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Revert "fix"

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This reverts commit bdca1881e0.
This commit is contained in:
1okko
2025-04-15 23:32:35 +08:00
parent bdca1881e0
commit cd20b841b9
63 changed files with 508 additions and 2746 deletions
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panda/board/boards/black.h
+59 -2
View File
@@ -26,6 +26,33 @@ static void black_enable_can_transceiver(uint8_t transceiver, bool enabled) {
}
}
static void black_enable_can_transceivers(bool enabled) {
for(uint8_t i=1U; i<=4U; i++){
// Leave main CAN always on for CAN-based ignition detection
if((harness.status == HARNESS_STATUS_FLIPPED) ? (i == 3U) : (i == 1U)){
black_enable_can_transceiver(i, true);
} else {
black_enable_can_transceiver(i, enabled);
}
}
}
static void black_set_led(uint8_t color, bool enabled) {
switch (color){
case LED_RED:
set_gpio_output(GPIOC, 9, !enabled);
break;
case LED_GREEN:
set_gpio_output(GPIOC, 7, !enabled);
break;
case LED_BLUE:
set_gpio_output(GPIOC, 6, !enabled);
break;
default:
break;
}
}
static void black_set_usb_load_switch(bool enabled) {
set_gpio_output(GPIOB, 1, !enabled);
}
@@ -75,12 +102,41 @@ static void black_init(void) {
set_gpio_alternate(GPIOA, 8, GPIO_AF11_CAN3);
set_gpio_alternate(GPIOA, 15, GPIO_AF11_CAN3);
// C0: OBD_SBU1 (orientation detection)
// C3: OBD_SBU2 (orientation detection)
set_gpio_mode(GPIOC, 0, MODE_ANALOG);
set_gpio_mode(GPIOC, 3, MODE_ANALOG);
// GPS OFF
set_gpio_output(GPIOC, 5, 0);
set_gpio_output(GPIOC, 12, 0);
// C10: OBD_SBU1_RELAY (harness relay driving output)
// C11: OBD_SBU2_RELAY (harness relay driving output)
set_gpio_mode(GPIOC, 10, MODE_OUTPUT);
set_gpio_mode(GPIOC, 11, MODE_OUTPUT);
set_gpio_output_type(GPIOC, 10, OUTPUT_TYPE_OPEN_DRAIN);
set_gpio_output_type(GPIOC, 11, OUTPUT_TYPE_OPEN_DRAIN);
set_gpio_output(GPIOC, 10, 1);
set_gpio_output(GPIOC, 11, 1);
// Turn on USB load switch.
black_set_usb_load_switch(true);
// Initialize harness
harness_init();
// Enable CAN transceivers
black_enable_can_transceivers(true);
// Disable LEDs
black_set_led(LED_RED, false);
black_set_led(LED_GREEN, false);
black_set_led(LED_BLUE, false);
// Set normal CAN mode
black_set_can_mode(CAN_MODE_NORMAL);
}
static void black_init_bootloader(void) {
@@ -106,6 +162,7 @@ static harness_configuration black_harness_config = {
board board_black = {
.set_bootkick = unused_set_bootkick,
.harness_config = &black_harness_config,
.has_obd = true,
.has_spi = false,
.has_canfd = false,
.fan_max_rpm = 0U,
@@ -116,8 +173,8 @@ board board_black = {
.init = black_init,
.init_bootloader = black_init_bootloader,
.enable_can_transceiver = black_enable_can_transceiver,
.led_GPIO = {GPIOC, GPIOC, GPIOC},
.led_pin = {9, 7, 6},
.enable_can_transceivers = black_enable_can_transceivers,
.set_led = black_set_led,
.set_can_mode = black_set_can_mode,
.check_ignition = black_check_ignition,
.read_voltage_mV = white_read_voltage_mV,
panda/board/boards/board_declarations.h
+10 -2
View File
@@ -13,6 +13,8 @@ typedef enum {
typedef void (*board_init)(void);
typedef void (*board_init_bootloader)(void);
typedef void (*board_enable_can_transceiver)(uint8_t transceiver, bool enabled);
typedef void (*board_enable_can_transceivers)(bool enabled);
typedef void (*board_set_led)(uint8_t color, bool enabled);
typedef void (*board_set_can_mode)(uint8_t mode);
typedef bool (*board_check_ignition)(void);
typedef uint32_t (*board_read_voltage_mV)(void);
@@ -26,8 +28,7 @@ typedef void (*board_set_amp_enabled)(bool enabled);
struct board {
harness_configuration *harness_config;
GPIO_TypeDef * const led_GPIO[3];
const uint8_t led_pin[3];
const bool has_obd;
const bool has_spi;
const bool has_canfd;
const uint16_t fan_max_rpm;
@@ -38,6 +39,8 @@ struct board {
board_init init;
board_init_bootloader init_bootloader;
board_enable_can_transceiver enable_can_transceiver;
board_enable_can_transceivers enable_can_transceivers;
board_set_led set_led;
board_set_can_mode set_can_mode;
board_check_ignition check_ignition;
board_read_voltage_mV read_voltage_mV;
@@ -64,6 +67,11 @@ struct board {
#define HW_TYPE_TRES 9U
#define HW_TYPE_CUATRO 10U
// LED colors
#define LED_RED 0U
#define LED_GREEN 1U
#define LED_BLUE 2U
// USB power modes (from cereal.log.health)
#define USB_POWER_NONE 0U
#define USB_POWER_CLIENT 1U
panda/board/boards/cuatro.h
+44 -7
View File
@@ -6,6 +6,22 @@
// Cuatro (STM32H7) + Harness //
// ////////////////////////// //
static void cuatro_set_led(uint8_t color, bool enabled) {
switch (color) {
case LED_RED:
set_gpio_output(GPIOC, 6, !enabled);
break;
case LED_GREEN:
set_gpio_output(GPIOC, 7, !enabled);
break;
case LED_BLUE:
set_gpio_output(GPIOC, 9, !enabled);
break;
default:
break;
}
}
static void cuatro_enable_can_transceiver(uint8_t transceiver, bool enabled) {
switch (transceiver) {
case 1U:
