_mV = white_read_voltage_mV,
+  .read_current_mA = unused_read_current,
   .set_fan_enabled = unused_set_fan_enabled,
   .set_ir_power = unused_set_ir_power,
   .set_siren = unused_set_siren,

board/boards/board_declarations.h

@@ -12,7 +12,8 @@ typedef void (*board_enable_can_transceivers)(bool enabled);
 typedef void (*board_set_led)(uint8_t color, bool enabled);
 typedef void (*board_set_can_mode)(uint8_t mode);
 typedef bool (*board_check_ignition)(void);
-typedef uint32_t (*board_read_current)(void);
+typedef uint32_t (*board_read_voltage_mV)(void);
+typedef uint32_t (*board_read_current_mA)(void);
 typedef void (*board_set_ir_power)(uint8_t percentage);
 typedef void (*board_set_fan_enabled)(bool enabled);
 typedef void (*board_set_siren)(bool enabled);
@@ -36,7 +37,8 @@ struct board {
   board_set_led set_led;
   board_set_can_mode set_can_mode;
   board_check_ignition check_ignition;
-  board_read_current read_current;
+  board_read_voltage_mV read_voltage_mV;
+  board_read_current_mA read_current_mA;
   board_set_ir_power set_ir_power;
   board_set_fan_enabled set_fan_enabled;
   board_set_siren set_siren;

board/boards/cuatro.h

@@ -49,9 +49,21 @@ void cuatro_enable_can_transceivers(bool enabled) {
   }
 }
 
+uint32_t cuatro_read_voltage_mV(void) {
+  return adc_get_mV(8) * 11U;
+}
+
+uint32_t cuatro_read_current_mA(void) {
+  return adc_get_mV(3) * 2U;
+}
+
 void cuatro_init(void) {
   red_chiplet_init();
 
+  // Power readout
+  set_gpio_mode(GPIOC, 5, MODE_ANALOG);
+  set_gpio_mode(GPIOA, 6, MODE_ANALOG);
+
   // CAN transceiver enables
   set_gpio_pullup(GPIOB, 7, PULL_NONE);
   set_gpio_mode(GPIOB, 7, MODE_OUTPUT);
@@ -108,7 +120,8 @@ const board board_cuatro = {
   .set_led = cuatro_set_led,
   .set_can_mode = red_chiplet_set_can_mode,
   .check_ignition = red_check_ignition,
-  .read_current = unused_read_current,
+  .read_voltage_mV = cuatro_read_voltage_mV,
+  .read_current_mA = cuatro_read_current_mA,
   .set_fan_enabled = tres_set_fan_enabled,
   .set_ir_power = tres_set_ir_power,
   .set_siren = unused_set_siren,

board/boards/dos.h

@@ -212,7 +212,8 @@ const board board_dos = {
   .set_led = dos_set_led,
   .set_can_mode = dos_set_can_mode,
   .check_ignition = dos_check_ignition,
-  .read_current = unused_read_current,
+  .read_voltage_mV = white_read_voltage_mV,
+  .read_current_mA = unused_read_current,
   .set_fan_enabled = dos_set_fan_enabled,
   .set_ir_power = dos_set_ir_power,
   .set_siren = dos_set_siren,

board/boards/grey.h

@@ -22,7 +22,8 @@ const board board_grey = {
   .set_led = white_set_led,
   .set_can_mode = white_set_can_mode,
   .check_ignition = white_check_ignition,
-  .read_current = white_read_current,
+  .read_voltage_mV = white_read_voltage_mV,
+  .read_current_mA = white_read_current_mA,
   .set_fan_enabled = unused_set_fan_enabled,
   .set_ir_power = unused_set_ir_power,
   .set_siren = unused_set_siren,

board/boards/pedal.h

@@ -84,7 +84,8 @@ const board board_pedal = {
   .set_led = pedal_set_led,
   .set_can_mode = pedal_set_can_mode,
   .check_ignition = pedal_check_ignition,
-  .read_current = unused_read_current,
+  .read_voltage_mV = unused_read_voltage,
+  .read_current_mA = unused_read_current,
   .set_fan_enabled = unused_set_fan_enabled,
   .set_ir_power = unused_set_ir_power,
   .set_siren = unused_set_siren,

board/boards/red.h

@@ -96,6 +96,10 @@ bool red_check_ignition(void) {
   return harness_check_ignition();
 }
 
