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refactor panda to use source + header file structure #2353

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151 changes: 147 additions & 4 deletions SConscript
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Original file line number Diff line number Diff line change
Expand Up @@ -61,7 +61,103 @@ def to_c_uint32(x):
return "{" + 'U,'.join(map(str, nums)) + "U}"


def build_project(project_name, project, main, extra_flags):
common_driver_sources = [
"./board/stm32h7/interrupt_handlers.c",
"./board/stm32h7/peripherals.c",
"./board/stm32h7/clock.c",
"./board/stm32h7/llfdcan.c",
"./board/stm32h7/llusb.c",
"./board/stm32h7/llspi.c",
"./board/stm32h7/lluart.c",
"./board/stm32h7/lladc.c",
"./board/drivers/gpio.c",
"./board/drivers/registers.c",
"./board/drivers/interrupts.c",
"./board/drivers/timers.c",
"./board/drivers/pwm.c",
"./board/drivers/led.c",
"./board/drivers/can_common.c",
"./board/drivers/fdcan.c",
"./board/drivers/uart.c",
"./board/drivers/spi.c",
"./board/drivers/usb.c",
"./board/can_comms.c",
]

panda_extra_driver_sources = [
"./board/stm32h7/board.c",
"./board/stm32h7/llfan.c",
"./board/stm32h7/lli2c.c",
"./board/stm32h7/sound.c",
"./board/boards/unused_funcs.c",
"./board/boards/red.c",
"./board/boards/tres.c",
"./board/boards/cuatro.c",
"./board/drivers/simple_watchdog.c",
"./board/drivers/bootkick.c",
"./board/drivers/clock_source.c",
"./board/drivers/fan.c",
"./board/drivers/harness.c",
"./board/drivers/fake_siren.c",
"./board/sys/power_saving.c",
"./board/main_comms.c",
]

jungle_extra_driver_sources = [
"./board/jungle/stm32h7/board.c",
"./board/jungle/boards/board_v2.c",
"./board/jungle/main_comms.c",
]

body_extra_driver_sources = [
"./board/body/stm32h7/board.c",
"./board/body/boards/board_body.c",
]

bootstub_common_driver_sources = [
"./board/stm32h7/interrupt_handlers.c",
"./board/stm32h7/peripherals.c",
"./board/stm32h7/clock.c",
"./board/stm32h7/llflash.c",
"./board/stm32h7/llusb.c",
"./board/stm32h7/llspi.c",
"./board/stm32h7/lladc.c",
"./board/drivers/gpio.c",
"./board/drivers/registers.c",
"./board/drivers/interrupts.c",
"./board/drivers/timers.c",
"./board/drivers/pwm.c",
"./board/drivers/led.c",
"./board/drivers/spi.c",
"./board/drivers/usb.c",
]

panda_extra_bootstub_driver_sources = [
"./board/stm32h7/board.c",
"./board/stm32h7/llfan.c",
"./board/stm32h7/lli2c.c",
"./board/stm32h7/sound.c",
"./board/boards/unused_funcs.c",
"./board/boards/red.c",
"./board/boards/tres.c",
"./board/boards/cuatro.c",
"./board/drivers/harness.c",
"./board/drivers/fan.c",
"./board/drivers/fake_siren.c",
"./board/drivers/clock_source.c",
]

jungle_extra_bootstub_driver_sources = [
"./board/jungle/stm32h7/board.c",
"./board/jungle/boards/board_v2.c",
]

body_extra_bootstub_driver_sources = [
"./board/body/stm32h7/board.c",
"./board/body/boards/board_body.c",
]

def build_project(project_name, project, main, extra_flags, extra_driver_sources=None, extra_bootstub_driver_sources=None):
project_dir = Dir(f'./board/obj/{project_name}/')

flags = project["FLAGS"] + extra_flags + common_flags + [
Expand Down Expand Up @@ -100,21 +196,58 @@ def build_project(project_name, project, main, extra_flags):
)

startup = env.Object(project["STARTUP_FILE"])
libc_obj = env.Object("./board/libc.c")
crc_obj = env.Object("./board/crc.c")
provision_obj = env.Object("./board/provision.c")
critical_obj = env.Object("./board/sys/critical.c")
faults_obj = env.Object("./board/sys/faults.c")
main_globals_obj = env.Object("./board/main_globals.c")
gitversion_obj = env.Object("./board/obj/gitversion.c")

drv_env = env.Clone()
drv_env.Append(CFLAGS="-DDRIVER_BUILD")
early_init_obj = drv_env.Object("./board/early_init.c")