@@ -25,6 +41,18 @@ static void cuatro_enable_can_transceiver(uint8_t transceiver, bool enabled) {
}
}
static 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);
}
}
}
static uint32_t cuatro_read_voltage_mV(void) {
return adc_get_mV(8) * 11U;
}
@@ -40,7 +68,7 @@ static void cuatro_set_fan_enabled(bool enabled) {
static void cuatro_set_bootkick(BootState state) {
set_gpio_output(GPIOA, 0, state != BOOT_BOOTKICK);
// TODO: confirm we need this
//set_gpio_output(GPIOC, 12, state != BOOT_RESET);
set_gpio_output(GPIOC, 12, state != BOOT_RESET);
}
static void cuatro_set_amp_enabled(bool enabled){
@@ -48,9 +76,14 @@ static void cuatro_set_amp_enabled(bool enabled){
}
static void cuatro_init(void) {
common_init_gpio();
red_chiplet_init();
// open drain
// init LEDs as open drain
set_gpio_output_type(GPIOC, 6, OUTPUT_TYPE_OPEN_DRAIN);
set_gpio_output_type(GPIOC, 7, OUTPUT_TYPE_OPEN_DRAIN);
set_gpio_output_type(GPIOC, 9, OUTPUT_TYPE_OPEN_DRAIN);
// more open drain
set_gpio_output_type(GPIOD, 3, OUTPUT_TYPE_OPEN_DRAIN); // FAN_EN
set_gpio_output_type(GPIOC, 12, OUTPUT_TYPE_OPEN_DRAIN); // VBAT_EN
@@ -81,6 +114,9 @@ static void cuatro_init(void) {
gpio_uart7_init();
uart_init(&uart_ring_som_debug, 115200);
// SPI init
gpio_spi_init();
// fan setup
set_gpio_alternate(GPIOC, 8, GPIO_AF2_TIM3);
register_set_bits(&(GPIOC->OTYPER), GPIO_OTYPER_OT8); // open drain
@@ -106,7 +142,8 @@ static void cuatro_init(void) {
}
board board_cuatro = {
.harness_config = &tres_harness_config,
.harness_config = &red_chiplet_harness_config,
.has_obd = true,
.has_spi = true,
.has_canfd = true,
.fan_max_rpm = 12500U,
@@ -117,9 +154,9 @@ board board_cuatro = {
.init = cuatro_init,
.init_bootloader = unused_init_bootloader,
.enable_can_transceiver = cuatro_enable_can_transceiver,
.led_GPIO = {GPIOC, GPIOC, GPIOC},
.led_pin = {6, 7, 9},
.set_can_mode = tres_set_can_mode,
.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,
.read_voltage_mV = cuatro_read_voltage_mV,
.read_current_mA = cuatro_read_current_mA,
panda/board/boards/dos.h
+64 -2
View File
@@ -26,6 +26,33 @@ static void dos_enable_can_transceiver(uint8_t transceiver, bool enabled) {
}
}
static void dos_enable_can_transceivers(bool enabled) {
for(uint8_t i=1U; i<=4U; i++){
// Leave main CAN always on for CAN-based ignition detection
if((harness.status == HARNESS_STATUS_FLIPPED) ? (i == 3U) : (i == 1U)){
dos_enable_can_transceiver(i, true);
} else {
dos_enable_can_transceiver(i, enabled);
}
}
}
static void dos_set_led(uint8_t color, bool enabled) {
switch (color){
case LED_RED:
set_gpio_output(GPIOC, 9, !enabled);
break;
case LED_GREEN:
set_gpio_output(GPIOC, 7, !enabled);
break;
case LED_BLUE:
set_gpio_output(GPIOC, 6, !enabled);
break;
default:
break;
}
}
static void dos_set_bootkick(BootState state) {
set_gpio_output(GPIOC, 4, state != BOOT_BOOTKICK);
}
@@ -90,6 +117,25 @@ static void dos_init(void) {
set_gpio_alternate(GPIOA, 8, GPIO_AF11_CAN3);
set_gpio_alternate(GPIOA, 15, GPIO_AF11_CAN3);
// C0: OBD_SBU1 (orientation detection)
// C3: OBD_SBU2 (orientation detection)
set_gpio_mode(GPIOC, 0, MODE_ANALOG);
set_gpio_mode(GPIOC, 3, MODE_ANALOG);
// C10: OBD_SBU1_RELAY (harness relay driving output)
// C11: OBD_SBU2_RELAY (harness relay driving output)
set_gpio_mode(GPIOC, 10, MODE_OUTPUT);
set_gpio_mode(GPIOC, 11, MODE_OUTPUT);
set_gpio_output_type(GPIOC, 10, OUTPUT_TYPE_OPEN_DRAIN);
set_gpio_output_type(GPIOC, 11, OUTPUT_TYPE_OPEN_DRAIN);
set_gpio_output(GPIOC, 10, 1);
set_gpio_output(GPIOC, 11, 1);
#ifdef ENABLE_SPI
// SPI init
gpio_spi_init();
#endif
// C8: FAN PWM aka TIM3_CH3
set_gpio_alternate(GPIOC, 8, GPIO_AF2_TIM3);
@@ -102,9 +148,24 @@ static void dos_init(void) {
pwm_init(TIM4, 2);
dos_set_ir_power(0U);
// Initialize harness
harness_init();
// Enable CAN transceivers
dos_enable_can_transceivers(true);
// Disable LEDs
dos_set_led(LED_RED, false);
dos_set_led(LED_GREEN, false);
dos_set_led(LED_BLUE, false);
// Bootkick
dos_set_bootkick(true);
// Set normal CAN mode
dos_set_can_mode(CAN_MODE_NORMAL);
// Init clock source (camera strobe) using PWM
clock_source_init();
}
@@ -125,6 +186,7 @@ static harness_configuration dos_harness_config = {
board board_dos = {
.harness_config = &dos_harness_config,
.has_obd = true,
#ifdef ENABLE_SPI
.has_spi = true,
#else
@@ -139,8 +201,8 @@ board board_dos = {
.init = dos_init,
.init_bootloader = unused_init_bootloader,
.enable_can_transceiver = dos_enable_can_transceiver,
.led_GPIO = {GPIOC, GPIOC, GPIOC},
.led_pin = {9, 7, 6},
.enable_can_transceivers = dos_enable_can_transceivers,
.set_led = dos_set_led,
.set_can_mode = dos_set_can_mode,
.check_ignition = dos_check_ignition,
.read_voltage_mV = white_read_voltage_mV,
panda/board/boards/grey.h
+3 -2
View File
@@ -11,6 +11,7 @@
board board_grey = {
.set_bootkick = unused_set_bootkick,
.harness_config = &white_harness_config,
.has_obd = false,
