mirror of
https://github.com/firestar5683/StarPilot.git
synced 2026-11-08 13:33:42 +08:00
firestar5683
22a8575199
Keep official openpilot ancestry and dependency licenses. Store resources directly in Git, remove LFS setup requirements, and leave the downloadable big model outside the source tree.
133 lines
3.8 KiB
C
133 lines
3.8 KiB
C
#pragma once
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#include "board_declarations.h"
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// ////////////////////////// //
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// Cuatro (STM32H7) + Harness //
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// ////////////////////////// //
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static void cuatro_enable_can_transceiver(uint8_t transceiver, bool enabled) {
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switch (transceiver) {
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case 1U:
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set_gpio_output(GPIOB, 7, !enabled);
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break;
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case 2U:
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set_gpio_output(GPIOB, 10, !enabled);
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break;
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case 3U:
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set_gpio_output(GPIOD, 8, !enabled);
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break;
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case 4U:
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set_gpio_output(GPIOB, 11, !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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static uint32_t cuatro_read_voltage_mV(void) {
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return adc_get_mV(&(const adc_signal_t) ADC_CHANNEL_DEFAULT(ADC1, 8)) * 11U;
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}
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static uint32_t cuatro_read_current_mA(void) {
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return adc_get_mV(&(const adc_signal_t) ADC_CHANNEL_DEFAULT(ADC1, 3)) * 2U;
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}
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static void cuatro_set_fan_enabled(bool enabled) {
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set_gpio_output(GPIOD, 3, !enabled);
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}
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static void cuatro_set_bootkick(BootState state) {
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set_gpio_output(GPIOA, 0, state != BOOT_BOOTKICK);
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// DC_IN rising edge wakes SOM from ship mode
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set_gpio_output(GPIOC, 11, state != BOOT_BOOTKICK);
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}
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static void cuatro_set_amp_enabled(bool enabled) {
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set_gpio_output(GPIOB, 0, enabled);
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}
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static void cuatro_init(void) {
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common_init_gpio();
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// open drain
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set_gpio_output_type(GPIOD, 3, OUTPUT_TYPE_OPEN_DRAIN); // FAN_EN
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set_gpio_output_type(GPIOC, 11, OUTPUT_TYPE_OPEN_DRAIN); // DC_IN_EN_N
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// Power readout
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set_gpio_mode(GPIOC, 5, MODE_ANALOG);
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set_gpio_mode(GPIOA, 6, MODE_ANALOG);
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// CAN transceiver enables
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set_gpio_pullup(GPIOB, 7, PULL_NONE);
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set_gpio_mode(GPIOB, 7, MODE_OUTPUT);
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set_gpio_pullup(GPIOD, 8, PULL_NONE);
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set_gpio_mode(GPIOD, 8, MODE_OUTPUT);
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// FDCAN3, different pins on this package than the rest of the reds
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set_gpio_pullup(GPIOD, 12, PULL_NONE);
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set_gpio_alternate(GPIOD, 12, GPIO_AF5_FDCAN3);
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set_gpio_pullup(GPIOD, 13, PULL_NONE);
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set_gpio_alternate(GPIOD, 13, GPIO_AF5_FDCAN3);
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// C2: SOM GPIO used as input (fan control at boot)
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set_gpio_mode(GPIOC, 2, MODE_INPUT);
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set_gpio_pullup(GPIOC, 2, PULL_DOWN);
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// SOM bootkick + reset lines
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cuatro_set_bootkick(BOOT_BOOTKICK);
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// fan setup
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set_gpio_alternate(GPIOC, 8, GPIO_AF2_TIM3);
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register_set_bits(&(GPIOC->OTYPER), GPIO_OTYPER_OT8); // open drain
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// Clock source
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clock_source_init(true);
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// Sound codec
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cuatro_set_amp_enabled(false);
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set_gpio_alternate(GPIOA, 2, GPIO_AF8_SAI4); // SAI4_SCK_B
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set_gpio_alternate(GPIOC, 0, GPIO_AF8_SAI4); // SAI4_FS_B
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set_gpio_alternate(GPIOD, 11, GPIO_AF10_SAI4); // SAI4_SD_A
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set_gpio_alternate(GPIOE, 3, GPIO_AF8_SAI4); // SAI4_SD_B
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set_gpio_alternate(GPIOE, 4, GPIO_AF3_DFSDM1); // DFSDM1_DATIN3
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set_gpio_alternate(GPIOE, 9, GPIO_AF3_DFSDM1); // DFSDM1_CKOUT
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set_gpio_alternate(GPIOE, 6, GPIO_AF10_SAI4); // SAI4_MCLK_B
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sound_init();
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}
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static harness_configuration cuatro_harness_config = {
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.GPIO_SBU1 = GPIOC,
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.GPIO_SBU2 = GPIOA,
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.GPIO_relay_SBU1 = GPIOA,
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.GPIO_relay_SBU2 = GPIOA,
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.pin_SBU1 = 4,
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.pin_SBU2 = 1,
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.pin_relay_SBU1 = 9,
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.pin_relay_SBU2 = 3,
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.adc_signal_SBU1 = ADC_CHANNEL_DEFAULT(ADC1, 4),
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.adc_signal_SBU2 = ADC_CHANNEL_DEFAULT(ADC1, 17)
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};
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board board_cuatro = {
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.harness_config = &cuatro_harness_config,
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.has_spi = true,
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.has_fan = true,
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.avdd_mV = 1800U,
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.fan_enable_cooldown_time = 3U,
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.init = cuatro_init,
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.enable_can_transceiver = cuatro_enable_can_transceiver,
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.led_GPIO = {GPIOC, GPIOC, GPIOC},
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.led_pin = {6, 7, 9},
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.led_pwm_channels = {1, 2, 4},
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.set_can_mode = tres_set_can_mode,
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.read_voltage_mV = cuatro_read_voltage_mV,
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.read_current_mA = cuatro_read_current_mA,
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.set_fan_enabled = cuatro_set_fan_enabled,
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.set_ir_power = unused_set_ir_power,
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.set_siren = fake_siren_set,
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.set_bootkick = cuatro_set_bootkick,
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.read_som_gpio = tres_read_som_gpio,
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.set_amp_enabled = cuatro_set_amp_enabled
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};
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