You can not select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
314 lines
8.0 KiB
314 lines
8.0 KiB
// flasher state variables
|
|
uint32_t *prog_ptr = NULL;
|
|
int unlocked = 0;
|
|
|
|
void debug_ring_callback(uart_ring *ring) {}
|
|
|
|
int usb_cb_control_msg(USB_Setup_TypeDef *setup, uint8_t *resp, int hardwired) {
|
|
int resp_len = 0;
|
|
|
|
// flasher machine
|
|
memset(resp, 0, 4);
|
|
memcpy(resp+4, "\xde\xad\xd0\x0d", 4);
|
|
resp[0] = 0xff;
|
|
resp[2] = setup->b.bRequest;
|
|
resp[3] = ~setup->b.bRequest;
|
|
*((uint32_t **)&resp[8]) = prog_ptr;
|
|
resp_len = 0xc;
|
|
|
|
int sec;
|
|
switch (setup->b.bRequest) {
|
|
// **** 0xb0: flasher echo
|
|
case 0xb0:
|
|
resp[1] = 0xff;
|
|
break;
|
|
// **** 0xb1: unlock flash
|
|
case 0xb1:
|
|
if (FLASH->CR & FLASH_CR_LOCK) {
|
|
FLASH->KEYR = 0x45670123;
|
|
FLASH->KEYR = 0xCDEF89AB;
|
|
resp[1] = 0xff;
|
|
}
|
|
set_led(LED_GREEN, 1);
|
|
unlocked = 1;
|
|
prog_ptr = (uint32_t *)0x8004000;
|
|
break;
|
|
// **** 0xb2: erase sector
|
|
case 0xb2:
|
|
sec = setup->b.wValue.w;
|
|
// don't erase the bootloader
|
|
if (sec != 0 && sec < 12 && unlocked) {
|
|
FLASH->CR = (sec << 3) | FLASH_CR_SER;
|
|
FLASH->CR |= FLASH_CR_STRT;
|
|
while (FLASH->SR & FLASH_SR_BSY);
|
|
resp[1] = 0xff;
|
|
}
|
|
break;
|
|
// **** 0xd0: fetch serial number
|
|
case 0xd0:
|
|
#ifdef PANDA
|
|
// addresses are OTP
|
|
if (setup->b.wValue.w == 1) {
|
|
memcpy(resp, (void *)0x1fff79c0, 0x10);
|
|
resp_len = 0x10;
|
|
} else {
|
|
get_provision_chunk(resp);
|
|
resp_len = PROVISION_CHUNK_LEN;
|
|
}
|
|
#endif
|
|
break;
|
|
// **** 0xd1: enter bootloader mode
|
|
case 0xd1:
|
|
// this allows reflashing of the bootstub
|
|
// so it's blocked over wifi
|
|
switch (setup->b.wValue.w) {
|
|
case 0:
|
|
if (hardwired) {
|
|
puts("-> entering bootloader\n");
|
|
enter_bootloader_mode = ENTER_BOOTLOADER_MAGIC;
|
|
NVIC_SystemReset();
|
|
}
|
|
break;
|
|
case 1:
|
|
puts("-> entering softloader\n");
|
|
enter_bootloader_mode = ENTER_SOFTLOADER_MAGIC;
|
|
NVIC_SystemReset();
|
|
break;
|
|
}
|
|
break;
|
|
// **** 0xd6: get version
|
|
case 0xd6:
|
|
COMPILE_TIME_ASSERT(sizeof(gitversion) <= MAX_RESP_LEN)
|
|
memcpy(resp, gitversion, sizeof(gitversion));
|
|
resp_len = sizeof(gitversion);
|
|
break;
|
|
// **** 0xd8: reset ST
|
|
case 0xd8:
|
|
NVIC_SystemReset();
|
|
break;
|
|
}
|
|
return resp_len;
|
|
}
|
|
|
|
int usb_cb_ep1_in(uint8_t *usbdata, int len, int hardwired) { return 0; }
|
|
void usb_cb_ep3_out(uint8_t *usbdata, int len, int hardwired) { }
|
|
|
|
int is_enumerated = 0;
|
|
void usb_cb_enumeration_complete() {
|
|
puts("USB enumeration complete\n");
|
|
is_enumerated = 1;
|
|
}
|
|
|
|
void usb_cb_ep2_out(uint8_t *usbdata, int len, int hardwired) {
|
|
set_led(LED_RED, 0);
|
|
for (int i = 0; i < len/4; i++) {
|
|
// program byte 1
|
|
FLASH->CR = FLASH_CR_PSIZE_1 | FLASH_CR_PG;
|
|
|
|
*prog_ptr = *(uint32_t*)(usbdata+(i*4));
|
|
while (FLASH->SR & FLASH_SR_BSY);
|
|
|
|
//*(uint64_t*)(&spi_tx_buf[0x30+(i*4)]) = *prog_ptr;
|
|
prog_ptr++;
|
|
}
|
|
set_led(LED_RED, 1);
|
|
}
|
|
|
|
|
|
int spi_cb_rx(uint8_t *data, int len, uint8_t *data_out) {
|
|
int resp_len = 0;
|
|
switch (data[0]) {
|
|
case 0:
|
|
// control transfer
|
|
resp_len = usb_cb_control_msg((USB_Setup_TypeDef *)(data+4), data_out, 0);
|
|
break;
|
|
case 2:
|
|
// ep 2, flash!
