Merge branch 'commaai:master' into master

dragonpilot-community · Feb 2, 2024 · a49803d · a49803d
2 parents ddb422a + bca1162
commit a49803d
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Showing 26 changed files with 149 additions and 72 deletions.
diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml
@@ -15,6 +15,6 @@ repos:
       additional_dependencies: ['git+https://github.com/numpy/numpy-stubs', 'types-requests', 'types-atomicwrites',
                                 'types-pycurl']
 - repo: https://github.com/astral-sh/ruff-pre-commit
-  rev: v0.1.13
+  rev: v0.1.15
   hooks:
     - id: ruff
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) and not project_name.startswith('pedal'):
     flags.append('-DENABLE_SPI')
 
+  if "H723" in os.environ:
+    flags.append('-DSTM32H723')
+
   build_project(project_name, project, flags)
diff --git a/board/boards/black.h b/board/boards/black.h
@@ -163,7 +163,6 @@ const harness_configuration black_harness_config = {
 };
 
 const board board_black = {
-  .board_type = "Black",
   .set_bootkick = unused_set_bootkick,
   .harness_config = &black_harness_config,
   .has_hw_gmlan = false,

diff --git a/board/boards/board_declarations.h b/board/boards/board_declarations.h
@@ -20,7 +20,6 @@ typedef void (*board_set_bootkick)(BootState state);
 typedef bool (*board_read_som_gpio)(void);
 
 struct board {
-  const char *board_type;
   const harness_configuration *harness_config;
   const bool has_hw_gmlan;
   const bool has_obd;
@@ -58,6 +57,7 @@ struct board {
 #define HW_TYPE_RED_PANDA 7U
 #define HW_TYPE_RED_PANDA_V2 8U
 #define HW_TYPE_TRES 9U
+#define HW_TYPE_CUATRO 10U
 
 // LED colors
 #define LED_RED 0U

diff --git a/board/boards/cuatro.h b/board/boards/cuatro.h
@@ -0,0 +1,86 @@
+void cuatro_set_led(uint8_t color, bool enabled) {
+  switch (color) {
+    case LED_RED:
+      set_gpio_output(GPIOD, 15, !enabled);
+      break;
+     case LED_GREEN:
+      set_gpio_output(GPIOD, 14, !enabled);
+      break;
+    case LED_BLUE:
+      set_gpio_output(GPIOE, 2, !enabled);
+      break;
+    default:
+      break;
+  }
+}
+
+void cuatro_enable_can_transceiver(uint8_t transceiver, bool enabled) {
+  if (transceiver == 1U) {
+    set_gpio_output(GPIOB, 7, !enabled);
+  } else if (transceiver == 3U) {
+    set_gpio_output(GPIOD, 8, !enabled);
+  } else {
+    red_enable_can_transceiver(transceiver, enabled);
+  }
+}
+
+void cuatro_init(void) {
+  red_chiplet_init();
+
+  // CAN FD 0 transceiver enable (rest are done in red init)
+  set_gpio_pullup(GPIOB, 7, PULL_NONE);
+  set_gpio_mode(GPIOB, 7, MODE_OUTPUT);
+  set_gpio_pullup(GPIOD, 8, PULL_NONE);
+  set_gpio_mode(GPIOD, 8, MODE_OUTPUT);
+
+  // C2: SOM GPIO used as input (fan control at boot)
+  set_gpio_mode(GPIOC, 2, MODE_INPUT);
+  set_gpio_pullup(GPIOC, 2, PULL_DOWN);
+
+  // SOM bootkick + reset lines
+  set_gpio_mode(GPIOC, 12, MODE_OUTPUT);
+  tres_set_bootkick(BOOT_BOOTKICK);
+
+  // SOM debugging UART
+  gpio_uart7_init();
+  uart_init(&uart_ring_som_debug, 115200);
+
+  // SPI init
+  gpio_spi_init();
+
+  // fan setup
+  set_gpio_alternate(GPIOC, 8, GPIO_AF2_TIM3);
+
+  // Initialize IR PWM and set to 0%
+  set_gpio_alternate(GPIOC, 9, GPIO_AF2_TIM3);
+  pwm_init(TIM3, 4);
+  tres_set_ir_power(0U);
+
+  // Clock source
+  clock_source_init();
+}
+
+const board board_cuatro = {
+  .harness_config = &red_chiplet_harness_config,
+  .has_hw_gmlan = false,
+  .has_obd = true,
+  .has_spi = true,
+  .has_canfd = true,
+  .has_rtc_battery = true,
+  .fan_max_rpm = 6600U,
+  .avdd_mV = 1800U,
+  .fan_stall_recovery = false,
+  .fan_enable_cooldown_time = 3U,
+  .init = cuatro_init,
+  .init_bootloader = unused_init_bootloader,
+  .enable_can_transceiver = cuatro_enable_can_transceiver,
+  .set_led = cuatro_set_led,
+  .set_can_mode = red_chiplet_set_can_mode,
+  .check_ignition = red_check_ignition,
+  .read_current = unused_read_current,
+  .set_fan_enabled = tres_set_fan_enabled,
+  .set_ir_power = tres_set_ir_power,
+  .set_siren = unused_set_siren,
+  .set_bootkick = tres_set_bootkick,
+  .read_som_gpio = tres_read_som_gpio
+};
diff --git a/board/boards/dos.h b/board/boards/dos.h
@@ -192,7 +192,6 @@ const harness_configuration dos_harness_config = {
 };
 
