Fixed GMLAN interrupts when used in Tesla safety
@@ -122,7 +122,12 @@ int get_bit_message(char *out, CAN_FIFOMailBox_TypeDef *to_bang) {
return len;
}
+void TIM4_IRQ_Handler(void);
+
void setup_timer4(void) {
+ // register interrupt
+ REGISTER_INTERRUPT(TIM4_IRQn, TIM4_IRQ_Handler, 40000U, FAULT_INTERRUPT_RATE_GMLAN)
+
// setup
register_set(&(TIM4->PSC), (48-1), 0xFFFFU); // Tick on 1 us
register_set(&(TIM4->CR1), TIM_CR1_CEN, 0x3FU); // Enable
@@ -236,7 +241,6 @@ void TIM4_IRQ_Handler(void) {
gmlan_sendmax = -1; // exit
}
}
- TIM4->SR = 0;
} else if (gmlan_alt_mode == GPIO_SWITCH) {
if ((TIM4->SR & TIM_SR_UIF) && (gmlan_switch_below_timeout != -1)) {
if ((can_timeout_counter == 0) && gmlan_switch_timeout_enable) {
@@ -259,10 +263,10 @@ void TIM4_IRQ_Handler(void) {
}
}
}
- TIM4->SR = 0;
} else {
- puts("invalid gmlan_alt_mode\n");
+ // Invalid GMLAN mode. Do not put a print statement here, way too fast to keep up with
}
+ TIM4->SR = 0;
}
bool bitbang_gmlan(CAN_FIFOMailBox_TypeDef *to_bang) {
@@ -280,7 +284,6 @@ bool bitbang_gmlan(CAN_FIFOMailBox_TypeDef *to_bang) {
set_gpio_mode(GPIOB, 13, MODE_OUTPUT);
// 33kbps
- REGISTER_INTERRUPT(TIM4_IRQn, TIM4_IRQ_Handler, 40000U, FAULT_INTERRUPT_RATE_GMLAN)
setup_timer4();
}
return gmlan_send_ok;