# Build bootstub
bs_env = env.Clone()
bs_env.Append(CFLAGS="-DBOOTSTUB", ASFLAGS="-DBOOTSTUB", LINKFLAGS="-DBOOTSTUB")
bs_env['OBJPREFIX'] = Dir(f'{project_dir}/bs_')
bs_drv_env = bs_env.Clone()
bs_drv_env.Append(CFLAGS="-DDRIVER_BUILD")
bs_all_driver_sources = bootstub_common_driver_sources + (extra_bootstub_driver_sources or [])
bs_driver_objs = [bs_drv_env.Object(src) for src in bs_all_driver_sources]
bs_elf = bs_env.Program(f"{project_dir}/bootstub.elf", [
startup,
"./board/crypto/rsa.c",
"./board/crypto/sha.c",
libc_obj,
crc_obj,
provision_obj,
critical_obj,
faults_obj,
gitversion_obj,
bs_env.Object("./board/bootstub_globals.c"),
bs_drv_env.Object("./board/early_init.c"),
bs_drv_env.Object("./board/flasher.c"),
] + bs_driver_objs + [
"./board/bootstub.c",
])
bs_env.Objcopy(f"./board/obj/bootstub.{project_name}.bin", bs_elf)

# Build + sign main (aka app)
driver_sources = common_driver_sources + (extra_driver_sources or [])
driver_objs = [drv_env.Object(src) for src in driver_sources]
main_elf = env.Program(f"{project_dir}/main.elf", [
startup,
libc_obj,
crc_obj,
provision_obj,
critical_obj,
faults_obj,
main_globals_obj,
gitversion_obj,
early_init_obj,
] + driver_objs + [
main
], LINKFLAGS=[f"-Wl,--section-start,.isr_vector={project['APP_START_ADDRESS']}"] + flags)
main_bin = env.Objcopy(f"{project_dir}/main.bin", main_elf)
Expand All @@ -141,6 +274,10 @@ base_project_h7 = {
with open("board/obj/gitversion.h", "w") as f:
version = get_version(BUILDER, BUILD_TYPE)
f.write(f'extern const uint8_t gitversion[{len(version)+1}];\n')

with open("board/obj/gitversion.c", "w") as f:
version = get_version(BUILDER, BUILD_TYPE)
f.write(f'#include <stdint.h>\n')
f.write(f'const uint8_t gitversion[{len(version)+1}] = "{version}";\n')

with open("board/obj/version", "w") as f:
Expand All @@ -161,16 +298,22 @@ common_flags += [f"-DHEALTH_PACKET_VERSION=0x{hh:08X}U", f"-DCAN_PACKET_VERSION_
f"-DJUNGLE_HEALTH_PACKET_VERSION=0x{jh:08X}U"]

# panda fw
build_project("panda_h7", base_project_h7, "./board/main.c", [])
build_project("panda_h7", base_project_h7, "./board/main.c", [],
extra_driver_sources=panda_extra_driver_sources,
extra_bootstub_driver_sources=panda_extra_bootstub_driver_sources)

# panda jungle fw
flags = [
"-DPANDA_JUNGLE",
]
build_project("panda_jungle_h7", base_project_h7, "./board/jungle/main.c", flags)
build_project("panda_jungle_h7", base_project_h7, "./board/jungle/main.c", flags,
extra_driver_sources=jungle_extra_driver_sources,
extra_bootstub_driver_sources=jungle_extra_bootstub_driver_sources)

# body fw
build_project("body_h7", base_project_h7, "./board/body/main.c", ["-DPANDA_BODY"])
build_project("body_h7", base_project_h7, "./board/body/main.c", ["-DPANDA_BODY"],
extra_driver_sources=body_extra_driver_sources,
extra_bootstub_driver_sources=body_extra_bootstub_driver_sources)

# test files
SConscript('tests/libpanda/SConscript')
139 changes: 139 additions & 0 deletions board/boards/cuatro.c
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -0,0 +1,139 @@
#include "board/config.h"
#include "board/boards/unused_funcs.h"
#include "board/boards/tres.h"
#include "board/boards/cuatro.h"
#include "board/drivers/fake_siren.h"

