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b2c720b Dos (#533) 01bf740 remove 0x1BE checksum test 0bd06c9 remove 0x1BE check (breaks some vehicles) c31b899 honda bosch longitudinal safety 66250c4 Disable docker layer caching (#534) 6b19fa4 include nissan safety in release build db31886 gate mazda safety behind debug flag e4558c0 Safety: message length check on RX and TX (#529) git-subtree-dir: panda git-subtree-split: b2c720b
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Vehicle Researcher
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May 17, 2020
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,224 @@ | ||
| // ///////////// // | ||
| // Dos + Harness // | ||
| // ///////////// // | ||
|
|
||
| void dos_enable_can_transciever(uint8_t transciever, bool enabled) { | ||
| switch (transciever){ | ||
| case 1U: | ||
| set_gpio_output(GPIOC, 1, !enabled); | ||
| break; | ||
| case 2U: | ||
| set_gpio_output(GPIOC, 13, !enabled); | ||
| break; | ||
| case 3U: | ||
| set_gpio_output(GPIOA, 0, !enabled); | ||
| break; | ||
| case 4U: | ||
| set_gpio_output(GPIOB, 10, !enabled); | ||
| break; | ||
| default: | ||
| puts("Invalid CAN transciever ("); puth(transciever); puts("): enabling failed\n"); | ||
| break; | ||
| } | ||
| } | ||
|
|
||
| void dos_enable_can_transcievers(bool enabled) { | ||
| for(uint8_t i=1U; i<=4U; i++){ | ||
| // Leave main CAN always on for CAN-based ignition detection | ||
| if((car_harness_status == HARNESS_STATUS_FLIPPED) ? (i == 3U) : (i == 1U)){ | ||
| uno_enable_can_transciever(i, true); | ||
| } else { | ||
| uno_enable_can_transciever(i, enabled); | ||
| } | ||
| } | ||
| } | ||
|
|
||
| void dos_set_led(uint8_t color, bool enabled) { | ||
| switch (color){ | ||
| case LED_RED: | ||
| set_gpio_output(GPIOC, 9, !enabled); | ||
| break; | ||
| case LED_GREEN: | ||
| set_gpio_output(GPIOC, 7, !enabled); | ||
| break; | ||
| case LED_BLUE: | ||
| set_gpio_output(GPIOC, 6, !enabled); | ||
| break; | ||
| default: | ||
| break; | ||
| } | ||
| } | ||
|
|
||
| void dos_set_gps_load_switch(bool enabled) { | ||
| UNUSED(enabled); | ||
| } | ||
|
|
||
| void dos_set_bootkick(bool enabled){ | ||
| UNUSED(enabled); | ||
| } | ||
|
|
||
| void dos_bootkick(void) {} | ||
|
|
||
| void dos_set_phone_power(bool enabled){ | ||
| UNUSED(enabled); | ||
| } | ||
|
|
||
| void dos_set_usb_power_mode(uint8_t mode) { | ||
| UNUSED(mode); | ||
| } | ||
|
|
||
| void dos_set_esp_gps_mode(uint8_t mode) { | ||
| UNUSED(mode); | ||
| } | ||
|
|
||
| void dos_set_can_mode(uint8_t mode){ | ||
| switch (mode) { | ||
| case CAN_MODE_NORMAL: | ||
| case CAN_MODE_OBD_CAN2: | ||
| if ((bool)(mode == CAN_MODE_NORMAL) != (bool)(car_harness_status == HARNESS_STATUS_FLIPPED)) { | ||
| // B12,B13: disable OBD mode | ||
| set_gpio_mode(GPIOB, 12, MODE_INPUT); | ||
| set_gpio_mode(GPIOB, 13, MODE_INPUT); | ||
|
|
||
| // B5,B6: normal CAN2 mode | ||
| set_gpio_alternate(GPIOB, 5, GPIO_AF9_CAN2); | ||
| set_gpio_alternate(GPIOB, 6, GPIO_AF9_CAN2); | ||
| } else { | ||
| // B5,B6: disable normal CAN2 mode | ||
| set_gpio_mode(GPIOB, 5, MODE_INPUT); | ||
| set_gpio_mode(GPIOB, 6, MODE_INPUT); | ||
|
|
||
| // B12,B13: OBD mode | ||
| set_gpio_alternate(GPIOB, 12, GPIO_AF9_CAN2); | ||
| set_gpio_alternate(GPIOB, 13, GPIO_AF9_CAN2); | ||
| } | ||
| break; | ||
| default: | ||
| puts("Tried to set unsupported CAN mode: "); puth(mode); puts("\n"); | ||
| break; | ||
| } | ||
| } | ||
|
|
||
| void dos_usb_power_mode_tick(uint32_t uptime){ | ||
| UNUSED(uptime); | ||
| if(bootkick_timer != 0U){ | ||
| bootkick_timer--; | ||
| } else { | ||
| dos_set_bootkick(false); | ||
| } | ||
