First draft of safety controller

stm-firmware/include/reflow-controller/safety/safety-config.h

@@ -34,6 +34,7 @@ enum safety_flag {
 	ERR_FLAG_STACK = (1<<8),
 	ERR_FLAG_SAFETY_ADC = (1<<9),
 	ERR_FLAG_SYSTICK = (1<<10),
+	ERR_FLAG_WTCHDG_FIRED = (1<<11),
 };
 
 enum timing_monitor {

stm-firmware/include/reflow-controller/safety/safety-controller.h

@@ -29,6 +29,7 @@
 
 #include <reflow-controller/safety/safety-config.h>
 #include <stdbool.h>
+#include <stdint.h>
 
 enum analog_monitor_status {ANALOG_MONITOR_OK = 0,
 			    ANALOG_MONITOR_ERROR,
@@ -66,6 +67,8 @@ int safety_controller_get_flag(enum safety_flag flag, bool *status, bool try_ack
 
 int safety_controller_ack_flag(enum safety_flag flag);
 
+int safety_controller_ack_flag_with_key(enum safety_flag flag, uint32_t key);
+
 #endif /* __SAFETY_CONTROLLER_H__ */
 
 /** @} */

stm-firmware/include/reflow-controller/safety/watchdog.h

@@ -23,6 +23,7 @@
 
 #include <reflow-controller/safety/safety-config.h>
 #include <stdint.h>
+#include <stdbool.h>
 
 /**
  * @brief Setup the watchdog for the safety controller
@@ -39,5 +40,11 @@ int watchdog_setup(uint8_t prescaler);
  */
 int watchdog_ack(uint32_t magic);
 
+/**
+ * @brief Check if reset was generated by the watchdog.
+ * @note This also clears the relevant flag, so the function will reutrn false when called a second time
+ * @return
+ */
+bool watchdog_check_reset_source(void);
 
 #endif /* __WATCHDOG_H__ */

stm-firmware/include/stm-periph/clock-enable-manager.h

@@ -64,5 +64,4 @@ int rcc_manager_enable_clock(volatile uint32_t *rcc_enable_register, uint8_t bit
  */
 int rcc_manager_disable_clock(volatile uint32_t *rcc_enable_register, uint8_t bit_no);
 
-
 #endif /* __CLOCK_ENABLE_MANAGER_H__ */

stm-firmware/safety/safety-controller.c

@@ -30,9 +30,6 @@
 #include <reflow-controller/stack-check.h>
 #include <helper-macros/helper-macros.h>
 #include <reflow-controller/systick.h>
-
-#include <stdbool.h>
-#include <stdint.h>
 #include <stddef.h>
 
 struct error_flag {
@@ -40,6 +37,7 @@ struct error_flag {
 	enum safety_flag flag;
 	bool error_state;
 	bool persistent;
+	uint32_t key;
 };
 
 struct timing_mon {
@@ -68,7 +66,7 @@ struct analog_mon {
 
 #define COUNT_OF(x) ((sizeof(x)/sizeof(0[x])) / ((size_t)(!(sizeof(x) % sizeof(0[x])))))
 
-#define ERR_FLAG_ENTRY(errflag, persistency) {.name=#errflag, .flag = (errflag), .error_state = false, .persistent = (persistency)}
+#define ERR_FLAG_ENTRY(errflag, persistency) {.name=#errflag, .flag = (errflag), .error_state = false, .persistent = (persistency), .key = 0UL}
 #define TIM_MON_ENTRY(mon, min, max, flag) {.name=#mon, .monitor = (mon), .associated_flag=(flag), .min_delta = (min), .max_delta = (max), .last = 0ULL, .enabled= false}
 #define ANA_MON_ENTRY(mon, min_value, max_value, flag) {.name=#mon, .monitor = (mon), .associated_flag=(flag), .min = (min_value), .max = (max_value), .value = 0.0f, .valid = false}
 
@@ -84,6 +82,7 @@ static struct error_flag flags[] = {
 	ERR_FLAG_ENTRY(ERR_FLAG_STACK, true),
 	ERR_FLAG_ENTRY(ERR_FLAG_SAFETY_ADC, true),
 	ERR_FLAG_ENTRY(ERR_FLAG_SYSTICK, true),
+	ERR_FLAG_ENTRY(ERR_FLAG_WTCHDG_FIRED, true),
 };
 
 static struct timing_mon timings[] = {
@@ -301,6 +300,8 @@ int safety_controller_handle()
 
 	safety_controller_check_stack();
 	safety_controller_handle_safety_adc();
+	if (watchdog_check_reset_source())
+		safety_controller_report_error(ERR_FLAG_WTCHDG_FIRED);
 
 	safety_controller_process_checks();
 
@@ -371,14 +372,24 @@ int safety_controller_get_flag(enum safety_flag flag, bool *status, bool try_ack
 	found_flag = find_error_flag(flag);
 	if (found_flag) {
 		*status = found_flag->error_state;
-		if (try_ack && !found_flag->persistent)
+		if (try_ack && !found_flag->persistent) {
+			/* Flag is generally non persistent
+			 * If key is set, this function cannot remove the flag
+			 */
+			if (found_flag->key == 0UL)
 				found_flag->error_state = false;
 		}
+	}
 
 	return ret;
 }
 
 int safety_controller_ack_flag(enum safety_flag flag)
+{
+	return safety_controller_ack_flag_with_key(flag, 0UL);
+}
+
+int safety_controller_ack_flag_with_key(enum safety_flag flag, uint32_t key)
 {
 	int ret = -1;
 	struct error_flag *found_flag;
@@ -389,7 +400,7 @@ int safety_controller_ack_flag(enum safety_flag flag)
 
 	found_flag = find_error_flag(flag);
 	if (found_flag) {
-		if (!found_flag->persistent) {
+		if (!found_flag->persistent && found_flag->key == key) {
 			found_flag->error_state = false;
 			ret = 0;
 		} else {

stm-firmware/safety/watchdog.c

@@ -105,4 +105,16 @@ int watchdog_ack(uint32_t magic)
 	return ret;
 }
 
+bool watchdog_check_reset_source(void)
+{
+	bool ret;
+
+	ret = !!(RCC->CSR & RCC_CSR_WDGRSTF);
+
+	if (ret)
+		RCC->CSR |= RCC_CSR_RMVF;
+
+	return ret;
+}
+
 /** @} */