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IQ.Pilot Prebuilt Release @ ab07000

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IQ.Lvbs history cleanup
2026-08-22 23:42:42 -05:00
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20
panda/board/README.md Normal file
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## Programming
```
./flash.py # flash application
./recover.py # flash bootstub
```
## Debugging
To print out the serial console from the STM32, run `tests/debug_console.py`
Troubleshooting
----
If your panda will not flash and green LED is on, use `recover.py`.
If panda is blinking fast with green LED, use `flash.py`.
Otherwise if LED is off and panda can't be seen with `lsusb` command, use [panda paw](https://comma.ai/shop/products/panda-paw) to go into DFU mode.
If your device has an internal panda and none of the above works, try running `../scripts/reflash_internal_panda.py`.

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panda/board/__init__.py Normal file
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panda/board/body/__init__.py Normal file
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# python helpers for the body panda
import struct
from panda import Panda
class PandaBody(Panda):
MOTOR_LEFT: int = 1
MOTOR_RIGHT: int = 2
# ****************** Motor Control *****************
@staticmethod
def _ensure_valid_motor(motor: int) -> None:
if motor not in (PandaBody.MOTOR_LEFT, PandaBody.MOTOR_RIGHT):
raise ValueError("motor must be MOTOR_LEFT or MOTOR_RIGHT")
def motor_set_speed(self, motor: int, speed: int) -> None:
self._ensure_valid_motor(motor)
assert -100 <= speed <= 100, "speed must be between -100 and 100"
speed_param = speed if speed >= 0 else (256 + speed)
self._handle.controlWrite(Panda.REQUEST_OUT, 0xe0, motor, speed_param, b'')
def motor_set_target_rpm(self, motor: int, rpm: float) -> None:
self._ensure_valid_motor(motor)
target_deci_rpm = int(round(rpm * 10.0))
assert -32768 <= target_deci_rpm <= 32767, "target rpm out of range (-3276.8 to 3276.7)"
target_param = target_deci_rpm if target_deci_rpm >= 0 else (target_deci_rpm + (1 << 16))
self._handle.controlWrite(Panda.REQUEST_OUT, 0xe4, motor, target_param, b'')
def motor_stop(self, motor: int) -> None:
self._ensure_valid_motor(motor)
self._handle.controlWrite(Panda.REQUEST_OUT, 0xe1, motor, 0, b'')
def motor_get_encoder_state(self, motor: int) -> tuple[int, float]:
self._ensure_valid_motor(motor)
dat = self._handle.controlRead(Panda.REQUEST_IN, 0xe2, motor, 0, 8)
position, rpm_milli = struct.unpack("<ii", dat)
return position, rpm_milli / 1000.0
def motor_reset_encoder(self, motor: int) -> None:
self._ensure_valid_motor(motor)
self._handle.controlWrite(Panda.REQUEST_OUT, 0xe3, motor, 0, b'')

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panda/board/body/flash.py Normal file
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#!/usr/bin/env python3
import argparse
import os
import subprocess
from panda import Panda
BODY_DIR = os.path.dirname(os.path.realpath(__file__))
BOARD_DIR = os.path.abspath(os.path.join(BODY_DIR, ".."))
REPO_ROOT = os.path.abspath(os.path.join(BOARD_DIR, ".."))
DEFAULT_FIRMWARE = os.path.join(BOARD_DIR, "obj", "body_h7.bin.signed")
def build_body() -> None:
subprocess.check_call(
f"scons -C {REPO_ROOT} -j$(nproc) board/obj/body_h7.bin.signed",
shell=True,
)
if __name__ == "__main__":
parser = argparse.ArgumentParser()
parser.add_argument("firmware", nargs="?", help="Optional path to firmware binary to flash")
parser.add_argument("--all", action="store_true", help="Flash all Panda devices")
parser.add_argument(
"--wait-usb",
action="store_true",
help="Wait for the panda to reconnect over USB after flashing (defaults to skipping reconnect).",
)
args = parser.parse_args()
firmware_path = os.path.abspath(args.firmware) if args.firmware is not None else DEFAULT_FIRMWARE
build_body()
if not os.path.isfile(firmware_path):
parser.error(f"firmware file not found: {firmware_path}")
if args.all:
serials = Panda.list()
print(f"found {len(serials)} panda(s) - {serials}")
else:
serials = [None]
for s in serials:
with Panda(serial=s) as p:
print("flashing", p.get_usb_serial())
p.flash(firmware_path, reconnect=args.wait_usb)
exit(1 if len(serials) == 0 else 0)

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panda/board/debug/README.md Normal file
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# In-circuit debugging using openocd and gdb
## Hardware
Connect an ST-Link V2 programmer to the SWD pins on the board. The pins that need to be connected are:
- GND
- VTref
- SWDIO
- SWCLK
- NRST
Make sure you're using a genuine one for boards that do not have a 3.3V panda power rail. For example, the tres runs at 1.8V, which is not supported by the clones.
## Openocd
Install openocd. For Ubuntu 24.04, the one in the package manager works fine: `sudo apt install openocd`.
## GDB
You need `gdb-multiarch`.
Once openocd is running, you can connect from gdb as follows:
```
$ gdb-multiarch
(gdb) target ext :3333
```
To reset and break, use `monitor reset halt`.

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panda/board/debug/debug_h7.sh Executable file
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#!/usr/bin/env bash
set -e
sudo openocd -f "interface/stlink.cfg" -c "transport select hla_swd" -f "target/stm32h7x.cfg" -c "init"

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panda/board/debug/dfu_util_h7.sh Executable file
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#!/usr/bin/env sh
set -e
DFU_UTIL="dfu-util"
scons -u -j$(nproc)
PYTHONPATH=.. python3 -c "from python import Panda; Panda().reset(enter_bootstub=True); Panda().reset(enter_bootloader=True)" || true
sleep 1
$DFU_UTIL -d 0483:df11 -a 0 -s 0x08020000 -D obj/panda_h7.bin.signed
$DFU_UTIL -d 0483:df11 -a 0 -s 0x08000000:leave -D obj/bootstub.panda_h7.bin

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panda/board/debug/gdb.sh Executable file
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#!/usr/bin/env bash
gdb-multiarch --eval-command="target extended-remote localhost:3333"

27
panda/board/flash.py Executable file
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#!/usr/bin/env python3
import os
import subprocess
import argparse
from panda import Panda
board_path = os.path.dirname(os.path.realpath(__file__))
if __name__ == "__main__":
parser = argparse.ArgumentParser()
parser.add_argument("--all", action="store_true", help="Recover all Panda devices")
args = parser.parse_args()
subprocess.check_call(f"scons -C {board_path}/.. -j$(nproc) {board_path}", shell=True)
if args.all:
serials = Panda.list()
print(f"found {len(serials)} panda(s) - {serials}")
else:
serials = [None]
for s in serials:
with Panda(serial=s) as p:
print("flashing", p.get_usb_serial())
p.flash()
exit(1 if len(serials) == 0 else 0)

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panda/board/jungle/README.md Normal file
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Welcome to the jungle
======
Firmware for the Panda Jungle testing board.
Available for purchase at the [comma shop](https://comma.ai/shop/panda-jungle).
## udev rules
To make the jungle usable without root permissions, you might need to setup udev rules for it.
On ubuntu, this should do the trick:
``` bash
sudo tee /etc/udev/rules.d/12-panda_jungle.rules <<EOF
SUBSYSTEM=="usb", ATTRS{idVendor}=="3801", ATTRS{idProduct}=="ddcf", MODE="0666"
SUBSYSTEM=="usb", ATTRS{idVendor}=="3801", ATTRS{idProduct}=="ddef", MODE="0666"
EOF
sudo udevadm control --reload-rules && sudo udevadm trigger
```
## updating the firmware
Updating the firmware is easy! In the `board/jungle/` folder, run:
``` bash
./flash.py
```
If you somehow bricked your jungle, you'll need a [comma key](https://comma.ai/shop/products/comma-key) to put the microcontroller in DFU mode for the V1.
For V2, the onboard button serves this purpose. When powered on while holding the button to put it in DFU mode, running `./recover.sh` in `board/` should unbrick it.

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panda/board/jungle/__init__.py Normal file
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# python library to interface with panda
import os
import struct
from functools import wraps
from panda import Panda, PandaDFU
from panda.python.constants import McuType
BASEDIR = os.path.dirname(os.path.realpath(__file__))
FW_PATH = os.path.join(BASEDIR, "../obj/")
def ensure_jungle_health_packet_version(fn):
@wraps(fn)
def wrapper(self, *args, **kwargs):
if self.health_version != self.HEALTH_PACKET_VERSION:
raise RuntimeError(f"Jungle firmware ({self.health_version}) doesn't match the \
library's health packet version ({self.HEALTH_PACKET_VERSION}). \
Reflash jungle.")
return fn(self, *args, **kwargs)
return wrapper
class PandaJungleDFU(PandaDFU):
def recover(self):
fn = os.path.join(FW_PATH, self._mcu_type.config.bootstub_fn.replace("panda", "panda_jungle"))
with open(fn, "rb") as f:
code = f.read()
self.program_bootstub(code)
self.reset()
class PandaJungle(Panda):
USB_PIDS = (0xddef, 0xddcf)
HW_TYPE_UNKNOWN = b'\x00'
HW_TYPE_V2 = b'\x02'
H7_DEVICES = [HW_TYPE_V2, ]
SUPPORTED_DEVICES = H7_DEVICES
HEALTH_PACKET_VERSION = 1
HEALTH_STRUCT = struct.Struct("<IffffffHHHHHHHHHHHH")
HARNESS_ORIENTATION_NONE = 0
HARNESS_ORIENTATION_1 = 1
HARNESS_ORIENTATION_2 = 2
@classmethod
def spi_connect(cls, serial, ignore_version=False):
return None, None, None, None
def flash(self, fn=None, code=None, reconnect=True):
if not fn:
fn = os.path.join(FW_PATH, self._mcu_type.config.app_fn.replace("panda", "panda_jungle"))
super().flash(fn=fn, code=code, reconnect=reconnect)
def recover(self, timeout: int | None = 60, reset: bool = True) -> bool:
dfu_serial = self.get_dfu_serial()
if reset:
self.reset(enter_bootstub=True)
self.reset(enter_bootloader=True)
if not self.wait_for_dfu(dfu_serial, timeout=timeout):
return False
dfu = PandaJungleDFU(dfu_serial)
dfu.recover()
# reflash after recover
self.connect(True, True)
self.flash()
return True
def get_mcu_type(self) -> McuType:
hw_type = self.get_type()
if hw_type in PandaJungle.H7_DEVICES:
return McuType.H7
raise ValueError(f"unknown HW type: {hw_type}")
def up_to_date(self, fn=None) -> bool:
if fn is None:
fn = os.path.join(FW_PATH, self.get_mcu_type().config.app_fn.replace("panda", "panda_jungle"))
return super().up_to_date(fn=fn)
# ******************* health *******************
@ensure_jungle_health_packet_version
def health(self):
dat = self._handle.controlRead(PandaJungle.REQUEST_IN, 0xd2, 0, 0, self.HEALTH_STRUCT.size)
a = self.HEALTH_STRUCT.unpack(dat)
return {
"uptime": a[0],
"ch1_power": a[1],
"ch2_power": a[2],
"ch3_power": a[3],
"ch4_power": a[4],
"ch5_power": a[5],
"ch6_power": a[6],
"ch1_sbu1_voltage": a[7] / 1000.0,
"ch1_sbu2_voltage": a[8] / 1000.0,
"ch2_sbu1_voltage": a[9] / 1000.0,
"ch2_sbu2_voltage": a[10] / 1000.0,
"ch3_sbu1_voltage": a[11] / 1000.0,
"ch3_sbu2_voltage": a[12] / 1000.0,
"ch4_sbu1_voltage": a[13] / 1000.0,
"ch4_sbu2_voltage": a[14] / 1000.0,
"ch5_sbu1_voltage": a[15] / 1000.0,
"ch5_sbu2_voltage": a[16] / 1000.0,
"ch6_sbu1_voltage": a[17] / 1000.0,
"ch6_sbu2_voltage": a[18] / 1000.0,
}
# ******************* control *******************
# Returns tuple with health packet version and CAN packet/USB packet version
def get_packets_versions(self):
dat = self._handle.controlRead(PandaJungle.REQUEST_IN, 0xdd, 0, 0, 3)
if dat and len(dat) == 3:
a = struct.unpack("BBB", dat)
return (a[0], a[1], a[2])
return (-1, -1, -1)
# ******************* jungle stuff *******************
def set_panda_power(self, enabled):
self._handle.controlWrite(PandaJungle.REQUEST_OUT, 0xa0, int(enabled), 0, b'')
def set_panda_individual_power(self, port, enabled):
self._handle.controlWrite(PandaJungle.REQUEST_OUT, 0xa3, int(port), int(enabled), b'')
def set_harness_orientation(self, mode):
self._handle.controlWrite(PandaJungle.REQUEST_OUT, 0xa1, int(mode), 0, b'')
def set_ignition(self, enabled):
self._handle.controlWrite(PandaJungle.REQUEST_OUT, 0xa2, int(enabled), 0, b'')
def set_can_silent(self, silent):
self._handle.controlWrite(PandaJungle.REQUEST_OUT, 0xf5, int(silent), 0, b'')
def set_generated_can(self, enabled):
self._handle.controlWrite(PandaJungle.REQUEST_OUT, 0xa4, int(enabled), 0, b'')
# ******************* serial *******************
def debug_read(self):
ret = []
while 1:
lret = bytes(self._handle.controlRead(PandaJungle.REQUEST_IN, 0xe0, 0, 0, 0x40))
if len(lret) == 0:
break
ret.append(lret)
return b''.join(ret)
# ******************* header pins *******************
def set_header_pin(self, pin_num, enabled):
self._handle.controlWrite(Panda.REQUEST_OUT, 0xf7, int(pin_num), int(enabled), b'')

