mirror of
https://github.com/infiniteCable2/panda.git
synced 2026-06-08 07:45:00 +08:00
138 lines
4.0 KiB
C
138 lines
4.0 KiB
C
#pragma once
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#include "board_declarations.h"
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// ////////////////////////// //
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// Cuatro (STM32H7) + Harness //
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// ////////////////////////// //
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static void cuatro_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(GPIOB, 7, !enabled);
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break;
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case 2U:
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set_gpio_output(GPIOB, 10, !enabled);
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break;
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case 3U:
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set_gpio_output(GPIOD, 8, !enabled);
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break;
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case 4U:
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set_gpio_output(GPIOB, 11, !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 uint32_t cuatro_read_voltage_mV(void) {
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return adc_get_mV(&(const adc_signal_t) ADC_CHANNEL_DEFAULT(ADC1, 8)) * 11U;
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}
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static uint32_t cuatro_read_current_mA(void) {
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return adc_get_mV(&(const adc_signal_t) ADC_CHANNEL_DEFAULT(ADC1, 3)) * 2U;
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}
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static void cuatro_set_fan_enabled(bool enabled) {
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set_gpio_output(GPIOD, 3, !enabled);
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}
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static void cuatro_set_bootkick(BootState state) {
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set_gpio_output(GPIOA, 0, state != BOOT_BOOTKICK);
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// DC_IN rising edge wakes SOM from ship mode
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set_gpio_output(GPIOC, 11, state != BOOT_BOOTKICK);
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}
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static void cuatro_set_amp_enabled(bool enabled) {
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set_gpio_output(GPIOB, 0, enabled);
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}
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static void cuatro_init(void) {
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common_init_gpio();
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// open drain
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set_gpio_output_type(GPIOD, 3, OUTPUT_TYPE_OPEN_DRAIN); // FAN_EN
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set_gpio_output_type(GPIOC, 11, OUTPUT_TYPE_OPEN_DRAIN); // DC_IN_EN_N
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// Power readout
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set_gpio_mode(GPIOC, 5, MODE_ANALOG);
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set_gpio_mode(GPIOA, 6, MODE_ANALOG);
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// CAN transceiver enables
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set_gpio_pullup(GPIOB, 7, PULL_NONE);
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set_gpio_mode(GPIOB, 7, MODE_OUTPUT);
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set_gpio_pullup(GPIOD, 8, PULL_NONE);
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set_gpio_mode(GPIOD, 8, MODE_OUTPUT);
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// FDCAN3, different pins on this package than the rest of the reds
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set_gpio_pullup(GPIOD, 12, PULL_NONE);
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set_gpio_alternate(GPIOD, 12, GPIO_AF5_FDCAN3);
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set_gpio_pullup(GPIOD, 13, PULL_NONE);
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set_gpio_alternate(GPIOD, 13, GPIO_AF5_FDCAN3);
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// C2: SOM GPIO used as input (fan control at boot)
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set_gpio_mode(GPIOC, 2, MODE_INPUT);
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set_gpio_pullup(GPIOC, 2, PULL_DOWN);
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// SOM bootkick + reset lines
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cuatro_set_bootkick(BOOT_BOOTKICK);
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// SOM debugging UART
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gpio_uart7_init();
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uart_init(&uart_ring_som_debug, 115200);
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// fan setup
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set_gpio_alternate(GPIOC, 8, GPIO_AF2_TIM3);
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register_set_bits(&(GPIOC->OTYPER), GPIO_OTYPER_OT8); // open drain
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// Clock source
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clock_source_init(true);
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// Sound codec
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cuatro_set_amp_enabled(false);
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set_gpio_alternate(GPIOA, 2, GPIO_AF8_SAI4); // SAI4_SCK_B
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set_gpio_alternate(GPIOC, 0, GPIO_AF8_SAI4); // SAI4_FS_B
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set_gpio_alternate(GPIOD, 11, GPIO_AF10_SAI4); // SAI4_SD_A
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set_gpio_alternate(GPIOE, 3, GPIO_AF8_SAI4); // SAI4_SD_B
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set_gpio_alternate(GPIOE, 4, GPIO_AF3_DFSDM1); // DFSDM1_DATIN3
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set_gpio_alternate(GPIOE, 9, GPIO_AF3_DFSDM1); // DFSDM1_CKOUT
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set_gpio_alternate(GPIOE, 6, GPIO_AF10_SAI4); // SAI4_MCLK_B
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sound_init();
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}
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static harness_configuration cuatro_harness_config = {
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.GPIO_SBU1 = GPIOC,
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.GPIO_SBU2 = GPIOA,
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.GPIO_relay_SBU1 = GPIOA,
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.GPIO_relay_SBU2 = GPIOA,
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.pin_SBU1 = 4,
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.pin_SBU2 = 1,
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.pin_relay_SBU1 = 9,
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.pin_relay_SBU2 = 3,
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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_cuatro = {
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.harness_config = &cuatro_harness_config,
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.has_spi = true,
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.has_fan = true,
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.avdd_mV = 1800U,
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.fan_enable_cooldown_time = 3U,
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.init = cuatro_init,
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.init_bootloader = unused_init_bootloader,
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.enable_can_transceiver = cuatro_enable_can_transceiver,
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.led_GPIO = {GPIOC, GPIOC, GPIOC},
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.led_pin = {6, 7, 9},
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.led_pwm_channels = {1, 2, 4},
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.set_can_mode = tres_set_can_mode,
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.read_voltage_mV = cuatro_read_voltage_mV,
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.read_current_mA = cuatro_read_current_mA,
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.set_fan_enabled = cuatro_set_fan_enabled,
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.set_ir_power = unused_set_ir_power,
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.set_siren = fake_siren_set,
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.set_bootkick = cuatro_set_bootkick,
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.read_som_gpio = tres_read_som_gpio,
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.set_amp_enabled = cuatro_set_amp_enabled
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};
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