.has_spi = false,
.has_canfd = false,
.fan_max_rpm = 0U,
@@ -21,8 +22,8 @@ board board_grey = {
.init = white_grey_init,
.init_bootloader = white_grey_init_bootloader,
.enable_can_transceiver = white_enable_can_transceiver,
.led_GPIO = {GPIOC, GPIOC, GPIOC},
.led_pin = {9, 7, 6},
.enable_can_transceivers = white_enable_can_transceivers,
.set_led = white_set_led,
.set_can_mode = white_set_can_mode,
.check_ignition = white_check_ignition,
.read_voltage_mV = white_read_voltage_mV,
panda/board/boards/red.h
+57 -2
View File
@@ -25,6 +25,34 @@ static void red_enable_can_transceiver(uint8_t transceiver, bool enabled) {
}
}
static void red_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) {
red_enable_can_transceiver(i, true);
} else {
red_enable_can_transceiver(i, enabled);
}
}
}
static void red_set_led(uint8_t color, bool enabled) {
switch (color) {
case LED_RED:
set_gpio_output(GPIOE, 4, !enabled);
break;
case LED_GREEN:
set_gpio_output(GPIOE, 3, !enabled);
break;
case LED_BLUE:
set_gpio_output(GPIOE, 2, !enabled);
break;
default:
break;
}
}
static void red_set_can_mode(uint8_t mode) {
red_enable_can_transceiver(2U, false);
red_enable_can_transceiver(4U, false);
@@ -79,6 +107,17 @@ static uint32_t red_read_voltage_mV(void){
static void red_init(void) {
common_init_gpio();
//C10,C11 : OBD_SBU1_RELAY, OBD_SBU2_RELAY
set_gpio_output_type(GPIOC, 10, OUTPUT_TYPE_OPEN_DRAIN);
set_gpio_pullup(GPIOC, 10, PULL_NONE);
set_gpio_mode(GPIOC, 10, MODE_OUTPUT);
set_gpio_output(GPIOC, 10, 1);
set_gpio_output_type(GPIOC, 11, OUTPUT_TYPE_OPEN_DRAIN);
set_gpio_pullup(GPIOC, 11, PULL_NONE);
set_gpio_mode(GPIOC, 11, MODE_OUTPUT);
set_gpio_output(GPIOC, 11, 1);
// G11,B3,D7,B4: transceiver enable
set_gpio_pullup(GPIOG, 11, PULL_NONE);
set_gpio_mode(GPIOG, 11, MODE_OUTPUT);
@@ -101,6 +140,21 @@ static void red_init(void) {
set_gpio_pullup(GPIOB, 14, PULL_UP);
set_gpio_mode(GPIOB, 14, MODE_OUTPUT);
set_gpio_output(GPIOB, 14, 1);
// Initialize harness
harness_init();
// Enable CAN transceivers
red_enable_can_transceivers(true);
// Disable LEDs
red_set_led(LED_RED, false);
red_set_led(LED_GREEN, false);
red_set_led(LED_BLUE, false);
// Set normal CAN mode
red_set_can_mode(CAN_MODE_NORMAL);
}
static harness_configuration red_harness_config = {
@@ -120,6 +174,7 @@ static harness_configuration red_harness_config = {
board board_red = {
.set_bootkick = unused_set_bootkick,
.harness_config = &red_harness_config,
.has_obd = true,
.has_spi = false,
.has_canfd = true,
.fan_max_rpm = 0U,
@@ -130,8 +185,8 @@ board board_red = {
.init = red_init,
.init_bootloader = unused_init_bootloader,
.enable_can_transceiver = red_enable_can_transceiver,
.led_GPIO = {GPIOE, GPIOE, GPIOE},
.led_pin = {4, 3, 2},
.enable_can_transceivers = red_enable_can_transceivers,
.set_led = red_set_led,
.set_can_mode = red_set_can_mode,
.check_ignition = red_check_ignition,
.read_voltage_mV = red_read_voltage_mV,
panda/board/boards/tres.h
+11 -82
View File
@@ -9,7 +9,7 @@
static bool tres_ir_enabled;
static bool tres_fan_enabled;
static void tres_update_fan_ir_power(void) {
set_gpio_output(GPIOD, 3, tres_ir_enabled || tres_fan_enabled);
red_chiplet_set_fan_or_usb_load_switch(tres_ir_enabled || tres_fan_enabled);
}
static void tres_set_ir_power(uint8_t percentage){
@@ -29,67 +29,6 @@ static void tres_set_fan_enabled(bool enabled) {
tres_update_fan_ir_power();
}
static void tres_enable_can_transceiver(uint8_t transceiver, bool enabled) {
switch (transceiver) {
case 1U:
set_gpio_output(GPIOG, 11, !enabled);
break;
case 2U:
set_gpio_output(GPIOB, 10, !enabled);
break;
case 3U:
set_gpio_output(GPIOD, 7, !enabled);
break;
case 4U:
set_gpio_output(GPIOB, 11, !enabled);
break;
default:
break;
}
}
static void tres_set_can_mode(uint8_t mode) {
current_board->enable_can_transceiver(2U, false);
current_board->enable_can_transceiver(4U, false);
switch (mode) {
case CAN_MODE_NORMAL:
case CAN_MODE_OBD_CAN2:
if ((bool)(mode == CAN_MODE_NORMAL) != (bool)(harness.status == HARNESS_STATUS_FLIPPED)) {
// B12,B13: disable normal mode
set_gpio_pullup(GPIOB, 12, PULL_NONE);
set_gpio_mode(GPIOB, 12, MODE_ANALOG);
set_gpio_pullup(GPIOB, 13, PULL_NONE);
set_gpio_mode(GPIOB, 13, MODE_ANALOG);
// B5,B6: FDCAN2 mode
set_gpio_pullup(GPIOB, 5, PULL_NONE);
set_gpio_alternate(GPIOB, 5, GPIO_AF9_FDCAN2);
set_gpio_pullup(GPIOB, 6, PULL_NONE);
set_gpio_alternate(GPIOB, 6, GPIO_AF9_FDCAN2);
current_board->enable_can_transceiver(2U, true);
} else {
// B5,B6: disable normal mode
set_gpio_pullup(GPIOB, 5, PULL_NONE);
set_gpio_mode(GPIOB, 5, MODE_ANALOG);
set_gpio_pullup(GPIOB, 6, PULL_NONE);
set_gpio_mode(GPIOB, 6, MODE_ANALOG);
// B12,B13: FDCAN2 mode
set_gpio_pullup(GPIOB, 12, PULL_NONE);
set_gpio_alternate(GPIOB, 12, GPIO_AF9_FDCAN2);
set_gpio_pullup(GPIOB, 13, PULL_NONE);
set_gpio_alternate(GPIOB, 13, GPIO_AF9_FDCAN2);
current_board->enable_can_transceiver(4U, true);
