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openpilot v0.9.6 release

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date: 2024-01-12T10:13:37
master commit: ba792d576a49a0899b88a753fa1c52956bedf9e6
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FrogAi
2024-01-12 22:39:28 -07:00
commit 08e9fb1edc
1881 changed files with 653708 additions and 0 deletions
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55
panda/board/stm32fx/board.h Normal file
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// ///////////////////////////////////////////////////////////// //
// Hardware abstraction layer for all different supported boards //
// ///////////////////////////////////////////////////////////// //
#include "boards/board_declarations.h"
#include "boards/unused_funcs.h"
// ///// Board definition and detection ///// //
#include "stm32fx/lladc.h"
#include "drivers/harness.h"
#ifdef PANDA
#include "drivers/fan.h"
#include "stm32fx/llfan.h"
#include "stm32fx/llrtc.h"
#include "drivers/rtc.h"
#include "drivers/clock_source.h"
#include "boards/white.h"
#include "boards/grey.h"
#include "boards/black.h"
#include "boards/uno.h"
#include "boards/dos.h"
#else
#include "boards/pedal.h"
#endif
void detect_board_type(void) {
#ifdef PANDA
// SPI lines floating: white (TODO: is this reliable? Not really, we have to enable ESP/GPS to be able to detect this on the UART)
set_gpio_output(GPIOC, 14, 1);
set_gpio_output(GPIOC, 5, 1);
if(!detect_with_pull(GPIOB, 1, PULL_UP) && !detect_with_pull(GPIOB, 7, PULL_UP)){
hw_type = HW_TYPE_DOS;
current_board = &board_dos;
} else if((detect_with_pull(GPIOA, 4, PULL_DOWN)) || (detect_with_pull(GPIOA, 5, PULL_DOWN)) || (detect_with_pull(GPIOA, 6, PULL_DOWN)) || (detect_with_pull(GPIOA, 7, PULL_DOWN))){
hw_type = HW_TYPE_WHITE_PANDA;
current_board = &board_white;
} else if(detect_with_pull(GPIOA, 13, PULL_DOWN)) { // Rev AB deprecated, so no pullup means black. In REV C, A13 is pulled up to 5V with a 10K
hw_type = HW_TYPE_GREY_PANDA;
current_board = &board_grey;
} else if(!detect_with_pull(GPIOB, 15, PULL_UP)) {
hw_type = HW_TYPE_UNO;
current_board = &board_uno;
} else {
hw_type = HW_TYPE_BLACK_PANDA;
current_board = &board_black;
}
#else
#ifdef PEDAL
hw_type = HW_TYPE_PEDAL;
current_board = &board_pedal;
#else
hw_type = HW_TYPE_UNKNOWN;
print("Hardware type is UNKNOWN!\n");
#endif
#endif
}