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457 lines
12 KiB
457 lines
12 KiB
// this is last place with ifdef PANDA
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#ifdef STM32F4
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#include "stm32f4xx_hal_gpio_ex.h"
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#else
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#include "stm32f2xx_hal_gpio_ex.h"
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#endif
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// ********************* dynamic configuration detection *********************
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#define PANDA_REV_AB 0
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#define PANDA_REV_C 1
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#define PULL_EFFECTIVE_DELAY 10
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void puts(const char *a);
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bool has_external_debug_serial = 0;
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bool is_giant_panda = 0;
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bool is_entering_bootmode = 0;
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int revision = PANDA_REV_AB;
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bool is_grey_panda = 0;
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bool detect_with_pull(GPIO_TypeDef *GPIO, int pin, int mode) {
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set_gpio_mode(GPIO, pin, MODE_INPUT);
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set_gpio_pullup(GPIO, pin, mode);
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for (volatile int i=0; i<PULL_EFFECTIVE_DELAY; i++);
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bool ret = get_gpio_input(GPIO, pin);
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set_gpio_pullup(GPIO, pin, PULL_NONE);
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return ret;
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}
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// must call again from main because BSS is zeroed
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void detect(void) {
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// detect has_external_debug_serial
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has_external_debug_serial = detect_with_pull(GPIOA, 3, PULL_DOWN);
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#ifdef PANDA
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// detect is_giant_panda
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is_giant_panda = detect_with_pull(GPIOB, 1, PULL_DOWN);
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// detect panda REV C.
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// A13 floats in REV AB. In REV C, A13 is pulled up to 5V with a 10K
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// resistor and attached to the USB power control chip CTRL
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// line. Pulling A13 down with an internal 50k resistor in REV C
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// will produce a voltage divider that results in a high logic
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// level. Checking if this pin reads high with a pull down should
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// differentiate REV AB from C.
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revision = detect_with_pull(GPIOA, 13, PULL_DOWN) ? PANDA_REV_C : PANDA_REV_AB;
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// check if the ESP is trying to put me in boot mode
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is_entering_bootmode = !detect_with_pull(GPIOB, 0, PULL_UP);
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// check if it's a grey panda by seeing if the SPI lines are floating
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// TODO: is this reliable?
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is_grey_panda = !(detect_with_pull(GPIOA, 4, PULL_DOWN) | detect_with_pull(GPIOA, 5, PULL_DOWN) | detect_with_pull(GPIOA, 6, PULL_DOWN) | detect_with_pull(GPIOA, 7, PULL_DOWN));
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#else
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// need to do this for early detect
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is_giant_panda = 0;
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is_grey_panda = 0;
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revision = PANDA_REV_AB;
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is_entering_bootmode = 0;
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#endif
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}
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// ********************* bringup *********************
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void periph_init(void) {
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// enable GPIOB, UART2, CAN, USB clock
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RCC->AHB1ENR |= RCC_AHB1ENR_GPIOAEN;
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RCC->AHB1ENR |= RCC_AHB1ENR_GPIOBEN;
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RCC->AHB1ENR |= RCC_AHB1ENR_GPIOCEN;
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RCC->AHB1ENR |= RCC_AHB1ENR_GPIODEN;
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RCC->AHB1ENR |= RCC_AHB1ENR_DMA2EN;
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RCC->APB1ENR |= RCC_APB1ENR_USART2EN;
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RCC->APB1ENR |= RCC_APB1ENR_USART3EN;
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#ifdef PANDA
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RCC->APB1ENR |= RCC_APB1ENR_UART5EN;
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#endif
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RCC->APB1ENR |= RCC_APB1ENR_CAN1EN;
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RCC->APB1ENR |= RCC_APB1ENR_CAN2EN;
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#ifdef CAN3
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RCC->APB1ENR |= RCC_APB1ENR_CAN3EN;
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#endif
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RCC->APB1ENR |= RCC_APB1ENR_DACEN;
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RCC->APB1ENR |= RCC_APB1ENR_TIM2EN; // main counter
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RCC->APB1ENR |= RCC_APB1ENR_TIM3EN; // slow loop and pedal
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RCC->APB1ENR |= RCC_APB1ENR_TIM4EN; // gmlan_alt
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//RCC->APB1ENR |= RCC_APB1ENR_TIM5EN;
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//RCC->APB1ENR |= RCC_APB1ENR_TIM6EN;
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RCC->APB2ENR |= RCC_APB2ENR_USART1EN;
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RCC->AHB2ENR |= RCC_AHB2ENR_OTGFSEN;
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//RCC->APB2ENR |= RCC_APB2ENR_TIM1EN;
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RCC->APB2ENR |= RCC_APB2ENR_ADC1EN;
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RCC->APB2ENR |= RCC_APB2ENR_SPI1EN;
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RCC->APB2ENR |= RCC_APB2ENR_SYSCFGEN;
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}
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// ********************* setters *********************
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void set_can_enable(CAN_TypeDef *CAN_obj, bool enabled) {
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// enable CAN busses
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if (CAN_obj == CAN1) {
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#ifdef PANDA
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// CAN1_EN
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set_gpio_output(GPIOC, 1, !enabled);
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#else
