low power beeping

board/SConscript

@@ -4,7 +4,7 @@ import copy
 Import('build_project', 'base_project_f4', 'base_project_h7')
 
 build_projects = {
-  "panda": base_project_f4,
+  #"panda": base_project_f4,
   "panda_h7": base_project_h7,
 }
 

board/boards/cuatro.h

@@ -7,6 +7,7 @@
 // ////////////////////////// //
 
 static void cuatro_set_led(uint8_t color, bool enabled) {
+  if (enabled) enabled = false;
   switch (color) {
     case LED_RED:
       set_gpio_output(GPIOD, 15, !enabled);
@@ -82,67 +83,9 @@ static void cuatro_set_amp_enabled(bool enabled){
 static void cuatro_init(void) {
   red_chiplet_init();
 
-  // init LEDs as open drain
-  set_gpio_output_type(GPIOE, 2, OUTPUT_TYPE_OPEN_DRAIN);
-  set_gpio_output_type(GPIOB, 2, OUTPUT_TYPE_OPEN_DRAIN);
-  set_gpio_output_type(GPIOD, 15, OUTPUT_TYPE_OPEN_DRAIN);
-
-  // 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);
-
-  // SPI init
-  gpio_spi_init();
-
-  // fan setup
-  set_gpio_alternate(GPIOC, 8, GPIO_AF2_TIM3);
-  register_set_bits(&(GPIOC->OTYPER), GPIO_OTYPER_OT8); // open drain
-
-  // Initialize IR PWM and set to 0%
-  set_gpio_alternate(GPIOC, 9, GPIO_AF2_TIM3);
-  pwm_init(TIM3, 4);
-  tres_set_ir_power(0U);
-
-  // Clock source
-  clock_source_init();
-
   // Beeper
   set_gpio_alternate(GPIOD, 14, GPIO_AF2_TIM4);
   beeper_init();
-
-  // 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_AF2_SAI1);    // SAI1_D2
-  set_gpio_alternate(GPIOE, 5, GPIO_AF2_SAI1);    // SAI1_CK2
-  set_gpio_alternate(GPIOE, 6, GPIO_AF10_SAI4);   // SAI4_MCLK_B
-  sound_init();
 }
 
 board board_cuatro = {

board/boards/red_chiplet.h

@@ -86,54 +86,6 @@ static void red_chiplet_set_fan_or_usb_load_switch(bool enabled) {
 }
 
 static void red_chiplet_init(void) {
-  common_init_gpio();
-
-  // A8, A3: OBD_SBU1_RELAY, OBD_SBU2_RELAY
-  set_gpio_output_type(GPIOA, 8, OUTPUT_TYPE_OPEN_DRAIN);
-  set_gpio_pullup(GPIOA, 8, PULL_NONE);
-  set_gpio_output(GPIOA, 8, 1);
-  set_gpio_mode(GPIOA, 8, MODE_OUTPUT);
-
-  set_gpio_output_type(GPIOA, 3, OUTPUT_TYPE_OPEN_DRAIN);
-  set_gpio_pullup(GPIOA, 3, PULL_NONE);
-  set_gpio_output(GPIOA, 3, 1);
-  set_gpio_mode(GPIOA, 3, MODE_OUTPUT);
-
-  // G11,B10,D7,B11: transceiver enable
-  set_gpio_pullup(GPIOG, 11, PULL_NONE);
-  set_gpio_mode(GPIOG, 11, MODE_OUTPUT);
-
-  set_gpio_pullup(GPIOB, 10, PULL_NONE);
-  set_gpio_mode(GPIOB, 10, MODE_OUTPUT);
-
-  set_gpio_pullup(GPIOD, 7, PULL_NONE);
-  set_gpio_mode(GPIOD, 7, MODE_OUTPUT);
-
-  set_gpio_pullup(GPIOB, 11, PULL_NONE);
-  set_gpio_mode(GPIOB, 11, MODE_OUTPUT);
-
-  // D3: usb load switch
-  set_gpio_pullup(GPIOD, 3, PULL_NONE);
-  set_gpio_mode(GPIOD, 3, MODE_OUTPUT);
-
-  // B0: 5VOUT_S
-  set_gpio_pullup(GPIOB, 0, PULL_NONE);
-  set_gpio_mode(GPIOB, 0, MODE_ANALOG);
-
-  // Initialize harness
-  harness_init();
-
-
-  // Enable CAN transceivers
-  red_chiplet_enable_can_transceivers(true);
-
-  // Disable LEDs
-  red_set_led(LED_RED, false);
-  red_set_led(LED_GREEN, false);
-  red_set_led(LED_BLUE, false);
-
-  // Set normal CAN mode
-  red_chiplet_set_can_mode(CAN_MODE_NORMAL);
 }
 
