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Improve code and add a Flash CRC check

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This commit is contained in:
Mario Hüttel
2021-07-16 21:17:59 +02:00
parent 864c3fa0f2
commit 1e870972e3
10 changed files with 266 additions and 11 deletions
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2
stm-firmware/CMakeLists.txt
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@@ -45,6 +45,7 @@ endif (GIT_FOUND)
set(ELFFILE ${PROJECT_NAME}.elf)
set(HEXFILE ${PROJECT_NAME}.hex)
set(MAPFILE ${PROJECT_NAME}.map)
set(LINKER_SCRIPT ${CMAKE_CURRENT_SOURCE_DIR}/stm32f407vet6_flash.ld)
add_compile_options(-Wall -Wextra -Wold-style-declaration -Wuninitialized -Wmaybe-uninitialized -Wunused-parameter)
@@ -62,6 +63,7 @@ include_directories(${CMAKE_CURRENT_SOURCE_DIR}/include)
IF(CMAKE_BUILD_TYPE STREQUAL "Debug")
add_definitions(-DDEBUGBUILD)
add_compile_options(-O0 -g)
add_link_options(-Wl,-Map=${MAPFILE})
ELSE()
add_compile_options(-O3 -g)
add_link_options(-Wl,--gc-sections)

113
stm-firmware/crc-patch-elf.py Executable file
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@@ -0,0 +1,113 @@
#!/bin/python
"""
This script patches the CRC checksums into an existing ELF file.
For this, it searches the follwoing sections:
1) .text
2) .data
3) .ccmdata
4) .vectors
All sections MUST be a multiple of 4 bytes long because the CRC calculation relies on whole 32 bit words.
The sections are excrated and the CRC is calculated for each section.
In the section .flashcrc, the script expects a single struct with the prototype:
struct flash_crcs {
uint32_t start_magic;
uint32_t crc_section_text;
uint32_t crc_section_data;
uint32_t crc_section_ccm_data;
uint32_t crc_section_vectors;
uint32_t end_magic;
};
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.
The magic values checked for are: 0xA8BE53F9 and 0xFFA582FF
"""
from elftools.elf.elffile import ELFFile
from elftools.elf.segments import Segment
import elftools.elf.constants as elf_const
import sys
import crcmod
import crcmod.predefined
import struct
crc_calc = crcmod.predefined.mkCrcFun('crc-32-mpeg')
if len(sys.argv) < 2:
print("Usage:", sys.argv[0], ' <elf file>')
sys.exit(-1)
filename=sys.argv[1]
def section_calculate_crc(section):
data = bytearray(section.data())
be_data = bytearray([0 for k in range(0, len(data))])
# Rearrange data, because the STM controller sees it as 32 bit little endian words
for i in range(0, int(len(data)/4)):
be_data[i*4+0] = data[i*4+3]
be_data[i*4+1] = data[i*4+2]
be_data[i*4+2] = data[i*4+1]
be_data[i*4+3] = data[i*4+0]
return crc_calc(be_data)
with open(filename, 'r+b') as f:
elf = ELFFile(f)
sections = {}
sections['.text'] = elf.get_section_by_name('.text')
sections['.data'] = elf.get_section_by_name('.data')
sections['.ccmdata'] = elf.get_section_by_name('.ccmdata')
sections['.vectors'] = elf.get_section_by_name('.vectors')
for key, sec in sections.items():
if sec is None:
print("Error! Section", key, "not found in ELF file!")
sys.exit(-1)
print('Found section', key, 'Size:',
sec.data_size, 'Type:', sec['sh_type'])
if sec['sh_type'] != 'SHT_PROGBITS':
print('Error! Section must be of type SHT_PROGBITS')
sys.exit(-1)
if (sec.data_size % 4 != 0):
print("Section", key, "has wrong size. Must be a multiple of 4 bytes!")
sys.exit(-1)
text_crc = section_calculate_crc(sections['.text'])
print('CRC of .text section:', hex(text_crc))
data_crc = section_calculate_crc(sections['.data'])
print('CRC of .data section:', hex(data_crc))
ccmdata_crc = section_calculate_crc(sections['.ccmdata'])
print('CRC of .ccmdata section:', hex(ccmdata_crc))
vextors_crc = section_calculate_crc(sections['.vectors'])
print('CRC of .vectors section:', hex(vextors_crc))
# Check the flashcrc section
flashcrc_sec = elf.get_section_by_name('.flashcrc')
if flashcrc_sec is None:
print('Section for flash CRC missing!')
sys.exit(-1)
if flashcrc_sec.data_size != 6*4:
print("Warning!!! .flashcrc section has wrong size:",flashcrc_sec.data_size)
crc_sec_data = bytearray(flashcrc_sec.data())
magic1 = struct.unpack('<I'*1, bytes(crc_sec_data[0:4]))[0]
magic2 = struct.unpack('<I'*1, bytes(crc_sec_data[-4:]))[0]
print("CRC section magic values:", hex(magic1), hex(magic2))
if magic1 != 0xA8BE53F9 or magic2 != 0xFFA582FF:
print("Wrong magics in CRC section. Data misalignment?")
sys.exit(-2)
crc_sec_offset = flashcrc_sec['sh_offset']
print('CRC section ELF file offset:', hex(crc_sec_offset))
crc_sec_data[4:8] = struct.pack('<I',text_crc)
crc_sec_data[8:12] = struct.pack('<I',data_crc)
crc_sec_data[12:16] = struct.pack('<I',ccmdata_crc)
crc_sec_data[16:20] = struct.pack('<I',vextors_crc)
f.seek(crc_sec_offset)
f.write(crc_sec_data)
print('CRCs patched successfully')

