From 22e0a2474a4be7288980615bf65f659c1a0849a5 Mon Sep 17 00:00:00 2001
From: Willem Melching <willem.melching@gmail.com>
Date: Mon, 24 Aug 2020 16:56:29 +0200
Subject: [PATCH] Pandad: turn on panda power (#2073)

* pandad turn on panda power

* Add gpio.py

* needs bytes

Co-authored-by: Comma Device <device@comma.ai>
old-commit-hash: 6bb2630eba1bff2db745e56d639fce8b85ec6d0d
---
 common/gpio.py                 | 22 ++++++++++++++++++++++
 common/hardware.py             |  4 ++++
 release/files_common           |  2 ++
 selfdrive/pandad.py            | 23 ++++++++++++++++++++++-
 selfdrive/thermald/thermald.py |  4 +---
 5 files changed, 51 insertions(+), 4 deletions(-)
 create mode 100644 common/gpio.py
 create mode 100644 common/hardware.py

diff --git a/common/gpio.py b/common/gpio.py
new file mode 100644
index 0000000000..73603f262d
--- /dev/null
+++ b/common/gpio.py
@@ -0,0 +1,22 @@
+GPIO_HUB_RST_N = 30
+GPIO_UBLOX_RST_N = 32
+GPIO_UBLOX_SAFEBOOT_N = 33
+GPIO_UBLOX_PWR_EN = 34
+GPIO_STM_RST_N = 124
+GPIO_STM_BOOT0 = 134
+
+
+def gpio_init(pin, output):
+  try:
+    with open(f"/sys/class/gpio/gpio{pin}/direction", 'wb') as f:
+      f.write(b"out" if output else b"in")
+  except Exception as e:
+    print(f"Failed to set gpio {pin} direction: {e}")
+
+
+def gpio_set(pin, high):
+  try:
+    with open(f"/sys/class/gpio/gpio{pin}/value", 'wb') as f:
+      f.write(b"1" if high else b"0")
+  except Exception as e:
+    print(f"Failed to set gpio {pin} value: {e}")
diff --git a/common/hardware.py b/common/hardware.py
new file mode 100644
index 0000000000..a1bab3c313
--- /dev/null
+++ b/common/hardware.py
@@ -0,0 +1,4 @@
+import os
+
+EON = os.path.isfile('/EON')
+TICI = os.path.isfile('/TICI')
diff --git a/release/files_common b/release/files_common
index 3bff234eab..2df9430159 100644
--- a/release/files_common
+++ b/release/files_common
@@ -18,6 +18,8 @@ apk/ai.comma*.apk
 common/.gitignore
 common/__init__.py
 common/android.py
+common/hardware.py
+common/gpio.py
 common/realtime.py
 common/clock.pyx
 common/timeout.py
diff --git a/selfdrive/pandad.py b/selfdrive/pandad.py
index 64fde86686..36ccad3796 100755
--- a/selfdrive/pandad.py
+++ b/selfdrive/pandad.py
@@ -3,8 +3,27 @@
 import os
 import time
 
+from common.hardware import TICI
+from common.gpio import GPIO_HUB_RST_N, GPIO_STM_BOOT0, GPIO_STM_RST_N, gpio_init, gpio_set
+from panda import BASEDIR, Panda, PandaDFU, build_st
 from selfdrive.swaglog import cloudlog
-from panda import Panda, PandaDFU, BASEDIR, build_st
+
+
+def set_panda_power(power=True):
+  if not TICI:
+    return
+
+  gpio_init(GPIO_STM_RST_N, True)
+  gpio_init(GPIO_STM_BOOT0, True)
+  gpio_init(GPIO_HUB_RST_N, True)
+
+  gpio_set(GPIO_STM_RST_N, False)
+  gpio_set(GPIO_HUB_RST_N, True)
+  gpio_set(GPIO_STM_BOOT0, False)
+
+  time.sleep(0.1)
+
+  gpio_set(GPIO_STM_RST_N, power)
 
 
 def get_firmware_fn():
@@ -88,10 +107,12 @@ def update_panda():
 
 
 def main():
+  set_panda_power()
   update_panda()
 
   os.chdir("boardd")
   os.execvp("./boardd", ["./boardd"])
 
+
 if __name__ == "__main__":
   main()
diff --git a/selfdrive/thermald/thermald.py b/selfdrive/thermald/thermald.py
index cddcb562fc..63f1a7e9b6 100755
--- a/selfdrive/thermald/thermald.py
+++ b/selfdrive/thermald/thermald.py
@@ -11,6 +11,7 @@ import cereal.messaging as messaging
 from cereal import log
 from common.android import get_network_strength, get_network_type
 from common.filter_simple import FirstOrderFilter
+from common.hardware import EON, TICI
 from common.numpy_fast import clip, interp
 from common.params import Params, put_nonblocking
 from common.realtime import DT_TRML, sec_since_boot
@@ -39,9 +40,6 @@ DAYS_NO_CONNECTIVITY_MAX = 7  # do not allow to engage after a week without inte
 DAYS_NO_CONNECTIVITY_PROMPT = 4  # send an offroad prompt after 4 days with no internet
 DISCONNECT_TIMEOUT = 5.  # wait 5 seconds before going offroad after disconnect so you get an alert
 
-EON = os.path.isfile('/EON')
-TICI = os.path.isfile('/TICI')
-
 LEON = False
 last_eon_fan_val = None