Add smart roadster interceptor

ReFil · Nov 17, 2023 · cfb6b67 · cfb6b67
1 parent 0b6eaae
commit cfb6b67
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diff --git a/board/board.h b/board/board.h
@@ -22,6 +22,9 @@
 #ifdef IBST
   #include "boards/ibst.h"
 #endif
+#ifdef KOMBI
+  #include "boards/kombi.h"
+#endif
 
 void detect_board_type(void) {
   #ifdef PANDA
@@ -56,13 +59,18 @@ void detect_board_type(void) {
     #ifdef IBST
       hw_type = HW_TYPE_IBST;
       current_board = &board_ibst;
+    #else
+    #ifdef KOMBI
+      hw_type = HW_TYPE_KOMBI;
+      current_board = &board_kombi;
     #else
       hw_type = HW_TYPE_UNKNOWN;
       puts("Hardware type is UNKNOWN!\n");
     #endif
   #endif
   #endif
   #endif
+  #endif
 }
 
 

diff --git a/board/boards/kombi.h b/board/boards/kombi.h
@@ -0,0 +1,125 @@
+// /////////// //
+// KOMBI gateway //
+// /////////// //
+
+void kombi_enable_can_transceiver(uint8_t transceiver, bool enabled) {
+  switch (transceiver){
+    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;
+    default:
+      puts("Invalid CAN transceiver ("); puth(transceiver); puts("): enabling failed\n");
+      break;
+  }
+}
+
+void kombi_enable_can_transceivers(bool enabled) {
+  uint8_t t1 = enabled ? 1U : 2U;  // leave transceiver 1 enabled to detect CAN ignition
+  for(uint8_t i=t1; i<=3U; i++) {
+    kombi_enable_can_transceiver(i, enabled);
+  }
+}
+
+void kombi_set_led(uint8_t color, bool enabled) {
+  UNUSED(color);
+  UNUSED(enabled);
+}
+
+void kombi_set_usb_power_mode(uint8_t mode){
+  UNUSED(mode);
+}
+
+void kombi_set_gps_mode(uint8_t mode) {
+  UNUSED(mode);
+}
+
+void kombi_set_can_mode(uint8_t mode){
+  switch (mode) {
+    case CAN_MODE_NORMAL:
+      set_gpio_alternate(GPIOB, 8, GPIO_AF8_CAN1);
+      set_gpio_alternate(GPIOB, 9, GPIO_AF8_CAN1);
+      // B5,B6: normal CAN2 mode
+      set_gpio_alternate(GPIOB, 5, GPIO_AF9_CAN2);
+      set_gpio_alternate(GPIOB, 6, GPIO_AF9_CAN2);
+
+      // A8,A15: normal CAN3 mode
+      set_gpio_alternate(GPIOA, 8, GPIO_AF11_CAN3);
+      set_gpio_alternate(GPIOA, 15, GPIO_AF11_CAN3);
+      break;
+    default:
+      puts("Tried to set unsupported CAN mode: "); puth(mode); puts("\n");
+      break;
+  }
+}
+
+uint32_t kombi_read_current(void){
+  return 0U;
+}
+
+void kombi_usb_power_mode_tick(uint32_t uptime){
+  UNUSED(uptime);
+}
+
+void kombi_set_ir_power(uint8_t percentage){
+  UNUSED(percentage);
+}
+
+void kombi_set_fan_power(uint8_t percentage){
+  UNUSED(percentage);
+}
+
+bool kombi_check_ignition(void){
+  // ignition is on PA1
+  return 0U;
+}
+
+void kombi_set_phone_power(bool enabled){
+  UNUSED(enabled);
+}
+
+void kombi_set_clock_source_mode(uint8_t mode){
+  UNUSED(mode);
+}
+
+void kombi_set_siren(bool enabled){
+  UNUSED(enabled);
+}
+
+void kombi_init(void) {
+  common_init_gpio();
+
+  // Enable CAN transceivers
+  kombi_enable_can_transceivers(true);
+  // Set normal CAN mode
+  kombi_set_can_mode(CAN_MODE_NORMAL);
+}
+
+const harness_configuration kombi_harness_config = {
+  .has_harness = false
+};
+
+const board board_kombi = {
+  .board_type = "White",
+  .harness_config = &kombi_harness_config,
+  .init = kombi_init,
+  .enable_can_transceiver = kombi_enable_can_transceiver,
+  .enable_can_transceivers = kombi_enable_can_transceivers,
+  .set_led = kombi_set_led,
+  .set_usb_power_mode = kombi_set_usb_power_mode,