6
stm-firmware/include/reflow-controller/safety/safety-config.h
View File

@@ -56,6 +56,8 @@ enum safety_flag {
ERR_FLAG_SAFETY_TAB_CORRUPT = (1<<16),
ERR_FLAG_AMON_SUPPLY_VOLT = (1<<17),
ERR_FLAG_OVERTEMP = (1<<18),
ERR_FLAG_FLASH_CRC_CODE = (1<<19),
ERR_FLAG_FLASH_CRC_DATA = (1<<20),
};
/**
@@ -166,6 +168,8 @@ enum analog_value_monitor {
ERR_FLAG_PERSIST_ENTRY(ERR_FLAG_SAFETY_TAB_CORRUPT, true), \
ERR_FLAG_PERSIST_ENTRY(ERR_FLAG_AMON_SUPPLY_VOLT, false), \
ERR_FLAG_PERSIST_ENTRY(ERR_FLAG_OVERTEMP, false), \
ERR_FLAG_PERSIST_ENTRY(ERR_FLAG_FLASH_CRC_CODE, true), \
ERR_FLAG_PERSIST_ENTRY(ERR_FLAG_FLASH_CRC_DATA, true)
/**
* @brief Default config weights of safety flags. These values are loaded into the safety tables on startup
*/
@@ -188,5 +192,7 @@ enum analog_value_monitor {
ERR_FLAG_WEIGHT_ENTRY(ERR_FLAG_SAFETY_TAB_CORRUPT, SAFETY_FLAG_CONFIG_WEIGHT_PANIC), \
ERR_FLAG_WEIGHT_ENTRY(ERR_FLAG_AMON_SUPPLY_VOLT, SAFETY_FLAG_CONFIG_WEIGHT_PID), \
ERR_FLAG_WEIGHT_ENTRY(ERR_FLAG_OVERTEMP, SAFETY_FLAG_CONFIG_WEIGHT_PID), \
ERR_FLAG_WEIGHT_ENTRY(ERR_FLAG_FLASH_CRC_CODE, SAFETY_FLAG_CONFIG_WEIGHT_NONE), \
ERR_FLAG_WEIGHT_ENTRY(ERR_FLAG_FLASH_CRC_DATA, SAFETY_FLAG_CONFIG_WEIGHT_NONE), \
#endif /* __SAFETY_CONFIG_H__ */

