mirror of
https://github.com/firestar5683/StarPilot.git
synced 2026-07-02 12:02:09 +08:00
Vehicle Researcher
876256a268
9881e6118 Panda for Mazda (#165) 9a15d2f5b fix version newline a8ed7d219 add subaru outback/legacy to subaru safety (#259) bdeb1c953 mazda is #12 14ea4d2e0 merge safety gm in a single file bf1ef875e Add GM passive safety mode (#266) c131fffae fix canflash for pedal (#267) 3397b1527 only allow bootloader entry on debug builds d68356b92 Honda Nidec: fwd stock AEB (#257) 6f532c6d5 Black panda Jenkins (#256) d68508c79 Gpio race condition fix (#263) d69d05fc0 Fixed pedal not initializing (#262) 36067e01c Honda safety: fixed incorrect brake decoding. Due to the specific limit of 255, this change does not affect the safety behavior git-subtree-dir: panda git-subtree-split: 9881e61184ad0417e9e080767f09585a9c777621
80 lines
2.1 KiB
C
80 lines
2.1 KiB
C
// Early bringup
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#define ENTER_BOOTLOADER_MAGIC 0xdeadbeef
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#define ENTER_SOFTLOADER_MAGIC 0xdeadc0de
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#define BOOT_NORMAL 0xdeadb111
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extern void *g_pfnVectors;
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extern uint32_t enter_bootloader_mode;
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void jump_to_bootloader(void) {
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// do enter bootloader
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enter_bootloader_mode = 0;
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void (*bootloader)(void) = (void (*)(void)) (*((uint32_t *)0x1fff0004));
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// jump to bootloader
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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(void) {
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// Reset global critical depth
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global_critical_depth = 0;
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// neccesary for DFU flashing on a non-power cycled white panda
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enable_interrupts();
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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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#ifdef STM32F4
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if ((id & 0xFFFU) != 0x463U) {
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enter_bootloader_mode = ENTER_BOOTLOADER_MAGIC;
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}
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#else
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if ((id & 0xFFFU) != 0x411U) {
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enter_bootloader_mode = ENTER_BOOTLOADER_MAGIC;
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}
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#endif
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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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RCC->AHB1ENR = RCC_AHB1ENR_GPIOAEN | RCC_AHB1ENR_GPIOBEN | RCC_AHB1ENR_GPIOCEN;
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GPIOA->MODER = 0; GPIOB->MODER = 0; GPIOC->MODER = 0;
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GPIOA->ODR = 0; GPIOB->ODR = 0; GPIOC->ODR = 0;
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GPIOA->PUPDR = 0; GPIOB->PUPDR = 0; GPIOC->PUPDR = 0;
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detect_configuration();
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detect_board_type();
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#ifdef PANDA
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// enable the ESP, disable ESP boot mode
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// dont disable on grey panda
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current_board->set_esp_gps_mode(ESP_GPS_ENABLED);
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#endif
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if (enter_bootloader_mode == ENTER_BOOTLOADER_MAGIC) {
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#ifdef PANDA
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current_board->set_esp_gps_mode(ESP_GPS_DISABLED);
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#endif
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current_board->set_led(LED_GREEN, 1);
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jump_to_bootloader();
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}
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if (is_entering_bootmode) {
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enter_bootloader_mode = ENTER_SOFTLOADER_MAGIC;
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}
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} |