Uno (commaai#274)

* Added uno * Added usb switch support * Added PWM and IR power functions * Implemented bootkick * Added uno as a new hw type * Bumped version * Added fan control and tach readout * WIP: RTC support * Working RTC * Fixed python * Misra compliance * Added USB control messages for fan/IR power * Added USB commands + tests for fan & IR control. Fixed bootstub and pedal compilation * Added IR and fan to power saving mode * Changed defaults * Fix safety considering uno * passing safety now * Minor UNO tweaks * Fixed version * More minor temporary tweaks * Removed usb load switch from uno * Added power control for shutting down the fan completely * Disable IR LEDs by default * Fixed linter issue * Linter fix #2
rafcabezas · Oct 25, 2019 · a12a148 · a12a148
1 parent 7d29dc5
commit a12a148
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Showing 25 changed files with 734 additions and 59 deletions.
diff --git a/board/board.h b/board/board.h
@@ -7,9 +7,12 @@
 // ///// Board definition and detection ///// //
 #include "drivers/harness.h"
 #ifdef PANDA
+  #include "drivers/fan.h"
+  #include "drivers/rtc.h"
   #include "boards/white.h"
   #include "boards/grey.h"
   #include "boards/black.h"
+  #include "boards/uno.h"
 #else
   #include "boards/pedal.h"
 #endif
@@ -23,6 +26,9 @@ void detect_board_type(void) {
     } else if(detect_with_pull(GPIOA, 13, PULL_DOWN)) { // Rev AB deprecated, so no pullup means black. In REV C, A13 is pulled up to 5V with a 10K
       hw_type = HW_TYPE_GREY_PANDA;
       current_board = &board_grey;
+    } else if(!detect_with_pull(GPIOB, 15, PULL_UP)) {
+      hw_type = HW_TYPE_UNO;
+      current_board = &board_uno;
     } else {
       hw_type = HW_TYPE_BLACK_PANDA;
       current_board = &board_black;
@@ -31,7 +37,7 @@ void detect_board_type(void) {
     #ifdef PEDAL
       hw_type = HW_TYPE_PEDAL;
       current_board = &board_pedal;
-    #else 
+    #else
       hw_type = HW_TYPE_UNKNOWN;
       puts("Hardware type is UNKNOWN!\n");
     #endif
@@ -60,6 +66,27 @@ void detect_configuration(void) {
 }
 
 // ///// Board functions ///// //
+// TODO: Make these config options in the board struct
 bool board_has_gps(void) {
-  return ((hw_type == HW_TYPE_GREY_PANDA) || (hw_type == HW_TYPE_BLACK_PANDA));
-}
+  return ((hw_type == HW_TYPE_GREY_PANDA) || (hw_type == HW_TYPE_BLACK_PANDA) || (hw_type == HW_TYPE_UNO));
+}
+
+bool board_has_gmlan(void) {
+  return ((hw_type == HW_TYPE_WHITE_PANDA) || (hw_type == HW_TYPE_GREY_PANDA));
+}
+
+bool board_has_obd(void) {
+  return ((hw_type == HW_TYPE_BLACK_PANDA) || (hw_type == HW_TYPE_UNO));
+}
+
+bool board_has_lin(void) {
+  return ((hw_type == HW_TYPE_WHITE_PANDA) || (hw_type == HW_TYPE_GREY_PANDA));
+}
+
+bool board_has_rtc(void) {
+  return (hw_type == HW_TYPE_UNO);
+}
+
+bool board_has_relay(void) {
+  return ((hw_type == HW_TYPE_BLACK_PANDA) || (hw_type == HW_TYPE_UNO));
+}
diff --git a/board/board_declarations.h b/board/board_declarations.h
@@ -8,6 +8,9 @@ typedef void (*board_set_esp_gps_mode)(uint8_t mode);
 typedef void (*board_set_can_mode)(uint8_t mode);
 typedef void (*board_usb_power_mode_tick)(uint64_t tcnt);
 typedef bool (*board_check_ignition)(void);
+typedef uint32_t (*board_read_current)(void);
+typedef void (*board_set_ir_power)(uint8_t percentage);
+typedef void (*board_set_fan_power)(uint8_t percentage);
 
 struct board {
   const char *board_type;
@@ -21,6 +24,9 @@ struct board {
   board_set_can_mode set_can_mode;
   board_usb_power_mode_tick usb_power_mode_tick;
   board_check_ignition check_ignition;
+  board_read_current read_current;
+  board_set_ir_power set_ir_power;
+  board_set_fan_power set_fan_power;
 };
 
 // ******************* Definitions ********************
@@ -30,6 +36,7 @@ struct board {
 #define HW_TYPE_GREY_PANDA 2U
 #define HW_TYPE_BLACK_PANDA 3U
 #define HW_TYPE_PEDAL 4U
+#define HW_TYPE_UNO 5U
 
