mirror of
https://github.com/firestar5683/StarPilot.git
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firestar5683
22a8575199
Keep official openpilot ancestry and dependency licenses. Store resources directly in Git, remove LFS setup requirements, and leave the downloadable big model outside the source tree.
82 lines
2.0 KiB
C
82 lines
2.0 KiB
C
#pragma once
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// Early bringup
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#define ENTER_BOOTLOADER_MAGIC 0xdeadbeefU
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#define ENTER_SOFTLOADER_MAGIC 0xdeadc0deU
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#define BOOT_NORMAL 0xdeadb111U
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extern void *g_pfnVectors;
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extern uint32_t enter_bootloader_mode;
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typedef void (*bootloader_fcn)(void);
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typedef bootloader_fcn *bootloader_fcn_ptr;
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static void jump_to_bootloader(void) {
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// do enter bootloader
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enter_bootloader_mode = 0;
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bootloader_fcn_ptr bootloader_ptr = (bootloader_fcn_ptr)BOOTLOADER_ADDRESS;
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bootloader_fcn bootloader = *bootloader_ptr;
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// jump to bootloader
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enable_interrupts();
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bootloader();
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// reset on exit
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enter_bootloader_mode = BOOT_NORMAL;
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NVIC_SystemReset();
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}
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void early_initialization(void) {
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// Reset global critical depth
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disable_interrupts();
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global_critical_depth = 0;
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// Init register and interrupt tables
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init_registers();
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// after it's been in the bootloader, things are initted differently, so we reset
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if ((enter_bootloader_mode != BOOT_NORMAL) &&
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(enter_bootloader_mode != ENTER_BOOTLOADER_MAGIC) &&
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(enter_bootloader_mode != ENTER_SOFTLOADER_MAGIC)) {
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enter_bootloader_mode = BOOT_NORMAL;
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NVIC_SystemReset();
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}
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// if wrong chip, reboot
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volatile unsigned int id = DBGMCU->IDCODE;
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if ((id & 0xFFFU) != MCU_IDCODE) {
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enter_bootloader_mode = ENTER_BOOTLOADER_MAGIC;
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}
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// setup interrupt table
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SCB->VTOR = (uint32_t)&g_pfnVectors;
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// early GPIOs float everything
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early_gpio_float();
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detect_board_type();
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if (enter_bootloader_mode == ENTER_BOOTLOADER_MAGIC) {
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led_init();
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led_set(LED_GREEN, 1);
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jump_to_bootloader();
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}
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}
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// we might hit NMI / HardFault close to brown-out.
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// we don't want to infinitely loop, so let's set a logging cookie and reset.
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#define NMI_COOKIE 0x4E4D4921U
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#define HARDFAULT_COOKIE 0x48464C54U
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extern uint32_t fault_cookie;
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void NMI_Handler(void) {
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fault_cookie = NMI_COOKIE;
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NVIC_SystemReset();
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}
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void HardFault_Handler(void) {
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fault_cookie = HARDFAULT_COOKIE;
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NVIC_SystemReset();
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}
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