refactor bootkick (commaai#1690)

* bootkick refactor + reset * simplify * revert reset stuff * cleanup --------- Co-authored-by: Bruce Wayne <[email protected]>
MoreTore · Nov 9, 2023 · d2ea9ad · d2ea9ad
1 parent cd0f0bd
commit d2ea9ad
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Showing 13 changed files with 55 additions and 102 deletions.
diff --git a/board/boards/black.h b/board/boards/black.h
@@ -164,7 +164,7 @@ const harness_configuration black_harness_config = {
 
 const board board_black = {
   .board_type = "Black",
-  .board_tick = unused_board_tick,
+  .set_bootkick = unused_set_bootkick,
   .harness_config = &black_harness_config,
   .has_hw_gmlan = false,
   .has_obd = true,

diff --git a/board/boards/board_declarations.h b/board/boards/board_declarations.h
@@ -1,4 +1,9 @@
 // ******************** Prototypes ********************
+typedef enum {
+  BOOT_STANDBY,
+  BOOT_BOOTKICK,
+} BootState;
+
 typedef void (*board_init)(void);
 typedef void (*board_init_bootloader)(void);
 typedef void (*board_enable_can_transceiver)(uint8_t transceiver, bool enabled);
@@ -11,7 +16,7 @@ typedef void (*board_set_ir_power)(uint8_t percentage);
 typedef void (*board_set_fan_enabled)(bool enabled);
 typedef void (*board_set_phone_power)(bool enabled);
 typedef void (*board_set_siren)(bool enabled);
-typedef bool (*board_board_tick)(bool ignition, bool usb_enum, bool heartbeat_seen, bool harness_inserted);
+typedef void (*board_set_bootkick)(BootState state);
 typedef bool (*board_read_som_gpio)(void);
 
 struct board {
@@ -39,7 +44,7 @@ struct board {
   board_set_fan_enabled set_fan_enabled;
   board_set_phone_power set_phone_power;
   board_set_siren set_siren;
-  board_board_tick board_tick;
+  board_set_bootkick set_bootkick;
   board_read_som_gpio read_som_gpio;
 };
 

diff --git a/board/boards/dos.h b/board/boards/dos.h
@@ -49,23 +49,8 @@ void dos_set_led(uint8_t color, bool enabled) {
   }
 }
 
-void dos_set_bootkick(bool enabled){
-  set_gpio_output(GPIOC, 4, !enabled);
-}
-
-bool dos_board_tick(bool ignition, bool usb_enum, bool heartbeat_seen, bool harness_inserted) {
-  bool ret = false;
-  if ((ignition && !usb_enum) || harness_inserted) {
-    // enable bootkick if ignition seen or if plugged into a harness
-    ret = true;
-    dos_set_bootkick(true);
-  } else if (heartbeat_seen) {
-    // disable once openpilot is up
-    dos_set_bootkick(false);
-  } else {
-
-  }
-  return ret;
+void dos_set_bootkick(BootState state) {
+  set_gpio_output(GPIOC, 4, state != BOOT_BOOTKICK);
 }
 
 void dos_set_can_mode(uint8_t mode) {
@@ -208,7 +193,6 @@ const harness_configuration dos_harness_config = {
 
 const board board_dos = {
   .board_type = "Dos",
-  .board_tick = dos_board_tick,
   .harness_config = &dos_harness_config,
   .has_hw_gmlan = false,
   .has_obd = true,
@@ -236,5 +220,6 @@ const board board_dos = {
   .set_ir_power = dos_set_ir_power,
   .set_phone_power = unused_set_phone_power,
   .set_siren = dos_set_siren,
+  .set_bootkick = dos_set_bootkick,
   .read_som_gpio = dos_read_som_gpio
 };
diff --git a/board/boards/grey.h b/board/boards/grey.h
@@ -6,7 +6,7 @@
 
 const board board_grey = {
   .board_type = "Grey",
-  .board_tick = unused_board_tick,
+  .set_bootkick = unused_set_bootkick,
   .harness_config = &white_harness_config,
   .has_hw_gmlan = true,
   .has_obd = false,

diff --git a/board/boards/pedal.h b/board/boards/pedal.h
@@ -68,7 +68,7 @@ const harness_configuration pedal_harness_config = {
 
 const board board_pedal = {
   .board_type = "Pedal",
-  .board_tick = unused_board_tick,
+  .set_bootkick = unused_set_bootkick,
   .harness_config = &pedal_harness_config,
   .has_hw_gmlan = false,
   .has_obd = false,

diff --git a/board/boards/red.h b/board/boards/red.h
@@ -172,7 +172,7 @@ const harness_configuration red_harness_config = {
 
 const board board_red = {
   .board_type = "Red",
-  .board_tick = unused_board_tick,
+  .set_bootkick = unused_set_bootkick,
   .harness_config = &red_harness_config,
   .has_hw_gmlan = false,
   .has_obd = true,

diff --git a/board/boards/red_v2.h b/board/boards/red_v2.h
@@ -12,7 +12,7 @@ void red_panda_v2_init(void) {
 
 const board board_red_v2 = {
   .board_type = "Red_v2",
-  .board_tick = unused_board_tick,
+  .set_bootkick = unused_set_bootkick,
   .harness_config = &red_chiplet_harness_config,
   .has_hw_gmlan = false,
   .has_obd = true,

diff --git a/board/boards/tres.h b/board/boards/tres.h
@@ -14,26 +14,9 @@ void tres_set_ir_power(uint8_t percentage){
   pwm_set(TIM3, 4, percentage);
 }
 
