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

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Sync: `commaai/panda:master` into `sunnypilot/panda:master-new`
This commit is contained in:
DevTekVE
2025-06-28 21:42:18 +02:00
committed by GitHub
parent 5ac4fa5bb0 70eec50dc8
commit c33cfa0803
7 changed files with 6 additions and 259 deletions
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8
board/boards/board_declarations.h
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@@ -55,10 +55,10 @@ struct board {
// These should match the enums in cereal/log.capnp and __init__.py
#define HW_TYPE_UNKNOWN 0U
#define HW_TYPE_WHITE_PANDA 1U
#define HW_TYPE_GREY_PANDA 2U
//#define HW_TYPE_GREY_PANDA 2U
#define HW_TYPE_BLACK_PANDA 3U
#define HW_TYPE_PEDAL 4U
#define HW_TYPE_UNO 5U
//#define HW_TYPE_PEDAL 4U
//#define HW_TYPE_UNO 5U
#define HW_TYPE_DOS 6U
#define HW_TYPE_RED_PANDA 7U
#define HW_TYPE_RED_PANDA_V2 8U
@@ -77,9 +77,7 @@ struct board {
extern struct board board_black;
extern struct board board_dos;
extern struct board board_uno;
extern struct board board_tres;
extern struct board board_grey;
extern struct board board_white;
extern struct board board_cuatro;
extern struct board board_red;

35
board/boards/grey.h
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@@ -1,35 +0,0 @@
#pragma once
#include "board_declarations.h"
// //////////////////// //
// Grey Panda (STM32F4) //
// //////////////////// //
// Most hardware functionality is similar to white panda
board board_grey = {
.set_bootkick = unused_set_bootkick,
.harness_config = &white_harness_config,
.has_spi = false,
.has_canfd = false,
.fan_max_rpm = 0U,
.fan_max_pwm = 100U,
.avdd_mV = 3300U,
.fan_stall_recovery = false,
.fan_enable_cooldown_time = 0U,
.init = white_grey_init,
.init_bootloader = white_grey_init_bootloader,
.enable_can_transceiver = white_enable_can_transceiver,
.led_GPIO = {GPIOC, GPIOC, GPIOC},
.led_pin = {9, 7, 6},
.set_can_mode = white_set_can_mode,
.check_ignition = white_check_ignition,
.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,
.read_som_gpio = unused_read_som_gpio,
.set_amp_enabled = unused_set_amp_enabled
};

166
board/boards/uno.h
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@@ -1,166 +0,0 @@
#pragma once
#include "board_declarations.h"
// /////////////////////// //
// Uno (STM32F4) + Harness //
// /////////////////////// //
static void uno_enable_can_transceiver(uint8_t transceiver, bool enabled) {
switch (transceiver){
case 1U:
set_gpio_output(GPIOC, 1, !enabled);
break;
case 2U:
set_gpio_output(GPIOC, 13, !enabled);
break;
case 3U:
set_gpio_output(GPIOA, 0, !enabled);
break;
case 4U:
set_gpio_output(GPIOB, 10, !enabled);
break;
default:
print("Invalid CAN transceiver ("); puth(transceiver); print("): enabling failed\n");
break;
}
}
static void uno_set_bootkick(BootState state) {
if (state == BOOT_BOOTKICK) {
set_gpio_output(GPIOB, 14, false);
} else {
// We want the pin to be floating, not forced high!
set_gpio_mode(GPIOB, 14, MODE_INPUT);
}
}
static void uno_set_can_mode(uint8_t mode) {
uno_enable_can_transceiver(2U, false);
uno_enable_can_transceiver(4U, false);
switch (mode) {
case CAN_MODE_NORMAL:
case CAN_MODE_OBD_CAN2:
if ((bool)(mode == CAN_MODE_NORMAL) != (bool)(harness.status == HARNESS_STATUS_FLIPPED)) {
// B12,B13: disable OBD mode
set_gpio_mode(GPIOB, 12, MODE_INPUT);
set_gpio_mode(GPIOB, 13, MODE_INPUT);
// B5,B6: normal CAN2 mode
set_gpio_alternate(GPIOB, 5, GPIO_AF9_CAN2);
set_gpio_alternate(GPIOB, 6, GPIO_AF9_CAN2);
uno_enable_can_transceiver(2U, true);
} else {
// B5,B6: disable normal CAN2 mode
set_gpio_mode(GPIOB, 5, MODE_INPUT);
set_gpio_mode(GPIOB, 6, MODE_INPUT);
// B12,B13: OBD mode
set_gpio_alternate(GPIOB, 12, GPIO_AF9_CAN2);
set_gpio_alternate(GPIOB, 13, GPIO_AF9_CAN2);
uno_enable_can_transceiver(4U, true);
}
break;
default:
print("Tried to set unsupported CAN mode: "); puth(mode); print("\n");
break;
}
}
static bool uno_check_ignition(void){
// ignition is checked through harness
return harness_check_ignition();
}
static void uno_set_usb_switch(bool phone){
set_gpio_output(GPIOB, 3, phone);
}
static void uno_set_ir_power(uint8_t percentage){
pwm_set(TIM4, 2, percentage);
}
static void uno_set_fan_enabled(bool enabled){
set_gpio_output(GPIOA, 1, enabled);
}
static void uno_init(void) {
common_init_gpio();
// A8,A15: normal CAN3 mode
set_gpio_alternate(GPIOA, 8, GPIO_AF11_CAN3);
set_gpio_alternate(GPIOA, 15, GPIO_AF11_CAN3);
// GPS off
set_gpio_output(GPIOB, 1, 0);
set_gpio_output(GPIOC, 5, 0);
set_gpio_output(GPIOC, 12, 0);
// C8: FAN PWM aka TIM3_CH3
set_gpio_alternate(GPIOC, 8, GPIO_AF2_TIM3);
// Turn on phone regulator
set_gpio_output(GPIOB, 4, true);
// Initialize IR PWM and set to 0%
set_gpio_alternate(GPIOB, 7, GPIO_AF2_TIM4);
pwm_init(TIM4, 2);
uno_set_ir_power(0U);
// Switch to phone usb mode if harness connection is powered by less than 7V
if(white_read_voltage_mV() < 7000U){
uno_set_usb_switch(true);
} else {
uno_set_usb_switch(false);
}
// Bootkick phone
uno_set_bootkick(BOOT_BOOTKICK);
}
static void uno_init_bootloader(void) {
// GPS off
set_gpio_output(GPIOB, 1, 0);
set_gpio_output(GPIOC, 5, 0);
set_gpio_output(GPIOC, 12, 0);
}
static harness_configuration uno_harness_config = {
.has_harness = true,
.GPIO_SBU1 = GPIOC,
.GPIO_SBU2 = GPIOC,
.GPIO_relay_SBU1 = GPIOC,
.GPIO_relay_SBU2 = GPIOC,
.pin_SBU1 = 0,
.pin_SBU2 = 3,
.pin_relay_SBU1 = 10,
.pin_relay_SBU2 = 11,
.adc_channel_SBU1 = 10,
.adc_channel_SBU2 = 13
};
board board_uno = {
.harness_config = &uno_harness_config,
.has_spi = false,
.has_canfd = false,
.fan_max_rpm = 5100U,
.fan_max_pwm = 100U,
.avdd_mV = 3300U,
.fan_stall_recovery = false,
.fan_enable_cooldown_time = 0U,
.init = uno_init,
.init_bootloader = uno_init_bootloader,
.enable_can_transceiver = uno_enable_can_transceiver,
.led_GPIO = {GPIOC, GPIOC, GPIOC},
.led_pin = {9, 7, 6},
.set_can_mode = uno_set_can_mode,
.check_ignition = uno_check_ignition,
.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,
.set_bootkick = uno_set_bootkick,
.read_som_gpio = unused_read_som_gpio,
.set_amp_enabled = unused_set_amp_enabled
};

