Merge branch 'safety-controller' into dev

stm-firmware/Makefile

@@ -47,7 +47,7 @@ CFILES += fatfs/diskio.c fatfs/ff.c fatfs/ffsystem.c fatfs/ffunicode.c fatfs/shi
 CFILES += pid-controller.c oven-driver.c
 CFILES += settings/settings.c settings/settings-sd-card.c
 
-CFILES += safety/safety-adc.c
+CFILES += safety/safety-adc.c safety/safety-controller.c safety/watchdog.c
 
 DEBUG_DEFINES = -DDEBUGBUILD
 RELEASE_DEFINES =

stm-firmware/adc-meas.c

@@ -1,4 +1,4 @@
-/* Reflow Oven Controller
+/* Reflow Oven Controller
  *
  * Copyright (C) 2020  Mario Hüttel <mario.huettel@gmx.net>
  *
@@ -24,14 +24,13 @@
 #include <stm-periph/stm32-gpio-macros.h>
 #include <stdlib.h>
 #include <stm-periph/clock-enable-manager.h>
+#include <reflow-controller/safety/safety-controller.h>
 
 static float pt1000_offset;
 static float pt1000_sens_dev;
 static bool calibration_active;
 static float filter_alpha;
 static volatile float pt1000_res_raw_lf;
-static volatile bool filter_ready;
-static volatile enum adc_pt1000_error pt1000_error = ADC_PT1000_INACTIVE;
 static volatile int * volatile streaming_flag_ptr = NULL;
 static uint32_t filter_startup_cnt;
 static volatile float adc_pt1000_raw_reading_hf;
@@ -54,8 +53,8 @@ static inline void adc_pt1000_setup_sample_frequency_timer()
 {
 	rcc_manager_enable_clock(&RCC->APB1ENR, BITMASK_TO_BITNO(RCC_APB1ENR_TIM2EN));
 
-	/* Divide 42 MHz peripheral clock by 42 */
+	/* Divide 2*42 MHz peripheral clock by 42 */
-	TIM2->PSC = (42UL-1UL);
+	TIM2->PSC = (84UL-1UL);
 
 	/* Reload value */
 	TIM2->ARR = ADC_PT1000_SAMPLE_CNT_DELAY;
@@ -73,8 +72,8 @@ static inline void adc_pt1000_disable_adc()
 	ADC_PT1000_PERIPH->CR2 &= ~ADC_CR2_ADON;
 	DMA2_Stream0->CR = 0;
 
-	pt1000_error |= ADC_PT1000_INACTIVE;
+	safety_controller_report_error_with_key(ERR_FLAG_MEAS_ADC_OFF, MEAS_ADC_SAFETY_FLAG_KEY);
-
+	safety_controller_enable_timing_mon(ERR_TIMING_MEAS_ADC, false);
 	rcc_manager_disable_clock(&RCC->APB2ENR, BITMASK_TO_BITNO(RCC_APB2ENR_ADC3EN));
 	rcc_manager_disable_clock(&RCC->AHB1ENR, BITMASK_TO_BITNO(ADC_PT1000_PORT_RCC_MASK));
 }
@@ -166,13 +165,13 @@ void adc_pt1000_setup_meas()
 
 	adc_pt1000_setup_sample_frequency_timer();
 
-	pt1000_error &= ~ADC_PT1000_INACTIVE;
+	safety_controller_ack_flag_with_key(ERR_FLAG_MEAS_ADC_OFF, MEAS_ADC_SAFETY_FLAG_KEY);
 }
 
 void adc_pt1000_set_moving_average_filter_param(float alpha)
 {
 	filter_alpha = alpha;
-	filter_ready = false;
+	safety_controller_report_error_with_key(ERR_FLAG_MEAS_ADC_UNSTABLE, MEAS_ADC_SAFETY_FLAG_KEY);
 	filter_startup_cnt = ADC_FILTER_STARTUP_CYCLES;
 }
 
