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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.
53 lines
1.8 KiB
C
53 lines
1.8 KiB
C
#pragma once
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// ///////////////////////////////////////////////////////////// //
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// Hardware abstraction layer for all different supported boards //
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// ///////////////////////////////////////////////////////////// //
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#include "board/boards/board_declarations.h"
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#include "board/boards/unused_funcs.h"
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// ///// Board definition and detection ///// //
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#include "board/stm32h7/lladc.h"
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#include "board/stm32h7/lldts.h"
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#include "board/drivers/harness.h"
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#include "board/drivers/fan.h"
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#include "board/stm32h7/llfan.h"
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#include "board/stm32h7/sound.h"
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#include "board/drivers/fake_siren.h"
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#include "board/drivers/clock_source.h"
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#include "board/boards/red.h"
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#include "board/boards/tres.h"
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#include "board/boards/cuatro.h"
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void detect_board_type(void) {
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// On STM32H7 pandas, we use two different sets of pins.
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const uint8_t id1 = detect_with_pull(GPIOF, 7, PULL_UP) |
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(detect_with_pull(GPIOF, 8, PULL_UP) << 1U) |
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(detect_with_pull(GPIOF, 9, PULL_UP) << 2U) |
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(detect_with_pull(GPIOF, 10, PULL_UP) << 3U);
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const uint8_t id2 = detect_with_pull(GPIOD, 4, PULL_UP) |
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(detect_with_pull(GPIOD, 5, PULL_UP) << 1U) |
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(detect_with_pull(GPIOD, 6, PULL_UP) << 2U) |
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(detect_with_pull(GPIOD, 7, PULL_UP) << 3U);
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if (id2 == 3U) {
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hw_type = HW_TYPE_CUATRO;
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current_board = &board_cuatro;
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} else if (id1 == 0U) {
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hw_type = HW_TYPE_RED_PANDA;
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current_board = &board_red;
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} else if (id1 == 1U) {
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// deprecated
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//hw_type = HW_TYPE_RED_PANDA_V2;
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hw_type = HW_TYPE_UNKNOWN;
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} else if (id1 == 2U) {
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hw_type = HW_TYPE_TRES;
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current_board = &board_tres;
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} else {
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hw_type = HW_TYPE_UNKNOWN;
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print("Hardware type is UNKNOWN!\n");
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}
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}
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