Sync: commaai/panda:master into sunnypilot/panda:master-new

board/crc.h

@@ -1,5 +1,6 @@
 #pragma once
 
+#if defined(ENABLE_SPI) || defined(BOOTSTUB)
 uint8_t crc_checksum(const uint8_t *dat, int len, const uint8_t poly) {
   uint8_t crc = 0xFFU;
   int i;
@@ -17,3 +18,4 @@ uint8_t crc_checksum(const uint8_t *dat, int len, const uint8_t poly) {
   }
   return crc;
 }
+#endif

board/drivers/can_common.h

@@ -178,13 +178,13 @@ 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)) {
+      static int prev_counter_rivian = -1;
+      if ((counter == ((prev_counter_rivian + 1) % 15)) && (prev_counter_rivian != -1)) {
         // VDM_OutputSignals->VDM_EpasPowerMode
         ignition_can = ((GET_BYTE(to_push, 7) >> 4U) & 0x3U) == 1U;  // VDM_EpasPowerMode_Drive_On=1
         ignition_can_cnt = 0U;
       }
-      prev_counter = counter;
+      prev_counter_rivian = counter;
     }
 
     // Tesla Model 3/Y exception
@@ -192,14 +192,14 @@ 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)) {
+      static int prev_counter_tesla = -1;
+      if ((counter == ((prev_counter_tesla + 1) % 16)) && (prev_counter_tesla != -1)) {
         // VCFRONT_LVPowerState->VCFRONT_vehiclePowerState
         int power_state = (GET_BYTE(to_push, 0) >> 5U) & 0x3U;
         ignition_can = power_state == 0x3;  // VEHICLE_POWER_STATE_DRIVE=3
         ignition_can_cnt = 0U;
       }
-      prev_counter = counter;
+      prev_counter_tesla = counter;
     }
 
     // Mazda exception

board/drivers/gpio.h

@@ -10,11 +10,6 @@
 #define OUTPUT_TYPE_PUSH_PULL 0U
 #define OUTPUT_TYPE_OPEN_DRAIN 1U
 
-typedef struct {
-  GPIO_TypeDef * const bank;
-  uint8_t pin;
-} gpio_t;
-
 void set_gpio_mode(GPIO_TypeDef *GPIO, unsigned int pin, unsigned int mode) {
   ENTER_CRITICAL();
   uint32_t tmp = GPIO->MODER;
@@ -68,6 +63,12 @@ int get_gpio_input(const GPIO_TypeDef *GPIO, unsigned int pin) {
   return (GPIO->IDR & (1UL << pin)) == (1UL << pin);
 }
 
+#ifdef PANDA_JUNGLE
+typedef struct {
+  GPIO_TypeDef * const bank;
+  uint8_t pin;
+} gpio_t;
+
 void gpio_set_all_output(gpio_t *pins, uint8_t num_pins, bool enabled) {
   for (uint8_t i = 0; i < num_pins; i++) {
     set_gpio_output(pins[i].bank, pins[i].pin, enabled);
@@ -79,6 +80,7 @@ void gpio_set_bitmask(gpio_t *pins, uint8_t num_pins, uint32_t bitmask) {
     set_gpio_output(pins[i].bank, pins[i].pin, (bitmask >> i) & 1U);
   }
 }
+#endif
 
 // Detection with internal pullup
 #define PULL_EFFECTIVE_DELAY 4096

board/drivers/watchdog.h

@@ -1,24 +0,0 @@
-typedef enum {
-  WATCHDOG_50_MS = (400U - 1U),
-  WATCHDOG_500_MS = 4000U,
-} WatchdogTimeout;
-
-static void watchdog_feed(void) {
-  IND_WDG->KR = 0xAAAAU;
-}
-
-void watchdog_init(WatchdogTimeout timeout) {
-  // enable watchdog
-  IND_WDG->KR = 0xCCCCU;
-  IND_WDG->KR = 0x5555U;
-
-  // 32KHz / 4 prescaler = 8000Hz
-  register_set(&(IND_WDG->PR), 0x0U, IWDG_PR_PR_Msk);
-  register_set(&(IND_WDG->RLR), timeout, IWDG_RLR_RL_Msk);
-
-  // wait for watchdog to be updated
-  while (IND_WDG->SR != 0U);
-
-  // start the countdown
-  watchdog_feed();
-}

board/flasher.h

@@ -137,11 +137,12 @@ void soft_flasher_start(void) {
   // enable USB
   usb_init();
 
