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remove ifdef PANDA from main
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@geohot
geohot committed May 23, 2019
1 parent aec40ae commit 7517f2c
Showing 1 changed file with 82 additions and 111 deletions.
193 changes: 82 additions & 111 deletions board/main.c
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Original file line number Diff line number Diff line change
Expand Up @@ -83,7 +83,6 @@ int get_health_pkt(void *dat) {
// Avoid needing floating point math
health->voltage = (voltage * 8862) / 1000;

#ifdef PANDA
health->current = adc_get(ADCCHAN_CURRENT);
int safety_ignition = safety_ignition_hook();
if (safety_ignition < 0) {
Expand All @@ -93,10 +92,6 @@ int get_health_pkt(void *dat) {
//Current safety hooks want to determine ignition (ex: GM)
health->started = safety_ignition;
}
#else
health->current = 0;
health->started = (GPIOC->IDR & (1 << 13)) != 0;
#endif

health->controls_allowed = controls_allowed;
health->gas_interceptor_detected = gas_interceptor_detected;
Expand Down Expand Up @@ -142,13 +137,12 @@ void usb_cb_ep3_out(uint8_t *usbdata, int len, int hardwired) {
uint8_t bus_number = (to_push.RDTR >> 4) & CAN_BUS_NUM_MASK;
can_send(&to_push, bus_number);

#ifdef PANDA
// Enable relay on can message if allowed.
// Temporary until OP has support for relay
if (safety_relay_hook()) {
set_lline_output(1);
}
#endif
// TODO: wtf, why is this here?
// Enable relay on can message if allowed.
// Temporary until OP has support for relay
if (safety_relay_hook()) {
set_lline_output(1);
}
}
}

Expand Down Expand Up @@ -179,16 +173,14 @@ int usb_cb_control_msg(USB_Setup_TypeDef *setup, uint8_t *resp, int hardwired) {
break;
// **** 0xd0: fetch serial number
case 0xd0:
#ifdef PANDA
// addresses are OTP
if (setup->b.wValue.w == 1) {
memcpy(resp, (void *)0x1fff79c0, 0x10);
resp_len = 0x10;
} else {
get_provision_chunk(resp);
resp_len = PROVISION_CHUNK_LEN;
}
#endif
// addresses are OTP
if (setup->b.wValue.w == 1) {
memcpy(resp, (void *)0x1fff79c0, 0x10);
resp_len = 0x10;
} else {
get_provision_chunk(resp);
resp_len = PROVISION_CHUNK_LEN;
}
break;
// **** 0xd1: enter bootloader mode
case 0xd1:
Expand Down Expand Up @@ -247,19 +239,16 @@ int usb_cb_control_msg(USB_Setup_TypeDef *setup, uint8_t *resp, int hardwired) {
break;
// **** 0xdb: set GMLAN multiplexing mode
case 0xdb:
#ifdef PANDA
if (setup->b.wValue.w == 1) {
// GMLAN ON
if (setup->b.wIndex.w == 1) {
can_set_gmlan(1);
} else if (setup->b.wIndex.w == 2) {
// might be ignored on rev b panda
can_set_gmlan(2);
}
} else {
can_set_gmlan(-1);
if (setup->b.wValue.w == 1) {
// GMLAN ON
if (setup->b.wIndex.w == 1) {
can_set_gmlan(1);
} else if (setup->b.wIndex.w == 2) {
can_set_gmlan(2);
}
#endif
} else {
can_set_gmlan(-1);
}
break;
// **** 0xdc: set safety mode
case 0xdc:
Expand All @@ -280,9 +269,7 @@ int usb_cb_control_msg(USB_Setup_TypeDef *setup, uint8_t *resp, int hardwired) {
can_silent = ALL_CAN_LIVE;
can_autobaud_enabled[0] = false;
can_autobaud_enabled[1] = false;
#ifdef PANDA
can_autobaud_enabled[2] = false;
#endif
can_autobaud_enabled[2] = false;
break;
}
can_init_all();
Expand Down Expand Up @@ -427,11 +414,9 @@ int usb_cb_control_msg(USB_Setup_TypeDef *setup, uint8_t *resp, int hardwired) {
// **** 0xf3: set l-line relay
case 0xf3:
{
#ifdef PANDA
if (safety_relay_hook()) {
set_lline_output(setup->b.wValue.w == 1);
}
#endif
if (safety_relay_hook()) {
set_lline_output(setup->b.wValue.w == 1);
}
break;
}
default:
Expand All @@ -443,7 +428,6 @@ int usb_cb_control_msg(USB_Setup_TypeDef *setup, uint8_t *resp, int hardwired) {
return resp_len;
}

#ifdef PANDA
int spi_cb_rx(uint8_t *data, int len, uint8_t *data_out) {
// data[0] = endpoint
// data[2] = length
Expand Down Expand Up @@ -471,12 +455,6 @@ int spi_cb_rx(uint8_t *data, int len, uint8_t *data_out) {
return resp_len;
}

#else

int spi_cb_rx(uint8_t *data, int len, uint8_t *data_out) { return 0; };

#endif


// ***************************** main code *****************************

Expand All @@ -503,11 +481,15 @@ int main() {

// detect the revision and init the GPIOs
puts("config:\n");
<<<<<<< a11333413b5ac41cc84723647a6864258f4b5b80
#ifdef PANDA
puts((revision == PANDA_REV_C) ? " panda rev c\n" : " panda rev a or b\n");
#else
puts(" legacy\n");
#endif
=======
puts(revision == PANDA_REV_C ? " panda rev c\n" : " panda rev a or b\n");
>>>>>>> remove ifdef PANDA from main
puts(has_external_debug_serial ? " real serial\n" : " USB serial\n");
puts(is_giant_panda ? " GIANTpanda detected\n" : " not GIANTpanda\n");
puts(is_grey_panda ? " gray panda detected!\n" : " white panda\n");
Expand All @@ -518,10 +500,8 @@ int main() {

gpio_init();