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#ifdef PEDAL
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// CAN1_EN (not flipped)
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set_gpio_output(GPIOB, 3, !enabled);
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#else
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// CAN1_EN
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set_gpio_output(GPIOB, 3, enabled);
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#endif
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#endif
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} else if (CAN_obj == CAN2) {
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#ifdef PANDA
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// CAN2_EN
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set_gpio_output(GPIOC, 13, !enabled);
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#else
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// CAN2_EN
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set_gpio_output(GPIOB, 4, enabled);
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#endif
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#ifdef CAN3
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} else if (CAN_obj == CAN3) {
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// CAN3_EN
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set_gpio_output(GPIOA, 0, !enabled);
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#endif
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} else {
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puts("Invalid CAN: enabling failed\n");
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}
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}
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#ifdef PANDA
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#define LED_RED 9
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#define LED_GREEN 7
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#define LED_BLUE 6
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#else
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#define LED_RED 10
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#define LED_GREEN 11
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#define LED_BLUE -1
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#endif
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void set_led(int led_num, int on) {
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if (led_num != -1) {
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#ifdef PANDA
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set_gpio_output(GPIOC, led_num, !on);
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#else
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set_gpio_output(GPIOB, led_num, !on);
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#endif
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}
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}
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void set_can_mode(int can, bool use_gmlan) {
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// connects to CAN2 xcvr or GMLAN xcvr
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if (use_gmlan) {
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if (can == 1) {
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// B5,B6: disable normal mode
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set_gpio_mode(GPIOB, 5, MODE_INPUT);
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set_gpio_mode(GPIOB, 6, MODE_INPUT);
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// B12,B13: gmlan mode
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set_gpio_alternate(GPIOB, 12, GPIO_AF9_CAN2);
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set_gpio_alternate(GPIOB, 13, GPIO_AF9_CAN2);
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#ifdef CAN3
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} else if (can == 2) {
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// A8,A15: disable normal mode
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set_gpio_mode(GPIOA, 8, MODE_INPUT);
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set_gpio_mode(GPIOA, 15, MODE_INPUT);
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// B3,B4: enable gmlan mode
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set_gpio_alternate(GPIOB, 3, GPIO_AF11_CAN3);
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set_gpio_alternate(GPIOB, 4, GPIO_AF11_CAN3);
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#endif
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} else {
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puts("Invalid CAN: mode setting failed\n");
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}
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} else {
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if (can == 1) {
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// B12,B13: disable gmlan mode
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set_gpio_mode(GPIOB, 12, MODE_INPUT);
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set_gpio_mode(GPIOB, 13, MODE_INPUT);
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// B5,B6: normal mode
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set_gpio_alternate(GPIOB, 5, GPIO_AF9_CAN2);
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set_gpio_alternate(GPIOB, 6, GPIO_AF9_CAN2);
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#ifdef CAN3
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} else if (can == 2) {
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// B3,B4: disable gmlan mode
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set_gpio_mode(GPIOB, 3, MODE_INPUT);
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set_gpio_mode(GPIOB, 4, MODE_INPUT);
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// A8,A15: normal mode
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set_gpio_alternate(GPIOA, 8, GPIO_AF11_CAN3);
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set_gpio_alternate(GPIOA, 15, GPIO_AF11_CAN3);
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#endif
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} else {
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puts("Invalid CAN: mode setting failed\n");
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}
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}
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}
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#define USB_POWER_NONE 0
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#define USB_POWER_CLIENT 1
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#define USB_POWER_CDP 2
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#define USB_POWER_DCP 3
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int usb_power_mode = USB_POWER_NONE;
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void set_usb_power_mode(int mode) {
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bool valid_mode = true;
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switch (mode) {
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case USB_POWER_CLIENT:
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// B2,A13: set client mode
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set_gpio_output(GPIOB, 2, 0);
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set_gpio_output(GPIOA, 13, 1);
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break;
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case USB_POWER_CDP:
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// B2,A13: set CDP mode
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set_gpio_output(GPIOB, 2, 1);
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set_gpio_output(GPIOA, 13, 1);
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break;
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case USB_POWER_DCP:
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// B2,A13: set DCP mode on the charger (breaks USB!)