 static harness_configuration red_chiplet_harness_config = {

board/main.c

@@ -28,6 +28,21 @@
 #include "can_comms.h"
 #include "main_comms.h"
 
+#ifdef STM32H7
+void LPTIM1_IRQHandler(void) {
+  //static uint8_t cnt = 0;
+  static bool on = true;
+  if (LPTIM1->ISR & LPTIM_ISR_ARRM) {
+    LPTIM1->ICR |= LPTIM_ICR_ARRMCF;
+
+    //uptime_cnt++;
+    on = !on;
+    //current_board->set_siren(on);
+  } else {
+    //assert_fatal(false, "shouldn't happen");
+  }
+}
+#endif
 
 // ********************* Serial debugging *********************
 
@@ -151,7 +166,7 @@ static void tick_handler(void) {
   if (TICK_TIMER->SR != 0U) {
 
     // siren
-    current_board->set_siren((loop_counter & 1U) && (siren_enabled || (siren_countdown > 0U)));
+    //current_board->set_siren((loop_counter & 1U) && (siren_enabled || (siren_countdown > 0U)));
 
     // tick drivers at 8Hz
     fan_tick();
@@ -171,8 +186,17 @@ static void tick_handler(void) {
       set_power_save_state(power_save_status);
     }
 
+   if (loop_counter == 0U) {
+
+      if (siren_countdown > 0U) {
+        siren_countdown -= 1U;
+      }
+
+   }
+
+
     // decimated to 1Hz
-    if (loop_counter == 0U) {
+    if (true) {
       can_live = pending_can_live;
 
       //puth(usart1_dma); print(" "); puth(DMA2_Stream5->M0AR); print(" "); puth(DMA2_Stream5->NDTR); print("\n");
@@ -211,10 +235,6 @@ static void tick_handler(void) {
         heartbeat_disabled = false;
       }
 
-      if (siren_countdown > 0U) {
-        siren_countdown -= 1U;
-      }
-
       if (controls_allowed || heartbeat_engaged) {
         controls_allowed_countdown = 30U;
       } else if (controls_allowed_countdown > 0U) {
@@ -233,22 +253,19 @@ static void tick_handler(void) {
         heartbeat_engaged_mismatches = 0U;
       }
 
-      if (!heartbeat_disabled) {
+      if (!heartbeat_lost) {
         // if the heartbeat has been gone for a while, go to SILENT safety mode and enter power save
-        if (heartbeat_counter >= (check_started() ? HEARTBEAT_IGNITION_CNT_ON : HEARTBEAT_IGNITION_CNT_OFF)) {
+        if (current_board->read_voltage_mV() < 150) {
           print("device hasn't sent a heartbeat for 0x");
           puth(heartbeat_counter);
           print(" seconds. Safety is set to SILENT mode.\n");
 
-          if (controls_allowed_countdown > 0U) {
-            siren_countdown = 3U;
+          if (true) {
+            siren_countdown = 1U;
             controls_allowed_countdown = 0U;
           }
 
