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141 lines
3.1 KiB
141 lines
3.1 KiB
#ifndef PANDA_DRIVERS_H
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#define PANDA_DRIVERS_H
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// ********************* LLGPIO *********************
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#define MODE_INPUT 0
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#define MODE_OUTPUT 1
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#define MODE_ALTERNATE 2
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#define MODE_ANALOG 3
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#define PULL_NONE 0
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#define PULL_UP 1
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#define PULL_DOWN 2
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void set_gpio_mode(GPIO_TypeDef *GPIO, int pin, int mode);
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void set_gpio_output(GPIO_TypeDef *GPIO, int pin, int val);
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void set_gpio_alternate(GPIO_TypeDef *GPIO, int pin, int mode);
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void set_gpio_pullup(GPIO_TypeDef *GPIO, int pin, int mode);
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int get_gpio_input(GPIO_TypeDef *GPIO, int pin);
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// ********************* USB *********************
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// IRQs: OTG_FS
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typedef union {
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uint16_t w;
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struct BW {
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uint8_t msb;
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uint8_t lsb;
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}
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bw;
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}
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uint16_t_uint8_t;
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typedef union _USB_Setup {
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uint32_t d8[2];
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struct _SetupPkt_Struc
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{
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uint8_t bmRequestType;
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uint8_t bRequest;
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uint16_t_uint8_t wValue;
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uint16_t_uint8_t wIndex;
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uint16_t_uint8_t wLength;
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} b;
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}
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USB_Setup_TypeDef;
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void usb_init();
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int usb_cb_control_msg(USB_Setup_TypeDef *setup, uint8_t *resp, int hardwired);
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int usb_cb_ep1_in(uint8_t *usbdata, int len, int hardwired);
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void usb_cb_ep2_out(uint8_t *usbdata, int len, int hardwired);
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void usb_cb_ep3_out(uint8_t *usbdata, int len, int hardwired);
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void usb_cb_enumeration_complete();
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// ********************* UART *********************
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// IRQs: USART1, USART2, USART3, UART5
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#define FIFO_SIZE 0x400
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typedef struct uart_ring {
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uint16_t w_ptr_tx;
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uint16_t r_ptr_tx;
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uint8_t elems_tx[FIFO_SIZE];
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uint16_t w_ptr_rx;
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uint16_t r_ptr_rx;
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uint8_t elems_rx[FIFO_SIZE];
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USART_TypeDef *uart;
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void (*callback)(struct uart_ring*);
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} uart_ring;
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void uart_init(USART_TypeDef *u, int baud);
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int getc(uart_ring *q, char *elem);
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int putc(uart_ring *q, char elem);
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int puts(const char *a);
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void puth(unsigned int i);
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void hexdump(const void *a, int l);
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// ********************* ADC *********************
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void adc_init();
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uint32_t adc_get(int channel);
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// ********************* DAC *********************
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void dac_init();
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void dac_set(int channel, uint32_t value);
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// ********************* TIMER *********************
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void timer_init(TIM_TypeDef *TIM, int psc);
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// ********************* SPI *********************
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// IRQs: DMA2_Stream2, DMA2_Stream3, EXTI4
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void spi_init();
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int spi_cb_rx(uint8_t *data, int len, uint8_t *data_out);
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// ********************* CAN *********************
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// IRQs: CAN1_TX, CAN1_RX0, CAN1_SCE
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// CAN2_TX, CAN2_RX0, CAN2_SCE
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// CAN3_TX, CAN3_RX0, CAN3_SCE
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typedef struct {
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uint32_t w_ptr;
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uint32_t r_ptr;
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uint32_t fifo_size;
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CAN_FIFOMailBox_TypeDef *elems;
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} can_ring;
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#define CAN_BUS_RET_FLAG 0x80
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#define CAN_BUS_NUM_MASK 0x7F
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#ifdef PANDA
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#define BUS_MAX 4
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#else
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#define BUS_MAX 2
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#endif
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extern int can_live, pending_can_live;
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// must reinit after changing these
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extern int can_loopback, can_silent;
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extern uint32_t can_speed[];
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void can_set_forwarding(int from, int to);
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void can_init(uint8_t can_number);
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void can_init_all();
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void can_send(CAN_FIFOMailBox_TypeDef *to_push, uint8_t bus_number);
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int can_pop(can_ring *q, CAN_FIFOMailBox_TypeDef *elem);
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#endif
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