-void tres_set_bootkick(bool enabled){
-  set_gpio_output(GPIOA, 0, !enabled);
-}
-
-bool tres_ignition_prev = false;
-bool tres_board_tick(bool ignition, bool usb_enum, bool heartbeat_seen, bool harness_inserted) {
-  UNUSED(usb_enum);
-  bool ret = false;
-  if ((ignition && !tres_ignition_prev) || harness_inserted) {
-    // enable bootkick on rising edge of ignition
-    ret = true;
-    tres_set_bootkick(true);
-  } else if (heartbeat_seen) {
-    // disable once openpilot is up
-    tres_set_bootkick(false);
-  } else {
-
-  }
-  tres_ignition_prev = ignition;
-  return ret;
+void tres_set_bootkick(BootState state) {
+  set_gpio_output(GPIOA, 0, state != BOOT_BOOTKICK);
+  set_gpio_output(GPIOC, 12, 1);
 }
 
 void tres_set_fan_enabled(bool enabled) {
@@ -42,7 +25,7 @@ void tres_set_fan_enabled(bool enabled) {
   tres_update_fan_ir_power();
 }
 
-bool tres_read_som_gpio (void){
+bool tres_read_som_gpio (void) {
   return (get_gpio_input(GPIOC, 2) != 0);
 }
 
@@ -58,7 +41,9 @@ void tres_init(void) {
   set_gpio_mode(GPIOC, 2, MODE_INPUT);
   set_gpio_pullup(GPIOC, 2, PULL_DOWN);
 
-  tres_set_bootkick(true);
+  // SOM bootkick + reset lines
+  set_gpio_mode(GPIOC, 12, MODE_OUTPUT);
+  tres_set_bootkick(BOOT_BOOTKICK);
 
   // SOM debugging UART
   gpio_uart7_init();
@@ -87,7 +72,6 @@ void tres_init(void) {
 
 const board board_tres = {
   .board_type = "Tres",
-  .board_tick = tres_board_tick,
   .harness_config = &red_chiplet_harness_config,
   .has_hw_gmlan = false,
   .has_obd = true,
@@ -111,5 +95,6 @@ const board board_tres = {
   .set_ir_power = tres_set_ir_power,
   .set_phone_power = unused_set_phone_power,
   .set_siren = fake_siren_set,
+  .set_bootkick = tres_set_bootkick,
   .read_som_gpio = tres_read_som_gpio
 };
diff --git a/board/boards/uno.h b/board/boards/uno.h
@@ -1,8 +1,6 @@
 // ///////////// //
 // Uno + Harness //
 // ///////////// //
-#define BOOTKICK_TIME 3U
-uint8_t bootkick_timer = 0U;
 
 void uno_enable_can_transceiver(uint8_t transceiver, bool enabled) {
   switch (transceiver){
@@ -51,20 +49,15 @@ void uno_set_led(uint8_t color, bool enabled) {
   }
 }
 
-void uno_set_bootkick(bool enabled){
-  if (enabled) {
+void uno_set_bootkick(BootState state) {
+  if (state == BOOT_BOOTKICK) {
     set_gpio_output(GPIOB, 14, false);
   } else {
     // We want the pin to be floating, not forced high!
     set_gpio_mode(GPIOB, 14, MODE_INPUT);
   }
 }
 
-void uno_bootkick(void) {
-  bootkick_timer = BOOTKICK_TIME;
-  uno_set_bootkick(true);
-}
-
 void uno_set_phone_power(bool enabled){
   set_gpio_output(GPIOB, 4, enabled);
 }
@@ -101,19 +94,6 @@ void uno_set_can_mode(uint8_t mode) {
   }
 }
 
-bool uno_board_tick(bool ignition, bool usb_enum, bool heartbeat_seen, bool harness_inserted) {
-  UNUSED(ignition);
-  UNUSED(usb_enum);
-  UNUSED(heartbeat_seen);
-  UNUSED(harness_inserted);
-  if (bootkick_timer != 0U) {
-    bootkick_timer--;
-  } else {
-    uno_set_bootkick(false);
-  }
-  return false;
-}
-
 bool uno_check_ignition(void){
   // ignition is checked through harness
   return harness_check_ignition();
@@ -198,7 +178,7 @@ void uno_init(void) {
   }
 
