finish esp/gps removal (#1559)

commaai · Aug 6, 2023 · c66b98b · c66b98b
1 parent d2d207b
commit c66b98b
Show file tree

Hide file tree

Showing 25 changed files with 90 additions and 644 deletions.
diff --git a/board/boards/black.h b/board/boards/black.h
@@ -49,36 +49,10 @@ void black_set_led(uint8_t color, bool enabled) {
   }
 }
 
-void black_set_gps_load_switch(bool enabled) {
-  set_gpio_output(GPIOC, 12, enabled);
-}
-
 void black_set_usb_load_switch(bool enabled) {
   set_gpio_output(GPIOB, 1, !enabled);
 }
 
-void black_set_gps_mode(uint8_t mode) {
-  switch (mode) {
-    case GPS_DISABLED:
-      // GPS OFF
-      set_gpio_output(GPIOC, 12, 0);
-      set_gpio_output(GPIOC, 5, 0);
-      break;
-    case GPS_ENABLED:
-      // GPS ON
-      set_gpio_output(GPIOC, 12, 1);
-      set_gpio_output(GPIOC, 5, 1);
-      break;
-    case GPS_BOOTMODE:
-      set_gpio_output(GPIOC, 12, 1);
-      set_gpio_output(GPIOC, 5, 0);
-      break;
-    default:
-      print("Invalid GPS mode\n");
-      break;
-  }
-}
-
 void black_set_can_mode(uint8_t mode){
   switch (mode) {
     case CAN_MODE_NORMAL:
@@ -124,8 +98,9 @@ void black_init(void) {
   set_gpio_mode(GPIOC, 0, MODE_ANALOG);
   set_gpio_mode(GPIOC, 3, MODE_ANALOG);
 
-  // Set default state of GPS
-  current_board->set_gps_mode(GPS_ENABLED);
+  // GPS OFF
+  set_gpio_output(GPIOC, 5, 0);
+  set_gpio_output(GPIOC, 12, 0);
 
   // C10: OBD_SBU1_RELAY (harness relay driving output)
   // C11: OBD_SBU2_RELAY (harness relay driving output)
@@ -136,9 +111,6 @@ void black_init(void) {
   set_gpio_output(GPIOC, 10, 1);
   set_gpio_output(GPIOC, 11, 1);
 
-  // Turn on GPS load switch.
-  black_set_gps_load_switch(true);
-
   // Turn on USB load switch.
   black_set_usb_load_switch(true);
 
@@ -165,6 +137,12 @@ void black_init(void) {
   }
 }
 
+void black_init_bootloader(void) {
+  // GPS OFF
+  set_gpio_output(GPIOC, 5, 0);
+  set_gpio_output(GPIOC, 12, 0);
+}
+
 const harness_configuration black_harness_config = {
   .has_harness = true,
   .GPIO_SBU1 = GPIOC,
@@ -183,7 +161,6 @@ const board board_black = {
   .board_type = "Black",
   .board_tick = unused_board_tick,
   .harness_config = &black_harness_config,
-  .has_gps = true,
   .has_hw_gmlan = false,
   .has_obd = true,
   .has_lin = false,
@@ -195,10 +172,10 @@ const board board_black = {
   .fan_stall_recovery = false,
   .fan_enable_cooldown_time = 0U,
   .init = black_init,
+  .init_bootloader = black_init_bootloader,
   .enable_can_transceiver = black_enable_can_transceiver,
   .enable_can_transceivers = black_enable_can_transceivers,
   .set_led = black_set_led,
-  .set_gps_mode = black_set_gps_mode,
   .set_can_mode = black_set_can_mode,
   .check_ignition = black_check_ignition,
   .read_current = unused_read_current,

