Revert "handle rollover"

This reverts commit 2ce3a26.
commaai · Jun 11, 2018 · fa66e4b · fa66e4b
1 parent 2ce3a26
commit fa66e4b
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Showing 3 changed files with 17 additions and 18 deletions.
diff --git a/board/drivers/canbitbang.h b/board/drivers/canbitbang.h
@@ -125,14 +125,14 @@ void bitbang_gmlan(CAN_FIFOMailBox_TypeDef *to_bang) {
       silent_count = 0;
     }
     int lwait = TIM2->CNT;
-    while (get_ts_elapsed(TIM2->CNT, lwait) < SPEEED);
+    while ((TIM2->CNT - lwait) < SPEEED);
   }
 
   // send my message with optional failure
   int last = 1;
   int init = TIM2->CNT;
   for (int i = 0; i < len; i++) {
-    while (get_ts_elapsed(TIM2->CNT, init) < (SPEEED*i));
+    while ((TIM2->CNT - init) < (SPEEED*i));
     int read = get_gpio_input(GPIOB, 12);
     if ((read == 0 && last == 1) && i != (len-11)) {
       puts("ERR: bus driven at ");

diff --git a/board/libc.h b/board/libc.h
@@ -49,19 +49,3 @@ void exit_critical_section() {
   }
 }
 
-// ***** generic helpers ******
-
-// compute the time elapsed (in microseconds) from 2 counter samples
-uint32_t get_ts_elapsed(uint32_t ts, uint32_t ts_last) {
-  return ts > ts_last ? ts - ts_last : (0xFFFFFFFF - ts_last) + 1 + ts;
-}
-
-// convert a trimmed integer to signed 32 bit int
-int to_signed(int d, int bits) {
-  if (d >= (1 << (bits - 1))) {
-    d -= (1 << bits);
-  }
-  return d;
-}
-
-
diff --git a/board/safety.h b/board/safety.h
@@ -9,6 +9,8 @@ void safety_rx_hook(CAN_FIFOMailBox_TypeDef *to_push);
 int safety_tx_hook(CAN_FIFOMailBox_TypeDef *to_send);
 int safety_tx_lin_hook(int lin_num, uint8_t *data, int len);
 int safety_ignition_hook();
+uint32_t get_ts_elapsed(uint32_t ts, uint32_t ts_last);
+int to_signed(int d, int bits);
 void update_sample(struct sample_t *sample, int sample_new);
 
 typedef void (*safety_hook_init)(int16_t param);
@@ -112,6 +114,19 @@ int safety_set_mode(uint16_t mode, int16_t param) {
   return -1;
 }
 
+// compute the time elapsed (in microseconds) from 2 counter samples
+uint32_t get_ts_elapsed(uint32_t ts, uint32_t ts_last) {
+  return ts > ts_last ? ts - ts_last : (0xFFFFFFFF - ts_last) + 1 + ts;
+}
+
+// convert a trimmed integer to signed 32 bit int
+int to_signed(int d, int bits) {
+  if (d >= (1 << (bits - 1))) {
+    d -= (1 << bits);
+  }
+  return d;
+}
+
 // given a new sample, update the smaple_t struct
 void update_sample(struct sample_t *sample, int sample_new) {
   for (int i = sizeof(sample->values)/sizeof(sample->values[0]) - 1; i > 0; i--) {