8000 Differential sound by robbederks · Pull Request #2220 · commaai/panda · GitHub
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Differential sound #2220

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Differential sound #2220

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465623f
drive negative pin with constant value
May 27, 2025
e32fee7
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maxime-desroches Jun 29, 2025
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3 changes: 3 additions & 0 deletions SConscript
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Original file line number Diff line number Diff line change
Expand Up @@ -22,6 +22,9 @@ else:
if os.getenv("DEBUG"):
common_flags += ["-DDEBUG"]

if os.getenv("DIFFERENTIAL_SOUND"):
common_flags += ["-DDIFFERENTIAL_SOUND"]

def objcopy(source, target, env, for_signature):
return '$OBJCOPY -O binary %s %s' % (source[0], target[0])

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2 changes: 2 additions & 0 deletions board/boards/cuatro.h
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Expand Up @@ -44,7 +44,9 @@ static void cuatro_set_bootkick(BootState state) {
}

static void cuatro_set_amp_enabled(bool enabled){
#ifndef DIFFERENTIAL_SOUND
set_gpio_output(GPIOA, 5, enabled);
#endif
set_gpio_output(GPIOB, 0, enabled);
}

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7 changes: 7 additions & 0 deletions board/stm32h7/sound.h
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Expand Up @@ -106,9 +106,16 @@ void sound_init(void) {

// Init DAC
DAC1->DHR12R1 = (1UL << 11);
#ifdef DIFFERENTIAL_SOUND
DAC1->DHR12R2 = (1UL << 11);
#endif
register_set(&DAC1->MCR, 0U, 0xFFFFFFFFU);
register_set(&DAC1->CR, DAC_CR_TEN1 | (4U << DAC_CR_TSEL1_Pos) | DAC_CR_DMAEN1, 0xFFFFFFFFU);
#ifdef DIFFERENTIAL_SOUND
register_set_bits(&DAC1->CR, DAC_CR_EN1 | DAC_CR_EN2);
#else
register_set_bits(&DAC1->CR, DAC_CR_EN1);
#endif

// Setup DMAMUX (DAC_CH1_DMA as input)
register_set(&DMAMUX1_Channel1->CCR, 67U, DMAMUX_CxCR_DMAREQ_ID_Msk);
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