7
stm-firmware/include/reflow-controller/safety/safety-controller.h
View File

@@ -267,6 +267,13 @@ int safety_controller_set_overtemp_limit(float over_temperature);
*/
float safety_controller_get_overtemp_limit(void);
/**
* @brief Perform a CRC check of the flash memory and set appropriate flags
* @return negative if internal error occured. Otherwise (independent from CRC check result) 0.
* @note This function requires the safety controller to be set up before!
*/
int safety_controller_trigger_flash_crc_check(void);
#endif /* __SAFETY_CONTROLLER_H__ */
/** @} */

9
stm-firmware/include/reflow-controller/safety/safety-memory.h
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@@ -35,9 +35,14 @@
#define SAFETY_MEMORY_MAGIC 0x12AA5CB7
/**
* @brief Error memory NOP entry
* @brief Error memory NOP entry word written to the memory
*/
#define SAFETY_MEMORY_NOP_ENTRY 0xC1AA1222
#define SAFETY_MEMORY_NOP_ENTRY_WORD 0xC1AA1222UL
/**
* @brief Low Byte (byte 0) of error memory entry
*/
#define SAFETY_MEMORY_ERROR_ENTRY_MARKER 0x51U
/**
* @brief Offset address for the safety_memory_header.

2
stm-firmware/include/reflow-controller/temp-converter.h
View File

@@ -36,6 +36,6 @@ int temp_converter_convert_resistance_to_temp(float resistance, float *temp_out)
* @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,
* -100 if an internal error occured. This should never happen, if the lookup table is correct
*/
int temp_convertet_convert_temp_to_resistance(float temp, float *resistance_out);
int temp_converter_convert_temp_to_resistance(float temp, float *resistance_out);
#endif /* __TEMP_CONVERTER_H__ */

112
stm-firmware/safety/safety-controller.c
View File

@@ -153,6 +153,15 @@ struct overtemp_config {
uint32_t crc;
};
struct flash_crcs {
uint32_t start_magic;
uint32_t crc_section_text;
uint32_t crc_section_data;
uint32_t crc_section_ccm_data;
uint32_t crc_section_vectors;
uint32_t end_magic;
};
/**
* @brief All safety error flags.
*/
@@ -176,6 +185,8 @@ static volatile struct error_flag IN_SECTION(.ccm.data) flags[] = {
ERR_FLAG_ENTRY(ERR_FLAG_SAFETY_TAB_CORRUPT),
ERR_FLAG_ENTRY(ERR_FLAG_AMON_SUPPLY_VOLT),
ERR_FLAG_ENTRY(ERR_FLAG_OVERTEMP),
ERR_FLAG_ENTRY(ERR_FLAG_FLASH_CRC_CODE),
ERR_FLAG_ENTRY(ERR_FLAG_FLASH_CRC_DATA),
};
/**
@@ -257,7 +268,7 @@ static void set_overtemp_config(float over_temperature)
int result;
float resistance;
result = temp_convertet_convert_temp_to_resistance(over_temperature, &resistance);
result = temp_converter_convert_temp_to_resistance(over_temperature, &resistance);
/* An error in this function is really bad... */
if (result < -1)
panic_mode();
@@ -764,6 +775,7 @@ void safety_controller_init()
/* This is usually done by the safety memory already. But, since this module also uses the CRC... */
crc_unit_init();
safety_controller_trigger_flash_crc_check();
stack_check_init_corruption_detect_area();
hw_rev = get_pcb_hardware_version();
@@ -1296,4 +1308,102 @@ float safety_controller_get_overtemp_limit(void)
return safety_controller_overtemp_config.overtemp_deg_celsius;
}
extern const uint32_t __ld_vectors_start;
extern const uint32_t __ld_vectors_end;
extern const uint32_t __ld_text_start;
extern const uint32_t __ld_text_end;
extern const uint32_t __ld_sdata_ccm;
extern const uint32_t __ld_edata_ccm;
extern const uint32_t __ld_load_ccm_data;
extern const uint32_t __ld_sdata;
extern const uint32_t __ld_edata;
extern const uint32_t __ld_load_data;
int safety_controller_trigger_flash_crc_check()
{
/* This structs needs to be volatile!!
* This prevents the compiler form optimizing out the reads to the crcs which will be patched in later by
* a separate python script!
*/
static volatile const struct flash_crcs IN_SECTION(.flashcrc) crcs_in_flash =
{
.start_magic = 0xA8BE53F9UL,
.crc_section_ccm_data = 0UL,
.crc_section_text = 0UL,
.crc_section_data = 0UL,
.crc_section_vectors = 0UL,
.end_magic = 0xFFA582FFUL,
};
int ret = -1;
uint32_t len;
uint32_t crc;
/* Perform CRC check over vector table */
len = (uint32_t)((void *)&__ld_vectors_end - (void *)&__ld_vectors_start);
if (len % 4) {
safety_controller_report_error(ERR_FLAG_FLASH_CRC_CODE);
} else {
len /= 4;
crc_unit_reset();
crc_unit_input_array(&__ld_vectors_start, len);
crc = crc_unit_get_crc();
if (crc != crcs_in_flash.crc_section_vectors) {
safety_controller_report_error(ERR_FLAG_FLASH_CRC_CODE);
}
}
/* Perform CRC check over text section */
len = (uint32_t)((void *)&__ld_text_end - (void *)&__ld_text_start);
if (len % 4) {
safety_controller_report_error(ERR_FLAG_FLASH_CRC_CODE);
} else {
len /= 4;
crc_unit_reset();
crc_unit_input_array(&__ld_text_start, len);
crc = crc_unit_get_crc();
if (crc != crcs_in_flash.crc_section_text) {
safety_controller_report_error(ERR_FLAG_FLASH_CRC_CODE);
}
}
/* 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;
}
/** @} */