| } | ||
|
|
||
| bool dos_check_ignition(void){ | ||
| // ignition is checked through harness | ||
| return harness_check_ignition(); | ||
| } | ||
|
|
||
| void dos_set_usb_switch(bool phone){ | ||
| set_gpio_output(GPIOB, 3, phone); | ||
| } | ||
|
|
||
| void dos_set_ir_power(uint8_t percentage){ | ||
| pwm_set(TIM4, 2, percentage); | ||
| } | ||
|
|
||
| void dos_set_fan_power(uint8_t percentage){ | ||
| // Enable fan power only if percentage is non-zero. | ||
| set_gpio_output(GPIOA, 1, (percentage != 0U)); | ||
| fan_set_power(percentage); | ||
| } | ||
|
|
||
| uint32_t dos_read_current(void){ | ||
| // No current sense on Dos | ||
| return 0U; | ||
| } | ||
|
|
||
| void dos_init(void) { | ||
| common_init_gpio(); | ||
|
|
||
| // A8,A15: normal CAN3 mode | ||
| set_gpio_alternate(GPIOA, 8, GPIO_AF11_CAN3); | ||
| set_gpio_alternate(GPIOA, 15, GPIO_AF11_CAN3); | ||
|
|
||
| // C0: OBD_SBU1 (orientation detection) | ||
| // C3: OBD_SBU2 (orientation detection) | ||
| set_gpio_mode(GPIOC, 0, MODE_ANALOG); | ||
| set_gpio_mode(GPIOC, 3, MODE_ANALOG); | ||
|
|
||
| // C10: OBD_SBU1_RELAY (harness relay driving output) | ||
| // C11: OBD_SBU2_RELAY (harness relay driving output) | ||
| set_gpio_mode(GPIOC, 10, MODE_OUTPUT); | ||
| set_gpio_mode(GPIOC, 11, MODE_OUTPUT); | ||
| set_gpio_output_type(GPIOC, 10, OUTPUT_TYPE_OPEN_DRAIN); | ||
| set_gpio_output_type(GPIOC, 11, OUTPUT_TYPE_OPEN_DRAIN); | ||
| set_gpio_output(GPIOC, 10, 1); | ||
| set_gpio_output(GPIOC, 11, 1); | ||
|
|
||
| // C8: FAN PWM aka TIM3_CH3 | ||
| set_gpio_alternate(GPIOC, 8, GPIO_AF2_TIM3); | ||
|
|
||
| // Initialize IR PWM and set to 0% | ||
| set_gpio_alternate(GPIOB, 7, GPIO_AF2_TIM4); | ||
| pwm_init(TIM4, 2); | ||
| dos_set_ir_power(0U); | ||
|
|
||
| // Initialize fan and set to 0% | ||
| fan_init(); | ||
| dos_set_fan_power(0U); | ||
|
|
||
| // Initialize harness | ||
| harness_init(); | ||
|
|
||
| // Initialize RTC | ||
| rtc_init(); | ||
|
|
||
| // Enable CAN transcievers | ||
| dos_enable_can_transcievers(true); | ||
|
|
||
| // Disable LEDs | ||
| dos_set_led(LED_RED, false); | ||
| dos_set_led(LED_GREEN, false); | ||
| dos_set_led(LED_BLUE, false); | ||
|
|
||
| // Set normal CAN mode | ||
| dos_set_can_mode(CAN_MODE_NORMAL); | ||
|
|
||
| // flip CAN0 and CAN2 if we are flipped | ||
| if (car_harness_status == HARNESS_STATUS_FLIPPED) { | ||
| can_flip_buses(0, 2); | ||
| } | ||
|
|
||
| // init multiplexer | ||
| can_set_obd(car_harness_status, false); | ||
| } | ||
|
|
||
| const harness_configuration dos_harness_config = { | ||
| .has_harness = true, | ||
| .GPIO_SBU1 = GPIOC, | ||
| .GPIO_SBU2 = GPIOC, | ||
| .GPIO_relay_SBU1 = GPIOC, | ||
| .GPIO_relay_SBU2 = GPIOC, | ||
| .pin_SBU1 = 0, | ||
| .pin_SBU2 = 3, | ||
| .pin_relay_SBU1 = 10, | ||
| .pin_relay_SBU2 = 11, | ||
| .adc_channel_SBU1 = 10, | ||
| .adc_channel_SBU2 = 13 | ||
| }; | ||
|
|
||
| const board board_dos = { | ||
| .board_type = "Dos", | ||
| .harness_config = &dos_harness_config, | ||
| .init = dos_init, | ||
| .enable_can_transciever = dos_enable_can_transciever, | ||
| .enable_can_transcievers = dos_enable_can_transcievers, | ||
| .set_led = dos_set_led, | ||
| .set_usb_power_mode = dos_set_usb_power_mode, | ||
| .set_esp_gps_mode = dos_set_esp_gps_mode, | ||
| .set_can_mode = dos_set_can_mode, | ||
| .usb_power_mode_tick = dos_usb_power_mode_tick, | ||
| .check_ignition = dos_check_ignition, | ||
| .read_current = dos_read_current, | ||
| .set_fan_power = dos_set_fan_power, | ||
| .set_ir_power = dos_set_ir_power, | ||
| .set_phone_power = dos_set_phone_power | ||
| }; |
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