mirror of
https://github.com/firestar5683/StarPilot.git
synced 2026-11-08 21:43:44 +08:00
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>
77 lines
2.7 KiB
C
77 lines
2.7 KiB
C
#pragma once
|
|
|
|
#define HEALTH_FLAG_IGNITION_LINE (1U << 0)
|
|
#define HEALTH_FLAG_IGNITION_CAN (1U << 1)
|
|
#define HEALTH_FLAG_CONTROLS_ALLOWED (1U << 2)
|
|
#define HEALTH_FLAG_POWER_SAVE_ENABLED (1U << 3)
|
|
#define HEALTH_FLAG_HEARTBEAT_LOST (1U << 4)
|
|
#define HEALTH_FLAG_SAFETY_RX_CHECKS_INVALID (1U << 5)
|
|
#define HEALTH_FLAG_SOM_RESET_TRIGGERED (1U << 6)
|
|
#define HEALTH_FLAG_NMI_RESET (1U << 7)
|
|
#define HEALTH_FLAG_HARDFAULT_RESET ((uint16_t)1U << 8)
|
|
|
|
#define AOL_SAFETY_PROTOCOL_MAGIC 0x314C4F41U // "AOL1", little endian
|
|
#define AOL_SAFETY_PROTOCOL_VERSION 1U
|
|
typedef struct __attribute__((packed)) {
|
|
uint32_t magic;
|
|
uint8_t version;
|
|
uint8_t request_mask;
|
|
uint8_t permission_mask;
|
|
uint8_t safety_mode;
|
|
uint16_t safety_param;
|
|
uint8_t capability_flags;
|
|
} aol_safety_health_t;
|
|
|
|
struct __attribute__((packed)) health_t {
|
|
uint32_t uptime_pkt;
|
|
uint16_t voltage_pkt;
|
|
uint16_t current_pkt;
|
|
uint32_t safety_tx_blocked_pkt;
|
|
uint32_t safety_rx_invalid_pkt;
|
|
uint32_t tx_buffer_overflow_pkt;
|
|
uint32_t rx_buffer_overflow_pkt;
|
|
uint32_t faults_pkt;
|
|
uint16_t flags_pkt;
|
|
uint8_t car_harness_status_pkt;
|
|
uint8_t safety_mode_pkt;
|
|
uint16_t safety_param_pkt;
|
|
uint8_t fault_status_pkt;
|
|
uint16_t alternative_experience_pkt;
|
|
uint8_t interrupt_load_pkt;
|
|
uint8_t fan_power;
|
|
uint16_t spi_error_count_pkt;
|
|
uint16_t sbu1_voltage_mV;
|
|
uint16_t sbu2_voltage_mV;
|
|
uint16_t sound_output_level_pkt;
|
|
uint8_t temperature_pkt;
|
|
};
|
|
|
|
typedef struct __attribute__((packed)) {
|
|
uint8_t bus_off;
|
|
uint32_t bus_off_cnt;
|
|
uint8_t error_warning;
|
|
uint8_t error_passive;
|
|
uint8_t last_error; // real time LEC value
|
|
uint8_t last_stored_error; // last LEC positive error code stored
|
|
uint8_t last_data_error; // DLEC (for CANFD only)
|
|
uint8_t last_data_stored_error; // last DLEC positive error code stored (for CANFD only)
|
|
uint8_t receive_error_cnt; // Actual state of the receive error counter, values between 0 and 127. FDCAN_ECR.REC
|
|
uint8_t transmit_error_cnt; // Actual state of the transmit error counter, values between 0 and 255. FDCAN_ECR.TEC
|
|
uint32_t total_error_cnt; // How many times any error interrupt was invoked
|
|
uint32_t total_tx_lost_cnt; // Tx event FIFO element lost
|
|
uint32_t total_rx_lost_cnt; // Rx FIFO 0 message lost due to FIFO full condition
|
|
uint32_t total_tx_cnt;
|
|
uint32_t total_rx_cnt;
|
|
uint32_t total_fwd_cnt; // Messages forwarded from one bus to another
|
|
uint32_t total_tx_checksum_error_cnt;
|
|
uint16_t can_speed;
|
|
uint16_t can_data_speed;
|
|
uint8_t canfd_enabled;
|
|
uint8_t brs_enabled;
|
|
uint8_t canfd_non_iso;
|
|
uint32_t irq0_call_rate;
|
|
uint32_t irq1_call_rate;
|
|
uint32_t irq2_call_rate;
|
|
uint32_t can_core_reset_cnt;
|
|
} can_health_t;
|