USB power mode + bootkick cleanup (commaai#1051)

* remove tick

* remove more

* delete more

* board tick

* update health

* dos bootkicking

* cleanup

board/boards/black.h

@@ -57,26 +57,6 @@ void black_set_usb_load_switch(bool enabled) {
   set_gpio_output(GPIOB, 1, !enabled);
 }
 
-void black_set_usb_power_mode(uint8_t mode) {
-  bool valid = false;
-  switch (mode) {
-    case USB_POWER_CLIENT:
-      black_set_usb_load_switch(false);
-      valid = true;
-      break;
-    case USB_POWER_CDP:
-      black_set_usb_load_switch(true);
-      valid = true;
-      break;
-    default:
-      puts("Invalid USB power mode\n");
-      break;
-  }
-  if (valid) {
-    usb_power_mode = mode;
-  }
-}
-
 void black_set_gps_mode(uint8_t mode) {
   switch (mode) {
     case GPS_DISABLED:
@@ -162,9 +142,6 @@ void black_init(void) {
   // Turn on USB load switch.
   black_set_usb_load_switch(true);
 
-  // Set right power mode
-  black_set_usb_power_mode(USB_POWER_CDP);
-
   // Initialize harness
   harness_init();
 
@@ -204,6 +181,7 @@ const harness_configuration black_harness_config = {
 
 const board board_black = {
   .board_type = "Black",
+  .board_tick = unused_board_tick,
   .harness_config = &black_harness_config,
   .has_gps = true,
   .has_hw_gmlan = false,
@@ -215,10 +193,8 @@ const board board_black = {
   .enable_can_transceiver = black_enable_can_transceiver,
   .enable_can_transceivers = black_enable_can_transceivers,
   .set_led = black_set_led,
-  .set_usb_power_mode = black_set_usb_power_mode,
   .set_gps_mode = black_set_gps_mode,
   .set_can_mode = black_set_can_mode,
-  .usb_power_mode_tick = unused_usb_power_mode_tick,
   .check_ignition = black_check_ignition,
   .read_current = unused_read_current,
   .set_fan_enabled = unused_set_fan_enabled,

board/boards/board_declarations.h

@@ -3,17 +3,16 @@ typedef void (*board_init)(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_usb_power_mode)(uint8_t mode);
 typedef void (*board_set_gps_mode)(uint8_t mode);
 typedef void (*board_set_can_mode)(uint8_t mode);
-typedef void (*board_usb_power_mode_tick)(uint32_t uptime);
 typedef bool (*board_check_ignition)(void);
 typedef uint32_t (*board_read_current)(void);
 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_clock_source_mode)(uint8_t mode);
 typedef void (*board_set_siren)(bool enabled);
+typedef void (*board_board_tick)(bool ignition, bool usb_enum, bool heartbeat_seen);
 
 struct board {
   const char *board_type;
@@ -28,17 +27,16 @@ struct board {
   board_enable_can_transceiver enable_can_transceiver;
   board_enable_can_transceivers enable_can_transceivers;
   board_set_led set_led;
-  board_set_usb_power_mode set_usb_power_mode;
   board_set_gps_mode set_gps_mode;
   board_set_can_mode set_can_mode;
-  board_usb_power_mode_tick usb_power_mode_tick;
   board_check_ignition check_ignition;
   board_read_current read_current;
   board_set_ir_power set_ir_power;
   board_set_fan_enabled set_fan_enabled;
   board_set_phone_power set_phone_power;
   board_set_clock_source_mode set_clock_source_mode;
   board_set_siren set_siren;
+  board_board_tick board_tick;
 };
 
 // ******************* Definitions ********************
@@ -73,6 +71,3 @@ struct board {
 #define CAN_MODE_GMLAN_CAN2 1U
 #define CAN_MODE_GMLAN_CAN3 2U
 #define CAN_MODE_OBD_CAN2 3U
-
-// ********************* Globals **********************
-uint8_t usb_power_mode = USB_POWER_NONE;

board/boards/dos.h

@@ -53,23 +53,15 @@ void dos_set_bootkick(bool enabled){
   set_gpio_output(GPIOC, 4, !enabled);
 }
 
-void dos_set_usb_power_mode(uint8_t mode) {
-  bool valid = false;
-  switch (mode) {
-    case USB_POWER_CLIENT:
-      dos_set_bootkick(false);
-      valid = true;
-      break;
-    case USB_POWER_CDP:
-      dos_set_bootkick(true);
-      valid = true;
-      break;
-    default:
-      puts("Invalid USB power mode\n");
-      break;
-  }
-  if (valid) {
-    usb_power_mode = mode;
+void dos_board_tick(bool ignition, bool usb_enum, bool heartbeat_seen) {
+  if (ignition && !usb_enum) {
+    // enable bootkick if ignition seen
+    dos_set_bootkick(true);
+  } else if (heartbeat_seen) {
+    // disable once openpilot is up
+    dos_set_bootkick(false);
+  } else {
+
   }
 }
 
