Improve code and add a Flash CRC check
This commit is contained in:
parent
864c3fa0f2
commit
1e870972e3
@ -45,6 +45,7 @@ endif (GIT_FOUND)
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set(ELFFILE ${PROJECT_NAME}.elf)
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set(ELFFILE ${PROJECT_NAME}.elf)
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set(HEXFILE ${PROJECT_NAME}.hex)
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set(HEXFILE ${PROJECT_NAME}.hex)
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set(MAPFILE ${PROJECT_NAME}.map)
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set(LINKER_SCRIPT ${CMAKE_CURRENT_SOURCE_DIR}/stm32f407vet6_flash.ld)
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set(LINKER_SCRIPT ${CMAKE_CURRENT_SOURCE_DIR}/stm32f407vet6_flash.ld)
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add_compile_options(-Wall -Wextra -Wold-style-declaration -Wuninitialized -Wmaybe-uninitialized -Wunused-parameter)
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add_compile_options(-Wall -Wextra -Wold-style-declaration -Wuninitialized -Wmaybe-uninitialized -Wunused-parameter)
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@ -62,6 +63,7 @@ include_directories(${CMAKE_CURRENT_SOURCE_DIR}/include)
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IF(CMAKE_BUILD_TYPE STREQUAL "Debug")
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IF(CMAKE_BUILD_TYPE STREQUAL "Debug")
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add_definitions(-DDEBUGBUILD)
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add_definitions(-DDEBUGBUILD)
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add_compile_options(-O0 -g)
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add_compile_options(-O0 -g)
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add_link_options(-Wl,-Map=${MAPFILE})
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ELSE()
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ELSE()
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add_compile_options(-O3 -g)
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add_compile_options(-O3 -g)
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add_link_options(-Wl,--gc-sections)
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add_link_options(-Wl,--gc-sections)
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113
stm-firmware/crc-patch-elf.py
Executable file
113
stm-firmware/crc-patch-elf.py
Executable file
@ -0,0 +1,113 @@
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#!/bin/python
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"""
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This script patches the CRC checksums into an existing ELF file.
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For this, it searches the follwoing sections:
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1) .text
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2) .data
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3) .ccmdata
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4) .vectors
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All sections MUST be a multiple of 4 bytes long because the CRC calculation relies on whole 32 bit words.
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The sections are excrated and the CRC is calculated for each section.
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In the section .flashcrc, the script expects a single struct with the prototype:
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struct flash_crcs {
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uint32_t start_magic;
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uint32_t crc_section_text;
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uint32_t crc_section_data;
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uint32_t crc_section_ccm_data;
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uint32_t crc_section_vectors;
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uint32_t end_magic;
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};
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It checks, if the start magic and end magic are set to the appropriate values and then patches in the CRC values of the sections.
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The magic values checked for are: 0xA8BE53F9 and 0xFFA582FF
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"""
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from elftools.elf.elffile import ELFFile
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from elftools.elf.segments import Segment
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import elftools.elf.constants as elf_const
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import sys
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import crcmod
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import crcmod.predefined
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import struct
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crc_calc = crcmod.predefined.mkCrcFun('crc-32-mpeg')
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if len(sys.argv) < 2:
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print("Usage:", sys.argv[0], ' <elf file>')
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sys.exit(-1)
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filename=sys.argv[1]
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def section_calculate_crc(section):
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data = bytearray(section.data())
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be_data = bytearray([0 for k in range(0, len(data))])
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# Rearrange data, because the STM controller sees it as 32 bit little endian words
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for i in range(0, int(len(data)/4)):
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be_data[i*4+0] = data[i*4+3]
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be_data[i*4+1] = data[i*4+2]
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be_data[i*4+2] = data[i*4+1]
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be_data[i*4+3] = data[i*4+0]
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return crc_calc(be_data)
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with open(filename, 'r+b') as f:
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elf = ELFFile(f)
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sections = {}
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sections['.text'] = elf.get_section_by_name('.text')
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sections['.data'] = elf.get_section_by_name('.data')
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sections['.ccmdata'] = elf.get_section_by_name('.ccmdata')
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sections['.vectors'] = elf.get_section_by_name('.vectors')
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for key, sec in sections.items():
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if sec is None:
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print("Error! Section", key, "not found in ELF file!")
