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Merge branch 'upstream/panda/master' into sync-20260227

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This commit is contained in:
Jason Wen
2026-02-27 16:30:45 -05:00
parent a0d3a4abe1 3ffe9591a7
commit de4640e341
10 changed files with 32 additions and 85 deletions
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3
board/health.h
View File

@@ -2,7 +2,7 @@
// When changing these structs, python/__init__.py needs to be kept up to date!
#define HEALTH_PACKET_VERSION 17
#define HEALTH_PACKET_VERSION 18
struct __attribute__((packed)) health_t {
uint32_t uptime_pkt;
uint32_t voltage_pkt;
@@ -29,6 +29,7 @@ struct __attribute__((packed)) health_t {
uint16_t sbu1_voltage_mV;
uint16_t sbu2_voltage_mV;
uint8_t som_reset_triggered;
uint16_t sound_output_level_pkt;
};
#define CAN_HEALTH_PACKET_VERSION 5

2
board/main_comms.h
View File

@@ -42,6 +42,8 @@ static int get_health_pkt(void *dat) {
health->som_reset_triggered = bootkick_reset_triggered;
health->sound_output_level_pkt = sound_output_level;
return sizeof(*health);
}

3
board/main_declarations.h
View File

@@ -20,3 +20,6 @@ extern bool heartbeat_disabled;
// siren state
extern bool siren_enabled;
// sound
extern uint16_t sound_output_level;

23
board/stm32h7/sound.h
View File

@@ -12,6 +12,7 @@ __attribute__((section(".sram4"))) static uint16_t mic_tx_buf[2][MIC_TX_BUF_SIZE
static uint8_t sound_idle_count;
static uint8_t mic_idle_count;
static uint8_t mic_buffer_count;
uint16_t sound_output_level;
void sound_tick(void) {
if (sound_idle_count > 0U) {
@@ -19,6 +20,7 @@ void sound_tick(void) {
if (sound_idle_count == 0U) {
current_board->set_amp_enabled(false);
register_clear_bits(&DMA1_Stream1->CR, DMA_SxCR_EN);
sound_output_level = 0U;
}
}
@@ -72,14 +74,31 @@ static void BDMA_Channel0_IRQ_Handler(void) {
// process samples (shift to 12b and bias to be unsigned)
bool sound_playing = false;
uint32_t abs_sum = 0U;
for (uint16_t i=0U; i < SOUND_RX_BUF_SIZE; i += 2U) {
// since we are playing mono and receiving stereo, we take every other sample
sound_tx_buf[playback_buf][i/2U] = ((sound_rx_buf[rx_buf_idx][i] + (1UL << 14)) >> 3);
uint16_t sample = ((sound_rx_buf[rx_buf_idx][i] + (1UL << 14)) >> 3) & 0xFFFU;
sound_tx_buf[playback_buf][i/2U] = sample;
if (sound_rx_buf[rx_buf_idx][i] > 0U) {
sound_playing = true;
}
// this assumes all audio is "zero" centered
if (sample > 0x7FFU) {
abs_sum += (uint32_t)sample - 0x7FFU;
} else {
abs_sum += 0x7FFU - (uint32_t)sample;
}
}
// VU meter: fast attack, slow decay (~460ms half-life at ~96Hz ISR rate)
uint16_t level = (uint16_t)(abs_sum / (SOUND_RX_BUF_SIZE / 2U));
if (level >= sound_output_level) {
sound_output_level = level;
}
sound_output_level -= (sound_output_level >> 6U);
// manage amp state
if (sound_playing) {
if (sound_idle_count == 0U) {
@@ -102,8 +121,6 @@ static void BDMA_Channel0_IRQ_Handler(void) {
DFSDM1_Filter0->FLTCR1 |= DFSDM_FLTCR1_RSWSTART;
}
mic_idle_count = SOUND_IDLE_TIMEOUT;
sound_tick();
}
void sound_init_dac(void) {