@@ -181,6 +180,12 @@ void adc_pt1000_set_resistance_calibration(float offset, float sensitivity_devia
 	pt1000_offset = offset;
 	pt1000_sens_dev = sensitivity_deviation;
 	calibration_active = active;
+
+	if (!calibration_active) {
+		safety_controller_report_error_with_key(ERR_FLAG_UNCAL, MEAS_ADC_SAFETY_FLAG_KEY);
+	} else {
+		safety_controller_ack_flag_with_key(ERR_FLAG_UNCAL, MEAS_ADC_SAFETY_FLAG_KEY);
+	}
 }
 
 void adc_pt1000_get_resistance_calibration(float *offset, float *sensitivity_deviation, bool *active)
@@ -205,18 +210,23 @@ static inline float adc_pt1000_apply_calibration(float raw_resistance)
 int adc_pt1000_get_current_resistance(float *resistance)
 {
 	int ret_val = 0;
+	bool flag = true;
+
 
 	if (!resistance)
 		return -1001;
 
 	*resistance = adc_pt1000_apply_calibration(pt1000_res_raw_lf);
 
-	if (adc_pt1000_check_error()) {
+	if (safety_controller_get_flags_by_mask(ERR_FLAG_MEAS_ADC_OFF | ERR_FLAG_MEAS_ADC_OVERFLOW |
+						ERR_FLAG_MEAS_ADC_WATCHDOG)) {
 		ret_val = -100;
 		goto return_value;
 	}
 
-	if (!filter_ready) {
+	(void)safety_controller_get_flag(ERR_FLAG_MEAS_ADC_UNSTABLE, &flag, false);
+
+	if (flag) {
 		ret_val = 2;
 		goto return_value;
 	}
@@ -260,25 +270,15 @@ void adc_pt1000_convert_raw_value_array_to_resistance(float *resistance_dest, fl
 		resistance_dest[i] = ADC_TO_RES(raw_source[i]);
 }
 
-enum adc_pt1000_error adc_pt1000_check_error()
-{
-	return pt1000_error;
-}
-
-void adc_pt1000_clear_error()
-{
-	pt1000_error &= ~ADC_PT1000_OVERFLOW & ~ADC_PT1000_WATCHDOG_ERROR;
-}
-
 void adc_pt1000_disable()
 {
 	adc_pt1000_disable_adc();
 	adc_pt1000_stop_sample_frequency_timer();
 	adc_pt1000_disable_dma_stream();
 
-	filter_ready = false;
 	pt1000_res_raw_lf = 0.0f;
-	pt1000_error |= ADC_PT1000_INACTIVE;
+	safety_controller_report_error_with_key(ERR_FLAG_MEAS_ADC_OFF, MEAS_ADC_SAFETY_FLAG_KEY);
+	safety_controller_report_error_with_key(ERR_FLAG_MEAS_ADC_UNSTABLE, MEAS_ADC_SAFETY_FLAG_KEY);
 
 	if (streaming_flag_ptr) {
 		*streaming_flag_ptr = -3;
@@ -288,10 +288,15 @@ void adc_pt1000_disable()
 
 static inline __attribute__((optimize("O3"))) void adc_pt1000_filter(float adc_prefiltered_value)
 {
-	if (!filter_ready && --filter_startup_cnt <= 0)
+	if (filter_startup_cnt > 0) {
-		filter_ready = true;
+		filter_startup_cnt--;
+		if (filter_startup_cnt == 0) {
+			safety_controller_ack_flag_with_key(ERR_FLAG_MEAS_ADC_UNSTABLE, MEAS_ADC_SAFETY_FLAG_KEY);
+		}
+	}
 
 	pt1000_res_raw_lf = (1.0f-filter_alpha) * pt1000_res_raw_lf + filter_alpha * ADC_TO_RES(adc_prefiltered_value);
+	safety_controller_report_timing(ERR_TIMING_MEAS_ADC);
 }
 
 static inline __attribute__((optimize("O3"))) float adc_pt1000_dma_avg_pre_filter()
@@ -328,7 +333,7 @@ void ADC_IRQHandler(void)
 
 	if (adc1_sr & ADC_SR_OVR) {
 		ADC_PT1000_PERIPH->SR &= ~ADC_SR_OVR;
-		pt1000_error |= ADC_PT1000_OVERFLOW;
+		safety_controller_report_error(ERR_FLAG_MEAS_ADC_OVERFLOW);
 		/* Disable ADC  in case of overrrun*/
 		adc_pt1000_disable();
 	}
@@ -337,7 +342,7 @@ void ADC_IRQHandler(void)
 		ADC_PT1000_PERIPH->SR &= ~ADC_SR_AWD;
 		adc_watchdog_counter++;
 		if (adc_watchdog_counter >= ADC_PT1000_WATCHDOG_SAMPLE_COUNT)
-			pt1000_error |= ADC_PT1000_WATCHDOG_ERROR;
+			safety_controller_report_error(ERR_FLAG_MEAS_ADC_WATCHDOG);
 	}
 }
 

stm-firmware/calibration.c

@@ -26,6 +26,7 @@
 #include <arm_math.h>
 #include <stdlib.h>
 #include <float.h>
+#include <reflow-controller/safety/safety-controller.h>
 
 enum calibration_shell_state {CAL_START = 0, CAL_WAIT_RES1, CAL_MEAS_RES1, CAL_WAIT_RES2, CAL_MEAS_RES2};
 
