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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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42
panda/board/stm32h7/lldac.h Normal file
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void dac_init(DAC_TypeDef *dac, uint8_t channel, bool dma) {
register_set(&dac->CR, 0U, 0xFFFFU);
register_set(&dac->MCR, 0U, 0xFFFFU);
switch(channel) {
case 1:
if (dma) {
register_set_bits(&dac->CR, DAC_CR_DMAEN1);
// register_set(&DAC->CR, (6U << DAC_CR_TSEL1_Pos), DAC_CR_TSEL1);
register_set_bits(&dac->CR, DAC_CR_TEN1);
} else {
register_clear_bits(&dac->CR, DAC_CR_DMAEN1);
}
register_set_bits(&dac->CR, DAC_CR_EN1);
break;
case 2:
if (dma) {
register_set_bits(&dac->CR, DAC_CR_DMAEN2);
} else {
register_clear_bits(&dac->CR, DAC_CR_DMAEN2);
}
register_set_bits(&dac->CR, DAC_CR_EN2);
break;
default:
break;
}
}
// Set channel 1 value, in mV
void dac_set(DAC_TypeDef *dac, uint8_t channel, uint32_t value) {
uint32_t raw_val = MAX(MIN(value * (1U << 8U) / 3300U, (1U << 8U)), 0U);
switch(channel) {
case 1:
register_set(&dac->DHR8R1, raw_val, 0xFFU);
break;
case 2:
register_set(&dac->DHR8R2, raw_val, 0xFFU);
break;
default:
break;
}
}