mirror of
https://github.com/infiniteCable2/panda.git
synced 2026-02-18 17:23:52 +08:00
515ac45fc0
* motors * can * cleanup unused stuff * initial clean * more clean * remove integral and derivative clamps, revert pwm driver to original * remove integral and derivative clamps, revert pwm driver to original * remove integral and derivative clamps, revert pwm driver to original * dont need this for now * clean * fix can rx and can version error * ignore body for misra mutation test * fix bus recovery, remove body rx hook
82 lines
1.7 KiB
C
82 lines
1.7 KiB
C
#include <stdint.h>
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#include <stdbool.h>
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#include "board/config.h"
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#include "board/drivers/led.h"
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#include "board/drivers/pwm.h"
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#include "board/drivers/usb.h"
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#include "board/early_init.h"
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#include "board/obj/gitversion.h"
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#include "board/body/motor_control.h"
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#include "board/body/can.h"
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#include "opendbc/safety/safety.h"
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#include "board/drivers/can_common.h"
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#include "board/drivers/fdcan.h"
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#include "board/can_comms.h"
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extern int _app_start[0xc000];
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#include "board/body/main_comms.h"
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void debug_ring_callback(uart_ring *ring) {
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char rcv;
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while (get_char(ring, &rcv)) {
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(void)injectc(ring, rcv);
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}
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}
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void __attribute__ ((noinline)) enable_fpu(void) {
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SCB->CPACR |= ((3UL << (10U * 2U)) | (3UL << (11U * 2U)));
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}
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void __initialize_hardware_early(void) {
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enable_fpu();
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early_initialization();
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}
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volatile uint32_t tick_count = 0;
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void tick_handler(void) {
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if (TICK_TIMER->SR != 0) {
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if (can_health[0].transmit_error_cnt >= 128) {
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(void)llcan_init(CANIF_FROM_CAN_NUM(0));
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}
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static bool led_on = false;
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led_set(LED_RED, led_on);
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led_on = !led_on;
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tick_count++;
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}
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TICK_TIMER->SR = 0;
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}
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int main(void) {
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disable_interrupts();
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init_interrupts(true);
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clock_init();
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peripherals_init();
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current_board = &board_body;
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hw_type = HW_TYPE_BODY;
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current_board->init();
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REGISTER_INTERRUPT(TICK_TIMER_IRQ, tick_handler, 10U, FAULT_INTERRUPT_RATE_TICK);
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led_init();
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microsecond_timer_init();
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tick_timer_init();
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usb_init();
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body_can_init();
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enable_interrupts();
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while (true) {
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uint32_t now = microsecond_timer_get();
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motor_speed_controller_update(now);
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body_can_periodic(now);
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}
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return 0;
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}
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