init bootloader

commaai · Aug 5, 2023 · fbf87e0 · fbf87e0
1 parent 177eb1c
commit fbf87e0
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Showing 12 changed files with 41 additions and 17 deletions.
diff --git a/board/boards/black.h b/board/boards/black.h
@@ -99,8 +99,8 @@ void black_init(void) {
   set_gpio_mode(GPIOC, 3, MODE_ANALOG);
 
   // GPS OFF
-  set_gpio_output(GPIOC, 12, 0);
   set_gpio_output(GPIOC, 5, 0);
+  set_gpio_output(GPIOC, 12, 0);
 
   // C10: OBD_SBU1_RELAY (harness relay driving output)
   // C11: OBD_SBU2_RELAY (harness relay driving output)
@@ -137,6 +137,12 @@ void black_init(void) {
   }
 }
 
+void black_init_bootloader(void) {
+  // GPS OFF
+  set_gpio_output(GPIOC, 5, 0);
+  set_gpio_output(GPIOC, 12, 0);
+}
+
 const harness_configuration black_harness_config = {
   .has_harness = true,
   .GPIO_SBU1 = GPIOC,
@@ -166,6 +172,7 @@ const board board_black = {
   .fan_stall_recovery = false,
   .fan_enable_cooldown_time = 0U,
   .init = black_init,
+  .init_bootloader = black_init_bootloader,
   .enable_can_transceiver = black_enable_can_transceiver,
   .enable_can_transceivers = black_enable_can_transceivers,
   .set_led = black_set_led,

diff --git a/board/boards/board_declarations.h b/board/boards/board_declarations.h
@@ -1,5 +1,6 @@
 // ******************** Prototypes ********************
 typedef void (*board_init)(void);
+typedef void (*board_init_bootloader)(void);
 typedef void (*board_enable_can_transceiver)(uint8_t transceiver, bool enabled);
 typedef void (*board_enable_can_transceivers)(bool enabled);
 typedef void (*board_set_led)(uint8_t color, bool enabled);
@@ -27,6 +28,7 @@ struct board {
   const bool fan_stall_recovery;
   const uint8_t fan_enable_cooldown_time;
   board_init init;
+  board_init_bootloader init_bootloader;
   board_enable_can_transceiver enable_can_transceiver;
   board_enable_can_transceivers enable_can_transceivers;
   board_set_led set_led;

diff --git a/board/boards/dos.h b/board/boards/dos.h
@@ -221,6 +221,7 @@ const board board_dos = {
   .fan_stall_recovery = true,
   .fan_enable_cooldown_time = 3U,
   .init = dos_init,
+  .init_bootloader = unused_init_bootloader,
   .enable_can_transceiver = dos_enable_can_transceiver,
   .enable_can_transceivers = dos_enable_can_transceivers,
   .set_led = dos_set_led,

diff --git a/board/boards/grey.h b/board/boards/grey.h
@@ -4,14 +4,6 @@
 
 // Most hardware functionality is similar to white panda
 
-void grey_init(void) {
-  white_grey_common_init();
-
-  // GPS off
-  set_gpio_output(GPIOC, 14, 0);
-  set_gpio_output(GPIOC, 5, 0);
-}
-
 const board board_grey = {
   .board_type = "Grey",
   .board_tick = unused_board_tick,
@@ -26,7 +18,8 @@ const board board_grey = {
   .avdd_mV = 3300U,
   .fan_stall_recovery = false,
   .fan_enable_cooldown_time = 0U,
-  .init = grey_init,
+  .init = white_grey_init,
+  .init_bootloader = white_grey_init_bootloader,
   .enable_can_transceiver = white_enable_can_transceiver,
   .enable_can_transceivers = white_enable_can_transceivers,
   .set_led = white_set_led,

diff --git a/board/boards/pedal.h b/board/boards/pedal.h
@@ -81,6 +81,7 @@ const board board_pedal = {
   .fan_stall_recovery = false,
   .fan_enable_cooldown_time = 0U,
   .init = pedal_init,
+  .init_bootloader = unused_init_bootloader,
   .enable_can_transceiver = pedal_enable_can_transceiver,
   .enable_can_transceivers = pedal_enable_can_transceivers,
   .set_led = pedal_set_led,