-          // set flag to indicate the heartbeat was lost
-          if (is_car_safety_mode(current_safety_mode)) {
-            heartbeat_lost = true;
-          }
+          heartbeat_lost = true;
 
           // clear heartbeat engaged state
           heartbeat_engaged = false;
@@ -281,7 +298,7 @@ static void tick_handler(void) {
       }
 
       // on to the next one
-      uptime_cnt += 1U;
+      //uptime_cnt += 1U;
       safety_mode_cnt += 1U;
       ignition_can_cnt += 1U;
 
@@ -306,10 +323,6 @@ int main(void) {
   clock_init();
   peripherals_init();
   detect_board_type();
-  // red+green leds enabled until succesful USB/SPI init, as a debug indicator
-  current_board->set_led(LED_RED, true);
-  current_board->set_led(LED_GREEN, true);
-  adc_init();
 
   // print hello
   print("\n\n\n************************ MAIN START ************************\n");
@@ -321,7 +334,21 @@ int main(void) {
   print("  Board type: 0x"); puth(hw_type); print("\n");
 
   // init board
+
   current_board->init();
+  //enable_interrupts();
+  //NVIC_EnableIRQ(LPTIM1_IRQn);
+  while (true) {
+    current_board->set_siren(true);
+    delay(512000U);
+    current_board->set_siren(false);
+    delay(512000U);
+    continue;
+
+    //SCB->SCR |= SCB_SCR_SLEEPDEEP_Msk;
+    __WFI();
+    SCB->SCR &= ~SCB_SCR_SLEEPDEEP_Msk;
+  }
 
   // panda has an FPU, let's use it!
   enable_fpu();
@@ -365,7 +392,15 @@ int main(void) {
   enable_interrupts();
 
   // LED should keep on blinking all the time
+  NVIC_DisableIRQ(TICK_TIMER_IRQ);
   while (true) {
+    //SCB->SCR |= SCB_SCR_SLEEPDEEP_Msk;
+    __WFI();
+    SCB->SCR &= ~SCB_SCR_SLEEPDEEP_Msk;
+    /*
+    */
+    continue;
+
     if (power_save_status == POWER_SAVE_STATUS_DISABLED) {
       #ifdef DEBUG_FAULTS
       if (fault_status == FAULT_STATUS_NONE) {

board/stm32h7/interrupt_handlers.h

@@ -88,7 +88,7 @@ void LTDC_IRQHandler(void) {handle_interrupt(LTDC_IRQn);}
 void LTDC_ER_IRQHandler(void) {handle_interrupt(LTDC_ER_IRQn);}
 void DMA2D_IRQHandler(void) {handle_interrupt(DMA2D_IRQn);}
 void OCTOSPI1_IRQHandler(void) {handle_interrupt(OCTOSPI1_IRQn);}
-void LPTIM1_IRQHandler(void) {handle_interrupt(LPTIM1_IRQn);}
+//void LPTIM1_IRQHandler(void) {handle_interrupt(LPTIM1_IRQn);}
 void CEC_IRQHandler(void) {handle_interrupt(CEC_IRQn);}
 void I2C4_EV_IRQHandler(void) {handle_interrupt(I2C4_EV_IRQn);}
 void I2C4_ER_IRQHandler(void) {handle_interrupt(I2C4_ER_IRQn);}

board/stm32h7/peripherals.h

@@ -102,39 +102,31 @@ void peripherals_init(void) {
   RCC->AHB4ENR |= RCC_AHB4ENR_GPIOGEN;
 
   // Enable CPU access to SRAMs for DMA
-  RCC->AHB2ENR |= RCC_AHB2ENR_SRAM1EN | RCC_AHB2ENR_SRAM2EN;
+  //RCC->AHB2ENR |= RCC_AHB2ENR_SRAM1EN | RCC_AHB2ENR_SRAM2EN;
 
