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76 lines
2.0 KiB
76 lines
2.0 KiB
// 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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// Init register and interrupt tables
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init_registers();
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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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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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} |