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sys.exit(-1)
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print('Found section', key, 'Size:',
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sec.data_size, 'Type:', sec['sh_type'])
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if sec['sh_type'] != 'SHT_PROGBITS':
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print('Error! Section must be of type SHT_PROGBITS')
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sys.exit(-1)
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if (sec.data_size % 4 != 0):
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print("Section", key, "has wrong size. Must be a multiple of 4 bytes!")
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sys.exit(-1)
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text_crc = section_calculate_crc(sections['.text'])
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print('CRC of .text section:', hex(text_crc))
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data_crc = section_calculate_crc(sections['.data'])
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print('CRC of .data section:', hex(data_crc))
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ccmdata_crc = section_calculate_crc(sections['.ccmdata'])
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print('CRC of .ccmdata section:', hex(ccmdata_crc))
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vextors_crc = section_calculate_crc(sections['.vectors'])
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print('CRC of .vectors section:', hex(vextors_crc))
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# Check the flashcrc section
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flashcrc_sec = elf.get_section_by_name('.flashcrc')
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if flashcrc_sec is None:
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print('Section for flash CRC missing!')
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sys.exit(-1)
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if flashcrc_sec.data_size != 6*4:
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print("Warning!!! .flashcrc section has wrong size:",flashcrc_sec.data_size)
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crc_sec_data = bytearray(flashcrc_sec.data())
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magic1 = struct.unpack('<I'*1, bytes(crc_sec_data[0:4]))[0]
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magic2 = struct.unpack('<I'*1, bytes(crc_sec_data[-4:]))[0]
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print("CRC section magic values:", hex(magic1), hex(magic2))
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if magic1 != 0xA8BE53F9 or magic2 != 0xFFA582FF:
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print("Wrong magics in CRC section. Data misalignment?")
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sys.exit(-2)
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crc_sec_offset = flashcrc_sec['sh_offset']
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print('CRC section ELF file offset:', hex(crc_sec_offset))
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crc_sec_data[4:8] = struct.pack('<I',text_crc)
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crc_sec_data[8:12] = struct.pack('<I',data_crc)
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crc_sec_data[12:16] = struct.pack('<I',ccmdata_crc)
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crc_sec_data[16:20] = struct.pack('<I',vextors_crc)
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f.seek(crc_sec_offset)
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f.write(crc_sec_data)
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print('CRCs patched successfully')
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@ -56,6 +56,8 @@ enum safety_flag {
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ERR_FLAG_SAFETY_TAB_CORRUPT = (1<<16),
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ERR_FLAG_SAFETY_TAB_CORRUPT = (1<<16),
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ERR_FLAG_AMON_SUPPLY_VOLT = (1<<17),
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ERR_FLAG_AMON_SUPPLY_VOLT = (1<<17),
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ERR_FLAG_OVERTEMP = (1<<18),
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ERR_FLAG_OVERTEMP = (1<<18),
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ERR_FLAG_FLASH_CRC_CODE = (1<<19),
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ERR_FLAG_FLASH_CRC_DATA = (1<<20),
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};
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};
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/**
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/**
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@ -166,6 +168,8 @@ enum analog_value_monitor {
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ERR_FLAG_PERSIST_ENTRY(ERR_FLAG_SAFETY_TAB_CORRUPT, true), \
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ERR_FLAG_PERSIST_ENTRY(ERR_FLAG_SAFETY_TAB_CORRUPT, true), \
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ERR_FLAG_PERSIST_ENTRY(ERR_FLAG_AMON_SUPPLY_VOLT, false), \
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ERR_FLAG_PERSIST_ENTRY(ERR_FLAG_AMON_SUPPLY_VOLT, false), \
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ERR_FLAG_PERSIST_ENTRY(ERR_FLAG_OVERTEMP, false), \
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ERR_FLAG_PERSIST_ENTRY(ERR_FLAG_OVERTEMP, false), \
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ERR_FLAG_PERSIST_ENTRY(ERR_FLAG_FLASH_CRC_CODE, true), \
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ERR_FLAG_PERSIST_ENTRY(ERR_FLAG_FLASH_CRC_DATA, true)
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/**
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/**
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* @brief Default config weights of safety flags. These values are loaded into the safety tables on startup
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* @brief Default config weights of safety flags. These values are loaded into the safety tables on startup
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*/
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*/
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@ -188,5 +192,7 @@ enum analog_value_monitor {
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ERR_FLAG_WEIGHT_ENTRY(ERR_FLAG_SAFETY_TAB_CORRUPT, SAFETY_FLAG_CONFIG_WEIGHT_PANIC), \
