StarPilot/panda/board/drivers/fake_siren.h

#pragma once

#include "board/stm32h7/lli2c.h"

#define CODEC_I2C_ADDR 0x10

void siren_tim7_init(void) {
  // Init trigger timer (around 2.5kHz)
  register_set(&TIM7->PSC, 0U, 0xFFFFU);
  register_set(&TIM7->ARR, 133U, 0xFFFFU);
  register_set(&TIM7->CR2, (0b10U << TIM_CR2_MMS_Pos), TIM_CR2_MMS_Msk);
  register_set(&TIM7->CR1, TIM_CR1_ARPE | TIM_CR1_URS, 0x088EU);
  TIM7->SR = 0U;
  TIM7->CR1 |= TIM_CR1_CEN;
}

void siren_dac_init(void) {
  DAC1->DHR8R1 = (1U << 7);
  DAC1->DHR8R2 = (1U << 7);
  register_set(&DAC1->MCR, 0U, 0xFFFFFFFFU);
  register_set(&DAC1->CR, DAC_CR_TEN1 | (6U << DAC_CR_TSEL1_Pos) | DAC_CR_DMAEN1, 0xFFFFFFFFU);
  register_set_bits(&DAC1->CR, DAC_CR_EN1 | DAC_CR_EN2);
}

void siren_dma_init(void) {
  // 1Vpp sine wave with 1V offset
  static const uint8_t fake_siren_lut[360] = { 134U, 135U, 137U, 138U, 139U, 140U, 141U, 143U, 144U, 145U, 146U, 148U, 149U, 150U, 151U, 152U, 154U, 155U, 156U, 157U, 158U, 159U, 160U, 162U, 163U, 164U, 165U, 166U, 167U, 168U, 169U, 170U, 171U, 172U, 174U, 175U, 176U, 177U, 177U, 178U, 179U, 180U, 181U, 182U, 183U, 184U, 185U, 186U, 186U, 187U, 188U, 189U, 190U, 190U, 191U, 192U, 193U, 193U, 194U, 195U, 195U, 196U, 196U, 197U, 197U, 198U, 199U, 199U, 199U, 200U, 200U, 201U, 201U, 202U, 202U, 202U, 203U, 203U, 203U, 203U, 204U, 204U, 204U, 204U, 204U, 204U, 204U, 205U, 205U, 205U, 205U, 205U, 205U, 205U, 204U, 204U, 204U, 204U, 204U, 204U, 204U, 203U, 203U, 203U, 203U, 202U, 202U, 202U, 201U, 201U, 200U, 200U, 199U, 199U, 199U, 198U, 197U, 197U, 196U, 196U, 195U, 195U, 194U, 193U, 193U, 192U, 191U, 190U, 190U, 189U, 188U, 187U, 186U, 186U, 185U, 184U, 183U, 182U, 181U, 180U, 179U, 178U, 177U, 177U, 176U, 175U, 174U, 172U, 171U, 170U, 169U, 168U, 167U, 166U, 165U, 164U, 163U, 162U, 160U, 159U, 158U, 157U, 156U, 155U, 154U, 152U, 151U, 150U, 149U, 148U, 146U, 145U, 144U, 143U, 141U, 140U, 139U, 138U, 137U, 135U, 134U, 133U, 132U, 130U, 129U, 128U, 127U, 125U, 124U, 123U, 122U, 121U, 119U, 118U, 117U, 116U, 115U, 113U, 112U, 111U, 110U, 109U, 108U, 106U, 105U, 104U, 103U, 102U, 101U, 100U, 99U, 98U, 97U, 96U, 95U, 94U, 93U, 92U, 91U, 90U, 89U, 88U, 87U, 86U, 85U, 84U, 83U, 82U, 82U, 81U, 80U, 79U, 78U, 78U, 77U, 76U, 76U, 75U, 74U, 74U, 73U, 72U, 72U, 71U, 71U, 70U, 70U, 69U, 69U, 68U, 68U, 67U, 67U, 67U, 66U, 66U, 66U, 65U, 65U, 65U, 65U, 64U, 64U, 64U, 64U, 64U, 64U, 64U, 64U, 64U, 63U, 64U, 64U, 64U, 64U, 64U, 64U, 64U, 64U, 64U, 65U, 65U, 65U, 65U, 66U, 66U, 66U, 67U, 67U, 67U, 68U, 68U, 69U, 69U, 70U, 70U, 71U, 71U, 72U, 72U, 73U, 74U, 74U, 75U, 76U, 76U, 77U, 78U, 78U, 79U, 80U, 81U, 82U, 82U, 83U, 84U, 85U, 86U, 87U, 88U, 89U, 90U, 91U, 92U, 93U, 94U, 95U, 96U, 97U, 98U, 99U, 100U, 101U, 102U, 103U, 104U, 105U, 106U, 108U, 109U, 110U, 111U, 112U, 113U, 115U, 116U, 117U, 118U, 119U, 121U, 122U, 123U, 124U, 125U, 127U, 128U, 129U, 130U, 132U, 133U };
  // Setup DMAMUX (DAC_CH1_DMA as input)
  register_set(&DMAMUX1_Channel1->CCR, 67U, DMAMUX_CxCR_DMAREQ_ID_Msk);
  register_set(&DMA1_Stream1->PAR, (uint32_t)&(DAC1->DHR8R1), 0xFFFFFFFFU);
  // Setup DMA
  register_set(&DMA1_Stream1->M0AR, (uint32_t)fake_siren_lut, 0xFFFFFFFFU);
  register_set(&DMA1_Stream1->FCR, 0U, 0x00000083U);
  DMA1_Stream1->NDTR = sizeof(fake_siren_lut);
  DMA1_Stream1->CR = (0b11UL << DMA_SxCR_PL_Pos) | DMA_SxCR_MINC | DMA_SxCR_CIRC | (1U << DMA_SxCR_DIR_Pos);
}

