318 lines
7.9 KiB
C
318 lines
7.9 KiB
C
// flasher state variables
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uint32_t *prog_ptr = NULL;
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bool unlocked = false;
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void spi_init(void);
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#ifdef uart_ring
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void debug_ring_callback(uart_ring *ring) {}
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#endif
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int comms_control_handler(ControlPacket_t *req, uint8_t *resp) {
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int resp_len = 0;
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// flasher machine
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memset(resp, 0, 4);
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memcpy(resp+4, "\xde\xad\xd0\x0d", 4);
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resp[0] = 0xff;
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resp[2] = req->request;
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resp[3] = ~req->request;
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*((uint32_t **)&resp[8]) = prog_ptr;
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resp_len = 0xc;
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int sec;
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switch (req->request) {
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// **** 0xb0: flasher echo
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case 0xb0:
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resp[1] = 0xff;
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break;
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// **** 0xb1: unlock flash
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case 0xb1:
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if (flash_is_locked()) {
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flash_unlock();
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resp[1] = 0xff;
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}
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current_board->set_led(LED_GREEN, 1);
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unlocked = true;
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prog_ptr = (uint32_t *)APP_START_ADDRESS;
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break;
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// **** 0xb2: erase sector
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case 0xb2:
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sec = req->param1;
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if (flash_erase_sector(sec, unlocked)) {
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resp[1] = 0xff;
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}
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break;
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// **** 0xc1: get hardware type
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case 0xc1:
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resp[0] = hw_type;
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resp_len = 1;
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break;
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// **** 0xc3: fetch MCU UID
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case 0xc3:
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#ifdef UID_BASE
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(void)memcpy(resp, ((uint8_t *)UID_BASE), 12);
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resp_len = 12;
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#endif
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break;
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// **** 0xd0: fetch serial number
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case 0xd0:
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#ifndef STM32F2
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// addresses are OTP
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if (req->param1 == 1) {
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memcpy(resp, (void *)DEVICE_SERIAL_NUMBER_ADDRESS, 0x10);
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resp_len = 0x10;
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} else {
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get_provision_chunk(resp);
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resp_len = PROVISION_CHUNK_LEN;
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}
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#endif
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break;
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// **** 0xd1: enter bootloader mode
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case 0xd1:
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// this allows reflashing of the bootstub
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switch (req->param1) {
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case 0:
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print("-> entering bootloader\n");
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enter_bootloader_mode = ENTER_BOOTLOADER_MAGIC;
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NVIC_SystemReset();
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break;
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case 1:
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print("-> entering softloader\n");
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enter_bootloader_mode = ENTER_SOFTLOADER_MAGIC;
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NVIC_SystemReset();
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break;
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}
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break;
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// **** 0xd6: get version
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case 0xd6:
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COMPILE_TIME_ASSERT(sizeof(gitversion) <= USBPACKET_MAX_SIZE);
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memcpy(resp, gitversion, sizeof(gitversion));
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resp_len = sizeof(gitversion);
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break;
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// **** 0xd8: reset ST
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case 0xd8:
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flush_write_buffer();
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NVIC_SystemReset();
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break;
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}
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return resp_len;
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}
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void comms_can_write(const uint8_t *data, uint32_t len) {
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UNUSED(data);
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UNUSED(len);
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}
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int comms_can_read(uint8_t *data, uint32_t max_len) {
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UNUSED(data);
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UNUSED(max_len);
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return 0;
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}
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void refresh_can_tx_slots_available(void) {}
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void comms_endpoint2_write(const uint8_t *data, uint32_t len) {
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current_board->set_led(LED_RED, 0);
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for (uint32_t i = 0; i < len/4; i++) {
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flash_write_word(prog_ptr, *(uint32_t*)(data+(i*4)));
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//*(uint64_t*)(&spi_tx_buf[0x30+(i*4)]) = *prog_ptr;
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prog_ptr++;
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}
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current_board->set_led(LED_RED, 1);
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}
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int spi_cb_rx(uint8_t *data, int len, uint8_t *data_out) {
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UNUSED(len);
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ControlPacket_t control_req;
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int resp_len = 0;
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switch (data[0]) {
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case 0:
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// control transfer
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control_req.request = ((USB_Setup_TypeDef *)(data+4))->b.bRequest;
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control_req.param1 = ((USB_Setup_TypeDef *)(data+4))->b.wValue.w;
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control_req.param2 = ((USB_Setup_TypeDef *)(data+4))->b.wIndex.w;
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control_req.length = ((USB_Setup_TypeDef *)(data+4))->b.wLength.w;
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resp_len = comms_control_handler(&control_req, data_out);
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break;
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case 2:
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// ep 2, flash!
