Dos (#533)

board/board.h

@@ -13,6 +13,7 @@
   #include "boards/grey.h"
   #include "boards/black.h"
   #include "boards/uno.h"
+  #include "boards/dos.h"
 #else
   #include "boards/pedal.h"
 #endif
@@ -22,7 +23,10 @@ void detect_board_type(void) {
     // SPI lines floating: white (TODO: is this reliable? Not really, we have to enable ESP/GPS to be able to detect this on the UART)
     set_gpio_output(GPIOC, 14, 1);
     set_gpio_output(GPIOC, 5, 1);
-    if((detect_with_pull(GPIOA, 4, PULL_DOWN)) || (detect_with_pull(GPIOA, 5, PULL_DOWN)) || (detect_with_pull(GPIOA, 6, PULL_DOWN)) || (detect_with_pull(GPIOA, 7, PULL_DOWN))){
+    if(!detect_with_pull(GPIOB, 1, PULL_UP)){
+      hw_type = HW_TYPE_DOS;
+      current_board = &board_dos;
+    } else if((detect_with_pull(GPIOA, 4, PULL_DOWN)) || (detect_with_pull(GPIOA, 5, PULL_DOWN)) || (detect_with_pull(GPIOA, 6, PULL_DOWN)) || (detect_with_pull(GPIOA, 7, PULL_DOWN))){
       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
@@ -78,7 +82,7 @@ bool board_has_gmlan(void) {
 }
 
 bool board_has_obd(void) {
-  return ((hw_type == HW_TYPE_BLACK_PANDA) || (hw_type == HW_TYPE_UNO));
+  return ((hw_type == HW_TYPE_BLACK_PANDA) || (hw_type == HW_TYPE_UNO) || (hw_type == HW_TYPE_DOS));
 }
 
 bool board_has_lin(void) {
@@ -86,9 +90,9 @@ bool board_has_lin(void) {
 }
 
 bool board_has_rtc(void) {
-  return (hw_type == HW_TYPE_UNO);
+  return ((hw_type == HW_TYPE_UNO) || (hw_type == HW_TYPE_DOS));
 }
 
 bool board_has_relay(void) {
-  return ((hw_type == HW_TYPE_BLACK_PANDA) || (hw_type == HW_TYPE_UNO));
+  return ((hw_type == HW_TYPE_BLACK_PANDA) || (hw_type == HW_TYPE_UNO) || (hw_type == HW_TYPE_DOS));
 }

board/board_declarations.h

@@ -39,6 +39,7 @@ struct board {
 #define HW_TYPE_BLACK_PANDA 3U
 #define HW_TYPE_PEDAL 4U
 #define HW_TYPE_UNO 5U
+#define HW_TYPE_DOS 6U
 
