STM32H725 merge comparison

SConscript

@@ -62,7 +62,9 @@ def to_c_uint32(x):
   return "{" + 'U,'.join(map(str, nums)) + "U}"
 
 
-def build_project(project_name, project, extra_flags):
+def build_project(project_name, project, extra_flags, cppdefines=None):
+  cppdefines = cppdefines or []
+  print(f"{project_name} -> CPPDEFINES [{', '.join(cppdefines)}]")
   linkerscript_fn = File(project["LINKER_SCRIPT"]).srcnode().relpath
 
   flags = project["PROJECT_FLAGS"] + extra_flags + common_flags + [
@@ -101,6 +103,7 @@ def build_project(project_name, project, extra_flags):
       'Objcopy': Builder(generator=objcopy, suffix='.bin', src_suffix='.elf')
     },
     tools=["default", "compilation_db"],
+    CPPDEFINES=cppdefines,
   )
 
   startup = env.Object(f"obj/startup_{project_name}", project["STARTUP_FILE"])
@@ -179,12 +182,15 @@ with open("board/obj/cert.h", "w") as f:
   for cert in certs:
     f.write("\n".join(cert) + "\n")
 
-# panda fw
-SConscript('board/SConscript')
-
-# panda jungle fw
-SConscript('board/jungle/SConscript')
-
-# test files
-if GetOption('extras'):
-  SConscript('tests/libpanda/SConscript')
+if not GetOption('escc'): # if we are building ESCC, we don't build anything else
+  # panda fw
+  SConscript('board/SConscript')
+
+  # panda jungle fw
+  SConscript('board/jungle/SConscript')
+
+  # test files
+  if GetOption('extras'):
+    SConscript('tests/libpanda/SConscript')
+else:
+  SConscript('board/escc/SConscript')

SConstruct

@@ -20,6 +20,10 @@ AddOption('--mutation',
           action='store_true',
           help='generate mutation-ready code')
 
+AddOption('--escc',
+          action='store_true',
+          help='build escc firmware')
+
 env = Environment(
   COMPILATIONDB_USE_ABSPATH=True,
   tools=["default", "compilation_db"],

board/drivers/can_common_declarations.h

@@ -1,5 +1,7 @@
 #pragma once
 
+#include "health.h"
+
 typedef struct {
   volatile uint32_t w_ptr;
   volatile uint32_t r_ptr;

