wip

panda/board/critical.h

@@ -0,0 +1,23 @@
+// ********************* Critical section helpers *********************
+volatile bool interrupts_enabled = false;
+
+void enable_interrupts(void) {
+  interrupts_enabled = true;
+  __enable_irq();
+}
+
+void disable_interrupts(void) {
+  interrupts_enabled = false;
+  __disable_irq();
+}
+
+uint8_t global_critical_depth = 0U;
+#define ENTER_CRITICAL()                                      \
+  __disable_irq();                                            \
+  global_critical_depth += 1U;
+
+#define EXIT_CRITICAL()                                       \
+  global_critical_depth -= 1U;                                \
+  if ((global_critical_depth == 0U) && interrupts_enabled) {  \
+    __enable_irq();                                           \
+  }