Merge branch 'main' into fouge/memfault

worldcoin · May 14, 2024 · 4e32729 · 4e32729
2 parents c49e16a + 5df6cec
commit 4e32729
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Showing 7 changed files with 101 additions and 15 deletions.
diff --git a/boards/arm/diamond_main/diamond_main.dts b/boards/arm/diamond_main/diamond_main.dts
@@ -69,8 +69,12 @@
         supply-super-cap-enable-gpios = <&gpio_exp_pwr_brd 6 GPIO_ACTIVE_HIGH>;
         supply-vbat-sw-enable-gpios = <&gpio_exp_pwr_brd 12 GPIO_ACTIVE_HIGH>;
         front-unit-pvcc-enabled-gpios = <&gpio_exp_front_unit 0 GPIO_ACTIVE_HIGH>;
-        front-unit-fuse-reset-gpios = <&gpio_exp_front_unit 2 GPIO_ACTIVE_LOW>;
-        front-unit-fuse-active-gpios = <&gpio_exp_front_unit 6 GPIO_ACTIVE_LOW>;
+
+        // The signals FUSE_RST and FUSE_ACTIVE are available only on Front Unit 6.0 (PoC1) and 6.1 (PoC2)
+        // On Front Unit 6.2 (B3) the signal EN_5V_SWITCHED is connected to the port expander pin P02 instead.
+        front-unit-fuse-reset-gpios = <&gpio_exp_front_unit 2 GPIO_ACTIVE_LOW>;     // PoC1 & PoC2 only
+        front-unit-fuse-active-gpios = <&gpio_exp_front_unit 6 GPIO_ACTIVE_LOW>;    // PoC1 & PoC2 only
+        front-unit-en-5v-switched-gpios = <&gpio_exp_front_unit 2 GPIO_ACTIVE_HIGH>;      // B3 only
 
         supply-12v-caps-enable-gpios = <&gpio_exp_pwr_brd 4 GPIO_ACTIVE_LOW>;
         supply-5v-rgb-enable-gpios = <&gpio_exp1 2 GPIO_ACTIVE_HIGH>;
@@ -93,6 +97,8 @@
         cone-button-gpios = <&gpio_exp_cone 12 GPIO_ACTIVE_LOW>;
         cone-5v-enable-gpios = <&gpio_exp_cone 0 GPIO_ACTIVE_HIGH>;
 
+        usb-hub-reset-gpios = <&gpio_exp2 2 GPIO_ACTIVE_LOW>;
+
         // Voltage at VREF+ pin of STM32
         vref-mv = <2048>;
     };
@@ -464,7 +470,7 @@
                 // not actually used by the SPI driver
                 duplex = <SPI_HALF_DUPLEX>;
 
-                num-leds = <99>;
+                num-leds = <136>;
             };
         };
 

diff --git a/drivers/led_strip/Kconfig.spi_rgb_led b/drivers/led_strip/Kconfig.spi_rgb_led
@@ -15,7 +15,7 @@ config SPI_RGB_LED_DIMMING
 config SPI_RGB_LED_BUFFER_SIZE
     int "Size of SPI RGB LED buffer"
     depends on SPI_RGB_LED
-    default 396
+    default 544
     help
       Size of the SPI RGB LED buffer in bytes. This is the maximum
       number of bytes that can be sent to the LED strip in one go.

diff --git a/main_board/src/optics/ir_camera_system/ir_camera_system_hw.c b/main_board/src/optics/ir_camera_system/ir_camera_system_hw.c
@@ -8,6 +8,7 @@
 #include "optics/1d_tof/tof_1d.h"
 #include "optics/liquid_lens/liquid_lens.h"
 #include "optics/mirror/mirror.h"
+#include "system/version/version.h"
 #include "ui/rgb_leds/front_leds/front_leds.h"
 #include <app_assert.h>
 #include <app_config.h>
@@ -1031,6 +1032,7 @@ ir_camera_system_get_time_until_update_us_internal(void)
 }
 
 #if defined(CONFIG_BOARD_DIAMOND_MAIN)
+// Fuse available on Front Unit versions 6.0 and 6.1 only!
 static ret_code_t
 reset_fuse(void)
 {
@@ -1047,15 +1049,15 @@ reset_fuse(void)
         return RET_ERROR_INTERNAL;
     }
 
