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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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56
panda/board/stm32fx/llexti.h Normal file
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void EXTI_IRQ_Handler(void);
void exti_irq_init(void) {
SYSCFG->EXTICR[2] &= ~(SYSCFG_EXTICR3_EXTI8_Msk);
if (harness.status == HARNESS_STATUS_FLIPPED) {
// CAN2_RX
current_board->enable_can_transceiver(3U, false);
SYSCFG->EXTICR[2] |= (SYSCFG_EXTICR3_EXTI8_PA);
// IRQ on falling edge for PC3 (SBU2, EXTI3)
SYSCFG->EXTICR[0] &= ~(SYSCFG_EXTICR1_EXTI3_Msk);
SYSCFG->EXTICR[0] |= (SYSCFG_EXTICR1_EXTI3_PC);
EXTI->IMR |= EXTI_IMR_MR3;
EXTI->RTSR &= ~EXTI_RTSR_TR3; // rising edge
EXTI->FTSR |= EXTI_FTSR_TR3; // falling edge
REGISTER_INTERRUPT(EXTI3_IRQn, EXTI_IRQ_Handler, 100U, FAULT_INTERRUPT_RATE_EXTI)
NVIC_EnableIRQ(EXTI3_IRQn);
} else {
// CAN0_RX
current_board->enable_can_transceiver(1U, false);
SYSCFG->EXTICR[2] |= (SYSCFG_EXTICR3_EXTI8_PB);
// IRQ on falling edge for PC0 (SBU1, EXTI0)
SYSCFG->EXTICR[0] &= ~(SYSCFG_EXTICR1_EXTI0_Msk);
SYSCFG->EXTICR[0] |= (SYSCFG_EXTICR1_EXTI0_PC);
EXTI->IMR |= EXTI_IMR_MR0;
EXTI->RTSR &= ~EXTI_RTSR_TR0; // rising edge
EXTI->FTSR |= EXTI_FTSR_TR0; // falling edge
REGISTER_INTERRUPT(EXTI0_IRQn, EXTI_IRQ_Handler, 100U, FAULT_INTERRUPT_RATE_EXTI)
NVIC_EnableIRQ(EXTI0_IRQn);
}
// CAN0 or CAN2 IRQ on falling edge (EXTI8)
EXTI->IMR |= EXTI_IMR_MR8;
EXTI->RTSR &= ~EXTI_RTSR_TR8; // rising edge
EXTI->FTSR |= EXTI_FTSR_TR8; // falling edge
REGISTER_INTERRUPT(EXTI9_5_IRQn, EXTI_IRQ_Handler, 100U, FAULT_INTERRUPT_RATE_EXTI)
NVIC_EnableIRQ(EXTI9_5_IRQn);
}
bool check_exti_irq(void) {
return ((EXTI->PR & EXTI_PR_PR8) || (EXTI->PR & EXTI_PR_PR3) || (EXTI->PR & EXTI_PR_PR0));
}
void exti_irq_clear(void) {
// Clear pending bits
EXTI->PR |= EXTI_PR_PR8;
EXTI->PR |= EXTI_PR_PR0;
EXTI->PR |= EXTI_PR_PR3;
EXTI->PR |= EXTI_PR_PR22;
// Disable all active EXTI IRQs
EXTI->IMR &= ~EXTI_IMR_MR8;
EXTI->IMR &= ~EXTI_IMR_MR0;
EXTI->IMR &= ~EXTI_IMR_MR3;
EXTI->IMR &= ~EXTI_IMR_MR22;
}