jungle v2: control power individually per port (#1669)

* init

* better api

board/jungle/__init__.py

@@ -132,6 +132,9 @@ class PandaJungle(Panda):
   def set_panda_power(self, enabled):
     self._handle.controlWrite(PandaJungle.REQUEST_OUT, 0xa0, int(enabled), 0, b'')
 
+  def set_panda_individual_power(self, port, enabled):
+    self._handle.controlWrite(PandaJungle.REQUEST_OUT, 0xa3, int(port), int(enabled), b'')
+
   def set_harness_orientation(self, mode):
     self._handle.controlWrite(PandaJungle.REQUEST_OUT, 0xa1, int(mode), 0, b'')
 

board/jungle/boards/board_declarations.h

@@ -4,6 +4,7 @@ typedef void (*board_set_led)(uint8_t color, bool enabled);
 typedef void (*board_board_tick)(void);
 typedef bool (*board_get_button)(void);
 typedef void (*board_set_panda_power)(bool enabled);
+typedef void (*board_set_panda_individual_power)(uint8_t port_num, bool enabled);
 typedef void (*board_set_ignition)(bool enabled);
 typedef void (*board_set_individual_ignition)(uint8_t bitmask);
 typedef void (*board_set_harness_orientation)(uint8_t orientation);
@@ -23,6 +24,7 @@ struct board {
   board_board_tick board_tick;
   board_get_button get_button;
   board_set_panda_power set_panda_power;
+  board_set_panda_individual_power set_panda_individual_power;
   board_set_ignition set_ignition;
   board_set_individual_ignition set_individual_ignition;
   board_set_harness_orientation set_harness_orientation;
@@ -75,3 +77,8 @@ void unused_board_enable_header_pin(uint8_t pin_num, bool enabled) {
   UNUSED(pin_num);
   UNUSED(enabled);
 }
+
+void unused_set_panda_individual_power(uint8_t port_num, bool enabled) {
+  UNUSED(port_num);
+  UNUSED(enabled);
+}

board/jungle/boards/board_v1.h

@@ -164,6 +164,7 @@ const board board_v1 = {
   .board_tick = &board_v1_tick,
   .get_button = &board_v1_get_button,
   .set_panda_power = &board_v1_set_panda_power,
+  .set_panda_individual_power = &unused_set_panda_individual_power,
   .set_ignition = &board_v1_set_ignition,
   .set_individual_ignition = &unused_set_individual_ignition,
   .set_harness_orientation = &board_v1_set_harness_orientation,

board/jungle/boards/board_v2.h

@@ -178,9 +178,26 @@ void board_v2_set_can_mode(uint8_t mode) {
 }
 
 bool panda_power = false;
+uint8_t panda_power_bitmask = 0U;
 void board_v2_set_panda_power(bool enable) {
   panda_power = enable;
   gpio_set_all_output(power_pins, sizeof(power_pins) / sizeof(gpio_t), enable);
+  if (enable) {
+    panda_power_bitmask = 0xFFU;
+  } else {
+    panda_power_bitmask = 0U;
+  }
+}
+
+void board_v2_set_panda_individual_power(uint8_t port_num, bool enable) {
+  port_num -= 1U;
+  if (port_num < 6U) {
+    panda_power_bitmask &= ~(1U << port_num);
+    panda_power_bitmask |= (enable ? 1U : 0U) << port_num;
+  } else {
+    print("Invalid port number ("); puth(port_num); print("): enabling failed\n");
+  }
+  gpio_set_bitmask(power_pins, sizeof(power_pins) / sizeof(gpio_t), (uint32_t)panda_power_bitmask);
 }
 
 bool board_v2_get_button(void) {
@@ -297,6 +314,7 @@ const board board_v2 = {
   .board_tick = &board_v2_tick,
   .get_button = &board_v2_get_button,
   .set_panda_power = &board_v2_set_panda_power,
+  .set_panda_individual_power = &board_v2_set_panda_individual_power,
   .set_ignition = &board_v2_set_ignition,
   .set_individual_ignition = &board_v2_set_individual_ignition,
   .set_harness_orientation = &board_v2_set_harness_orientation,

board/jungle/main_comms.h

@@ -58,6 +58,10 @@ int comms_control_handler(ControlPacket_t *req, uint8_t *resp) {
     case 0xa2:
       current_board->set_ignition((req->param1 == 1U));
       break;
+    // **** 0xa0: Set panda power per channel by bitmask.
+    case 0xa3:
+      current_board->set_panda_individual_power(req->param1, (req->param2 > 0U));
+      break;
     // **** 0xa8: get microsecond timer
     case 0xa8:
       time = microsecond_timer_get();