fix tests and remove rev b support

avolmensky · May 19, 2019 · 047bd72 · 047bd72
1 parent 3e199cb
commit 047bd72
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Showing 6 changed files with 37 additions and 58 deletions.
diff --git a/.gitignore b/.gitignore
@@ -10,5 +10,6 @@ a.out
 dist/
 pandacan.egg-info/
 board/obj/
-examples/output.csv
-.DS_Store
+examples/output.csv
+.DS_Store
+nosetests.xml
diff --git a/board/drivers/can.h b/board/drivers/can.h
@@ -284,7 +284,7 @@ void can_set_gmlan(int bus) {
     can_num_lookup[1] = -1;
     can_num_lookup[3] = 1;
     can_init(1);
-  } else if (bus == 2 && revision == PANDA_REV_C) {
+  } else if (bus == 2) {
     puts("GMLAN on CAN3\n");
     // GMLAN on CAN3
     set_can_mode(2, 1);

diff --git a/board/gpio.h b/board/gpio.h
@@ -197,7 +197,7 @@ void set_can_mode(int can, int use_gmlan) {
       set_gpio_alternate(GPIOB, 12, GPIO_AF9_CAN2);
       set_gpio_alternate(GPIOB, 13, GPIO_AF9_CAN2);
 #ifdef CAN3
-    } else if (revision == PANDA_REV_C && can == 2) {
+    } else if (can == 2) {
       // A8,A15: disable normal mode
       set_gpio_mode(GPIOA, 8, MODE_INPUT);
       set_gpio_mode(GPIOA, 15, MODE_INPUT);
@@ -218,11 +218,9 @@ void set_can_mode(int can, int use_gmlan) {
       set_gpio_alternate(GPIOB, 6, GPIO_AF9_CAN2);
 #ifdef CAN3
     } else if (can == 2) {
-      if(revision == PANDA_REV_C){
-        // B3,B4: disable gmlan mode
-        set_gpio_mode(GPIOB, 3, MODE_INPUT);
-        set_gpio_mode(GPIOB, 4, MODE_INPUT);
-      }
+      // B3,B4: disable gmlan mode
+      set_gpio_mode(GPIOB, 3, MODE_INPUT);
+      set_gpio_mode(GPIOB, 4, MODE_INPUT);
       // A8,A15: normal mode
       set_gpio_alternate(GPIOA, 8, GPIO_AF11_CAN3);
       set_gpio_alternate(GPIOA, 15, GPIO_AF11_CAN3);
@@ -377,11 +375,7 @@ void gpio_init() {
 
   #ifdef PANDA
     // K-line enable moved from B4->B7 to make room for GMLAN on CAN3
-    if (revision == PANDA_REV_C) {
-      set_gpio_output(GPIOB, 7, 1); // REV C
-    } else {
-      set_gpio_output(GPIOB, 4, 1); // REV AB
-    }
+    set_gpio_output(GPIOB, 7, 1); // REV C
 
     // C12,D2: K-Line setup on UART 5
     set_gpio_alternate(GPIOC, 12, GPIO_AF8_UART5);
@@ -399,9 +393,7 @@ void gpio_init() {
     set_gpio_pullup(GPIOC, 11, PULL_UP);
   #endif
 
-  if (revision == PANDA_REV_C) {
-    set_usb_power_mode(USB_POWER_CLIENT);
-  }
+  set_usb_power_mode(USB_POWER_CLIENT);
 }
 
 // ********************* early bringup *********************

diff --git a/board/main.c b/board/main.c
@@ -85,25 +85,15 @@ int get_health_pkt(void *dat) {
 