 // LED colors
 #define LED_RED 0U

diff --git a/board/boards/black.h b/board/boards/black.h
@@ -133,6 +133,19 @@ bool black_check_ignition(void){
   return harness_check_ignition();
 }
 
+uint32_t black_read_current(void){
+  // No current sense on black panda
+  return 0U;
+}
+
+void black_set_ir_power(uint8_t percentage){
+  UNUSED(percentage);
+}
+
+void black_set_fan_power(uint8_t percentage){
+  UNUSED(percentage);
+}
+
 void black_init(void) {
   common_init_gpio();
 
@@ -154,9 +167,6 @@ void black_init(void) {
   set_gpio_output(GPIOC, 10, 1);
   set_gpio_output(GPIOC, 11, 1);
 
-  // C8: FAN aka TIM3_CH3
-  set_gpio_alternate(GPIOC, 8, GPIO_AF2_TIM3);
-
   // Turn on GPS load switch.
   black_set_gps_load_switch(true);
 
@@ -214,5 +224,8 @@ const board board_black = {
   .set_esp_gps_mode = black_set_esp_gps_mode,
   .set_can_mode = black_set_can_mode,
   .usb_power_mode_tick = black_usb_power_mode_tick,
-  .check_ignition = black_check_ignition
+  .check_ignition = black_check_ignition,
+  .read_current = black_read_current,
+  .set_fan_power = black_set_fan_power,
+  .set_ir_power = black_set_ir_power
 };
diff --git a/board/boards/common.h b/board/boards/common.h
@@ -58,16 +58,18 @@ void peripherals_init(void){
   #endif
   RCC->APB1ENR |= RCC_APB1ENR_DACEN;
   RCC->APB1ENR |= RCC_APB1ENR_TIM2EN;  // main counter
-  RCC->APB1ENR |= RCC_APB1ENR_TIM3EN;  // slow loop and pedal
-  RCC->APB1ENR |= RCC_APB1ENR_TIM4EN;  // gmlan_alt
+  RCC->APB1ENR |= RCC_APB1ENR_TIM3EN;  // pedal and fan PWM
+  RCC->APB1ENR |= RCC_APB1ENR_TIM4EN;  // gmlan_alt and IR PWM
   //RCC->APB1ENR |= RCC_APB1ENR_TIM5EN;
   //RCC->APB1ENR |= RCC_APB1ENR_TIM6EN;
+  RCC->APB1ENR |= RCC_APB1ENR_PWREN;   // for RTC config
   RCC->APB2ENR |= RCC_APB2ENR_USART1EN;
   RCC->AHB2ENR |= RCC_AHB2ENR_OTGFSEN;
   //RCC->APB2ENR |= RCC_APB2ENR_TIM1EN;
   RCC->APB2ENR |= RCC_APB2ENR_ADC1EN;
   RCC->APB2ENR |= RCC_APB2ENR_SPI1EN;
   RCC->APB2ENR |= RCC_APB2ENR_SYSCFGEN;
+  RCC->APB2ENR |= RCC_APB2ENR_TIM9EN;  // slow loop
 }
 
 // Detection with internal pullup

diff --git a/board/boards/grey.h b/board/boards/grey.h
@@ -14,5 +14,8 @@ const board board_grey = {
   .set_esp_gps_mode = white_set_esp_gps_mode,
   .set_can_mode = white_set_can_mode,
   .usb_power_mode_tick = white_usb_power_mode_tick,
-  .check_ignition = white_check_ignition
+  .check_ignition = white_check_ignition,
+  .read_current = white_read_current,
+  .set_fan_power = white_set_fan_power,
+  .set_ir_power = white_set_ir_power
 };
diff --git a/board/boards/pedal.h b/board/boards/pedal.h
@@ -60,6 +60,19 @@ bool pedal_check_ignition(void){
   return false;
 }
 
+uint32_t pedal_read_current(void){
+  // No current sense on pedal
+  return 0U;
+}
+
+void pedal_set_ir_power(uint8_t percentage){
+  UNUSED(percentage);
+}
+
+void pedal_set_fan_power(uint8_t percentage){
+  UNUSED(percentage);
+}
+
 void pedal_init(void) {
   common_init_gpio();
 
@@ -93,4 +106,7 @@ const board board_pedal = {
   .set_can_mode = pedal_set_can_mode,
   .usb_power_mode_tick = pedal_usb_power_mode_tick,
   .check_ignition = pedal_check_ignition,
+  .read_current = pedal_read_current,
+  .set_fan_power = pedal_set_fan_power,
+  .set_ir_power = pedal_set_ir_power
 };