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panda: disable transceivers while doing CAN multiplexing (#1556) 

init
This commit is contained in:
Igor Biletskyy 2023-08-07 12:24:16 -07:00 committed by GitHub
parent a651fe3c6b
commit 83c000e1a4
No known key found for this signature in database
GPG Key ID: 4AEE18F83AFDEB23
7 changed files with 65 additions and 6 deletions
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7
board/boards/black.h
View File

@ -53,7 +53,9 @@ void black_set_usb_load_switch(bool enabled) {
set_gpio_output(GPIOB, 1, !enabled);
}
void black_set_can_mode(uint8_t mode){
void black_set_can_mode(uint8_t mode) {
black_enable_can_transceiver(2U, false);
black_enable_can_transceiver(4U, false);
switch (mode) {
case CAN_MODE_NORMAL:
case CAN_MODE_OBD_CAN2:
@ -65,6 +67,8 @@ void black_set_can_mode(uint8_t mode){
// B5,B6: normal CAN2 mode
set_gpio_alternate(GPIOB, 5, GPIO_AF9_CAN2);
set_gpio_alternate(GPIOB, 6, GPIO_AF9_CAN2);
black_enable_can_transceiver(2U, true);
} else {
// B5,B6: disable normal CAN2 mode
set_gpio_mode(GPIOB, 5, MODE_INPUT);
@ -73,6 +77,7 @@ void black_set_can_mode(uint8_t mode){
// B12,B13: OBD mode
set_gpio_alternate(GPIOB, 12, GPIO_AF9_CAN2);
set_gpio_alternate(GPIOB, 13, GPIO_AF9_CAN2);
black_enable_can_transceiver(4U, true);
}
break;
default:

6
board/boards/dos.h
View File

@ -68,7 +68,9 @@ bool dos_board_tick(bool ignition, bool usb_enum, bool heartbeat_seen, bool harn
return ret;
}
void dos_set_can_mode(uint8_t mode){
void dos_set_can_mode(uint8_t mode) {
dos_enable_can_transceiver(2U, false);
dos_enable_can_transceiver(4U, false);
switch (mode) {
case CAN_MODE_NORMAL:
case CAN_MODE_OBD_CAN2:
@ -80,6 +82,7 @@ void dos_set_can_mode(uint8_t mode){
// B5,B6: normal CAN2 mode
set_gpio_alternate(GPIOB, 5, GPIO_AF9_CAN2);
set_gpio_alternate(GPIOB, 6, GPIO_AF9_CAN2);
dos_enable_can_transceiver(2U, true);
} else {
// B5,B6: disable normal CAN2 mode
set_gpio_mode(GPIOB, 5, MODE_INPUT);
@ -88,6 +91,7 @@ void dos_set_can_mode(uint8_t mode){
// B12,B13: OBD mode
set_gpio_alternate(GPIOB, 12, GPIO_AF9_CAN2);
set_gpio_alternate(GPIOB, 13, GPIO_AF9_CAN2);
dos_enable_can_transceiver(4U, true);
}
break;
default:

4
board/boards/red.h
View File

@ -50,6 +50,8 @@ void red_set_led(uint8_t color, bool enabled) {
}
void red_set_can_mode(uint8_t mode) {
red_enable_can_transceiver(2U, false);
red_enable_can_transceiver(4U, false);
switch (mode) {
case CAN_MODE_NORMAL:
case CAN_MODE_OBD_CAN2:
@ -67,6 +69,7 @@ void red_set_can_mode(uint8_t mode) {
set_gpio_pullup(GPIOB, 6, PULL_NONE);
set_gpio_alternate(GPIOB, 6, GPIO_AF9_FDCAN2);
red_enable_can_transceiver(2U, true);
} else {
// B5,B6: disable normal mode
set_gpio_pullup(GPIOB, 5, PULL_NONE);
@ -80,6 +83,7 @@ void red_set_can_mode(uint8_t mode) {
set_gpio_pullup(GPIOB, 13, PULL_NONE);
set_gpio_alternate(GPIOB, 13, GPIO_AF9_FDCAN2);
red_enable_can_transceiver(4U, true);
}
break;
default:

