mirror of https://github.com/commaai/panda.git
60 lines
2.3 KiB
C
60 lines
2.3 KiB
C
#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_GMLAN (1UL << 6) // deprecated
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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_SPI_CS (1UL << 9)
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#define FAULT_INTERRUPT_RATE_UART_1 (1UL << 10)
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#define FAULT_INTERRUPT_RATE_UART_2 (1UL << 11)
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#define FAULT_INTERRUPT_RATE_UART_3 (1UL << 12)
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#define FAULT_INTERRUPT_RATE_UART_5 (1UL << 13)
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#define FAULT_INTERRUPT_RATE_UART_DMA (1UL << 14)
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#define FAULT_INTERRUPT_RATE_USB (1UL << 15)
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#define FAULT_INTERRUPT_RATE_TIM1 (1UL << 16)
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#define FAULT_INTERRUPT_RATE_TIM3 (1UL << 17)
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#define FAULT_REGISTER_DIVERGENT (1UL << 18)
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#define FAULT_INTERRUPT_RATE_KLINE_INIT (1UL << 19)
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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_INTERRUPT_RATE_UART_7 (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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// Permanent faults
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#define PERMANENT_FAULTS 0U
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uint8_t fault_status = FAULT_STATUS_NONE;
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uint32_t faults = 0U;
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void fault_occurred(uint32_t fault) {
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if ((faults & fault) == 0U) {
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if ((PERMANENT_FAULTS & fault) != 0U) {
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print("Permanent fault occurred: 0x"); puth(fault); print("\n");
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fault_status = FAULT_STATUS_PERMANENT;
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} else {
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print("Temporary fault occurred: 0x"); puth(fault); print("\n");
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fault_status = FAULT_STATUS_TEMPORARY;
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}
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}
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faults |= fault;
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}
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void fault_recovered(uint32_t fault) {
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if ((PERMANENT_FAULTS & fault) == 0U) {
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faults &= ~fault;
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} else {
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print("Cannot recover from a permanent fault!\n");
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}
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}
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