tests pass, not building recover
Firmware Batman
parent
d9fc3b372c
commit
5fd041e011
128
board/early.h
128
board/early.h
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@ -1,128 +0,0 @@
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#define ENTER_BOOTLOADER_MAGIC 0xdeadbeef
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#define POST_BOOTLOADER_MAGIC 0xdeadb111
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#define PULL_EFFECTIVE_DELAY 10
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#define PANDA_REV_AB 0
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#define PANDA_REV_C 1
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extern uint32_t enter_bootloader_mode;
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extern void *_app_start[];
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extern void *g_pfnVectors;
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#include "config.h"
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#include "llgpio.h"
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int has_external_debug_serial = 0;
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int is_giant_panda = 0;
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int revision = PANDA_REV_AB;
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void *g_pfnVectors;
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// must call again from main because BSS is zeroed
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void detect() {
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volatile int i;
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// detect has_external_debug_serial
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GPIOA->PUPDR |= GPIO_PUPDR_PUPDR3_1;
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for (i=0;i<PULL_EFFECTIVE_DELAY;i++);
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has_external_debug_serial = (GPIOA->IDR & (1 << 3)) == (1 << 3);
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#ifdef PANDA
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// detect is_giant_panda
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set_gpio_pullup(GPIOB, 1, PULL_DOWN);
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for (i=0;i<PULL_EFFECTIVE_DELAY;i++);
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is_giant_panda = get_gpio_input(GPIOB, 1);
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// detect panda REV C.
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// A13 floats in REV AB. In REV C, A13 is pulled up to 5V with a 10K
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// resistor and attached to the USB power control chip CTRL
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// line. Pulling A13 down with an internal 50k resistor in REV C
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// will produce a voltage divider that results in a high logic
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// level. Checking if this pin reads high with a pull down should
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// differentiate REV AB from C.
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set_gpio_mode(GPIOA, 13, MODE_INPUT);
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set_gpio_pullup(GPIOA, 13, PULL_DOWN);
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for (i=0;i<PULL_EFFECTIVE_DELAY;i++);
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if(get_gpio_input(GPIOA, 13))
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revision = PANDA_REV_C;
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// RESET pull up/down
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set_gpio_pullup(GPIOA, 13, PULL_NONE);
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#endif
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}
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void early() {
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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 == POST_BOOTLOADER_MAGIC) {
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enter_bootloader_mode = 0;
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NVIC_SystemReset();
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}
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volatile int i;
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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&0xFFF) != 0x463) enter_bootloader_mode = ENTER_BOOTLOADER_MAGIC;
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#else
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if ((id&0xFFF) != 0x411) enter_bootloader_mode = ENTER_BOOTLOADER_MAGIC;
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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
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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();
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#ifdef PANDA
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// enable the ESP, disable ESP boot mode
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// unless we are on a giant panda, then there's no ESP
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if (!is_giant_panda) {
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GPIOC->ODR = (1 << 14) | (1 << 5);
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}
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// these are outputs to control the ESP
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GPIOC->MODER = GPIO_MODER_MODER14_0 | GPIO_MODER_MODER5_0;
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// check if the ESP is trying to put me in boot mode
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// enable pull up
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GPIOB->PUPDR |= GPIO_PUPDR_PUPDR0_0;
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for (i=0;i<PULL_EFFECTIVE_DELAY;i++);
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#ifdef BOOTSTUB
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// if it's driven low, jump to spi flasher
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if (!(GPIOB->IDR & 1)) {
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spi_flasher();
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}
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#endif
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#endif
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if (enter_bootloader_mode == ENTER_BOOTLOADER_MAGIC) {
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// ESP OFF
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GPIOC->ODR &= ~((1 << 14) | (1 << 5));
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// green LED on
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// sadly, on the NEO board the bootloader turns it off
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#ifdef PANDA
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GPIOC->MODER |= GPIO_MODER_MODER7_0;
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GPIOC->ODR &= ~(1 << (6 + 1));
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#else
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GPIOB->MODER |= GPIO_MODER_MODER11_0;
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GPIOB->ODR &= ~(1 << (10 + 1));
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#endif
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// do enter bootloader
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enter_bootloader_mode = POST_BOOTLOADER_MAGIC;
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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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// LOOP
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while(1);
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}
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}
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141
board/gpio.h
141
board/gpio.h
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@ -6,6 +6,52 @@
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#include "llgpio.h"
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// ********************* dynamic configuration detection *********************
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#define PANDA_REV_AB 0
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#define PANDA_REV_C 1
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#define PULL_EFFECTIVE_DELAY 10
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int has_external_debug_serial = 0;
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int is_giant_panda = 0;
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int is_entering_bootmode = 0;
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int revision = PANDA_REV_AB;
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int detect_with_pull(GPIO_TypeDef *GPIO, int pin, int mode) {
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set_gpio_mode(GPIO, pin, MODE_INPUT);
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set_gpio_pullup(GPIO, pin, mode);
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for (volatile int i=0; i<PULL_EFFECTIVE_DELAY; i++);
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int ret = get_gpio_input(GPIO, pin);
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set_gpio_pullup(GPIOB, pin, PULL_NONE);
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return ret;
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}
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// must call again from main because BSS is zeroed
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void detect() {
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volatile int i;
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// detect has_external_debug_serial
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has_external_debug_serial = detect_with_pull(GPIOA, 3, PULL_DOWN);
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#ifdef PANDA
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// detect is_giant_panda
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is_giant_panda = detect_with_pull(GPIOB, 1, PULL_DOWN);
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// detect panda REV C.