+    err_code = gpio_pin_configure_dt(&fuse_reset, GPIO_OUTPUT_INACTIVE);
+    if (err_code) {
+        ASSERT_SOFT(err_code);
+        return RET_ERROR_INTERNAL;
+    }
+
     if (gpio_pin_get_dt(&fuse_active) == 0) {
         LOG_WRN("Resetting blown fuse");
 
-        err_code = gpio_pin_configure_dt(&fuse_reset, GPIO_OUTPUT_INACTIVE);
-        if (err_code) {
-            ASSERT_SOFT(err_code);
-            return RET_ERROR_INTERNAL;
-        }
-
         err_code = gpio_pin_set_dt(&fuse_reset, 1);
         if (err_code) {
             ASSERT_SOFT(err_code);
@@ -1072,6 +1074,24 @@ reset_fuse(void)
 
     return RET_SUCCESS;
 }
+
+// 5V switch not available on Front Unit versions 6.0 and 6.1!
+static ret_code_t
+enable_5v_switched(void)
+{
+    int err_code;
+
+    const struct gpio_dt_spec en_5v_switched =
+        GPIO_DT_SPEC_GET(DT_PATH(zephyr_user), front_unit_en_5v_switched_gpios);
+
+    err_code = gpio_pin_configure_dt(&en_5v_switched, GPIO_OUTPUT_ACTIVE);
+    if (err_code) {
+        ASSERT_SOFT(err_code);
+        return RET_ERROR_INTERNAL;
+    }
+
+    return RET_SUCCESS;
+}
 #endif
 
 ret_code_t
@@ -1213,7 +1233,14 @@ ir_camera_system_hw_init(void)
 #endif
 
 #if defined(CONFIG_BOARD_DIAMOND_MAIN)
-    reset_fuse();
+    Hardware_OrbVersion version = version_get_hardware_rev();
+
+    if (version == Hardware_OrbVersion_HW_VERSION_DIAMOND_POC1 ||
+        version == Hardware_OrbVersion_HW_VERSION_DIAMOND_POC2) {
+        reset_fuse();
+    } else {
+        enable_5v_switched();
+    }
 #endif
 
     return RET_SUCCESS;

diff --git a/main_board/src/power/battery/battery_amber.c b/main_board/src/power/battery/battery_amber.c
@@ -46,6 +46,7 @@ static_assert(
 #define BQ4050_CMD_CYCLE_COUNT               0x17
 #define BQ4050_CMD_SERIAL_NUMBER             0x1C
 #define BQ4050_CMD_MANUFACTURER_BLOCK_ACCESS 0x44
+#define BQ4050_CMD_STATE_OF_HEALTH           0x4F
 
 #define BQ4050_BLK_CMD_FIRMWARE_VERSION  0x0002
 #define BQ4050_BLK_CMD_LIFETIME_DATA_1   0x0060
@@ -256,6 +257,24 @@ bq4050_read_serial_number(uint16_t *serial_number)
     }
 }
 
+static ret_code_t
+bq4050_read_state_of_health(uint8_t *state_of_health_percentage)
+{
+    if (state_of_health_percentage == NULL) {
+        return RET_ERROR_INVALID_PARAM;
+    }
+
+    uint16_t word = 0;
+    int ret = bq4050_read_word(BQ4050_CMD_STATE_OF_HEALTH, &word);
+
+    if (ret == 0) {
+        *state_of_health_percentage = (uint8_t)word;
+        return RET_SUCCESS;
+    } else {
+        return RET_ERROR_INTERNAL;
+    }
+}
+
 static void
 publish_battery_voltages(BatteryVoltage *voltages)
 {
@@ -560,6 +579,22 @@ battery_rx_thread()
             }
         }
 
+        {
+            uint8_t state_of_health_percentage;
+            ret = bq4050_read_state_of_health(&state_of_health_percentage);
+
+            if (ret == 0) {
+                LOG_DBG("Battery SoH: %d %%", state_of_health_percentage);
+
+                BatteryStateOfHealth state_of_health = {0};
+                state_of_health.percentage = state_of_health_percentage;
+
+                publish_new(&state_of_health, sizeof(state_of_health),
+                            McuToJetson_battery_state_of_health_tag,
+                            CONFIG_CAN_ADDRESS_DEFAULT_REMOTE);
+            }
+        }
+
         if (!dev_mode) {
             // check that we are still receiving messages from the battery
             // and consider the battery as removed if no message

diff --git a/main_board/src/power/boot/boot.c b/main_board/src/power/boot/boot.c
@@ -89,6 +89,9 @@ static const struct gpio_dt_spec supply_3v6_enable_gpio_spec =
     GPIO_DT_SPEC_GET(DT_PATH(zephyr_user), supply_3v6_enable_gpios);
 static const struct gpio_dt_spec supply_5v_rgb_enable_gpio_spec =
     GPIO_DT_SPEC_GET(DT_PATH(zephyr_user), supply_5v_rgb_enable_gpios);
+
+static const struct gpio_dt_spec usb_hub_reset_gpio_spec =
+        GPIO_DT_SPEC_GET(DT_PATH(zephyr_user), usb_hub_reset_gpios);
 #endif
 
