From 190b4f684135888fc37585a083dd48a4f6c63d2d Mon Sep 17 00:00:00 2001
From: George Hotz <george@comma.ai>
Date: Sat, 10 Mar 2018 10:13:30 -0800
Subject: [PATCH] start work on canflasher

---
 board/bootstub.c               |  6 +++++
 board/pedal/Makefile           |  3 +++
 board/pedal/main.c             |  2 +-
 board/spi_flasher.h            | 48 ++++++++++++++++++++++++++++++++++
 tests/pedal/enter_canloader.py |  7 +++++
 5 files changed, 65 insertions(+), 1 deletion(-)

diff --git a/board/bootstub.c b/board/bootstub.c
index 147d75a010ab7f..4e516110c5d4bb 100644
--- a/board/bootstub.c
+++ b/board/bootstub.c
@@ -24,6 +24,12 @@
 #include "drivers/usb.h"
 //#include "drivers/uart.h"
 
+#ifdef PEDAL
+#define CUSTOM_CAN_INTERRUPTS
+#include "safety.h"
+#include "drivers/can.h"
+#endif
+
 int puts(const char *a) { return 0; }
 void puth(unsigned int i) {}
 
diff --git a/board/pedal/Makefile b/board/pedal/Makefile
index d6318a3e6d80dd..9917e381503b03 100644
--- a/board/pedal/Makefile
+++ b/board/pedal/Makefile
@@ -18,6 +18,9 @@ DFU_UTIL = "dfu-util"
 CERT = ../../certs/debug
 CFLAGS += "-DALLOW_DEBUG"
 
+canflash: obj/$(PROJ_NAME).bin
+	../../tests/pedal/enter_canloader.py $<
+
 usbflash: obj/$(PROJ_NAME).bin
 	../../tests/pedal/enter_canloader.py; sleep 0.5
 	PYTHONPATH=../../ python -c "from python import Panda; p = [x for x in [Panda(x) for x in Panda.list()] if x.bootstub]; assert(len(p)==1); p[0].flash('obj/$(PROJ_NAME).bin', reconnect=False)"
diff --git a/board/pedal/main.c b/board/pedal/main.c
index f8e8569a8812e6..6f6055271504bc 100644
--- a/board/pedal/main.c
+++ b/board/pedal/main.c
@@ -264,7 +264,7 @@ int main() {
 
   // init can
   can_silent = ALL_CAN_LIVE;
-  can_init_all();
+  can_init(0);
 
   // 48mhz / 65536 ~= 732
   timer_init(TIM3, 15);
diff --git a/board/spi_flasher.h b/board/spi_flasher.h
index 5d979a09d244c8..4f2b07e2459b57 100644
--- a/board/spi_flasher.h
+++ b/board/spi_flasher.h
@@ -130,6 +130,35 @@ int spi_cb_rx(uint8_t *data, int len, uint8_t *data_out) {
   return resp_len;
 }
 
+#ifdef PEDAL
+
+#define CAN CAN1
+
+#define CAN_BL_INPUT 0x1
+#define CAN_BL_OUTPUT 0x2
+
+void CAN1_TX_IRQHandler() {
+  // clear interrupt
+  CAN->TSR |= CAN_TSR_RQCP0;
+}
+
+void CAN1_RX0_IRQHandler() {
+  while (CAN->RF0R & CAN_RF0R_FMP0) {
+    if ((CAN->sFIFOMailBox[0].RIR>>21) == CAN_BL_INPUT) {
+      CAN->sTxMailBox[0].TDLR = 0xAABBCCDD;
+      CAN->sTxMailBox[0].TDHR = 0xAABBCCDD;
+      CAN->sTxMailBox[0].TDTR = 8;
+      CAN->sTxMailBox[0].TIR = (CAN_BL_OUTPUT << 21) | 1;
+    }
+  }
+}
+
+void CAN1_SCE_IRQHandler() {
+  can_sce(CAN);
+}
+
+#endif
+
 void soft_flasher_start() {
   puts("\n\n\n************************ FLASHER START ************************\n");
 
@@ -140,6 +169,25 @@ void soft_flasher_start() {
   RCC->AHB2ENR |= RCC_AHB2ENR_OTGFSEN;
   RCC->APB1ENR |= RCC_APB1ENR_USART2EN;
 
+// pedal has the canloader
+#ifdef PEDAL
+  RCC->APB1ENR |= RCC_APB1ENR_CAN1EN;
+
+  // B8,B9: CAN 1
+  set_gpio_alternate(GPIOB, 8, GPIO_AF9_CAN1);
+  set_gpio_alternate(GPIOB, 9, GPIO_AF9_CAN1);
+  set_can_enable(CAN1, 1);
+
+  // init can
+  can_silent = ALL_CAN_LIVE;
+  can_init(0);
+
+  // needed?
+  NVIC_EnableIRQ(CAN1_TX_IRQn);
+  NVIC_EnableIRQ(CAN1_RX0_IRQn);
+  NVIC_EnableIRQ(CAN1_SCE_IRQn);
+#endif
+
   // A4,A5,A6,A7: setup SPI
   set_gpio_alternate(GPIOA, 4, GPIO_AF5_SPI1);
   set_gpio_alternate(GPIOA, 5, GPIO_AF5_SPI1);
diff --git a/tests/pedal/enter_canloader.py b/tests/pedal/enter_canloader.py
index 1f25068470699a..74efd56e918be1 100755
--- a/tests/pedal/enter_canloader.py
+++ b/tests/pedal/enter_canloader.py
@@ -6,6 +6,7 @@
 if __name__ == "__main__":
   parser = argparse.ArgumentParser(description='Flash pedal over can')
   parser.add_argument('--recover', action='store_true')
+  parser.add_argument("fn", type=str, nargs='?', help="flash file")
   args = parser.parse_args()
 
   p = Panda()
@@ -13,6 +14,12 @@
 
   if args.recover:
     p.can_send(0x200, "\xce\xfa\xad\xde\x1e\x0b\xb0\x02", 0)
+    exit(0)
   else:
     p.can_send(0x200, "\xce\xfa\xad\xde\x1e\x0b\xb0\x0a", 0)
 
+  if args.fn:
+    print "flashing", args.fn
+
+
+