Merge commit 'ad0f372ad' into HEAD

csouers · Feb 12, 2024 · b7dead7 · b7dead7
2 parents b574b60 + ad0f372
commit b7dead7
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Showing 29 changed files with 126 additions and 133 deletions.
diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml
@@ -15,6 +15,6 @@ repos:
       additional_dependencies: ['git+https://github.com/numpy/numpy-stubs', 'types-requests', 'types-atomicwrites',
                                 'types-pycurl']
 - repo: https://github.com/astral-sh/ruff-pre-commit
-  rev: v0.1.14
+  rev: v0.2.1
   hooks:
     - id: ruff
diff --git a/board/boards/black.h b/board/boards/black.h
@@ -1,6 +1,6 @@
-// ///////////////////// //
-// Black Panda + Harness //
-// ///////////////////// //
+// /////////////////////////////// //
+// Black Panda (STM32F4) + Harness //
+// /////////////////////////////// //
 
 void black_enable_can_transceiver(uint8_t transceiver, bool enabled) {
   switch (transceiver){
@@ -136,7 +136,7 @@ void black_init(void) {
   // Set normal CAN mode
   black_set_can_mode(CAN_MODE_NORMAL);
 
-  // flip CAN0 and CAN2 if we are flipped
+  // change CAN mapping when flipped
   if (harness.status == HARNESS_STATUS_FLIPPED) {
     can_flip_buses(0, 2);
   }
@@ -165,7 +165,6 @@ const harness_configuration black_harness_config = {
 const board board_black = {
   .set_bootkick = unused_set_bootkick,
   .harness_config = &black_harness_config,
-  .has_hw_gmlan = false,
   .has_obd = true,
   .has_spi = false,
   .has_canfd = false,

diff --git a/board/boards/board_declarations.h b/board/boards/board_declarations.h
@@ -21,7 +21,6 @@ typedef bool (*board_read_som_gpio)(void);
 
 struct board {
   const harness_configuration *harness_config;
-  const bool has_hw_gmlan;
   const bool has_obd;
   const bool has_spi;
   const bool has_canfd;

diff --git a/board/boards/cuatro.h b/board/boards/cuatro.h
@@ -1,3 +1,7 @@
+// ////////////////////////// //
+// Cuatro (STM32H7) + Harness //
+// ////////////////////////// //
+
 void cuatro_set_led(uint8_t color, bool enabled) {
   switch (color) {
     case LED_RED:
@@ -14,9 +18,52 @@ void cuatro_set_led(uint8_t color, bool enabled) {
   }
 }
 
+void cuatro_enable_can_transceiver(uint8_t transceiver, bool 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 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);
+
+  // 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_AF5_FDCAN3);
+  set_gpio_pullup(GPIOD, 13, PULL_NONE);
+  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);
   set_gpio_pullup(GPIOC, 2, PULL_DOWN);
@@ -46,7 +93,6 @@ void cuatro_init(void) {
 
 const board board_cuatro = {
   .harness_config = &red_chiplet_harness_config,
-  .has_hw_gmlan = false,
   .has_obd = true,
   .has_spi = true,
   .has_canfd = true,
@@ -57,8 +103,8 @@ const board board_cuatro = {
   .fan_enable_cooldown_time = 3U,
   .init = cuatro_init,
   .init_bootloader = unused_init_bootloader,
-  .enable_can_transceiver = red_chiplet_enable_can_transceiver,
-  .enable_can_transceivers = red_chiplet_enable_can_transceivers,
+  .enable_can_transceiver = cuatro_enable_can_transceiver,
+  .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,

diff --git a/board/boards/dos.h b/board/boards/dos.h
@@ -1,6 +1,6 @@
-// ///////////// //
-// Dos + Harness //
-// ///////////// //
+// /////////////////////// //
+// Dos (STM32F4) + Harness //
+// /////////////////////// //
 
 void dos_enable_can_transceiver(uint8_t transceiver, bool enabled) {
   switch (transceiver){
@@ -168,7 +168,7 @@ void dos_init(void) {
   // Set normal CAN mode
   dos_set_can_mode(CAN_MODE_NORMAL);
 
-  // flip CAN0 and CAN2 if we are flipped
+  // change CAN mapping when flipped
   if (harness.status == HARNESS_STATUS_FLIPPED) {
     can_flip_buses(0, 2);
   }
@@ -193,7 +193,6 @@ const harness_configuration dos_harness_config = {
 
 const board board_dos = {
   .harness_config = &dos_harness_config,
-  .has_hw_gmlan = false,
   .has_obd = true,
 #ifdef ENABLE_SPI
   .has_spi = true,

diff --git a/board/boards/grey.h b/board/boards/grey.h
@@ -1,13 +1,12 @@
-// ////////// //
-// Grey Panda //
-// ////////// //
+// //////////////////// //
+// Grey Panda (STM32F4) //
+// //////////////////// //
 