   // Supplemental
-  RCC->AHB1ENR |= RCC_AHB1ENR_DMA1EN;  // DAC DMA
-  RCC->AHB1ENR |= RCC_AHB1ENR_DMA2EN;  // SPI DMA
   RCC->APB4ENR |= RCC_APB4ENR_SYSCFGEN;
-  RCC->AHB4ENR |= RCC_AHB4ENR_BDMAEN; // Audio DMA
 
-  // Connectivity
-  RCC->APB2ENR |= RCC_APB2ENR_SPI4EN;  // SPI
-  RCC->APB1LENR |= RCC_APB1LENR_I2C5EN;  // codec I2C
-  RCC->AHB1ENR |= RCC_AHB1ENR_USB1OTGHSEN; // USB
-  RCC->AHB1LPENR |= RCC_AHB1LPENR_USB1OTGHSLPEN; // USB LP needed for CSleep state(__WFI())
-  RCC->AHB1LPENR &= ~(RCC_AHB1LPENR_USB1OTGHSULPILPEN); // disable USB ULPI
-  RCC->APB1LENR |= RCC_APB1LENR_UART7EN;  // SOM uart
-  RCC->APB1HENR |= RCC_APB1HENR_FDCANEN; // FDCAN core enable
+  // Timers
+  RCC->APB1LENR |= RCC_APB1LENR_LPTIM1EN; // low power siren timer
+  RCC->APB1LENR |= RCC_APB1LENR_TIM4EN;
 
-  // Analog
-  RCC->AHB1ENR |= RCC_AHB1ENR_ADC12EN; // Enable ADC12 clocks
-  RCC->APB1LENR |= RCC_APB1LENR_DAC12EN; // DAC
+  // *** LPTIM ***
+  RCC->CSR |= RCC_CSR_LSION;
+  while (!(RCC->CSR & RCC_CSR_LSIRDY));
+  RCC->D2CCIP2R &= ~RCC_D2CCIP2R_LPTIM1SEL;
+  RCC->D2CCIP2R |= RCC_D2CCIP2R_LPTIM1SEL_2;
 
-  // Audio
-  RCC->APB4ENR |= RCC_APB4ENR_SAI4EN;  // SAI4
+  // prescaler 1:128
+  LPTIM1->CFGR &= ~LPTIM_CFGR_PRESC;
+  LPTIM1->CFGR |= (7 << LPTIM_CFGR_PRESC_Pos);
 
-  // Timers
-  RCC->APB2ENR |= RCC_APB2ENR_TIM1EN;  // clock source timer
-  RCC->APB1LENR |= RCC_APB1LENR_TIM2EN;  // main counter
-  RCC->APB1LENR |= RCC_APB1LENR_TIM3EN;  // fan pwm
-  RCC->APB1LENR |= RCC_APB1LENR_TIM4EN;  // beeper source
-  RCC->APB1LENR |= RCC_APB1LENR_TIM6EN;  // interrupt timer
-  RCC->APB1LENR |= RCC_APB1LENR_TIM7EN;  // DMA trigger timer
-  RCC->APB2ENR |= RCC_APB2ENR_TIM8EN;  // tick timer
-  RCC->APB1LENR |= RCC_APB1LENR_TIM12EN;  // slow loop
+  LPTIM1->CR |= LPTIM_CR_ENABLE;
+  LPTIM1->CMP = 0;
+  LPTIM1->ARR = 30;
+  LPTIM1->CR |= LPTIM_CR_CNTSTRT;
+
+  LPTIM1->IER |= LPTIM_IER_ARRMIE;
 
 #ifdef PANDA_JUNGLE
   RCC->AHB3ENR |= RCC_AHB3ENR_SDMMC1EN; // SDMMC

tests/reflash_internal_panda.py

@@ -33,7 +33,7 @@ def gpio_set(pin, high):
   time.sleep(1)
   gpio_set(GPIO.STM_RST_N, 0)
   gpio_set(GPIO.STM_BOOT0, 0)
-  time.sleep(1)
+  time.sleep(0.2)
 
   print("flashing bootstub")
   PandaDFU(None).recover()