}
break;
default:
break;
}
}
static bool tres_read_som_gpio (void) {
return (get_gpio_input(GPIOC, 2) != 0);
}
@@ -100,7 +39,7 @@ static void tres_init(void) {
register_set_bits(&(PWR->CR3), PWR_CR3_USB33DEN);
while ((PWR->CR3 & PWR_CR3_USB33RDY) == 0U);
common_init_gpio();
red_chiplet_init();
// C2: SOM GPIO used as input (fan control at boot)
set_gpio_mode(GPIOC, 2, MODE_INPUT);
@@ -115,6 +54,9 @@ static void tres_init(void) {
gpio_uart7_init();
uart_init(&uart_ring_som_debug, 115200);
// SPI init
gpio_spi_init();
// fan setup
set_gpio_alternate(GPIOC, 8, GPIO_AF2_TIM3);
@@ -132,22 +74,9 @@ static void tres_init(void) {
clock_source_init();
}
static harness_configuration tres_harness_config = {
.has_harness = true,
.GPIO_SBU1 = GPIOC,
.GPIO_SBU2 = GPIOA,
.GPIO_relay_SBU1 = GPIOA,
.GPIO_relay_SBU2 = GPIOA,
.pin_SBU1 = 4,
.pin_SBU2 = 1,
.pin_relay_SBU1 = 8,
.pin_relay_SBU2 = 3,
.adc_channel_SBU1 = 4, // ADC12_INP4
.adc_channel_SBU2 = 17 // ADC1_INP17
};
board board_tres = {
.harness_config = &tres_harness_config,
.harness_config = &red_chiplet_harness_config,
.has_obd = true,
.has_spi = true,
.has_canfd = true,
.fan_max_rpm = 6600U,
@@ -157,10 +86,10 @@ board board_tres = {
.fan_enable_cooldown_time = 3U,
.init = tres_init,
.init_bootloader = unused_init_bootloader,
.enable_can_transceiver = tres_enable_can_transceiver,
.led_GPIO = {GPIOE, GPIOE, GPIOE},
.led_pin = {4, 3, 2},
.set_can_mode = tres_set_can_mode,
.enable_can_transceiver = red_chiplet_enable_can_transceiver,
.enable_can_transceivers = red_chiplet_enable_can_transceivers,
.set_led = red_set_led,
.set_can_mode = red_chiplet_set_can_mode,
.check_ignition = red_check_ignition,
.read_voltage_mV = red_read_voltage_mV,
.read_current_mA = unused_read_current,
panda/board/boards/uno.h
+59 -2
View File
@@ -26,6 +26,33 @@ static void uno_enable_can_transceiver(uint8_t transceiver, bool enabled) {
}
}
static void uno_enable_can_transceivers(bool enabled) {
for(uint8_t i=1U; i<=4U; i++){
// Leave main CAN always on for CAN-based ignition detection
if((harness.status == HARNESS_STATUS_FLIPPED) ? (i == 3U) : (i == 1U)){
uno_enable_can_transceiver(i, true);
} else {
uno_enable_can_transceiver(i, enabled);
}
}
}
static void uno_set_led(uint8_t color, bool enabled) {
switch (color){
case LED_RED:
set_gpio_output(GPIOC, 9, !enabled);
break;
case LED_GREEN:
set_gpio_output(GPIOC, 7, !enabled);
break;
case LED_BLUE:
set_gpio_output(GPIOC, 6, !enabled);
break;
default:
break;
}
}
static void uno_set_bootkick(BootState state) {
if (state == BOOT_BOOTKICK) {
set_gpio_output(GPIOB, 14, false);
@@ -91,11 +118,25 @@ static void uno_init(void) {
set_gpio_alternate(GPIOA, 8, GPIO_AF11_CAN3);
set_gpio_alternate(GPIOA, 15, GPIO_AF11_CAN3);
// C0: OBD_SBU1 (orientation detection)
// C3: OBD_SBU2 (orientation detection)
set_gpio_mode(GPIOC, 0, MODE_ANALOG);
set_gpio_mode(GPIOC, 3, MODE_ANALOG);
// GPS off
set_gpio_output(GPIOB, 1, 0);
set_gpio_output(GPIOC, 5, 0);
set_gpio_output(GPIOC, 12, 0);
// C10: OBD_SBU1_RELAY (harness relay driving output)
// C11: OBD_SBU2_RELAY (harness relay driving output)
set_gpio_mode(GPIOC, 10, MODE_OUTPUT);
set_gpio_mode(GPIOC, 11, MODE_OUTPUT);
set_gpio_output_type(GPIOC, 10, OUTPUT_TYPE_OPEN_DRAIN);
set_gpio_output_type(GPIOC, 11, OUTPUT_TYPE_OPEN_DRAIN);
set_gpio_output(GPIOC, 10, 1);
set_gpio_output(GPIOC, 11, 1);
// C8: FAN PWM aka TIM3_CH3
set_gpio_alternate(GPIOC, 8, GPIO_AF2_TIM3);
@@ -107,6 +148,21 @@ static void uno_init(void) {
pwm_init(TIM4, 2);
uno_set_ir_power(0U);
// Initialize harness
harness_init();
// Enable CAN transceivers
uno_enable_can_transceivers(true);
// Disable LEDs
uno_set_led(LED_RED, false);
uno_set_led(LED_GREEN, false);
uno_set_led(LED_BLUE, false);
// Set normal CAN mode
uno_set_can_mode(CAN_MODE_NORMAL);
// Switch to phone usb mode if harness connection is powered by less than 7V
if(white_read_voltage_mV() < 7000U){
uno_set_usb_switch(true);
@@ -141,6 +197,7 @@ static harness_configuration uno_harness_config = {
board board_uno = {
.harness_config = &uno_harness_config,
.has_obd = true,
.has_spi = false,
.has_canfd = false,
.fan_max_rpm = 5100U,
@@ -151,8 +208,8 @@ board board_uno = {
.init = uno_init,
.init_bootloader = uno_init_bootloader,
.enable_can_transceiver = uno_enable_can_transceiver,
.led_GPIO = {GPIOC, GPIOC, GPIOC},
.led_pin = {9, 7, 6},
.enable_can_transceivers = uno_enable_can_transceivers,
.set_led = uno_set_led,
.set_can_mode = uno_set_can_mode,
.check_ignition = uno_check_ignition,
.read_voltage_mV = white_read_voltage_mV,
panda/board/boards/white.h
+39 -2
View File
@@ -17,6 +17,30 @@ static void white_enable_can_transceiver(uint8_t transceiver, bool enabled) {
case 3U:
set_gpio_output(GPIOA, 0, !enabled);
break;
default:
print("Invalid CAN transceiver ("); puth(transceiver); print("): enabling failed\n");
break;
}
}
