@ -1,14 +1,15 @@
//#define EON
# include "config.h" # include "config.h"
# include "obj/gitversion.h" # include "obj/gitversion.h"
// ********************* includes *********************
// ********************* includes *********************
# include "libc.h" # include "libc.h"
# include "safety.h"
# include "provision.h" # include "provision.h"
# include "drivers/drivers.h" # include "drivers/llcan.h"
# include "drivers/llgpio.h" # include "drivers/llgpio.h"
# include "gpio.h" # include "gpio.h"
@ -16,25 +17,13 @@
# include "drivers/adc.h" # include "drivers/adc.h"
# include "drivers/usb.h" # include "drivers/usb.h"
# include "drivers/gmlan_alt.h" # include "drivers/gmlan_alt.h"
# include "drivers/can.h"
# include "drivers/spi.h" # include "drivers/spi.h"
# include "drivers/timer.h" # include "drivers/timer.h"
# include "drivers/clock.h"
# include "power_saving.h" # include "power_saving.h"
# include "safety.h"
# include "drivers/can.h"
// ***************************** fan *****************************
void fan_init ( ) {
// timer for fan PWM
TIM3 - > CCMR2 = TIM_CCMR2_OC3M_2 | TIM_CCMR2_OC3M_1 ;
TIM3 - > CCER = TIM_CCER_CC3E ;
timer_init ( TIM3 , 10 ) ;
}
void fan_set_speed ( int fan_speed ) {
TIM3 - > CCR3 = fan_speed ;
}
// ********************* serial debugging *********************
// ********************* serial debugging *********************
@ -70,6 +59,41 @@ void debug_ring_callback(uart_ring *ring) {
} }
} }
// ***************************** started logic *****************************
int is_gpio_started ( ) {
// ignition is on PA1
return ( GPIOA - > IDR & ( 1 < < 1 ) ) = = 0 ;
}
void EXTI1_IRQHandler ( ) {
volatile int pr = EXTI - > PR & ( 1 < < 1 ) ;
if ( pr & ( 1 < < 1 ) ) {
# ifdef DEBUG
puts ( " got started interrupt \n " ) ;
# endif
// jenky debounce
delay ( 100000 ) ;
// set power savings mode here
if ( is_gpio_started ( ) = = 1 ) {
power_save_disable ( ) ;
} else {
power_save_enable ( ) ;
}
EXTI - > PR = ( 1 < < 1 ) ;
}
}
void started_interrupt_init ( ) {
SYSCFG - > EXTICR [ 1 ] = SYSCFG_EXTICR1_EXTI1_PA ;
EXTI - > IMR | = ( 1 < < 1 ) ;
EXTI - > RTSR | = ( 1 < < 1 ) ;
EXTI - > FTSR | = ( 1 < < 1 ) ;
NVIC_EnableIRQ ( EXTI1_IRQn ) ;
}
// ***************************** USB port *****************************
// ***************************** USB port *****************************
int get_health_pkt ( void * dat ) { int get_health_pkt ( void * dat ) {
@ -85,40 +109,25 @@ int get_health_pkt(void *dat) {
//Voltage will be measured in mv. 5000 = 5V
//Voltage will be measured in mv. 5000 = 5V
uint32_t voltage = adc_get ( ADCCHAN_VOLTAGE ) ; uint32_t voltage = adc_get ( ADCCHAN_VOLTAGE ) ;
if ( revision = = PANDA_REV_AB ) {
//REVB has a 100, 27 (27/127) voltage divider
//Here is the calculation for the scale
//ADCV = VIN_S * (27/127) * (4095/3.3)