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ERR_FLAG_WEIGHT_ENTRY(ERR_FLAG_SAFETY_TAB_CORRUPT, SAFETY_FLAG_CONFIG_WEIGHT_PANIC), \
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ERR_FLAG_WEIGHT_ENTRY(ERR_FLAG_AMON_SUPPLY_VOLT, SAFETY_FLAG_CONFIG_WEIGHT_PID), \
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ERR_FLAG_WEIGHT_ENTRY(ERR_FLAG_AMON_SUPPLY_VOLT, SAFETY_FLAG_CONFIG_WEIGHT_PID), \
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ERR_FLAG_WEIGHT_ENTRY(ERR_FLAG_OVERTEMP, SAFETY_FLAG_CONFIG_WEIGHT_PID), \
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ERR_FLAG_WEIGHT_ENTRY(ERR_FLAG_OVERTEMP, SAFETY_FLAG_CONFIG_WEIGHT_PID), \
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ERR_FLAG_WEIGHT_ENTRY(ERR_FLAG_FLASH_CRC_CODE, SAFETY_FLAG_CONFIG_WEIGHT_NONE), \
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ERR_FLAG_WEIGHT_ENTRY(ERR_FLAG_FLASH_CRC_DATA, SAFETY_FLAG_CONFIG_WEIGHT_NONE), \
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#endif /* __SAFETY_CONFIG_H__ */
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#endif /* __SAFETY_CONFIG_H__ */
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@ -267,6 +267,13 @@ int safety_controller_set_overtemp_limit(float over_temperature);
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*/
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*/
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float safety_controller_get_overtemp_limit(void);
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float safety_controller_get_overtemp_limit(void);
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/**
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* @brief Perform a CRC check of the flash memory and set appropriate flags
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* @return negative if internal error occured. Otherwise (independent from CRC check result) 0.
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* @note This function requires the safety controller to be set up before!
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*/
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int safety_controller_trigger_flash_crc_check(void);
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#endif /* __SAFETY_CONTROLLER_H__ */
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#endif /* __SAFETY_CONTROLLER_H__ */
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/** @} */
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/** @} */
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@ -35,9 +35,14 @@
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#define SAFETY_MEMORY_MAGIC 0x12AA5CB7
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#define SAFETY_MEMORY_MAGIC 0x12AA5CB7
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/**
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/**
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* @brief Error memory NOP entry
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* @brief Error memory NOP entry word written to the memory
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*/
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*/
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#define SAFETY_MEMORY_NOP_ENTRY 0xC1AA1222
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#define SAFETY_MEMORY_NOP_ENTRY_WORD 0xC1AA1222UL
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/**
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* @brief Low Byte (byte 0) of error memory entry
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*/
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#define SAFETY_MEMORY_ERROR_ENTRY_MARKER 0x51U
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/**
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/**
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* @brief Offset address for the safety_memory_header.
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* @brief Offset address for the safety_memory_header.
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@ -36,6 +36,6 @@ int temp_converter_convert_resistance_to_temp(float resistance, float *temp_out)
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* @return 0 if ok, -1 if tmeperature is below the lookup table, 1 if value is above the lookup table, -1000 in case of a pointer error,
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* @return 0 if ok, -1 if tmeperature is below the lookup table, 1 if value is above the lookup table, -1000 in case of a pointer error,
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* -100 if an internal error occured. This should never happen, if the lookup table is correct
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* -100 if an internal error occured. This should never happen, if the lookup table is correct
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*/
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*/
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int temp_convertet_convert_temp_to_resistance(float temp, float *resistance_out);
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int temp_converter_convert_temp_to_resistance(float temp, float *resistance_out);
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#endif /* __TEMP_CONVERTER_H__ */
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#endif /* __TEMP_CONVERTER_H__ */
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@ -153,6 +153,15 @@ struct overtemp_config {
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uint32_t crc;
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uint32_t crc;
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};
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};
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struct flash_crcs {
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uint32_t start_magic;
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uint32_t crc_section_text;
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uint32_t crc_section_data;
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uint32_t crc_section_ccm_data;
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uint32_t crc_section_vectors;
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uint32_t end_magic;
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};
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/**
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/**
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* @brief All safety error flags.
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* @brief All safety error flags.