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set_gpio_output(GPIOB, 2, 0);
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set_gpio_output(GPIOA, 13, 0);
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break;
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default:
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valid_mode = false;
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puts("Invalid usb power mode\n");
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break;
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}
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if (valid_mode) {
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usb_power_mode = mode;
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}
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}
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#define ESP_DISABLED 0
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#define ESP_ENABLED 1
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#define ESP_BOOTMODE 2
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void set_esp_mode(int mode) {
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switch (mode) {
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case ESP_DISABLED:
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// ESP OFF
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set_gpio_output(GPIOC, 14, 0);
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set_gpio_output(GPIOC, 5, 0);
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break;
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case ESP_ENABLED:
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// ESP ON
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set_gpio_output(GPIOC, 14, 1);
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set_gpio_output(GPIOC, 5, 1);
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break;
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case ESP_BOOTMODE:
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set_gpio_output(GPIOC, 14, 1);
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set_gpio_output(GPIOC, 5, 0);
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break;
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default:
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puts("Invalid esp mode\n");
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break;
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}
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}
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// ********************* big init function *********************
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// board specific
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void gpio_init(void) {
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// pull low to hold ESP in reset??
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// enable OTG out tied to ground
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GPIOA->ODR = 0;
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GPIOB->ODR = 0;
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GPIOA->PUPDR = 0;
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//GPIOC->ODR = 0;
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GPIOB->AFR[0] = 0;
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GPIOB->AFR[1] = 0;
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// C2,C3: analog mode, voltage and current sense
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set_gpio_mode(GPIOC, 2, MODE_ANALOG);
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set_gpio_mode(GPIOC, 3, MODE_ANALOG);
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#ifdef PEDAL
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// comma pedal has inputs on C0 and C1
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set_gpio_mode(GPIOC, 0, MODE_ANALOG);
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set_gpio_mode(GPIOC, 1, MODE_ANALOG);
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// DAC outputs on A4 and A5
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// apparently they don't need GPIO setup
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#endif
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// C8: FAN aka TIM3_CH4
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set_gpio_alternate(GPIOC, 8, GPIO_AF2_TIM3);
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// turn off LEDs and set mode
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set_led(LED_RED, 0);
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set_led(LED_GREEN, 0);
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set_led(LED_BLUE, 0);
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// A11,A12: USB
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set_gpio_alternate(GPIOA, 11, GPIO_AF10_OTG_FS);
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set_gpio_alternate(GPIOA, 12, GPIO_AF10_OTG_FS);
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GPIOA->OSPEEDR = GPIO_OSPEEDER_OSPEEDR11 | GPIO_OSPEEDER_OSPEEDR12;
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#ifdef PANDA
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// enable started_alt on the panda
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set_gpio_pullup(GPIOA, 1, PULL_UP);
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// A2,A3: USART 2 for debugging
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set_gpio_alternate(GPIOA, 2, GPIO_AF7_USART2);
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set_gpio_alternate(GPIOA, 3, GPIO_AF7_USART2);
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// A9,A10: USART 1 for talking to the ESP
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set_gpio_alternate(GPIOA, 9, GPIO_AF7_USART1);
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set_gpio_alternate(GPIOA, 10, GPIO_AF7_USART1);
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// B12: GMLAN, ignition sense, pull up
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set_gpio_pullup(GPIOB, 12, PULL_UP);
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// A4,A5,A6,A7: setup SPI
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set_gpio_alternate(GPIOA, 4, GPIO_AF5_SPI1);
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set_gpio_alternate(GPIOA, 5, GPIO_AF5_SPI1);
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set_gpio_alternate(GPIOA, 6, GPIO_AF5_SPI1);
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set_gpio_alternate(GPIOA, 7, GPIO_AF5_SPI1);
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#endif
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// B8,B9: CAN 1
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#ifdef STM32F4
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set_gpio_alternate(GPIOB, 8, GPIO_AF8_CAN1);
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set_gpio_alternate(GPIOB, 9, GPIO_AF8_CAN1);
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#else
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set_gpio_alternate(GPIOB, 8, GPIO_AF9_CAN1);
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set_gpio_alternate(GPIOB, 9, GPIO_AF9_CAN1);
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#endif
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set_can_enable(CAN1, 1);
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// B5,B6: CAN 2
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set_can_mode(1, 0);
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set_can_enable(CAN2, 1);
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// A8,A15: CAN 3
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#ifdef CAN3