//RETVAL = ADCV * s = VIN_S*1000
//s = 1000/((4095/3.3)*(27/127)) = 3.79053046
//Avoid needing floating point math
health - > voltage = ( voltage * 3791 ) / 1000 ;
} else {
//REVC has a 10, 1 (1/11) voltage divider
//Here is the calculation for the scale (s)
//ADCV = VIN_S * (1/11) * (4095/3.3)
//RETVAL = ADCV * s = VIN_S*1000
//s = 1000/((4095/3.3)*(1/11)) = 8.8623046875
//Avoid needing floating point math
health - > voltage = ( voltage * 8862 ) / 1000 ;
}
# ifdef PANDA // REVC has a 10, 1 (1/11) voltage divider
// Here is the calculation for the scale (s)
// ADCV = VIN_S * (1/11) * (4095/3.3)
// RETVAL = ADCV * s = VIN_S*1000
// s = 1000/((4095/3.3)*(1/11)) = 8.8623046875
// Avoid needing floating point math
health - > voltage = ( voltage * 8862 ) / 1000 ;
health - > current = adc_get ( ADCCHAN_CURRENT ) ; health - > current = adc_get ( ADCCHAN_CURRENT ) ;
int safety_ignition = safety_ignition_hook ( ) ; int safety_ignition = safety_ignition_hook ( ) ;
if ( safety_ignition < 0 ) { if ( safety_ignition < 0 ) {
//Use the GPIO pin to determine ignition
//Use the GPIO pin to determine ignition
health - > started = ( GPIOA - > IDR & ( 1 < < 1 ) ) = = 0 ; health - > started = is_gpio_started ( ) ;
} else { } else {
//Current safety hooks want to determine ignition (ex: GM)
//Current safety hooks want to determine ignition (ex: GM)
health - > started = safety_ignition ; health - > started = safety_ignition ;
} }
# else
health - > current = 0 ;
health - > started = ( GPIOC - > IDR & ( 1 < < 13 ) ) ! = 0 ;
# endif
health - > controls_allowed = controls_allowed ; health - > controls_allowed = controls_allowed ;
health - > gas_interceptor_detected = gas_interceptor_detected ; health - > gas_interceptor_detected = gas_interceptor_detected ;
@ -143,7 +152,6 @@ void usb_cb_ep2_out(uint8_t *usbdata, int len, int hardwired) {
uart_ring * ur = get_ring_by_number ( usbdata [ 0 ] ) ; uart_ring * ur = get_ring_by_number ( usbdata [ 0 ] ) ;
if ( ! ur ) return ; if ( ! ur ) return ;
if ( ( usbdata [ 0 ] < 2 ) | | safety_tx_lin_hook ( usbdata [ 0 ] - 2 , usbdata + 1 , len - 1 ) ) { if ( ( usbdata [ 0 ] < 2 ) | | safety_tx_lin_hook ( usbdata [ 0 ] - 2 , usbdata + 1 , len - 1 ) ) {
if ( ur = = & esp_ring ) power_save_reset_timer ( ) ;
for ( int i = 1 ; i < len ; i + + ) while ( ! putc ( ur , usbdata [ i ] ) ) ; for ( int i = 1 ; i < len ; i + + ) while ( ! putc ( ur , usbdata [ i ] ) ) ;
} }
} }
@ -163,14 +171,6 @@ void usb_cb_ep3_out(uint8_t *usbdata, int len, int hardwired) {
uint8_t bus_number = ( to_push . RDTR > > 4 ) & CAN_BUS_NUM_MASK ; uint8_t bus_number = ( to_push . RDTR > > 4 ) & CAN_BUS_NUM_MASK ;
can_send ( & to_push , bus_number ) ; can_send ( & to_push , bus_number ) ;
# ifdef PANDA
// Enable relay on can message if allowed.