 // Most hardware functionality is similar to white panda
 
 const board board_grey = {
   .set_bootkick = unused_set_bootkick,
   .harness_config = &white_harness_config,
-  .has_hw_gmlan = true,
   .has_obd = false,
   .has_spi = false,
   .has_canfd = false,

diff --git a/board/boards/pedal.h b/board/boards/pedal.h
@@ -1,6 +1,6 @@
-// ///// //
-// Pedal //
-// ///// //
+// ///////////// //
+// Pedal STM32F2 //
+// ///////////// //
 
 void pedal_enable_can_transceiver(uint8_t transceiver, bool enabled) {
   switch (transceiver){
@@ -69,7 +69,6 @@ const harness_configuration pedal_harness_config = {
 const board board_pedal = {
   .set_bootkick = unused_set_bootkick,
   .harness_config = &pedal_harness_config,
-  .has_hw_gmlan = false,
   .has_obd = false,
   .has_spi = false,
   .has_canfd = false,

diff --git a/board/boards/red.h b/board/boards/red.h
@@ -1,6 +1,6 @@
-// ///////////////////// //
-// Red Panda + Harness //
-// ///////////////////// //
+// ///////////////////////////// //
+// Red Panda (STM32H7) + Harness //
+// ///////////////////////////// //
 
 void red_enable_can_transceiver(uint8_t transceiver, bool enabled) {
   switch (transceiver) {
@@ -150,7 +150,7 @@ void red_init(void) {
   // Set normal CAN mode
   red_set_can_mode(CAN_MODE_NORMAL);
 
-  // flip CAN0 and CAN2 if we are flipped
+  // change CAN mapping when flipped
   if (harness.status == HARNESS_STATUS_FLIPPED) {
     can_flip_buses(0, 2);
   }
@@ -173,7 +173,6 @@ const harness_configuration red_harness_config = {
 const board board_red = {
   .set_bootkick = unused_set_bootkick,
   .harness_config = &red_harness_config,
-  .has_hw_gmlan = false,
   .has_obd = true,
   .has_spi = false,
   .has_canfd = true,

diff --git a/board/boards/red_chiplet.h b/board/boards/red_chiplet.h
@@ -1,6 +1,6 @@
-// ///////////////////// //
-// Red Panda chiplet + Harness //
-// ///////////////////// //
+// ///////////////////////////////////// //
+// Red Panda chiplet (STM32H7) + Harness //
+// ///////////////////////////////////// //
 
 // Most hardware functionality is similar to red panda
 
@@ -133,7 +133,7 @@ void red_chiplet_init(void) {
   // Set normal CAN mode
   red_chiplet_set_can_mode(CAN_MODE_NORMAL);
 
-  // flip CAN0 and CAN2 if we are flipped
+  // change CAN mapping when flipped
   if (harness.status == HARNESS_STATUS_FLIPPED) {
     can_flip_buses(0, 2);
   }

diff --git a/board/boards/tres.h b/board/boards/tres.h
@@ -1,6 +1,6 @@
-// /////////////////
-// Tres + Harness //
-// /////////////////
+// ///////////////////////////
+// Tres (STM32H7) + Harness //
+// ///////////////////////////
 
 bool tres_ir_enabled;
 bool tres_fan_enabled;
@@ -72,7 +72,6 @@ void tres_init(void) {
 
 const board board_tres = {
   .harness_config = &red_chiplet_harness_config,
-  .has_hw_gmlan = false,
   .has_obd = true,
   .has_spi = true,
   .has_canfd = true,

diff --git a/board/boards/uno.h b/board/boards/uno.h
@@ -1,6 +1,6 @@
-// ///////////// //
-// Uno + Harness //
-// ///////////// //
+// /////////////////////// //
+// Uno (STM32F4) + Harness //
+// /////////////////////// //
 
 void uno_enable_can_transceiver(uint8_t transceiver, bool enabled) {
   switch (transceiver){
@@ -161,7 +161,7 @@ void uno_init(void) {
   // Set normal CAN mode
   uno_set_can_mode(CAN_MODE_NORMAL);
 
