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Add guards around platform-specific code #2189

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Merged
robbederks merged 11 commits into from
Apr 17, 2025
Merged

Add guards around platform-specific code #2189

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6f0903e
guard platform specific code
aubsw Apr 14, 2025
08d2ffa
more simple
aubsw Apr 14, 2025
8541abe
less dumb guard
aubsw Apr 15, 2025
3a6c0fa
stragglers
aubsw Apr 15, 2025
35b535c
blankspace
aubsw Apr 15, 2025
a9268ac
blankspace2
aubsw Apr 15, 2025
be33d5e
crc.h
aubsw Apr 15, 2025
dd6be44
keep condition
aubsw Apr 15, 2025
2e95841
good call
aubsw Apr 16, 2025
38ae6fb
consistency
robbederks Apr 16, 2025
d195637
another one
robbederks Apr 16, 2025
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2 changes: 2 additions & 0 deletions board/crc.h
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Original file line number Diff line number Diff line change
@@ -1,5 +1,6 @@
#pragma once

#if defined(ENABLE_SPI) || defined(BOOTSTUB)
uint8_t crc_checksum(const uint8_t *dat, int len, const uint8_t poly) {
uint8_t crc = 0xFFU;
int i;
Expand All @@ -17,3 +18,4 @@ uint8_t crc_checksum(const uint8_t *dat, int len, const uint8_t poly) {
}
return crc;
}
#endif
12 changes: 7 additions & 5 deletions board/drivers/gpio.h
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Original file line number Diff line number Diff line change
Expand Up @@ -10,11 +10,6 @@
#define OUTPUT_TYPE_PUSH_PULL 0U
#define OUTPUT_TYPE_OPEN_DRAIN 1U

typedef struct {
GPIO_TypeDef * const bank;
uint8_t pin;
} gpio_t;

void set_gpio_mode(GPIO_TypeDef *GPIO, unsigned int pin, unsigned int mode) {
ENTER_CRITICAL();
uint32_t tmp = GPIO->MODER;
Expand Down Expand Up @@ -68,6 +63,12 @@ int get_gpio_input(const GPIO_TypeDef *GPIO, unsigned int pin) {
return (GPIO->IDR & (1UL << pin)) == (1UL << pin);
}

#ifdef PANDA_JUNGLE
typedef struct {
GPIO_TypeDef * const bank;
uint8_t pin;
} gpio_t;

void gpio_set_all_output(gpio_t *pins, uint8_t num_pins, bool enabled) {
for (uint8_t i = 0; i < num_pins; i++) {
set_gpio_output(pins[i].bank, pins[i].pin, enabled);
Expand All @@ -79,6 +80,7 @@ void gpio_set_bitmask(gpio_t *pins, uint8_t num_pins, uint32_t bitmask) {
set_gpio_output(pins[i].bank, pins[i].pin, (bitmask >> i) & 1U);
}
}
#endif

// Detection with internal pullup
#define PULL_EFFECTIVE_DELAY 4096
Expand Down
3 changes: 2 additions & 1 deletion board/flasher.h
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Original file line number Diff line number Diff line change
Expand Up @@ -137,11 +137,12 @@ void soft_flasher_start(void) {
// enable USB
usb_init();

// enable SPI
#ifdef ENABLE_SPI
if (current_board->has_spi) {
gpio_spi_init();
spi_init();
}
#endif

// green LED on for flashing
led_set(LED_GREEN, 1);
Expand Down
6 changes: 6 additions & 0 deletions board/stm32f4/peripherals.h
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Original file line number Diff line number Diff line change
Expand Up @@ -9,6 +9,7 @@ static void gpio_usb_init(void) {
GPIOA->OSPEEDR = GPIO_OSPEEDER_OSPEEDR11 | GPIO_OSPEEDER_OSPEEDR12;
}

#ifdef ENABLE_SPI
void gpio_spi_init(void) {
// A4-A7: SPI
set_gpio_alternate(GPIOA, 4, GPIO_AF5_SPI1);
Expand All @@ -17,12 +18,15 @@ void gpio_spi_init(void) {
set_gpio_alternate(GPIOA, 7, GPIO_AF5_SPI1);
register_set_bits(&(GPIOA->OSPEEDR), GPIO_OSPEEDER_OSPEEDR4 | GPIO_OSPEEDER_OSPEEDR5 | GPIO_OSPEEDER_OSPEEDR6 | GPIO_OSPEEDER_OSPEEDR7);
}
#endif

#ifdef BOOTSTUB
void gpio_usart2_init(void) {
// A2,A3: USART 2 for debugging
set_gpio_alternate(GPIOA, 2, GPIO_AF7_USART2);
set_gpio_alternate(GPIOA, 3, GPIO_AF7_USART2);
}
#endif

// Common GPIO initialization
void common_init_gpio(void) {
Expand All @@ -45,12 +49,14 @@ void common_init_gpio(void) {
set_gpio_alternate(GPIOB, 9, GPIO_AF8_CAN1);
}

#ifdef BOOTSTUB
void flasher_peripherals_init(void) {
RCC->AHB1ENR |= RCC_AHB1ENR_DMA2EN;
RCC->APB2ENR |= RCC_APB2ENR_SPI1EN;
RCC->AHB2ENR |= RCC_AHB2ENR_OTGFSEN;
RCC->APB1ENR |= RCC_APB1ENR_USART2EN;
}
#endif

// Peripheral initialization
void peripherals_init(void) {
Expand Down
6 changes: 6 additions & 0 deletions board/stm32h7/peripherals.h
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Original file line number Diff line number Diff line change
Expand Up @@ -9,19 +9,23 @@ static void gpio_usb_init(void) {
GPIOA->OSPEEDR = GPIO_OSPEEDR_OSPEED11 | GPIO_OSPEEDR_OSPEED12;
}

#ifdef ENABLE_SPI
void gpio_spi_init(void) {
set_gpio_alternate(GPIOE, 11, GPIO_AF5_SPI4);
set_gpio_alternate(GPIOE, 12, GPIO_AF5_SPI4);
set_gpio_alternate(GPIOE, 13, GPIO_AF5_SPI4);
set_gpio_alternate(GPIOE, 14, GPIO_AF5_SPI4);
register_set_bits(&(GPIOE->OSPEEDR), GPIO_OSPEEDR_OSPEED11 | GPIO_OSPEEDR_OSPEED12 | GPIO_OSPEEDR_OSPEED13 | GPIO_OSPEEDR_OSPEED14);
}
#endif

#ifdef BOOTSTUB
void gpio_usart2_init(void) {
// A2,A3: USART 2 for debugging
set_gpio_alternate(GPIOA, 2, GPIO_AF7_USART2);
set_gpio_alternate(GPIOA, 3, GPIO_AF7_USART2);
}
#endif

void gpio_uart7_init(void) {
// E7,E8: UART 7 for debugging
Expand Down Expand Up @@ -62,13 +66,15 @@ void common_init_gpio(void) {
set_gpio_alternate(GPIOG, 10, GPIO_AF2_FDCAN3);
}

#ifdef BOOTSTUB
void flasher_peripherals_init(void) {
RCC->AHB1ENR |= RCC_AHB1ENR_USB1OTGHSEN;

// SPI + DMA
RCC->APB2ENR |= RCC_APB2ENR_SPI4EN;
RCC->AHB1ENR |= RCC_AHB1ENR_DMA2EN;
}
#endif

// Peripheral initialization
void peripherals_init(void) {
Expand Down
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