|
|
usb_cb_ep2_out(data+4, data[2], 0);
|
|
break;
|
|
}
|
|
return resp_len;
|
|
}
|
|
|
|
#ifdef PEDAL
|
|
|
|
#define CAN CAN1
|
|
|
|
#define CAN_BL_INPUT 0x1
|
|
#define CAN_BL_OUTPUT 0x2
|
|
|
|
void CAN1_TX_IRQHandler() {
|
|
// clear interrupt
|
|
CAN->TSR |= CAN_TSR_RQCP0;
|
|
}
|
|
|
|
#define ISOTP_BUF_SIZE 0x110
|
|
|
|
uint8_t isotp_buf[ISOTP_BUF_SIZE];
|
|
uint8_t *isotp_buf_ptr = NULL;
|
|
int isotp_buf_remain = 0;
|
|
|
|
uint8_t isotp_buf_out[ISOTP_BUF_SIZE];
|
|
uint8_t *isotp_buf_out_ptr = NULL;
|
|
int isotp_buf_out_remain = 0;
|
|
int isotp_buf_out_idx = 0;
|
|
|
|
void bl_can_send(uint8_t *odat) {
|
|
// wait for send
|
|
while (!(CAN->TSR & CAN_TSR_TME0));
|
|
|
|
// send continue
|
|
CAN->sTxMailBox[0].TDLR = ((uint32_t*)odat)[0];
|
|
CAN->sTxMailBox[0].TDHR = ((uint32_t*)odat)[1];
|
|
CAN->sTxMailBox[0].TDTR = 8;
|
|
CAN->sTxMailBox[0].TIR = (CAN_BL_OUTPUT << 21) | 1;
|
|
}
|
|
|
|
void CAN1_RX0_IRQHandler() {
|
|
while (CAN->RF0R & CAN_RF0R_FMP0) {
|
|
if ((CAN->sFIFOMailBox[0].RIR>>21) == CAN_BL_INPUT) {
|
|
uint8_t dat[8];
|
|
((uint32_t*)dat)[0] = CAN->sFIFOMailBox[0].RDLR;
|
|
((uint32_t*)dat)[1] = CAN->sFIFOMailBox[0].RDHR;
|
|
uint8_t odat[8];
|
|
uint8_t type = dat[0] & 0xF0;
|
|
if (type == 0x30) {
|
|
// continue
|
|
while (isotp_buf_out_remain > 0) {
|
|
// wait for send
|
|
while (!(CAN->TSR & CAN_TSR_TME0));
|
|
|
|
odat[0] = 0x20 | isotp_buf_out_idx;
|
|
memcpy(odat+1, isotp_buf_out_ptr, 7);
|
|
isotp_buf_out_remain -= 7;
|
|
isotp_buf_out_ptr += 7;
|
|
isotp_buf_out_idx++;
|
|
|
|
bl_can_send(odat);
|
|
}
|
|
} else if (type == 0x20) {
|
|
if (isotp_buf_remain > 0) {
|
|
memcpy(isotp_buf_ptr, dat+1, 7);
|
|
isotp_buf_ptr += 7;
|
|
isotp_buf_remain -= 7;
|
|
}
|
|
if (isotp_buf_remain <= 0) {
|
|
int len = isotp_buf_ptr - isotp_buf + isotp_buf_remain;
|
|
|
|
// call the function
|
|
memset(isotp_buf_out, 0, ISOTP_BUF_SIZE);
|
|
isotp_buf_out_remain = spi_cb_rx(isotp_buf, len, isotp_buf_out);
|
|
isotp_buf_out_ptr = isotp_buf_out;
|
|
isotp_buf_out_idx = 0;
|
|
|
|
// send initial
|
|
if (isotp_buf_out_remain <= 7) {
|
|
odat[0] = isotp_buf_out_remain;
|
|
memcpy(odat+1, isotp_buf_out_ptr, isotp_buf_out_remain);
|
|
} else {
|
|
odat[0] = 0x10 | (isotp_buf_out_remain>>8);
|
|
odat[1] = isotp_buf_out_remain & 0xFF;
|
|
memcpy(odat+2, isotp_buf_out_ptr, 6);
|
|
isotp_buf_out_remain -= 6;
|
|
isotp_buf_out_ptr += 6;
|
|
isotp_buf_out_idx++;