// Temporary until OP has support for relay
if ( safety_relay_hook ( ) ) {
set_lline_output ( 1 ) ;
}
# endif
} }
} }
@ -201,16 +201,14 @@ int usb_cb_control_msg(USB_Setup_TypeDef *setup, uint8_t *resp, int hardwired) {
break ; break ;
// **** 0xd0: fetch serial number
// **** 0xd0: fetch serial number
case 0xd0 : case 0xd0 :
# ifdef PANDA // addresses are OTP
// addresses are OTP
if ( setup - > b . wValue . w = = 1 ) {
if ( setup - > b . wValue . w = = 1 ) { memcpy ( resp , ( void * ) 0x1fff79c0 , 0x10 ) ;
memcpy ( resp , ( void * ) 0x1fff79c0 , 0x10 ) ; resp_len = 0x10 ;
resp_len = 0x10 ; } else {
} else { get_provision_chunk ( resp ) ;
get_provision_chunk ( resp ) ; resp_len = PROVISION_CHUNK_LEN ;
resp_len = PROVISION_CHUNK_LEN ; }
}
# endif
break ; break ;
// **** 0xd1: enter bootloader mode
// **** 0xd1: enter bootloader mode
case 0xd1 : case 0xd1 :
@ -235,10 +233,6 @@ int usb_cb_control_msg(USB_Setup_TypeDef *setup, uint8_t *resp, int hardwired) {
case 0xd2 : case 0xd2 :
resp_len = get_health_pkt ( resp ) ; resp_len = get_health_pkt ( resp ) ;
break ; break ;
// **** 0xd3: set fan speed
case 0xd3 :
fan_set_speed ( setup - > b . wValue . w ) ;
break ;
// **** 0xd6: get version
// **** 0xd6: get version
case 0xd6 : case 0xd6 :
COMPILE_TIME_ASSERT ( sizeof ( gitversion ) < = MAX_RESP_LEN ) COMPILE_TIME_ASSERT ( sizeof ( gitversion ) < = MAX_RESP_LEN )
@ -273,44 +267,43 @@ int usb_cb_control_msg(USB_Setup_TypeDef *setup, uint8_t *resp, int hardwired) {
break ; break ;
// **** 0xdb: set GMLAN multiplexing mode
// **** 0xdb: set GMLAN multiplexing mode
case 0xdb : case 0xdb :
# ifdef PANDA if ( setup - > b . wValue . w = = 1 ) {
if ( setup - > b . wValue . w = = 1 ) { // GMLAN ON
// GMLAN ON
if ( setup - > b . wIndex . w = = 1 ) {
if ( setup - > b . wIndex . w = = 1 ) { can_set_gmlan ( 1 ) ;
can_set_gmlan ( 1 ) ; } else if ( setup - > b . wIndex . w = = 2 ) {
} else if ( setup - > b . wIndex . w = = 2 ) { can_set_gmlan ( 2 ) ;
// might be ignored on rev b panda
can_set_gmlan ( 2 ) ;
}
} else {
can_set_gmlan ( - 1 ) ;
} }
# endif } else {
can_set_gmlan ( - 1 ) ;
}
break ; break ;
// **** 0xdc: set safety mode
// **** 0xdc: set safety mode
case 0xdc : case 0xdc :
// this is the only way to leave silent mode
// this is the only way to leave silent mode
// and it's blocked over WiFi
// and it's blocked over WiFi
// Allow ELM security mode to be set over wifi.
// Allow ELM security mode to be set over wifi.
if ( hardwired | | setup - > b . wValue . w = = SAFETY_NOOUTPUT | | setup - > b . wValue . w = = SAFETY_ELM327 ) { if ( hardwired | | ( setup - > b . wValue . w = = SAFETY_NOOUTPUT ) | | ( setup - > b . wValue . w = = SAFETY_ELM327 ) ) {
safety_set_mode ( setup - > b . wValue . w , ( int16_t ) setup - > b . wIndex . w ) ; safety_set_mode ( setup - > b . wValue . w , ( int16_t ) setup - > b . wIndex . w ) ;
switch ( setup - > b . wValue . w ) { if ( safety_ignition_hook ( ) ! = - 1 ) {
case SAFETY_NOOUTPUT : // if the ignition hook depends on something other than the started GPIO
