message: catch brake resistor deadtime violations
diff: @@ -182,6 +182,8 @@ void safety_critical_disarm_brake_resistor() {
  // @brief Updates the brake resistor PWM timings unless
  // the brake resistor is disarmed.
  void safety_critical_apply_brake_resistor_timings(uint32_t low_off, uint32_t high_on) {
  + if (high_on - low_off > TIM_APB1_DEADTIME_CLOCKS)
  + for(;;);
  uint8_t sr = cpu_enter_critical();
  if (brake_resistor_armed_) {
  // Safe update of low and high side timings
  @@ -431,7 +433,7 @@ void update_brake_current() {
  float brake_duty = brake_current * board_config.brake_resistance / vbus_voltage;
  // Duty limit at 90% to allow bootstrap caps to charge
  - // If brake_duty is NaN, this expression will also evaluate to true
  + // If brake_duty is NaN, this expression will also evaluate to false
  if ((brake_duty >= 0.0f) && (brake_duty <= 0.9f)) {
  int high_on = static_cast<int>(TIM_APB1_PERIOD_CLOCKS * (1.0f - brake_duty));
  int low_off = high_on - TIM_APB1_DEADTIME_CLOCKS;
  