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95 lines
2.8 KiB
95 lines
2.8 KiB
#include "stm32h7xx.h"
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#include "stm32h7xx_hal_gpio_ex.h"
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#define MCU_IDCODE 0x483U
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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/4U)
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#define APB1_TIMER_FREQ (APB1_FREQ*2U) // APB1 is multiplied by 2 for the timer peripherals
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#define APB2_FREQ (CORE_FREQ/4U)
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#define APB2_TIMER_FREQ (APB2_FREQ*2U) // APB2 is multiplied by 2 for the timer peripherals
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#define BOOTLOADER_ADDRESS 0x1FF09804U
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/*
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An IRQ is received on message RX/TX (or RX errors), with
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separate IRQs for RX and TX.
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0-byte CAN FD frame as the worst case:
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- 17 slow bits = SOF + 11 ID + R1 + IDE + EDL + R0 + BRS
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- 23 fast bits = ESI + 4 DLC + 0 DATA + 17 CRC + CRC delimeter
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- 12 slow bits = ACK + DEL + 7 EOF + 3 IFS
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- all currently supported cars are 0.5 Mbps / 2 Mbps
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1 / ((29 bits / 0.5Mbps) + (23 bits / 2Mbps)) = 14388Hz
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*/
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#define CAN_INTERRUPT_RATE 16000U
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#define MAX_LED_FADE 10240U
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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 IND_WDG IWDG1
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#define PROVISION_CHUNK_ADDRESS 0x080FFFE0U
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#define DEVICE_SERIAL_NUMBER_ADDRESS 0x080FFFC0U
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#include "board/can.h"
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#include "board/comms_definitions.h"
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#ifndef BOOTSTUB
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#include "board/main_definitions.h"
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#else
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#include "board/bootstub_declarations.h"
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#endif
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#include "board/libc.h"
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#include "board/critical.h"
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#include "board/faults.h"
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#include "board/utils.h"
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#include "board/drivers/registers.h"
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#include "board/drivers/interrupts.h"
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#include "board/drivers/gpio.h"
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#include "board/stm32h7/peripherals.h"
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#include "board/stm32h7/interrupt_handlers.h"
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#include "board/drivers/timers.h"
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#if !defined(BOOTSTUB)
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#include "board/drivers/uart.h"
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#include "board/stm32h7/lluart.h"
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#endif
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#ifdef PANDA_JUNGLE
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#include "board/jungle/stm32h7/board.h"
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#else
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#include "board/stm32h7/board.h"
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#endif
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#include "board/stm32h7/clock.h"
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#ifdef BOOTSTUB
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#include "board/stm32h7/llflash.h"
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#else
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#include "board/stm32h7/llfdcan.h"
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#endif
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#include "board/stm32h7/llusb.h"
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#include "board/drivers/spi.h"
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#include "board/stm32h7/llspi.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 = 0xAB000000U; 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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