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panda/board/jungle/flash.py Executable file
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#!/usr/bin/env python3
import os
import subprocess
import argparse
from panda import PandaJungle
board_path = os.path.dirname(os.path.realpath(__file__))
if __name__ == "__main__":
parser = argparse.ArgumentParser()
parser.add_argument("--all", action="store_true", help="Recover all panda jungle devices")
args = parser.parse_args()
subprocess.check_call(f"scons -C {board_path}/.. -u -j$(nproc) .", shell=True)
if args.all:
serials = PandaJungle.list()
print(f"found {len(serials)} panda jungles(s) - {serials}")
else:
serials = [None]
for s in serials:
with PandaJungle(serial=s) as p:
print("flashing", p.get_usb_serial())
p.flash()
exit(1 if len(serials) == 0 else 0)

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panda/board/jungle/recover.py Executable file
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#!/usr/bin/env python3
import os
import time
import subprocess
import argparse
from panda import PandaJungle, PandaJungleDFU
board_path = os.path.dirname(os.path.realpath(__file__))
if __name__ == "__main__":
parser = argparse.ArgumentParser()
parser.add_argument("--all", action="store_true", help="Recover all panda jungle devices")
args = parser.parse_args()
subprocess.check_call(f"scons -C {board_path}/.. -u -j$(nproc) .", shell=True)
serials = PandaJungle.list() if args.all else [None]
for s in serials:
with PandaJungle(serial=s) as p:
print(f"putting {p.get_usb_serial()} in DFU mode")
p.reset(enter_bootstub=True)
p.reset(enter_bootloader=True)
# wait for reset panda jungles to come back up
time.sleep(1)
dfu_serials = PandaJungleDFU.list()
print(f"found {len(dfu_serials)} panda jungle(s) in DFU - {dfu_serials}")
for s in dfu_serials:
print("flashing", s)
PandaJungleDFU(s).recover()
exit(1 if len(dfu_serials) == 0 else 0)

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panda/board/jungle/scripts/can_health.py Executable file
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#!/usr/bin/env python3
import time
import re
from panda import PandaJungle
RED = '\033[91m'
GREEN = '\033[92m'
def colorize_errors(value):
if isinstance(value, str):
if re.search(r'(?i)No error', value):
return f'{GREEN}{value}\033[0m'
elif re.search(r'(?i)(?<!No error\s)(err|error)', value):
return f'{RED}{value}\033[0m'
return str(value)
if __name__ == "__main__":
jungle = PandaJungle()
while True:
print(chr(27) + "[2J") # clear screen
print("Connected to " + ("internal panda" if jungle.is_internal() else "External panda") + f" id: {jungle.get_serial()[0]}: {jungle.get_version()}")
for bus in range(3):
print(f"\nBus {bus}:")
health = jungle.can_health(bus)
for key, value in health.items():
print(f"{key}: {colorize_errors(value)} ", end=" ")
print()
time.sleep(1)

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panda/board/jungle/scripts/can_printer.py Executable file
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#!/usr/bin/env python3
import os
import time
from collections import defaultdict
import binascii
from panda import PandaJungle
# fake
def sec_since_boot():
return time.time()
def can_printer():
p = PandaJungle()
print(f"Connected to: {p._serial}: {p.get_version()}")
time.sleep(1)
p.can_clear(0xFFFF)
start = sec_since_boot()
lp = sec_since_boot()
all_msgs = defaultdict(list)
canbus = os.getenv("CAN")
if canbus == "3":
p.set_obd(True)
canbus = "1"
while True:
can_recv = p.can_recv()
for addr, dat, bus in can_recv:
if canbus is None or str(bus) == canbus:
all_msgs[(addr, bus)].append((dat))
if sec_since_boot() - lp > 0.1:
dd = chr(27) + "[2J"
dd += "%5.2f\n" % (sec_since_boot() - start)
for (addr, bus), dat_log in sorted(all_msgs.items()):
dd += "%d: %s(%6d): %s\n" % (bus, "%04X(%4d)" % (addr, addr), len(dat_log), binascii.hexlify(dat_log[-1]).decode())
print(dd)
lp = sec_since_boot()
if __name__ == "__main__":
can_printer()

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panda/board/jungle/scripts/debug_console.py Executable file
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#!/usr/bin/env python3
import os
import sys
import time
from panda import PandaJungle
setcolor = ["\033[1;32;40m", "\033[1;31;40m"]
unsetcolor = "\033[00m"
if __name__ == "__main__":
while True:
try:
claim = os.getenv("CLAIM") is not None
serials = PandaJungle.list()
if os.getenv("SERIAL"):
serials = [x for x in serials if x==os.getenv("SERIAL")]
panda_jungles = [PandaJungle(x, claim=claim) for x in serials]
if not len(panda_jungles):
sys.exit("no panda jungles found")
while True:
for i, panda_jungle in enumerate(panda_jungles):
while True:
ret = panda_jungle.debug_read()
if len(ret) > 0:
sys.stdout.write(setcolor[i] + ret.decode('ascii') + unsetcolor)
sys.stdout.flush()
else:
break
time.sleep(0.01)
except Exception as e:
print(e)
print("panda jungle disconnected!")
time.sleep(0.5)

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panda/board/jungle/scripts/echo_loopback_test.py Executable file
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#!/usr/bin/env python3
import os
import time
import contextlib
import random
from termcolor import cprint
from panda import PandaJungle
# This script is intended to be used in conjunction with the echo.py test script from panda.
# It sends messages on bus 0, 1, 2 and checks for a reversed response to be sent back.
#################################################################
############################# UTILS #############################
#################################################################
def print_colored(text, color):
cprint(text + " "*40, color, end="\r")
def get_test_string():
return b"test"+os.urandom(4)
#################################################################
############################# TEST ##############################
#################################################################
def test_loopback():
for bus in range(3):
# Clear can
jungle.can_clear(bus)
# Send a random message
address = random.randint(1, 2000)
data = get_test_string()
jungle.can_send(address, data, bus)
time.sleep(0.1)
# Make sure it comes back reversed
incoming = jungle.can_recv()
found = False
for message in incoming:
incomingAddress, incomingData, incomingBus = message
if incomingAddress == address and incomingData == data[::-1] and incomingBus == bus:
found = True
break
if not found:
cprint("\nFAILED", "red")
raise AssertionError
#################################################################
############################# MAIN ##############################
#################################################################
jungle = None
counter = 0
if __name__ == "__main__":
# Connect to jungle silently
print_colored("Connecting to jungle", "blue")
with open(os.devnull, "w") as devnull:
with contextlib.redirect_stdout(devnull):
jungle = PandaJungle()
jungle.set_panda_power(True)
jungle.set_ignition(False)
# Run test
while True:
jungle.can_clear(0xFFFF)
test_loopback()
counter += 1
print_colored(str(counter) + " loopback cycles complete", "blue")

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panda/board/jungle/scripts/get_version.py Executable file
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#!/usr/bin/env python3
from panda import PandaJungle
if __name__ == "__main__":
for p in PandaJungle.list():
pp = PandaJungle(p)
print(f"{pp.get_serial()[0]}: {pp.get_version()}")

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panda/board/jungle/scripts/health_test.py Executable file
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#!/usr/bin/env python3
import time
from pprint import pprint
from panda import PandaJungle
if __name__ == "__main__":
i = 0
pi = 0
pj = PandaJungle()
while True:
st = time.monotonic()
while time.monotonic() - st < 1:
pj.health()
pj.can_health(0)
i += 1
pprint(pj.health())
print(f"Speed: {i - pi}Hz")
pi = i

