sunnypilot v2026.002.000

version: sunnypilot v2026.002.000 (staging)
date: 2026-07-21T07:44:02
master commit: 2c334ede443d7391d27575af8c854a095ba702a8

panda/board/body/main.c

@@ -0,0 +1,144 @@
+#include <stdint.h>
+#include <stdbool.h>
+
+#include "board/config.h"
+#include "board/drivers/led.h"
+#include "board/drivers/pwm.h"
+#include "board/drivers/usb.h"
+#include "board/early_init.h"
+#include "board/obj/gitversion.h"
+#include "board/body/can.h"
+#include "opendbc/safety/safety.h"
+#include "board/drivers/can_common.h"
+#include "board/drivers/fdcan.h"
+#include "board/can_comms.h"
+#include "board/body/dotstar.h"
+#include "bldc/bldc.h"
+
+extern int _app_start[0xc000];
+
+#include "board/body/main_comms.h"
+
+static volatile uint32_t tick_count = 0U;
+static volatile uint32_t ignition_press_timestamp_us = 0U;
+static volatile bool ignition = false;
+static volatile bool plug_charging = false;
+
+void debug_ring_callback(uart_ring *ring) {
+  char rcv;
+  while (get_char(ring, &rcv)) {
+    (void)injectc(ring, rcv);
+  }
+}
+
+void __attribute__ ((noinline)) enable_fpu(void) {
+  SCB->CPACR |= ((3UL << (10U * 2U)) | (3UL << (11U * 2U)));
+}
+
+void __initialize_hardware_early(void) {
+  enable_fpu();
+  early_initialization();
+}
+
+void bldc_tim8_handler(void) {
+  if ((LEFT_TIM->SR & TIM_SR_UIF) != 0) {
+    LEFT_TIM->SR = ~TIM_SR_UIF;
+    bldc_step();
+  }
+}
+
+void tick_handler(void) {
+  if (TICK_TIMER->SR != 0) {
+    if (can_health[0].transmit_error_cnt >= 128) {
+      (void)llcan_init(CANIF_FROM_CAN_NUM(0));
+    }
+    static bool led_on = false;
+    led_set(LED_RED, led_on);
+    led_on = !led_on;
+    tick_count++;
+  }
+  TICK_TIMER->SR = 0;
+}
+
+static void exti15_10_handler(void) {
+  if ((EXTI->PR1 & (1U << CHARGING_DETECT_PIN)) != 0U) {
+    EXTI->PR1 = (1U << CHARGING_DETECT_PIN);
+    plug_charging = (get_gpio_input(CHARGING_DETECT_PORT, CHARGING_DETECT_PIN) != 0);
+  }
+
+  if ((EXTI->PR1 & (1U << IGNITION_SW_PIN)) != 0U) {
+    EXTI->PR1 = (1U << IGNITION_SW_PIN);
+
+    static uint32_t last_press_event_us = 0U;
+    const uint32_t debounce_us = 200000U; // 200 ms
+
+    uint32_t now = microsecond_timer_get();
+    bool pressed = (get_gpio_input(IGNITION_SW_PORT, IGNITION_SW_PIN) == 0);
+
+    if (pressed) {
+      if (get_ts_elapsed(now, last_press_event_us) > debounce_us) {
+        last_press_event_us = now;
+        ignition_press_timestamp_us = now;
+        ignition = !ignition;
+        set_gpio_output(OBDC_IGNITION_ON_PORT, OBDC_IGNITION_ON_PIN, ignition);
+      }
+    }
+  }
+}
+
+int main(void) {
+  disable_interrupts();
+  init_interrupts(true);
+
+  clock_init();
+  peripherals_init();
+
+  current_board = &board_body;
+  hw_type = HW_TYPE_BODY;
+
+  current_board->init();
+
+  REGISTER_INTERRUPT(EXTI15_10_IRQn, exti15_10_handler, 10000U, FAULT_INTERRUPT_RATE_EXTI);
+  NVIC_ClearPendingIRQ(EXTI15_10_IRQn);
+  NVIC_EnableIRQ(EXTI15_10_IRQn);
+
+  REGISTER_INTERRUPT(TIM8_UP_TIM13_IRQn, bldc_tim8_handler, 100000U, FAULT_INTERRUPT_RATE_TICK);
+  NVIC_ClearPendingIRQ(TIM8_UP_TIM13_IRQn);
+  NVIC_EnableIRQ(TIM8_UP_TIM13_IRQn);
+
+  REGISTER_INTERRUPT(TICK_TIMER_IRQ, tick_handler, 10U, FAULT_INTERRUPT_RATE_TICK);
+
+  led_init();
+  microsecond_timer_init();
+  tick_timer_init();
+  usb_init();
+  body_can_init();
+  dotstar_init();
+  bldc_init();
+  enable_interrupts();
+
+  plug_charging = (get_gpio_input(CHARGING_DETECT_PORT, CHARGING_DETECT_PIN) != 0);
+
+  while (true) {
+    uint32_t now = microsecond_timer_get();
+    if (plug_charging) {
+      motor_set_enable(false);
+      dotstar_apply_breathe((dotstar_rgb_t){255U, 40U, 0U}, now, 2000000U);
+    } else if (ignition) {
+      dotstar_run_rainbow(now);
+    } else {
+      dotstar_apply_breathe((dotstar_rgb_t){0U, 255U, 10U}, now, 1500000U);
+    }
+
+    if (ignition) {
+      motor_set_enable(true);
+      body_can_periodic(now, ignition, plug_charging);
+    } else {
+      motor_set_enable(false);
+    }
+
+    dotstar_show();
+  }
+
+  return 0;
+}