mirror of
https://github.com/firestar5683/StarPilot.git
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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.
134 lines
3.8 KiB
C
134 lines
3.8 KiB
C
#pragma once
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#include "board_declarations.h"
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// ///////////////////////////// //
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// Red Panda (STM32H7) + Harness //
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// ///////////////////////////// //
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static void red_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(GPIOG, 11, !enabled);
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break;
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case 2U:
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set_gpio_output(GPIOB, 3, !enabled);
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break;
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case 3U:
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set_gpio_output(GPIOD, 7, !enabled);
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break;
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case 4U:
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set_gpio_output(GPIOB, 4, !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 void red_set_can_mode(uint8_t mode) {
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red_enable_can_transceiver(2U, false);
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red_enable_can_transceiver(4U, false);
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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)(harness.status == HARNESS_STATUS_FLIPPED)) {
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// B12,B13: disable normal mode
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set_gpio_pullup(GPIOB, 12, PULL_NONE);
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set_gpio_mode(GPIOB, 12, MODE_ANALOG);
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set_gpio_pullup(GPIOB, 13, PULL_NONE);
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set_gpio_mode(GPIOB, 13, MODE_ANALOG);
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// B5,B6: FDCAN2 mode
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set_gpio_pullup(GPIOB, 5, PULL_NONE);
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set_gpio_alternate(GPIOB, 5, GPIO_AF9_FDCAN2);
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set_gpio_pullup(GPIOB, 6, PULL_NONE);
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set_gpio_alternate(GPIOB, 6, GPIO_AF9_FDCAN2);
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red_enable_can_transceiver(2U, true);
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} else {
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// B5,B6: disable normal mode
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set_gpio_pullup(GPIOB, 5, PULL_NONE);
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set_gpio_mode(GPIOB, 5, MODE_ANALOG);
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set_gpio_pullup(GPIOB, 6, PULL_NONE);
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set_gpio_mode(GPIOB, 6, MODE_ANALOG);
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// B12,B13: FDCAN2 mode
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set_gpio_pullup(GPIOB, 12, PULL_NONE);
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set_gpio_alternate(GPIOB, 12, GPIO_AF9_FDCAN2);
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set_gpio_pullup(GPIOB, 13, PULL_NONE);
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set_gpio_alternate(GPIOB, 13, GPIO_AF9_FDCAN2);
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red_enable_can_transceiver(4U, true);
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}
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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 red_read_voltage_mV(void){
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return adc_get_mV(&(const adc_signal_t) ADC_CHANNEL_DEFAULT(ADC1, 2)) * 11U;
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}
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static void red_init(void) {
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common_init_gpio();
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// G11,B3,D7,B4: transceiver enable
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set_gpio_pullup(GPIOG, 11, PULL_NONE);
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set_gpio_mode(GPIOG, 11, MODE_OUTPUT);
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set_gpio_pullup(GPIOB, 3, PULL_NONE);
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set_gpio_mode(GPIOB, 3, MODE_OUTPUT);
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set_gpio_pullup(GPIOD, 7, PULL_NONE);
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set_gpio_mode(GPIOD, 7, MODE_OUTPUT);
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set_gpio_pullup(GPIOB, 4, PULL_NONE);
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set_gpio_mode(GPIOB, 4, MODE_OUTPUT);
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//B1: 5VOUT_S
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set_gpio_pullup(GPIOB, 1, PULL_NONE);
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set_gpio_mode(GPIOB, 1, MODE_ANALOG);
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// B14: usb load switch, enabled by pull resistor on board, obsolete for red panda
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set_gpio_output_type(GPIOB, 14, OUTPUT_TYPE_OPEN_DRAIN);
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set_gpio_pullup(GPIOB, 14, PULL_UP);
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set_gpio_mode(GPIOB, 14, MODE_OUTPUT);
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set_gpio_output(GPIOB, 14, 1);
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}
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static harness_configuration red_harness_config = {
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.GPIO_SBU1 = GPIOC,
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.GPIO_SBU2 = GPIOA,
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.GPIO_relay_SBU1 = GPIOC,
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.GPIO_relay_SBU2 = GPIOC,
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.pin_SBU1 = 4,
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.pin_SBU2 = 1,
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.pin_relay_SBU1 = 10,
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.pin_relay_SBU2 = 11,
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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_red = {
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.set_bootkick = unused_set_bootkick,
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.harness_config = &red_harness_config,
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.has_spi = false,
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.has_fan = false,
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.avdd_mV = 3300U,
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.fan_enable_cooldown_time = 0U,
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.init = red_init,
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.enable_can_transceiver = red_enable_can_transceiver,
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.led_GPIO = {GPIOE, GPIOE, GPIOE},
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.led_pin = {4, 3, 2},
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.set_can_mode = red_set_can_mode,
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.read_voltage_mV = red_read_voltage_mV,
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.read_current_mA = unused_read_current,
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.set_fan_enabled = unused_set_fan_enabled,
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.set_ir_power = unused_set_ir_power,
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.set_siren = unused_set_siren,
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.read_som_gpio = unused_read_som_gpio,
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.set_amp_enabled = unused_set_amp_enabled
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};
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