can_silent = ALL_CAN_SILENT ; // we have to disable power savings (fix for GM and Tesla)
break ; power_save_disable ( ) ;
case SAFETY_ELM327 :
can_silent = ALL_CAN_BUT_MAIN_SILENT ;
can_autobaud_enabled [ 0 ] = false ;
break ;
default :
can_silent = ALL_CAN_LIVE ;
can_autobaud_enabled [ 0 ] = false ;
can_autobaud_enabled [ 1 ] = false ;
# ifdef PANDA
can_autobaud_enabled [ 2 ] = false ;
# endif
break ;
} }
# ifndef EON
// always LIVE on EON
switch ( setup - > b . wValue . w ) {
case SAFETY_NOOUTPUT :
can_silent = ALL_CAN_SILENT ;
break ;
case SAFETY_ELM327 :
can_silent = ALL_CAN_BUT_MAIN_SILENT ;
break ;
default :
can_silent = ALL_CAN_LIVE ;
break ;
}
# endif
can_init_all ( ) ; can_init_all ( ) ;
} }
break ; break ;
@ -318,21 +311,26 @@ int usb_cb_control_msg(USB_Setup_TypeDef *setup, uint8_t *resp, int hardwired) {
case 0xdd : case 0xdd :
// wValue = Can Bus Num to forward from
// wValue = Can Bus Num to forward from
// wIndex = Can Bus Num to forward to
// wIndex = Can Bus Num to forward to
if ( setup - > b . wValue . w < BUS_MAX & & setup - > b . wIndex . w < BUS_MAX & & if ( ( setup - > b . wValue . w < BUS_MAX ) & & ( setup - > b . wIndex . w < BUS_MAX ) & &
setup - > b . wValue . w ! = setup - > b . wIndex . w ) { // set forwarding
( setup - > b . wValue . w ! = setup - > b . wIndex . w ) ) { // set forwarding
can_set_forwarding ( setup - > b . wValue . w , setup - > b . wIndex . w & CAN_BUS_NUM_MASK ) ; can_set_forwarding ( setup - > b . wValue . w , setup - > b . wIndex . w & CAN_BUS_NUM_MASK ) ;
} else if ( setup - > b . wValue . w < BUS_MAX & & setup - > b . wIndex . w = = 0xFF ) { //Clear Forwarding
} else if ( ( setup - > b . wValue . w < BUS_MAX ) & & ( setup - > b . wIndex . w = = 0xFF ) ) { //Clear Forwarding
can_set_forwarding ( setup - > b . wValue . w , - 1 ) ; can_set_forwarding ( setup - > b . wValue . w , - 1 ) ;
} }
break ; break ;
// **** 0xde: set can bitrate
// **** 0xde: set can bitrate
case 0xde : case 0xde :
if ( setup - > b . wValue . w < BUS_MAX ) { if ( setup - > b . wValue . w < BUS_MAX ) {
can_autobaud_enabled [ setup - > b . wValue . w ] = false ;
can_speed [ setup - > b . wValue . w ] = setup - > b . wIndex . w ; can_speed [ setup - > b . wValue . w ] = setup - > b . wIndex . w ;
can_init ( CAN_NUM_FROM_BUS_NUM ( setup - > b . wValue . w ) ) ; can_init ( CAN_NUM_FROM_BUS_NUM ( setup - > b . wValue . w ) ) ;
} }
break ; break ;
// **** 0xdf: set long controls allowed
case 0xdf :
if ( hardwired ) {
long_controls_allowed = setup - > b . wValue . w & 1 ;
}
break ;
// **** 0xe0: uart read
// **** 0xe0: uart read
case 0xe0 : case 0xe0 :
ur = get_ring_by_number ( setup - > b . wValue . w ) ; ur = get_ring_by_number ( setup - > b . wValue . w ) ;
@ -386,17 +384,15 @@ int usb_cb_control_msg(USB_Setup_TypeDef *setup, uint8_t *resp, int hardwired) {
break ; break ;
// **** 0xe6: set USB power
// **** 0xe6: set USB power
case 0xe6 : case 0xe6 :
if ( revision = = PANDA_REV_C ) { if ( setup - > b . wValue . w = = 1 ) {
if ( setup - > b . wValue . w = = 1 ) { puts ( " user setting CDP mode \n " ) ;
