mirror of https://github.com/commaai/panda.git
88 lines
2.9 KiB
C
88 lines
2.9 KiB
C
// ///////////////////////////////////////////////////////////// //
|
|
// Hardware abstraction layer for all different supported boards //
|
|
// ///////////////////////////////////////////////////////////// //
|
|
#include "board_declarations.h"
|
|
#include "boards/common.h"
|
|
|
|
// ///// Board definition and detection ///// //
|
|
#include "drivers/harness.h"
|
|
#ifdef PANDA
|
|
#include "drivers/fan.h"
|
|
#include "drivers/rtc.h"
|
|
#include "drivers/clock_source.h"
|
|
#include "boards/white.h"
|
|
#include "boards/grey.h"
|
|
#include "boards/black.h"
|
|
#include "boards/uno.h"
|
|
#include "boards/dos.h"
|
|
#else
|
|
#include "boards/pedal.h"
|
|
#endif
|
|
|
|
void detect_board_type(void) {
|
|
#ifdef PANDA
|
|
// 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(GPIOB, 1, PULL_UP) && !detect_with_pull(GPIOB, 7, 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
|
|
hw_type = HW_TYPE_GREY_PANDA;
|
|
current_board = &board_grey;
|
|
} else if(!detect_with_pull(GPIOB, 15, PULL_UP)) {
|
|
hw_type = HW_TYPE_UNO;
|
|
current_board = &board_uno;
|
|
} else {
|
|
hw_type = HW_TYPE_BLACK_PANDA;
|
|
current_board = &board_black;
|
|
}
|
|
#else
|
|
#ifdef PEDAL
|
|
hw_type = HW_TYPE_PEDAL;
|
|
current_board = &board_pedal;
|
|
#else
|
|
hw_type = HW_TYPE_UNKNOWN;
|
|
puts("Hardware type is UNKNOWN!\n");
|
|
#endif
|
|
#endif
|
|
}
|
|
|
|
|
|
// ///// Configuration detection ///// //
|
|
bool has_external_debug_serial = 0;
|
|
|
|
void detect_configuration(void) {
|
|
// detect if external serial debugging is present
|
|
has_external_debug_serial = detect_with_pull(GPIOA, 3, PULL_DOWN);
|
|
}
|
|
|
|
// ///// Board functions ///// //
|
|
// TODO: Make these config options in the board struct
|
|
bool board_has_gps(void) {
|
|
return ((hw_type == HW_TYPE_GREY_PANDA) || (hw_type == HW_TYPE_BLACK_PANDA) || (hw_type == HW_TYPE_UNO));
|
|
}
|
|
|
|
bool board_has_gmlan(void) {
|
|
return ((hw_type == HW_TYPE_WHITE_PANDA) || (hw_type == HW_TYPE_GREY_PANDA));
|
|
}
|
|
|
|
bool board_has_obd(void) {
|
|
return ((hw_type == HW_TYPE_BLACK_PANDA) || (hw_type == HW_TYPE_UNO) || (hw_type == HW_TYPE_DOS));
|
|
}
|
|
|
|
bool board_has_lin(void) {
|
|
return ((hw_type == HW_TYPE_WHITE_PANDA) || (hw_type == HW_TYPE_GREY_PANDA));
|
|
}
|
|
|
|
bool board_has_rtc(void) {
|
|
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) || (hw_type == HW_TYPE_DOS));
|
|
}
|