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panda/board/jungle/scripts/loopback_test.py Executable file
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#!/usr/bin/env python3
import os
import time
import contextlib
import random
from termcolor import cprint
from iqdbc.car.structs import CarParams
from panda import Panda, PandaJungle
NUM_PANDAS_PER_TEST = 1
FOR_RELEASE_BUILDS = os.getenv("RELEASE") is not None # Release builds do not have ALLOUTPUT mode
BUS_SPEEDS = [125, 500, 1000]
#################################################################
############################# UTILS #############################
#################################################################
# To suppress the connection text
def silent_panda_connect(serial):
with open(os.devnull, "w") as devnull:
with contextlib.redirect_stdout(devnull):
panda = Panda(serial)
return panda
def print_colored(text, color):
cprint(text + " "*40, color, end="\r")
def connect_to_pandas():
print_colored("Connecting to pandas", "blue")
# Connect to pandas
pandas = []
for serial in panda_serials:
pandas.append(silent_panda_connect(serial))
print_colored("Connected", "blue")
def start_with_orientation(orientation):
print_colored("Restarting pandas with orientation " + str(orientation), "blue")
jungle.set_panda_power(False)
jungle.set_harness_orientation(orientation)
time.sleep(4)
jungle.set_panda_power(True)
time.sleep(2)
connect_to_pandas()
def can_loopback(sender):
receivers = list(filter((lambda p: (p != sender)), [jungle] + pandas))
for bus in range(4):
obd = False
if bus == 3:
obd = True
bus = 1
# Clear buses
for receiver in receivers:
receiver.set_obd(obd)
receiver.can_clear(bus) # TX
receiver.can_clear(0xFFFF) # RX
# Send a random string
addr = 0x18DB33F1 if FOR_RELEASE_BUILDS else random.randint(1, 2000)
string = b"test"+os.urandom(4)
sender.set_obd(obd)
time.sleep(0.2)
sender.can_send(addr, string, bus)
time.sleep(0.2)
# Check if all receivers have indeed received them in their receiving buffers
for receiver in receivers:
content = receiver.can_recv()
# Check amount of messages
if len(content) != 1:
raise Exception("Amount of received CAN messages (" + str(len(content)) + ") does not equal 1. Bus: " + str(bus) +" OBD: " + str(obd))
# Check content
if content[0][0] != addr or content[0][1] != string:
raise Exception("Received CAN message content or address does not match")
# Check bus
if content[0][2] != bus:
raise Exception("Received CAN message bus does not match")
#################################################################
############################# TEST ##############################
#################################################################
def test_loopback():
# disable safety modes
for panda in pandas:
panda.set_safety_mode(CarParams.SafetyModel.elm327 if FOR_RELEASE_BUILDS else CarParams.SafetyModel.allOutput)
# perform loopback with jungle as a sender
can_loopback(jungle)
# perform loopback with each possible panda as a sender
for panda in pandas:
can_loopback(panda)
# enable safety modes
for panda in pandas:
panda.set_safety_mode(CarParams.SafetyModel.silent)
#################################################################
############################# MAIN ##############################
#################################################################
jungle = None
pandas = [] # type: ignore
panda_serials = []
counter = 0
if __name__ == "__main__":
# Connect to jungle silently
print_colored("Connecting to jungle", "blue")
with open(os.devnull, "w") as devnull:
with contextlib.redirect_stdout(devnull):
jungle = PandaJungle()
jungle.set_panda_power(True)
jungle.set_ignition(False)
# Connect to <NUM_PANDAS_PER_TEST> new pandas before starting tests
print_colored("Waiting for " + str(NUM_PANDAS_PER_TEST) + " pandas to be connected", "yellow")
while True:
connected_serials = Panda.list()
if len(connected_serials) == NUM_PANDAS_PER_TEST:
panda_serials = connected_serials
break
start_with_orientation(PandaJungle.HARNESS_ORIENTATION_1)
# Set bus speeds
for device in pandas + [jungle]:
for bus in range(len(BUS_SPEEDS)):
device.set_can_speed_kbps(bus, BUS_SPEEDS[bus])
# Run test
while True:
test_loopback()
counter += 1
print_colored(str(counter) + " loopback cycles complete", "blue")

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#!/usr/bin/env python3
import os
import random
from iqdbc.car.structs import CarParams
from panda import PandaJungle
def get_test_string():
return b"test" + os.urandom(10)
if __name__ == "__main__":
p = PandaJungle()
p.set_safety_mode(CarParams.SafetyModel.allOutput)
print("Spamming all buses...")
while True:
at = random.randint(1, 2000)
st = get_test_string()[0:8]
bus = random.randint(0, 2)
p.can_send(at, st, bus)
# print("Sent message on bus: ", bus)

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#!/usr/bin/env python
import sys
from panda import PandaJungle
if __name__ == "__main__":
jungle = PandaJungle()
# If first argument specified, it sets the ignition (0 or 1)
if len(sys.argv) > 1:
if sys.argv[1] == '1':
jungle.set_ignition(True)
else:
jungle.set_ignition(False)
jungle.set_harness_orientation(1)
jungle.set_panda_power(True)

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DEV-34a11299-DEBUG

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panda/board/recover.py Executable file
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#!/usr/bin/env python3
import os
import time
import subprocess
from panda import Panda, PandaDFU
board_path = os.path.dirname(os.path.realpath(__file__))
if __name__ == "__main__":
subprocess.check_call(f"scons -C {board_path}/.. -j$(nproc) {board_path}", shell=True)
for s in Panda.list():
with Panda(serial=s) as p:
print(f"putting {p.get_usb_serial()} in DFU mode")
p.reset(enter_bootstub=True)
p.reset(enter_bootloader=True)
# wait for reset pandas to come back up
time.sleep(1)
dfu_serials = PandaDFU.list()
print(f"found {len(dfu_serials)} panda(s) in DFU - {dfu_serials}")
for s in dfu_serials:
print("flashing", s)
PandaDFU(s).recover()
exit(1 if len(dfu_serials) == 0 else 0)

