mirror of
https://github.com/infiniteCable2/panda.git
synced 2026-02-18 17:23:52 +08:00
234 lines
6.2 KiB
C
234 lines
6.2 KiB
C
#ifdef STM32F4
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#include "stm32f4xx_hal_gpio_ex.h"
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#else
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#include "stm32f2xx_hal_gpio_ex.h"
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#endif
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#include "config.h"
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#include "gpio.h"
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#include "llgpio.h"
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#include "early.h"
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#include "can.h"
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void set_can_enable(uint8_t canid, int enabled) {
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// enable CAN busses
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gpio_pin *pin = &can_ports[canid].pin;
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//enable, high_val = 1; 1 xnor 1 = 1
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//enable, ~high_val = 0; 1 xnor 0 = 0
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//~enable, high_val = 0; 0 xnor 1 = 0
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//~enable, ~high_val = 1; 0 xnor 0 = 1
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set_gpio_output(pin->port, pin->num, !(enabled ^ pin->high_val));
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}
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void set_led(int led_num, int on) {
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if (led_num == -1) return;
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#ifdef PANDA
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set_gpio_output(GPIOC, led_num, !on);
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#else
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set_gpio_output(GPIOB, led_num, !on);
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#endif
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}
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// TODO: does this belong here?
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void periph_init() {
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// enable GPIOB, UART2, CAN, USB clock
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RCC->AHB1ENR |= RCC_AHB1ENR_GPIOAEN;
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RCC->AHB1ENR |= RCC_AHB1ENR_GPIOBEN;
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RCC->AHB1ENR |= RCC_AHB1ENR_GPIOCEN;
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RCC->AHB1ENR |= RCC_AHB1ENR_GPIODEN;
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RCC->AHB1ENR |= RCC_AHB1ENR_DMA2EN;
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RCC->APB1ENR |= RCC_APB1ENR_USART2EN;
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RCC->APB1ENR |= RCC_APB1ENR_USART3EN;
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#ifdef PANDA
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RCC->APB1ENR |= RCC_APB1ENR_UART5EN;
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#endif
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RCC->APB1ENR |= RCC_APB1ENR_CAN1EN;
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RCC->APB1ENR |= RCC_APB1ENR_CAN2EN;
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#ifdef CAN3
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RCC->APB1ENR |= RCC_APB1ENR_CAN3EN;
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#endif
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RCC->APB1ENR |= RCC_APB1ENR_DACEN;
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RCC->APB1ENR |= RCC_APB1ENR_TIM3EN;
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//RCC->APB1ENR |= RCC_APB1ENR_TIM4EN;
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RCC->APB2ENR |= RCC_APB2ENR_USART1EN;
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RCC->AHB2ENR |= RCC_AHB2ENR_OTGFSEN;
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RCC->APB2ENR |= RCC_APB2ENR_TIM1EN;
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RCC->APB2ENR |= RCC_APB2ENR_ADC1EN;
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RCC->APB2ENR |= RCC_APB2ENR_SPI1EN;
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// needed?
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RCC->APB2ENR |= RCC_APB2ENR_SYSCFGEN;
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}
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void set_can_mode(int canid, int use_gmlan) {
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if(canid >= CAN_MAX) return;
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if(!can_ports[canid].gmlan_support) return;
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can_ports[canid].gmlan = use_gmlan;
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/* GMLAN mode pins:
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M0(B15) M1(B14) mode
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=======================
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0 0 sleep
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1 0 100kbit
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0 1 high voltage wakeup
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1 1 33kbit (normal)
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*/
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// connects to CAN2 xcvr or GMLAN xcvr
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if (use_gmlan) {
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if (canid == 1) {
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// B5,B6: disable normal mode
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set_gpio_mode(GPIOB, 5, MODE_INPUT);
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set_gpio_mode(GPIOB, 6, MODE_INPUT);
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// B12,B13: gmlan mode
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set_gpio_alternate(GPIOB, 12, GPIO_AF9_CAN2);
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set_gpio_alternate(GPIOB, 13, GPIO_AF9_CAN2);
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} else if (revision == PANDA_REV_C && canid == 2) {
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// A8,A15: disable normal mode
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set_gpio_mode(GPIOA, 8, MODE_INPUT);
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set_gpio_mode(GPIOA, 15, MODE_INPUT);
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// B3,B4: enable gmlan mode
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set_gpio_alternate(GPIOB, 3, GPIO_AF11_CAN3);
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set_gpio_alternate(GPIOB, 4, GPIO_AF11_CAN3);
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}
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can_ports[canid].bitrate = GMLAN_DEFAULT_BITRATE;
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} else {
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if (canid == 1) {
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// B12,B13: disable gmlan mode
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set_gpio_mode(GPIOB, 12, MODE_INPUT);
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set_gpio_mode(GPIOB, 13, MODE_INPUT);
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// B5,B6: normal mode
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set_gpio_alternate(GPIOB, 5, GPIO_AF9_CAN2);
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set_gpio_alternate(GPIOB, 6, GPIO_AF9_CAN2);
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} else if (canid == 2) {
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if(revision == PANDA_REV_C){
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// B3,B4: disable gmlan mode
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set_gpio_mode(GPIOB, 3, MODE_INPUT);
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set_gpio_mode(GPIOB, 4, MODE_INPUT);
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}
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// A8,A15: normal mode
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set_gpio_alternate(GPIOA, 8, GPIO_AF11_CAN3);
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set_gpio_alternate(GPIOA, 15, GPIO_AF11_CAN3);
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}
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can_ports[canid].bitrate = CAN_DEFAULT_BITRATE;
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}
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set_gpio_output(GPIOB, 14, use_gmlan);
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set_gpio_output(GPIOB, 15, use_gmlan);
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can_init(canid);
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}
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// board specific
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void gpio_init() {
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// pull low to hold ESP in reset??
