mirror of https://github.com/commaai/panda.git
81 lines
2.4 KiB
C
81 lines
2.4 KiB
C
#include "stm32h7/inc/stm32h7xx.h"
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#include "stm32h7/inc/stm32h7xx_hal_gpio_ex.h"
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#define MCU_IDCODE 0x483U
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// from the linker script
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#define APP_START_ADDRESS 0x8020000U
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#define CORE_FREQ 240U // in Mhz
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//APB1 - 120Mhz, APB2 - 120Mhz
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#define APB1_FREQ CORE_FREQ/2U
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#define APB2_FREQ CORE_FREQ/2U
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#define BOOTLOADER_ADDRESS 0x1FF09804U
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// Around (1Mbps / 8 bits/byte / 12 bytes per message)
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#define CAN_INTERRUPT_RATE 12000U // FIXME: should raise to 16000 ?
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#define MAX_LED_FADE 10240U
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// Threshold voltage (mV) for either of the SBUs to be below before deciding harness is connected
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#define HARNESS_CONNECTED_THRESHOLD 40000U
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// There are 163 external interrupt sources (see stm32f735xx.h)
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#define NUM_INTERRUPTS 163U
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#define TICK_TIMER_IRQ TIM8_BRK_TIM12_IRQn
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#define TICK_TIMER TIM12
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#define MICROSECOND_TIMER TIM2
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#define INTERRUPT_TIMER_IRQ TIM6_DAC_IRQn
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#define INTERRUPT_TIMER TIM6
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#define PROVISION_CHUNK_ADDRESS 0x080FFFE0U
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#define DEVICE_SERIAL_NUMBER_ADDRESS 0x080FFFC0U
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#include "can_definitions.h"
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#include "comms_definitions.h"
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#ifndef BOOTSTUB
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#include "main_declarations.h"
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#else
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#include "bootstub_declarations.h"
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#endif
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#include "libc.h"
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#include "critical.h"
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#include "faults.h"
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#include "utils.h"
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#include "drivers/registers.h"
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#include "drivers/interrupts.h"
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#include "drivers/gpio.h"
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#include "stm32h7/peripherals.h"
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#include "stm32h7/interrupt_handlers.h"
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#include "drivers/timers.h"
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#include "stm32h7/lladc.h"
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#include "stm32h7/board.h"
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#include "stm32h7/clock.h"
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#if !defined(BOOTSTUB) && defined(PANDA)
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#include "drivers/uart.h"
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#include "stm32h7/lluart.h"
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#include "stm32h7/llexti.h"
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#endif
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#ifdef BOOTSTUB
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#include "stm32h7/llflash.h"
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#else
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#include "stm32h7/llfdcan.h"
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#endif
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#include "stm32h7/llusb.h"
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void early_gpio_float(void) {
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RCC->AHB4ENR = RCC_AHB4ENR_GPIOAEN | RCC_AHB4ENR_GPIOBEN | RCC_AHB4ENR_GPIOCEN | RCC_AHB4ENR_GPIODEN | RCC_AHB4ENR_GPIOEEN | RCC_AHB4ENR_GPIOFEN | RCC_AHB4ENR_GPIOGEN | RCC_AHB4ENR_GPIOHEN;
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GPIOA->MODER = 0; GPIOB->MODER = 0; GPIOC->MODER = 0; GPIOD->MODER = 0; GPIOE->MODER = 0; GPIOF->MODER = 0; GPIOG->MODER = 0; GPIOH->MODER = 0;
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GPIOA->ODR = 0; GPIOB->ODR = 0; GPIOC->ODR = 0; GPIOD->ODR = 0; GPIOE->ODR = 0; GPIOF->ODR = 0; GPIOG->ODR = 0; GPIOH->ODR = 0;
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GPIOA->PUPDR = 0; GPIOB->PUPDR = 0; GPIOC->PUPDR = 0; GPIOD->PUPDR = 0; GPIOE->PUPDR = 0; GPIOF->PUPDR = 0; GPIOG->PUPDR = 0; GPIOH->PUPDR = 0;
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}
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