+  .set_gps_mode = kombi_set_gps_mode,
+  .set_can_mode = kombi_set_can_mode,
+  .usb_power_mode_tick = kombi_usb_power_mode_tick,
+  .check_ignition = kombi_check_ignition,
+  .read_current = kombi_read_current,
+  .set_fan_power = kombi_set_fan_power,
+  .set_ir_power = kombi_set_ir_power,
+  .set_phone_power = kombi_set_phone_power,
+  .set_clock_source_mode = kombi_set_clock_source_mode,
+  .set_siren = kombi_set_siren
+};
diff --git a/board/kombi/.gitignore b/board/kombi/.gitignore
@@ -0,0 +1 @@
+obj/*
diff --git a/board/kombi/Makefile b/board/kombi/Makefile
@@ -0,0 +1,81 @@
+PROJ_NAME = panda
+CFLAGS = -g -Wall -Wextra -Wstrict-prototypes -Werror
+
+CFLAGS += -mlittle-endian -mthumb -mcpu=cortex-m4
+CFLAGS += -mhard-float -DSTM32F4 -DSTM32F413xx -mfpu=fpv4-sp-d16 -fsingle-precision-constant -DIBST
+STARTUP_FILE = startup_stm32f413xx
+
+CFLAGS += -I ../inc -I ../ -I ../../ -nostdlib -fno-builtin -std=gnu11 -Os
+
+CFLAGS += -T../stm32_flash.ld
+
+DFU_UTIL = "dfu-util"
+
+#COMPILER_PATH = /home/batman/Downloads/gcc-arm-none-eabi-9-2020-q2-update/bin/
+CC = $(COMPILER_PATH)arm-none-eabi-gcc
+OBJCOPY = $(COMPILER_PATH)arm-none-eabi-objcopy
+OBJDUMP = $(COMPILER_PATH)arm-none-eabi-objdump
+
+CERT = ../../certs/debug
+CFLAGS += "-DALLOW_DEBUG"
+
+
+
+DEPDIR = ../generated_dependencies
+$(shell mkdir -p -m 777 $(DEPDIR) >/dev/null)
+DEPFLAGS = -MT $@ -MMD -MP -MF $(DEPDIR)/$*.Td
+POSTCOMPILE = @mv -f $(DEPDIR)/$*.Td $(DEPDIR)/$*.d && touch $@
+
+# this no longer pushes the bootstub
+canflash: obj/$(PROJ_NAME).bin
+	../../tests/ctrls/enter_canloader.py $<
+
+usbflash: obj/$(PROJ_NAME).bin
+	../../tests/ibst/enter_canloader.py; sleep 0.5
+	PYTHONPATH=../../ python -c "from python import Panda; p = [x for x in [Panda(x) for x in Panda.list()] if x.bootstub]; assert(len(p)==1); p[0].flash('obj/$(PROJ_NAME).bin', reconnect=False)"
+
+recover: obj/bootstub.bin obj/$(PROJ_NAME).bin
+	../tools/enter_download_mode.py $<
+	sleep 1.0
+	$(DFU_UTIL) -d 0483:df11 -a 0 -s 0x08004000 -D obj/$(PROJ_NAME).bin
+	$(DFU_UTIL) -d 0483:df11 -a 0 -s 0x08000000:leave -D obj/bootstub.bin
+
+recover_can: obj/bootstub.bin obj/$(PROJ_NAME).bin
+	../../tests/ibst/enter_canloader.py --recover; sleep 0.5
+	$(DFU_UTIL) -d 0483:df11 -a 0 -s 0x08004000 -D obj/$(PROJ_NAME).bin
+	$(DFU_UTIL) -d 0483:df11 -a 0 -s 0x08000000:leave -D obj/bootstub.bin
+
+include ../../common/version.mk
+
+obj/cert.h: ../../crypto/getcertheader.py
+	../../crypto/getcertheader.py ../../certs/debug.pub ../../certs/release.pub > $@
+
+obj/main.o: main.c ../*.h
+	mkdir -p obj
+	$(CC) $(CFLAGS) -o $@ -c $<
+
+obj/bootstub.o: ../bootstub.c ../*.h obj/gitversion.h obj/cert.h
+	mkdir -p obj
+	mkdir -p ../obj
+	cp obj/gitversion.h ../obj/gitversion.h
+	cp obj/cert.h  ../obj/cert.h
+	$(CC) $(CFLAGS) -o $@ -c $<
+
+obj/$(STARTUP_FILE).o: ../$(STARTUP_FILE).s
+	$(CC) $(CFLAGS) -o $@ -c $<
+
+obj/%.o: ../../crypto/%.c
+	$(CC) $(CFLAGS) -o $@ -c $<
+
+obj/$(PROJ_NAME).bin: obj/$(STARTUP_FILE).o obj/main.o
+  # hack
+	$(CC) -Wl,--section-start,.isr_vector=0x8004000 $(CFLAGS) -o obj/$(PROJ_NAME).elf $^
+	$(OBJCOPY) -v -O binary obj/$(PROJ_NAME).elf obj/code.bin
+	SETLEN=1 ../../crypto/sign.py obj/code.bin $@ $(CERT)
+
+obj/bootstub.bin: obj/$(STARTUP_FILE).o obj/bootstub.o obj/sha.o obj/rsa.o
+	$(CC) $(CFLAGS) -o obj/bootstub.$(PROJ_NAME).elf $^
+	$(OBJCOPY) -v -O binary obj/bootstub.$(PROJ_NAME).elf $@
+
+clean:
+	rm -f obj/*