H7: add chiplet panda support (RPv2) (commaai#1049)

* temporarily disable Jenkins

* firmware

* python lib

* tests

* ..

* usb load switch to high

* it is still red

* usb power mode remove

* Revert "temporarily disable Jenkins"

This reverts commit a911cfa.

* forgot this

* common periph

* change name

* board tick

* add V2 to CI

* update known bootstub

Jenkinsfile

@@ -70,7 +70,7 @@ pipeline {
                       --volume /var/run/dbus:/var/run/dbus \
                       --net host \
                       ${env.DOCKER_IMAGE_TAG} \
-                      bash -c 'cd /tmp/panda && scons -j8 && JUNGLE=058010800f51363038363036 H7_PANDAS_EXCLUDE=\"080021000c51303136383232\" ./tests/canfd/test_canfd.py'"
+                      bash -c 'cd /tmp/panda && scons -j8 && JUNGLE=058010800f51363038363036 H7_PANDAS_EXCLUDE=\"080021000c51303136383232 33000e001051393133353939\" ./tests/canfd/test_canfd.py'"
               }
             }
           }

board/boards/board_declarations.h

@@ -49,6 +49,7 @@ struct board {
 #define HW_TYPE_UNO 5U
 #define HW_TYPE_DOS 6U
 #define HW_TYPE_RED_PANDA 7U
+#define HW_TYPE_RED_PANDA_V2 8U
 
 // LED colors
 #define LED_RED 0U

board/boards/red.h

@@ -99,13 +99,6 @@ bool red_check_ignition(void) {
 void red_init(void) {
   common_init_gpio();
 
-  //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);
-
   //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);
@@ -117,6 +110,27 @@ void red_init(void) {
   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);
+
+  set_gpio_pullup(GPIOB, 3, PULL_NONE);
+  set_gpio_mode(GPIOB, 3, MODE_OUTPUT);
+
+  set_gpio_pullup(GPIOD, 7, PULL_NONE);
+  set_gpio_mode(GPIOD, 7, MODE_OUTPUT);
+
+  set_gpio_pullup(GPIOB, 4, PULL_NONE);
+  set_gpio_mode(GPIOB, 4, MODE_OUTPUT);
+
+  // B14: usb load switch
+  set_gpio_pullup(GPIOB, 14, PULL_NONE);
+  set_gpio_mode(GPIOB, 14, MODE_OUTPUT);
+
+  //B1: 5VOUT_S
+  set_gpio_pullup(GPIOB, 1, PULL_NONE);
+  set_gpio_mode(GPIOB, 1, MODE_ANALOG);
+
   // Turn on USB load switch.
   red_set_usb_load_switch(true);
 