puts ( " user setting CDP mode \n " ) ; set_usb_power_mode ( USB_POWER_CDP ) ;
set_usb_power_mode ( USB_POWER_CDP ) ; } else if ( setup - > b . wValue . w = = 2 ) {
} else if ( setup - > b . wValue . w = = 2 ) { puts ( " user setting DCP mode \n " ) ;
puts ( " user setting DCP mode \n " ) ; set_usb_power_mode ( USB_POWER_DCP ) ;
set_usb_power_mode ( USB_POWER_DCP ) ; } else {
} else { puts ( " user setting CLIENT mode \n " ) ;
puts ( " user setting CLIENT mode \n " ) ; set_usb_power_mode ( USB_POWER_CLIENT ) ;
set_usb_power_mode ( USB_POWER_CLIENT ) ;
}
} }
break ; break ;
// **** 0xf0: do k-line wValue pulse on uart2 for Acura
// **** 0xf0: do k-line wValue pulse on uart2 for Acura
@ -452,16 +448,6 @@ int usb_cb_control_msg(USB_Setup_TypeDef *setup, uint8_t *resp, int hardwired) {
} }
break ; break ;
} }
// **** 0xf3: set l-line relay
case 0xf3 :
{
# ifdef PANDA
if ( safety_relay_hook ( ) ) {
set_lline_output ( setup - > b . wValue . w = = 1 ) ;
}
# endif
break ;
}
default : default :
puts ( " NO HANDLER " ) ; puts ( " NO HANDLER " ) ;
puth ( setup - > b . bRequest ) ; puth ( setup - > b . bRequest ) ;
@ -471,7 +457,6 @@ int usb_cb_control_msg(USB_Setup_TypeDef *setup, uint8_t *resp, int hardwired) {
return resp_len ; return resp_len ;
} }
# ifdef PANDA
int spi_cb_rx ( uint8_t * data , int len , uint8_t * data_out ) { int spi_cb_rx ( uint8_t * data , int len , uint8_t * data_out ) {
// data[0] = endpoint
// data[0] = endpoint
// data[2] = length
// data[2] = length
@ -499,12 +484,6 @@ int spi_cb_rx(uint8_t *data, int len, uint8_t *data_out) {
return resp_len ; return resp_len ;
} }
# else
int spi_cb_rx ( uint8_t * data , int len , uint8_t * data_out ) { return 0 ; } ;
# endif
// ***************************** main code *****************************
// ***************************** main code *****************************
@ -514,7 +493,99 @@ void __initialize_hardware_early() {
void __attribute__ ( ( noinline ) ) enable_fpu ( ) { void __attribute__ ( ( noinline ) ) enable_fpu ( ) {
// enable the FPU
// enable the FPU
SCB - > CPACR | = ( ( 3UL < < 10 * 2 ) | ( 3UL < < 11 * 2 ) ) ; SCB - > CPACR | = ( ( 3UL < < ( 10 * 2 ) ) | ( 3UL < < ( 11 * 2 ) ) ) ;
}
uint64_t tcnt = 0 ;
uint64_t marker = 0 ;
// called once per second
void TIM3_IRQHandler ( ) {
# define CURRENT_THRESHOLD 0xF00
# define CLICKS 5 // 5 seconds to switch modes
if ( TIM3 - > SR ! = 0 ) {
can_live = pending_can_live ;
//puth(usart1_dma); puts(" "); puth(DMA2_Stream5->M0AR); puts(" "); puth(DMA2_Stream5->NDTR); puts("\n");
uint32_t current = adc_get ( ADCCHAN_CURRENT ) ;
switch ( usb_power_mode ) {
case USB_POWER_CLIENT :
if ( ( tcnt - marker ) > = CLICKS ) {
if ( ! is_enumerated ) {
puts ( " USBP: didn't enumerate, switching to CDP mode \n " ) ;
// switch to CDP
set_usb_power_mode ( USB_POWER_CDP ) ;
marker = tcnt ;
}
}
// keep resetting the timer if it's enumerated
if ( is_enumerated ) {
marker = tcnt ;
}
break ;
case USB_POWER_CDP :
// On the EON, if we get into CDP mode we stay here. No need to go to DCP.
