Merge remote-tracking branch 'origin/master' into master3

dragonpilot-community · Jul 15, 2024 · 4e94257 · 4e94257
2 parents aa18bc8 + b4e3d5c
commit 4e94257
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Showing 4 changed files with 28 additions and 26 deletions.
diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml
@@ -12,7 +12,7 @@ repos:
   rev: v1.10.0
   hooks:
     - id: mypy
-      additional_dependencies: ['git+https://github.com/numpy/numpy-stubs', 'types-requests', 'types-atomicwrites',
+      additional_dependencies: ['numpy', 'types-requests', 'types-atomicwrites',
                                 'types-pycurl']
 - repo: https://github.com/astral-sh/ruff-pre-commit
   rev: v0.4.7

diff --git a/board/SConscript b/board/SConscript
@@ -15,4 +15,7 @@ for project_name, project in build_projects.items():
   if ("ENABLE_SPI" in os.environ or "h7" in project_name):
     flags.append('-DENABLE_SPI')
 
+  if "H723" in os.environ:
+    flags.append('-DSTM32H723')
+
   build_project(project_name, project, flags)
diff --git a/board/stm32h7/board.h b/board/stm32h7/board.h
@@ -18,33 +18,36 @@
 #include "boards/cuatro.h"
 
 
-void detect_board_type(void) {
-  // On STM32H7 pandas, we use two different sets of pins.
-  const uint8_t id1 = detect_with_pull(GPIOF, 7, PULL_UP) |
-                     (detect_with_pull(GPIOF, 8, PULL_UP) << 1U) |
-                     (detect_with_pull(GPIOF, 9, PULL_UP) << 2U) |
-                     (detect_with_pull(GPIOF, 10, PULL_UP) << 3U);
+uint8_t get_board_id(void) {
+  return detect_with_pull(GPIOF, 7, PULL_UP) |
+         (detect_with_pull(GPIOF, 8, PULL_UP) << 1U) |
+         (detect_with_pull(GPIOF, 9, PULL_UP) << 2U) |
+         (detect_with_pull(GPIOF, 10, PULL_UP) << 3U);
+}
 
-  const uint8_t id2 = detect_with_pull(GPIOD, 4, PULL_UP) |
-                     (detect_with_pull(GPIOD, 5, PULL_UP) << 1U) |
-                     (detect_with_pull(GPIOD, 6, PULL_UP) << 2U) |
-                     (detect_with_pull(GPIOD, 7, PULL_UP) << 3U);
+void detect_board_type(void) {
+  const uint8_t board_id = get_board_id();
 
-  if (id2 == 3U) {
-    hw_type = HW_TYPE_CUATRO;
-    current_board = &board_cuatro;
-  } else if (id1 == 0U) {
+  if (board_id == 0U) {
     hw_type = HW_TYPE_RED_PANDA;
     current_board = &board_red;
-  } else if (id1 == 1U) {
+  } else if (board_id == 1U) {
     // deprecated
     //hw_type = HW_TYPE_RED_PANDA_V2;
-    hw_type = HW_TYPE_UNKNOWN;
-  } else if (id1 == 2U) {
+  } else if (board_id == 2U) {
     hw_type = HW_TYPE_TRES;
     current_board = &board_tres;
+  } else if (board_id == 3U) {
+    hw_type = HW_TYPE_CUATRO;
+    current_board = &board_tres;
   } else {
     hw_type = HW_TYPE_UNKNOWN;
     print("Hardware type is UNKNOWN!\n");
   }
+
+  // TODO: detect this live
+#ifdef STM32H723
+  hw_type = HW_TYPE_CUATRO;
+  current_board = &board_cuatro;
+#endif
 }
diff --git a/board/stm32h7/clock.h b/board/stm32h7/clock.h
@@ -18,16 +18,12 @@ PCLK1: 60MHz (for USART2,3,4,5,7,8)
 */
 
 void clock_init(void) {
-  // Set power mode to direct SMPS power supply (depends on the board layout)
-#ifndef PANDA_JUNGLE
-  if ((PWR->CR3 & PWR_CR3_SMPSEXTRDY) != 0U) {
+  // Set power mode to direct SMPS power supply(depends on the board layout)
+#ifndef STM32H723
+  register_set(&(PWR->CR3), PWR_CR3_SMPSEN, 0xFU); // powered only by SMPS
 #else
-  if (true) {
+  register_set(&(PWR->CR3), PWR_CR3_LDOEN, 0xFU);
 #endif
-    register_set(&(PWR->CR3), PWR_CR3_SMPSEN, 0xFU); // powered only by SMPS
-  } else {
-    register_set(&(PWR->CR3), PWR_CR3_LDOEN, 0xFU);
-  }
   // Set VOS level (VOS3 to 170Mhz, VOS2 to 300Mhz, VOS1 to 400Mhz, VOS0 to 550Mhz)
   register_set(&(PWR->D3CR), PWR_D3CR_VOS_1 | PWR_D3CR_VOS_0, 0xC000U); //VOS1, needed for 80Mhz CAN FD
   while ((PWR->CSR1 & PWR_CSR1_ACTVOSRDY) == 0U);