 K_SEM_DEFINE(sem_reboot, 0, 1);
@@ -265,7 +268,8 @@ power_configure_gpios(void)
         !device_is_ready(supply_1v2_enable_gpio_spec.port) ||
         !device_is_ready(supply_2v8_enable_gpio_spec.port) ||
         !device_is_ready(supply_3v6_enable_gpio_spec.port) ||
-        !device_is_ready(supply_5v_rgb_enable_gpio_spec.port)) {
+        !device_is_ready(supply_5v_rgb_enable_gpio_spec.port) ||
+        !device_is_ready(usb_hub_reset_gpio_spec.port)) {
         return RET_ERROR_INTERNAL;
     }
 
@@ -310,6 +314,13 @@ power_configure_gpios(void)
         ASSERT_SOFT(ret);
         return RET_ERROR_INTERNAL;
     }
+
+    ret = gpio_pin_configure_dt(&usb_hub_reset_gpio_spec,
+                                GPIO_OUTPUT_ACTIVE);
+    if (ret != 0) {
+        ASSERT_SOFT(ret);
+        return RET_ERROR_INTERNAL;
+    }
 #endif
 
     return RET_SUCCESS;
@@ -784,6 +795,9 @@ boot_turn_on_jetson(void)
 #if defined(CONFIG_BOARD_PEARL_MAIN)
     LOG_INF("Enabling LTE, GPS, and USB");
     gpio_pin_set_dt(&lte_gps_usb_reset_gpio_spec, 0);
+#elif defined(CONFIG_BOARD_DIAMOND_MAIN)
+    LOG_INF("Enabling USB");
+    gpio_pin_set_dt(&usb_hub_reset_gpio_spec, 0);
 #endif
 
     shutdown_req_init();

diff --git a/main_board/src/pubsub/pubsub.c b/main_board/src/pubsub/pubsub.c
@@ -86,6 +86,9 @@ const struct sub_message_s sub_prios[] = {
     [McuToJetson_battery_info_max_values_tag] = {.priority = SUB_PRIO_STORE},
     [McuToJetson_battery_info_soc_and_statistics_tag] = {.priority =
                                                              SUB_PRIO_STORE},
+    [McuToJetson_cone_present_tag] = {.priority = SUB_PRIO_DISCARD},
+    [McuToJetson_memfault_event_tag] = {.priority = SUB_PRIO_DISCARD},
+    [McuToJetson_battery_state_of_health_tag] = {.priority = SUB_PRIO_DISCARD},
 };
 
 /* ISO-TP addresses + one CAN-FD address */

diff --git a/main_board/src/ui/rgb_leds/front_leds/front_leds.c b/main_board/src/ui/rgb_leds/front_leds/front_leds.c
@@ -25,14 +25,15 @@ static const struct device *const led_strip =
 #define NUM_LEDS DT_PROP(DT_NODELABEL(front_unit_rgb_leds), num_leds)
 #if defined(CONFIG_BOARD_PEARL_MAIN)
 #define NUM_CENTER_LEDS 9
-#define INDEX_RING_ZERO ((NUM_RING_LEDS * 3 / 4))
+#define INDEX_RING_ZERO ((NUM_RING_LEDS * 3 / 4)) // 0º is at the 3 o'clock position
 // Maximum amount of time for LED strip update
 // It's also the minimum amount of time we need to trigger
 // an LED strip update until the next IR LED pulse
 #define LED_STRIP_MAXIMUM_UPDATE_TIME_US 10000
 #else
-#define NUM_CENTER_LEDS 23
-#define INDEX_RING_ZERO 19 // 0º is at 19th LED
+#define NUM_CENTER_LEDS 64
+// 0º (3 o'clock position) is at 53rd LED on Front Unit 6.2
+#define INDEX_RING_ZERO 53
 #endif
 #define NUM_RING_LEDS (NUM_LEDS - NUM_CENTER_LEDS)