@@ -121,6 +122,8 @@ shellmatta_retCode_t calibration_sequence_shell_cmd(shellmatta_handle_t shell, c
 {
 	(void)arg;
 	(void)len;
+	bool error_occured;
+	const enum safety_flag meas_adc_err_mask = ERR_FLAG_MEAS_ADC_OFF | ERR_FLAG_MEAS_ADC_WATCHDOG;
 
 	/* This stores the current state of the calibration process */
 	static enum calibration_shell_state cal_state = CAL_START;
@@ -139,7 +142,7 @@ shellmatta_retCode_t calibration_sequence_shell_cmd(shellmatta_handle_t shell, c
 	switch (cal_state) {
 	case CAL_START:
 		/* Clear errors of PT1000 reading */
-		adc_pt1000_clear_error();
+		safety_controller_ack_flag(ERR_FLAG_MEAS_ADC_WATCHDOG);
 		shellmatta_printf(shell, "Starting calibration: Insert 1000 Ohm calibration resistor and press ENTER\r\n");
 		cal_state = CAL_WAIT_RES1;
 		ret_val = SHELLMATTA_CONTINUE;
@@ -154,7 +157,7 @@ shellmatta_retCode_t calibration_sequence_shell_cmd(shellmatta_handle_t shell, c
 					cal_state = CAL_MEAS_RES1;
 					ret_val = SHELLMATTA_BUSY;
 					shellmatta_printf(shell, "Measurement...\r\n");
-					adc_pt1000_clear_error();
+					safety_controller_ack_flag(ERR_FLAG_MEAS_ADC_WATCHDOG);
 					data_buffer = calibration_acquire_data_start(512UL, &flag);
 					break;
 				} else if (stdin_data[i] == '\x03') {
@@ -179,8 +182,9 @@ shellmatta_retCode_t calibration_sequence_shell_cmd(shellmatta_handle_t shell, c
 			cal_state = CAL_MEAS_RES1;
 		} else if (res == 0) {
 			shellmatta_printf(shell, "R=%.2f, Noise peak-peak: %.2f\r\n", mu, dev);
-			if (adc_pt1000_check_error() != ADC_PT1000_NO_ERR) {
+			error_occured = safety_controller_get_flags_by_mask(meas_adc_err_mask);
-				shellmatta_printf(shell, "Error in resistance measurement: %d", adc_pt1000_check_error());
+			if (error_occured) {
+				shellmatta_printf(shell, "Error in resistance measurement");
 				ret_val = SHELLMATTA_OK;
 				cal_state = CAL_START;
 			} else {
@@ -189,7 +193,7 @@ shellmatta_retCode_t calibration_sequence_shell_cmd(shellmatta_handle_t shell, c
 				cal_state = CAL_WAIT_RES2;
 			}
 		} else {
-			shellmatta_printf(shell, "Error in resistance measurement: %d", adc_pt1000_check_error());
+			shellmatta_printf(shell, "Error in resistance measurement");
 			ret_val = SHELLMATTA_OK;
 			cal_state = CAL_START;
 		}
@@ -204,7 +208,7 @@ shellmatta_retCode_t calibration_sequence_shell_cmd(shellmatta_handle_t shell, c
 					cal_state = CAL_MEAS_RES2;
 					ret_val = SHELLMATTA_BUSY;
 					shellmatta_printf(shell, "Measurement...\r\n");
-					adc_pt1000_clear_error();
+					safety_controller_ack_flag(ERR_FLAG_MEAS_ADC_WATCHDOG);
 					data_buffer = calibration_acquire_data_start(512UL, &flag);
 					break;
 				} else if (stdin_data[i] == '\x03') {
@@ -229,8 +233,9 @@ shellmatta_retCode_t calibration_sequence_shell_cmd(shellmatta_handle_t shell, c
 			cal_state = CAL_MEAS_RES2;
 		} else if (res == 0) {
 			shellmatta_printf(shell, "R=%.2f, Noise peak-peak: %.2f\r\n", mu2, dev2);
-			if (adc_pt1000_check_error() != ADC_PT1000_NO_ERR) {
+			error_occured = safety_controller_get_flags_by_mask(meas_adc_err_mask);
-				shellmatta_printf(shell, "Error in resistance measurement: %d", adc_pt1000_check_error());
+			if (error_occured) {
+				shellmatta_printf(shell, "Error in resistance measurement");
 				ret_val = SHELLMATTA_OK;
 				cal_state = CAL_START;
 			} else {
@@ -250,7 +255,7 @@ shellmatta_retCode_t calibration_sequence_shell_cmd(shellmatta_handle_t shell, c
 				adc_pt1000_set_resistance_calibration(offset, sens_dev, true);
 			}
 		} else {
-			shellmatta_printf(shell, "Error in resistance measurement: %d", adc_pt1000_check_error());
+			shellmatta_printf(shell, "Error in resistance measurement");
 			ret_val = SHELLMATTA_OK;
 			cal_state = CAL_START;
 		}

