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Merge branch 'issue/18-Backup-RAM' into issue/15-safety-controller-hardening

This commit is contained in:
Mario Hüttel 2020-09-06 19:54:09 +02:00
parent 9880c701b1 910037a562
commit 192bcf01f6
3 changed files with 211 additions and 9 deletions
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108
stm-firmware/include/reflow-controller/safety/safety-memory.h
View File

@ -23,6 +23,10 @@
#include <stdint.h>
/** @addtogroup safety-memory
* @{
*/
/**
* @brief Magic number to signal a valid safety memory header.
*/
@ -81,23 +85,37 @@ struct safety_memory_boot_status {
uint32_t reset_from_panic;
};
/**
* @brief The state of the safety memory
*
* This is returned by certain functions in order to signal, if the header and CRC infos are valid.
*/
enum safety_memory_state {
SAFETY_MEMORY_INIT_FRESH = 0,
SAFETY_MEMORY_INIT_CORRUPTED = 1,
SAFETY_MEMORY_INIT_VALID_MEMORY = 2,
SAFETY_MEMORY_INIT_FRESH = 0, /**< @brief Memory header not found */
SAFETY_MEMORY_INIT_CORRUPTED = 1, /**< @brief Header found, but corrupt memory */
SAFETY_MEMORY_INIT_VALID_MEMORY = 2, /**< @brief Valid header found and CRC check is valid */
};
/**
* @brief Types of error memory entries
*/
enum safety_memory_error_entry_type {
SAFETY_MEMORY_ERR_ENTRY_FLAG = 1,
SAFETY_MEMORY_ERR_ENTRY_NOP = 2,
SAFETY_MEMORY_ERR_ENTRY_FLAG = 1, /**< @brief Flag error entry. Logs a flag */
SAFETY_MEMORY_ERR_ENTRY_NOP = 2, /**< @brief NOP entry. Has no meaning, but will be treated as a valid entry */
};
/**
* @brief Firmware internal representation of an error memory entry.
*/
struct error_memory_entry {
enum safety_memory_error_entry_type type;
uint8_t flag_num;
uint16_t counter;
};
/**
* @brief Types of conig override entries
*/
enum config_override_entry_type {
SAFETY_MEMORY_CONFIG_OVERRIDE_WEIGHT = 1,
SAFETY_MEMORY_CONFIG_OVERRIDE_PERSISTANCE = 2,
@ -120,7 +138,7 @@ struct config_override {
union {
struct {
uint8_t flag;
uint8_t weight;
enum config_override_weight weight;
} weight_override;
struct {
uint8_t flag;
@ -129,26 +147,104 @@ struct config_override {
} entry;
};
/**
* @brief First time init the safety memory. This requests all clocks etc.
*
* The error memory is always vlaid after this function. At least, if it returns without error.
* The \p found_state output tells the caller, in which state the memory was found. If it was uninitialized,
* or corrupted, it is completely wiped and a fresh memory structure is written.
*
* @param[out] found_state State the error memory was found in
* @return 0 if successful
* @warning Also check @ref safety_memory_reinit
*/
int safety_memory_init(enum safety_memory_state *found_state);
/**
* @brief Same as @ref safety_memory_init, but without specifically requesting the clock modules.
*
* Use this, if a call to @ref safety_memory_init has already been done.
*
* @param[out] found_state State the error memory was found in
* @return 0 if successful
*/
int safety_memory_reinit(enum safety_memory_state *found_state);
/**
* @brief Get the boot status structure from safety memory
* @param[out] status Status read from memory.
* @return 0 if successful
*/
int safety_memory_get_boot_status(struct safety_memory_boot_status *status);
/**
* @brief Write the boot status structure to safety memory
* @param[in] status Status to write
* @return 0 if successful
*/
int safety_memory_set_boot_status(const struct safety_memory_boot_status *status);
/**
* @brief Get the amout of error entries in the error memory. This also includes NOP entries.
* @param[out] count Count
* @return 0 if successful
*/
int safety_memory_get_error_entry_count(uint32_t *count);
/**
* @brief Check the header and CRC of the safety memory.
* @return 0 if all checks pass
*/
int safety_memory_check(void);
/**
* @brief Read an error entry from the error memory
* @param idx Index of the entry
* @param[out] entry Error entry
* @return 0 if successful
*/
int safety_memory_get_error_entry(uint32_t idx, struct error_memory_entry *entry);
/**
* @brief Insert an error entry
*
* This function inserts an error entry on the first NOP entry found in the error memory.
* If an entry is found with the same flag number, its counter is incremented by the counter value of the
* element to insert.
*
* If there are no NOPs or fitting entries in the error memory, error memory is expanded until it hits the memory
* boundary.
*
* @param entry Error entry to insert
* @returns 0 if successful, -3 if out of memory, and other negative error codes
*/
int safety_memory_insert_error_entry(struct error_memory_entry *entry);
/**
* @brief Insert a config override entry at the first free location.
*
* Free locations are entries containing 0x00000000
*
* @param config_override Config to write
* @return 0 if successful
*/
int safety_memory_insert_config_override(struct config_override *config_override);
/**
* @brief Get count of config overrides
* @param[out] count Number of overrides
* @return 0 if successful
*/
int safety_memory_get_config_override_count(uint32_t *count);
/**
* @brief Get a config ovveide entry
* @param idx Index of the requested entry
* @param[out] config_override READ override
* @return 0 if successful
*/
int safety_memory_get_config_override(uint32_t idx, struct config_override *config_override);
#endif /* __SAFETY_MEMORY_H__ */
/** @} */