# ifndef EON
// been CLICKS clicks since we switched to CDP
if ( ( tcnt - marker ) > = CLICKS ) {
// measure current draw, if positive and no enumeration, switch to DCP
if ( ! is_enumerated & & ( current < CURRENT_THRESHOLD ) ) {
puts ( " USBP: no enumeration with current draw, switching to DCP mode \n " ) ;
set_usb_power_mode ( USB_POWER_DCP ) ;
marker = tcnt ;
}
}
// keep resetting the timer if there's no current draw in CDP
if ( current > = CURRENT_THRESHOLD ) {
marker = tcnt ;
}
# endif
break ;
case USB_POWER_DCP :
// been at least CLICKS clicks since we switched to DCP
if ( ( tcnt - marker ) > = CLICKS ) {
// if no current draw, switch back to CDP
if ( current > = CURRENT_THRESHOLD ) {
puts ( " USBP: no current draw, switching back to CDP mode \n " ) ;
set_usb_power_mode ( USB_POWER_CDP ) ;
marker = tcnt ;
}
}
// keep resetting the timer if there's current draw in DCP
if ( current < CURRENT_THRESHOLD ) {
marker = tcnt ;
}
break ;
}
// ~0x9a = 500 ma
/*puth(current);
puts ( " \n " ) ; */
// reset this every 16th pass
if ( ( tcnt & 0xF ) = = 0 ) pending_can_live = 0 ;
# ifdef DEBUG
puts ( " ** blink " ) ;
puth ( can_rx_q . r_ptr ) ; puts ( " " ) ; puth ( can_rx_q . w_ptr ) ; puts ( " " ) ;
puth ( can_tx1_q . r_ptr ) ; puts ( " " ) ; puth ( can_tx1_q . w_ptr ) ; puts ( " " ) ;
puth ( can_tx2_q . r_ptr ) ; puts ( " " ) ; puth ( can_tx2_q . w_ptr ) ; puts ( " \n " ) ;
# endif
// set green LED to be controls allowed
set_led ( LED_GREEN , controls_allowed ) ;
// turn off the blue LED, turned on by CAN
// unless we are in power saving mode
set_led ( LED_BLUE , ( tcnt & 1 ) & & power_save_status = = POWER_SAVE_STATUS_ENABLED ) ;
// on to the next one
tcnt + = 1 ;
}
TIM3 - > SR = 0 ;
} }
int main ( ) { int main ( ) {
@ -531,21 +602,19 @@ int main() {
// detect the revision and init the GPIOs
// detect the revision and init the GPIOs
puts ( " config: \n " ) ; puts ( " config: \n " ) ;
# ifdef PANDA puts ( ( revision = = PANDA_REV_C ) ? " panda rev c \n " : " panda rev a or b \n " ) ;
puts ( revision = = PANDA_REV_C ? " panda rev c \n " : " panda rev a or b \n " ) ;
# else
puts ( " legacy \n " ) ;
# endif
puts ( has_external_debug_serial ? " real serial \n " : " USB serial \n " ) ; puts ( has_external_debug_serial ? " real serial \n " : " USB serial \n " ) ;
puts ( is_giant_panda ? " GIANTpanda detected \n " : " not GIANTpanda \n " ) ; puts ( is_giant_panda ? " GIANTpanda detected \n " : " not GIANTpanda \n " ) ;
puts ( is_grey_panda ? " gray panda detected! \n " : " white panda \n " ) ; puts ( is_grey_panda ? " gray panda detected! \n " : " white panda \n " ) ;
puts ( is_entering_bootmode ? " ESP wants bootmode \n " : " no bootmode \n " ) ; puts ( is_entering_bootmode ? " ESP wants bootmode \n " : " no bootmode \n " ) ;
// non rev c panda are no longer supported
while ( revision ! = PANDA_REV_C ) ;
gpio_init ( ) ; gpio_init ( ) ;
# ifdef PANDA
// panda has an FPU, let's use it!