   //Voltage will be measured in mv. 5000 = 5V
   uint32_t voltage = adc_get(ADCCHAN_VOLTAGE);
-  if (revision == PANDA_REV_AB) {
-    //REVB has a 100, 27 (27/127) voltage divider
-    //Here is the calculation for the scale
-    //ADCV = VIN_S * (27/127) * (4095/3.3)
-    //RETVAL = ADCV * s = VIN_S*1000
-    //s = 1000/((4095/3.3)*(27/127)) = 3.79053046
-
-    //Avoid needing floating point math
-    health->voltage = (voltage * 3791) / 1000;
-  } else {
-    //REVC has a 10, 1 (1/11) voltage divider
-    //Here is the calculation for the scale (s)
-    //ADCV = VIN_S * (1/11) * (4095/3.3)
-    //RETVAL = ADCV * s = VIN_S*1000
-    //s = 1000/((4095/3.3)*(1/11)) = 8.8623046875
-
-    //Avoid needing floating point math
-    health->voltage = (voltage * 8862) / 1000;
-  }
+
+  // REVC has a 10, 1 (1/11) voltage divider
+  // Here is the calculation for the scale (s)
+  // ADCV = VIN_S * (1/11) * (4095/3.3)
+  // RETVAL = ADCV * s = VIN_S*1000
+  // s = 1000/((4095/3.3)*(1/11)) = 8.8623046875
+
+  // Avoid needing floating point math
+  health->voltage = (voltage * 8862) / 1000;
 
 #ifdef PANDA
   health->current = adc_get(ADCCHAN_CURRENT);
@@ -386,17 +376,15 @@ int usb_cb_control_msg(USB_Setup_TypeDef *setup, uint8_t *resp, int hardwired) {
       break;
     // **** 0xe6: set USB power
     case 0xe6:
-      if (revision == PANDA_REV_C) {
-        if (setup->b.wValue.w == 1) {
-          puts("user setting CDP mode\n");
-          set_usb_power_mode(USB_POWER_CDP);
-        } else if (setup->b.wValue.w == 2) {
-          puts("user setting DCP mode\n");
-          set_usb_power_mode(USB_POWER_DCP);
-        } else {
-          puts("user setting CLIENT mode\n");
-          set_usb_power_mode(USB_POWER_CLIENT);
-        }
+      if (setup->b.wValue.w == 1) {
+        puts("user setting CDP mode\n");
+        set_usb_power_mode(USB_POWER_CDP);
+      } else if (setup->b.wValue.w == 2) {
+        puts("user setting DCP mode\n");
+        set_usb_power_mode(USB_POWER_DCP);
+      } else {
+        puts("user setting CLIENT mode\n");
+        set_usb_power_mode(USB_POWER_CLIENT);
       }
       break;
     // **** 0xf0: do k-line wValue pulse on uart2 for Acura
@@ -540,6 +528,10 @@ int main() {
   puts(is_giant_panda ? "  GIANTpanda detected\n" : "  not GIANTpanda\n");
   puts(is_grey_panda ? "  gray panda detected!\n" : "  white panda\n");
   puts(is_entering_bootmode ? "  ESP wants bootmode\n" : "  no bootmode\n");
+
+  // non rev c panda are no longer supported
+  while (revision != PANDA_REV_C);
+
   gpio_init();
 
 #ifdef PANDA

diff --git a/board/power_saving.h b/board/power_saving.h
@@ -21,11 +21,8 @@ void power_save_enable(void) {
 
 #ifdef PANDA
   //Turn off LIN K
-  if (revision == PANDA_REV_C) {
-    set_gpio_output(GPIOB, 7, 0); // REV C
-  } else {
-    set_gpio_output(GPIOB, 4, 0); // REV AB
-  }
+  set_gpio_output(GPIOB, 7, 0); // REV C
+
   // LIN L
   set_gpio_output(GPIOA, 14, 0);
 #endif
@@ -90,11 +87,8 @@ void power_save_disable(void) {
 
 #ifdef PANDA
   //Turn on LIN K
-  if (revision == PANDA_REV_C) {
-    set_gpio_output(GPIOB, 7, 1); // REV C
-  } else {
-    set_gpio_output(GPIOB, 4, 1); // REV AB
-  }
+  set_gpio_output(GPIOB, 7, 1); // REV C
+
   // LIN L
   set_gpio_output(GPIOA, 14, 1);
 #endif

diff --git a/run_automated_tests.sh b/run_automated_tests.sh
@@ -6,4 +6,4 @@ else
   TESTSUITE_NAME="Panda_Test-DEV"
 fi
 
-PYTHONPATH="." nosetests -v --with-xunit --xunit-file=./$TEST_FILENAME --xunit-testsuite-name=$TESTSUITE_NAME -s tests/automated/$1*.py
+PYTHONPATH="." python $(which nosetests) -v --with-xunit --xunit-file=./$TEST_FILENAME --xunit-testsuite-name=$TESTSUITE_NAME -s tests/automated/$1*.py