+uint32_t red_read_voltage_mV(void){
+  return adc_get_mV(2) * 11U; // TODO: is this correct?
+}
+
 void red_init(void) {
   common_init_gpio();
 
@@ -188,7 +192,8 @@ const board board_red = {
   .set_led = red_set_led,
   .set_can_mode = red_set_can_mode,
   .check_ignition = red_check_ignition,
-  .read_current = unused_read_current,
+  .read_voltage_mV = red_read_voltage_mV,
+  .read_current_mA = unused_read_current,
   .set_fan_enabled = unused_set_fan_enabled,
   .set_ir_power = unused_set_ir_power,
   .set_siren = unused_set_siren,

board/boards/tres.h

@@ -87,7 +87,8 @@ const board board_tres = {
   .set_led = red_set_led,
   .set_can_mode = red_chiplet_set_can_mode,
   .check_ignition = red_check_ignition,
-  .read_current = unused_read_current,
+  .read_voltage_mV = red_read_voltage_mV,
+  .read_current_mA = unused_read_current,
   .set_fan_enabled = tres_set_fan_enabled,
   .set_ir_power = tres_set_ir_power,
   .set_siren = fake_siren_set,

board/boards/uno.h

@@ -167,7 +167,7 @@ void uno_init(void) {
   }
 
   // Switch to phone usb mode if harness connection is powered by less than 7V
-  if((adc_get_mV(ADCCHAN_VIN) * VIN_READOUT_DIVIDER) < 7000U){
+  if(white_read_voltage_mV() < 7000U){
     uno_set_usb_switch(true);
   } else {
     uno_set_usb_switch(false);
@@ -215,7 +215,8 @@ const board board_uno = {
   .set_led = uno_set_led,
   .set_can_mode = uno_set_can_mode,
   .check_ignition = uno_check_ignition,
-  .read_current = unused_read_current,
+  .read_voltage_mV = white_read_voltage_mV,
+  .read_current_mA = unused_read_current,
   .set_fan_enabled = uno_set_fan_enabled,
   .set_ir_power = uno_set_ir_power,
   .set_siren = unused_set_siren,

board/boards/unused_funcs.h

@@ -13,6 +13,10 @@ void unused_set_siren(bool enabled) {
   UNUSED(enabled);
 }
 
+uint32_t unused_read_voltage(void) {
+  return 0U;
+}
+
 uint32_t unused_read_current(void) {
   return 0U;
 }

board/boards/white.h

@@ -124,8 +124,13 @@ void white_set_can_mode(uint8_t mode){
   }
 }
 
-uint32_t white_read_current(void){
-  return adc_get_raw(ADCCHAN_CURRENT);
+uint32_t white_read_voltage_mV(void){
+  return adc_get_mV(12) * 11U;
+}
+
+uint32_t white_read_current_mA(void){
+  // This isn't in mA, but we're keeping it for backwards compatibility
+  return adc_get_raw(13);
 }
 
 bool white_check_ignition(void){
@@ -197,10 +202,9 @@ void white_grey_init(void) {
   white_set_can_mode(CAN_MODE_NORMAL);
 
   // Init usb power mode
-  uint32_t voltage = adc_get_mV(ADCCHAN_VIN) * VIN_READOUT_DIVIDER;
   // Init in CDP mode only if panda is powered by 12V.
   // Otherwise a PC would not be able to flash a standalone panda
-  if (voltage > 8000U) {  // 8V threshold
+  if (white_read_voltage_mV() > 8000U) {  // 8V threshold
     white_set_usb_power_mode(USB_POWER_CDP);
   } else {
     white_set_usb_power_mode(USB_POWER_CLIENT);
@@ -239,7 +243,8 @@ const board board_white = {
   .set_led = white_set_led,
   .set_can_mode = white_set_can_mode,
   .check_ignition = white_check_ignition,
-  .read_current = white_read_current,
+  .read_voltage_mV = white_read_voltage_mV,
+  .read_current_mA = white_read_current_mA,
   .set_fan_enabled = unused_set_fan_enabled,
   .set_ir_power = unused_set_ir_power,
   .set_siren = unused_set_siren,