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*/
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*/
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@ -176,6 +185,8 @@ static volatile struct error_flag IN_SECTION(.ccm.data) flags[] = {
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ERR_FLAG_ENTRY(ERR_FLAG_SAFETY_TAB_CORRUPT),
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ERR_FLAG_ENTRY(ERR_FLAG_SAFETY_TAB_CORRUPT),
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ERR_FLAG_ENTRY(ERR_FLAG_AMON_SUPPLY_VOLT),
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ERR_FLAG_ENTRY(ERR_FLAG_AMON_SUPPLY_VOLT),
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ERR_FLAG_ENTRY(ERR_FLAG_OVERTEMP),
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ERR_FLAG_ENTRY(ERR_FLAG_OVERTEMP),
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ERR_FLAG_ENTRY(ERR_FLAG_FLASH_CRC_CODE),
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ERR_FLAG_ENTRY(ERR_FLAG_FLASH_CRC_DATA),
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};
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};
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/**
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/**
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@ -257,7 +268,7 @@ static void set_overtemp_config(float over_temperature)
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int result;
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int result;
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float resistance;
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float resistance;
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result = temp_convertet_convert_temp_to_resistance(over_temperature, &resistance);
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result = temp_converter_convert_temp_to_resistance(over_temperature, &resistance);
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/* An error in this function is really bad... */
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/* An error in this function is really bad... */
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if (result < -1)
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if (result < -1)
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panic_mode();
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panic_mode();
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@ -764,6 +775,7 @@ void safety_controller_init()
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/* This is usually done by the safety memory already. But, since this module also uses the CRC... */
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/* This is usually done by the safety memory already. But, since this module also uses the CRC... */
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crc_unit_init();
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crc_unit_init();
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safety_controller_trigger_flash_crc_check();
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stack_check_init_corruption_detect_area();
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stack_check_init_corruption_detect_area();
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hw_rev = get_pcb_hardware_version();
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hw_rev = get_pcb_hardware_version();
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@ -1296,4 +1308,102 @@ float safety_controller_get_overtemp_limit(void)
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return safety_controller_overtemp_config.overtemp_deg_celsius;
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return safety_controller_overtemp_config.overtemp_deg_celsius;
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}
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}
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extern const uint32_t __ld_vectors_start;
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extern const uint32_t __ld_vectors_end;
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extern const uint32_t __ld_text_start;
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extern const uint32_t __ld_text_end;
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extern const uint32_t __ld_sdata_ccm;
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extern const uint32_t __ld_edata_ccm;
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extern const uint32_t __ld_load_ccm_data;
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extern const uint32_t __ld_sdata;
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extern const uint32_t __ld_edata;