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/**
******************************************************************************
* @file startup_stm32f413xx.s
* @author MCD Application Team
* @version V2.6.0
* @date 04-November-2016
* @brief STM32F413xx Devices vector table for GCC based toolchains.
* This module performs:
* - Set the initial SP
* - Set the initial PC == Reset_Handler,
* - Set the vector table entries with the exceptions ISR address
* - Branches to main in the C library (which eventually
* calls main()).
* After Reset the Cortex-M4 processor is in Thread mode,
* priority is Privileged, and the Stack is set to Main.
******************************************************************************
* @attention
*
* <h2><center>&copy; COPYRIGHT 2016 STMicroelectronics</center></h2>
*
* Redistribution and use in source and binary forms, with or without modification,
* are permitted provided that the following conditions are met:
* 1. Redistributions of source code must retain the above copyright notice,
* this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright notice,
* this list of conditions and the following disclaimer in the documentation
* and/or other materials provided with the distribution.
* 3. Neither the name of STMicroelectronics nor the names of its contributors
* may be used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
* FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
* DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*
******************************************************************************
*/
.syntax unified
.cpu cortex-m4
.fpu softvfp
.thumb
.global g_pfnVectors
.global Default_Handler
/* start address for the initialization values of the .data section.
defined in linker script */
.word _sidata
/* start address for the .data section. defined in linker script */
.word _sdata
/* end address for the .data section. defined in linker script */
.word _edata
/* start address for the .bss section. defined in linker script */
.word _sbss
/* end address for the .bss section. defined in linker script */
.word _ebss
/* stack used for SystemInit_ExtMemCtl; always internal RAM used */
/**
* @brief This is the code that gets called when the processor first
* starts execution following a reset event. Only the absolutely
* necessary set is performed, after which the application
* supplied main() routine is called.
* @param None
* @retval : None
*/
.section .text.Reset_Handler
.weak Reset_Handler
.type Reset_Handler, %function
Reset_Handler:
ldr sp, =_estack /* set stack pointer */
bl __initialize_hardware_early
/* Copy the data segment initializers from flash to SRAM */
movs r1, #0
b LoopCopyDataInit
CopyDataInit:
ldr r3, =_sidata
ldr r3, [r3, r1]
str r3, [r0, r1]
adds r1, r1, #4
LoopCopyDataInit:
ldr r0, =_sdata
ldr r3, =_edata
adds r2, r0, r1
cmp r2, r3
bcc CopyDataInit
ldr r2, =_sbss
b LoopFillZerobss
/* Zero fill the bss segment. */
FillZerobss:
movs r3, #0
str r3, [r2], #4
LoopFillZerobss:
ldr r3, = _ebss
cmp r2, r3
bcc FillZerobss
/* Call the clock system intitialization function.*/
/* bl SystemInit */
/* Call static constructors */
/* bl __libc_init_array */
/* Call the application's entry point.*/
bl main
bx lr
.size Reset_Handler, .-Reset_Handler
/**
* @brief This is the code that gets called when the processor receives an
* unexpected interrupt. This simply enters an infinite loop, preserving
* the system state for examination by a debugger.
* @param None
* @retval None
*/
.section .text.Default_Handler,"ax",%progbits
Default_Handler:
Infinite_Loop:
b Infinite_Loop
.size Default_Handler, .-Default_Handler
/******************************************************************************
*
* The minimal vector table for a Cortex M3. Note that the proper constructs
* must be placed on this to ensure that it ends up at physical address
* 0x0000.0000.
*
*******************************************************************************/
.section .isr_vector,"a",%progbits
.type g_pfnVectors, %object
.size g_pfnVectors, .-g_pfnVectors
g_pfnVectors:
.word _estack
.word Reset_Handler
.word NMI_Handler
.word HardFault_Handler
.word MemManage_Handler
.word BusFault_Handler
.word UsageFault_Handler
.word 0
.word 0
.word 0
.word 0
.word SVC_Handler
.word DebugMon_Handler
.word 0
.word PendSV_Handler
.word SysTick_Handler
/* External Interrupts */
.word WWDG_IRQHandler /* Window WatchDog */
.word PVD_IRQHandler /* PVD through EXTI Line detection */
.word TAMP_STAMP_IRQHandler /* Tamper and TimeStamps through the EXTI line */
.word RTC_WKUP_IRQHandler /* RTC Wakeup through the EXTI line */
.word FLASH_IRQHandler /* FLASH */
.word RCC_IRQHandler /* RCC */
.word EXTI0_IRQHandler /* EXTI Line0 */
.word EXTI1_IRQHandler /* EXTI Line1 */
.word EXTI2_IRQHandler /* EXTI Line2 */
.word EXTI3_IRQHandler /* EXTI Line3 */
.word EXTI4_IRQHandler /* EXTI Line4 */
.word DMA1_Stream0_IRQHandler /* DMA1 Stream 0 */
.word DMA1_Stream1_IRQHandler /* DMA1 Stream 1 */
.word DMA1_Stream2_IRQHandler /* DMA1 Stream 2 */
.word DMA1_Stream3_IRQHandler /* DMA1 Stream 3 */
.word DMA1_Stream4_IRQHandler /* DMA1 Stream 4 */
.word DMA1_Stream5_IRQHandler /* DMA1 Stream 5 */
.word DMA1_Stream6_IRQHandler /* DMA1 Stream 6 */
.word ADC_IRQHandler /* ADC1, ADC2 and ADC3s */
.word CAN1_TX_IRQHandler /* CAN1 TX */
.word CAN1_RX0_IRQHandler /* CAN1 RX0 */
.word CAN1_RX1_IRQHandler /* CAN1 RX1 */
.word CAN1_SCE_IRQHandler /* CAN1 SCE */
.word EXTI9_5_IRQHandler /* External Line[9:5]s */
.word TIM1_BRK_TIM9_IRQHandler /* TIM1 Break and TIM9 */
.word TIM1_UP_TIM10_IRQHandler /* TIM1 Update and TIM10 */
.word TIM1_TRG_COM_TIM11_IRQHandler /* TIM1 Trigger and Commutation and TIM11 */
.word TIM1_CC_IRQHandler /* TIM1 Capture Compare */
.word TIM2_IRQHandler /* TIM2 */
.word TIM3_IRQHandler /* TIM3 */
.word TIM4_IRQHandler /* TIM4 */
.word I2C1_EV_IRQHandler /* I2C1 Event */
.word I2C1_ER_IRQHandler /* I2C1 Error */
.word I2C2_EV_IRQHandler /* I2C2 Event */
.word I2C2_ER_IRQHandler /* I2C2 Error */
.word SPI1_IRQHandler /* SPI1 */
.word SPI2_IRQHandler /* SPI2 */
.word USART1_IRQHandler /* USART1 */
.word USART2_IRQHandler /* USART2 */
.word USART3_IRQHandler /* USART3 */
.word EXTI15_10_IRQHandler /* External Line[15:10]s */
.word RTC_Alarm_IRQHandler /* RTC Alarm (A and B) through EXTI Line */
.word OTG_FS_WKUP_IRQHandler /* USB OTG FS Wakeup through EXTI line */
.word TIM8_BRK_TIM12_IRQHandler /* TIM8 Break and TIM12 */
.word TIM8_UP_TIM13_IRQHandler /* TIM8 Update and TIM13 */
.word TIM8_TRG_COM_TIM14_IRQHandler /* TIM8 Trigger and Commutation and TIM14 */
.word TIM8_CC_IRQHandler /* TIM8 Capture Compare */
.word DMA1_Stream7_IRQHandler /* DMA1 Stream7 */
.word FSMC_IRQHandler /* FSMC */
.word SDIO_IRQHandler /* SDIO */
.word TIM5_IRQHandler /* TIM5 */
.word SPI3_IRQHandler /* SPI3 */
.word UART4_IRQHandler /* UART4 */
.word UART5_IRQHandler /* UART5 */
.word TIM6_DAC_IRQHandler /* TIM6, DAC1 and DAC2 */
.word TIM7_IRQHandler /* TIM7 */
.word DMA2_Stream0_IRQHandler /* DMA2 Stream 0 */
.word DMA2_Stream1_IRQHandler /* DMA2 Stream 1 */
.word DMA2_Stream2_IRQHandler /* DMA2 Stream 2 */
.word DMA2_Stream3_IRQHandler /* DMA2 Stream 3 */
.word DMA2_Stream4_IRQHandler /* DMA2 Stream 4 */
.word DFSDM1_FLT0_IRQHandler /* DFSDM1 Filter0 */
.word DFSDM1_FLT1_IRQHandler /* DFSDM1 Filter1 */
.word CAN2_TX_IRQHandler /* CAN2 TX */
.word CAN2_RX0_IRQHandler /* CAN2 RX0 */
.word CAN2_RX1_IRQHandler /* CAN2 RX1 */
.word CAN2_SCE_IRQHandler /* CAN2 SCE */
.word OTG_FS_IRQHandler /* USB OTG FS */
.word DMA2_Stream5_IRQHandler /* DMA2 Stream 5 */
.word DMA2_Stream6_IRQHandler /* DMA2 Stream 6 */
.word DMA2_Stream7_IRQHandler /* DMA2 Stream 7 */
.word USART6_IRQHandler /* USART6 */
.word I2C3_EV_IRQHandler /* I2C3 event */
.word I2C3_ER_IRQHandler /* I2C3 error */
.word CAN3_TX_IRQHandler /* CAN3 TX */
.word CAN3_RX0_IRQHandler /* CAN3 RX0 */
.word CAN3_RX1_IRQHandler /* CAN3 RX1 */
.word CAN3_SCE_IRQHandler /* CAN3 SCE */
.word 0 /* Reserved */
.word 0 /* Reserved */
.word RNG_IRQHandler /* RNG */
.word FPU_IRQHandler /* FPU */
.word UART7_IRQHandler /* UART7 */
.word UART8_IRQHandler /* UART8 */
.word SPI4_IRQHandler /* SPI4 */
.word SPI5_IRQHandler /* SPI5 */
.word 0 /* Reserved */
.word SAI1_IRQHandler /* SAI1 */
.word UART9_IRQHandler /* UART9 */
.word UART10_IRQHandler /* UART10 */
.word 0 /* Reserved */
.word 0 /* Reserved */
.word QUADSPI_IRQHandler /* QuadSPI */
.word 0 /* Reserved */
.word 0 /* Reserved */
.word FMPI2C1_EV_IRQHandler /* FMPI2C1 Event */
.word FMPI2C1_ER_IRQHandler /* FMPI2C1 Error */
.word LPTIM1_IRQHandler /* LPTIM1 */
.word DFSDM2_FLT0_IRQHandler /* DFSDM2 Filter0 */
.word DFSDM2_FLT1_IRQHandler /* DFSDM2 Filter1 */
.word DFSDM2_FLT2_IRQHandler /* DFSDM2 Filter2 */
.word DFSDM2_FLT3_IRQHandler /* DFSDM2 Filter3 */
/*******************************************************************************
*
* Provide weak aliases for each Exception handler to the Default_Handler.
* As they are weak aliases, any function with the same name will override
* this definition.
*
*******************************************************************************/
.weak NMI_Handler
.thumb_set NMI_Handler,Default_Handler
.weak HardFault_Handler
.thumb_set HardFault_Handler,Default_Handler
.weak MemManage_Handler
.thumb_set MemManage_Handler,Default_Handler
.weak BusFault_Handler
.thumb_set BusFault_Handler,Default_Handler
.weak UsageFault_Handler
.thumb_set UsageFault_Handler,Default_Handler
.weak SVC_Handler
.thumb_set SVC_Handler,Default_Handler
.weak DebugMon_Handler
.thumb_set DebugMon_Handler,Default_Handler
.weak PendSV_Handler
.thumb_set PendSV_Handler,Default_Handler
.weak SysTick_Handler
.thumb_set SysTick_Handler,Default_Handler
.weak WWDG_IRQHandler
.thumb_set WWDG_IRQHandler,Default_Handler
.weak PVD_IRQHandler
.thumb_set PVD_IRQHandler,Default_Handler
.weak TAMP_STAMP_IRQHandler
.thumb_set TAMP_STAMP_IRQHandler,Default_Handler
.weak RTC_WKUP_IRQHandler
.thumb_set RTC_WKUP_IRQHandler,Default_Handler
.weak FLASH_IRQHandler
.thumb_set FLASH_IRQHandler,Default_Handler
.weak RCC_IRQHandler
.thumb_set RCC_IRQHandler,Default_Handler
.weak EXTI0_IRQHandler
.thumb_set EXTI0_IRQHandler,Default_Handler
.weak EXTI1_IRQHandler
.thumb_set EXTI1_IRQHandler,Default_Handler
.weak EXTI2_IRQHandler
.thumb_set EXTI2_IRQHandler,Default_Handler
.weak EXTI3_IRQHandler
.thumb_set EXTI3_IRQHandler,Default_Handler
.weak EXTI4_IRQHandler
.thumb_set EXTI4_IRQHandler,Default_Handler
.weak DMA1_Stream0_IRQHandler
.thumb_set DMA1_Stream0_IRQHandler,Default_Handler
.weak DMA1_Stream1_IRQHandler
.thumb_set DMA1_Stream1_IRQHandler,Default_Handler
.weak DMA1_Stream2_IRQHandler
.thumb_set DMA1_Stream2_IRQHandler,Default_Handler
.weak DMA1_Stream3_IRQHandler
.thumb_set DMA1_Stream3_IRQHandler,Default_Handler
.weak DMA1_Stream4_IRQHandler
.thumb_set DMA1_Stream4_IRQHandler,Default_Handler
.weak DMA1_Stream5_IRQHandler
.thumb_set DMA1_Stream5_IRQHandler,Default_Handler
.weak DMA1_Stream6_IRQHandler
.thumb_set DMA1_Stream6_IRQHandler,Default_Handler
.weak ADC_IRQHandler
.thumb_set ADC_IRQHandler,Default_Handler
.weak CAN1_TX_IRQHandler
.thumb_set CAN1_TX_IRQHandler,Default_Handler
.weak CAN1_RX0_IRQHandler
.thumb_set CAN1_RX0_IRQHandler,Default_Handler
.weak CAN1_RX1_IRQHandler
.thumb_set CAN1_RX1_IRQHandler,Default_Handler
.weak CAN1_SCE_IRQHandler
.thumb_set CAN1_SCE_IRQHandler,Default_Handler
.weak EXTI9_5_IRQHandler
.thumb_set EXTI9_5_IRQHandler,Default_Handler
.weak TIM1_BRK_TIM9_IRQHandler
.thumb_set TIM1_BRK_TIM9_IRQHandler,Default_Handler
.weak TIM1_UP_TIM10_IRQHandler
.thumb_set TIM1_UP_TIM10_IRQHandler,Default_Handler
.weak TIM1_TRG_COM_TIM11_IRQHandler
.thumb_set TIM1_TRG_COM_TIM11_IRQHandler,Default_Handler
.weak TIM1_CC_IRQHandler
.thumb_set TIM1_CC_IRQHandler,Default_Handler
.weak TIM2_IRQHandler
.thumb_set TIM2_IRQHandler,Default_Handler
.weak TIM3_IRQHandler
.thumb_set TIM3_IRQHandler,Default_Handler
.weak TIM4_IRQHandler
.thumb_set TIM4_IRQHandler,Default_Handler
.weak I2C1_EV_IRQHandler
.thumb_set I2C1_EV_IRQHandler,Default_Handler
.weak I2C1_ER_IRQHandler
.thumb_set I2C1_ER_IRQHandler,Default_Handler
.weak I2C2_EV_IRQHandler
.thumb_set I2C2_EV_IRQHandler,Default_Handler
.weak I2C2_ER_IRQHandler
.thumb_set I2C2_ER_IRQHandler,Default_Handler
.weak SPI1_IRQHandler
.thumb_set SPI1_IRQHandler,Default_Handler
.weak SPI2_IRQHandler
.thumb_set SPI2_IRQHandler,Default_Handler
.weak USART1_IRQHandler
.thumb_set USART1_IRQHandler,Default_Handler
.weak USART2_IRQHandler
.thumb_set USART2_IRQHandler,Default_Handler
.weak USART3_IRQHandler
.thumb_set USART3_IRQHandler,Default_Handler
.weak EXTI15_10_IRQHandler
.thumb_set EXTI15_10_IRQHandler,Default_Handler
.weak RTC_Alarm_IRQHandler
.thumb_set RTC_Alarm_IRQHandler,Default_Handler
.weak OTG_FS_WKUP_IRQHandler
.thumb_set OTG_FS_WKUP_IRQHandler,Default_Handler
.weak TIM8_BRK_TIM12_IRQHandler
.thumb_set TIM8_BRK_TIM12_IRQHandler,Default_Handler
.weak TIM8_UP_TIM13_IRQHandler
.thumb_set TIM8_UP_TIM13_IRQHandler,Default_Handler
.weak TIM8_TRG_COM_TIM14_IRQHandler
.thumb_set TIM8_TRG_COM_TIM14_IRQHandler,Default_Handler
.weak TIM8_CC_IRQHandler
.thumb_set TIM8_CC_IRQHandler,Default_Handler
.weak DMA1_Stream7_IRQHandler
.thumb_set DMA1_Stream7_IRQHandler,Default_Handler
.weak FSMC_IRQHandler
.thumb_set FSMC_IRQHandler,Default_Handler
.weak SDIO_IRQHandler
.thumb_set SDIO_IRQHandler,Default_Handler
.weak TIM5_IRQHandler
.thumb_set TIM5_IRQHandler,Default_Handler
.weak SPI3_IRQHandler
.thumb_set SPI3_IRQHandler,Default_Handler
.weak UART4_IRQHandler
.thumb_set UART4_IRQHandler,Default_Handler
.weak UART5_IRQHandler
.thumb_set UART5_IRQHandler,Default_Handler
.weak TIM6_DAC_IRQHandler
.thumb_set TIM6_DAC_IRQHandler,Default_Handler
.weak TIM7_IRQHandler
.thumb_set TIM7_IRQHandler,Default_Handler
.weak DMA2_Stream0_IRQHandler
.thumb_set DMA2_Stream0_IRQHandler,Default_Handler
.weak DMA2_Stream1_IRQHandler
.thumb_set DMA2_Stream1_IRQHandler,Default_Handler
.weak DMA2_Stream2_IRQHandler
.thumb_set DMA2_Stream2_IRQHandler,Default_Handler
.weak DMA2_Stream3_IRQHandler
.thumb_set DMA2_Stream3_IRQHandler,Default_Handler
.weak DMA2_Stream4_IRQHandler
.thumb_set DMA2_Stream4_IRQHandler,Default_Handler
.weak DFSDM1_FLT0_IRQHandler
.thumb_set DFSDM1_FLT0_IRQHandler,Default_Handler
.weak DFSDM1_FLT1_IRQHandler
.thumb_set DFSDM1_FLT1_IRQHandler,Default_Handler
.weak CAN2_TX_IRQHandler
.thumb_set CAN2_TX_IRQHandler,Default_Handler
.weak CAN2_RX0_IRQHandler
.thumb_set CAN2_RX0_IRQHandler,Default_Handler
.weak CAN2_RX1_IRQHandler
.thumb_set CAN2_RX1_IRQHandler,Default_Handler
.weak CAN2_SCE_IRQHandler
.thumb_set CAN2_SCE_IRQHandler,Default_Handler
.weak OTG_FS_IRQHandler
.thumb_set OTG_FS_IRQHandler,Default_Handler
.weak DMA2_Stream5_IRQHandler
.thumb_set DMA2_Stream5_IRQHandler,Default_Handler
.weak DMA2_Stream6_IRQHandler
.thumb_set DMA2_Stream6_IRQHandler,Default_Handler
.weak DMA2_Stream7_IRQHandler
.thumb_set DMA2_Stream7_IRQHandler,Default_Handler
.weak USART6_IRQHandler
.thumb_set USART6_IRQHandler,Default_Handler
.weak I2C3_EV_IRQHandler
.thumb_set I2C3_EV_IRQHandler,Default_Handler
.weak I2C3_ER_IRQHandler
.thumb_set I2C3_ER_IRQHandler,Default_Handler
.weak CAN3_TX_IRQHandler
.thumb_set CAN3_TX_IRQHandler,Default_Handler
.weak CAN3_RX0_IRQHandler
.thumb_set CAN3_RX0_IRQHandler,Default_Handler
.weak CAN3_RX1_IRQHandler
.thumb_set CAN3_RX1_IRQHandler,Default_Handler
.weak CAN3_SCE_IRQHandler
.thumb_set CAN3_SCE_IRQHandler,Default_Handler
.weak RNG_IRQHandler
.thumb_set RNG_IRQHandler,Default_Handler
.weak FPU_IRQHandler
.thumb_set FPU_IRQHandler,Default_Handler
.weak UART7_IRQHandler
.thumb_set UART7_IRQHandler,Default_Handler
.weak UART8_IRQHandler
.thumb_set UART8_IRQHandler,Default_Handler
.weak SPI4_IRQHandler
.thumb_set SPI4_IRQHandler,Default_Handler
.weak SPI5_IRQHandler
.thumb_set SPI5_IRQHandler,Default_Handler
.weak SAI1_IRQHandler
.thumb_set SAI1_IRQHandler,Default_Handler
.weak UART9_IRQHandler
.thumb_set UART9_IRQHandler,Default_Handler
.weak UART10_IRQHandler
.thumb_set UART10_IRQHandler,Default_Handler
.weak QUADSPI_IRQHandler
.thumb_set QUADSPI_IRQHandler,Default_Handler
.weak FMPI2C1_EV_IRQHandler
.thumb_set FMPI2C1_EV_IRQHandler,Default_Handler
.weak FMPI2C1_ER_IRQHandler
.thumb_set FMPI2C1_ER_IRQHandler,Default_Handler
.weak LPTIM1_IRQHandler
.thumb_set LPTIM1_IRQHandler,Default_Handler
.weak DFSDM2_FLT0_IRQHandler
.thumb_set DFSDM2_FLT0_IRQHandler,Default_Handler
.weak DFSDM2_FLT1_IRQHandler
.thumb_set DFSDM2_FLT1_IRQHandler,Default_Handler
.weak DFSDM2_FLT2_IRQHandler
.thumb_set DFSDM2_FLT2_IRQHandler,Default_Handler
.weak DFSDM2_FLT3_IRQHandler
.thumb_set DFSDM2_FLT3_IRQHandler,Default_Handler
/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/