diff --git a/board/boards/board_declarations.h b/board/boards/board_declarations.h
@@ -1,9 +1,9 @@
 // ******************** Prototypes ********************
 typedef void (*board_init)(void);
+typedef void (*board_init_bootloader)(void);
 typedef void (*board_enable_can_transceiver)(uint8_t transceiver, bool enabled);
 typedef void (*board_enable_can_transceivers)(bool enabled);
 typedef void (*board_set_led)(uint8_t color, bool enabled);
-typedef void (*board_set_gps_mode)(uint8_t mode);
 typedef void (*board_set_can_mode)(uint8_t mode);
 typedef bool (*board_check_ignition)(void);
 typedef uint32_t (*board_read_current)(void);
@@ -17,7 +17,6 @@ typedef bool (*board_read_som_gpio)(void);
 struct board {
   const char *board_type;
   const harness_configuration *harness_config;
-  const bool has_gps;
   const bool has_hw_gmlan;
   const bool has_obd;
   const bool has_lin;
@@ -29,10 +28,10 @@ struct board {
   const bool fan_stall_recovery;
   const uint8_t fan_enable_cooldown_time;
   board_init init;
+  board_init_bootloader init_bootloader;
   board_enable_can_transceiver enable_can_transceiver;
   board_enable_can_transceivers enable_can_transceivers;
   board_set_led set_led;
-  board_set_gps_mode set_gps_mode;
   board_set_can_mode set_can_mode;
   board_check_ignition check_ignition;
   board_read_current read_current;
@@ -68,11 +67,6 @@ struct board {
 #define USB_POWER_CDP 2U
 #define USB_POWER_DCP 3U
 
-// GPS modes
-#define GPS_DISABLED 0U
-#define GPS_ENABLED 1U
-#define GPS_BOOTMODE 2U
-
 // CAN modes
 #define CAN_MODE_NORMAL 0U
 #define CAN_MODE_GMLAN_CAN2 1U

diff --git a/board/boards/dos.h b/board/boards/dos.h
@@ -206,7 +206,6 @@ const board board_dos = {
   .board_type = "Dos",
   .board_tick = dos_board_tick,
   .harness_config = &dos_harness_config,
-  .has_gps = false,
   .has_hw_gmlan = false,
   .has_obd = true,
   .has_lin = false,
@@ -222,10 +221,10 @@ const board board_dos = {
   .fan_stall_recovery = true,
   .fan_enable_cooldown_time = 3U,
   .init = dos_init,
+  .init_bootloader = unused_init_bootloader,
   .enable_can_transceiver = dos_enable_can_transceiver,
   .enable_can_transceivers = dos_enable_can_transceivers,
   .set_led = dos_set_led,
-  .set_gps_mode = unused_set_gps_mode,
   .set_can_mode = dos_set_can_mode,
   .check_ignition = dos_check_ignition,
   .read_current = unused_read_current,

diff --git a/board/boards/grey.h b/board/boards/grey.h
@@ -4,40 +4,10 @@
 
 // Most hardware functionality is similar to white panda
 
-void grey_init(void) {
-  white_grey_common_init();
-
-  // Set default state of GPS
-  current_board->set_gps_mode(GPS_ENABLED);
-}
-
-void grey_set_gps_mode(uint8_t mode) {
-  switch (mode) {
-    case GPS_DISABLED:
-      // GPS OFF
-      set_gpio_output(GPIOC, 14, 0);
-      set_gpio_output(GPIOC, 5, 0);
-      break;
-    case GPS_ENABLED:
-      // GPS ON
-      set_gpio_output(GPIOC, 14, 1);
-      set_gpio_output(GPIOC, 5, 1);
-      break;
-    case GPS_BOOTMODE:
-      set_gpio_output(GPIOC, 14, 1);
-      set_gpio_output(GPIOC, 5, 0);
-      break;
-    default:
-      print("Invalid ESP/GPS mode\n");
-      break;
-  }
-}
-
 const board board_grey = {
   .board_type = "Grey",
   .board_tick = unused_board_tick,
   .harness_config = &white_harness_config,
-  .has_gps = true,
   .has_hw_gmlan = true,
   .has_obd = false,
   .has_lin = true,
@@ -48,11 +18,11 @@ const board board_grey = {
   .avdd_mV = 3300U,
   .fan_stall_recovery = false,
   .fan_enable_cooldown_time = 0U,
-  .init = grey_init,
+  .init = white_grey_init,
+  .init_bootloader = white_grey_init_bootloader,
   .enable_can_transceiver = white_enable_can_transceiver,
   .enable_can_transceivers = white_enable_can_transceivers,
   .set_led = white_set_led,
-  .set_gps_mode = grey_set_gps_mode,
   .set_can_mode = white_set_can_mode,
   .check_ignition = white_check_ignition,
   .read_current = white_read_current,

diff --git a/board/boards/pedal.h b/board/boards/pedal.h
@@ -30,11 +30,6 @@ void pedal_set_led(uint8_t color, bool enabled) {
   }
 }
 