 const board board_dos = {
-  .board_type = "Dos",
   .harness_config = &dos_harness_config,
   .has_hw_gmlan = false,
   .has_obd = true,

diff --git a/board/boards/grey.h b/board/boards/grey.h
@@ -5,7 +5,6 @@
 // Most hardware functionality is similar to white panda
 
 const board board_grey = {
-  .board_type = "Grey",
   .set_bootkick = unused_set_bootkick,
   .harness_config = &white_harness_config,
   .has_hw_gmlan = true,

diff --git a/board/boards/pedal.h b/board/boards/pedal.h
@@ -67,7 +67,6 @@ const harness_configuration pedal_harness_config = {
 };
 
 const board board_pedal = {
-  .board_type = "Pedal",
   .set_bootkick = unused_set_bootkick,
   .harness_config = &pedal_harness_config,
   .has_hw_gmlan = false,

diff --git a/board/boards/red.h b/board/boards/red.h
@@ -171,7 +171,6 @@ const harness_configuration red_harness_config = {
 };
 
 const board board_red = {
-  .board_type = "Red",
   .set_bootkick = unused_set_bootkick,
   .harness_config = &red_harness_config,
   .has_hw_gmlan = false,

diff --git a/board/boards/red_v2.h b/board/boards/red_v2.h
diff --git a/board/boards/tres.h b/board/boards/tres.h
@@ -71,7 +71,6 @@ void tres_init(void) {
 }
 
 const board board_tres = {
-  .board_type = "Tres",
   .harness_config = &red_chiplet_harness_config,
   .has_hw_gmlan = false,
   .has_obd = true,
@@ -84,7 +83,6 @@ const board board_tres = {
   .fan_enable_cooldown_time = 3U,
   .init = tres_init,
   .init_bootloader = unused_init_bootloader,
-  .enable_can_transceiver = red_chiplet_enable_can_transceiver,
   .enable_can_transceivers = red_chiplet_enable_can_transceivers,
   .set_led = red_set_led,
   .set_can_mode = red_chiplet_set_can_mode,

diff --git a/board/boards/uno.h b/board/boards/uno.h
@@ -199,7 +199,6 @@ const harness_configuration uno_harness_config = {
 };
 
 const board board_uno = {
-  .board_type = "Uno",
   .harness_config = &uno_harness_config,
   .has_hw_gmlan = false,
   .has_obd = true,

diff --git a/board/boards/white.h b/board/boards/white.h
@@ -222,7 +222,6 @@ const harness_configuration white_harness_config = {
 };
 
 const board board_white = {
-  .board_type = "White",
   .set_bootkick = unused_set_bootkick,
   .harness_config = &white_harness_config,
   .has_hw_gmlan = true,

diff --git a/board/jungle/boards/board_declarations.h b/board/jungle/boards/board_declarations.h
@@ -15,7 +15,6 @@ typedef float (*board_get_channel_power)(uint8_t channel);
 typedef uint16_t (*board_get_sbu_mV)(uint8_t channel, uint8_t sbu);
 