// ////////////////////////// //
// Cuatro (STM32H7) + Harness //
// ////////////////////////// //

static void cuatro_enable_can_transceiver(uint8_t transceiver, bool enabled) {
switch (transceiver) {
case 1U:
set_gpio_output(GPIOB, 7, !enabled);
break;
case 2U:
set_gpio_output(GPIOB, 10, !enabled);
break;
case 3U:
set_gpio_output(GPIOD, 8, !enabled);
break;
case 4U:
set_gpio_output(GPIOB, 11, !enabled);
break;
default:
break;
}
}

static uint32_t cuatro_read_voltage_mV(void) {
return adc_get_mV(&(const adc_signal_t) ADC_CHANNEL_DEFAULT(ADC1, 8)) * 11U;
}

static uint32_t cuatro_read_current_mA(void) {
return adc_get_mV(&(const adc_signal_t) ADC_CHANNEL_DEFAULT(ADC1, 3)) * 2U;
}

static void cuatro_set_fan_enabled(bool enabled) {
set_gpio_output(GPIOD, 3, !enabled);
}

static void cuatro_set_bootkick(BootState state) {
set_gpio_output(GPIOA, 0, state != BOOT_BOOTKICK);
// DC_IN rising edge wakes SOM from ship mode
set_gpio_output(GPIOC, 11, state != BOOT_BOOTKICK);
}

static void cuatro_set_amp_enabled(bool enabled) {
set_gpio_output(GPIOB, 0, enabled);
}

static void cuatro_init(void) {
common_init_gpio();

// open drain
set_gpio_output_type(GPIOD, 3, OUTPUT_TYPE_OPEN_DRAIN); // FAN_EN
set_gpio_output_type(GPIOC, 11, OUTPUT_TYPE_OPEN_DRAIN); // DC_IN_EN_N

// Power readout
set_gpio_mode(GPIOC, 5, MODE_ANALOG);
set_gpio_mode(GPIOA, 6, MODE_ANALOG);

// CAN transceiver enables
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);

// FDCAN3, different pins on this package than the rest of the reds
set_gpio_pullup(GPIOD, 12, PULL_NONE);
set_gpio_alternate(GPIOD, 12, GPIO_AF5_FDCAN3);
set_gpio_pullup(GPIOD, 13, PULL_NONE);
set_gpio_alternate(GPIOD, 13, GPIO_AF5_FDCAN3);

// 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
cuatro_set_bootkick(BOOT_BOOTKICK);

// SOM debugging UART
gpio_uart7_init();
uart_init(&uart_ring_som_debug, 115200);

// fan setup
set_gpio_alternate(GPIOC, 8, GPIO_AF2_TIM3);
register_set_bits(&(GPIOC->OTYPER), GPIO_OTYPER_OT8); // open drain

// Clock source
clock_source_init(true);

// Sound codec
cuatro_set_amp_enabled(false);
set_gpio_alternate(GPIOA, 2, GPIO_AF8_SAI4); // SAI4_SCK_B
set_gpio_alternate(GPIOC, 0, GPIO_AF8_SAI4); // SAI4_FS_B
set_gpio_alternate(GPIOD, 11, GPIO_AF10_SAI4); // SAI4_SD_A
set_gpio_alternate(GPIOE, 3, GPIO_AF8_SAI4); // SAI4_SD_B
set_gpio_alternate(GPIOE, 4, GPIO_AF3_DFSDM1); // DFSDM1_DATIN3
set_gpio_alternate(GPIOE, 9, GPIO_AF3_DFSDM1); // DFSDM1_CKOUT
set_gpio_alternate(GPIOE, 6, GPIO_AF10_SAI4); // SAI4_MCLK_B
sound_init();
}

static harness_configuration cuatro_harness_config = {
.GPIO_SBU1 = GPIOC,
.GPIO_SBU2 = GPIOA,
.GPIO_relay_SBU1 = GPIOA,
.GPIO_relay_SBU2 = GPIOA,
.pin_SBU1 = 4,
.pin_SBU2 = 1,
.pin_relay_SBU1 = 9,
.pin_relay_SBU2 = 3,
.adc_signal_SBU1 = ADC_CHANNEL_DEFAULT(ADC1, 4),
.adc_signal_SBU2 = ADC_CHANNEL_DEFAULT(ADC1, 17)
};

board board_cuatro = {
.harness_config = &cuatro_harness_config,
.has_spi = true,
.has_fan = true,
.avdd_mV = 1800U,
.fan_enable_cooldown_time = 3U,
.init = cuatro_init,
.init_bootloader = unused_init_bootloader,
.enable_can_transceiver = cuatro_enable_can_transceiver,
.led_GPIO = {GPIOC, GPIOC, GPIOC},
.led_pin = {6, 7, 9},
.led_pwm_channels = {1, 2, 4},
.set_can_mode = tres_set_can_mode,
.read_voltage_mV = cuatro_read_voltage_mV,
.read_current_mA = cuatro_read_current_mA,
.set_fan_enabled = cuatro_set_fan_enabled,
.set_ir_power = unused_set_ir_power,
.set_siren = fake_siren_set,
.set_bootkick = cuatro_set_bootkick,
.read_som_gpio = tres_read_som_gpio,
.set_amp_enabled = cuatro_set_amp_enabled
};
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