stm-firmware/include/helper-macros/helper-macros.h

@@ -36,4 +36,6 @@
 
 #define ABS(a) ((a) < 0 ? (-1*(a)) : (a))
 
+#define is_power_of_two(num) ((num) && !((num) & ((num) - 1)))
+
 #endif /* __HELPER_MACROS_H__ */

stm-firmware/include/reflow-controller/adc-meas.h

@@ -90,8 +90,6 @@
  */
 #define ADC_PT1000_WATCHDOG_SAMPLE_COUNT 25U
 
-enum adc_pt1000_error {ADC_PT1000_NO_ERR= 0, ADC_PT1000_WATCHDOG_ERROR=(1UL<<0), ADC_PT1000_OVERFLOW=(1UL<<1), ADC_PT1000_INACTIVE = (1UL<<2)};
-
 /**
  * @brief This function sets up the ADC measurement fo the external PT1000 temperature sensor
  *
@@ -162,18 +160,6 @@ int adc_pt1000_stream_raw_value_to_memory(volatile float *adc_array, uint32_t le
 
 void adc_pt1000_convert_raw_value_array_to_resistance(float *resistance_dest, float *raw_source, uint32_t count);
 
-/**
- * @brief Check if the ADC measurement experienced any kind of error (DMA, Analog Watchdog, etc...)
- *
- * In case of an error, it may be necessary to call adc_pt1000_setup_meas() again in order to recover from the error
- */
-enum adc_pt1000_error adc_pt1000_check_error();
-
-/**
- * @brief Clear the error status of the PT1000 measurement
- */
-void adc_pt1000_clear_error();
-
 /**
  * @brief Disable the PT1000 measurement
  */

stm-firmware/include/reflow-controller/oven-driver.h

@@ -25,32 +25,9 @@
 #include <stdbool.h>
 #include <reflow-controller/pid-controller.h>
 
-enum oven_pid_error_report {
+enum oven_pid_status {OVEN_PID_DEACTIVATED,
-	OVEN_PID_NO_ERROR = 0,
+		      OVEN_PID_RUNNING,
-	OVEN_PID_ERR_PT1000_ADC_WATCHDOG = (1<<0),
+		      OVEN_PID_ABORTED};
-	OVEN_PID_ERR_PT1000_ADC_OFF = (1<<1),
-	OVEN_PID_ERR_PT1000_OTHER = (1<<2),
-	OVEN_PID_ERR_VREF_TOL = (1<<3),
-	OVEN_PID_ERR_OVERTEMP = (1<<4),
-};
-
-struct oven_pid_errors {
-	bool generic_error;
-	bool pt1000_adc_watchdog;
-	bool pt1000_adc_off;
-	bool pt1000_other;
-	bool vref_tol;
-	bool controller_overtemp;
-};
-
-struct oven_pid_status {
-	bool active;
-	bool error_set;
-	struct oven_pid_errors error_flags;
-	float target_temp;
-	float current_temp;
-	uint64_t timestamp_last_run;
-};
 
 void oven_driver_init(void);
 
@@ -66,8 +43,8 @@ void oven_pid_handle(float target_temp);
 
 void oven_pid_stop();
 
-void oven_pid_report_error(enum oven_pid_error_report report);
+void oven_driver_apply_power_level(void);
 
