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@ -1,14 +1,15 @@ |
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//#define EON
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#include "config.h" |
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#include "config.h" |
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#include "obj/gitversion.h" |
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#include "obj/gitversion.h" |
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// ********************* includes *********************
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// ********************* includes *********************
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#include "libc.h" |
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#include "libc.h" |
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#include "safety.h" |
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#include "provision.h" |
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#include "provision.h" |
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#include "drivers/drivers.h" |
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#include "drivers/llcan.h" |
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#include "drivers/llgpio.h" |
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#include "drivers/llgpio.h" |
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#include "gpio.h" |
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#include "gpio.h" |
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@ -16,25 +17,13 @@ |
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#include "drivers/adc.h" |
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#include "drivers/adc.h" |
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#include "drivers/usb.h" |
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#include "drivers/usb.h" |
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#include "drivers/gmlan_alt.h" |
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#include "drivers/gmlan_alt.h" |
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#include "drivers/can.h" |
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#include "drivers/spi.h" |
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#include "drivers/spi.h" |
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#include "drivers/timer.h" |
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#include "drivers/timer.h" |
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#include "drivers/clock.h" |
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#include "power_saving.h" |
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#include "power_saving.h" |
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#include "safety.h" |
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#include "drivers/can.h" |
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// ***************************** fan *****************************
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void fan_init() { |
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// timer for fan PWM
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TIM3->CCMR2 = TIM_CCMR2_OC3M_2 | TIM_CCMR2_OC3M_1; |
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TIM3->CCER = TIM_CCER_CC3E; |
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timer_init(TIM3, 10); |
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} |
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void fan_set_speed(int fan_speed) { |
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TIM3->CCR3 = fan_speed; |
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} |
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// ********************* serial debugging *********************
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// ********************* serial debugging *********************
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@ -70,6 +59,41 @@ void debug_ring_callback(uart_ring *ring) { |
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} |
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} |
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} |
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} |
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// ***************************** started logic *****************************
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int is_gpio_started() { |
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// ignition is on PA1
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return (GPIOA->IDR & (1 << 1)) == 0; |
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} |
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void EXTI1_IRQHandler() { |
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volatile int pr = EXTI->PR & (1 << 1); |
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if (pr & (1 << 1)) { |
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#ifdef DEBUG |
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puts("got started interrupt\n"); |
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#endif |
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// jenky debounce
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delay(100000); |
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// set power savings mode here
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if (is_gpio_started() == 1) { |
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power_save_disable(); |
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} else { |
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power_save_enable(); |
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} |
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EXTI->PR = (1 << 1); |
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} |
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} |
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void started_interrupt_init() { |
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SYSCFG->EXTICR[1] = SYSCFG_EXTICR1_EXTI1_PA; |
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EXTI->IMR |= (1 << 1); |
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EXTI->RTSR |= (1 << 1); |
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EXTI->FTSR |= (1 << 1); |
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NVIC_EnableIRQ(EXTI1_IRQn); |
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} |
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// ***************************** USB port *****************************
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// ***************************** USB port *****************************
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int get_health_pkt(void *dat) { |
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int get_health_pkt(void *dat) { |
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@ -85,16 +109,7 @@ int get_health_pkt(void *dat) { |
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//Voltage will be measured in mv. 5000 = 5V
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//Voltage will be measured in mv. 5000 = 5V
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uint32_t voltage = adc_get(ADCCHAN_VOLTAGE); |
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uint32_t voltage = adc_get(ADCCHAN_VOLTAGE); |
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if (revision == PANDA_REV_AB) { |
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//REVB has a 100, 27 (27/127) voltage divider
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//Here is the calculation for the scale
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//ADCV = VIN_S * (27/127) * (4095/3.3)
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//RETVAL = ADCV * s = VIN_S*1000
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//s = 1000/((4095/3.3)*(27/127)) = 3.79053046
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//Avoid needing floating point math
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health->voltage = (voltage * 3791) / 1000; |
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} else { |
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// REVC has a 10, 1 (1/11) voltage divider
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// REVC has a 10, 1 (1/11) voltage divider
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// Here is the calculation for the scale (s)
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// Here is the calculation for the scale (s)
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// ADCV = VIN_S * (1/11) * (4095/3.3)
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// ADCV = VIN_S * (1/11) * (4095/3.3)
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@ -103,22 +118,16 @@ int get_health_pkt(void *dat) { |
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// Avoid needing floating point math
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// Avoid needing floating point math
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health->voltage = (voltage * 8862) / 1000; |
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health->voltage = (voltage * 8862) / 1000; |
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} |
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#ifdef PANDA |
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health->current = adc_get(ADCCHAN_CURRENT); |
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health->current = adc_get(ADCCHAN_CURRENT); |
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int safety_ignition = safety_ignition_hook(); |
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int safety_ignition = safety_ignition_hook(); |
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if (safety_ignition < 0) { |
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if (safety_ignition < 0) { |
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//Use the GPIO pin to determine ignition
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//Use the GPIO pin to determine ignition
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health->started = (GPIOA->IDR & (1 << 1)) == 0; |
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health->started = is_gpio_started(); |
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} else { |
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} else { |
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//Current safety hooks want to determine ignition (ex: GM)