static void white_enable_can_transceivers(bool enabled) {
uint8_t t1 = enabled ? 1U : 2U; // leave transceiver 1 enabled to detect CAN ignition
for(uint8_t i=t1; i<=3U; i++) {
white_enable_can_transceiver(i, enabled);
}
}
static void white_set_led(uint8_t color, bool enabled) {
switch (color){
case LED_RED:
set_gpio_output(GPIOC, 9, !enabled);
break;
case LED_GREEN:
set_gpio_output(GPIOC, 7, !enabled);
break;
case LED_BLUE:
set_gpio_output(GPIOC, 6, !enabled);
break;
default:
break;
}
@@ -128,6 +152,18 @@ static void white_grey_init(void) {
set_gpio_alternate(GPIOC, 11, GPIO_AF7_USART3);
set_gpio_pullup(GPIOC, 11, PULL_UP);
// Enable CAN transceivers
white_enable_can_transceivers(true);
// Disable LEDs
white_set_led(LED_RED, false);
white_set_led(LED_GREEN, false);
white_set_led(LED_BLUE, false);
// Set normal CAN mode
white_set_can_mode(CAN_MODE_NORMAL);
// Init usb power mode
// Init in CDP mode only if panda is powered by 12V.
// Otherwise a PC would not be able to flash a standalone panda
@@ -155,6 +191,7 @@ static harness_configuration white_harness_config = {
board board_white = {
.set_bootkick = unused_set_bootkick,
.harness_config = &white_harness_config,
.has_obd = false,
.has_spi = false,
.has_canfd = false,
.fan_max_rpm = 0U,
@@ -165,8 +202,8 @@ board board_white = {
.init = white_grey_init,
.init_bootloader = white_grey_init_bootloader,
.enable_can_transceiver = white_enable_can_transceiver,
.led_GPIO = {GPIOC, GPIOC, GPIOC},
.led_pin = {9, 7, 6},
.enable_can_transceivers = white_enable_can_transceivers,
.set_led = white_set_led,
.set_can_mode = white_set_can_mode,
.check_ignition = white_check_ignition,
.read_voltage_mV = white_read_voltage_mV,
panda/board/bootstub.c
-1
View File
@@ -6,7 +6,6 @@
// ********************* Includes *********************
#include "config.h"
#include "drivers/led.h"
#include "drivers/pwm.h"
#include "drivers/usb.h"
panda/board/drivers/bxcan.h
+1 -1
View File
@@ -178,7 +178,7 @@ void can_rx(uint8_t can_number) {
safety_rx_invalid += safety_rx_hook(&to_push) ? 0U : 1U;
ignition_can_hook(&to_push);
led_set(LED_BLUE, true);
current_board->set_led(LED_BLUE, true);
rx_buffer_overflow += can_push(&can_rx_q, &to_push) ? 0U : 1U;
// next
panda/board/drivers/can_common.h
-6
View File
@@ -209,12 +209,6 @@ void ignition_can_hook(CANPacket_t *to_push) {
ignition_can_cnt = 0U;
}
// Volkswagen MEB exception
if ((addr == 0x3C0) && (len == 4)) {
ignition_can = GET_BIT(to_push, 17U);
ignition_can_cnt = 0U;
}
}
}
panda/board/drivers/fdcan.h
+1 -1
View File
@@ -223,7 +223,7 @@ void can_rx(uint8_t can_number) {
safety_rx_invalid += safety_rx_hook(&to_push) ? 0U : 1U;
ignition_can_hook(&to_push);
led_set(LED_BLUE, true);
current_board->set_led(LED_BLUE, true);
rx_buffer_overflow += can_push(&can_rx_q, &to_push) ? 0U : 1U;
// Enable CAN FD and BRS if CAN FD message was received
panda/board/drivers/harness.h
-6
View File
@@ -94,12 +94,6 @@ void harness_tick(void) {
}
void harness_init(void) {
// init OBD_SBUx_RELAY
set_gpio_output_type(current_board->harness_config->GPIO_relay_SBU1, current_board->harness_config->pin_relay_SBU1, OUTPUT_TYPE_OPEN_DRAIN);
set_gpio_output_type(current_board->harness_config->GPIO_relay_SBU2, current_board->harness_config->pin_relay_SBU2, OUTPUT_TYPE_OPEN_DRAIN);
set_gpio_output(current_board->harness_config->GPIO_relay_SBU1, current_board->harness_config->pin_relay_SBU1, 1);
set_gpio_output(current_board->harness_config->GPIO_relay_SBU2, current_board->harness_config->pin_relay_SBU2, 1);
// try to detect orientation
harness.status = harness_detect_orientation();
if (harness.status != HARNESS_STATUS_NC) {
panda/board/early_init.h
+1 -2
View File
@@ -56,11 +56,10 @@ void early_initialization(void) {
detect_board_type();
if (enter_bootloader_mode == ENTER_BOOTLOADER_MAGIC) {
led_init();
#ifdef PANDA
current_board->init_bootloader();
#endif
led_set(LED_GREEN, 1);
current_board->set_led(LED_GREEN, 1);
jump_to_bootloader();
}
}
panda/board/fake_stm.h
-2
View File
@@ -31,5 +31,3 @@ uint32_t microsecond_timer_get(void);
uint32_t microsecond_timer_get(void) {
return MICROSECOND_TIMER->CNT;
}
typedef uint32_t GPIO_TypeDef;
panda/board/flasher.h
+6 -7
View File
@@ -35,7 +35,7 @@ int comms_control_handler(ControlPacket_t *req, uint8_t *resp) {
flash_unlock();
resp[1] = 0xff;
}
led_set(LED_GREEN, 1);
current_board->set_led(LED_GREEN, 1);
unlocked = true;
prog_ptr = (uint32_t *)APP_START_ADDRESS;
break;
@@ -112,14 +112,14 @@ int comms_can_read(uint8_t *data, uint32_t max_len) {
void refresh_can_tx_slots_available(void) {}
void comms_endpoint2_write(const uint8_t *data, uint32_t len) {
led_set(LED_RED, 0);
current_board->set_led(LED_RED, 0);
for (uint32_t i = 0; i < len/4; i++) {
flash_write_word(prog_ptr, *(uint32_t*)(data+(i*4)));
//*(uint64_t*)(&spi_tx_buf[0x30+(i*4)]) = *prog_ptr;
prog_ptr++;
}
led_set(LED_RED, 1);
