jungle: add pin header control (#1581)

* init * style * clean + gpio output
commaai · Aug 15, 2023 · ab70a3c · ab70a3c
1 parent 10a2727
commit ab70a3c
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Showing 5 changed files with 40 additions and 4 deletions.
diff --git a/board/jungle/__init__.py b/board/jungle/__init__.py
@@ -151,3 +151,8 @@ def debug_read(self):
         break
       ret.append(lret)
     return b''.join(ret)
+
+  # ******************* header pins *******************
+
+  def set_header_pin(self, pin_num, enabled):
+    self._handle.controlWrite(Panda.REQUEST_OUT, 0xf7, int(pin_num), int(enabled), b'')
diff --git a/board/jungle/boards/board_declarations.h b/board/jungle/boards/board_declarations.h
@@ -9,6 +9,7 @@ typedef void (*board_set_individual_ignition)(uint8_t bitmask);
 typedef void (*board_set_harness_orientation)(uint8_t orientation);
 typedef void (*board_set_can_mode)(uint8_t mode);
 typedef void (*board_enable_can_transciever)(uint8_t transciever, bool enabled);
+typedef void (*board_enable_header_pin)(uint8_t pin_num, bool enabled);
 typedef float (*board_get_channel_power)(uint8_t channel);
 typedef uint16_t (*board_get_sbu_mV)(uint8_t channel, uint8_t sbu);
 
@@ -27,6 +28,7 @@ struct board {
   board_set_harness_orientation set_harness_orientation;
   board_set_can_mode set_can_mode;
   board_enable_can_transciever enable_can_transciever;
+  board_enable_header_pin enable_header_pin;
   board_get_channel_power get_channel_power;
   board_get_sbu_mV get_sbu_mV;
 
@@ -67,4 +69,9 @@ uint8_t ignition = 0U;
 
 void unused_set_individual_ignition(uint8_t bitmask) {
   UNUSED(bitmask);
-}
+}
+
+void unused_board_enable_header_pin(uint8_t pin_num, bool enabled) {
+  UNUSED(pin_num);
+  UNUSED(enabled);
+}
diff --git a/board/jungle/boards/board_v1.h b/board/jungle/boards/board_v1.h
@@ -1,6 +1,6 @@
 
 void board_v1_set_led(uint8_t color, bool enabled) {
-  switch (color){
+  switch (color) {
     case LED_RED:
       set_gpio_output(GPIOC, 9, !enabled);
       break;
@@ -16,7 +16,7 @@ void board_v1_set_led(uint8_t color, bool enabled) {
 }
 
 void board_v1_enable_can_transciever(uint8_t transciever, bool enabled) {
-  switch (transciever){
+  switch (transciever) {
     case 1U:
       set_gpio_output(GPIOC, 1, !enabled);
       break;
@@ -169,6 +169,7 @@ const board board_v1 = {
   .set_harness_orientation = &board_v1_set_harness_orientation,
   .set_can_mode = &board_v1_set_can_mode,
   .enable_can_transciever = &board_v1_enable_can_transciever,
+  .enable_header_pin = &unused_board_enable_header_pin,
   .get_channel_power = &board_v1_get_channel_power,
   .get_sbu_mV = &board_v1_get_sbu_mV,
 };
diff --git a/board/jungle/boards/board_v2.h b/board/jungle/boards/board_v2.h
@@ -108,7 +108,7 @@ void board_v2_set_harness_orientation(uint8_t orientation) {
 }
 
 void board_v2_enable_can_transciever(uint8_t transciever, bool enabled) {
-  switch (transciever){
+  switch (transciever) {
     case 1U:
       set_gpio_output(GPIOG, 11, !enabled);
       break;
@@ -127,6 +127,14 @@ void board_v2_enable_can_transciever(uint8_t transciever, bool enabled) {
   }
 }
 
+void board_v2_enable_header_pin(uint8_t pin_num, bool enabled) {
+  if (pin_num < 8U) {
+    set_gpio_output(GPIOG, pin_num, enabled);
+  } else {
+    print("Invalid pin number ("); puth(pin_num); print("): enabling failed\n");
+  }
+}
+
 void board_v2_set_can_mode(uint8_t mode) {
   board_v2_enable_can_transciever(2U, false);
   board_v2_enable_can_transciever(4U, false);
@@ -265,6 +273,16 @@ void board_v2_init(void) {
   set_gpio_mode(GPIOF, 4, MODE_ANALOG);
   set_gpio_mode(GPIOC, 0, MODE_ANALOG);
   set_gpio_mode(GPIOC, 1, MODE_ANALOG);
+
+  // Header pins
+  set_gpio_mode(GPIOG, 0, MODE_OUTPUT);
+  set_gpio_mode(GPIOG, 1, MODE_OUTPUT);
+  set_gpio_mode(GPIOG, 2, MODE_OUTPUT);
+  set_gpio_mode(GPIOG, 3, MODE_OUTPUT);
+  set_gpio_mode(GPIOG, 4, MODE_OUTPUT);
+  set_gpio_mode(GPIOG, 5, MODE_OUTPUT);
+  set_gpio_mode(GPIOG, 6, MODE_OUTPUT);
+  set_gpio_mode(GPIOG, 7, MODE_OUTPUT);
 }
 
 void board_v2_tick(void) {}
@@ -284,6 +302,7 @@ const board board_v2 = {
   .set_harness_orientation = &board_v2_set_harness_orientation,
   .set_can_mode = &board_v2_set_can_mode,
   .enable_can_transciever = &board_v2_enable_can_transciever,
+  .enable_header_pin = &board_v2_enable_header_pin,
   .get_channel_power = &board_v2_get_channel_power,
   .get_sbu_mV = &board_v2_get_sbu_mV,
 };
diff --git a/board/jungle/main_comms.h b/board/jungle/main_comms.h
@@ -222,6 +222,10 @@ int comms_control_handler(ControlPacket_t *req, uint8_t *resp) {
       can_silent = (req->param1 > 0U) ? ALL_CAN_SILENT : ALL_CAN_LIVE;
       can_init_all();
       break;
+    // **** 0xf7: enable/disable header pin by number
+    case 0xf7:
+      current_board->enable_header_pin(req->param1, req->param2 > 0U);
+      break;
     // **** 0xf9: set CAN FD data bitrate
     case 0xf9:
       if ((req->param1 < PANDA_CAN_CNT) &&