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//Current safety hooks want to determine ignition (ex: GM)
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health->started = safety_ignition; |
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health->started = safety_ignition; |
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} |
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} |
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#else |
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health->current = 0; |
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health->started = (GPIOC->IDR & (1 << 13)) != 0; |
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#endif |
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health->controls_allowed = controls_allowed; |
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health->controls_allowed = controls_allowed; |
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health->gas_interceptor_detected = gas_interceptor_detected; |
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health->gas_interceptor_detected = gas_interceptor_detected; |
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@ -143,7 +152,6 @@ void usb_cb_ep2_out(uint8_t *usbdata, int len, int hardwired) { |
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uart_ring *ur = get_ring_by_number(usbdata[0]); |
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uart_ring *ur = get_ring_by_number(usbdata[0]); |
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if (!ur) return; |
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if (!ur) return; |
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if ((usbdata[0] < 2) || safety_tx_lin_hook(usbdata[0]-2, usbdata+1, len-1)) { |
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if ((usbdata[0] < 2) || safety_tx_lin_hook(usbdata[0]-2, usbdata+1, len-1)) { |
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if (ur == &esp_ring) power_save_reset_timer(); |
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for (int i = 1; i < len; i++) while (!putc(ur, usbdata[i])); |
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for (int i = 1; i < len; i++) while (!putc(ur, usbdata[i])); |
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} |
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} |
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} |
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} |
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@ -163,14 +171,6 @@ void usb_cb_ep3_out(uint8_t *usbdata, int len, int hardwired) { |
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uint8_t bus_number = (to_push.RDTR >> 4) & CAN_BUS_NUM_MASK; |
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uint8_t bus_number = (to_push.RDTR >> 4) & CAN_BUS_NUM_MASK; |
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can_send(&to_push, bus_number); |
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can_send(&to_push, bus_number); |
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#ifdef PANDA |
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// Enable relay on can message if allowed.
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// Temporary until OP has support for relay
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if (safety_relay_hook()) { |
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set_lline_output(1); |
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} |
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#endif |
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} |
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} |
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} |
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} |
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@ -201,7 +201,6 @@ int usb_cb_control_msg(USB_Setup_TypeDef *setup, uint8_t *resp, int hardwired) { |
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break; |
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break; |
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// **** 0xd0: fetch serial number
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// **** 0xd0: fetch serial number
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case 0xd0: |
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case 0xd0: |
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#ifdef PANDA |
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// addresses are OTP
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// addresses are OTP
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if (setup->b.wValue.w == 1) { |
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if (setup->b.wValue.w == 1) { |
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memcpy(resp, (void *)0x1fff79c0, 0x10); |
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memcpy(resp, (void *)0x1fff79c0, 0x10); |
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@ -210,7 +209,6 @@ int usb_cb_control_msg(USB_Setup_TypeDef *setup, uint8_t *resp, int hardwired) { |
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get_provision_chunk(resp); |
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get_provision_chunk(resp); |
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resp_len = PROVISION_CHUNK_LEN; |
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resp_len = PROVISION_CHUNK_LEN; |
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} |
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} |
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#endif |
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break; |
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break; |
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// **** 0xd1: enter bootloader mode
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// **** 0xd1: enter bootloader mode
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case 0xd1: |
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case 0xd1: |
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@ -235,10 +233,6 @@ int usb_cb_control_msg(USB_Setup_TypeDef *setup, uint8_t *resp, int hardwired) { |
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case 0xd2: |
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case 0xd2: |
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resp_len = get_health_pkt(resp); |
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resp_len = get_health_pkt(resp); |
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break; |
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break; |
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// **** 0xd3: set fan speed
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case 0xd3: |
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fan_set_speed(setup->b.wValue.w); |
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break; |
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// **** 0xd6: get version
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// **** 0xd6: get version
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case 0xd6: |
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case 0xd6: |
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COMPILE_TIME_ASSERT(sizeof(gitversion) <= MAX_RESP_LEN) |
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COMPILE_TIME_ASSERT(sizeof(gitversion) <= MAX_RESP_LEN) |
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@ -273,44 +267,43 @@ int usb_cb_control_msg(USB_Setup_TypeDef *setup, uint8_t *resp, int hardwired) { |
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break; |
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break; |
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// **** 0xdb: set GMLAN multiplexing mode
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// **** 0xdb: set GMLAN multiplexing mode
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case 0xdb: |
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case 0xdb: |
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#ifdef PANDA |
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if (setup->b.wValue.w == 1) { |
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if (setup->b.wValue.w == 1) { |
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// GMLAN ON
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// GMLAN ON
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if (setup->b.wIndex.w == 1) { |
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if (setup->b.wIndex.w == 1) { |
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can_set_gmlan(1); |
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can_set_gmlan(1); |
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} else if (setup->b.wIndex.w == 2) { |
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} else if (setup->b.wIndex.w == 2) { |
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// might be ignored on rev b panda
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can_set_gmlan(2); |
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can_set_gmlan(2); |
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} |
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} |
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} else { |
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} else { |
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can_set_gmlan(-1); |
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can_set_gmlan(-1); |
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} |
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} |
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#endif |
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break; |
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break; |
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// **** 0xdc: set safety mode
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// **** 0xdc: set safety mode
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case 0xdc: |
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case 0xdc: |
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// this is the only way to leave silent mode
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// this is the only way to leave silent mode
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// and it's blocked over WiFi
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// and it's blocked over WiFi
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// Allow ELM security mode to be set over wifi.
