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Merge branch 'upstream/panda/master' into sync-20250422

Browse Source
This commit is contained in:
Jason Wen
2025-04-22 14:02:58 -04:00
parent 4fab184d5f d319ea2bba
commit 49555297d9
15 changed files with 56 additions and 44 deletions
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2
.github/workflows/drivers.yaml vendored
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@@ -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

18
board/boards/cuatro.h
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@@ -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,

2
board/boards/dos.h
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@@ -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 = {

2
board/boards/tres.h
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@@ -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 = {

5
board/drivers/can_common.h
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@@ -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;

7
board/drivers/clock_source.h
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@@ -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

2
board/drivers/clock_source_declarations.h
View File

@@ -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);

7
board/drivers/harness.h
View File

@@ -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);

11
board/drivers/registers.h
View File

@@ -49,13 +49,10 @@ void check_registers(void){
if((uint32_t) register_map[i].address != 0U){
ENTER_CRITICAL()
if((*(register_map[i].address) & register_map[i].check_mask) != (register_map[i].value & register_map[i].check_mask)){
#ifdef DEBUG_FAULTS
print("Register at address 0x"); puth((uint32_t) register_map[i].address); print(" is divergent!");
print(" Map: 0x"); puth(register_map[i].value);
print(" Register: 0x"); puth(*(register_map[i].address));
print(" Mask: 0x"); puth(register_map[i].check_mask);
print("\n");
#endif
if(!register_map[i].logged_fault){
print("Register 0x"); puth((uint32_t) register_map[i].address); print(" divergent! Map: 0x"); puth(register_map[i].value); print(" Reg: 0x"); puth(*(register_map[i].address)); print("\n");
register_map[i].logged_fault = true;
}
fault_occurred(FAULT_REGISTER_DIVERGENT);
}
EXIT_CRITICAL()

1
board/drivers/registers_declarations.h
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@@ -4,6 +4,7 @@ typedef struct reg {
volatile uint32_t *address;
uint32_t value;
uint32_t check_mask;
bool logged_fault;
} reg;
// 10 bit hash with 23 as a prime

18
board/drivers/spi.h
View File

@@ -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) {

6
board/drivers/uart.h
View File

@@ -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(" ");
}
}

1
board/drivers/uart_declarations.h
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@@ -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

17
board/drivers/usb.h
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@@ -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;

1
board/main_declarations.h
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@@ -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;