@@ -173,6 +165,9 @@ void dos_init(void) {
   dos_set_led(LED_GREEN, false);
   dos_set_led(LED_BLUE, false);
 
+  // Bootkick
+  dos_set_bootkick(true);
+
   // Set normal CAN mode
   dos_set_can_mode(CAN_MODE_NORMAL);
 
@@ -201,6 +196,7 @@ const harness_configuration dos_harness_config = {
 
 const board board_dos = {
   .board_type = "Dos",
+  .board_tick = dos_board_tick,
   .harness_config = &dos_harness_config,
   .has_gps = false,
   .has_hw_gmlan = false,
@@ -212,15 +208,13 @@ const board board_dos = {
   .enable_can_transceiver = dos_enable_can_transceiver,
   .enable_can_transceivers = dos_enable_can_transceivers,
   .set_led = dos_set_led,
-  .set_usb_power_mode = dos_set_usb_power_mode,
   .set_gps_mode = unused_set_gps_mode,
   .set_can_mode = dos_set_can_mode,
-  .usb_power_mode_tick = unused_usb_power_mode_tick,
   .check_ignition = dos_check_ignition,
   .read_current = unused_read_current,
   .set_fan_enabled = dos_set_fan_enabled,
   .set_ir_power = dos_set_ir_power,
   .set_phone_power = unused_set_phone_power,
   .set_clock_source_mode = dos_set_clock_source_mode,
-  .set_siren = dos_set_siren
+  .set_siren = unused_set_siren
 };

board/boards/grey.h

@@ -35,6 +35,7 @@ void grey_set_gps_mode(uint8_t mode) {
 
 const board board_grey = {
   .board_type = "Grey",
+  .board_tick = unused_board_tick,
   .harness_config = &white_harness_config,
   .has_gps = true,
   .has_hw_gmlan = true,
@@ -46,10 +47,8 @@ const board board_grey = {
   .enable_can_transceiver = white_enable_can_transceiver,
   .enable_can_transceivers = white_enable_can_transceivers,
   .set_led = white_set_led,
-  .set_usb_power_mode = white_set_usb_power_mode,
   .set_gps_mode = grey_set_gps_mode,
   .set_can_mode = white_set_can_mode,
-  .usb_power_mode_tick = unused_usb_power_mode_tick,
   .check_ignition = white_check_ignition,
   .read_current = white_read_current,
   .set_fan_enabled = unused_set_fan_enabled,

board/boards/pedal.h

@@ -30,11 +30,6 @@ void pedal_set_led(uint8_t color, bool enabled) {
   }
 }
 
-void pedal_set_usb_power_mode(uint8_t mode){
-  usb_power_mode = mode;
-  puts("Trying to set USB power mode on pedal. This is not supported.\n");
-}
-
 void pedal_set_gps_mode(uint8_t mode) {
   UNUSED(mode);
   puts("Trying to set ESP/GPS mode on pedal. This is not supported.\n");
@@ -78,6 +73,7 @@ const harness_configuration pedal_harness_config = {
 
 const board board_pedal = {
   .board_type = "Pedal",
+  .board_tick = unused_board_tick,
   .harness_config = &pedal_harness_config,
   .has_gps = false,
   .has_hw_gmlan = false,
@@ -89,10 +85,8 @@ const board board_pedal = {
   .enable_can_transceiver = pedal_enable_can_transceiver,
   .enable_can_transceivers = pedal_enable_can_transceivers,
   .set_led = pedal_set_led,
-  .set_usb_power_mode = pedal_set_usb_power_mode,
   .set_gps_mode = pedal_set_gps_mode,
   .set_can_mode = pedal_set_can_mode,
-  .usb_power_mode_tick = unused_usb_power_mode_tick,
   .check_ignition = pedal_check_ignition,
   .read_current = unused_read_current,
   .set_fan_enabled = unused_set_fan_enabled,

board/boards/red.h

@@ -53,25 +53,6 @@ void red_set_usb_load_switch(bool enabled) {
   set_gpio_output(GPIOB, 14, !enabled);
 }
 
