openpilot v0.9.6 release

date: 2024-01-12T10:13:37
master commit: ba792d576a49a0899b88a753fa1c52956bedf9e6

panda/board/jungle/main.c

@@ -0,0 +1,216 @@
+// ********************* Includes *********************
+#include "board/config.h"
+
+#include "board/safety.h"
+#include "board/drivers/gmlan_alt.h"
+
+#include "board/drivers/pwm.h"
+#include "board/drivers/usb.h"
+
+#include "board/early_init.h"
+#include "board/provision.h"
+
+#include "board/health.h"
+#include "jungle_health.h"
+
+#include "board/drivers/can_common.h"
+
+#ifdef STM32H7
+  #include "board/drivers/fdcan.h"
+#else
+  #include "board/drivers/bxcan.h"
+#endif
+
+#include "board/obj/gitversion.h"
+
+#include "board/can_comms.h"
+#include "main_comms.h"
+
+
+// ********************* Serial debugging *********************
+
+void debug_ring_callback(uart_ring *ring) {
+  char rcv;
+  while (getc(ring, &rcv)) {
+    (void)injectc(ring, rcv);
+  }
+}
+
+// ***************************** main code *****************************
+
+// cppcheck-suppress unusedFunction ; used in headers not included in cppcheck
+void __initialize_hardware_early(void) {
+  early_initialization();
+}
+
+void __attribute__ ((noinline)) enable_fpu(void) {
+  // enable the FPU
+  SCB->CPACR |= ((3UL << (10U * 2U)) | (3UL << (11U * 2U)));
+}
+
+// called at 8Hz
+uint32_t loop_counter = 0U;
+uint16_t button_press_cnt = 0U;
+void tick_handler(void) {
+  if (TICK_TIMER->SR != 0) {
+    // tick drivers at 8Hz
+    usb_tick();
+
+    // decimated to 1Hz
+    if ((loop_counter % 8) == 0U) {
+      #ifdef DEBUG
+        print("** blink ");
+        print("rx:"); puth4(can_rx_q.r_ptr); print("-"); puth4(can_rx_q.w_ptr); print("  ");
+        print("tx1:"); puth4(can_tx1_q.r_ptr); print("-"); puth4(can_tx1_q.w_ptr); print("  ");
+        print("tx2:"); puth4(can_tx2_q.r_ptr); print("-"); puth4(can_tx2_q.w_ptr); print("  ");
+        print("tx3:"); puth4(can_tx3_q.r_ptr); print("-"); puth4(can_tx3_q.w_ptr); print("\n");
+      #endif
+
+      current_board->board_tick();
+
+      // check registers
+      check_registers();
+
+      // turn off the blue LED, turned on by CAN
+      current_board->set_led(LED_BLUE, false);
+
+      // Blink and OBD CAN
+#ifdef FINAL_PROVISIONING
+      current_board->set_can_mode(can_mode == CAN_MODE_NORMAL ? CAN_MODE_OBD_CAN2 : CAN_MODE_NORMAL);
+#endif
+
+      // on to the next one
+      uptime_cnt += 1U;
+    }
+
+    current_board->set_led(LED_GREEN, green_led_enabled);
+
+    // Check on button
+    bool current_button_status = current_board->get_button();
+
+    if (current_button_status && button_press_cnt == 10) {
+      current_board->set_panda_power(!panda_power);
+    }
+
+#ifdef FINAL_PROVISIONING
+    // Ignition blinking
+    uint8_t ignition_bitmask = 0U;
+    for (uint8_t i = 0U; i < 6U; i++) {
+      ignition_bitmask |= ((loop_counter % 12U) < ((uint32_t) i + 2U)) << i;
+    }
+    current_board->set_individual_ignition(ignition_bitmask);
+
+    // SBU voltage reporting
+    if (current_board->has_sbu_sense) {
+      for (uint8_t i = 0U; i < 6U; i++) {
+        CANPacket_t pkt = { 0 };
+        pkt.data_len_code = 8U;
+        pkt.addr = 0x100U + i;
+        *(uint16_t *) &pkt.data[0] = current_board->get_sbu_mV(i + 1U, SBU1);
+        *(uint16_t *) &pkt.data[2] = current_board->get_sbu_mV(i + 1U, SBU2);
+        pkt.data[4] = (ignition_bitmask >> i) & 1U;
+        can_set_checksum(&pkt);
+        can_send(&pkt, 0U, false);
+      }
+    }
+#else
+    // toggle ignition on button press
+    static bool prev_button_status = false;
+    if (!current_button_status && prev_button_status && button_press_cnt < 10){
+      current_board->set_ignition(!ignition);
+    }
+    prev_button_status = current_button_status;
+#endif
+
+    button_press_cnt = current_button_status ? button_press_cnt + 1 : 0;
+
+    loop_counter++;
+  }
+  TICK_TIMER->SR = 0;
+}
+
+
+int main(void) {
+  // Init interrupt table
+  init_interrupts(true);
+
+  // shouldn't have interrupts here, but just in case
+  disable_interrupts();
+
+  // init early devices
+  clock_init();
+  peripherals_init();
+  detect_board_type();
+  // red+green leds enabled until succesful USB init, as a debug indicator
+  current_board->set_led(LED_RED, true);
+  current_board->set_led(LED_GREEN, true);
+
+  // print hello
+  print("\n\n\n************************ MAIN START ************************\n");
+
+  // check for non-supported board types
+  if (hw_type == HW_TYPE_UNKNOWN) {
+    print("Unsupported board type\n");
+    while (1) { /* hang */ }
+  }
+
+  print("Config:\n");
+  print("  Board type: "); print(current_board->board_type); print("\n");
+
+  // init board
+  current_board->init();
+
+  // we have an FPU, let's use it!
+  enable_fpu();
+
+  microsecond_timer_init();
+
+  // 8Hz timer
+  REGISTER_INTERRUPT(TICK_TIMER_IRQ, tick_handler, 10U, FAULT_INTERRUPT_RATE_TICK)
+  tick_timer_init();
+
+#ifdef DEBUG
+  print("DEBUG ENABLED\n");
+#endif
+  // enable USB (right before interrupts or enum can fail!)
+  usb_init();
+
+  current_board->set_led(LED_RED, false);
+  current_board->set_led(LED_GREEN, false);
+
+  print("**** INTERRUPTS ON ****\n");
+  enable_interrupts();
+
+  can_silent = ALL_CAN_LIVE;
+  set_safety_hooks(SAFETY_ALLOUTPUT, 0U);
+
+  can_init_all();
+  current_board->set_harness_orientation(HARNESS_ORIENTATION_1);
+
+#ifdef FINAL_PROVISIONING
+  print("---- FINAL PROVISIONING BUILD ---- \n");
+  can_set_forwarding(0, 2);
+  can_set_forwarding(1, 2);
+#endif
+
+  // LED should keep on blinking all the time
+  uint64_t cnt = 0;
+  for (cnt=0;;cnt++) {
+    // useful for debugging, fade breaks = panda is overloaded
+    for (uint32_t fade = 0U; fade < MAX_LED_FADE; fade += 1U) {
+      current_board->set_led(LED_RED, true);
+      delay(fade >> 4);
+      current_board->set_led(LED_RED, false);
+      delay((MAX_LED_FADE - fade) >> 4);
+    }
+
+    for (uint32_t fade = MAX_LED_FADE; fade > 0U; fade -= 1U) {
+      current_board->set_led(LED_RED, true);
+      delay(fade >> 4);
+      current_board->set_led(LED_RED, false);
+      delay((MAX_LED_FADE - fade) >> 4);
+    }
+  }
+
+  return 0;
+}