mirror of https://github.com/commaai/panda.git
61 lines
1.5 KiB
C
61 lines
1.5 KiB
C
// 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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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 *)BOOTLOADER_ADDRESS));
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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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#ifdef PANDA
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current_board->set_gps_mode(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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}
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