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extern const uint32_t __ld_load_data;
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int safety_controller_trigger_flash_crc_check()
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{
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/* This structs needs to be volatile!!
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* This prevents the compiler form optimizing out the reads to the crcs which will be patched in later by
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* a separate python script!
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*/
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static volatile const struct flash_crcs IN_SECTION(.flashcrc) crcs_in_flash =
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{
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.start_magic = 0xA8BE53F9UL,
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.crc_section_ccm_data = 0UL,
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.crc_section_text = 0UL,
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.crc_section_data = 0UL,
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.crc_section_vectors = 0UL,
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.end_magic = 0xFFA582FFUL,
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};
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int ret = -1;
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uint32_t len;
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uint32_t crc;
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/* Perform CRC check over vector table */
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len = (uint32_t)((void *)&__ld_vectors_end - (void *)&__ld_vectors_start);
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if (len % 4) {
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safety_controller_report_error(ERR_FLAG_FLASH_CRC_CODE);
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} else {
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len /= 4;
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crc_unit_reset();
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crc_unit_input_array(&__ld_vectors_start, len);
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crc = crc_unit_get_crc();
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if (crc != crcs_in_flash.crc_section_vectors) {
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safety_controller_report_error(ERR_FLAG_FLASH_CRC_CODE);
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}
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}
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/* Perform CRC check over text section */
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len = (uint32_t)((void *)&__ld_text_end - (void *)&__ld_text_start);
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if (len % 4) {
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safety_controller_report_error(ERR_FLAG_FLASH_CRC_CODE);
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} else {
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len /= 4;
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crc_unit_reset();
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crc_unit_input_array(&__ld_text_start, len);
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crc = crc_unit_get_crc();
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if (crc != crcs_in_flash.crc_section_text) {
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safety_controller_report_error(ERR_FLAG_FLASH_CRC_CODE);
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||||||
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}
|
||||||
|
}
|
||||||
|
|
||||||
|
/* Perform CRC check over data section */
|
||||||
|
len = (uint32_t)((void *)&__ld_edata - (void *)&__ld_sdata);
|
||||||
|
if (len % 4) {
|
||||||
|
safety_controller_report_error(ERR_FLAG_FLASH_CRC_DATA);
|
||||||
|
} else {
|
||||||
|
len /= 4;
|
||||||
|
crc_unit_reset();
|
||||||
|
crc_unit_input_array(&__ld_load_data, len);
|
||||||
|
crc = crc_unit_get_crc();
|
||||||
|
if (crc != crcs_in_flash.crc_section_data) {
|
||||||
|
safety_controller_report_error(ERR_FLAG_FLASH_CRC_DATA);
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
/* Perform CRC check over ccm data section */
|
||||||
|
len = (uint32_t)((void *)&__ld_edata_ccm - (void *)&__ld_sdata_ccm);
|
||||||
|
if (len % 4) {
|
||||||
|
safety_controller_report_error(ERR_FLAG_FLASH_CRC_DATA);
|
||||||
|
} else {
|
||||||
|
len /= 4;
|
||||||
|
crc_unit_reset();
|
||||||
|
crc_unit_input_array(&__ld_load_ccm_data, len);
