mirror of
https://github.com/firestar5683/StarPilot.git
synced 2026-11-06 20:43:46 +08:00
Daniel Koepping
84 lines
3.2 KiB
C
84 lines
3.2 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_SELF_TEST_CPU (1UL << 9)
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#define FAULT_SELF_TEST_RAM (1UL << 10)
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#define FAULT_SELF_TEST_FLASH (1UL << 11)
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#define FAULT_ECC (1UL << 12)
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#define FAULT_OUTPUT_READBACK (1UL << 13)
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#define FAULT_DMA (1UL << 14)
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#define FAULT_INTERRUPT_RATE_USB (1UL << 15)
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#define FAULT_CLOCK (1UL << 16)
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#define FAULT_INTERRUPT_MISSING (1UL << 17)
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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_ADC (1UL << 24)
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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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#define FAULT_MPU (1UL << 28)
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#define FAULT_TIMER (1UL << 29)
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// permanent faults put panda in the safe state until reset
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// TODO: enable faults one by one once their fleet rate is checked
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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_occurred_at(uint32_t fault, uint32_t value, const char *site);
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// a bit can be raised from several places, so each logs where it was raised
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#define FAULT_STR(x) #x
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#define FAULT_XSTR(x) FAULT_STR(x)
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#define fault_occurred_value(fault, value) fault_occurred_at((fault), (value), __FILE__ ":" FAULT_XSTR(__LINE__))
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void fault_recovered(uint32_t fault);
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void fault_safe_state(void);
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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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