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// Allow ELM security mode to be set over wifi.
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if (hardwired || setup->b.wValue.w == SAFETY_NOOUTPUT || setup->b.wValue.w == SAFETY_ELM327) { |
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if (hardwired || (setup->b.wValue.w == SAFETY_NOOUTPUT) || (setup->b.wValue.w == SAFETY_ELM327)) { |
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safety_set_mode(setup->b.wValue.w, (int16_t)setup->b.wIndex.w); |
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safety_set_mode(setup->b.wValue.w, (int16_t)setup->b.wIndex.w); |
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if (safety_ignition_hook() != -1) { |
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// if the ignition hook depends on something other than the started GPIO
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// we have to disable power savings (fix for GM and Tesla)
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power_save_disable(); |
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} |
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#ifndef EON |
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// always LIVE on EON
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switch (setup->b.wValue.w) { |
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switch (setup->b.wValue.w) { |
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case SAFETY_NOOUTPUT: |
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case SAFETY_NOOUTPUT: |
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can_silent = ALL_CAN_SILENT; |
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can_silent = ALL_CAN_SILENT; |
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break; |
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break; |
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case SAFETY_ELM327: |
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case SAFETY_ELM327: |
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can_silent = ALL_CAN_BUT_MAIN_SILENT; |
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can_silent = ALL_CAN_BUT_MAIN_SILENT; |
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can_autobaud_enabled[0] = false; |
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break; |
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break; |
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default: |
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default: |
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can_silent = ALL_CAN_LIVE; |
|
|
|
can_silent = ALL_CAN_LIVE; |
|
|
|
can_autobaud_enabled[0] = false; |
|
|
|
|
|
|
|
can_autobaud_enabled[1] = false; |
|
|
|
|
|
|
|
#ifdef PANDA |
|
|
|
|
|
|
|
can_autobaud_enabled[2] = false; |
|
|
|
|
|
|
|
#endif |
|
|
|
|
|
|
|
break; |
|
|
|
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); |
|
|
|
@ -386,7 +384,6 @@ 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); |
|
|
|
@ -397,7 +394,6 @@ int usb_cb_control_msg(USB_Setup_TypeDef *setup, uint8_t *resp, int hardwired) { |
|
|
|
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
|
|
|
|
case 0xf0: |
|
|
|
case 0xf0: |
|
|
|
@ -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); |
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uart_init(USART2, 115200); |
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} |
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} |
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#ifdef PANDA |
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if (is_grey_panda) { |
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if (is_grey_panda) { |
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uart_init(USART1, 9600); |
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uart_init(USART1, 9600); |
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} else { |
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} else { |
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// enable ESP uart
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// enable ESP uart
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uart_init(USART1, 115200); |
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uart_init(USART1, 115200); |
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#ifdef EON |
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set_esp_mode(ESP_DISABLED); |
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#endif |
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} |
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} |
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// enable LIN
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// enable LIN
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uart_init(UART5, 10400); |
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uart_init(UART5, 10400); |
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UART5->CR2 |= USART_CR2_LINEN; |
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UART5->CR2 |= USART_CR2_LINEN; |
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uart_init(USART3, 10400); |
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uart_init(USART3, 10400); |
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USART3->CR2 |= USART_CR2_LINEN; |
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USART3->CR2 |= USART_CR2_LINEN; |
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#endif |
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// init microsecond system timer
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// init microsecond system timer
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// increments 1000000 times per second
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// increments 1000000 times per second
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@ -585,136 +650,65 @@ int main() { |
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// default to silent mode to prevent issues with Ford
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// default to silent mode to prevent issues with Ford
|