board/escc/.gitignore

@@ -0,0 +1 @@
+obj/*

board/escc/README.MD

@@ -0,0 +1,81 @@
+## Documentation
+[see more](https://github.com/sunnypilot/sunnypilot/blob/5d754169a6285e88e755ff9a592a851cb92b0abc/docs/escc/ESCC%20IONIQ%20PHEV%20Guide.md)
+
+### Detailed Connection List
+
+#### Molex 5018762640 Pinout:
+
+- Pin 1: GND
+- Pin 2: IGN
+- Pin 3: internal 120 Ohm Resistor, simply bridge to Pin 5
+- Pin 4: C-CAN HIGH
+- Pin 5: internal 120 Ohm Resistor, simply bridge to Pin 3
+- Pin 6: C-CAN LOW
+- Pin 8: L-CAN HIGH
+- Pin 10: L-CAN LOW
+- Pin 12: 12v
+- Pin 14: 12v
+- Pin 16: IGN
+- Pin 18: L-CAN HIGH
+- Pin 20: L-CAN LOW
+- Pin 22: C-CAN HIGH
+- Pin 24: C-CAN LOW
+- Pin 26: GND
+
+#### **IONIQ 2203663 (Car Harness, Female):**
+
+- Pin 1: 12v -> Molex Pin 12
+- Pin 4: GND -> Molex Pin 1
+- Pin 7: C-CAN LOW -> Molex Pin 6
+- Pin 8: C-CAN HIGH -> Molex Pin 4
+- Pin 9: L-CAN LOW -> Molex Pin 10
+- Pin 10: IGPM (IGN) -> Molex Pin 2
+- Pin 18: L-CAN HIGH -> Molex Pin 8
+
+#### **IONIQ 2203663 (Car Radar, Male):**
+
+- Molex Pin: 14 -> Pin 1: 12v
+- Molex Pin: 26 -> Pin 4: GND
+- Molex Pin: 24 -> Pin 7: C-CAN LOW
+- Molex Pin: 22 -> Pin 8: C-CAN HIGH
+- Molex Pin: 20 -> Pin 9: L-CAN LOW
+- Molex Pin: 16 -> Pin 10: IGN
+- Molex Pin: 18 -> Pin 18: L-CAN HIGH
+
+
+```
+IONIQ 2203663               Molex 5018762640         IONIQ 2203663 
+Car Harness (Female)                                 Car Radar (Male)
++-----+-----+               +-----+-----+            +-----+-----+
+| 18  |  9  |               |  2  |  1  |            | 10  |  1  |
+| 17  |  8  |               |  4  |  3  |            | 11  |  2  |
+| 16  |  7  |               |  6  |  5  |            | 12  |  3  |
+| 15  |  6  |               |  8  |  7  |            | 13  |  4  |
+| 14  |  5  | NOTCH         | 10  |  9  |            | 14  |  5  | NOTCH
+| 13  |  4  |               | 12  | 11  |            | 15  |  6  |
+| 12  |  3  |               | 14  | 13  | NOTCH      | 16  |  7  |
+| 11  |  2  |               | 16  | 15  |            | 17  |  8  |
+| 10  |  1  |               | 18  | 17  |            | 18  |  9  |
++-----+-----+               | 20  | 19  |            +-----+-----+
+                            | 22  | 21  |
+                            | 24  | 23  |
+                            | 26  | 25  |
+                            +-----+-----+           
+
+Connections:
+Molex Pin 3 (120 Ohm)    <-->  Molex Pin 5  (120 Ohm)
+Harness Pin 1  (12V)     <--> Molex Pin 12 (12V)
+Harness Pin 4  (GND)     <--> Molex Pin 1  (GND)
+Harness Pin 10 (IGN)     <--> Molex Pin 2  (IGN)            
+Harness Pin 8  (C-CAN H) <--> Molex Pin 4  (C-CAN H)
+Harness Pin 7  (C-CAN L) <--> Molex Pin 6  (C-CAN L)
+Harness Pin 18 (L-CAN H) <--> Molex Pin 8  (L-CAN H)
+Harness Pin 9  (L-CAN L) <--> Molex Pin 10 (L-CAN L)
+                              Molex Pin 20 (L-CAN L) <-->  Radar Pin 9  (L-CAN L)
+                              Molex Pin 18 (L-CAN H) <-->  Radar Pin 18 (L-CAN H)
+                              Molex Pin 24 (C-CAN L) <-->  Radar Pin 7  (C-CAN L)
+                              Molex Pin 22 (C-CAN H) <-->  Radar Pin 8  (C-CAN H)
+                              Molex Pin 16 (IGN)     <-->  Radar Pin 10 (IGN)
+                              Molex Pin 14 (12V)     <-->  Radar Pin 1  (12V)
+                              Molex Pin 26 (GND)     <-->  Radar Pin 4  (GND)
+```

board/escc/SConscript

@@ -0,0 +1,39 @@
+import os
+import copy
+
+Import('build_project', 'base_project_h7')
+
+build_projects = {}
+
+# RENAMED from "escc" to "panda"
+build_projects["panda"] = {
+  "MAIN": "../main.c",
+  "BOOTSTUB": "../bootstub.c",
+  "STARTUP_FILE": File("../stm32f4/startup_stm32f413xx.s"),
+  "LINKER_SCRIPT": File("../stm32f4/stm32f4_flash.ld"),
+  "APP_START_ADDRESS": "0x8004000",
+  "PROJECT_FLAGS": [
+    "-mcpu=cortex-m4",
+    "-mhard-float",
+    "-DSTM32F4",
+    "-DSTM32F413xx",
+    "-mfpu=fpv4-sp-d16",
+    "-fsingle-precision-constant",
+    "-Os",
+    "-g",
+  ],
+}
+
+# RENAMED from "escc_h7" to "panda_h7"
+build_projects["panda_h7"] = copy.deepcopy(base_project_h7)
+build_projects["panda_h7"]["MAIN"] = "../main.c"
+
+for project_name, project in build_projects.items():
+  flags = [
+    "-DPANDA",
+    "-DESCC",
+  ]
+  if ("ENABLE_SPI" in os.environ or "h7" in project_name) and not project_name.startswith('pedal'):
+    flags.append('-DENABLE_SPI')
+
+  build_project(project_name, project, flags, ["ESCC"])