current_board->set_led(LED_RED, 1);
}
@@ -132,7 +132,6 @@ void soft_flasher_start(void) {
gpio_usart2_init();
gpio_usb_init();
led_init();
// enable USB
usb_init();
@@ -144,15 +143,15 @@ void soft_flasher_start(void) {
}
// green LED on for flashing
led_set(LED_GREEN, 1);
current_board->set_led(LED_GREEN, 1);
enable_interrupts();
for (;;) {
// blink the green LED fast
led_set(LED_GREEN, 0);
current_board->set_led(LED_GREEN, 0);
delay(500000);
led_set(LED_GREEN, 1);
current_board->set_led(LED_GREEN, 1);
delay(500000);
}
}
panda/board/jungle/boards/board_declarations.h
+7 -2
View File
@@ -1,5 +1,6 @@
// ******************** Prototypes ********************
typedef void (*board_init)(void);
typedef void (*board_set_led)(uint8_t color, bool enabled);
typedef void (*board_board_tick)(void);
typedef bool (*board_get_button)(void);
typedef void (*board_set_panda_power)(bool enabled);
@@ -14,12 +15,11 @@ typedef float (*board_get_channel_power)(uint8_t channel);
typedef uint16_t (*board_get_sbu_mV)(uint8_t channel, uint8_t sbu);
struct board {
GPIO_TypeDef * const led_GPIO[3];
const uint8_t led_pin[3];
const bool has_canfd;
const bool has_sbu_sense;
const uint16_t avdd_mV;
board_init init;
board_set_led set_led;
board_board_tick board_tick;
board_get_button get_button;
board_set_panda_power set_panda_power;
@@ -42,6 +42,11 @@ struct board {
#define HW_TYPE_V1 1U
#define HW_TYPE_V2 2U
// LED colors
#define LED_RED 0U
#define LED_GREEN 1U
#define LED_BLUE 2U
// CAN modes
#define CAN_MODE_NORMAL 0U
#define CAN_MODE_OBD_CAN2 3U
panda/board/jungle/boards/board_v1.h
+22 -2
View File
@@ -2,6 +2,22 @@
// Jungle board v1 (STM32F4) //
// ///////////////////////// //
void board_v1_set_led(uint8_t color, bool enabled) {
switch (color) {
case LED_RED:
set_gpio_output(GPIOC, 9, !enabled);
break;
case LED_GREEN:
set_gpio_output(GPIOC, 7, !enabled);
break;
case LED_BLUE:
set_gpio_output(GPIOC, 6, !enabled);
break;
default:
break;
}
}
void board_v1_enable_can_transceiver(uint8_t transceiver, bool enabled) {
switch (transceiver) {
case 1U:
@@ -124,6 +140,11 @@ void board_v1_init(void) {
board_v1_enable_can_transceiver(i, true);
}
// Disable LEDs
board_v1_set_led(LED_RED, false);
board_v1_set_led(LED_GREEN, false);
board_v1_set_led(LED_BLUE, false);
// Set normal CAN mode
board_v1_set_can_mode(CAN_MODE_NORMAL);
@@ -141,8 +162,7 @@ board board_v1 = {
.has_sbu_sense = false,
.avdd_mV = 3300U,
.init = &board_v1_init,
.led_GPIO = {GPIOC, GPIOC, GPIOC},
.led_pin = {9, 7, 6},
.set_led = &board_v1_set_led,
.board_tick = &board_v1_tick,
.get_button = &board_v1_get_button,
.set_panda_power = &board_v1_set_panda_power,
panda/board/jungle/boards/board_v2.h
+22 -2
View File
@@ -65,6 +65,22 @@ adc_channel_t sbu2_channels[] = {
{.adc = ADC3, .channel = 11},
};
void board_v2_set_led(uint8_t color, bool enabled) {
switch (color) {
case LED_RED:
set_gpio_output(GPIOE, 4, !enabled);
break;
case LED_GREEN:
set_gpio_output(GPIOE, 3, !enabled);
break;
case LED_BLUE:
set_gpio_output(GPIOE, 2, !enabled);
break;
default:
break;
}
}
void board_v2_set_harness_orientation(uint8_t orientation) {
switch (orientation) {
case HARNESS_ORIENTATION_NONE:
@@ -236,6 +252,11 @@ uint16_t board_v2_get_sbu_mV(uint8_t channel, uint8_t sbu) {
void board_v2_init(void) {
common_init_gpio();
// Disable LEDs
board_v2_set_led(LED_RED, false);
board_v2_set_led(LED_GREEN, false);
board_v2_set_led(LED_BLUE, false);
// Normal CAN mode
board_v2_set_can_mode(CAN_MODE_NORMAL);
@@ -291,8 +312,7 @@ board board_v2 = {
.has_sbu_sense = true,
.avdd_mV = 3300U,
.init = &board_v2_init,
.led_GPIO = {GPIOE, GPIOE, GPIOE},
.led_pin = {4, 3, 2},
.set_led = &board_v2_set_led,
.board_tick = &board_v2_tick,
.get_button = &board_v2_get_button,
.set_panda_power = &board_v2_set_panda_power,
panda/board/jungle/main.c
+10 -11
View File
@@ -3,7 +3,6 @@
#include "safety.h"
#include "board/drivers/led.h"
#include "board/drivers/pwm.h"
#include "board/drivers/usb.h"
@@ -77,7 +76,7 @@ void tick_handler(void) {
check_registers();
// turn off the blue LED, turned on by CAN
led_set(LED_BLUE, false);
current_board->set_led(LED_BLUE, false);
// Blink and OBD CAN
#ifdef FINAL_PROVISIONING
@@ -88,7 +87,7 @@ void tick_handler(void) {
uptime_cnt += 1U;
}
led_set(LED_GREEN, green_led_enabled);
current_board->set_led(LED_GREEN, green_led_enabled);
// Check on button
bool current_button_status = current_board->get_button();
@@ -147,8 +146,8 @@ int main(void) {
peripherals_init();
detect_board_type();
// red+green leds enabled until succesful USB init, as a debug indicator
led_set(LED_RED, true);
led_set(LED_GREEN, true);
current_board->set_led(LED_RED, true);
current_board->set_led(LED_GREEN, true);
// print hello
print("\n\n\n************************ MAIN START ************************\n");
@@ -177,8 +176,8 @@ int main(void) {
// enable USB (right before interrupts or enum can fail!)