166
panda/board/stm32f4/stm32f4_flash.ld Normal file
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/*
*****************************************************************************
**
** File : stm32f4_flash.ld
**
** Abstract : Linker script for STM32F407VG Device with
** 1024KByte FLASH, 192KByte RAM
**
** Set heap size, stack size and stack location according
** to application requirements.
**
** Set memory bank area and size if external memory is used.
**
** Target : STMicroelectronics STM32
**
** Environment : Atollic TrueSTUDIO(R)
**
** Distribution: The file is distributed "as is," without any warranty
** of any kind.
**
** (c)Copyright Atollic AB.
** You may use this file as-is or modify it according to the needs of your
** project. Distribution of this file (unmodified or modified) is not
** permitted. Atollic AB permit registered Atollic TrueSTUDIO(R) users the
** rights to distribute the assembled, compiled & linked contents of this
** file as part of an application binary file, provided that it is built
** using the Atollic TrueSTUDIO(R) toolchain.
**
*****************************************************************************
*/
/* Entry Point */
ENTRY(Reset_Handler)
/* Highest address of the user mode stack */
enter_bootloader_mode = 0x2001FFFC;
_estack = 0x2001FFFC; /* end of 128K RAM on AHB bus*/
_app_start = 0x08004000; /* Reserve Sector 0(16K) for bootloader */
/* Generate a link error if heap and stack don't fit into RAM */
_Min_Heap_Size = 0; /* required amount of heap */
_Min_Stack_Size = 0x400; /* required amount of stack */
/* Specify the memory areas */
MEMORY
{
FLASH (rx) : ORIGIN = 0x08000000, LENGTH = 1024K
RAM (xrw) : ORIGIN = 0x20000000, LENGTH = 256K
RAM2 (xrw) : ORIGIN = 0x20040000, LENGTH = 64K
MEMORY_B1 (rx) : ORIGIN = 0x60000000, LENGTH = 0K
}
/* Define output sections */
SECTIONS
{
/* The startup code goes first into FLASH */
.isr_vector :
{
. = ALIGN(4);
KEEP(*(.isr_vector)) /* Startup code */
. = ALIGN(4);
} >FLASH
/* The program code and other data goes into FLASH */
.text :
{
. = ALIGN(4);
*(.text) /* .text sections (code) */
*(.text*) /* .text* sections (code) */
*(.rodata) /* .rodata sections (constants, strings, etc.) */
*(.rodata*) /* .rodata* sections (constants, strings, etc.) */
*(.glue_7) /* glue arm to thumb code */
*(.glue_7t) /* glue thumb to arm code */
*(.eh_frame)
KEEP (*(.init))
KEEP (*(.fini))
. = ALIGN(4);
_etext = .; /* define a global symbols at end of code */
_exit = .;
} >FLASH
.ARM.extab : { *(.ARM.extab* .gnu.linkonce.armextab.*) } >FLASH
.ARM : {
__exidx_start = .;
*(.ARM.exidx*)
__exidx_end = .;
} >FLASH
.preinit_array :
{
PROVIDE_HIDDEN (__preinit_array_start = .);
KEEP (*(.preinit_array*))
PROVIDE_HIDDEN (__preinit_array_end = .);
} >FLASH
.init_array :
{
PROVIDE_HIDDEN (__init_array_start = .);
KEEP (*(SORT(.init_array.*)))
KEEP (*(.init_array*))
PROVIDE_HIDDEN (__init_array_end = .);
} >FLASH
.fini_array :
{
PROVIDE_HIDDEN (__fini_array_start = .);
KEEP (*(.fini_array*))
KEEP (*(SORT(.fini_array.*)))
PROVIDE_HIDDEN (__fini_array_end = .);
} >FLASH
/* used by the startup to initialize data */
_sidata = .;
/* Initialized data sections goes into RAM, load LMA copy after code */
.data : AT ( _sidata )
{
. = ALIGN(4);
_sdata = .; /* create a global symbol at data start */
*(.data) /* .data sections */
*(.data*) /* .data* sections */
. = ALIGN(4);
_edata = .; /* define a global symbol at data end */
} >RAM
/* Uninitialized data section */
. = ALIGN(4);
.bss :
{
/* This is used by the startup in order to initialize the .bss secion */
_sbss = .; /* define a global symbol at bss start */
__bss_start__ = _sbss;
*(.bss)
*(.bss*)
*(COMMON)
. = ALIGN(4);
_ebss = .; /* define a global symbol at bss end */
__bss_end__ = _ebss;
} >RAM
/* User_heap_stack section, used to check that there is enough RAM left */
._user_heap_stack :
{
. = ALIGN(4);
PROVIDE ( end = . );
PROVIDE ( _end = . );
. = . + _Min_Heap_Size;
. = . + _Min_Stack_Size;
. = ALIGN(4);
} >RAM
/* MEMORY_bank1 section, code must be located here explicitly */
/* Example: extern int foo(void) __attribute__ ((section (".mb1text"))); */
.memory_b1_text :
{
*(.mb1text) /* .mb1text sections (code) */
*(.mb1text*) /* .mb1text* sections (code) */
*(.mb1rodata) /* read-only data (constants) */
*(.mb1rodata*)
} >MEMORY_B1
.ARM.attributes 0 : { *(.ARM.attributes) }
}

