openpilot v0.9.6 release

date: 2024-02-21T23:02:42
master commit: 0b4d08fab8e35a264bc7383e878538f8083c33e5

body/board/early_init.h

@@ -0,0 +1,15 @@
+// Early bringup
+extern void *g_pfnVectors;
+extern uint32_t enter_bootloader_mode;
+
+void early_initialization(void) {
+  SystemInit();
+  // after it's been in the bootloader, things are initted differently, so we reset
+  if ((enter_bootloader_mode != BOOT_NORMAL) &&
+      (enter_bootloader_mode != ENTER_SOFTLOADER_MAGIC)) {
+    enter_bootloader_mode = BOOT_NORMAL;
+    NVIC_SystemReset();
+  }
+  // setup interrupt table
+  SCB->VTOR = (uint32_t)&g_pfnVectors; // TODO: check if SystemInit is enough!
+}