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281 lines
6.7 KiB
281 lines
6.7 KiB
// ///////////// //
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// Uno + Harness //
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// ///////////// //
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#define BOOTKICK_TIME 3U
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uint8_t bootkick_timer = 0U;
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void uno_enable_can_transciever(uint8_t transciever, bool enabled) {
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switch (transciever){
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case 1U:
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set_gpio_output(GPIOC, 1, !enabled);
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break;
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case 2U:
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set_gpio_output(GPIOC, 13, !enabled);
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break;
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case 3U:
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set_gpio_output(GPIOA, 0, !enabled);
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break;
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case 4U:
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set_gpio_output(GPIOB, 10, !enabled);
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break;
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default:
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puts("Invalid CAN transciever ("); puth(transciever); puts("): enabling failed\n");
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break;
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}
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}
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void uno_enable_can_transcievers(bool enabled) {
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for(uint8_t i=1U; i<=4U; i++){
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uno_enable_can_transciever(i, enabled);
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}
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}
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void uno_set_led(uint8_t color, bool enabled) {
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switch (color){
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case LED_RED:
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set_gpio_output(GPIOC, 9, !enabled);
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break;
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case LED_GREEN:
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set_gpio_output(GPIOC, 7, !enabled);
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break;
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case LED_BLUE:
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set_gpio_output(GPIOC, 6, !enabled);
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break;
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default:
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break;
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}
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}
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void uno_set_gps_load_switch(bool enabled) {
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set_gpio_output(GPIOC, 12, enabled);
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}
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void uno_set_bootkick(bool enabled){
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set_gpio_output(GPIOB, 14, !enabled);
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}
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void uno_bootkick(void) {
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bootkick_timer = BOOTKICK_TIME;
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uno_set_bootkick(true);
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}
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void uno_set_phone_power(bool enabled){
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set_gpio_output(GPIOB, 4, enabled);
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}
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void uno_set_usb_power_mode(uint8_t mode) {
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bool valid = false;
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switch (mode) {
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case USB_POWER_CLIENT:
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uno_set_phone_power(false);
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valid = true;
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break;
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case USB_POWER_CDP:
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uno_set_phone_power(true);
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uno_bootkick();
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valid = true;
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break;
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default:
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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) {
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usb_power_mode = mode;
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}
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}
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void uno_set_esp_gps_mode(uint8_t mode) {
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switch (mode) {
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case ESP_GPS_DISABLED:
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// GPS OFF
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set_gpio_output(GPIOB, 1, 0);
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set_gpio_output(GPIOC, 5, 0);
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uno_set_gps_load_switch(false);
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break;
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case ESP_GPS_ENABLED:
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// GPS ON
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set_gpio_output(GPIOB, 1, 1);
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set_gpio_output(GPIOC, 5, 1);
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uno_set_gps_load_switch(true);
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break;
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case ESP_GPS_BOOTMODE:
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set_gpio_output(GPIOB, 1, 1);
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set_gpio_output(GPIOC, 5, 0);
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uno_set_gps_load_switch(true);
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break;
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default:
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puts("Invalid ESP/GPS mode\n");
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break;
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}
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}
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void uno_set_can_mode(uint8_t mode){
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switch (mode) {
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case CAN_MODE_NORMAL:
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case CAN_MODE_OBD_CAN2:
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if ((bool)(mode == CAN_MODE_NORMAL) != (bool)(car_harness_status == HARNESS_STATUS_NORMAL)) {
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// B12,B13: disable OBD 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 CAN2 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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} else {
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// B5,B6: disable normal CAN2 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: OBD 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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}
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break;
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default:
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puts("Tried to set unsupported CAN mode: "); puth(mode); puts("\n");
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break;
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}
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}
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void uno_usb_power_mode_tick(uint32_t uptime){
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UNUSED(uptime);
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if(bootkick_timer != 0U){
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bootkick_timer--;
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} else {
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uno_set_bootkick(false);
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}
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}
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bool uno_check_ignition(void){
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// ignition is checked through harness
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return harness_check_ignition();
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}
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void uno_set_usb_switch(bool phone){
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set_gpio_output(GPIOB, 3, phone);
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}
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void uno_set_ir_power(uint8_t percentage){
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pwm_set(TIM4, 2, percentage);
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}
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void uno_set_fan_power(uint8_t percentage){
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// Enable fan power only if percentage is non-zero.