-void pedal_set_gps_mode(uint8_t mode) {
-  UNUSED(mode);
-  print("Trying to set ESP/GPS mode on pedal. This is not supported.\n");
-}
-
 void pedal_set_can_mode(uint8_t mode){
   switch (mode) {
     case CAN_MODE_NORMAL:
@@ -75,7 +70,6 @@ const board board_pedal = {
   .board_type = "Pedal",
   .board_tick = unused_board_tick,
   .harness_config = &pedal_harness_config,
-  .has_gps = false,
   .has_hw_gmlan = false,
   .has_obd = false,
   .has_lin = false,
@@ -87,10 +81,10 @@ const board board_pedal = {
   .fan_stall_recovery = false,
   .fan_enable_cooldown_time = 0U,
   .init = pedal_init,
+  .init_bootloader = unused_init_bootloader,
   .enable_can_transceiver = pedal_enable_can_transceiver,
   .enable_can_transceivers = pedal_enable_can_transceivers,
   .set_led = pedal_set_led,
-  .set_gps_mode = pedal_set_gps_mode,
   .set_can_mode = pedal_set_can_mode,
   .check_ignition = pedal_check_ignition,
   .read_current = unused_read_current,

diff --git a/board/boards/red.h b/board/boards/red.h
@@ -170,7 +170,6 @@ const board board_red = {
   .board_type = "Red",
   .board_tick = unused_board_tick,
   .harness_config = &red_harness_config,
-  .has_gps = false,
   .has_hw_gmlan = false,
   .has_obd = true,
   .has_lin = false,
@@ -182,10 +181,10 @@ const board board_red = {
   .fan_stall_recovery = false,
   .fan_enable_cooldown_time = 0U,
   .init = red_init,
+  .init_bootloader = unused_init_bootloader,
   .enable_can_transceiver = red_enable_can_transceiver,
   .enable_can_transceivers = red_enable_can_transceivers,
   .set_led = red_set_led,
-  .set_gps_mode = unused_set_gps_mode,
   .set_can_mode = red_set_can_mode,
   .check_ignition = red_check_ignition,
   .read_current = unused_read_current,

diff --git a/board/boards/red_v2.h b/board/boards/red_v2.h
@@ -14,7 +14,6 @@ const board board_red_v2 = {
   .board_type = "Red_v2",
   .board_tick = unused_board_tick,
   .harness_config = &red_chiplet_harness_config,
-  .has_gps = false,
   .has_hw_gmlan = false,
   .has_obd = true,
   .has_lin = false,
@@ -26,10 +25,10 @@ const board board_red_v2 = {
   .fan_stall_recovery = false,
   .fan_enable_cooldown_time = 0U,
   .init = red_panda_v2_init,
+  .init_bootloader = unused_init_bootloader,
   .enable_can_transceiver = red_chiplet_enable_can_transceiver,
   .enable_can_transceivers = red_chiplet_enable_can_transceivers,
   .set_led = red_set_led,
-  .set_gps_mode = unused_set_gps_mode,
   .set_can_mode = red_set_can_mode,
   .check_ignition = red_check_ignition,
   .read_current = unused_read_current,

diff --git a/board/boards/tres.h b/board/boards/tres.h
@@ -89,7 +89,6 @@ const board board_tres = {
   .board_type = "Tres",
   .board_tick = tres_board_tick,
   .harness_config = &red_chiplet_harness_config,
-  .has_gps = false,
   .has_hw_gmlan = false,
   .has_obd = true,
   .has_lin = false,
@@ -101,10 +100,10 @@ const board board_tres = {
   .fan_stall_recovery = false,
   .fan_enable_cooldown_time = 3U,
   .init = tres_init,
+  .init_bootloader = unused_init_bootloader,
   .enable_can_transceiver = red_chiplet_enable_can_transceiver,
   .enable_can_transceivers = red_chiplet_enable_can_transceivers,
   .set_led = red_set_led,
-  .set_gps_mode = unused_set_gps_mode,
   .set_can_mode = red_set_can_mode,
   .check_ignition = red_check_ignition,
   .read_current = unused_read_current,