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set_can_mode(2, 0);
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set_can_enable(CAN3, 1);
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#endif
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/* GMLAN mode pins:
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M0(B15) M1(B14) mode
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=======================
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0 0 sleep
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1 0 100kbit
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0 1 high voltage wakeup
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1 1 33kbit (normal)
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*/
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// put gmlan transceiver in normal mode
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set_gpio_output(GPIOB, 14, 1);
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set_gpio_output(GPIOB, 15, 1);
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#ifdef PANDA
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// K-line enable moved from B4->B7 to make room for GMLAN on CAN3
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set_gpio_output(GPIOB, 7, 1); // REV C
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// C12,D2: K-Line setup on UART 5
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set_gpio_alternate(GPIOC, 12, GPIO_AF8_UART5);
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set_gpio_alternate(GPIOD, 2, GPIO_AF8_UART5);
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set_gpio_pullup(GPIOD, 2, PULL_UP);
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// L-line enable
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set_gpio_output(GPIOA, 14, 1);
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// C10,C11: L-Line setup on USART 3
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set_gpio_alternate(GPIOC, 10, GPIO_AF7_USART3);
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set_gpio_alternate(GPIOC, 11, GPIO_AF7_USART3);
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set_gpio_pullup(GPIOC, 11, PULL_UP);
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#endif
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set_usb_power_mode(USB_POWER_CLIENT);
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}
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// ********************* early bringup *********************
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#define ENTER_BOOTLOADER_MAGIC 0xdeadbeef
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#define ENTER_SOFTLOADER_MAGIC 0xdeadc0de
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#define BOOT_NORMAL 0xdeadb111
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extern void *g_pfnVectors;
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extern uint32_t enter_bootloader_mode;
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void jump_to_bootloader(void) {
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// do enter bootloader
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enter_bootloader_mode = 0;
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void (*bootloader)(void) = (void (*)(void)) (*((uint32_t *)0x1fff0004));
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// jump to bootloader
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bootloader();
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// reset on exit
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enter_bootloader_mode = BOOT_NORMAL;
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NVIC_SystemReset();
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}
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void early(void) {
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// after it's been in the bootloader, things are initted differently, so we reset
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if ((enter_bootloader_mode != BOOT_NORMAL) &&
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(enter_bootloader_mode != ENTER_BOOTLOADER_MAGIC) &&
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(enter_bootloader_mode != ENTER_SOFTLOADER_MAGIC)) {
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enter_bootloader_mode = BOOT_NORMAL;
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NVIC_SystemReset();
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}
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// if wrong chip, reboot
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volatile unsigned int id = DBGMCU->IDCODE;
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#ifdef STM32F4
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if ((id & 0xFFFU) != 0x463U) {
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enter_bootloader_mode = ENTER_BOOTLOADER_MAGIC;
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}
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#else
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if ((id & 0xFFFU) != 0x411U) {
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enter_bootloader_mode = ENTER_BOOTLOADER_MAGIC;
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}
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#endif
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// setup interrupt table
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SCB->VTOR = (uint32_t)&g_pfnVectors;
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// early GPIOs float everything
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RCC->AHB1ENR = RCC_AHB1ENR_GPIOAEN | RCC_AHB1ENR_GPIOBEN | RCC_AHB1ENR_GPIOCEN;
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GPIOA->MODER = 0; GPIOB->MODER = 0; GPIOC->MODER = 0;
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GPIOA->ODR = 0; GPIOB->ODR = 0; GPIOC->ODR = 0;
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GPIOA->PUPDR = 0; GPIOB->PUPDR = 0; GPIOC->PUPDR = 0;
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detect();
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#ifdef PANDA
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// enable the ESP, disable ESP boot mode
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// unless we are on a giant panda, then there's no ESP
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// dont disable on grey panda
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if (is_giant_panda) {
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set_esp_mode(ESP_DISABLED);
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} else {
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set_esp_mode(ESP_ENABLED);
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}
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#endif
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if (enter_bootloader_mode == ENTER_BOOTLOADER_MAGIC) {
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#ifdef PANDA
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set_esp_mode(ESP_DISABLED);
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#endif
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set_led(LED_GREEN, 1);
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jump_to_bootloader();
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}
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if (is_entering_bootmode) {
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enter_bootloader_mode = ENTER_SOFTLOADER_MAGIC;
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}
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}
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