 // LED colors
 #define LED_RED 0U

board/boards/dos.h

@@ -0,0 +1,224 @@
+// ///////////// //
+// Dos + Harness //
+// ///////////// //
+
+void dos_enable_can_transciever(uint8_t transciever, bool enabled) {
+  switch (transciever){
+    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:
+      puts("Invalid CAN transciever ("); puth(transciever); puts("): enabling failed\n");
+      break;
+  }
+}
+
+void dos_enable_can_transcievers(bool enabled) {
+  for(uint8_t i=1U; i<=4U; i++){
+    // Leave main CAN always on for CAN-based ignition detection
+    if((car_harness_status == HARNESS_STATUS_FLIPPED) ? (i == 3U) : (i == 1U)){
+      uno_enable_can_transciever(i, true);
+    } else {
+      uno_enable_can_transciever(i, enabled);
+    }
+  }
+}
+
+void dos_set_led(uint8_t color, bool enabled) {
+  switch (color){
+    case LED_RED:
+      set_gpio_output(GPIOC, 9, !enabled);
+      break;
+     case LED_GREEN:
+      set_gpio_output(GPIOC, 7, !enabled);
+      break;
+    case LED_BLUE:
+      set_gpio_output(GPIOC, 6, !enabled);
+      break;
+    default:
+      break;
+  }
+}
+
+void dos_set_gps_load_switch(bool enabled) {
+  UNUSED(enabled);
+}
+
+void dos_set_bootkick(bool enabled){
+  UNUSED(enabled);
+}
+
+void dos_bootkick(void) {}
+
+void dos_set_phone_power(bool enabled){
+  UNUSED(enabled);
+}
+
+void dos_set_usb_power_mode(uint8_t mode) {
+  UNUSED(mode);
+}
+
+void dos_set_esp_gps_mode(uint8_t mode) {
+  UNUSED(mode);
+}
+
+void dos_set_can_mode(uint8_t mode){
+  switch (mode) {
+    case CAN_MODE_NORMAL:
+    case CAN_MODE_OBD_CAN2:
+      if ((bool)(mode == CAN_MODE_NORMAL) != (bool)(car_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);
+      } 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);
+      }
+      break;
+    default:
+      puts("Tried to set unsupported CAN mode: "); puth(mode); puts("\n");
+      break;
+  }
+}
+
+void dos_usb_power_mode_tick(uint32_t uptime){
+  UNUSED(uptime);
+  if(bootkick_timer != 0U){
+    bootkick_timer--;
+  } else {
+    dos_set_bootkick(false);
+  }
+}
+
+bool dos_check_ignition(void){
+  // ignition is checked through harness
+  return harness_check_ignition();
+}
+
+void dos_set_usb_switch(bool phone){
+  set_gpio_output(GPIOB, 3, phone);
+}
+
+void dos_set_ir_power(uint8_t percentage){
+  pwm_set(TIM4, 2, percentage);
+}
+
+void dos_set_fan_power(uint8_t percentage){
+  // Enable fan power only if percentage is non-zero.
+  set_gpio_output(GPIOA, 1, (percentage != 0U));
+  fan_set_power(percentage);
+}
+
+uint32_t dos_read_current(void){
+  // No current sense on Dos
+  return 0U;
+}
+
+void dos_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);
+
+  // C0: OBD_SBU1 (orientation detection)
+  // C3: OBD_SBU2 (orientation detection)
+  set_gpio_mode(GPIOC, 0, MODE_ANALOG);
+  set_gpio_mode(GPIOC, 3, MODE_ANALOG);
+
+  // C10: OBD_SBU1_RELAY (harness relay driving output)
+  // C11: OBD_SBU2_RELAY (harness relay driving output)
+  set_gpio_mode(GPIOC, 10, MODE_OUTPUT);
+  set_gpio_mode(GPIOC, 11, MODE_OUTPUT);
+  set_gpio_output_type(GPIOC, 10, OUTPUT_TYPE_OPEN_DRAIN);
+  set_gpio_output_type(GPIOC, 11, OUTPUT_TYPE_OPEN_DRAIN);
+  set_gpio_output(GPIOC, 10, 1);
+  set_gpio_output(GPIOC, 11, 1);
+
+  // C8: FAN PWM aka TIM3_CH3
+  set_gpio_alternate(GPIOC, 8, GPIO_AF2_TIM3);
+
+  // Initialize IR PWM and set to 0%
+  set_gpio_alternate(GPIOB, 7, GPIO_AF2_TIM4);
+  pwm_init(TIM4, 2);
+  dos_set_ir_power(0U);
+
+  // Initialize fan and set to 0%
+  fan_init();
+  dos_set_fan_power(0U);
+
+  // Initialize harness
+  harness_init();
+
+  // Initialize RTC
+  rtc_init();
+
+  // Enable CAN transcievers
+  dos_enable_can_transcievers(true);
+
+  // Disable LEDs
+  dos_set_led(LED_RED, false);
+  dos_set_led(LED_GREEN, false);
+  dos_set_led(LED_BLUE, false);
+
+  // Set normal CAN mode
+  dos_set_can_mode(CAN_MODE_NORMAL);
+
+  // flip CAN0 and CAN2 if we are flipped
+  if (car_harness_status == HARNESS_STATUS_FLIPPED) {
+    can_flip_buses(0, 2);
+  }
+
+  // init multiplexer
+  can_set_obd(car_harness_status, false);
+}
+
+const harness_configuration dos_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
+};
+
+const board board_dos = {
+  .board_type = "Dos",
+  .harness_config = &dos_harness_config,
+  .init = dos_init,
+  .enable_can_transciever = dos_enable_can_transciever,
+  .enable_can_transcievers = dos_enable_can_transcievers,
+  .set_led = dos_set_led,
+  .set_usb_power_mode = dos_set_usb_power_mode,
+  .set_esp_gps_mode = dos_set_esp_gps_mode,
+  .set_can_mode = dos_set_can_mode,
+  .usb_power_mode_tick = dos_usb_power_mode_tick,
+  .check_ignition = dos_check_ignition,
+  .read_current = dos_read_current,
+  .set_fan_power = dos_set_fan_power,
+  .set_ir_power = dos_set_ir_power,
+  .set_phone_power = dos_set_phone_power
+};