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// enable OTG out tied to ground
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GPIOA->ODR = 0;
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GPIOB->ODR = 0;
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GPIOA->PUPDR = 0;
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//GPIOC->ODR = 0;
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GPIOB->AFR[0] = 0;
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GPIOB->AFR[1] = 0;
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// C2,C3: analog mode, voltage and current sense
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set_gpio_mode(GPIOC, 2, MODE_ANALOG);
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set_gpio_mode(GPIOC, 3, MODE_ANALOG);
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// C8: FAN aka TIM3_CH4
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set_gpio_alternate(GPIOC, 8, GPIO_AF2_TIM3);
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// turn off LEDs and set mode
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set_led(LED_RED, 0);
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set_led(LED_GREEN, 0);
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set_led(LED_BLUE, 0);
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// A11,A12: USB
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set_gpio_alternate(GPIOA, 11, GPIO_AF10_OTG_FS);
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set_gpio_alternate(GPIOA, 12, GPIO_AF10_OTG_FS);
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GPIOA->OSPEEDR = GPIO_OSPEEDER_OSPEEDR11 | GPIO_OSPEEDER_OSPEEDR12;
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#ifdef PANDA
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// enable started_alt on the panda
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set_gpio_pullup(GPIOA, 1, PULL_UP);
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// A2,A3: USART 2 for debugging
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set_gpio_alternate(GPIOA, 2, GPIO_AF7_USART2);
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set_gpio_alternate(GPIOA, 3, GPIO_AF7_USART2);
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// A9,A10: USART 1 for talking to the ESP
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set_gpio_alternate(GPIOA, 9, GPIO_AF7_USART1);
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set_gpio_alternate(GPIOA, 10, GPIO_AF7_USART1);
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// B12: GMLAN, ignition sense, pull up
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set_gpio_pullup(GPIOB, 12, PULL_UP);
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// A4,A5,A6,A7: setup SPI
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set_gpio_alternate(GPIOA, 4, GPIO_AF5_SPI1);
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set_gpio_alternate(GPIOA, 5, GPIO_AF5_SPI1);
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set_gpio_alternate(GPIOA, 6, GPIO_AF5_SPI1);
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set_gpio_alternate(GPIOA, 7, GPIO_AF5_SPI1);
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#endif
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// B8,B9: CAN 1
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set_can_enable(0, 0);
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#ifdef STM32F4
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set_gpio_alternate(GPIOB, 8, GPIO_AF8_CAN1);
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set_gpio_alternate(GPIOB, 9, GPIO_AF8_CAN1);
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#else
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set_gpio_alternate(GPIOB, 8, GPIO_AF9_CAN1);
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set_gpio_alternate(GPIOB, 9, GPIO_AF9_CAN1);
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#endif
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// B5,B6: CAN 2
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set_can_enable(1, 0);
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set_can_mode(1, 0);
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// A8,A15: CAN3
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#ifdef CAN3
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set_can_enable(2, 0);
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set_can_mode(2, 0);
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#endif
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#ifdef PANDA
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// K-line enable moved from B4->B7 to make room for GMLAN on CAN3
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if(revision == PANDA_REV_C)
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set_gpio_output(GPIOB, 7, 1); // REV C
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else
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set_gpio_output(GPIOB, 4, 1); // REV AB
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// C12,D2: K-Line setup on UART 5
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set_gpio_alternate(GPIOC, 12, GPIO_AF8_UART5);
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set_gpio_alternate(GPIOD, 2, GPIO_AF8_UART5);
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set_gpio_pullup(GPIOD, 2, PULL_UP);
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// L-line enable
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set_gpio_output(GPIOA, 14, 1);
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// C10,C11: L-Line setup on USART 3
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set_gpio_alternate(GPIOC, 10, GPIO_AF7_USART3);
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set_gpio_alternate(GPIOC, 11, GPIO_AF7_USART3);
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set_gpio_pullup(GPIOC, 11, PULL_UP);
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#endif
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if(revision == PANDA_REV_C) {
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// B2,A13: set DCP mode on the charger (breaks USB!)
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//set_gpio_output(GPIOB, 2, 0);
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//set_gpio_output(GPIOA, 13, 0);
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//set_gpio_output(GPIOA, 13, 1); //CTRL 1
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//set_gpio_output(GPIOB, 2, 0); //CTRL 2
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}
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}
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