44
board/boards/red_chiplet.h
View File

@ -35,6 +35,48 @@ void red_chiplet_enable_can_transceivers(bool enabled) {
}
}
void red_chiplet_set_can_mode(uint8_t mode) {
red_chiplet_enable_can_transceiver(2U, false);
red_chiplet_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 normal mode
set_gpio_pullup(GPIOB, 12, PULL_NONE);
set_gpio_mode(GPIOB, 12, MODE_ANALOG);
set_gpio_pullup(GPIOB, 13, PULL_NONE);
set_gpio_mode(GPIOB, 13, MODE_ANALOG);
// B5,B6: FDCAN2 mode
set_gpio_pullup(GPIOB, 5, PULL_NONE);
set_gpio_alternate(GPIOB, 5, GPIO_AF9_FDCAN2);
set_gpio_pullup(GPIOB, 6, PULL_NONE);
set_gpio_alternate(GPIOB, 6, GPIO_AF9_FDCAN2);
red_chiplet_enable_can_transceiver(2U, true);
} else {
// B5,B6: disable normal mode
set_gpio_pullup(GPIOB, 5, PULL_NONE);
set_gpio_mode(GPIOB, 5, MODE_ANALOG);
set_gpio_pullup(GPIOB, 6, PULL_NONE);
set_gpio_mode(GPIOB, 6, MODE_ANALOG);
// B12,B13: FDCAN2 mode
set_gpio_pullup(GPIOB, 12, PULL_NONE);
set_gpio_alternate(GPIOB, 12, GPIO_AF9_FDCAN2);
set_gpio_pullup(GPIOB, 13, PULL_NONE);
set_gpio_alternate(GPIOB, 13, GPIO_AF9_FDCAN2);
red_chiplet_enable_can_transceiver(4U, true);
}
break;
default:
break;
}
}
void red_chiplet_set_fan_or_usb_load_switch(bool enabled) {
set_gpio_output(GPIOD, 3, enabled);
}
@ -89,7 +131,7 @@ void red_chiplet_init(void) {
red_set_led(LED_BLUE, false);
// Set normal CAN mode
red_set_can_mode(CAN_MODE_NORMAL);
red_chiplet_set_can_mode(CAN_MODE_NORMAL);
// flip CAN0 and CAN2 if we are flipped
if (harness.status == HARNESS_STATUS_FLIPPED) {

2
board/boards/red_v2.h
View File

@ -29,7 +29,7 @@ const board board_red_v2 = {
.enable_can_transceiver = red_chiplet_enable_can_transceiver,
.enable_can_transceivers = red_chiplet_enable_can_transceivers,
.set_led = red_set_led,
.set_can_mode = red_set_can_mode,
.set_can_mode = red_chiplet_set_can_mode,
.check_ignition = red_check_ignition,
.read_current = unused_read_current,
.set_fan_enabled = unused_set_fan_enabled,

2
board/boards/tres.h
View File

@ -104,7 +104,7 @@ const board board_tres = {
.enable_can_transceiver = red_chiplet_enable_can_transceiver,
.enable_can_transceivers = red_chiplet_enable_can_transceivers,
.set_led = red_set_led,
.set_can_mode = red_set_can_mode,
.set_can_mode = red_chiplet_set_can_mode,
.check_ignition = red_check_ignition,
.read_current = unused_read_current,
.set_fan_enabled = tres_set_fan_enabled,

6
board/boards/uno.h
View File

@ -69,7 +69,9 @@ void uno_set_phone_power(bool enabled){
set_gpio_output(GPIOB, 4, enabled);
}
void uno_set_can_mode(uint8_t mode){
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:
@ -81,6 +83,7 @@ void uno_set_can_mode(uint8_t mode){
// 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);
@ -89,6 +92,7 @@ void uno_set_can_mode(uint8_t mode){
// 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: