mirror of
https://github.com/infiniteCable2/panda.git
synced 2026-06-08 10:54:55 +08:00
7c0c1d956b
* body * hoverboard motors * pass test * body ignition exception and remove used comms Co-authored-by: rexblade21 <zkhuang4968@gmail.com> * send extra empty message to distinguish fingerprint * can.h body v2 put safety hook = 1 * change v2 extra id to 0x396 * fix mirsa style error * move ignition exception to seperate bus 2 if statement * silence heartbeat siren on body * turn ignition off on switch repress * 0x250 interception in panda fw * send extra body data, same as v1 body * cleanup data passing for more predictable inputs and lower rpm deadband * remove extra downscaling * change v2 fingerprint from 0x002 to 0x222 * clean up, bus 0 ignition exception and trq mode * keep in SPD mode for now * remove comment * clean * apply suggestions --------- Co-authored-by: stefpi <19478336+stefpi@users.noreply.github.com>
46 lines
1.7 KiB
C
46 lines
1.7 KiB
C
#include "board/body/boards/board_declarations.h"
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void board_body_init(void) {
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// Initialize CAN pins
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set_gpio_pullup(CAN_RX_PORT, CAN_RX_PIN, PULL_NONE);
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set_gpio_alternate(CAN_RX_PORT, CAN_RX_PIN, GPIO_AF9_FDCAN1);
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set_gpio_pullup(CAN_TX_PORT, CAN_TX_PIN, PULL_NONE);
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set_gpio_alternate(CAN_TX_PORT, CAN_TX_PIN, GPIO_AF9_FDCAN1);
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// Initialize button input (PC15)
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set_gpio_mode(IGNITION_SW_PORT, IGNITION_SW_PIN, MODE_INPUT);
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SYSCFG->EXTICR[3] &= ~(SYSCFG_EXTICR4_EXTI15);
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SYSCFG->EXTICR[3] |= SYSCFG_EXTICR4_EXTI15_PC;
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EXTI->PR1 = (1U << 15);
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EXTI->RTSR1 |= (1U << 15);
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EXTI->FTSR1 |= (1U << 15);
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EXTI->IMR1 |= (1U << 15);
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// Initialize barrel jack detection input (PC13)
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set_gpio_pullup(CHARGING_DETECT_PORT, CHARGING_DETECT_PIN, PULL_UP);
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set_gpio_mode(CHARGING_DETECT_PORT, CHARGING_DETECT_PIN, MODE_INPUT);
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SYSCFG->EXTICR[3] &= ~(SYSCFG_EXTICR4_EXTI13);
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SYSCFG->EXTICR[3] |= SYSCFG_EXTICR4_EXTI13_PC;
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EXTI->PR1 = (1U << 13);
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EXTI->RTSR1 |= (1U << 13);
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EXTI->FTSR1 |= (1U << 13);
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EXTI->IMR1 |= (1U << 13);
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// Initialize and turn on mici power
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set_gpio_mode(OBDC_POWER_ON_PORT, OBDC_POWER_ON_PIN, MODE_OUTPUT);
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set_gpio_output(OBDC_POWER_ON_PORT, OBDC_POWER_ON_PIN, 1);
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// Initialize and turn off gpu power
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set_gpio_mode(GPU_POWER_ON_PORT, GPU_POWER_ON_PIN, MODE_OUTPUT);
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set_gpio_output(GPU_POWER_ON_PORT, GPU_POWER_ON_PIN, 0);
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// Initialize and turn off ignition output
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set_gpio_mode(OBDC_IGNITION_ON_PORT, OBDC_IGNITION_ON_PIN, MODE_OUTPUT);
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set_gpio_output(OBDC_IGNITION_ON_PORT, OBDC_IGNITION_ON_PIN, 0);
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}
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board board_body = {
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.led_GPIO = {GPIOA, GPIOA, GPIOA},
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.led_pin = {10, 10, 10},
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.init = board_body_init,
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}; |