sunnypilot v2026.002.000

version: sunnypilot v2026.002.000 (staging)
date: 2026-07-21T07:44:02
master commit: 2c334ede443d7391d27575af8c854a095ba702a8

panda/board/sys/sys.h

@@ -0,0 +1,63 @@
+#pragma once
+
+// ******************** critical ********************
+
+void enable_interrupts(void);
+void disable_interrupts(void);
+
+extern uint8_t global_critical_depth;
+
+#ifndef ENTER_CRITICAL
+#define ENTER_CRITICAL()                                      \
+  __disable_irq();                                            \
+  global_critical_depth += 1U;
+#endif
+
+#ifndef EXIT_CRITICAL
+#define EXIT_CRITICAL()                                       \
+  global_critical_depth -= 1U;                                \
+  if ((global_critical_depth == 0U) && interrupts_enabled) {  \
+    __enable_irq();                                           \
+  }
+#endif
+
+// ******************** faults ********************
+
+#define FAULT_STATUS_NONE 0U
+#define FAULT_STATUS_TEMPORARY 1U
+#define FAULT_STATUS_PERMANENT 2U
+
+// Fault types, matches cereal.log.PandaState.FaultType
+#define FAULT_RELAY_MALFUNCTION             (1UL << 0)
+#define FAULT_UNUSED_INTERRUPT_HANDLED      (1UL << 1)
+#define FAULT_INTERRUPT_RATE_CAN_1          (1UL << 2)
+#define FAULT_INTERRUPT_RATE_CAN_2          (1UL << 3)
+#define FAULT_INTERRUPT_RATE_CAN_3          (1UL << 4)
+#define FAULT_INTERRUPT_RATE_TACH           (1UL << 5)
+#define FAULT_INTERRUPT_RATE_INTERRUPTS     (1UL << 7)
+#define FAULT_INTERRUPT_RATE_SPI_DMA        (1UL << 8)
+#define FAULT_INTERRUPT_RATE_USB            (1UL << 15)
+#define FAULT_REGISTER_DIVERGENT            (1UL << 18)
+#define FAULT_INTERRUPT_RATE_CLOCK_SOURCE   (1UL << 20)
+#define FAULT_INTERRUPT_RATE_TICK           (1UL << 21)
+#define FAULT_INTERRUPT_RATE_EXTI           (1UL << 22)
+#define FAULT_INTERRUPT_RATE_SPI            (1UL << 23)
+#define FAULT_INTERRUPT_RATE_UART_7         (1UL << 24)
+#define FAULT_SIREN_MALFUNCTION             (1UL << 25)
+#define FAULT_HEARTBEAT_LOOP_WATCHDOG       (1UL << 26)
+#define FAULT_INTERRUPT_RATE_SOUND_DMA      (1UL << 27)
+
+// Permanent faults
+#define PERMANENT_FAULTS 0U
+
+extern uint8_t fault_status;
+extern uint32_t faults;
+
+void fault_occurred(uint32_t fault);
+void fault_recovered(uint32_t fault);
+
+// ******************** power_saving ********************
+
+extern bool power_save_enabled;
+
+void set_power_save_state(bool enable);