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comms_endpoint2_write(data+4, data[2]);
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break;
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}
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return resp_len;
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}
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#ifdef PEDAL
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#include "stm32fx/llbxcan.h"
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#define CANx CAN1
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#define CAN_BL_INPUT 0x1
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#define CAN_BL_OUTPUT 0x2
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void CAN1_TX_IRQ_Handler(void) {
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// clear interrupt
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CANx->TSR |= CAN_TSR_RQCP0;
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}
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#define ISOTP_BUF_SIZE 0x110
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uint8_t isotp_buf[ISOTP_BUF_SIZE];
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uint8_t *isotp_buf_ptr = NULL;
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int isotp_buf_remain = 0;
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uint8_t isotp_buf_out[ISOTP_BUF_SIZE];
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uint8_t *isotp_buf_out_ptr = NULL;
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int isotp_buf_out_remain = 0;
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int isotp_buf_out_idx = 0;
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void bl_can_send(uint8_t *odat) {
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// wait for send
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while (!(CANx->TSR & CAN_TSR_TME0));
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// send continue
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CANx->sTxMailBox[0].TDLR = ((uint32_t*)odat)[0];
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CANx->sTxMailBox[0].TDHR = ((uint32_t*)odat)[1];
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CANx->sTxMailBox[0].TDTR = 8;
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CANx->sTxMailBox[0].TIR = (CAN_BL_OUTPUT << 21) | 1;
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}
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void CAN1_RX0_IRQ_Handler(void) {
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while (CANx->RF0R & CAN_RF0R_FMP0) {
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if ((CANx->sFIFOMailBox[0].RIR>>21) == CAN_BL_INPUT) {
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uint8_t dat[8];
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for (int i = 0; i < 8; i++) {
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dat[i] = GET_MAILBOX_BYTE(&CANx->sFIFOMailBox[0], i);
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}
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uint8_t odat[8];
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uint8_t type = dat[0] & 0xF0;
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if (type == 0x30) {
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// continue
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while (isotp_buf_out_remain > 0) {
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// wait for send
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while (!(CANx->TSR & CAN_TSR_TME0));
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odat[0] = 0x20 | isotp_buf_out_idx;
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memcpy(odat+1, isotp_buf_out_ptr, 7);
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isotp_buf_out_remain -= 7;
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isotp_buf_out_ptr += 7;
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isotp_buf_out_idx++;
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bl_can_send(odat);
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}
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} else if (type == 0x20) {
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if (isotp_buf_remain > 0) {
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memcpy(isotp_buf_ptr, dat+1, 7);
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isotp_buf_ptr += 7;
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isotp_buf_remain -= 7;
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}
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if (isotp_buf_remain <= 0) {
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int len = isotp_buf_ptr - isotp_buf + isotp_buf_remain;
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// call the function
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memset(isotp_buf_out, 0, ISOTP_BUF_SIZE);
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isotp_buf_out_remain = spi_cb_rx(isotp_buf, len, isotp_buf_out);
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isotp_buf_out_ptr = isotp_buf_out;
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isotp_buf_out_idx = 0;
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// send initial
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if (isotp_buf_out_remain <= 7) {
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odat[0] = isotp_buf_out_remain;
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memcpy(odat+1, isotp_buf_out_ptr, isotp_buf_out_remain);
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} else {
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odat[0] = 0x10 | (isotp_buf_out_remain>>8);
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odat[1] = isotp_buf_out_remain & 0xFF;
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memcpy(odat+2, isotp_buf_out_ptr, 6);
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isotp_buf_out_remain -= 6;
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isotp_buf_out_ptr += 6;
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isotp_buf_out_idx++;
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}
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bl_can_send(odat);
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}
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} else if (type == 0x10) {
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int len = ((dat[0]&0xF)<<8) | dat[1];
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// setup buffer
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isotp_buf_ptr = isotp_buf;
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memcpy(isotp_buf_ptr, dat+2, 6);
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if (len < (ISOTP_BUF_SIZE-0x10)) {
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isotp_buf_ptr += 6;
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isotp_buf_remain = len-6;
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}
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memset(odat, 0, 8);
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odat[0] = 0x30;
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bl_can_send(odat);
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}
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}
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// next
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CANx->RF0R |= CAN_RF0R_RFOM0;
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}
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}
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void CAN1_SCE_IRQ_Handler(void) {
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llcan_clear_send(CANx);
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}
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#endif
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void soft_flasher_start(void) {
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#ifdef PEDAL
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REGISTER_INTERRUPT(CAN1_TX_IRQn, CAN1_TX_IRQ_Handler, CAN_INTERRUPT_RATE, FAULT_INTERRUPT_RATE_CAN_1)
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REGISTER_INTERRUPT(CAN1_RX0_IRQn, CAN1_RX0_IRQ_Handler, CAN_INTERRUPT_RATE, FAULT_INTERRUPT_RATE_CAN_1)
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REGISTER_INTERRUPT(CAN1_SCE_IRQn, CAN1_SCE_IRQ_Handler, CAN_INTERRUPT_RATE, FAULT_INTERRUPT_RATE_CAN_1)
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#endif
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print("\n\n\n************************ FLASHER START ************************\n");
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enter_bootloader_mode = 0;
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flasher_peripherals_init();
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// pedal has the canloader
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#ifdef PEDAL
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RCC->APB1ENR |= RCC_APB1ENR_CAN1EN;
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// B8,B9: CAN 1
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set_gpio_alternate(GPIOB, 8, GPIO_AF9_CAN1);
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set_gpio_alternate(GPIOB, 9, GPIO_AF9_CAN1);
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current_board->enable_can_transceiver(1, true);
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// init can
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llcan_set_speed(CANx, 5000, false, false);
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llcan_init(CANx);
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#endif
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gpio_usart2_init();
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gpio_usb_init();
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// enable USB
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usb_init();
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// enable SPI
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if (current_board->has_spi) {
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gpio_spi_init();
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spi_init();
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}
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// green LED on for flashing
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current_board->set_led(LED_GREEN, 1);
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enable_interrupts();
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for (;;) {
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// blink the green LED fast
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current_board->set_led(LED_GREEN, 0);
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delay(500000);
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current_board->set_led(LED_GREEN, 1);
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delay(500000);
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}
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}
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