board/boards/red_v2.h

@@ -0,0 +1,140 @@
+// ///////////////////// //
+// Red Panda V2 with chiplet + Harness //
+// ///////////////////// //
+
+// Most hardware functionality is similar to red panda
+
+void red_v2_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;
+  }
+}
+
+void red_v2_enable_can_transceivers(bool enabled) {
+  uint8_t main_bus = (car_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_v2_enable_can_transceiver(i, true);
+    } else {
+      red_v2_enable_can_transceiver(i, enabled);
+    }
+  }
+}
+
+void red_v2_set_usb_load_switch(bool enabled) {
+  set_gpio_output(GPIOD, 3, enabled);
+}
+
+void red_v2_init(void) {
+  common_init_gpio();
+
+  //A8, A9 : OBD_SBU1_RELAY, OBD_SBU2_RELAY
+  set_gpio_output_type(GPIOA, 8, OUTPUT_TYPE_OPEN_DRAIN);
+  set_gpio_pullup(GPIOA, 8, PULL_NONE);
+  set_gpio_mode(GPIOA, 8, MODE_OUTPUT);
+  set_gpio_output(GPIOA, 8, 1);
+
+  set_gpio_output_type(GPIOA, 9, OUTPUT_TYPE_OPEN_DRAIN);
+  set_gpio_pullup(GPIOA, 9, PULL_NONE);
+  set_gpio_mode(GPIOA, 9, MODE_OUTPUT);
+  set_gpio_output(GPIOA, 9, 1);
+
+  // G11,B10,D7,B11: transceiver enable
+  set_gpio_pullup(GPIOG, 11, PULL_NONE);
+  set_gpio_mode(GPIOG, 11, MODE_OUTPUT);
+
+  set_gpio_pullup(GPIOB, 10, PULL_NONE);
+  set_gpio_mode(GPIOB, 10, MODE_OUTPUT);
+
+  set_gpio_pullup(GPIOD, 7, PULL_NONE);
+  set_gpio_mode(GPIOD, 7, MODE_OUTPUT);
+
+  set_gpio_pullup(GPIOB, 11, PULL_NONE);
+  set_gpio_mode(GPIOB, 11, MODE_OUTPUT);
+
+  // D3: usb load switch
+  set_gpio_pullup(GPIOD, 3, PULL_NONE);
+  set_gpio_mode(GPIOD, 3, MODE_OUTPUT);
+
+  //B0: 5VOUT_S
+  set_gpio_pullup(GPIOB, 0, PULL_NONE);
+  set_gpio_mode(GPIOB, 0, MODE_ANALOG);
+
+  // Turn on USB load switch.
+  red_v2_set_usb_load_switch(true);
+
+  // Initialize harness
+  harness_init();
+
+  // Initialize RTC
+  rtc_init();
+
+  // Enable CAN transceivers
+  red_v2_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);
+
+  // flip CAN0 and CAN2 if we are flipped
+  if (car_harness_status == HARNESS_STATUS_FLIPPED) {
+    can_flip_buses(0, 2);
+  }
+}
+
+const harness_configuration red_v2_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 = 9,
+  .adc_channel_SBU1 = 4, //ADC12_INP4
+  .adc_channel_SBU2 = 17 //ADC1_INP17
+};
+
+const board board_red_v2 = {
+  .board_type = "Red_v2",
+  .board_tick = unused_board_tick,
+  .harness_config = &red_v2_harness_config,
+  .has_gps = false,
+  .has_hw_gmlan = false,
+  .has_obd = true,
+  .has_lin = false,
+  .has_rtc_battery = true,
+  .fan_max_rpm = 0U,
+  .init = red_v2_init,
+  .enable_can_transceiver = red_v2_enable_can_transceiver,
+  .enable_can_transceivers = red_v2_enable_can_transceivers,
+  .set_led = red_set_led,
+  .set_gps_mode = unused_set_gps_mode,
+  .set_can_mode = red_set_can_mode,
+  .check_ignition = red_check_ignition,
+  .read_current = unused_read_current,
+  .set_fan_enabled = unused_set_fan_enabled,
+  .set_ir_power = unused_set_ir_power,
+  .set_phone_power = unused_set_phone_power,
+  .set_clock_source_mode = unused_set_clock_source_mode,
+  .set_siren = unused_set_siren
+};

board/stm32h7/board.h

@@ -11,6 +11,8 @@
 #include "stm32h7/llrtc.h"
 #include "drivers/rtc.h"
 #include "boards/red.h"
+#include "boards/red_v2.h"
+
 
 uint8_t board_id(void) {
   return detect_with_pull(GPIOF, 7, PULL_UP) |
@@ -23,6 +25,9 @@ void detect_board_type(void) {
   if(board_id() == 0U){
     hw_type = HW_TYPE_RED_PANDA;
     current_board = &board_red;
+  } else if(board_id() == 1U){
+    hw_type = HW_TYPE_RED_PANDA_V2;
+    current_board = &board_red_v2;
   } else {
     hw_type = HW_TYPE_UNKNOWN;
     puts("Hardware type is UNKNOWN!\n");
@@ -32,5 +37,5 @@ void detect_board_type(void) {
 bool has_external_debug_serial = 0;
 void detect_external_debug_serial(void) {
   // detect if external serial debugging is present
-  has_external_debug_serial = detect_with_pull(GPIOA, 3, PULL_DOWN);
+  has_external_debug_serial = detect_with_pull(GPIOA, 3, PULL_DOWN) || detect_with_pull(GPIOE, 7, PULL_DOWN);
 }

board/stm32h7/peripherals.h

@@ -11,6 +11,12 @@ void gpio_usart2_init(void) {
   set_gpio_alternate(GPIOA, 3, GPIO_AF7_USART2);
 }
 