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set_gpio_output(GPIOA, 1, (percentage != 0U));
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fan_set_power(percentage);
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}
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uint32_t uno_read_current(void){
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// No current sense on Uno
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return 0U;
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}
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void uno_init(void) {
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common_init_gpio();
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// A8,A15: normal CAN3 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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// C0: OBD_SBU1 (orientation detection)
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// C3: OBD_SBU2 (orientation detection)
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set_gpio_mode(GPIOC, 0, MODE_ANALOG);
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set_gpio_mode(GPIOC, 3, MODE_ANALOG);
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// Set default state of GPS
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current_board->set_esp_gps_mode(ESP_GPS_ENABLED);
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// C10: OBD_SBU1_RELAY (harness relay driving output)
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// C11: OBD_SBU2_RELAY (harness relay driving output)
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set_gpio_mode(GPIOC, 10, MODE_OUTPUT);
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set_gpio_mode(GPIOC, 11, MODE_OUTPUT);
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set_gpio_output_type(GPIOC, 10, OUTPUT_TYPE_OPEN_DRAIN);
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set_gpio_output_type(GPIOC, 11, OUTPUT_TYPE_OPEN_DRAIN);
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set_gpio_output(GPIOC, 10, 1);
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set_gpio_output(GPIOC, 11, 1);
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// C8: FAN PWM aka TIM3_CH3
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set_gpio_alternate(GPIOC, 8, GPIO_AF2_TIM3);
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// Turn on GPS load switch.
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uno_set_gps_load_switch(true);
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// Turn on phone regulator
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uno_set_phone_power(true);
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// Initialize IR PWM and set to 0%
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set_gpio_alternate(GPIOB, 7, GPIO_AF2_TIM4);
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pwm_init(TIM4, 2);
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uno_set_ir_power(0U);
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// Initialize fan and set to 0%
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fan_init();
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uno_set_fan_power(0U);
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// Initialize harness
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harness_init();
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// Initialize RTC
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rtc_init();
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// Enable CAN transcievers
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uno_enable_can_transcievers(true);
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// Disable LEDs
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uno_set_led(LED_RED, false);
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uno_set_led(LED_GREEN, false);
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uno_set_led(LED_BLUE, false);
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// Set normal CAN mode
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uno_set_can_mode(CAN_MODE_NORMAL);
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// flip CAN0 and CAN2 if we are flipped
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if (car_harness_status == HARNESS_STATUS_NORMAL) {
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can_flip_buses(0, 2);
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}
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// init multiplexer
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can_set_obd(car_harness_status, false);
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// Switch to phone usb mode if harness connection is powered by less than 7V
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if(adc_get_voltage() < 7000U){
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uno_set_usb_switch(true);
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} else {
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uno_set_usb_switch(false);
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}
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// Bootkick phone
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uno_bootkick();
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}
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const harness_configuration uno_harness_config = {
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.has_harness = true,
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.GPIO_SBU1 = GPIOC,
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.GPIO_SBU2 = GPIOC,
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.GPIO_relay_normal = GPIOC,
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.GPIO_relay_flipped = GPIOC,
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.pin_SBU1 = 0,
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.pin_SBU2 = 3,
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.pin_relay_normal = 10,
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.pin_relay_flipped = 11,
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.adc_channel_SBU1 = 10,
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.adc_channel_SBU2 = 13
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};
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const board board_uno = {
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.board_type = "Uno",
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.harness_config = &uno_harness_config,
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.init = uno_init,
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.enable_can_transciever = uno_enable_can_transciever,
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.enable_can_transcievers = uno_enable_can_transcievers,
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.set_led = uno_set_led,
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.set_usb_power_mode = uno_set_usb_power_mode,
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.set_esp_gps_mode = uno_set_esp_gps_mode,
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.set_can_mode = uno_set_can_mode,
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.usb_power_mode_tick = uno_usb_power_mode_tick,
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.check_ignition = uno_check_ignition,
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.read_current = uno_read_current,
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.set_fan_power = uno_set_fan_power,
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.set_ir_power = uno_set_ir_power,
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.set_phone_power = uno_set_phone_power
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};
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