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90 lines
2.6 KiB
90 lines
2.6 KiB
extern uint8_t hw_type;
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board_t board;
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void board_detect(void) {
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hw_type = board_id();
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// 0 = base, 3 = knee
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if (hw_type == HW_TYPE_BASE) {
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board.hall_left.hall_portA = GPIOC;
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board.hall_left.hall_pinA = GPIO_PIN_13;
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board.hall_left.hall_portB = GPIOC;
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board.hall_left.hall_pinB = GPIO_PIN_14;
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board.hall_left.hall_portC = GPIOC;
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board.hall_left.hall_pinC = GPIO_PIN_15;
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board.hall_right.hall_portA = GPIOC;
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board.hall_right.hall_pinA = GPIO_PIN_10;
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board.hall_right.hall_portB = GPIOC;
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board.hall_right.hall_pinB = GPIO_PIN_11;
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board.hall_right.hall_portC = GPIOC;
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board.hall_right.hall_pinC = GPIO_PIN_12;
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board.CAN = CAN2;
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board.can_alt_tx = GPIO_AF9_CAN2;
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board.can_alt_rx = GPIO_AF9_CAN2;
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board.can_pinRX = GPIO_PIN_5;
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board.can_portRX = GPIOB;
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board.can_pinTX = GPIO_PIN_6;
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board.can_portTX = GPIOB;
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board.can_pinEN = GPIO_PIN_7;
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board.can_portEN = GPIOB;
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board.ignition_pin = GPIO_PIN_9;
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board.ignition_port = GPIOB;
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board.led_pinR = GPIO_PIN_2;
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board.led_portR = GPIOD;
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board.led_pinG = GPIO_PIN_15;
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board.led_portG = GPIOA;
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board.led_pinB = GPIO_PIN_1;
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board.led_portB = GPIOC;
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board.can_addr_offset = 0x0U;
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board.uds_offset = 0x0U;
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} else if (hw_type == HW_TYPE_KNEE) {
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board.hall_left.hall_portA = GPIOC;
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board.hall_left.hall_pinA = GPIO_PIN_14;
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board.hall_left.hall_portB = GPIOC;
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board.hall_left.hall_pinB = GPIO_PIN_15;
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board.hall_left.hall_portC = GPIOC;
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board.hall_left.hall_pinC = GPIO_PIN_13;
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board.hall_right.hall_portA = GPIOD;
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board.hall_right.hall_pinA = GPIO_PIN_2;
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board.hall_right.hall_portB = GPIOC;
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board.hall_right.hall_pinB = GPIO_PIN_0;
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board.hall_right.hall_portC = GPIOC;
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board.hall_right.hall_pinC = GPIO_PIN_1;
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board.CAN = CAN1;
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board.can_alt_tx = GPIO_AF8_CAN1;
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board.can_alt_rx = GPIO_AF9_CAN1;
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board.can_pinRX = GPIO_PIN_11;
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board.can_portRX = GPIOA;
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board.can_pinTX = GPIO_PIN_9;
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board.can_portTX = GPIOB;
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board.can_pinEN = 0; // No pin, pulled down with 10k resistor
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board.can_portEN = GPIOB;
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board.ignition_pin = 0; // No pin, always enabled
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board.ignition_port = GPIOB;
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board.led_pinR = GPIO_PIN_2;
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board.led_portR = GPIOB;
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board.led_pinG = GPIO_PIN_15;
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board.led_portG = GPIOA;
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board.led_pinB = GPIO_PIN_5;
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board.led_portB = GPIOB;
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board.can_addr_offset = KNEE_ADDR_OFFSET;
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board.uds_offset = 0x10U;
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#ifndef BOOTSTUB
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MX_I2C_Init();
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#endif
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} else {
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// Fail to detect, halt
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while(1) {}
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}
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}
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