68 lines
2.2 KiB
C
68 lines
2.2 KiB
C
bool bootkick_ign_prev = false;
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BootState boot_state = BOOT_BOOTKICK;
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uint8_t bootkick_harness_status_prev = HARNESS_STATUS_NC;
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uint8_t boot_reset_countdown = 0;
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uint8_t waiting_to_boot_countdown = 0;
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bool bootkick_reset_triggered = false;
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uint16_t bootkick_last_serial_ptr = 0;
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void bootkick_tick(bool ignition, bool recent_heartbeat) {
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BootState boot_state_prev = boot_state;
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const bool harness_inserted = (harness.status != bootkick_harness_status_prev) && (harness.status != HARNESS_STATUS_NC);
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if ((ignition && !bootkick_ign_prev) || harness_inserted) {
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// bootkick on rising edge of ignition or harness insertion
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boot_state = BOOT_BOOTKICK;
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} else if (recent_heartbeat) {
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// disable bootkick once openpilot is up
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boot_state = BOOT_STANDBY;
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} else {
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}
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/*
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Ensure SOM boots in case it goes into QDL mode. Reset behavior:
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* shouldn't trigger on the first boot after power-on
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* only try reset once per bootkick, i.e. don't keep trying until booted
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* only try once per panda boot, since openpilot will reset panda on startup
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* once BOOT_RESET is triggered, it stays until countdown is finished
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*/
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if (!bootkick_reset_triggered && (boot_state == BOOT_BOOTKICK) && (boot_state_prev == BOOT_STANDBY)) {
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waiting_to_boot_countdown = 45U;
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}
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if (waiting_to_boot_countdown > 0U) {
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bool serial_activity = uart_ring_som_debug.w_ptr_tx != bootkick_last_serial_ptr;
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if (serial_activity || current_board->read_som_gpio() || (boot_state != BOOT_BOOTKICK)) {
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waiting_to_boot_countdown = 0U;
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} else {
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// try a reset
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if (waiting_to_boot_countdown == 1U) {
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boot_reset_countdown = 5U;
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}
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}
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}
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// handle reset state
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if (boot_reset_countdown > 0U) {
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boot_state = BOOT_RESET;
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bootkick_reset_triggered = true;
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} else {
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if (boot_state == BOOT_RESET) {
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boot_state = BOOT_BOOTKICK;
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}
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}
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// update state
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bootkick_ign_prev = ignition;
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bootkick_harness_status_prev = harness.status;
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bootkick_last_serial_ptr = uart_ring_som_debug.w_ptr_tx;
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if (waiting_to_boot_countdown > 0U) {
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waiting_to_boot_countdown--;
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}
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if (boot_reset_countdown > 0U) {
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boot_reset_countdown--;
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}
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current_board->set_bootkick(boot_state);
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}
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