#ifdef PANDA
// panda has an FPU, let's use it!
enable_fpu();
#endif

// enable main uart if it's connected
if (has_external_debug_serial) {
Expand All @@ -530,7 +510,6 @@ int main() {
uart_init(USART2, 115200);
}

#ifdef PANDA
if (is_grey_panda) {
uart_init(USART1, 9600);
} else {
Expand All @@ -540,12 +519,12 @@ int main() {
set_esp_mode(ESP_DISABLED);
#endif
}

// enable LIN
uart_init(UART5, 10400);
UART5->CR2 |= USART_CR2_LINEN;
uart_init(USART3, 10400);
USART3->CR2 |= USART_CR2_LINEN;
#endif

// init microsecond system timer
// increments 1000000 times per second
Expand All @@ -565,10 +544,8 @@ int main() {
can_init_all();

adc_init();

#ifdef PANDA
spi_init();
#endif

#ifdef DEBUG
puts("DEBUG ENABLED\n");
#endif
Expand All @@ -587,73 +564,69 @@ int main() {
// LED should keep on blinking all the time
uint64_t cnt = 0;

#ifdef PANDA
uint64_t marker = 0;
#define CURRENT_THRESHOLD 0xF00
#define CLICKS 8
#endif
uint64_t marker = 0;
#define CURRENT_THRESHOLD 0xF00
#define CLICKS 8

for (cnt=0;;cnt++) {
can_live = pending_can_live;

//puth(usart1_dma); puts(" "); puth(DMA2_Stream5->M0AR); puts(" "); puth(DMA2_Stream5->NDTR); puts("\n");

#ifdef PANDA
uint32_t current = adc_get(ADCCHAN_CURRENT);

switch (usb_power_mode) {
case USB_POWER_CLIENT:
if ((cnt-marker) >= CLICKS) {
if (!is_enumerated) {
puts("USBP: didn't enumerate, switching to CDP mode\n");
// switch to CDP
set_usb_power_mode(USB_POWER_CDP);
marker = cnt;
}
}
// keep resetting the timer if it's enumerated
if (is_enumerated) {
uint32_t current = adc_get(ADCCHAN_CURRENT);

switch (usb_power_mode) {
case USB_POWER_CLIENT:
if ((cnt-marker) >= CLICKS) {
if (!is_enumerated) {
puts("USBP: didn't enumerate, switching to CDP mode\n");
// switch to CDP
set_usb_power_mode(USB_POWER_CDP);
marker = cnt;
}
break;
case USB_POWER_CDP:
}
// keep resetting the timer if it's enumerated
if (is_enumerated) {
marker = cnt;
}
break;
case USB_POWER_CDP:
#ifndef EON
// been CLICKS clicks since we switched to CDP
if ((cnt-marker) >= CLICKS) {
// measure current draw, if positive and no enumeration, switch to DCP
if (!is_enumerated && (current < CURRENT_THRESHOLD)) {
puts("USBP: no enumeration with current draw, switching to DCP mode\n");
set_usb_power_mode(USB_POWER_DCP);
marker = cnt;
}
}
// keep resetting the timer if there's no current draw in CDP
if (current >= CURRENT_THRESHOLD) {
// been CLICKS clicks since we switched to CDP
if ((cnt-marker) >= CLICKS) {
// measure current draw, if positive and no enumeration, switch to DCP
if (!is_enumerated && (current < CURRENT_THRESHOLD)) {
puts("USBP: no enumeration with current draw, switching to DCP mode\n");
set_usb_power_mode(USB_POWER_DCP);
marker = cnt;
}
}
// keep resetting the timer if there's no current draw in CDP
if (current >= CURRENT_THRESHOLD) {
marker = cnt;
}
#endif
break;
case USB_POWER_DCP:
// been at least CLICKS clicks since we switched to DCP
if ((cnt-marker) >= CLICKS) {
// if no current draw, switch back to CDP
if (current >= CURRENT_THRESHOLD) {
puts("USBP: no current draw, switching back to CDP mode\n");
set_usb_power_mode(USB_POWER_CDP);
marker = cnt;
}
}
// keep resetting the timer if there's current draw in DCP
if (current < CURRENT_THRESHOLD) {
break;
case USB_POWER_DCP:
// been at least CLICKS clicks since we switched to DCP
if ((cnt-marker) >= CLICKS) {
// if no current draw, switch back to CDP
if (current >= CURRENT_THRESHOLD) {
puts("USBP: no current draw, switching back to CDP mode\n");
set_usb_power_mode(USB_POWER_CDP);
marker = cnt;
}
break;
}
}
// keep resetting the timer if there's current draw in DCP
if (current < CURRENT_THRESHOLD) {
marker = cnt;
}
break;
}

// ~0x9a = 500 ma
/*puth(current);
puts("\n");*/
#endif
// ~0x9a = 500 ma
/*puth(current);
puts("\n");*/

// reset this every 16th pass
if ((cnt&0xF) == 0) pending_can_live = 0;
Expand Down Expand Up @@ -683,9 +656,7 @@ int main() {
}

// turn off the blue LED, turned on by CAN
#ifdef PANDA
set_led(LED_BLUE, 0);
#endif
set_led(LED_BLUE, 0);
}

return 0;
Expand Down

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