// panda has an FPU, let's use it!
enable_fpu ( ) ; enable_fpu ( ) ;
# endif
// enable main uart if it's connected
// enable main uart if it's connected
if ( has_external_debug_serial ) { if ( has_external_debug_serial ) {
@ -554,22 +623,18 @@ int main() {
uart_init ( USART2 , 115200 ) ; uart_init ( USART2 , 115200 ) ;
} }
# ifdef PANDA
if ( is_grey_panda ) { if ( is_grey_panda ) {
uart_init ( USART1 , 9600 ) ; uart_init ( USART1 , 9600 ) ;
} else { } else {
// enable ESP uart
// enable ESP uart
uart_init ( USART1 , 115200 ) ; uart_init ( USART1 , 115200 ) ;
# ifdef EON
set_esp_mode ( ESP_DISABLED ) ;
# endif
} }
// enable LIN
// enable LIN
uart_init ( UART5 , 10400 ) ; uart_init ( UART5 , 10400 ) ;
UART5 - > CR2 | = USART_CR2_LINEN ; UART5 - > CR2 | = USART_CR2_LINEN ;
uart_init ( USART3 , 10400 ) ; uart_init ( USART3 , 10400 ) ;
USART3 - > CR2 | = USART_CR2_LINEN ; USART3 - > CR2 | = USART_CR2_LINEN ;
# endif
// init microsecond system timer
// init microsecond system timer
// increments 1000000 times per second
// increments 1000000 times per second
@ -585,136 +650,65 @@ int main() {
// default to silent mode to prevent issues with Ford
// default to silent mode to prevent issues with Ford
// hardcode a specific safety mode if you want to force the panda to be in a specific mode
// hardcode a specific safety mode if you want to force the panda to be in a specific mode
safety_set_mode ( SAFETY_NOOUTPUT , 0 ) ; safety_set_mode ( SAFETY_NOOUTPUT , 0 ) ;
# ifdef EON
// if we're on an EON, it's fine for CAN to be live for fingerprinting
can_silent = ALL_CAN_LIVE ;
# else
can_silent = ALL_CAN_SILENT ; can_silent = ALL_CAN_SILENT ;
# endif
can_init_all ( ) ; can_init_all ( ) ;
adc_init ( ) ; adc_init ( ) ;
# ifdef PANDA
spi_init ( ) ; spi_init ( ) ;
# ifdef EON
// have to save power
if ( ! is_grey_panda ) {
set_esp_mode ( ESP_DISABLED ) ;
}
// only enter power save after the first cycle
/*if (is_gpio_started() == 0) {
power_save_enable ( ) ;
} */
// interrupt on started line
started_interrupt_init ( ) ;
# endif # endif
// 48mhz / 65536 ~= 732 / 732 = 1
timer_init ( TIM3 , 732 ) ;
NVIC_EnableIRQ ( TIM3_IRQn ) ;
# ifdef DEBUG # ifdef DEBUG
puts ( " DEBUG ENABLED \n " ) ; puts ( " DEBUG ENABLED \n " ) ;
# endif # endif
// set PWM
fan_init ( ) ;
fan_set_speed ( 0 ) ;
puts ( " **** INTERRUPTS ON **** \n " ) ; puts ( " **** INTERRUPTS ON **** \n " ) ;
__enable_irq ( ) ; __enable_irq ( ) ;
power_save_init ( ) ;
// if the error interrupt is enabled to quickly when the CAN bus is active
// something bad happens and you can't connect to the device over USB
delay ( 10000000 ) ;
CAN1 - > IER | = CAN_IER_ERRIE | CAN_IER_LECIE ;
// LED should keep on blinking all the time
// LED should keep on blinking all the time
uint64_t cnt = 0 ; uint64_t cnt = 0 ;
# ifdef PANDA
uint64_t marker = 0 ;
# define CURRENT_THRESHOLD 0xF00
# define CLICKS 8
# endif
for ( cnt = 0 ; ; cnt + + ) { for ( cnt = 0 ; ; cnt + + ) {
can_live = pending_can_live ; if ( power_save_status = = POWER_SAVE_STATUS_DISABLED ) {
int div_mode = ( ( usb_power_mode = = USB_POWER_DCP ) ? 4 : 1 ) ;