-const struct oven_pid_status *oven_pid_get_status(void);
+enum oven_pid_status oven_pid_get_status(void);
 
 #endif /* __OVEN_DRIVER_H__ */

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

@@ -18,32 +18,18 @@
 * If not, see <http://www.gnu.org/licenses/>.
 */
 
+/**
+ * @addtogroup safety-adc
+ * @{
+ */
+
 #ifndef __SAFETY_ADC_H__
 #define __SAFETY_ADC_H__
 
 #include <stdint.h>
 #include <stdbool.h>
 
-#define SAFETY_ADC_VREF_MVOLT (2500.0f)
-#define SAFETY_ADC_VREF_TOL_MVOLT (100.0f)
-#define SAFETY_ADC_TEMP_LOW_LIM (0.0f)
-#define SAFETY_ADC_TEMP_HIGH_LIM (65.0f)
-
 enum safety_adc_meas_channel {SAFETY_ADC_MEAS_VREF, SAFETY_ADC_MEAS_TEMP};
-enum safety_adc_check_result {
-				SAFETY_ADC_CHECK_OK = 0UL,
-				SAFETY_ADC_CHECK_VREF_LOW = (1U<<0),
-				SAFETY_ADC_CHECK_VREF_HIGH = (1U<<1),
-				SAFETY_ADC_CHECK_TEMP_LOW = (1U<<2),
-				SAFETY_ADC_CHECK_TEMP_HIGH = (1U<<3),
-				SAFETY_ADC_INTERNAL_ERROR = (1U<<4),
-				};
-
-extern enum safety_adc_check_result global_safety_adc_status;
-
-enum safety_adc_check_result safety_adc_get_errors();
-
-void safety_adc_clear_errors(void);
 
 void safety_adc_init();
 
@@ -58,13 +44,10 @@ void safety_adc_trigger_meas(enum safety_adc_meas_channel measurement);
  */
 int safety_adc_poll_result(uint16_t *adc_result);
 
-enum safety_adc_check_result safety_adc_check_results(uint16_t vref_result, uint16_t temp_result,
-						      float *vref_calculated, float *temp_calculated);
-
 enum safety_adc_check_result handle_safety_adc();
 
-float safety_adc_get_temp();
+float safety_adc_convert_channel(enum safety_adc_meas_channel channel, uint16_t analog_value);
-
-float safety_adc_get_vref();
 