-  // enable SPI
+#ifdef ENABLE_SPI
   if (current_board->has_spi) {
     gpio_spi_init();
     spi_init();
   }
+#endif
 
   // green LED on for flashing
   led_set(LED_GREEN, 1);

board/stm32f4/lluart.h

@@ -20,61 +20,9 @@ void uart_tx_ring(uart_ring *q){
   EXIT_CRITICAL();
 }
 
-static void uart_rx_ring(uart_ring *q){
-  ENTER_CRITICAL();
-
-  // Read out RX buffer
-  uint8_t c = q->uart->DR;  // This read after reading SR clears a bunch of interrupts
-
-  uint16_t next_w_ptr = (q->w_ptr_rx + 1U) % q->rx_fifo_size;
-
-  if ((next_w_ptr == q->r_ptr_rx) && q->overwrite) {
-    // overwrite mode: drop oldest byte
-    q->r_ptr_rx = (q->r_ptr_rx + 1U) % q->rx_fifo_size;
-  }
-
-  // Do not overwrite buffer data
-  if (next_w_ptr != q->r_ptr_rx) {
-    q->elems_rx[q->w_ptr_rx] = c;
-    q->w_ptr_rx = next_w_ptr;
-    if (q->callback != NULL) {
-      q->callback(q);
-    }
-  }
-
-  EXIT_CRITICAL();
-}
-
 // This read after reading SR clears all error interrupts. We don't want compiler warnings, nor optimizations
 #define UART_READ_DR(uart) volatile uint8_t t = (uart)->DR; UNUSED(t);
 
-static void uart_interrupt_handler(uart_ring *q) {
-  ENTER_CRITICAL();
-
-  // Read UART status. This is also the first step necessary in clearing most interrupts
-  uint32_t status = q->uart->SR;
-
-  // If RXNE is set, perform a read. This clears RXNE, ORE, IDLE, NF and FE
-  if((status & USART_SR_RXNE) != 0U){
-    uart_rx_ring(q);
-  }
-
-  // Detect errors and clear them
-  uint32_t err = (status & USART_SR_ORE) | (status & USART_SR_NE) | (status & USART_SR_FE) | (status & USART_SR_PE);
-  if(err != 0U){
-    #ifdef DEBUG_UART
-      print("Encountered UART error: "); puth(err); print("\n");
-    #endif
-    UART_READ_DR(q->uart)
-  }
-  // Send if necessary
-  uart_tx_ring(q);
-
-  EXIT_CRITICAL();
-}
-
-void USART2_IRQ_Handler(void) { uart_interrupt_handler(&uart_ring_debug); }
-
 // ***************************** Hardware setup *****************************
 
 #define DIV_(_PCLK_, _BAUD_)                    (((_PCLK_) * 25U) / (4U * (_BAUD_)))

board/stm32f4/peripherals.h

@@ -9,6 +9,7 @@ static void gpio_usb_init(void) {
   GPIOA->OSPEEDR = GPIO_OSPEEDER_OSPEEDR11 | GPIO_OSPEEDER_OSPEEDR12;
 }
 
+#ifdef ENABLE_SPI
 void gpio_spi_init(void) {
   // A4-A7: SPI
   set_gpio_alternate(GPIOA, 4, GPIO_AF5_SPI1);
@@ -17,12 +18,15 @@ void gpio_spi_init(void) {
   set_gpio_alternate(GPIOA, 7, GPIO_AF5_SPI1);
   register_set_bits(&(GPIOA->OSPEEDR), GPIO_OSPEEDER_OSPEEDR4 | GPIO_OSPEEDER_OSPEEDR5 | GPIO_OSPEEDER_OSPEEDR6 | GPIO_OSPEEDER_OSPEEDR7);
 }
+#endif
 
+#ifdef BOOTSTUB
 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);
 }
+#endif
 
 // Common GPIO initialization
 void common_init_gpio(void) {
@@ -45,12 +49,14 @@ void common_init_gpio(void) {
   set_gpio_alternate(GPIOB, 9, GPIO_AF8_CAN1);
 }
 
+#ifdef BOOTSTUB
 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;
 }
+#endif
 
 // Peripheral initialization
 void peripherals_init(void) {

board/stm32f4/stm32f4_config.h

@@ -52,7 +52,6 @@
 #include "drivers/timers.h"
 #include "stm32f4/board.h"
 #include "stm32f4/clock.h"
-#include "drivers/watchdog.h"
 