12
stm-firmware/safety/safety-memory.c
View File

@@ -35,11 +35,11 @@ static int word_to_error_memory_entry(uint32_t entry_data, struct error_memory_e
if (!out)
return -1002;
if (entry_data == SAFETY_MEMORY_NOP_ENTRY) {
if (entry_data == SAFETY_MEMORY_NOP_ENTRY_WORD) {
out->flag_num = 0U;
out->type = SAFETY_MEMORY_ERR_ENTRY_NOP;
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->type = SAFETY_MEMORY_ERR_ENTRY_FLAG;
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) {
case SAFETY_MEMORY_ERR_ENTRY_NOP:
word = SAFETY_MEMORY_NOP_ENTRY;
word = SAFETY_MEMORY_NOP_ENTRY_WORD;
break;
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);
break;
}
@@ -322,9 +322,9 @@ static int safety_memory_check_error_entries()
return -100;
/* Valid flag entry */
if ((data & 0xFF) == 0x51)
if ((data & 0xFF) == SAFETY_MEMORY_ERROR_ENTRY_MARKER)
continue;
if (data == SAFETY_MEMORY_NOP_ENTRY)
if (data == SAFETY_MEMORY_NOP_ENTRY_WORD)
continue;
ret--;

12
stm-firmware/stm32f407vet6_flash.ld
View File

@@ -44,12 +44,15 @@ SECTIONS
{
.vectors : ALIGN(4)
{
__ld_vectors_start = .;
KEEP(*(.vectors))
. = ALIGN(4);
__ld_vectors_end = .;
} >FLASH =0xFF
.text : ALIGN(4)
{
__ld_text_start = .;
*(.text) /* .text sections (code) */
*(.text*) /* .text* sections (code) */
*(.rodata) /* .rodata sections (constants, strings, etc.) */
@@ -59,6 +62,8 @@ SECTIONS
*(.eh_frame)
KEEP(*(.init)) /* Constructors */
KEEP(*(.fini)) /* Destructors */
. = ALIGN(4);
__ld_text_end = .;
} >FLASH =0xFF
.ARM.extab : ALIGN(4)
@@ -99,6 +104,13 @@ SECTIONS
. = ALIGN(4);
} >FLASH =0xFF
.flashcrc : ALIGN(4)
{
KEEP(*(.flashcrc))
KEEP(*(.flashcrc.*))
. = ALIGN(4);
} >FLASH =0xFF
/* Initialized CCM data */
__ld_load_ccm_data = LOADADDR(.ccmdata);
.ccmdata : ALIGN(4)

2
stm-firmware/temp-converter.c
View File

@@ -75,7 +75,7 @@ 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;
unsigned int i;