 struct board {
-  const char *board_type;
   const bool has_canfd;
   const bool has_sbu_sense;
   const uint16_t avdd_mV;

diff --git a/board/jungle/boards/board_v1.h b/board/jungle/boards/board_v1.h
@@ -155,7 +155,6 @@ void board_v1_init(void) {
 void board_v1_tick(void) {}
 
 const board board_v1 = {
-  .board_type = "V1",
   .has_canfd = false,
   .has_sbu_sense = false,
   .avdd_mV = 3300U,

diff --git a/board/jungle/boards/board_v2.h b/board/jungle/boards/board_v2.h
@@ -305,7 +305,6 @@ void board_v2_init(void) {
 void board_v2_tick(void) {}
 
 const board board_v2 = {
-  .board_type = "V2",
   .has_canfd = true,
   .has_sbu_sense = true,
   .avdd_mV = 3300U,

diff --git a/board/jungle/main.c b/board/jungle/main.c
@@ -155,7 +155,7 @@ int main(void) {
   }
 
   print("Config:\n");
-  print("  Board type: "); print(current_board->board_type); print("\n");
+  print("  Board type: 0x"); puth(hw_type); print("\n");
 
   // init board
   current_board->init();

diff --git a/board/main.c b/board/main.c
@@ -338,7 +338,7 @@ int main(void) {
   }
 
   print("Config:\n");
-  print("  Board type: "); print(current_board->board_type); print("\n");
+  print("  Board type: 0x"); puth(hw_type); print("\n");
 
   // init board
   current_board->init();

diff --git a/board/safety/safety_elm327.h b/board/safety/safety_elm327.h
@@ -1,3 +1,5 @@
+const int GM_CAMERA_DIAG_ADDR = 0x24B;
+
 static bool elm327_tx_hook(const CANPacket_t *to_send) {
   bool tx = true;
   int addr = GET_ADDR(to_send);
@@ -11,9 +13,18 @@ static bool elm327_tx_hook(const CANPacket_t *to_send) {
   // Check valid 29 bit send addresses for ISO 15765-4
   // Check valid 11 bit send addresses for ISO 15765-4
   if ((addr != 0x18DB33F1) && ((addr & 0x1FFF00FF) != 0x18DA00F1) &&
-      ((addr & 0x1FFFFF00) != 0x600) && ((addr & 0x1FFFFF00) != 0x700)) {
+      ((addr & 0x1FFFFF00) != 0x600) && ((addr & 0x1FFFFF00) != 0x700) &&
+      (addr != GM_CAMERA_DIAG_ADDR)) {
     tx = false;
   }
+
+  // GM camera uses non-standard diagnostic address, this has no control message address collisions
+  if ((addr == GM_CAMERA_DIAG_ADDR) && (len == 8)) {
+    // Only allow known frame types for ISO 15765-2
+    if ((GET_BYTE(to_send, 0) & 0xF0U) > 0x30U) {
+      tx = false;
+    }
+  }
   return tx;
 }
 

diff --git a/board/stm32h7/board.h b/board/stm32h7/board.h
@@ -16,8 +16,8 @@
 #include "drivers/clock_source.h"
 #include "boards/red.h"
 #include "boards/red_chiplet.h"
-#include "boards/red_v2.h"
 #include "boards/tres.h"
+#include "boards/cuatro.h"
 
 
 uint8_t get_board_id(void) {
@@ -34,13 +34,22 @@ void detect_board_type(void) {
     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;
+    // deprecated
+    //hw_type = HW_TYPE_RED_PANDA_V2;
   } 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
@@ -18,12 +18,14 @@ 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)
+  // 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
-  //Set VOS level (VOS3 to 170Mhz, VOS2 to 300Mhz, VOS1 to 400Mhz, VOS0 to 550Mhz)
+  // 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) == 0);
   while ((PWR->CSR1 & PWR_CSR1_ACTVOS) != (PWR->D3CR & PWR_D3CR_VOS)); // check that VOS level was actually set
+#endif
   // Configure Flash ACR register LATENCY and WRHIGHFREQ (VOS0 range!)
   register_set(&(FLASH->ACR), FLASH_ACR_LATENCY_2WS | 0x20U, 0x3FU); // VOS2, AXI 100MHz-150MHz
   // enable external oscillator HSE