brianhansonxyz/clearpilot
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

Compile FrogPilot

Browse Source
This commit is contained in:
FrogAi
2024-03-10 20:59:55 -07:00
parent 69e7feaf01
commit f1acd339d7
1485 changed files with 426154 additions and 398339 deletions
Download Patch File Download Diff File Expand all files Collapse all files

81
panda/board/drivers/registers.h
View File

@@ -1,81 +0,0 @@
typedef struct reg {
volatile uint32_t *address;
uint32_t value;
uint32_t check_mask;
} reg;
// 10 bit hash with 23 as a prime
#define REGISTER_MAP_SIZE 0x3FFU
#define HASHING_PRIME 23U
#define CHECK_COLLISION(hash, addr) (((uint32_t) register_map[hash].address != 0U) && (register_map[hash].address != (addr)))
reg register_map[REGISTER_MAP_SIZE];
// Hash spread in first and second iterations seems to be reasonable.
// See: tests/development/register_hashmap_spread.py
// Also, check the collision warnings in the debug output, and minimize those.
uint16_t hash_addr(uint32_t input){
return (((input >> 16U) ^ ((((input + 1U) & 0xFFFFU) * HASHING_PRIME) & 0xFFFFU)) & REGISTER_MAP_SIZE);
}
// Do not put bits in the check mask that get changed by the hardware
void register_set(volatile uint32_t *addr, uint32_t val, uint32_t mask){
ENTER_CRITICAL()
// Set bits in register that are also in the mask
(*addr) = ((*addr) & (~mask)) | (val & mask);
// Add these values to the map
uint16_t hash = hash_addr((uint32_t) addr);
uint16_t tries = REGISTER_MAP_SIZE;
while(CHECK_COLLISION(hash, addr) && (tries > 0U)) { hash = hash_addr((uint32_t) hash); tries--;}
if (tries != 0U){
register_map[hash].address = addr;
register_map[hash].value = (register_map[hash].value & (~mask)) | (val & mask);
register_map[hash].check_mask |= mask;
} else {
#ifdef DEBUG_FAULTS
print("Hash collision: address 0x"); puth((uint32_t) addr); print("!\n");
#endif
}
EXIT_CRITICAL()
}
// Set individual bits. Also add them to the check_mask.
// Do not use this to change bits that get reset by the hardware
void register_set_bits(volatile uint32_t *addr, uint32_t val) {
return register_set(addr, val, val);
}
// Clear individual bits. Also add them to the check_mask.
// Do not use this to clear bits that get set by the hardware
void register_clear_bits(volatile uint32_t *addr, uint32_t val) {
return register_set(addr, (~val), val);
}
// To be called periodically
void check_registers(void){
for(uint16_t i=0U; i<REGISTER_MAP_SIZE; i++){
if((uint32_t) register_map[i].address != 0U){
ENTER_CRITICAL()
if((*(register_map[i].address) & register_map[i].check_mask) != (register_map[i].value & register_map[i].check_mask)){
#ifdef DEBUG_FAULTS
print("Register at address 0x"); puth((uint32_t) register_map[i].address); print(" is divergent!");
print(" Map: 0x"); puth(register_map[i].value);
print(" Register: 0x"); puth(*(register_map[i].address));
print(" Mask: 0x"); puth(register_map[i].check_mask);
print("\n");
#endif
fault_occurred(FAULT_REGISTER_DIVERGENT);
}
EXIT_CRITICAL()
}
}
}
void init_registers(void) {
for(uint16_t i=0U; i<REGISTER_MAP_SIZE; i++){
register_map[i].address = (volatile uint32_t *) 0U;
register_map[i].check_mask = 0U;
}
}