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https://github.com/firestar5683/StarPilot.git
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firestar5683
d874c9258c
Extend native safety and health contracts with explicit AOL state and bounded message handling. Keep vehicle-specific admissions outside the generic layer. Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
66 lines
2.2 KiB
C
66 lines
2.2 KiB
C
#pragma once
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// ******************** critical ********************
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void enable_interrupts(void);
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void disable_interrupts(void);
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extern uint8_t global_critical_depth;
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#ifndef ENTER_CRITICAL
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#define ENTER_CRITICAL() \
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__disable_irq(); \
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global_critical_depth += 1U;
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#endif
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#ifndef EXIT_CRITICAL
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#define EXIT_CRITICAL() \
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global_critical_depth -= 1U; \
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if ((global_critical_depth == 0U) && interrupts_enabled) { \
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__enable_irq(); \
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}
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#endif
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// ******************** faults ********************
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#define FAULT_STATUS_NONE 0U
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#define FAULT_STATUS_TEMPORARY 1U
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#define FAULT_STATUS_PERMANENT 2U
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// Fault types, matches cereal.log.PandaState.FaultType
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#define FAULT_RELAY_MALFUNCTION (1UL << 0)
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#define FAULT_UNUSED_INTERRUPT_HANDLED (1UL << 1)
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#define FAULT_INTERRUPT_RATE_CAN_1 (1UL << 2)
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#define FAULT_INTERRUPT_RATE_CAN_2 (1UL << 3)
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#define FAULT_INTERRUPT_RATE_CAN_3 (1UL << 4)
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#define FAULT_INTERRUPT_RATE_TACH (1UL << 5)
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#define FAULT_INTERRUPT_RATE_INTERRUPTS (1UL << 7)
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#define FAULT_INTERRUPT_RATE_SPI_DMA (1UL << 8)
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#define FAULT_INTERRUPT_RATE_USB (1UL << 15)
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#define FAULT_REGISTER_DIVERGENT (1UL << 18)
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#define FAULT_INTERRUPT_RATE_CLOCK_SOURCE (1UL << 20)
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#define FAULT_INTERRUPT_RATE_TICK (1UL << 21)
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#define FAULT_INTERRUPT_RATE_EXTI (1UL << 22)
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#define FAULT_INTERRUPT_RATE_SPI (1UL << 23)
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#define FAULT_SIREN_MALFUNCTION (1UL << 25)
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#define FAULT_HEARTBEAT_LOOP_WATCHDOG (1UL << 26)
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#define FAULT_INTERRUPT_RATE_SOUND_DMA (1UL << 27)
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// Permanent faults
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#define PERMANENT_FAULTS 0U
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extern uint8_t fault_status;
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extern uint32_t faults;
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void fault_occurred(uint32_t fault);
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void fault_recovered(uint32_t fault);
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// ******************** power_saving ********************
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extern bool power_save_enabled;
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#if defined(ALLOW_DEBUG) && defined(STM32H7)
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extern volatile bool stop_mode_requested;
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#endif
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void set_power_save_state(bool enable);
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