+void gpio_uart7_init(void) {
+  // E7,E8: UART 7 for debugging
+  set_gpio_alternate(GPIOE, 7, GPIO_AF7_UART7);
+  set_gpio_alternate(GPIOE, 8, GPIO_AF7_UART7);
+}
+
 // Common GPIO initialization
 void common_init_gpio(void) {
   /// E2,E3,E4: RGB LED
@@ -36,29 +42,14 @@ void common_init_gpio(void) {
   set_gpio_pullup(GPIOF, 10, PULL_NONE);
   set_gpio_mode(GPIOF, 10, MODE_INPUT);
 
-  // G11,B3,D7,B4: transceiver enable
-  set_gpio_pullup(GPIOG, 11, PULL_NONE);
-  set_gpio_mode(GPIOG, 11, MODE_OUTPUT);
-
-  // Speed was set to high by default after reset, changing to low
-  GPIOB->OSPEEDR = GPIO_OSPEEDR_OSPEED3;
-  set_gpio_pullup(GPIOB, 3, PULL_NONE);
-  set_gpio_mode(GPIOB, 3, MODE_OUTPUT);
-
-  set_gpio_pullup(GPIOD, 7, PULL_NONE);
-  set_gpio_mode(GPIOD, 7, MODE_OUTPUT);
+  //C4,A1: OBD_SBU1, OBD_SBU2
+  set_gpio_pullup(GPIOC, 4, PULL_NONE);
+  set_gpio_mode(GPIOC, 4, MODE_ANALOG);
 
-  set_gpio_pullup(GPIOB, 4, PULL_NONE);
-  set_gpio_mode(GPIOB, 4, MODE_OUTPUT);
-
-  // B14: usb load switch
-  set_gpio_pullup(GPIOB, 14, PULL_NONE);
-  set_gpio_mode(GPIOB, 14, MODE_OUTPUT);
-
-  //B1,F11 5VOUT_S, VOLT_S
-  set_gpio_pullup(GPIOB, 1, PULL_NONE);
-  set_gpio_mode(GPIOB, 1, 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);
 
@@ -70,7 +61,7 @@ void common_init_gpio(void) {
 
   set_gpio_pullup(GPIOB, 9, PULL_NONE);
   set_gpio_alternate(GPIOB, 9, GPIO_AF9_FDCAN1);
-  
+
   // B5,B6 (mplex to B12,B13): FDCAN2
   set_gpio_pullup(GPIOB, 12, PULL_NONE);
   set_gpio_pullup(GPIOB, 13, PULL_NONE);
@@ -80,7 +71,7 @@ void common_init_gpio(void) {
 
   set_gpio_pullup(GPIOB, 6, PULL_NONE);
   set_gpio_alternate(GPIOB, 6, GPIO_AF9_FDCAN2);
-  
+
   // G9,G10: FDCAN3
   set_gpio_pullup(GPIOG, 9, PULL_NONE);
   set_gpio_alternate(GPIOG, 9, GPIO_AF2_FDCAN3);

python/__init__.py

@@ -172,17 +172,18 @@ class Panda:
   HW_TYPE_UNO = b'\x05'
   HW_TYPE_DOS = b'\x06'
   HW_TYPE_RED_PANDA = b'\x07'
+  HW_TYPE_RED_PANDA_V2 = b'\x08'
 
