openpilot_comma/board/drivers/drivers.h

#ifndef PANDA_DRIVERS_H
#define PANDA_DRIVERS_H

// ********************* LLGPIO *********************

#define MODE_INPUT 0
#define MODE_OUTPUT 1
#define MODE_ALTERNATE 2
#define MODE_ANALOG 3

#define PULL_NONE 0
#define PULL_UP 1
#define PULL_DOWN 2

void set_gpio_mode(GPIO_TypeDef *GPIO, int pin, int mode);
void set_gpio_output(GPIO_TypeDef *GPIO, int pin, int val);
void set_gpio_alternate(GPIO_TypeDef *GPIO, int pin, int mode);
void set_gpio_pullup(GPIO_TypeDef *GPIO, int pin, int mode);

int get_gpio_input(GPIO_TypeDef *GPIO, int pin);


// ********************* USB *********************
// IRQs: OTG_FS

typedef union {
  uint16_t w;
  struct BW {
    uint8_t msb;
    uint8_t lsb;
  }
  bw;
}
uint16_t_uint8_t;

typedef union _USB_Setup {
  uint32_t d8[2];
  struct _SetupPkt_Struc
  {
    uint8_t           bmRequestType;
    uint8_t           bRequest;
    uint16_t_uint8_t  wValue;
    uint16_t_uint8_t  wIndex;
    uint16_t_uint8_t  wLength;
  } b;
}
USB_Setup_TypeDef;

void usb_init();
int usb_cb_control_msg(USB_Setup_TypeDef *setup, uint8_t *resp, int hardwired);
int usb_cb_ep1_in(uint8_t *usbdata, int len, int hardwired);
void usb_cb_ep2_out(uint8_t *usbdata, int len, int hardwired);
void usb_cb_ep3_out(uint8_t *usbdata, int len, int hardwired);
void usb_cb_enumeration_complete();


// ********************* UART *********************
// IRQs: USART1, USART2, USART3, UART5

#define FIFO_SIZE 0x400
typedef struct uart_ring {
  uint16_t w_ptr_tx;
  uint16_t r_ptr_tx;
  uint8_t elems_tx[FIFO_SIZE];
  uint16_t w_ptr_rx;
  uint16_t r_ptr_rx;
  uint8_t elems_rx[FIFO_SIZE];
  USART_TypeDef *uart;
  void (*callback)(struct uart_ring*);
} uart_ring;

void uart_init(USART_TypeDef *u, int baud);

int getc(uart_ring *q, char *elem);
int putc(uart_ring *q, char elem);

int puts(const char *a);
void puth(unsigned int i);
void hexdump(const void *a, int l);


// ********************* ADC *********************

void adc_init();
uint32_t adc_get(int channel);


// ********************* DAC *********************

void dac_init();
uint32_t dac_set(int channel, uint32_t value);


// ********************* TIMER *********************

void timer_init(TIM_TypeDef *TIM, int psc);


// ********************* SPI *********************
// IRQs: DMA2_Stream2, DMA2_Stream3, EXTI4

void spi_init();
int spi_cb_rx(uint8_t *data, int len, uint8_t *data_out);


// ********************* CAN *********************
// IRQs: CAN1_TX, CAN1_RX0, CAN1_SCE
//       CAN2_TX, CAN2_RX0, CAN2_SCE
//       CAN3_TX, CAN3_RX0, CAN3_SCE

typedef struct {
  uint32_t w_ptr;
  uint32_t r_ptr;
  uint32_t fifo_size;
  CAN_FIFOMailBox_TypeDef *elems;
} can_ring;

#define CAN_BUS_RET_FLAG 0x80
#define CAN_BUS_NUM_MASK 0x7F

#ifdef PANDA
  #define BUS_MAX 4
#else
  #define BUS_MAX 2
#endif

extern int can_live, pending_can_live;

// must reinit after changing these
extern int can_loopback, can_silent;
extern uint32_t can_speed[];

void can_set_forwarding(int from, int to);

void can_init(uint8_t can_number);
void can_init_all();
void can_send(CAN_FIFOMailBox_TypeDef *to_push, uint8_t bus_number);
int can_pop(can_ring *q, CAN_FIFOMailBox_TypeDef *elem);

#endif