//puth(usart1_dma); puts(" "); puth(DMA2_Stream5->M0AR); puts(" "); puth(DMA2_Stream5->NDTR); puts("\n");
// useful for debugging, fade breaks = panda is overloaded
# ifdef PANDA for ( int div_mode_loop = 0 ; div_mode_loop < div_mode ; div_mode_loop + + ) {
uint32_t current = adc_get ( ADCCHAN_CURRENT ) ; for ( int fade = 0 ; fade < 1024 ; fade + = 8 ) {
for ( int i = 0 ; i < ( 128 / div_mode ) ; i + + ) {
switch ( usb_power_mode ) { set_led ( LED_RED , 1 ) ;
case USB_POWER_CLIENT : if ( fade < 512 ) { delay ( fade ) ; } else { delay ( 1024 - fade ) ; }
if ( ( cnt - marker ) > = CLICKS ) { set_led ( LED_RED , 0 ) ;
if ( ! is_enumerated ) { if ( fade < 512 ) { delay ( 512 - fade ) ; } else { delay ( fade - 512 ) ; }
puts ( " USBP: didn't enumerate, switching to CDP mode \n " ) ;
// switch to CDP
set_usb_power_mode ( USB_POWER_CDP ) ;
marker = cnt ;
}
}
// keep resetting the timer if it's enumerated
if ( is_enumerated ) {
marker = cnt ;
}
break ;
case USB_POWER_CDP :
# ifndef EON
// been CLICKS clicks since we switched to CDP
if ( ( cnt - marker ) > = CLICKS ) {
// measure current draw, if positive and no enumeration, switch to DCP
if ( ! is_enumerated & & current < CURRENT_THRESHOLD ) {
puts ( " USBP: no enumeration with current draw, switching to DCP mode \n " ) ;
set_usb_power_mode ( USB_POWER_DCP ) ;
marker = cnt ;
}
}
// keep resetting the timer if there's no current draw in CDP
if ( current > = CURRENT_THRESHOLD ) {
marker = cnt ;
}
# endif
break ;
case USB_POWER_DCP :
// been at least CLICKS clicks since we switched to DCP
if ( ( cnt - marker ) > = CLICKS ) {
// if no current draw, switch back to CDP
if ( current > = CURRENT_THRESHOLD ) {
puts ( " USBP: no current draw, switching back to CDP mode \n " ) ;
set_usb_power_mode ( USB_POWER_CDP ) ;
marker = cnt ;
}
}
// keep resetting the timer if there's current draw in DCP
if ( current < CURRENT_THRESHOLD ) {
marker = cnt ;
} }
break ;
}
// ~0x9a = 500 ma
/*puth(current);
puts ( " \n " ) ; */
# endif
// reset this every 16th pass
if ( ( cnt & 0xF ) = = 0 ) pending_can_live = 0 ;
# ifdef DEBUG
puts ( " ** blink " ) ;
puth ( can_rx_q . r_ptr ) ; puts ( " " ) ; puth ( can_rx_q . w_ptr ) ; puts ( " " ) ;
puth ( can_tx1_q . r_ptr ) ; puts ( " " ) ; puth ( can_tx1_q . w_ptr ) ; puts ( " " ) ;
puth ( can_tx2_q . r_ptr ) ; puts ( " " ) ; puth ( can_tx2_q . w_ptr ) ; puts ( " \n " ) ;
# endif
// set green LED to be controls allowed
set_led ( LED_GREEN , controls_allowed ) ;
// blink the red LED
int div_mode = ( ( usb_power_mode = = USB_POWER_DCP ) ? 4 : 1 ) ;
for ( int div_mode_loop = 0 ; div_mode_loop < div_mode ; div_mode_loop + + ) {
for ( int fade = 0 ; fade < 1024 ; fade + = 8 ) {
for ( int i = 0 ; i < 128 / div_mode ; i + + ) {
set_led ( LED_RED , 0 ) ;
if ( fade < 512 ) { delay ( 512 - fade ) ; } else { delay ( fade - 512 ) ; }
set_led ( LED_RED , 1 ) ;
if ( fade < 512 ) { delay ( fade ) ; } else { delay ( 1024 - fade ) ; }
} }
} }
} else {
__WFI ( ) ;
} }
// turn off the blue LED, turned on by CAN
# ifdef PANDA
set_led ( LED_BLUE , 0 ) ;
# endif
} }
return 0 ; return 0 ;
} }
Vehicle Researcher
6 years ago