-void red_set_usb_power_mode(uint8_t mode) {
-  bool valid = false;
-  switch (mode) {
-    case USB_POWER_CLIENT:
-      red_set_usb_load_switch(false);
-      valid = true;
-      break;
-    case USB_POWER_CDP:
-      red_set_usb_load_switch(true);
-      valid = true;
-      break;
-    default:
-      break;
-  }
-  if (valid) {
-    usb_power_mode = mode;
-  }
-}
-
 void red_set_can_mode(uint8_t mode) {
   switch (mode) {
     case CAN_MODE_NORMAL:
@@ -139,9 +120,6 @@ void red_init(void) {
   // Turn on USB load switch.
   red_set_usb_load_switch(true);
 
-  // Set right power mode
-  red_set_usb_power_mode(USB_POWER_CDP);
-
   // Initialize harness
   harness_init();
 
@@ -181,6 +159,7 @@ const harness_configuration red_harness_config = {
 
 const board board_red = {
   .board_type = "Red",
+  .board_tick = unused_board_tick,
   .harness_config = &red_harness_config,
   .has_gps = false,
   .has_hw_gmlan = false,
@@ -192,10 +171,8 @@ const board board_red = {
   .enable_can_transceiver = red_enable_can_transceiver,
   .enable_can_transceivers = red_enable_can_transceivers,
   .set_led = red_set_led,
-  .set_usb_power_mode = red_set_usb_power_mode,
   .set_gps_mode = unused_set_gps_mode,
   .set_can_mode = red_set_can_mode,
-  .usb_power_mode_tick = unused_usb_power_mode_tick,
   .check_ignition = red_check_ignition,
   .read_current = unused_read_current,
   .set_fan_enabled = unused_set_fan_enabled,

board/boards/uno.h

@@ -56,7 +56,7 @@ void uno_set_gps_load_switch(bool enabled) {
 }
 
 void uno_set_bootkick(bool enabled){
-  if(enabled){
+  if (enabled) {
     set_gpio_output(GPIOB, 14, false);
   } else {
     // We want the pin to be floating, not forced high!
@@ -73,25 +73,6 @@ void uno_set_phone_power(bool enabled){
   set_gpio_output(GPIOB, 4, enabled);
 }
 
-void uno_set_usb_power_mode(uint8_t mode) {
-  bool valid = false;
-  switch (mode) {
-    case USB_POWER_CLIENT:
-      valid = true;
-      break;
-    case USB_POWER_CDP:
-      uno_bootkick();
-      valid = true;
-      break;
-    default:
-      puts("Invalid USB power mode\n");
-      break;
-  }
-  if (valid) {
-    usb_power_mode = mode;
-  }
-}
-
 void uno_set_gps_mode(uint8_t mode) {
   switch (mode) {
     case GPS_DISABLED:
@@ -145,9 +126,11 @@ void uno_set_can_mode(uint8_t mode){
   }
 }
 
-void uno_usb_power_mode_tick(uint32_t uptime){
-  UNUSED(uptime);
-  if(bootkick_timer != 0U){
+void uno_board_tick(bool ignition, bool usb_enum, bool heartbeat_seen) {
+  UNUSED(ignition);
+  UNUSED(usb_enum);
+  UNUSED(heartbeat_seen);
+  if (bootkick_timer != 0U) {
     bootkick_timer--;
   } else {
     uno_set_bootkick(false);
@@ -262,6 +245,7 @@ const harness_configuration uno_harness_config = {
 
 const board board_uno = {
   .board_type = "Uno",
+  .board_tick = uno_board_tick,
   .harness_config = &uno_harness_config,
   .has_gps = true,
   .has_hw_gmlan = false,
@@ -273,10 +257,8 @@ const board board_uno = {
   .enable_can_transceiver = uno_enable_can_transceiver,
   .enable_can_transceivers = uno_enable_can_transceivers,
   .set_led = uno_set_led,
-  .set_usb_power_mode = uno_set_usb_power_mode,
   .set_gps_mode = uno_set_gps_mode,
   .set_can_mode = uno_set_can_mode,
-  .usb_power_mode_tick = uno_usb_power_mode_tick,
   .check_ignition = uno_check_ignition,
   .read_current = unused_read_current,
   .set_fan_enabled = uno_set_fan_enabled,

board/boards/unused_funcs.h

@@ -2,10 +2,6 @@ void unused_set_gps_mode(uint8_t mode) {
   UNUSED(mode);
 }
 
-void unused_usb_power_mode_tick(uint32_t uptime) {
-  UNUSED(uptime);
-}
-
 void unused_set_ir_power(uint8_t percentage) {
   UNUSED(percentage);
 }
@@ -29,3 +25,9 @@ void unused_set_siren(bool enabled) {
 uint32_t unused_read_current(void) {
   return 0U;
 }
+
+void unused_board_tick(bool ignition, bool usb_enum, bool heartbeat_seen) {
+  UNUSED(ignition);
+  UNUSED(usb_enum);
+  UNUSED(heartbeat_seen);
+}