17
stm-firmware/safety/safety-controller.c
View File

@ -218,13 +218,28 @@ int safety_controller_report_error_with_key(enum safety_flag flag, uint32_t key)
{
uint32_t i;
int ret = -1;
bool old_state;
int res;
struct error_memory_entry err_mem_entry;
for (i = 0; i < COUNT_OF(flags); i++) {
if (flags[i].flag & flag) {
old_state = flags[i].error_state;
flags[i].error_state = true;
flags[i].error_state_inv = !flags[i].error_state;
flags[i].key = key;
ret = 0;
if (flags[i].persistent && !old_state) {
err_mem_entry.counter = 1;
err_mem_entry.flag_num = i;
err_mem_entry.type = SAFETY_MEMORY_ERR_ENTRY_FLAG;
res = safety_memory_insert_error_entry(&err_mem_entry);
if (res) {
ret = -12;
}
} else {
ret = 0;
}
}
}

95
stm-firmware/safety/safety-memory.c
View File

@ -107,6 +107,11 @@ return_val:
return ret;
}
static void safety_memory_write_header(const struct safety_memory_header *header)
{
backup_ram_write_data(0UL, (uint32_t *)header, wordsize_of(*header));
}
static void safety_memory_write_new_header(void)
{
struct safety_memory_header header;
@ -120,7 +125,7 @@ static void safety_memory_write_new_header(void)
header.magic_i = ~SAFETY_MEMORY_MAGIC;
backup_ram_wipe();
backup_ram_write_data(0UL, (uint32_t *)&header, wordsize_of(header));
safety_memory_write_header(&header);
}
static int safety_memory_check_crc()
@ -371,7 +376,93 @@ return_value:
return ret;
}
int safety_memory_insert_error_entry(struct error_memory_entry *entry);
int safety_memory_insert_error_entry(struct error_memory_entry *entry)
{
int res;
int ret = -0xFFFF;
uint32_t addr;
uint32_t data;
bool found;
uint32_t input_data;
struct error_memory_entry current_entry;
struct safety_memory_header header;
input_data = error_memory_entry_to_word(entry);
if (safety_memory_get_header(&header) != SAFETY_MEMORY_INIT_VALID_MEMORY) {
return -2000;
}
if (entry->type == SAFETY_MEMORY_ERR_ENTRY_NOP) {
/* Append to end */
if ((header.err_memory_end + 1U) < backup_ram_get_size_in_words()) {
/* Still fits in memory */
backup_ram_write_data(header.err_memory_end, &input_data, 1UL);
header.err_memory_end++;
safety_memory_write_header(&header);
safety_memory_gen_crc();
ret = 0;
}
} else if (entry->type == SAFETY_MEMORY_ERR_ENTRY_FLAG) {
found = false;
for (addr = header.err_memory_offset; addr < header.err_memory_end; addr++) {
res = backup_ram_get_data(addr, &data, 1UL);
if (res) {
ret = -1;
goto return_value;
}
res = word_to_error_memory_entry(data, &current_entry);
if (res) {
ret = -2;
goto return_value;
}
if (current_entry.type == SAFETY_MEMORY_ERR_ENTRY_FLAG &&
current_entry.flag_num == entry->flag_num) {
found = true;
break;
}
if (current_entry.type == SAFETY_MEMORY_ERR_ENTRY_NOP) {
found = true;
break;
}
}
if (!found) {
/* No suitable place found in memory. Append */
if ((addr + 1) < backup_ram_get_size_in_words()) {
backup_ram_write_data(addr, &input_data, 1UL);
header.err_memory_end++;
safety_memory_write_header(&header);
} else {
ret = -3;
goto return_value;
}
} else {
if (current_entry.type == SAFETY_MEMORY_ERR_ENTRY_NOP) {
backup_ram_write_data(addr, &input_data, 1UL);
} else {
current_entry.counter += entry->counter;
if (current_entry.counter < entry->counter)
current_entry.counter = 0xFFFF;
data = error_memory_entry_to_word(&current_entry);
backup_ram_write_data(addr, &data, 1UL);
}
}
safety_memory_gen_crc();
ret = 0;
} else {
ret = -1001;
}
return_value:
return ret;
}
int safety_memory_insert_config_override(struct config_override *config_override);