   CAN_PACKET_VERSION = 2
   HEALTH_PACKET_VERSION = 9
   HEALTH_STRUCT = struct.Struct("<IIIIIIIIBBBBBBHBBBHIfB")
 
   F2_DEVICES = (HW_TYPE_PEDAL, )
   F4_DEVICES = (HW_TYPE_WHITE_PANDA, HW_TYPE_GREY_PANDA, HW_TYPE_BLACK_PANDA, HW_TYPE_UNO, HW_TYPE_DOS)
-  H7_DEVICES = (HW_TYPE_RED_PANDA, )
+  H7_DEVICES = (HW_TYPE_RED_PANDA, HW_TYPE_RED_PANDA_V2)
 
   INTERNAL_DEVICES = (HW_TYPE_UNO, HW_TYPE_DOS)
-  HAS_OBD = (HW_TYPE_BLACK_PANDA, HW_TYPE_UNO, HW_TYPE_DOS, HW_TYPE_RED_PANDA)
+  HAS_OBD = (HW_TYPE_BLACK_PANDA, HW_TYPE_UNO, HW_TYPE_DOS, HW_TYPE_RED_PANDA, HW_TYPE_RED_PANDA_V2)
 
   CLOCK_SOURCE_MODE_DISABLED = 0
   CLOCK_SOURCE_MODE_FREE_RUNNING = 1

tests/automated/helpers.py

@@ -13,7 +13,7 @@
 SPEED_GMLAN = 33.3
 BUS_SPEEDS = [(0, SPEED_NORMAL), (1, SPEED_NORMAL), (2, SPEED_NORMAL), (3, SPEED_GMLAN)]
 TIMEOUT = 45
-H7_HW_TYPES = [Panda.HW_TYPE_RED_PANDA]
+H7_HW_TYPES = [Panda.HW_TYPE_RED_PANDA, Panda.HW_TYPE_RED_PANDA_V2]
 GEN2_HW_TYPES = [Panda.HW_TYPE_BLACK_PANDA, Panda.HW_TYPE_UNO] + H7_HW_TYPES
 GPS_HW_TYPES = [Panda.HW_TYPE_GREY_PANDA, Panda.HW_TYPE_BLACK_PANDA, Panda.HW_TYPE_UNO]
 PEDAL_SERIAL = 'none'
@@ -55,7 +55,8 @@ def init_all_pandas():
     param(panda_type=Panda.HW_TYPE_GREY_PANDA),
     param(panda_type=Panda.HW_TYPE_BLACK_PANDA),
     param(panda_type=Panda.HW_TYPE_UNO),
-    param(panda_type=Panda.HW_TYPE_RED_PANDA)
+    param(panda_type=Panda.HW_TYPE_RED_PANDA),
+    param(panda_type=Panda.HW_TYPE_RED_PANDA_V2)
   ])
 test_all_pandas = parameterized(
     list(map(lambda x: x[0], _all_pandas))  # type: ignore

tests/canfd/test_canfd.py

@@ -6,7 +6,7 @@
 from panda import Panda
 from panda_jungle import PandaJungle  # pylint: disable=import-error
 
-H7_HW_TYPES = [Panda.HW_TYPE_RED_PANDA]
+H7_HW_TYPES = [Panda.HW_TYPE_RED_PANDA, Panda.HW_TYPE_RED_PANDA_V2]
 JUNGLE_SERIAL = os.getenv("JUNGLE")
 H7_PANDAS_EXCLUDE = [] # type: ignore
 if os.getenv("H7_PANDAS_EXCLUDE"):

tests/ci_reset_hw.py

@@ -13,7 +13,7 @@
 
   pandas = PandaDFU.list()
   print(pandas)
-  assert len(pandas) == 7
+  assert len(pandas) == 8
 
   for serial in pandas:
     p = PandaDFU(serial)
@@ -23,7 +23,7 @@
 
   pandas = Panda.list()
   print(pandas)
-  assert len(pandas) == 7
+  assert len(pandas) == 8
 
   for serial in pandas:
     pf = Panda(serial)