panda/board/faults.h

#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)
#define FAULT_INTERRUPT_RATE_KLINE_INIT     (1U << 19)
#define FAULT_INTERRUPT_RATE_CLOCK_SOURCE   (1U << 20)
#define FAULT_INTERRUPT_RATE_TICK           (1U << 21)
#define FAULT_INTERRUPT_RATE_EXTI           (1U << 22)

// 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");
  }
}