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// hardcode a specific safety mode if you want to force the panda to be in a specific mode
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// hardcode a specific safety mode if you want to force the panda to be in a specific mode
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safety_set_mode(SAFETY_NOOUTPUT, 0); |
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safety_set_mode(SAFETY_NOOUTPUT, 0); |
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#ifdef EON |
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// if we're on an EON, it's fine for CAN to be live for fingerprinting
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can_silent = ALL_CAN_LIVE; |
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#else |
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can_silent = ALL_CAN_SILENT; |
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can_silent = ALL_CAN_SILENT; |
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#endif |
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can_init_all(); |
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can_init_all(); |
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adc_init(); |
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adc_init(); |
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#ifdef PANDA |
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spi_init(); |
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spi_init(); |
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#ifdef EON |
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// have to save power
|
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|
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if (!is_grey_panda) { |
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|
set_esp_mode(ESP_DISABLED); |
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} |
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// only enter power save after the first cycle
|
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|
/*if (is_gpio_started() == 0) {
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|
power_save_enable(); |
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}*/ |
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|
// interrupt on started line
|
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|
started_interrupt_init(); |
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|
#endif |
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|
#endif |
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|
// 48mhz / 65536 ~= 732 / 732 = 1
|
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|
timer_init(TIM3, 732); |
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|
NVIC_EnableIRQ(TIM3_IRQn); |
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|
|
#ifdef DEBUG |
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|
|
#ifdef DEBUG |
|
|
|
puts("DEBUG ENABLED\n"); |
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|
|
puts("DEBUG ENABLED\n"); |
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|
|
#endif |
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|
#endif |
|
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|
// set PWM
|
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|
|
fan_init(); |
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|
|
fan_set_speed(0); |
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|
|
puts("**** INTERRUPTS ON ****\n"); |
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|
|
puts("**** INTERRUPTS ON ****\n"); |
|
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|
|
__enable_irq(); |
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|
|
__enable_irq(); |
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|
|
power_save_init(); |
|
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|
|
// if the error interrupt is enabled to quickly when the CAN bus is active
|
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|
|
// something bad happens and you can't connect to the device over USB
|
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|
|
delay(10000000); |
|
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|
|
CAN1->IER |= CAN_IER_ERRIE | CAN_IER_LECIE; |
|
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|
|
// LED should keep on blinking all the time
|
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|
|
// 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) { |
|
|
|
|
|
|
|
|
|
|
|
//puth(usart1_dma); puts(" "); puth(DMA2_Stream5->M0AR); puts(" "); puth(DMA2_Stream5->NDTR); puts("\n");
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
#ifdef PANDA |
|
|
|
|
|
|
|
uint32_t current = adc_get(ADCCHAN_CURRENT); |
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
switch (usb_power_mode) { |
|
|
|
|
|
|
|
case USB_POWER_CLIENT: |
|
|
|
|
|
|
|
if ((cnt-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 = 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); |
|
|
|
int div_mode = ((usb_power_mode == USB_POWER_DCP) ? 4 : 1); |
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
// useful for debugging, fade breaks = panda is overloaded
|
|
|
|
for (int div_mode_loop = 0; div_mode_loop < div_mode; div_mode_loop++) { |
|
|
|
for (int div_mode_loop = 0; div_mode_loop < div_mode; div_mode_loop++) { |
|
|
|
for (int fade = 0; fade < 1024; fade += 8) { |
|
|
|
for (int fade = 0; fade < 1024; fade += 8) { |
|
|
|
for (int i = 0; i < 128/div_mode; i++) { |
|
|
|
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); |
|
|
|
set_led(LED_RED, 1); |
|
|
|
if (fade < 512) { delay(fade); } else { delay(1024-fade); } |
|
|
|
if (fade < 512) { delay(fade); } else { delay(1024-fade); } |
|
|
|
|
|
|
|
set_led(LED_RED, 0); |
|
|
|
|
|
|
|
if (fade < 512) { delay(512-fade); } else { delay(fade-512); } |
|
|
|
} |
|
|
|
} |
|
|
|
} |
|
|
|
} |
|
|
|
} |
|
|
|
} |
|
|
|
|
|
|
|
} else { |
|
|
|
// turn off the blue LED, turned on by CAN
|
|
|
|
__WFI(); |
|
|
|
#ifdef PANDA |
|
|
|
} |
|
|
|
set_led(LED_BLUE, 0); |
|
|
|
|
|
|
|
#endif |
|
|
|
|
|
|
|
} |
|
|
|
} |
|
|
|
|
|
|
|
|
|
|
|
return 0; |
|
|
|
return 0; |
|
|
|
} |
|
|
|
} |
|
|
|
|
|
|
|
|
|
|
|
|
Vehicle Researcher
6 years ago
