85 lines
2.3 KiB
C
85 lines
2.3 KiB
C
#define ENTER_BOOTLOADER_MAGIC 0xdeadbeef
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extern uint32_t enter_bootloader_mode;
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extern void *_app_start[];
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void *g_pfnVectors;
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int has_external_debug_serial = 0;
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int is_giant_panda = 0;
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// must call again from main because BSS is zeroed
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inline void detect() {
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// detect has_external_debug_serial
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GPIOA->PUPDR |= GPIO_PUPDR_PUPDR3_1;
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has_external_debug_serial = (GPIOA->IDR & (1 << 3)) == (1 << 3);
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// detect is_giant_panda
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is_giant_panda = 0;
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#ifdef PANDA
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GPIOB->PUPDR |= GPIO_PUPDR_PUPDR1_1;
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is_giant_panda = (GPIOB->IDR & (1 << 1)) == (1 << 1);
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#endif
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}
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inline void early() {
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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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// 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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// 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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// 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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// if it's driven low, jump to uart bootloader
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if (!(GPIOB->IDR & 1)) {
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enter_bootloader_mode = ENTER_BOOTLOADER_MAGIC;
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}
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#endif
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if (enter_bootloader_mode == ENTER_BOOTLOADER_MAGIC) {
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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 = 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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// LOOP
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while(1);
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}
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}
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