cuatro can fixes (commaai#1858)

* more can * other af * cleanup * misra fix --------- Co-authored-by: Comma Device <[email protected]>
csouers · Feb 7, 2024 · ad0f372 · ad0f372
1 parent 04c5a00
commit ad0f372
Showing 1 changed file with 32 additions and 11 deletions.
diff --git a/board/boards/cuatro.h b/board/boards/cuatro.h
@@ -19,29 +19,50 @@ void cuatro_set_led(uint8_t color, bool enabled) {
 }
 
 void cuatro_enable_can_transceiver(uint8_t transceiver, bool enabled) {
-  if (transceiver == 1U) {
-    set_gpio_output(GPIOB, 7, !enabled);
-  } else if (transceiver == 3U) {
-    set_gpio_output(GPIOD, 8, !enabled);
-  } else {
-    red_enable_can_transceiver(transceiver, enabled);
+  switch (transceiver) {
+    case 1U:
+      set_gpio_output(GPIOB, 7, !enabled);
+      break;
+    case 2U:
+      set_gpio_output(GPIOB, 10, !enabled);
+      break;
+    case 3U:
+      set_gpio_output(GPIOD, 8, !enabled);
+      break;
+    case 4U:
+      set_gpio_output(GPIOB, 11, !enabled);
+      break;
+    default:
+      break;
+  }
+}
+
+void cuatro_enable_can_transceivers(bool enabled) {
+  uint8_t main_bus = (harness.status == HARNESS_STATUS_FLIPPED) ? 3U : 1U;
+  for (uint8_t i=1U; i<=4U; i++) {
+    // Leave main CAN always on for CAN-based ignition detection
+    if (i == main_bus) {
+      cuatro_enable_can_transceiver(i, true);
+    } else {
+      cuatro_enable_can_transceiver(i, enabled);
+    }
   }
 }
 
 void cuatro_init(void) {
   red_chiplet_init();
 
-  // CAN FD 0 transceiver enable (rest are done in red init)
+  // CAN transceiver enables
   set_gpio_pullup(GPIOB, 7, PULL_NONE);
   set_gpio_mode(GPIOB, 7, MODE_OUTPUT);
   set_gpio_pullup(GPIOD, 8, PULL_NONE);
   set_gpio_mode(GPIOD, 8, MODE_OUTPUT);
 
-  // FDCAN2
+  // FDCAN3, different pins on this package than the rest of the reds
   set_gpio_pullup(GPIOD, 12, PULL_NONE);
-  set_gpio_alternate(GPIOD, 12, GPIO_AF9_FDCAN2);
+  set_gpio_alternate(GPIOD, 12, GPIO_AF5_FDCAN3);
   set_gpio_pullup(GPIOD, 13, PULL_NONE);
-  set_gpio_alternate(GPIOD, 13, GPIO_AF9_FDCAN2);
+  set_gpio_alternate(GPIOD, 13, GPIO_AF5_FDCAN3);
 
   // C2: SOM GPIO used as input (fan control at boot)
   set_gpio_mode(GPIOC, 2, MODE_INPUT);
@@ -83,7 +104,7 @@ const board board_cuatro = {
   .init = cuatro_init,
   .init_bootloader = unused_init_bootloader,
   .enable_can_transceiver = cuatro_enable_can_transceiver,
-  .enable_can_transceivers = red_chiplet_enable_can_transceivers,
+  .enable_can_transceivers = cuatro_enable_can_transceivers,
   .set_led = cuatro_set_led,
   .set_can_mode = red_chiplet_set_can_mode,
   .check_ignition = red_check_ignition,