|
||||||
|
crc = crc_unit_get_crc();
|
||||||
|
if (crc != crcs_in_flash.crc_section_ccm_data) {
|
||||||
|
safety_controller_report_error(ERR_FLAG_FLASH_CRC_DATA);
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
crc_unit_reset();
|
||||||
|
crc_unit_input(0x04030201);
|
||||||
|
crc_unit_input(0xA0B0C0D0);
|
||||||
|
crc = crc_unit_get_crc();
|
||||||
|
|
||||||
|
ret = 0;
|
||||||
|
return ret;
|
||||||
|
}
|
||||||
|
|
||||||
/** @} */
|
/** @} */
|
||||||
|
@ -35,11 +35,11 @@ static int word_to_error_memory_entry(uint32_t entry_data, struct error_memory_e
|
|||||||
if (!out)
|
if (!out)
|
||||||
return -1002;
|
return -1002;
|
||||||
|
|
||||||
if (entry_data == SAFETY_MEMORY_NOP_ENTRY) {
|
if (entry_data == SAFETY_MEMORY_NOP_ENTRY_WORD) {
|
||||||
out->flag_num = 0U;
|
out->flag_num = 0U;
|
||||||
out->type = SAFETY_MEMORY_ERR_ENTRY_NOP;
|
out->type = SAFETY_MEMORY_ERR_ENTRY_NOP;
|
||||||
out->counter = 0U;
|
out->counter = 0U;
|
||||||
} else if ((entry_data & 0xFFU) == 0x51U) {
|
} else if ((entry_data & 0xFFU) == SAFETY_MEMORY_ERROR_ENTRY_MARKER) {
|
||||||
out->flag_num = (uint8_t)((entry_data >> 8U) & 0xFFU);
|
out->flag_num = (uint8_t)((entry_data >> 8U) & 0xFFU);
|
||||||
out->type = SAFETY_MEMORY_ERR_ENTRY_FLAG;
|
out->type = SAFETY_MEMORY_ERR_ENTRY_FLAG;
|
||||||
out->counter = (uint16_t)((entry_data >> 16U) & 0xFFFF);
|
out->counter = (uint16_t)((entry_data >> 16U) & 0xFFFF);
|
||||||
@ -57,10 +57,10 @@ static uint32_t error_memory_entry_to_word(const struct error_memory_entry *entr
|
|||||||
|
|
||||||
switch (entry->type) {
|
switch (entry->type) {
|
||||||
case SAFETY_MEMORY_ERR_ENTRY_NOP:
|
case SAFETY_MEMORY_ERR_ENTRY_NOP:
|
||||||
word = SAFETY_MEMORY_NOP_ENTRY;
|
word = SAFETY_MEMORY_NOP_ENTRY_WORD;
|
||||||
break;
|
break;
|
||||||
case SAFETY_MEMORY_ERR_ENTRY_FLAG:
|
case SAFETY_MEMORY_ERR_ENTRY_FLAG:
|
||||||
word = 0x51UL | ((uint32_t)entry->flag_num << 8U) |
|
word = (uint32_t)SAFETY_MEMORY_ERROR_ENTRY_MARKER | ((uint32_t)entry->flag_num << 8U) |
|
||||||
((uint32_t)entry->counter << 16U);
|
((uint32_t)entry->counter << 16U);
|
||||||
break;
|
break;
|
||||||
}
|
}
|
||||||
@ -322,9 +322,9 @@ static int safety_memory_check_error_entries()
|
|||||||
return -100;
|
return -100;
|
||||||
|
|
||||||
/* Valid flag entry */
|
/* Valid flag entry */
|
||||||
if ((data & 0xFF) == 0x51)
|
if ((data & 0xFF) == SAFETY_MEMORY_ERROR_ENTRY_MARKER)
|
||||||
continue;
|
continue;
|
||||||
if (data == SAFETY_MEMORY_NOP_ENTRY)
|
if (data == SAFETY_MEMORY_NOP_ENTRY_WORD)
|
||||||
continue;
|
continue;
|
||||||
|
|
||||||
ret--;
|
ret--;
|
||||||
|
@ -44,12 +44,15 @@ SECTIONS
|
|||||||
{
|
{
|
||||||
.vectors : ALIGN(4)
|
.vectors : ALIGN(4)
|
||||||
{
|
{
|
||||||
|
__ld_vectors_start = .;
|
||||||
KEEP(*(.vectors))
|
KEEP(*(.vectors))
|
||||||
. = ALIGN(4);
|
. = ALIGN(4);
|
||||||
|
__ld_vectors_end = .;
|
||||||
} >FLASH =0xFF
|
} >FLASH =0xFF
|
||||||
|
|
||||||
.text : ALIGN(4)
|
.text : ALIGN(4)
|
||||||
{
|
{
|
||||||
|
__ld_text_start = .;
|
||||||
*(.text) /* .text sections (code) */
|
*(.text) /* .text sections (code) */
|
||||||
*(.text*) /* .text* sections (code) */
|
*(.text*) /* .text* sections (code) */
|
||||||
*(.rodata) /* .rodata sections (constants, strings, etc.) */
|
*(.rodata) /* .rodata sections (constants, strings, etc.) */
|
||||||
@ -59,6 +62,8 @@ SECTIONS
|
|||||||
*(.eh_frame)
|
*(.eh_frame)
|
||||||
KEEP(*(.init)) /* Constructors */
|
KEEP(*(.init)) /* Constructors */
|
||||||
KEEP(*(.fini)) /* Destructors */
|
KEEP(*(.fini)) /* Destructors */
|
||||||
|
. = ALIGN(4);
|
||||||
|
__ld_text_end = .;
|
||||||
} >FLASH =0xFF
|
} >FLASH =0xFF
|
||||||
|
|
||||||
.ARM.extab : ALIGN(4)
|
.ARM.extab : ALIGN(4)
|
||||||
@ -99,6 +104,13 @@ SECTIONS
|
|||||||
. = ALIGN(4);
|
. = ALIGN(4);
|
||||||
} >FLASH =0xFF
|
} >FLASH =0xFF
|
||||||
|
|
||||||
|
.flashcrc : ALIGN(4)
|
||||||
|
{
|
||||||
|
KEEP(*(.flashcrc))
|
||||||
|
KEEP(*(.flashcrc.*))
|
||||||
|
. = ALIGN(4);
|
||||||
|
} >FLASH =0xFF
|
||||||
|
|
||||||
/* Initialized CCM data */
|
/* Initialized CCM data */
|
||||||
__ld_load_ccm_data = LOADADDR(.ccmdata);
|
__ld_load_ccm_data = LOADADDR(.ccmdata);
|
||||||
.ccmdata : ALIGN(4)
|
.ccmdata : ALIGN(4)
|
||||||
|
@ -75,7 +75,7 @@ return_ret_val:
|
|||||||
return ret_val;
|
return ret_val;
|
||||||
}
|
}
|
||||||
|
|
||||||
int temp_convertet_convert_temp_to_resistance(float temp, float *resistance_out)
|
int temp_converter_convert_temp_to_resistance(float temp, float *resistance_out)
|
||||||
{
|
{
|
||||||
int retcode = 0;
|
int retcode = 0;
|
||||||
unsigned int i;
|
unsigned int i;
|
||||||
|
Loading…
Reference in New Issue
Block a user