|
|
}
|
|
|
|
bl_can_send(odat);
|
|
}
|
|
} else if (type == 0x10) {
|
|
int len = ((dat[0]&0xF)<<8) | dat[1];
|
|
|
|
// setup buffer
|
|
isotp_buf_ptr = isotp_buf;
|
|
memcpy(isotp_buf_ptr, dat+2, 6);
|
|
|
|
if (len < (ISOTP_BUF_SIZE-0x10)) {
|
|
isotp_buf_ptr += 6;
|
|
isotp_buf_remain = len-6;
|
|
}
|
|
|
|
memset(odat, 0, 8);
|
|
odat[0] = 0x30;
|
|
bl_can_send(odat);
|
|
}
|
|
}
|
|
// next
|
|
CAN->RF0R |= CAN_RF0R_RFOM0;
|
|
}
|
|
}
|
|
|
|
void CAN1_SCE_IRQHandler() {
|
|
can_sce(CAN);
|
|
}
|
|
|
|
#endif
|
|
|
|
void soft_flasher_start() {
|
|
puts("\n\n\n************************ FLASHER START ************************\n");
|
|
|
|
enter_bootloader_mode = 0;
|
|
|
|
RCC->AHB1ENR |= RCC_AHB1ENR_DMA2EN;
|
|
RCC->APB2ENR |= RCC_APB2ENR_SPI1EN;
|
|
RCC->AHB2ENR |= RCC_AHB2ENR_OTGFSEN;
|
|
RCC->APB1ENR |= RCC_APB1ENR_USART2EN;
|
|
|
|
// pedal has the canloader
|
|
#ifdef PEDAL
|
|
RCC->APB1ENR |= RCC_APB1ENR_CAN1EN;
|
|
|
|
// B8,B9: CAN 1
|
|
set_gpio_alternate(GPIOB, 8, GPIO_AF9_CAN1);
|
|
set_gpio_alternate(GPIOB, 9, GPIO_AF9_CAN1);
|
|
set_can_enable(CAN1, 1);
|
|
|
|
// init can
|
|
can_silent = ALL_CAN_LIVE;
|
|
can_init(0);
|
|
#endif
|
|
|
|
// A4,A5,A6,A7: setup SPI
|
|
set_gpio_alternate(GPIOA, 4, GPIO_AF5_SPI1);
|
|
set_gpio_alternate(GPIOA, 5, GPIO_AF5_SPI1);
|
|
set_gpio_alternate(GPIOA, 6, GPIO_AF5_SPI1);
|
|
set_gpio_alternate(GPIOA, 7, GPIO_AF5_SPI1);
|
|
|
|
// A2,A3: USART 2 for debugging
|
|
set_gpio_alternate(GPIOA, 2, GPIO_AF7_USART2);
|
|
set_gpio_alternate(GPIOA, 3, GPIO_AF7_USART2);
|
|
|
|
// A11,A12: USB
|
|
set_gpio_alternate(GPIOA, 11, GPIO_AF10_OTG_FS);
|
|
set_gpio_alternate(GPIOA, 12, GPIO_AF10_OTG_FS);
|
|
GPIOA->OSPEEDR = GPIO_OSPEEDER_OSPEEDR11 | GPIO_OSPEEDER_OSPEEDR12;
|
|
|
|
// flasher
|
|
spi_init();
|
|
|
|
// enable USB
|
|
usb_init();
|
|
|
|
// green LED on for flashing
|
|
set_led(LED_GREEN, 1);
|
|
|
|
__enable_irq();
|
|
|
|
uint64_t cnt = 0;
|
|
|
|
for (cnt=0;;cnt++) {
|
|
if (cnt == 35 && !is_enumerated && usb_power_mode == USB_POWER_CLIENT) {
|
|
// if you are connected through a hub to the phone
|
|
// you need power to be able to see the device
|
|
puts("USBP: didn't enumerate, switching to CDP mode\n");
|
|
set_usb_power_mode(USB_POWER_CDP);
|
|
set_led(LED_BLUE, 1);
|
|
}
|
|
// blink the green LED fast
|
|
set_led(LED_GREEN, 0);
|
|
delay(500000);
|
|
set_led(LED_GREEN, 1);
|
|
delay(500000);
|
|
}
|
|
}
|
|
|
|
|