45
board/jungle/scripts/panda_identification_test.py
View File

@@ -1,45 +0,0 @@
#!/usr/bin/env python3
import os
import time
import random
import contextlib
from panda import PandaJungle
from panda import Panda
PANDA_UNDER_TEST = Panda.HW_TYPE_UNO
panda_jungle = PandaJungle()
def silent_panda_connect():
with open(os.devnull, "w") as devnull:
with contextlib.redirect_stdout(devnull):
panda = Panda()
return panda
def reboot_panda(harness_orientation=PandaJungle.HARNESS_ORIENTATION_NONE, ignition=False):
print(f"Restarting panda with harness orientation: {harness_orientation} and ignition: {ignition}")
panda_jungle.set_panda_power(False)
panda_jungle.set_harness_orientation(harness_orientation)
panda_jungle.set_ignition(ignition)
time.sleep(2)
panda_jungle.set_panda_power(True)
time.sleep(2)
count = 0
if __name__ == "__main__":
while True:
ignition = random.randint(0, 1)
harness_orientation = random.randint(0, 2)
reboot_panda(harness_orientation, ignition)
p = silent_panda_connect()
assert p.get_type() == PANDA_UNDER_TEST
assert p.health()['car_harness_status'] == harness_orientation
if harness_orientation != PandaJungle.HARNESS_ORIENTATION_NONE:
assert p.health()['ignition_line'] == ignition
count += 1
print(f"Passed {count} loops")

8
board/stm32f4/board.h
View File

@@ -11,9 +11,7 @@
#include "stm32f4/llfan.h"
#include "drivers/clock_source.h"
#include "boards/white.h"
#include "boards/grey.h"
#include "boards/black.h"
#include "boards/uno.h"
#include "boards/dos.h"
// Unused functions on F4
@@ -30,11 +28,9 @@ void detect_board_type(void) {
hw_type = HW_TYPE_WHITE_PANDA;
current_board = &board_white;
} else if(detect_with_pull(GPIOA, 13, PULL_DOWN)) { // Rev AB deprecated, so no pullup means black. In REV C, A13 is pulled up to 5V with a 10K
hw_type = HW_TYPE_GREY_PANDA;
current_board = &board_grey;
// grey is deprecated
} else if(!detect_with_pull(GPIOB, 15, PULL_UP)) {
hw_type = HW_TYPE_UNO;
current_board = &board_uno;
// uno is deprecated
} else {
hw_type = HW_TYPE_BLACK_PANDA;
current_board = &board_black;

2
pyproject.toml
View File

@@ -13,7 +13,7 @@ classifiers = [
]
dependencies = [
"libusb1",
"opendbc @ git+https://github.com/sunnypilot/opendbc.git@80c0b4203af04ffdf008adf868162fd0b705ae2c#egg=opendbc",
"opendbc @ git+https://github.com/sunnypilot/opendbc.git@c87940a6b5f0b74b8df95f5ef24d4003e7b932d4#egg=opendbc",
]
[project.optional-dependencies]

1
tests/hitl/7_internal.py
View File

@@ -4,7 +4,6 @@ import pytest
from panda import Panda
pytestmark = [
pytest.mark.skip_panda_types(Panda.HW_TYPE_UNO),
pytest.mark.test_panda_types(Panda.INTERNAL_DEVICES)
]