board/config.h

@@ -16,8 +16,6 @@
 #define MAX_CAN_MSGS_PER_USB_BULK_TRANSFER 51U
 #define MAX_CAN_MSGS_PER_SPI_BULK_TRANSFER 170U
 
-#define VIN_READOUT_DIVIDER 11U
-
 // USB definitions
 #define USB_VID 0xBBAAU
 

board/main_comms.h

@@ -9,8 +9,8 @@ int get_health_pkt(void *dat) {
   struct health_t * health = (struct health_t*)dat;
 
   health->uptime_pkt = uptime_cnt;
-  health->voltage_pkt = adc_get_mV(ADCCHAN_VIN) * VIN_READOUT_DIVIDER;
-  health->current_pkt = current_board->read_current();
+  health->voltage_pkt = current_board->read_voltage_mV();
+  health->current_pkt = current_board->read_current_mA();
 
   // Use the GPIO pin to determine ignition or use a CAN based logic
   health->ignition_line_pkt = (uint8_t)(current_board->check_ignition());

board/pedal/main.c

@@ -242,6 +242,9 @@ void TIM3_IRQ_Handler(void) {
 
 // ***************************** main code *****************************
 
+#define ADCCHAN_ACCEL0 10
+#define ADCCHAN_ACCEL1 11
+
 void pedal(void) {
   // read/write
   pdl0 = adc_get_raw(ADCCHAN_ACCEL0);

board/stm32fx/lladc.h

@@ -1,12 +1,3 @@
-// ACCEL1 = ADC10
-// ACCEL2 = ADC11
-// VOLT_S = ADC12
-// CURR_S = ADC13
-
-#define ADCCHAN_ACCEL0 10
-#define ADCCHAN_ACCEL1 11
-#define ADCCHAN_VIN 12
-#define ADCCHAN_CURRENT 13
 
 void register_set(volatile uint32_t *addr, uint32_t val, uint32_t mask);
 

board/stm32h7/clock.h

@@ -21,11 +21,12 @@ void clock_init(void) {
   // Set power mode to direct SMPS power supply(depends on the board layout)
 #ifndef STM32H723
   register_set(&(PWR->CR3), PWR_CR3_SMPSEN, 0xFU); // powered only by SMPS
+#endif
   // Set VOS level (VOS3 to 170Mhz, VOS2 to 300Mhz, VOS1 to 400Mhz, VOS0 to 550Mhz)
   register_set(&(PWR->D3CR), PWR_D3CR_VOS_1 | PWR_D3CR_VOS_0, 0xC000U); //VOS1, needed for 80Mhz CAN FD
   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
-#endif
+
   // 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

board/stm32h7/lladc.h

@@ -1,6 +1,3 @@
-// 5VOUT_S = ADC12_INP5
-// VOLT_S = ADC1_INP2
-#define ADCCHAN_VIN 2
 
 void adc_init(void) {
   ADC1->CR &= ~(ADC_CR_DEEPPWD); //Reset deep-power-down mode
@@ -18,17 +15,19 @@ void adc_init(void) {
 }
 
 uint16_t adc_get_raw(uint8_t channel) {
+  uint16_t res = 0U;
   ADC1->SQR1 &= ~(ADC_SQR1_L);
   ADC1->SQR1 = ((uint32_t) channel << 6U);
 
   ADC1->SMPR1 = (0x2U << (channel * 3U));
+  // cppcheck-suppress misra-c2012-12.2; don't know how to fix this. if statement to check channel range does not work
   ADC1->PCSEL_RES0 = (0x1U << channel);
   ADC1->CFGR2 = (127U << ADC_CFGR2_OVSR_Pos) | (0x7U << ADC_CFGR2_OVSS_Pos) | ADC_CFGR2_ROVSE;
 
   ADC1->CR |= ADC_CR_ADSTART;
   while (!(ADC1->ISR & ADC_ISR_EOC));
 
-  uint16_t res = ADC1->DR;
+  res = ADC1->DR;
 
   while (!(ADC1->ISR & ADC_ISR_EOS));
   ADC1->ISR |= ADC_ISR_EOS;