usb_init();
led_set(LED_RED, false);
led_set(LED_GREEN, false);
current_board->set_led(LED_RED, false);
current_board->set_led(LED_GREEN, false);
print("**** INTERRUPTS ON ****\n");
enable_interrupts();
@@ -224,16 +223,16 @@ int main(void) {
// useful for debugging, fade breaks = panda is overloaded
for (uint32_t fade = 0U; fade < MAX_LED_FADE; fade += 1U) {
led_set(LED_RED, true);
current_board->set_led(LED_RED, true);
delay(fade >> 4);
led_set(LED_RED, false);
current_board->set_led(LED_RED, false);
delay((MAX_LED_FADE - fade) >> 4);
}
for (uint32_t fade = MAX_LED_FADE; fade > 0U; fade -= 1U) {
led_set(LED_RED, true);
current_board->set_led(LED_RED, true);
delay(fade >> 4);
led_set(LED_RED, false);
current_board->set_led(LED_RED, false);
delay((MAX_LED_FADE - fade) >> 4);
}
}
panda/board/jungle/obj/bootstub.panda_jungle.bin
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panda/board/jungle/obj/bootstub.panda_jungle.elf
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panda/board/jungle/obj/bootstub.panda_jungle_h7.bin
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panda/board/jungle/obj/bootstub.panda_jungle_h7.elf
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panda/board/jungle/obj/panda_jungle.bin
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panda/board/jungle/obj/panda_jungle.bin.signed
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panda/board/jungle/obj/panda_jungle.elf
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panda/board/jungle/obj/panda_jungle_h7.bin
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panda/board/jungle/obj/panda_jungle_h7.bin.signed
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panda/board/jungle/obj/panda_jungle_h7.elf
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panda/board/main.c
+17 -25
View File
@@ -1,7 +1,6 @@
// ********************* Includes *********************
#include "config.h"
#include "drivers/led.h"
#include "drivers/pwm.h"
#include "drivers/usb.h"
#include "drivers/simple_watchdog.h"
@@ -77,14 +76,14 @@ void set_safety_mode(uint16_t mode, uint16_t param) {
switch (mode_copy) {
case SAFETY_SILENT:
set_intercept_relay(false, false);
if (current_board->harness_config->has_harness) {
if (current_board->has_obd) {
current_board->set_can_mode(CAN_MODE_NORMAL);
}
can_silent = ALL_CAN_SILENT;
break;
case SAFETY_NOOUTPUT:
set_intercept_relay(false, false);
if (current_board->harness_config->has_harness) {
if (current_board->has_obd) {
current_board->set_can_mode(CAN_MODE_NORMAL);
}
can_silent = ALL_CAN_LIVE;
@@ -93,7 +92,7 @@ void set_safety_mode(uint16_t mode, uint16_t param) {
set_intercept_relay(false, false);
heartbeat_counter = 0U;
heartbeat_lost = false;
if (current_board->harness_config->has_harness) {
if (current_board->has_obd) {
// Clear any pending messages in the can core (i.e. sending while comma power is unplugged)
// TODO: rewrite using hardware queues rather than fifo to cancel specific messages
can_clear_send(CANIF_FROM_CAN_NUM(1), 1);
@@ -109,7 +108,7 @@ void set_safety_mode(uint16_t mode, uint16_t param) {
set_intercept_relay(true, false);
heartbeat_counter = 0U;
heartbeat_lost = false;
if (current_board->harness_config->has_harness) {
if (current_board->has_obd) {
current_board->set_can_mode(CAN_MODE_NORMAL);
}
can_silent = ALL_CAN_LIVE;
@@ -190,11 +189,11 @@ static void tick_handler(void) {
#endif
// set green LED to be controls allowed
led_set(LED_GREEN, controls_allowed | green_led_enabled);
current_board->set_led(LED_GREEN, controls_allowed | green_led_enabled);
// turn off the blue LED, turned on by CAN
// unless we are in power saving mode
led_set(LED_BLUE, (uptime_cnt & 1U) && (power_save_status == POWER_SAVE_STATUS_ENABLED));
current_board->set_led(LED_BLUE, (uptime_cnt & 1U) && (power_save_status == POWER_SAVE_STATUS_ENABLED));
const bool recent_heartbeat = heartbeat_counter == 0U;
@@ -304,10 +303,9 @@ int main(void) {
clock_init();
peripherals_init();
detect_board_type();
led_init();
// red+green leds enabled until succesful USB/SPI init, as a debug indicator
led_set(LED_RED, true);
led_set(LED_GREEN, true);
current_board->set_led(LED_RED, true);
current_board->set_led(LED_GREEN, true);
adc_init();
// print hello
@@ -321,10 +319,6 @@ int main(void) {
// init board
current_board->init();
current_board->set_can_mode(CAN_MODE_NORMAL);
if (current_board->harness_config->has_harness) {
harness_init();
}
// panda has an FPU, let's use it!