-  // flip CAN0 and CAN2 if we are flipped
+  // change CAN mapping when flipped
   if (harness.status == HARNESS_STATUS_FLIPPED) {
     can_flip_buses(0, 2);
   }
@@ -200,7 +200,6 @@ const harness_configuration uno_harness_config = {
 
 const board board_uno = {
   .harness_config = &uno_harness_config,
-  .has_hw_gmlan = false,
   .has_obd = true,
   .has_spi = false,
   .has_canfd = false,

diff --git a/board/boards/white.h b/board/boards/white.h
@@ -1,6 +1,6 @@
-// /////////// //
-// White Panda //
-// /////////// //
+// ///////////////////// //
+// White Panda (STM32F4) //
+// ///////////////////// //
 
 void white_enable_can_transceiver(uint8_t transceiver, bool enabled) {
   switch (transceiver){
@@ -224,7 +224,6 @@ const harness_configuration white_harness_config = {
 const board board_white = {
   .set_bootkick = unused_set_bootkick,
   .harness_config = &white_harness_config,
-  .has_hw_gmlan = true,
   .has_obd = false,
   .has_spi = false,
   .has_canfd = false,

diff --git a/board/drivers/bxcan.h b/board/drivers/bxcan.h
@@ -23,56 +23,6 @@ bool can_set_speed(uint8_t can_number) {
   return ret;
 }
 
-// TODO: Cleanup with new abstraction
-void can_set_gmlan(uint8_t bus) {
-  if(current_board->has_hw_gmlan){
-    // first, disable GMLAN on prev bus
-    uint8_t prev_bus = bus_config[3].can_num_lookup;
-    if (bus != prev_bus) {
-      switch (prev_bus) {
-        case 1:
-        case 2:
-          print("Disable GMLAN on CAN");
-          puth(prev_bus + 1U);
-          print("\n");
-          current_board->set_can_mode(CAN_MODE_NORMAL);
-          bus_config[prev_bus].bus_lookup = prev_bus;
-          bus_config[prev_bus].can_num_lookup = prev_bus;
-          bus_config[3].can_num_lookup = -1;
-          bool ret = can_init(prev_bus);
-          UNUSED(ret);
-          break;
-        default:
-          // GMLAN was not set on either BUS 1 or 2
-          break;
-      }
-    }
-
-    // now enable GMLAN on the new bus
-    switch (bus) {
-      case 1:
-      case 2:
-        print("Enable GMLAN on CAN");
-        puth(bus + 1U);
-        print("\n");
-        current_board->set_can_mode((bus == 1U) ? CAN_MODE_GMLAN_CAN2 : CAN_MODE_GMLAN_CAN3);
-        bus_config[bus].bus_lookup = 3;
-        bus_config[bus].can_num_lookup = -1;
-        bus_config[3].can_num_lookup = bus;
-        bool ret = can_init(bus);
-        UNUSED(ret);
-        break;
-      case 0xFF:  //-1 unsigned
-        break;
-      default:
-        print("GMLAN can only be set on CAN2 or CAN3\n");
-        break;
-    }
-  } else {
-    print("GMLAN not available on black panda\n");
-  }
-}
-
 void update_can_health_pkt(uint8_t can_number, uint32_t ir_reg) {
   CAN_TypeDef *CANx = CANIF_FROM_CAN_NUM(can_number);
   uint32_t esr_reg = CANx->ESR;

diff --git a/board/drivers/fdcan.h b/board/drivers/fdcan.h
@@ -35,11 +35,6 @@ bool can_set_speed(uint8_t can_number) {
   return ret;
 }
 
-void can_set_gmlan(uint8_t bus) {
-  UNUSED(bus);
-  print("GMLAN not available on red panda\n");
-}
-
 void update_can_health_pkt(uint8_t can_number, uint32_t ir_reg) {
   FDCAN_GlobalTypeDef *FDCANx = CANIF_FROM_CAN_NUM(can_number);
   uint32_t psr_reg = FDCANx->PSR;

diff --git a/board/jungle/boards/board_declarations.h b/board/jungle/boards/board_declarations.h
@@ -35,7 +35,6 @@ struct board {
 
   // TODO: shouldn't need these
   bool has_spi;
-  bool has_hw_gmlan;
 };
 
 // ******************* Definitions ********************

diff --git a/board/jungle/boards/board_v1.h b/board/jungle/boards/board_v1.h
@@ -1,3 +1,6 @@
+// ///////////////////////// //
+// Jungle board v1 (STM32F4) //
+// ///////////////////////// //
 
 void board_v1_set_led(uint8_t color, bool enabled) {
   switch (color) {

diff --git a/board/jungle/boards/board_v2.h b/board/jungle/boards/board_v2.h
@@ -1,3 +1,6 @@
+// ///////////////////////// //
+// Jungle board v2 (STM32H7) //
+// ///////////////////////// //
 
 const gpio_t power_pins[] = {
   {.bank = GPIOA, .pin = 0},