retropilot
/
panda
1
0
Fork 0
Code Issues Pull Requests Projects Releases Wiki Activity

WIP: attempt to fix bug in smartdsu timeout

master
wocsor 2021-12-29 15:23:37 -07:00
parent d527579b41
commit e59134fec0
1 changed files with 9 additions and 2 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

11
board/smart_dsu/main.c
View File

@ -233,7 +233,6 @@ bool send = 0;
//------------- BUS 1 - PTCAN ------------//
#define ACC_CTRL 0xF10
#define ACC_CTRL_OP 0x343
bool enable_acc = 0;
bool op_ctrl_mode = 0;
int acc_cmd = 0;
@ -284,9 +283,11 @@ void CAN1_RX0_IRQ_Handler(void) {
}
}
break;
case ACC_CTRL_OP: // hack to allow the firmware to support stock OP
case DSU_ACC_CONTROL: // hack to allow the firmware to support stock OP
to_fwd.RIR &= 0xFFFFFFFE; // do not fwd
op_ctrl_mode = 1;
// reset timer for op_ctrl_mode
TIM2->CNT = 0;
break;
case ACC_CTRL:
// send this EXACTLY how ACC_CONTROL is sent
@ -532,6 +533,12 @@ void TIM3_IRQ_Handler(void) {
}
TIM3->SR = 0;
// check TIM2 for op_ctrl_mode timer
uint32_t op_ts = TIM2->CNT;
if (op_ts > 100000){
op_ctrl_mode = 0;
}
#ifdef DEBUG_CTRL
puts("enable_acc: ");
puth2(enable_acc);