openpilot v0.9.6 release

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

panda/board/drivers/watchdog.h

@@ -0,0 +1,24 @@
+typedef enum {
+  WATCHDOG_50_MS = (400U - 1U),
+  WATCHDOG_500_MS = 4000U,
+} WatchdogTimeout;
+
+void watchdog_feed(void) {
+  IND_WDG->KR = 0xAAAAU;
+}
+
+void watchdog_init(WatchdogTimeout timeout) {
+  // enable watchdog
+  IND_WDG->KR = 0xCCCCU;
+  IND_WDG->KR = 0x5555U;
+
+  // 32KHz / 4 prescaler = 8000Hz
+  register_set(&(IND_WDG->PR), 0x0U, IWDG_PR_PR_Msk);
+  register_set(&(IND_WDG->RLR), timeout, IWDG_RLR_RL_Msk);
+
+  // wait for watchdog to be updated
+  while (IND_WDG->SR != 0U);
+
+  // start the countdown
+  watchdog_feed();
+}