enable_fpu();
@@ -340,7 +334,7 @@ int main(void) {
set_safety_mode(SAFETY_SILENT, 0U);
// enable CAN TXs
enable_can_transceivers(true);
current_board->enable_can_transceivers(true);
// init watchdog for heartbeat loop, fed at 8Hz
simple_watchdog_init(FAULT_HEARTBEAT_LOOP_WATCHDOG, (3U * 1000000U / 8U));
@@ -357,14 +351,12 @@ int main(void) {
#ifdef ENABLE_SPI
if (current_board->has_spi) {
gpio_spi_init();
spi_init();
}
#endif
led_set(LED_RED, false);
led_set(LED_GREEN, false);
led_set(LED_BLUE, false);
current_board->set_led(LED_RED, false);
current_board->set_led(LED_GREEN, false);
print("**** INTERRUPTS ON ****\n");
enable_interrupts();
@@ -377,24 +369,24 @@ int main(void) {
#endif
// useful for debugging, fade breaks = panda is overloaded
for (uint32_t fade = 0U; fade < MAX_LED_FADE; fade += 1U) {
led_set(LED_RED, true);
current_board->set_led(LED_RED, true);
delay(fade >> 4);
led_set(LED_RED, false);
current_board->set_led(LED_RED, false);
delay((MAX_LED_FADE - fade) >> 4);
}
for (uint32_t fade = MAX_LED_FADE; fade > 0U; fade -= 1U) {
led_set(LED_RED, true);
current_board->set_led(LED_RED, true);
delay(fade >> 4);
led_set(LED_RED, false);
current_board->set_led(LED_RED, false);
delay((MAX_LED_FADE - fade) >> 4);
}
#ifdef DEBUG_FAULTS
} else {
led_set(LED_RED, 1);
current_board->set_led(LED_RED, 1);
delay(512000U);
led_set(LED_RED, 0);
current_board->set_led(LED_RED, 0);
delay(512000U);
}
#endif
panda/board/main_comms.h
+1 -1
View File
@@ -212,7 +212,7 @@ int comms_control_handler(ControlPacket_t *req, uint8_t *resp) {
break;
// **** 0xdb: set OBD CAN multiplexing mode
case 0xdb:
if (current_board->harness_config->has_harness) {
if (current_board->has_obd) {
if (req->param1 == 1U) {
// Enable OBD CAN
current_board->set_can_mode(CAN_MODE_OBD_CAN2);
panda/board/power_saving.h
+2 -9
View File
@@ -5,15 +5,8 @@
int power_save_status = POWER_SAVE_STATUS_DISABLED;
void enable_can_transceivers(bool enabled) {
// Leave main CAN always on for CAN-based ignition detection
uint8_t main_bus = (current_board->harness_config->has_harness && (harness.status == HARNESS_STATUS_FLIPPED)) ? 3U : 1U;
for(uint8_t i=1U; i<=4U; i++){
current_board->enable_can_transceiver(i, (i == main_bus) || enabled);
}
}
void set_power_save_state(int state) {
bool is_valid_state = (state == POWER_SAVE_STATUS_ENABLED) || (state == POWER_SAVE_STATUS_DISABLED);
if (is_valid_state && (state != power_save_status)) {
bool enable = false;
@@ -40,7 +33,7 @@ void set_power_save_state(int state) {
enable = true;
}
enable_can_transceivers(enable);
current_board->enable_can_transceivers(enable);
// Switch off IR when in power saving
if(!enable){
panda/board/stm32f4/board.h
-3
View File
@@ -39,7 +39,4 @@ void detect_board_type(void) {
hw_type = HW_TYPE_BLACK_PANDA;
current_board = &board_black;
}
// Return A13 to the alt mode to fix SWD
set_gpio_alternate(GPIOA, 13, GPIO_AF0_SWJ);
}
panda/board/stm32f4/stm32f4_config.h
+1 -1
View File
@@ -73,7 +73,7 @@
void early_gpio_float(void) {
RCC->AHB1ENR = RCC_AHB1ENR_GPIOAEN | RCC_AHB1ENR_GPIOBEN | RCC_AHB1ENR_GPIOCEN;
GPIOB->MODER = 0; GPIOC->MODER = 0;
GPIOA->MODER = 0; GPIOB->MODER = 0; GPIOC->MODER = 0;
GPIOA->ODR = 0; GPIOB->ODR = 0; GPIOC->ODR = 0;
GPIOA->PUPDR = 0; GPIOB->PUPDR = 0; GPIOC->PUPDR = 0;
}
panda/board/stm32h7/board.h
+1
View File
@@ -14,6 +14,7 @@
#include "stm32h7/sound.h"
#include "drivers/clock_source.h"
#include "boards/red.h"
#include "boards/red_chiplet.h"
#include "boards/tres.h"
#include "boards/cuatro.h"
panda/board/stm32h7/peripherals.h
+20
View File
@@ -31,6 +31,26 @@ void gpio_uart7_init(void) {
// Common GPIO initialization
void common_init_gpio(void) {
/// E2,E3,E4: RGB LED
set_gpio_pullup(GPIOE, 2, PULL_NONE);
set_gpio_mode(GPIOE, 2, MODE_OUTPUT);
set_gpio_output_type(GPIOE, 2, OUTPUT_TYPE_OPEN_DRAIN);
set_gpio_pullup(GPIOE, 3, PULL_NONE);
set_gpio_mode(GPIOE, 3, MODE_OUTPUT);
set_gpio_output_type(GPIOE, 3, OUTPUT_TYPE_OPEN_DRAIN);
set_gpio_pullup(GPIOE, 4, PULL_NONE);
set_gpio_mode(GPIOE, 4, MODE_OUTPUT);
set_gpio_output_type(GPIOE, 4, OUTPUT_TYPE_OPEN_DRAIN);
//C4,A1: OBD_SBU1, OBD_SBU2
set_gpio_pullup(GPIOC, 4, PULL_NONE);
set_gpio_mode(GPIOC, 4, MODE_ANALOG);
set_gpio_pullup(GPIOA, 1, PULL_NONE);
set_gpio_mode(GPIOA, 1, MODE_ANALOG);
//F11: VOLT_S
set_gpio_pullup(GPIOF, 11, PULL_NONE);
set_gpio_mode(GPIOF, 11, MODE_ANALOG);