openpilot v0.9.6 release

date: 2024-01-12T10:13:37
master commit: ba792d576a49a0899b88a753fa1c52956bedf9e6

panda/board/stm32h7/llflash.h

@@ -0,0 +1,33 @@
+bool flash_is_locked(void) {
+  return (FLASH->CR1 & FLASH_CR_LOCK);
+}
+
+void flash_unlock(void) {
+  FLASH->KEYR1 = 0x45670123;
+  FLASH->KEYR1 = 0xCDEF89AB;
+}
+
+bool flash_erase_sector(uint8_t sector, bool unlocked) {
+  // don't erase the bootloader(sector 0)
+  if (sector != 0 && sector < 8 && unlocked) {
+    FLASH->CR1 = (sector << 8) | FLASH_CR_SER;
+    FLASH->CR1 |= FLASH_CR_START;
+    while (FLASH->SR1 & FLASH_SR_QW);
+    return true;
+  }
+  return false;
+}
+
+void flash_write_word(void *prog_ptr, uint32_t data) {
+  uint32_t *pp = prog_ptr;
+  FLASH->CR1 |= FLASH_CR_PG;
+  *pp = data;
+  while (FLASH->SR1 & FLASH_SR_QW);
+}
+
+void flush_write_buffer(void) {
+  if (FLASH->SR1 & FLASH_SR_WBNE) {
+    FLASH->CR1 |= FLASH_CR_FW;
+    while (FLASH->SR1 & FLASH_CR_FW);
+  }
+}