767
panda/board/stm32h7/startup_stm32h7x5xx.s Normal file
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/**
******************************************************************************
* @file startup_stm32h735xx.s
* @author MCD Application Team
* @brief STM32H735xx Devices vector table for GCC based toolchain.
* This module performs:
* - Set the initial SP
* - Set the initial PC == Reset_Handler,
* - Set the vector table entries with the exceptions ISR address
* - Branches to main in the C library (which eventually
* calls main()).
* After Reset the Cortex-M processor is in Thread mode,
* priority is Privileged, and the Stack is set to Main.
******************************************************************************
* @attention
*
* <h2><center>&copy; Copyright (c) 2019 STMicroelectronics.
* All rights reserved.</center></h2>
*
* This software component is licensed by ST under BSD 3-Clause license,
* the "License"; You may not use this file except in compliance with the
* License. You may obtain a copy of the License at:
* opensource.org/licenses/BSD-3-Clause
*
******************************************************************************
*/
.syntax unified
.cpu cortex-m7
.fpu softvfp
.thumb
.global g_pfnVectors
.global Default_Handler
/* start address for the initialization values of the .data section.
defined in linker script */
.word _sidata
/* start address for the .data section. defined in linker script */
.word _sdata
/* end address for the .data section. defined in linker script */
.word _edata
/* start address for the .bss section. defined in linker script */
.word _sbss
/* end address for the .bss section. defined in linker script */
.word _ebss
/* stack used for SystemInit_ExtMemCtl; always internal RAM used */
/**
* @brief This is the code that gets called when the processor first
* starts execution following a reset event. Only the absolutely
* necessary set is performed, after which the application
* supplied main() routine is called.
* @param None
* @retval : None
*/
.section .text.Reset_Handler
.weak Reset_Handler
.type Reset_Handler, %function
Reset_Handler:
ldr sp, =_estack /* set stack pointer */
bl __initialize_hardware_early
/* Copy the data segment initializers from flash to SRAM */
ldr r0, =_sdata
ldr r1, =_edata
ldr r2, =_sidata
movs r3, #0
b LoopCopyDataInit
CopyDataInit:
ldr r4, [r2, r3]
str r4, [r0, r3]
adds r3, r3, #4
LoopCopyDataInit:
adds r4, r0, r3
cmp r4, r1
bcc CopyDataInit
/* Zero fill the bss segment. */
ldr r2, =_sbss
ldr r4, =_ebss
movs r3, #0
b LoopFillZerobss
FillZerobss:
str r3, [r2]
adds r2, r2, #4
LoopFillZerobss:
cmp r2, r4
bcc FillZerobss
/* Call the clock system intitialization function.*/
/* bl SystemInit */
/* Call static constructors */
/* bl __libc_init_array */
/* Call the application's entry point.*/
bl main
bx lr
.size Reset_Handler, .-Reset_Handler
/**
* @brief This is the code that gets called when the processor receives an
* unexpected interrupt. This simply enters an infinite loop, preserving
* the system state for examination by a debugger.
* @param None
* @retval None
*/
.section .text.Default_Handler,"ax",%progbits
Default_Handler:
Infinite_Loop:
b Infinite_Loop
.size Default_Handler, .-Default_Handler
/******************************************************************************
*
* The minimal vector table for a Cortex M. Note that the proper constructs
* must be placed on this to ensure that it ends up at physical address
* 0x0000.0000.
*
*******************************************************************************/
.section .isr_vector,"a",%progbits
.type g_pfnVectors, %object
.size g_pfnVectors, .-g_pfnVectors
g_pfnVectors:
.word _estack
.word Reset_Handler
.word NMI_Handler
.word HardFault_Handler
.word MemManage_Handler
.word BusFault_Handler
.word UsageFault_Handler
.word 0
.word 0
.word 0
.word 0
.word SVC_Handler
.word DebugMon_Handler
.word 0
.word PendSV_Handler
.word SysTick_Handler
/* External Interrupts */
.word WWDG_IRQHandler /* Window WatchDog */
.word PVD_AVD_IRQHandler /* PVD/AVD through EXTI Line detection */
.word TAMP_STAMP_IRQHandler /* Tamper and TimeStamps through the EXTI line */
.word RTC_WKUP_IRQHandler /* RTC Wakeup through the EXTI line */
.word FLASH_IRQHandler /* FLASH */
.word RCC_IRQHandler /* RCC */
.word EXTI0_IRQHandler /* EXTI Line0 */
.word EXTI1_IRQHandler /* EXTI Line1 */
.word EXTI2_IRQHandler /* EXTI Line2 */
.word EXTI3_IRQHandler /* EXTI Line3 */
.word EXTI4_IRQHandler /* EXTI Line4 */
.word DMA1_Stream0_IRQHandler /* DMA1 Stream 0 */
.word DMA1_Stream1_IRQHandler /* DMA1 Stream 1 */
.word DMA1_Stream2_IRQHandler /* DMA1 Stream 2 */
.word DMA1_Stream3_IRQHandler /* DMA1 Stream 3 */
.word DMA1_Stream4_IRQHandler /* DMA1 Stream 4 */
.word DMA1_Stream5_IRQHandler /* DMA1 Stream 5 */
.word DMA1_Stream6_IRQHandler /* DMA1 Stream 6 */
.word ADC_IRQHandler /* ADC1, ADC2 and ADC3s */
.word FDCAN1_IT0_IRQHandler /* FDCAN1 interrupt line 0 */
.word FDCAN2_IT0_IRQHandler /* FDCAN2 interrupt line 0 */
.word FDCAN1_IT1_IRQHandler /* FDCAN1 interrupt line 1 */
.word FDCAN2_IT1_IRQHandler /* FDCAN2 interrupt line 1 */
.word EXTI9_5_IRQHandler /* External Line[9:5]s */
.word TIM1_BRK_IRQHandler /* TIM1 Break interrupt */
.word TIM1_UP_IRQHandler /* TIM1 Update interrupt */
.word TIM1_TRG_COM_IRQHandler /* TIM1 Trigger and Commutation interrupt */
.word TIM1_CC_IRQHandler /* TIM1 Capture Compare */
.word TIM2_IRQHandler /* TIM2 */
.word TIM3_IRQHandler /* TIM3 */
.word TIM4_IRQHandler /* TIM4 */
.word I2C1_EV_IRQHandler /* I2C1 Event */
.word I2C1_ER_IRQHandler /* I2C1 Error */
.word I2C2_EV_IRQHandler /* I2C2 Event */
.word I2C2_ER_IRQHandler /* I2C2 Error */
.word SPI1_IRQHandler /* SPI1 */
.word SPI2_IRQHandler /* SPI2 */
.word USART1_IRQHandler /* USART1 */
.word USART2_IRQHandler /* USART2 */
.word USART3_IRQHandler /* USART3 */
.word EXTI15_10_IRQHandler /* External Line[15:10]s */
.word RTC_Alarm_IRQHandler /* RTC Alarm (A and B) through EXTI Line */
.word 0 /* Reserved */
.word TIM8_BRK_TIM12_IRQHandler /* TIM8 Break and TIM12 */
.word TIM8_UP_TIM13_IRQHandler /* TIM8 Update and TIM13 */
.word TIM8_TRG_COM_TIM14_IRQHandler /* TIM8 Trigger and Commutation and TIM14 */
.word TIM8_CC_IRQHandler /* TIM8 Capture Compare */
.word DMA1_Stream7_IRQHandler /* DMA1 Stream7 */
.word FMC_IRQHandler /* FMC */
.word SDMMC1_IRQHandler /* SDMMC1 */
.word TIM5_IRQHandler /* TIM5 */
.word SPI3_IRQHandler /* SPI3 */
.word UART4_IRQHandler /* UART4 */
.word UART5_IRQHandler /* UART5 */
.word TIM6_DAC_IRQHandler /* TIM6 and DAC1&2 underrun errors */
.word TIM7_IRQHandler /* TIM7 */
.word DMA2_Stream0_IRQHandler /* DMA2 Stream 0 */
.word DMA2_Stream1_IRQHandler /* DMA2 Stream 1 */
.word DMA2_Stream2_IRQHandler /* DMA2 Stream 2 */
.word DMA2_Stream3_IRQHandler /* DMA2 Stream 3 */
.word DMA2_Stream4_IRQHandler /* DMA2 Stream 4 */
.word ETH_IRQHandler /* Ethernet */
.word ETH_WKUP_IRQHandler /* Ethernet Wakeup through EXTI line */
.word FDCAN_CAL_IRQHandler /* FDCAN calibration unit interrupt*/
.word 0 /* Reserved */
.word 0 /* Reserved */
.word 0 /* Reserved */
.word 0 /* Reserved */
.word DMA2_Stream5_IRQHandler /* DMA2 Stream 5 */
.word DMA2_Stream6_IRQHandler /* DMA2 Stream 6 */
.word DMA2_Stream7_IRQHandler /* DMA2 Stream 7 */
.word USART6_IRQHandler /* USART6 */
.word I2C3_EV_IRQHandler /* I2C3 event */
.word I2C3_ER_IRQHandler /* I2C3 error */
.word OTG_HS_EP1_OUT_IRQHandler /* USB OTG HS End Point 1 Out */
.word OTG_HS_EP1_IN_IRQHandler /* USB OTG HS End Point 1 In */
.word OTG_HS_WKUP_IRQHandler /* USB OTG HS Wakeup through EXTI */
.word OTG_HS_IRQHandler /* USB OTG HS */
.word DCMI_PSSI_IRQHandler /* DCMI, PSSI */
.word CRYP_IRQHandler /* CRYP */
.word HASH_RNG_IRQHandler /* Hash and Rng */
.word FPU_IRQHandler /* FPU */
.word UART7_IRQHandler /* UART7 */
.word UART8_IRQHandler /* UART8 */
.word SPI4_IRQHandler /* SPI4 */
.word SPI5_IRQHandler /* SPI5 */
.word SPI6_IRQHandler /* SPI6 */
.word SAI1_IRQHandler /* SAI1 */
.word LTDC_IRQHandler /* LTDC */
.word LTDC_ER_IRQHandler /* LTDC error */
.word DMA2D_IRQHandler /* DMA2D */
.word 0 /* Reserved */
.word OCTOSPI1_IRQHandler /* OCTOSPI1 */
.word LPTIM1_IRQHandler /* LPTIM1 */
.word CEC_IRQHandler /* HDMI_CEC */
.word I2C4_EV_IRQHandler /* I2C4 Event */
.word I2C4_ER_IRQHandler /* I2C4 Error */
.word SPDIF_RX_IRQHandler /* SPDIF_RX */
.word 0 /* Reserved */
.word 0 /* Reserved */
.word 0 /* Reserved */
.word 0 /* Reserved */
.word DMAMUX1_OVR_IRQHandler /* DMAMUX1 Overrun interrupt */
.word 0 /* Reserved */
.word 0 /* Reserved */
.word 0 /* Reserved */
.word 0 /* Reserved */
.word 0 /* Reserved */
.word 0 /* Reserved */
.word 0 /* Reserved */
.word DFSDM1_FLT0_IRQHandler /* DFSDM Filter0 Interrupt */
.word DFSDM1_FLT1_IRQHandler /* DFSDM Filter1 Interrupt */
.word DFSDM1_FLT2_IRQHandler /* DFSDM Filter2 Interrupt */
.word DFSDM1_FLT3_IRQHandler /* DFSDM Filter3 Interrupt */
.word 0 /* Reserved */
.word SWPMI1_IRQHandler /* Serial Wire Interface 1 global interrupt */
.word TIM15_IRQHandler /* TIM15 global Interrupt */
.word TIM16_IRQHandler /* TIM16 global Interrupt */
.word TIM17_IRQHandler /* TIM17 global Interrupt */
.word MDIOS_WKUP_IRQHandler /* MDIOS Wakeup Interrupt */
.word MDIOS_IRQHandler /* MDIOS global Interrupt */
.word 0 /* Reserved */
.word MDMA_IRQHandler /* MDMA global Interrupt */
.word 0 /* Reserved */
.word SDMMC2_IRQHandler /* SDMMC2 global Interrupt */
.word HSEM1_IRQHandler /* HSEM1 global Interrupt */
.word 0 /* Reserved */
.word ADC3_IRQHandler /* ADC3 global Interrupt */
.word DMAMUX2_OVR_IRQHandler /* DMAMUX Overrun interrupt */
.word BDMA_Channel0_IRQHandler /* BDMA Channel 0 global Interrupt */
.word BDMA_Channel1_IRQHandler /* BDMA Channel 1 global Interrupt */
.word BDMA_Channel2_IRQHandler /* BDMA Channel 2 global Interrupt */
.word BDMA_Channel3_IRQHandler /* BDMA Channel 3 global Interrupt */
.word BDMA_Channel4_IRQHandler /* BDMA Channel 4 global Interrupt */
.word BDMA_Channel5_IRQHandler /* BDMA Channel 5 global Interrupt */
.word BDMA_Channel6_IRQHandler /* BDMA Channel 6 global Interrupt */
.word BDMA_Channel7_IRQHandler /* BDMA Channel 7 global Interrupt */
.word COMP1_IRQHandler /* COMP1 global Interrupt */
.word LPTIM2_IRQHandler /* LP TIM2 global interrupt */
.word LPTIM3_IRQHandler /* LP TIM3 global interrupt */
.word LPTIM4_IRQHandler /* LP TIM4 global interrupt */
.word LPTIM5_IRQHandler /* LP TIM5 global interrupt */
.word LPUART1_IRQHandler /* LP UART1 interrupt */
.word 0 /* Reserved */
.word CRS_IRQHandler /* Clock Recovery Global Interrupt */
.word ECC_IRQHandler /* ECC diagnostic Global Interrupt */
.word SAI4_IRQHandler /* SAI4 global interrupt */
.word DTS_IRQHandler /* Digital Temperature Sensor interrupt */
.word 0 /* Reserved */
.word WAKEUP_PIN_IRQHandler /* Interrupt for all 6 wake-up pins */
.word OCTOSPI2_IRQHandler /* OCTOSPI2 Interrupt */
.word OTFDEC1_IRQHandler /* OTFDEC1 Interrupt */
.word OTFDEC2_IRQHandler /* OTFDEC2 Interrupt */
.word FMAC_IRQHandler /* FMAC Interrupt */
.word CORDIC_IRQHandler /* CORDIC Interrupt */
.word UART9_IRQHandler /* UART9 Interrupt */
.word USART10_IRQHandler /* UART10 Interrupt */
.word I2C5_EV_IRQHandler /* I2C5 Event Interrupt */
.word I2C5_ER_IRQHandler /* I2C5 Error Interrupt */
.word FDCAN3_IT0_IRQHandler /* FDCAN3 interrupt line 0 */
