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Issue #18: Store permanent errors in safety backup RAM

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This commit is contained in:
Mario Hüttel 2020-09-06 01:40:10 +02:00
parent 7ea0e73869
commit 6232e2f330
2 changed files with 109 additions and 3 deletions
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17
stm-firmware/safety/safety-controller.c
View File

@ -208,13 +208,28 @@ 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);