 #include "drivers/spi.h"
 #include "stm32f4/llspi.h"

board/stm32h7/board.h

@@ -9,7 +9,6 @@
 #include "drivers/harness.h"
 #include "drivers/fan.h"
 #include "stm32h7/llfan.h"
-#include "stm32h7/lldac.h"
 #include "drivers/fake_siren.h"
 #include "stm32h7/sound.h"
 #include "drivers/clock_source.h"

board/stm32h7/lldac.h

@@ -1,42 +0,0 @@
-void dac_init(DAC_TypeDef *dac, uint8_t channel, bool dma) {
-  register_set(&dac->CR, 0U, 0xFFFFU);
-  register_set(&dac->MCR, 0U, 0xFFFFU);
-
-  switch(channel) {
-    case 1:
-      if (dma) {
-        register_set_bits(&dac->CR, DAC_CR_DMAEN1);
-        // register_set(&DAC->CR, (6U << DAC_CR_TSEL1_Pos), DAC_CR_TSEL1);
-        register_set_bits(&dac->CR, DAC_CR_TEN1);
-      } else {
-        register_clear_bits(&dac->CR, DAC_CR_DMAEN1);
-      }
-      register_set_bits(&dac->CR, DAC_CR_EN1);
-      break;
-    case 2:    
-      if (dma) {
-        register_set_bits(&dac->CR, DAC_CR_DMAEN2);
-      } else {
-        register_clear_bits(&dac->CR, DAC_CR_DMAEN2);
-      }
-      register_set_bits(&dac->CR, DAC_CR_EN2);
-      break;
-    default:
-      break;
-  }
-}
-
-// Set channel 1 value, in mV
-void dac_set(DAC_TypeDef *dac, uint8_t channel, uint32_t value) {
-  uint32_t raw_val = MAX(MIN(value * (1UL << 8U) / 3300U, (1UL << 8U)), 0U);  
-  switch(channel) {
-    case 1:
-      register_set(&dac->DHR8R1, raw_val, 0xFFU);
-      break;
-    case 2:
-      register_set(&dac->DHR8R2, raw_val, 0xFFU);
-      break;
-    default:
-      break;
-  }
-}

board/stm32h7/peripherals.h

@@ -9,6 +9,7 @@ static void gpio_usb_init(void) {
   GPIOA->OSPEEDR = GPIO_OSPEEDR_OSPEED11 | GPIO_OSPEEDR_OSPEED12;
 }
 
+#ifdef ENABLE_SPI
 void gpio_spi_init(void) {
   set_gpio_alternate(GPIOE, 11, GPIO_AF5_SPI4);
   set_gpio_alternate(GPIOE, 12, GPIO_AF5_SPI4);
@@ -16,12 +17,15 @@ void gpio_spi_init(void) {
   set_gpio_alternate(GPIOE, 14, GPIO_AF5_SPI4);
   register_set_bits(&(GPIOE->OSPEEDR), GPIO_OSPEEDR_OSPEED11 | GPIO_OSPEEDR_OSPEED12 | GPIO_OSPEEDR_OSPEED13 | GPIO_OSPEEDR_OSPEED14);
 }
+#endif
 
+#ifdef BOOTSTUB
 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);
 }
+#endif
 
 void gpio_uart7_init(void) {
   // E7,E8: UART 7 for debugging
@@ -62,6 +66,7 @@ void common_init_gpio(void) {
   set_gpio_alternate(GPIOG, 10, GPIO_AF2_FDCAN3);
 }
 
+#ifdef BOOTSTUB
 void flasher_peripherals_init(void) {
   RCC->AHB1ENR |= RCC_AHB1ENR_USB1OTGHSEN;
 
@@ -69,6 +74,7 @@ void flasher_peripherals_init(void) {
   RCC->APB2ENR |= RCC_APB2ENR_SPI4EN;
   RCC->AHB1ENR |= RCC_AHB1ENR_DMA2EN;
 }
+#endif
 
 // Peripheral initialization
 void peripherals_init(void) {

board/stm32h7/stm32h7_config.h

@@ -63,7 +63,6 @@ separate IRQs for RX and TX.
 #include "stm32h7/peripherals.h"
 #include "stm32h7/interrupt_handlers.h"
 #include "drivers/timers.h"
-#include "drivers/watchdog.h"
 
 #if !defined(BOOTSTUB)
   #include "drivers/uart.h"