board/escc/flash.py

@@ -0,0 +1,39 @@
+#!/usr/bin/env python3
+import os
+import subprocess
+import argparse
+import shutil  # Don't forget to import shutil here too!
+
+from panda import Panda
+
+board_path = os.path.dirname(os.path.realpath(__file__))
+
+if __name__ == "__main__":
+  parser = argparse.ArgumentParser()
+  parser.add_argument("--all", action="store_true", help="Recover all Panda devices")
+  args = parser.parse_args()
+
+  # Note the ../.. and the --escc flag!
+  subprocess.check_call(f"scons -C {board_path}/../.. -j$(nproc) {board_path} --escc", shell=True)
+
+  # --- HACK: SCons outputs our localized ESCC builds to 'board/escc/obj/'.
+  # However, the upstream Panda Python library (PandaDFU / p.flash) hardcodes
+  # its search path to the root 'board/obj/' directory. We copy the compiled 
+  # binaries there so the hardware auto-picker can find them without us 
+  # needing to modify and cause merge conflicts in the upstream library. ---
+  os.makedirs(f"{board_path}/../obj", exist_ok=True)
+  for f in os.listdir(f"{board_path}/obj"):
+      shutil.copy(os.path.join(f"{board_path}/obj", f), f"{board_path}/../obj")
+
+  if args.all:
+    serials = Panda.list()
+    print(f"found {len(serials)} panda(s) - {serials}")
+  else:
+    serials = [None]
+
+  for s in serials:
+    with Panda(serial=s) as p:
+      print("flashing", p.get_usb_serial())
+      # p.flash() auto-detects H7/F4 and picks the matching binary!
+      p.flash()
+  exit(1 if len(serials) == 0 else 0)

board/escc/flash_can.sh

@@ -0,0 +1,8 @@
+#!/usr/bin/env sh
+set -e
+
+cd ..
+scons -u -j$(nproc) --escc
+cd escc
+
+../../tests/escc/enter_canloader.py obj/panda_h7.bin.signed

board/escc/recover.py

@@ -0,0 +1,36 @@
+#!/usr/bin/env python3
+import os
+import time
+import subprocess
+import shutil
+
+from panda import Panda, PandaDFU
+
+board_path = os.path.dirname(os.path.realpath(__file__))
+
+if __name__ == "__main__":
+  subprocess.check_call(f"scons -C {board_path}/../.. -j$(nproc) {board_path} --escc", shell=True)
+
+  # --- HACK: SCons outputs our localized ESCC builds to 'board/escc/obj/'.
+  # However, the upstream Panda Python library (PandaDFU / p.flash) hardcodes
+  # its search path to the root 'board/obj/' directory. We copy the compiled 
+  # binaries there so the hardware auto-picker can find them without us 
+  # needing to modify and cause merge conflicts in the upstream library. ---
+  os.makedirs(f"{board_path}/../obj", exist_ok=True)
+  for f in os.listdir(f"{board_path}/obj"):
+      shutil.copy(os.path.join(f"{board_path}/obj", f), f"{board_path}/../obj")
+
+  for s in Panda.list():
+    with Panda(serial=s) as p:
+      print(f"putting {p.get_usb_serial()} in DFU mode")
+      p.reset(enter_bootstub=True)
+      p.reset(enter_bootloader=True)
+
+  time.sleep(1)
+
+  dfu_serials = PandaDFU.list()
+  print(f"found {len(dfu_serials)} panda(s) in DFU - {dfu_serials}")
+  for s in dfu_serials:
+    print("flashing", s)
+    PandaDFU(s).recover()
+  exit(1 if len(dfu_serials) == 0 else 0)

board/escc/recover.sh

@@ -0,0 +1,11 @@
+#!/usr/bin/env sh
+set -e
+
+DFU_UTIL="dfu-util"
+
+cd ..
+scons -u -j$(nproc) --escc
+cd escc
+
+$DFU_UTIL -d 0483:df11 -a 0 -s 0x08020000 -D obj/escc_h7.bin.signed
+$DFU_UTIL -d 0483:df11 -a 0 -s 0x08000000:leave -D obj/bootstub.escc_h7.bin

board/health.h

@@ -1,3 +1,5 @@
+#pragma once
+
 // When changing these structs, python/__init__.py needs to be kept up to date!
 
 #define HEALTH_PACKET_VERSION 16