.word FDCAN3_IT1_IRQHandler /* FDCAN3 interrupt line 1 */
.word TIM23_IRQHandler /* TIM23 global interrupt */
.word TIM24_IRQHandler /* TIM24 global interrupt */
/*******************************************************************************
*
* Provide weak aliases for each Exception handler to the Default_Handler.
* As they are weak aliases, any function with the same name will override
* this definition.
*
*******************************************************************************/
.weak NMI_Handler
.thumb_set NMI_Handler,Default_Handler
.weak HardFault_Handler
.thumb_set HardFault_Handler,Default_Handler
.weak MemManage_Handler
.thumb_set MemManage_Handler,Default_Handler
.weak BusFault_Handler
.thumb_set BusFault_Handler,Default_Handler
.weak UsageFault_Handler
.thumb_set UsageFault_Handler,Default_Handler
.weak SVC_Handler
.thumb_set SVC_Handler,Default_Handler
.weak DebugMon_Handler
.thumb_set DebugMon_Handler,Default_Handler
.weak PendSV_Handler
.thumb_set PendSV_Handler,Default_Handler
.weak SysTick_Handler
.thumb_set SysTick_Handler,Default_Handler
.weak WWDG_IRQHandler
.thumb_set WWDG_IRQHandler,Default_Handler
.weak PVD_AVD_IRQHandler
.thumb_set PVD_AVD_IRQHandler,Default_Handler
.weak TAMP_STAMP_IRQHandler
.thumb_set TAMP_STAMP_IRQHandler,Default_Handler
.weak RTC_WKUP_IRQHandler
.thumb_set RTC_WKUP_IRQHandler,Default_Handler
.weak FLASH_IRQHandler
.thumb_set FLASH_IRQHandler,Default_Handler
.weak RCC_IRQHandler
.thumb_set RCC_IRQHandler,Default_Handler
.weak EXTI0_IRQHandler
.thumb_set EXTI0_IRQHandler,Default_Handler
.weak EXTI1_IRQHandler
.thumb_set EXTI1_IRQHandler,Default_Handler
.weak EXTI2_IRQHandler
.thumb_set EXTI2_IRQHandler,Default_Handler
.weak EXTI3_IRQHandler
.thumb_set EXTI3_IRQHandler,Default_Handler
.weak EXTI4_IRQHandler
.thumb_set EXTI4_IRQHandler,Default_Handler
.weak DMA1_Stream0_IRQHandler
.thumb_set DMA1_Stream0_IRQHandler,Default_Handler
.weak DMA1_Stream1_IRQHandler
.thumb_set DMA1_Stream1_IRQHandler,Default_Handler
.weak DMA1_Stream2_IRQHandler
.thumb_set DMA1_Stream2_IRQHandler,Default_Handler
.weak DMA1_Stream3_IRQHandler
.thumb_set DMA1_Stream3_IRQHandler,Default_Handler
.weak DMA1_Stream4_IRQHandler
.thumb_set DMA1_Stream4_IRQHandler,Default_Handler
.weak DMA1_Stream5_IRQHandler
.thumb_set DMA1_Stream5_IRQHandler,Default_Handler
.weak DMA1_Stream6_IRQHandler
.thumb_set DMA1_Stream6_IRQHandler,Default_Handler
.weak ADC_IRQHandler
.thumb_set ADC_IRQHandler,Default_Handler
.weak FDCAN1_IT0_IRQHandler
.thumb_set FDCAN1_IT0_IRQHandler,Default_Handler
.weak FDCAN2_IT0_IRQHandler
.thumb_set FDCAN2_IT0_IRQHandler,Default_Handler
.weak FDCAN1_IT1_IRQHandler
.thumb_set FDCAN1_IT1_IRQHandler,Default_Handler
.weak FDCAN2_IT1_IRQHandler
.thumb_set FDCAN2_IT1_IRQHandler,Default_Handler
.weak EXTI9_5_IRQHandler
.thumb_set EXTI9_5_IRQHandler,Default_Handler
.weak TIM1_BRK_IRQHandler
.thumb_set TIM1_BRK_IRQHandler,Default_Handler
.weak TIM1_UP_IRQHandler
.thumb_set TIM1_UP_IRQHandler,Default_Handler
.weak TIM1_TRG_COM_IRQHandler
.thumb_set TIM1_TRG_COM_IRQHandler,Default_Handler
.weak TIM1_CC_IRQHandler
.thumb_set TIM1_CC_IRQHandler,Default_Handler
.weak TIM2_IRQHandler
.thumb_set TIM2_IRQHandler,Default_Handler
.weak TIM3_IRQHandler
.thumb_set TIM3_IRQHandler,Default_Handler
.weak TIM4_IRQHandler
.thumb_set TIM4_IRQHandler,Default_Handler
.weak I2C1_EV_IRQHandler
.thumb_set I2C1_EV_IRQHandler,Default_Handler
.weak I2C1_ER_IRQHandler
.thumb_set I2C1_ER_IRQHandler,Default_Handler
.weak I2C2_EV_IRQHandler
.thumb_set I2C2_EV_IRQHandler,Default_Handler
.weak I2C2_ER_IRQHandler
.thumb_set I2C2_ER_IRQHandler,Default_Handler
.weak SPI1_IRQHandler
.thumb_set SPI1_IRQHandler,Default_Handler
.weak SPI2_IRQHandler
.thumb_set SPI2_IRQHandler,Default_Handler
.weak USART1_IRQHandler
.thumb_set USART1_IRQHandler,Default_Handler
.weak USART2_IRQHandler
.thumb_set USART2_IRQHandler,Default_Handler
.weak USART3_IRQHandler
.thumb_set USART3_IRQHandler,Default_Handler
.weak EXTI15_10_IRQHandler
.thumb_set EXTI15_10_IRQHandler,Default_Handler
.weak RTC_Alarm_IRQHandler
.thumb_set RTC_Alarm_IRQHandler,Default_Handler
.weak TIM8_BRK_TIM12_IRQHandler
.thumb_set TIM8_BRK_TIM12_IRQHandler,Default_Handler
.weak TIM8_UP_TIM13_IRQHandler
.thumb_set TIM8_UP_TIM13_IRQHandler,Default_Handler
.weak TIM8_TRG_COM_TIM14_IRQHandler
.thumb_set TIM8_TRG_COM_TIM14_IRQHandler,Default_Handler
.weak TIM8_CC_IRQHandler
.thumb_set TIM8_CC_IRQHandler,Default_Handler
.weak DMA1_Stream7_IRQHandler
.thumb_set DMA1_Stream7_IRQHandler,Default_Handler
.weak FMC_IRQHandler
.thumb_set FMC_IRQHandler,Default_Handler
.weak SDMMC1_IRQHandler
.thumb_set SDMMC1_IRQHandler,Default_Handler
.weak TIM5_IRQHandler
.thumb_set TIM5_IRQHandler,Default_Handler
.weak SPI3_IRQHandler
.thumb_set SPI3_IRQHandler,Default_Handler
.weak UART4_IRQHandler
.thumb_set UART4_IRQHandler,Default_Handler
.weak UART5_IRQHandler
.thumb_set UART5_IRQHandler,Default_Handler
.weak TIM6_DAC_IRQHandler
.thumb_set TIM6_DAC_IRQHandler,Default_Handler
.weak TIM7_IRQHandler
.thumb_set TIM7_IRQHandler,Default_Handler
.weak DMA2_Stream0_IRQHandler
.thumb_set DMA2_Stream0_IRQHandler,Default_Handler
.weak DMA2_Stream1_IRQHandler
.thumb_set DMA2_Stream1_IRQHandler,Default_Handler
.weak DMA2_Stream2_IRQHandler
.thumb_set DMA2_Stream2_IRQHandler,Default_Handler
.weak DMA2_Stream3_IRQHandler
.thumb_set DMA2_Stream3_IRQHandler,Default_Handler
.weak DMA2_Stream4_IRQHandler
.thumb_set DMA2_Stream4_IRQHandler,Default_Handler
.weak ETH_IRQHandler
.thumb_set ETH_IRQHandler,Default_Handler
.weak ETH_WKUP_IRQHandler
.thumb_set ETH_WKUP_IRQHandler,Default_Handler
.weak FDCAN_CAL_IRQHandler
.thumb_set FDCAN_CAL_IRQHandler,Default_Handler
.weak DMA2_Stream5_IRQHandler
.thumb_set DMA2_Stream5_IRQHandler,Default_Handler
.weak DMA2_Stream6_IRQHandler
.thumb_set DMA2_Stream6_IRQHandler,Default_Handler
.weak DMA2_Stream7_IRQHandler
.thumb_set DMA2_Stream7_IRQHandler,Default_Handler
.weak USART6_IRQHandler
.thumb_set USART6_IRQHandler,Default_Handler
.weak I2C3_EV_IRQHandler
.thumb_set I2C3_EV_IRQHandler,Default_Handler
.weak I2C3_ER_IRQHandler
.thumb_set I2C3_ER_IRQHandler,Default_Handler
.weak OTG_HS_EP1_OUT_IRQHandler
.thumb_set OTG_HS_EP1_OUT_IRQHandler,Default_Handler
.weak OTG_HS_EP1_IN_IRQHandler
.thumb_set OTG_HS_EP1_IN_IRQHandler,Default_Handler
.weak OTG_HS_WKUP_IRQHandler
.thumb_set OTG_HS_WKUP_IRQHandler,Default_Handler
.weak OTG_HS_IRQHandler
.thumb_set OTG_HS_IRQHandler,Default_Handler
.weak DCMI_PSSI_IRQHandler
.thumb_set DCMI_PSSI_IRQHandler,Default_Handler
.weak CRYP_IRQHandler
.thumb_set CRYP_IRQHandler,Default_Handler
.weak HASH_RNG_IRQHandler
.thumb_set HASH_RNG_IRQHandler,Default_Handler
.weak FPU_IRQHandler
.thumb_set FPU_IRQHandler,Default_Handler
.weak UART7_IRQHandler
.thumb_set UART7_IRQHandler,Default_Handler
.weak UART8_IRQHandler
.thumb_set UART8_IRQHandler,Default_Handler
.weak SPI4_IRQHandler
.thumb_set SPI4_IRQHandler,Default_Handler
.weak SPI5_IRQHandler
.thumb_set SPI5_IRQHandler,Default_Handler
.weak SPI6_IRQHandler
.thumb_set SPI6_IRQHandler,Default_Handler
.weak SAI1_IRQHandler
.thumb_set SAI1_IRQHandler,Default_Handler
.weak LTDC_IRQHandler
.thumb_set LTDC_IRQHandler,Default_Handler
.weak LTDC_ER_IRQHandler
.thumb_set LTDC_ER_IRQHandler,Default_Handler
.weak DMA2D_IRQHandler
.thumb_set DMA2D_IRQHandler,Default_Handler
.weak OCTOSPI1_IRQHandler
.thumb_set OCTOSPI1_IRQHandler,Default_Handler
.weak LPTIM1_IRQHandler
.thumb_set LPTIM1_IRQHandler,Default_Handler
.weak CEC_IRQHandler
.thumb_set CEC_IRQHandler,Default_Handler
.weak I2C4_EV_IRQHandler
.thumb_set I2C4_EV_IRQHandler,Default_Handler
.weak I2C4_ER_IRQHandler
.thumb_set I2C4_ER_IRQHandler,Default_Handler
.weak SPDIF_RX_IRQHandler
.thumb_set SPDIF_RX_IRQHandler,Default_Handler
.weak DMAMUX1_OVR_IRQHandler
.thumb_set DMAMUX1_OVR_IRQHandler,Default_Handler
.weak DFSDM1_FLT0_IRQHandler
.thumb_set DFSDM1_FLT0_IRQHandler,Default_Handler
.weak DFSDM1_FLT1_IRQHandler
.thumb_set DFSDM1_FLT1_IRQHandler,Default_Handler
.weak DFSDM1_FLT2_IRQHandler
.thumb_set DFSDM1_FLT2_IRQHandler,Default_Handler
.weak DFSDM1_FLT3_IRQHandler
.thumb_set DFSDM1_FLT3_IRQHandler,Default_Handler
.weak SWPMI1_IRQHandler
.thumb_set SWPMI1_IRQHandler,Default_Handler
.weak TIM15_IRQHandler
.thumb_set TIM15_IRQHandler,Default_Handler
.weak TIM16_IRQHandler
.thumb_set TIM16_IRQHandler,Default_Handler
.weak TIM17_IRQHandler
.thumb_set TIM17_IRQHandler,Default_Handler
.weak MDIOS_WKUP_IRQHandler
.thumb_set MDIOS_WKUP_IRQHandler,Default_Handler
.weak MDIOS_IRQHandler
.thumb_set MDIOS_IRQHandler,Default_Handler
.weak MDMA_IRQHandler
.thumb_set MDMA_IRQHandler,Default_Handler
.weak SDMMC2_IRQHandler
.thumb_set SDMMC2_IRQHandler,Default_Handler
.weak HSEM1_IRQHandler
.thumb_set HSEM1_IRQHandler,Default_Handler
.weak ADC3_IRQHandler
.thumb_set ADC3_IRQHandler,Default_Handler
.weak DMAMUX2_OVR_IRQHandler
.thumb_set DMAMUX2_OVR_IRQHandler,Default_Handler
.weak BDMA_Channel0_IRQHandler
.thumb_set BDMA_Channel0_IRQHandler,Default_Handler
.weak BDMA_Channel1_IRQHandler
.thumb_set BDMA_Channel1_IRQHandler,Default_Handler
.weak BDMA_Channel2_IRQHandler
.thumb_set BDMA_Channel2_IRQHandler,Default_Handler
.weak BDMA_Channel3_IRQHandler
.thumb_set BDMA_Channel3_IRQHandler,Default_Handler
.weak BDMA_Channel4_IRQHandler
.thumb_set BDMA_Channel4_IRQHandler,Default_Handler
.weak BDMA_Channel5_IRQHandler
.thumb_set BDMA_Channel5_IRQHandler,Default_Handler
.weak BDMA_Channel6_IRQHandler
.thumb_set BDMA_Channel6_IRQHandler,Default_Handler
.weak BDMA_Channel7_IRQHandler
.thumb_set BDMA_Channel7_IRQHandler,Default_Handler
.weak COMP1_IRQHandler
.thumb_set COMP1_IRQHandler,Default_Handler
.weak LPTIM2_IRQHandler
.thumb_set LPTIM2_IRQHandler,Default_Handler
.weak LPTIM3_IRQHandler
.thumb_set LPTIM3_IRQHandler,Default_Handler
.weak LPTIM4_IRQHandler
.thumb_set LPTIM4_IRQHandler,Default_Handler
.weak LPTIM5_IRQHandler
.thumb_set LPTIM5_IRQHandler,Default_Handler
.weak LPUART1_IRQHandler
.thumb_set LPUART1_IRQHandler,Default_Handler
.weak CRS_IRQHandler
.thumb_set CRS_IRQHandler,Default_Handler
.weak ECC_IRQHandler
.thumb_set ECC_IRQHandler,Default_Handler
.weak SAI4_IRQHandler
.thumb_set SAI4_IRQHandler,Default_Handler
.weak DTS_IRQHandler
.thumb_set DTS_IRQHandler,Default_Handler
.weak WAKEUP_PIN_IRQHandler
.thumb_set WAKEUP_PIN_IRQHandler,Default_Handler
.weak OCTOSPI2_IRQHandler
.thumb_set OCTOSPI2_IRQHandler,Default_Handler
.weak OTFDEC1_IRQHandler
.thumb_set OTFDEC1_IRQHandler,Default_Handler
.weak OTFDEC2_IRQHandler
.thumb_set OTFDEC2_IRQHandler,Default_Handler
.weak FMAC_IRQHandler
.thumb_set FMAC_IRQHandler,Default_Handler
.weak CORDIC_IRQHandler
.thumb_set CORDIC_IRQHandler,Default_Handler
.weak UART9_IRQHandler
.thumb_set UART9_IRQHandler,Default_Handler
.weak USART10_IRQHandler
.thumb_set USART10_IRQHandler,Default_Handler
.weak I2C5_EV_IRQHandler
.thumb_set I2C5_EV_IRQHandler,Default_Handler
.weak I2C5_ER_IRQHandler
.thumb_set I2C5_ER_IRQHandler,Default_Handler
.weak FDCAN3_IT0_IRQHandler
.thumb_set FDCAN3_IT0_IRQHandler,Default_Handler
.weak FDCAN3_IT1_IRQHandler
.thumb_set FDCAN3_IT1_IRQHandler,Default_Handler
.weak TIM23_IRQHandler
.thumb_set TIM23_IRQHandler,Default_Handler
.weak TIM24_IRQHandler
.thumb_set TIM24_IRQHandler,Default_Handler
/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/