void fake_siren_codec_enable(bool enabled) {
  if (enabled) {
    bool success = true;
    success &= i2c_set_reg_bits(I2C5, CODEC_I2C_ADDR, 0x2B, (1U << 1)); // Left speaker mix from INA1
    success &= i2c_set_reg_bits(I2C5, CODEC_I2C_ADDR, 0x2C, (1U << 1)); // Right speaker mix from INA1
    success &= i2c_set_reg_mask(I2C5, CODEC_I2C_ADDR, 0x3D, 0x17, 0b11111); // Left speaker volume
    success &= i2c_set_reg_mask(I2C5, CODEC_I2C_ADDR, 0x3E, 0x17, 0b11111); // Right speaker volume
    success &= i2c_set_reg_mask(I2C5, CODEC_I2C_ADDR, 0x37, 0b101, 0b111); // INA gain
    success &= i2c_set_reg_bits(I2C5, CODEC_I2C_ADDR, 0x4C, (1U << 7)); // Enable INA
    success &= i2c_set_reg_bits(I2C5, CODEC_I2C_ADDR, 0x51, (1U << 7)); // Disable global shutdown
    if (!success) {
      print("Siren codec enable failed\n");
      fault_occurred(FAULT_SIREN_MALFUNCTION);
    }
  } else {
    // Disable INA input. Make sure to retry a few times if the I2C bus is busy.
    for (uint8_t i=0U; i<10U; i++) {
      if (i2c_clear_reg_bits(I2C5, CODEC_I2C_ADDR, 0x4C, (1U << 7))) {
        break;
      }
    }
  }
}

static void fake_i2c_siren_init(void) {
  siren_dac_init();
  siren_dma_init();
  siren_tim7_init();
  // Enable the I2C to the codec
  i2c_init(I2C5);
  fake_siren_codec_enable(false);
}

void fake_i2c_siren_set(bool enabled) {
  static bool initialized = false;
  static bool fake_siren_enabled = false;

  if (!initialized) {
    fake_i2c_siren_init();
    initialized = true;
  }

  if (enabled != fake_siren_enabled) {
    fake_siren_codec_enable(enabled);
  }

  if (enabled) {
    register_set_bits(&DMA1_Stream1->CR, DMA_SxCR_EN);
  } else {
    register_clear_bits(&DMA1_Stream1->CR, DMA_SxCR_EN);
  }
  fake_siren_enabled = enabled;
}

void fake_siren_set(bool enabled) {
  static bool initialized = false;
  static bool fake_siren_enabled = false;

  if (!initialized) {
    siren_tim7_init();
    initialized = true;
  }

  if (enabled != fake_siren_enabled) {
    if (enabled) {
      sound_stop_dac();
      siren_dac_init();
      siren_dma_init();
      current_board->set_amp_enabled(true);
      register_set_bits(&DMA1_Stream1->CR, DMA_SxCR_EN);
    } else {
      current_board->set_amp_enabled(false);
      // Stop modified 8-bit DAC and start normal 12-bit DAC
      sound_stop_dac();
      sound_init_dac();
      register_set_bits(&BDMA_Channel0->CCR, BDMA_CCR_EN);
    }
    fake_siren_enabled = enabled;
  }
}