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// A13 floats in REV AB. In REV C, A13 is pulled up to 5V with a 10K
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// resistor and attached to the USB power control chip CTRL
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// line. Pulling A13 down with an internal 50k resistor in REV C
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// will produce a voltage divider that results in a high logic
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// level. Checking if this pin reads high with a pull down should
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// differentiate REV AB from C.
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revision = detect_with_pull(GPIOA, 13, PULL_DOWN) ? PANDA_REV_C : PANDA_REV_AB;
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// check if the ESP is trying to put me in boot mode
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is_entering_bootmode = detect_with_pull(GPIOB, 0, PULL_UP);
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#endif
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}
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// ********************* bringup *********************
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void clock_init() {
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@ -187,6 +233,28 @@ void set_usb_power_mode(int mode) {
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}
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}
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#define ESP_DISABLED 0
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#define ESP_ENABLED 1
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#define ESP_BOOTMODE 2
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void set_esp_mode(int mode) {
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switch (mode) {
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case ESP_DISABLED:
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// ESP OFF
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set_gpio_output(GPIOC, 14, 0);
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set_gpio_output(GPIOC, 5, 0);
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break;
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case ESP_ENABLED:
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set_gpio_output(GPIOC, 14, 1);
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set_gpio_output(GPIOC, 5, 1);
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break;
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case ESP_BOOTMODE:
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set_gpio_output(GPIOC, 14, 1);
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set_gpio_output(GPIOC, 5, 0);
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break;
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}
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}
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// ********************* big init function *********************
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// board specific
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@ -299,3 +367,76 @@ void gpio_init() {
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}
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}
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// ********************* early bringup *********************
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#define ENTER_BOOTLOADER_MAGIC 0xdeadbeef
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#define POST_BOOTLOADER_MAGIC 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() {
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// do enter bootloader
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enter_bootloader_mode = POST_BOOTLOADER_MAGIC;
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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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// LOOP
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while(1);
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}
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void early() {
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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 == POST_BOOTLOADER_MAGIC) {
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enter_bootloader_mode = 0;
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NVIC_SystemReset();
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}
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volatile int i;
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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&0xFFF) != 0x463) enter_bootloader_mode = ENTER_BOOTLOADER_MAGIC;
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#else
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if ((id&0xFFF) != 0x411) enter_bootloader_mode = ENTER_BOOTLOADER_MAGIC;
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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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#ifdef PANDA
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detect();
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// enable the ESP, disable ESP boot mode
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// unless we are on a giant panda, then there's no ESP
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if (is_giant_panda) {
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set_esp_mode(ESP_DISABLED);
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} else {
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set_esp_mode(ESP_ENABLED);
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}
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#ifdef BOOTSTUB
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if (is_entering_bootmode) {
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spi_flasher();
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}
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#endif
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#endif
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if (enter_bootloader_mode == ENTER_BOOTLOADER_MAGIC) {
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set_esp_mode(ESP_DISABLED);
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set_led(LED_GREEN, 1);
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jump_to_bootloader();
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}
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}
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30
board/main.c
30
board/main.c
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@ -1,5 +1,4 @@
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#include "config.h"
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#include "early.h"
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#include <stdbool.h>
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// *** end config ***
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@ -177,6 +176,8 @@ int usb_cb_control_msg(USB_Setup_TypeDef *setup, uint8_t *resp, int hardwired) {
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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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// so it's blocked over wifi
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if (hardwired) {
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enter_bootloader_mode = ENTER_BOOTLOADER_MAGIC;
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NVIC_SystemReset();
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@ -203,31 +204,22 @@ int usb_cb_control_msg(USB_Setup_TypeDef *setup, uint8_t *resp, int hardwired) {
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// **** 0xd9: set ESP power
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case 0xd9:
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if (setup->b.wValue.w == 1) {
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// on
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GPIOC->ODR |= (1 << 14);
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set_esp_mode(ESP_ENABLED);
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} else {
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// off
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GPIOC->ODR &= ~(1 << 14);
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set_esp_mode(ESP_DISABLED);
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}
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break;
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// **** 0xda: reset ESP, with optional boot mode
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case 0xda:
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// pull low for ESP boot mode
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if (setup->b.wValue.w == 1) {
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GPIOC->ODR &= ~(1 << 5);
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}
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// do ESP reset
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GPIOC->ODR &= ~(1 << 14);
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set_esp_mode(ESP_DISABLED);
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delay(1000000);
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GPIOC->ODR |= (1 << 14);
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delay(1000000);
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// reset done, no more boot mode
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// TODO: ESP doesn't seem to listen here
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if (setup->b.wValue.w == 1) {
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GPIOC->ODR |= (1 << 5);
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set_esp_mode(ESP_BOOTMODE);
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} else {
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set_esp_mode(ESP_ENABLED);
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}
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delay(1000000);
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set_esp_mode(ESP_ENABLED);
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break;
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// **** 0xdb: set GMLAN multiplexing mode
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case 0xdb:
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@ -247,6 +239,8 @@ int usb_cb_control_msg(USB_Setup_TypeDef *setup, uint8_t *resp, int hardwired) {
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break;
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// **** 0xdc: set safety mode
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case 0xdc:
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// this is the only way to leave silent mode
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// and it's blocked over WiFi
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if (hardwired) {
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safety_set_mode(setup->b.wValue.w);
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can_silent = (setup->b.wValue.w == SAFETY_NOOUTPUT);
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