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openpilot v0.9.6 release

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date: 2024-01-12T10:13:37
master commit: ba792d576a49a0899b88a753fa1c52956bedf9e6
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FrogAi
2024-01-12 22:39:28 -07:00
commit 08e9fb1edc
1881 changed files with 653708 additions and 0 deletions
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31
panda/board/drivers/timers.h Normal file
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void timer_init(TIM_TypeDef *TIM, int psc) {
register_set(&(TIM->PSC), (psc-1), 0xFFFFU);
register_set(&(TIM->DIER), TIM_DIER_UIE, 0x5F5FU);
register_set(&(TIM->CR1), TIM_CR1_CEN, 0x3FU);
TIM->SR = 0;
}
void microsecond_timer_init(void) {
MICROSECOND_TIMER->PSC = (APB1_TIMER_FREQ - 1U);
MICROSECOND_TIMER->CR1 = TIM_CR1_CEN;
MICROSECOND_TIMER->EGR = TIM_EGR_UG;
}
uint32_t microsecond_timer_get(void) {
return MICROSECOND_TIMER->CNT;
}
void interrupt_timer_init(void) {
enable_interrupt_timer();
REGISTER_INTERRUPT(INTERRUPT_TIMER_IRQ, interrupt_timer_handler, 1, FAULT_INTERRUPT_RATE_INTERRUPTS)
register_set(&(INTERRUPT_TIMER->PSC), ((uint16_t)(15.25*APB1_TIMER_FREQ)-1U), 0xFFFFU);
register_set(&(INTERRUPT_TIMER->DIER), TIM_DIER_UIE, 0x5F5FU);
register_set(&(INTERRUPT_TIMER->CR1), TIM_CR1_CEN, 0x3FU);
INTERRUPT_TIMER->SR = 0;
NVIC_EnableIRQ(INTERRUPT_TIMER_IRQ);
}
void tick_timer_init(void) {
timer_init(TICK_TIMER, (uint16_t)((15.25*APB2_TIMER_FREQ)/8U));
NVIC_EnableIRQ(TICK_TIMER_IRQ);
}