221
panda/board/stm32h7/stm32h7x5_flash.ld Normal file
View File

@@ -0,0 +1,221 @@
/*
******************************************************************************
**
** File : LinkerScript.ld
**
** Author : Auto-generated by System Workbench for STM32
**
** Abstract : Linker script for STM32H735ZGTx series
** 1024Kbytes FLASH and 560Kbytes RAM
**
** Set heap size, stack size and stack location according
** to application requirements.
**
** Set memory bank area and size if external memory is used.
**
** Target : STMicroelectronics STM32
**
** Distribution: The file is distributed “as is,” without any warranty
** of any kind.
**
*****************************************************************************
** @attention
**
** <h2><center>&copy; COPYRIGHT(c) 2019 STMicroelectronics</center></h2>
**
** Redistribution and use in source and binary forms, with or without modification,
** are permitted provided that the following conditions are met:
** 1. Redistributions of source code must retain the above copyright notice,
** this list of conditions and the following disclaimer.
** 2. Redistributions in binary form must reproduce the above copyright notice,
** this list of conditions and the following disclaimer in the documentation
** and/or other materials provided with the distribution.
** 3. Neither the name of STMicroelectronics nor the names of its contributors
** may be used to endorse or promote products derived from this software
** without specific prior written permission.
**
** THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
** AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
** IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
** DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
** FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
** DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
** SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
** CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
** OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
** OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
**
*****************************************************************************
*/
/* Entry Point */
ENTRY(Reset_Handler)
/* Highest address of the user mode stack */
enter_bootloader_mode = 0x38001FFC;
_estack = 0x20020000; /* end of RAM */
_app_start = 0x08020000; /* Reserve Sector 0(128K) for bootloader */
/* Generate a link error if heap and stack don't fit into RAM */
_Min_Heap_Size = 0x200; /* required amount of heap */
_Min_Stack_Size = 0x400; /* required amount of stack */
/* Specify the memory areas */
MEMORY
{
/* RAM */
BACKUP_SRAM (xrw) : ORIGIN = 0x38800000, LENGTH = 4K /* Backup SRAM(4kb) */
SRAM4 (xrw) : ORIGIN = 0x38000000, LENGTH = 16K /* SRAM4(16kb) best for BDMA and SDMMC1*/
SRAM12 (xrw) : ORIGIN = 0x30000000, LENGTH = 32K /* SRAM1(16kb) + SRAM2(16kb), not for BDMA or SDMMC1 */
AXISRAM (xrw) : ORIGIN = 0x24000000, LENGTH = 320K /* AXI SRAM */
DTCMRAM (xrw) : ORIGIN = 0x20000000, LENGTH = 128K /* DTCM */
/* Code */
SYSTEM (rx) : ORIGIN = 0x1FF00000, LENGTH = 128K /* System memory */
FLASH (rx) : ORIGIN = 0x08000000, LENGTH = 1024K
ITCMRAM (xrw) : ORIGIN = 0x00000000, LENGTH = 64K
}
/* Define output sections */
SECTIONS
{
/* The startup code goes first into FLASH */
.isr_vector :
{
. = ALIGN(4);
KEEP(*(.isr_vector)) /* Startup code */
. = ALIGN(4);
} >FLASH
/* The program code and other data goes into FLASH */
.text :
{
. = ALIGN(4);
*(.text) /* .text sections (code) */
*(.text*) /* .text* sections (code) */
*(.glue_7) /* glue arm to thumb code */
*(.glue_7t) /* glue thumb to arm code */
*(.eh_frame)
KEEP (*(.init))
KEEP (*(.fini))
. = ALIGN(4);
_etext = .; /* define a global symbols at end of code */
} >FLASH
/* Constant data goes into FLASH */
.rodata :
{
. = ALIGN(4);
*(.rodata) /* .rodata sections (constants, strings, etc.) */
*(.rodata*) /* .rodata* sections (constants, strings, etc.) */
. = ALIGN(4);
} >FLASH
.ARM.extab : { *(.ARM.extab* .gnu.linkonce.armextab.*) } >FLASH
.ARM : {
__exidx_start = .;
*(.ARM.exidx*)
__exidx_end = .;
} >FLASH
.preinit_array :
{
PROVIDE_HIDDEN (__preinit_array_start = .);
KEEP (*(.preinit_array*))
PROVIDE_HIDDEN (__preinit_array_end = .);
} >FLASH
.init_array :
{
PROVIDE_HIDDEN (__init_array_start = .);
KEEP (*(SORT(.init_array.*)))
KEEP (*(.init_array*))
PROVIDE_HIDDEN (__init_array_end = .);
} >FLASH
.fini_array :
{
PROVIDE_HIDDEN (__fini_array_start = .);
KEEP (*(SORT(.fini_array.*)))
KEEP (*(.fini_array*))
PROVIDE_HIDDEN (__fini_array_end = .);
} >FLASH
/* used by the startup to initialize data */
_sidata = LOADADDR(.data);
/* Initialized data sections goes into RAM, load LMA copy after code */
.data :
{
. = ALIGN(4);
_sdata = .; /* create a global symbol at data start */
*(.data) /* .data sections */
*(.data*) /* .data* sections */
. = ALIGN(4);
_edata = .; /* define a global symbol at data end */
} >DTCMRAM AT> FLASH
/* Uninitialized data section */
. = ALIGN(4);
.bss :
{
/* This is used by the startup in order to initialize the .bss secion */
_sbss = .; /* define a global symbol at bss start */
__bss_start__ = _sbss;
*(.bss)
*(.bss*)
*(COMMON)
. = ALIGN(4);
_ebss = .; /* define a global symbol at bss end */
__bss_end__ = _ebss;
} >DTCMRAM
/* User_heap_stack section, used to check that there is enough RAM left */
._user_heap_stack :
{
. = ALIGN(8);
PROVIDE ( end = . );
PROVIDE ( _end = . );
. = . + _Min_Heap_Size;
. = . + _Min_Stack_Size;
. = ALIGN(8);
} >DTCMRAM
.itcmram (NOLOAD) :
{
. = ALIGN(4);
*(.itcmram*)
} >ITCMRAM
.axisram (NOLOAD) :
{
. = ALIGN(4);
*(.axisram*)
} >AXISRAM
.sram12 (NOLOAD) :
{
. = ALIGN(4);
*(.sram12*)
} >SRAM12
.sram4 (NOLOAD) :
{
. = ALIGN(4);
*(.sram4*)
} >SRAM4
.backup_sram (NOLOAD) :
{
. = ALIGN(4);
*(.backup_sram*)
} >BACKUP_SRAM
.ARM.attributes 0 : { *(.ARM.attributes) }
}