diff --git a/board/boards/red.h b/board/boards/red.h
@@ -181,6 +181,7 @@ const board board_red = {
   .fan_stall_recovery = false,
   .fan_enable_cooldown_time = 0U,
   .init = red_init,
+  .init_bootloader = unused_init_bootloader,
   .enable_can_transceiver = red_enable_can_transceiver,
   .enable_can_transceivers = red_enable_can_transceivers,
   .set_led = red_set_led,

diff --git a/board/boards/red_v2.h b/board/boards/red_v2.h
@@ -25,6 +25,7 @@ const board board_red_v2 = {
   .fan_stall_recovery = false,
   .fan_enable_cooldown_time = 0U,
   .init = red_panda_v2_init,
+  .init_bootloader = unused_init_bootloader,
   .enable_can_transceiver = red_chiplet_enable_can_transceiver,
   .enable_can_transceivers = red_chiplet_enable_can_transceivers,
   .set_led = red_set_led,

diff --git a/board/boards/tres.h b/board/boards/tres.h
@@ -100,6 +100,7 @@ const board board_tres = {
   .fan_stall_recovery = false,
   .fan_enable_cooldown_time = 3U,
   .init = tres_init,
+  .init_bootloader = unused_init_bootloader,
   .enable_can_transceiver = red_chiplet_enable_can_transceiver,
   .enable_can_transceivers = red_chiplet_enable_can_transceivers,
   .set_led = red_set_led,

diff --git a/board/boards/uno.h b/board/boards/uno.h
@@ -197,6 +197,13 @@ void uno_init(void) {
   uno_bootkick();
 }
 
+void uno_init_bootloader(void) {
+  // GPS off
+  set_gpio_output(GPIOB, 1, 0);
+  set_gpio_output(GPIOC, 5, 0);
+  set_gpio_output(GPIOC, 12, 0);
+}
+
 const harness_configuration uno_harness_config = {
   .has_harness = true,
   .GPIO_SBU1 = GPIOC,
@@ -226,6 +233,7 @@ const board board_uno = {
   .fan_stall_recovery = false,
   .fan_enable_cooldown_time = 0U,
   .init = uno_init,
+  .init_bootloader = uno_init_bootloader,
   .enable_can_transceiver = uno_enable_can_transceiver,
   .enable_can_transceivers = uno_enable_can_transceivers,
   .set_led = uno_set_led,

diff --git a/board/boards/unused_funcs.h b/board/boards/unused_funcs.h
@@ -1,3 +1,6 @@
+void unused_init_bootloader(void) {
+}
+
 void unused_set_ir_power(uint8_t percentage) {
   UNUSED(percentage);
 }

diff --git a/board/boards/white.h b/board/boards/white.h
@@ -133,7 +133,7 @@ bool white_check_ignition(void){
   return !get_gpio_input(GPIOA, 1);
 }
 
-void white_grey_common_init(void) {
+void white_grey_init(void) {
   common_init_gpio();
 
   // C3: current sense
@@ -205,14 +205,16 @@ void white_grey_common_init(void) {
   } else {
     white_set_usb_power_mode(USB_POWER_CLIENT);
   }
-}
-
-void white_init(void) {
-  white_grey_common_init();
 
-  // ESP OFF
+  // ESP/GPS off
+  set_gpio_output(GPIOC, 5, 0);
   set_gpio_output(GPIOC, 14, 0);
+}
+
+void white_grey_init_bootloader(void) {
+  // ESP/GPS off
   set_gpio_output(GPIOC, 5, 0);
+  set_gpio_output(GPIOC, 14, 0);
 }
 
 const harness_configuration white_harness_config = {
@@ -233,7 +235,8 @@ const board board_white = {
   .avdd_mV = 3300U,
   .fan_stall_recovery = false,
   .fan_enable_cooldown_time = 0U,
-  .init = white_init,
+  .init = white_grey_init,
+  .init_bootloader = white_grey_init_bootloader,
   .enable_can_transceiver = white_enable_can_transceiver,
   .enable_can_transceivers = white_enable_can_transceivers,
   .set_led = white_set_led,

diff --git a/board/early_init.h b/board/early_init.h
@@ -51,6 +51,9 @@ void early_initialization(void) {
   detect_board_type();
 
   if (enter_bootloader_mode == ENTER_BOOTLOADER_MAGIC) {
+    #ifdef PANDA
+    current_board->init_bootloader();
+    #endif
     current_board->set_led(LED_GREEN, 1);
     jump_to_bootloader();
   }