Merge panda subtree

2026-08-21 16:23:50 +08:00 · 2019-12-13 13:02:46 -08:00
parent 391eb0b74b bc7b9b38ae
commit df875819f5
105 changed files with 2436 additions and 1664 deletions
@@ -0,0 +1,49 @@
+#define FAULT_STATUS_NONE 0U
+#define FAULT_STATUS_TEMPORARY 1U
+#define FAULT_STATUS_PERMANENT 2U
+
+// Fault types
+#define FAULT_RELAY_MALFUNCTION         (1U << 0)
+#define FAULT_UNUSED_INTERRUPT_HANDLED  (1U << 1)
+#define FAULT_INTERRUPT_RATE_CAN_1      (1U << 2)
+#define FAULT_INTERRUPT_RATE_CAN_2      (1U << 3)
+#define FAULT_INTERRUPT_RATE_CAN_3      (1U << 4)
+#define FAULT_INTERRUPT_RATE_TACH       (1U << 5)
+#define FAULT_INTERRUPT_RATE_GMLAN      (1U << 6)
+#define FAULT_INTERRUPT_RATE_INTERRUPTS (1U << 7)
+#define FAULT_INTERRUPT_RATE_SPI_DMA    (1U << 8)
+#define FAULT_INTERRUPT_RATE_SPI_CS     (1U << 9)
+#define FAULT_INTERRUPT_RATE_UART_1     (1U << 10)
+#define FAULT_INTERRUPT_RATE_UART_2     (1U << 11)
+#define FAULT_INTERRUPT_RATE_UART_3     (1U << 12)
+#define FAULT_INTERRUPT_RATE_UART_5     (1U << 13)
+#define FAULT_INTERRUPT_RATE_UART_DMA   (1U << 14)
+#define FAULT_INTERRUPT_RATE_USB        (1U << 15)
+#define FAULT_INTERRUPT_RATE_TIM1       (1U << 16)
+#define FAULT_INTERRUPT_RATE_TIM3       (1U << 17)
+#define FAULT_REGISTER_DIVERGENT        (1U << 18)
+
+// Permanent faults
+#define PERMANENT_FAULTS 0U
+
+uint8_t fault_status = FAULT_STATUS_NONE;
+uint32_t faults = 0U;
+
+void fault_occurred(uint32_t fault) {
+  faults |= fault;
+  if((PERMANENT_FAULTS & fault) != 0U){
+    puts("Permanent fault occurred: 0x"); puth(fault); puts("\n");
+    fault_status = FAULT_STATUS_PERMANENT;
+  } else {
+    puts("Temporary fault occurred: 0x"); puth(fault); puts("\n");
+    fault_status = FAULT_STATUS_TEMPORARY;
+  }
+}
+
+void fault_recovered(uint32_t fault) {
+  if((PERMANENT_FAULTS & fault) == 0U){
+    faults &= ~fault;
+  } else {
+    puts("Cannot recover from a permanent fault!\n");
+  }
+}