Detect H723 in firmware (commaai#1988)

* determine H723 based on package type

* wrong way round

* misra...

* enable SYSCFG clock before reading

* whitelist certain package types

board/SConscript

@@ -15,7 +15,4 @@ for project_name, project in build_projects.items():
   if ("ENABLE_SPI" in os.environ or "h7" in project_name):
     flags.append('-DENABLE_SPI')
 
-  if "H723" in os.environ:
-    flags.append('-DSTM32H723')
-
   build_project(project_name, project, flags)

board/stm32h7/board.h

@@ -18,36 +18,33 @@
 #include "boards/cuatro.h"
 
 
-uint8_t get_board_id(void) {
-  return detect_with_pull(GPIOF, 7, PULL_UP) |
-         (detect_with_pull(GPIOF, 8, PULL_UP) << 1U) |
-         (detect_with_pull(GPIOF, 9, PULL_UP) << 2U) |
-         (detect_with_pull(GPIOF, 10, PULL_UP) << 3U);
-}
-
 void detect_board_type(void) {
-  const uint8_t board_id = get_board_id();
+  // On STM32H7 pandas, we use two different sets of pins.
+  const uint8_t id1 = detect_with_pull(GPIOF, 7, PULL_UP) |
+                     (detect_with_pull(GPIOF, 8, PULL_UP) << 1U) |
+                     (detect_with_pull(GPIOF, 9, PULL_UP) << 2U) |
+                     (detect_with_pull(GPIOF, 10, PULL_UP) << 3U);
 
-  if (board_id == 0U) {
+  const uint8_t id2 = detect_with_pull(GPIOD, 4, PULL_UP) |
+                     (detect_with_pull(GPIOD, 5, PULL_UP) << 1U) |
+                     (detect_with_pull(GPIOD, 6, PULL_UP) << 2U) |
+                     (detect_with_pull(GPIOD, 7, PULL_UP) << 3U);
+
+  if (id2 == 3U) {
+    hw_type = HW_TYPE_CUATRO;
+    current_board = &board_cuatro;
+  } else if (id1 == 0U) {
     hw_type = HW_TYPE_RED_PANDA;
     current_board = &board_red;
-  } else if (board_id == 1U) {
+  } else if (id1 == 1U) {
     // deprecated
     //hw_type = HW_TYPE_RED_PANDA_V2;
-  } else if (board_id == 2U) {
+    hw_type = HW_TYPE_UNKNOWN;
+  } else if (id1 == 2U) {
     hw_type = HW_TYPE_TRES;
     current_board = &board_tres;
-  } else if (board_id == 3U) {
-    hw_type = HW_TYPE_CUATRO;
-    current_board = &board_tres;
   } else {
     hw_type = HW_TYPE_UNKNOWN;
     print("Hardware type is UNKNOWN!\n");
   }
-
-  // TODO: detect this live
-#ifdef STM32H723
-  hw_type = HW_TYPE_CUATRO;
-  current_board = &board_cuatro;
-#endif
 }

board/stm32h7/clock.h

@@ -17,6 +17,34 @@ APB4 per: 60MHz
 PCLK1: 60MHz (for USART2,3,4,5,7,8)
 */
 
+typedef enum {
+  PACKAGE_UNKNOWN = 0,
+  PACKAGE_WITH_SMPS = 1,
+  PACKAGE_WITHOUT_SMPS = 2,
+} PackageSMPSType;
+
+// TODO: find a better way to distinguish between H725 (using SMPS) and H723 (lacking SMPS)
+// The package will do for now, since we have only used TFBGA100 for H723
+PackageSMPSType get_package_smps_type(void) {
+  PackageSMPSType ret;
+  RCC->APB4ENR |= RCC_APB4ENR_SYSCFGEN; // make sure SYSCFG clock is enabled. does seem to read fine without too though
+
+  switch(SYSCFG->PKGR & 0xFU) {
+    case 0b0001U: // TFBGA100 Legacy
+    case 0b0011U: // TFBGA100
+      ret = PACKAGE_WITHOUT_SMPS;
+      break;
+    case 0b0101U: // LQFP144 Legacy
+    case 0b0111U: // LQFP144 Industrial
+    case 0b1000U: // UFBGA169
+      ret = PACKAGE_WITH_SMPS;
+      break;
+    default:
+      ret = PACKAGE_UNKNOWN;
+  }
+  return ret;
+}
+
 void clock_init(void) {
   /*
     WARNING: PWR->CR3's lower byte can only be written once
@@ -28,12 +56,16 @@ void clock_init(void) {
     In a normal bootup, the bootstub will be the first to write this. The app section calls clock_init again, but the CR3 write will silently fail. This is fine for most cases, but caution should be taken that the bootstub and app always write the same config.
   */
 
-  // Set power mode to direct SMPS power supply(depends on the board layout)
-#ifndef STM32H723
-  register_set(&(PWR->CR3), PWR_CR3_SMPSEN, 0xFU); // powered only by SMPS
-#else
-  register_set(&(PWR->CR3), PWR_CR3_LDOEN, 0xFU);
-#endif
+  // Set power mode to direct SMPS power supply (depends on the board layout)
+  PackageSMPSType package_smps = get_package_smps_type();
+  if (package_smps == PACKAGE_WITHOUT_SMPS) {
+    register_set(&(PWR->CR3), PWR_CR3_LDOEN, 0xFU); // no SMPS, so powered by LDO
+  } else if (package_smps == PACKAGE_WITH_SMPS) {
+    register_set(&(PWR->CR3), PWR_CR3_SMPSEN, 0xFU); // powered only by SMPS
+  } else {
+    while(true); // unknown package, let's hang here
+  }
+
   // Set VOS level (VOS3 to 170Mhz, VOS2 to 300Mhz, VOS1 to 400Mhz, VOS0 to 550Mhz)
   register_set(&(PWR->D3CR), PWR_D3CR_VOS_1 | PWR_D3CR_VOS_0, 0xC000U); //VOS1, needed for 80Mhz CAN FD
   while ((PWR->CSR1 & PWR_CSR1_ACTVOSRDY) == 0U);