   // Bootkick phone
-  uno_bootkick();
+  uno_set_bootkick(BOOT_BOOTKICK);
 }
 
 void uno_init_bootloader(void) {
@@ -224,7 +204,6 @@ const harness_configuration uno_harness_config = {
 
 const board board_uno = {
   .board_type = "Uno",
-  .board_tick = uno_board_tick,
   .harness_config = &uno_harness_config,
   .has_hw_gmlan = false,
   .has_obd = true,
@@ -248,5 +227,6 @@ const board board_uno = {
   .set_ir_power = uno_set_ir_power,
   .set_phone_power = uno_set_phone_power,
   .set_siren = unused_set_siren,
+  .set_bootkick = uno_set_bootkick,
   .read_som_gpio = unused_read_som_gpio
 };
diff --git a/board/boards/unused_funcs.h b/board/boards/unused_funcs.h
@@ -21,12 +21,8 @@ uint32_t unused_read_current(void) {
   return 0U;
 }
 
-bool unused_board_tick(bool ignition, bool usb_enum, bool heartbeat_seen, bool harness_inserted) {
-  UNUSED(ignition);
-  UNUSED(usb_enum);
-  UNUSED(heartbeat_seen);
-  UNUSED(harness_inserted);
-  return false;
+void unused_set_bootkick(BootState state) {
+  UNUSED(state);
 }
 
 bool unused_read_som_gpio(void) {

diff --git a/board/boards/white.h b/board/boards/white.h
@@ -223,7 +223,7 @@ const harness_configuration white_harness_config = {
 
 const board board_white = {
   .board_type = "White",
-  .board_tick = unused_board_tick,
+  .set_bootkick = unused_set_bootkick,
   .harness_config = &white_harness_config,
   .has_hw_gmlan = true,
   .has_obd = false,

diff --git a/board/drivers/bootkick.h b/board/drivers/bootkick.h
@@ -0,0 +1,22 @@
+bool bootkick_ign_prev = false;
+BootState boot_state = BOOT_BOOTKICK;
+uint8_t bootkick_harness_status_prev = HARNESS_STATUS_NC;
+
+void bootkick_tick(bool ignition, bool recent_heartbeat) {
+  const bool harness_inserted = (harness.status != bootkick_harness_status_prev) && (harness.status != HARNESS_STATUS_NC);
+
+  if ((ignition && !bootkick_ign_prev) || harness_inserted) {
+    // bootkick on rising edge of ignition or harness insertion
+    boot_state = BOOT_BOOTKICK;
+  } else if (recent_heartbeat) {
+    // disable bootkick once openpilot is up
+    boot_state = BOOT_STANDBY;
+  } else {
+
+  }
+
+  // update state
+  bootkick_ign_prev = ignition;
+  bootkick_harness_status_prev = harness.status;
+  current_board->set_bootkick(boot_state);
+}
diff --git a/board/main.c b/board/main.c
@@ -6,6 +6,7 @@
 #include "drivers/gmlan_alt.h"
 #include "drivers/kline_init.h"
 #include "drivers/simple_watchdog.h"
+#include "drivers/bootkick.h"
 
 #include "early_init.h"
 #include "provision.h"
@@ -145,9 +146,6 @@ void __attribute__ ((noinline)) enable_fpu(void) {
 
 // called at 8Hz
 uint8_t loop_counter = 0U;
-uint8_t previous_harness_status = HARNESS_STATUS_NC;
-uint32_t waiting_to_boot_count = 0;
-bool waiting_to_boot = false;
 void tick_handler(void) {
   if (TICK_TIMER->SR != 0) {
     // siren
@@ -185,27 +183,9 @@ void tick_handler(void) {
       current_board->set_led(LED_BLUE, (uptime_cnt & 1U) && (power_save_status == POWER_SAVE_STATUS_ENABLED));
 
       const bool recent_heartbeat = heartbeat_counter == 0U;
-      const bool harness_inserted = (harness.status != previous_harness_status) && (harness.status != HARNESS_STATUS_NC);
-      const bool just_bootkicked = current_board->board_tick(check_started(), usb_enumerated, recent_heartbeat, harness_inserted);
-      previous_harness_status = harness.status;
-
-      // log device boot time
-      const bool som_running = current_board->read_som_gpio();
-      if (just_bootkicked && !som_running) {
-        print("bootkick\n");
-        waiting_to_boot = true;
-      }
-      if (waiting_to_boot) {
-        if (som_running) {
-          print("device booted\n");
-          waiting_to_boot = false;
-        } else if (waiting_to_boot_count == 45U) {
-          print("not booted after 45s\n");
-        } else {
 
-        }
-        waiting_to_boot_count += 1U;
-      }
+      // tick drivers at 1Hz
+      bootkick_tick(check_started(), recent_heartbeat);
 
       // increase heartbeat counter and cap it at the uint32 limit
       if (heartbeat_counter < __UINT32_MAX__) {