 #endif /* __SAFETY_ADC_H__ */
+
+/** @} */

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

@@ -0,0 +1,93 @@
+/* Reflow Oven Controller
+*
+* Copyright (C) 2020  Mario Hüttel <mario.huettel@gmx.net>
+*
+* This file is part of the Reflow Oven Controller Project.
+*
+* The reflow oven controller is free software: you can redistribute it and/or modify
+* it under the terms of the GNU General Public License version 2 as
+* published by the Free Software Foundation.
+*
+* The Reflow Oven Control Firmware is distributed in the hope that it will be useful,
+* but WITHOUT ANY WARRANTY; without even the implied warranty of
+* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+* GNU General Public License for more details.
+*
+* You should have received a copy of the GNU General Public License
+* along with the reflow oven controller project.
+* If not, see <http://www.gnu.org/licenses/>.
+*/
+
+#ifndef __SAFETY_CONFIG_H__
+#define __SAFETY_CONFIG_H__
+
+
+enum safety_flag {
+	ERR_FLAG_MEAS_ADC_OFF = (1<<0),
+	ERR_FLAG_MEAS_ADC_OVERFLOW = (1<<1),
+	ERR_FLAG_MEAS_ADC_WATCHDOG = (1<<2),
+	ERR_FLAG_MEAS_ADC_UNSTABLE = (1<<3),
+	ERR_FLAG_TIMING_PID = (1<<4),
+	ERR_FLAG_TIMING_MEAS_ADC = (1<<5),
+	ERR_FLAG_AMON_VREF = (1<<6),
+	ERR_FLAG_AMON_UC_TEMP = (1<<7),
+	ERR_FLAG_STACK = (1<<8),
+	ERR_FLAG_SAFETY_ADC = (1<<9),
+	ERR_FLAG_SYSTICK = (1<<10),
+	ERR_FLAG_WTCHDG_FIRED = (1<<11),
+	ERR_FLAG_UNCAL = (1<<12),
+	ERR_FLAG_DEBUG = (1<<13),
+};
+
+enum timing_monitor {
+	ERR_TIMING_PID = (1<<0),
+	ERR_TIMING_MEAS_ADC = (1<<1),
+	ERR_TIMING_SAFETY_ADC = (1<<2),
+};
+
+enum analog_value_monitor {
+	ERR_AMON_VREF = (1<<0),
+	ERR_AMON_UC_TEMP = (1<<1),
+};
+
+
+/**
+ * @brief Magic key used to reset the watchdog using the @ref watchdog_ack function
+ */
+#define WATCHDOG_MAGIC_KEY 0x1a2c56F4
+
+#ifdef DEBUGBUILD
+/**
+ * @brief If one, the watchdog is halted whenever the core is halted by the debugger.
+ *
+ * This is only applicable in a debug build. In release mode, the watchdog stays always enabled
+ */
+#define WATCHDOG_HALT_DEBUG (1)
+#else
+#define WATCHDOG_HALT_DEBUG (0)
+#endif
+
+#define WATCHDOG_PRESCALER 4
+
+#define SAFETY_MIN_STACK_FREE 0x100
+
+#define PID_CONTROLLER_ERR_CAREMASK (ERR_FLAG_STACK | ERR_FLAG_AMON_UC_TEMP | ERR_FLAG_AMON_VREF | \
+					ERR_FLAG_TIMING_PID | ERR_FLAG_TIMING_MEAS_ADC | ERR_FLAG_MEAS_ADC_OFF | \
+					ERR_FLAG_MEAS_ADC_OVERFLOW)
+
+#define HALTING_CAREMASK (ERR_FLAG_STACK | ERR_FLAG_AMON_UC_TEMP)
+
+#define SAFETY_ADC_VREF_MVOLT (2500.0f)
+#define SAFETY_ADC_VREF_TOL_MVOLT (100.0f)
+#define SAFETY_ADC_TEMP_LOW_LIM (0.0f)
+#define SAFETY_ADC_TEMP_HIGH_LIM (65.0f)
+
+
+/**
+ * @brief Key used to lock the safefety flags from external ack'ing
+ */
+#define MEAS_ADC_SAFETY_FLAG_KEY 0xe554dac3UL
+
+#define SAFETY_CONTROLLER_ADC_DELAY_MS 120
+
+#endif /* __SAFETY_CONFIG_H__ */

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

@@ -0,0 +1,99 @@
+/* Reflow Oven Controller
+*
+* Copyright (C) 2020  Mario Hüttel <mario.huettel@gmx.net>
+*
+* This file is part of the Reflow Oven Controller Project.
+*
+* The reflow oven controller is free software: you can redistribute it and/or modify
+* it under the terms of the GNU General Public License version 2 as
+* published by the Free Software Foundation.
+*
+* The Reflow Oven Control Firmware is distributed in the hope that it will be useful,
+* but WITHOUT ANY WARRANTY; without even the implied warranty of
+* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+* GNU General Public License for more details.
+*
+* You should have received a copy of the GNU General Public License
+* along with the reflow oven controller project.
+* If not, see <http://www.gnu.org/licenses/>.
+*/
+
+/**
+ * @addtogroup safety-controller
+ * @{
+ */
+
+
+#ifndef __SAFETY_CONTROLLER_H__
+#define __SAFETY_CONTROLLER_H__
+
+#include <reflow-controller/safety/safety-config.h>
+#include <stdbool.h>
+#include <stdint.h>
+#include <stddef.h>
+
+enum analog_monitor_status {ANALOG_MONITOR_OK = 0,
+			    ANALOG_MONITOR_ERROR,
+			    ANALOG_MONITOR_INACTIVE,
+			    ANALOG_MONITOR_OVER,
+			    ANALOG_MONITOR_UNDER};
+
+struct analog_monitor_info {
+	float value;
+	float min;
+	float max;
+	enum analog_monitor_status status;
+	uint64_t timestamp;
+};
+
+/**
+ * @brief Initialize the safety controller
+ *
+ * After a call to this function the controller is iniotlaized and the watchdog is set up.
+ * You have to call safety_controller_handle
+ * If this function fails, it will hang, because errors in the safety controller are not recoverable
+ */
+void safety_controller_init();
+
+/**
+ * @brief Handle the safety controller.
+ * @note This function must be executed periodically in order to prevent the watchdog from resetting the firmware
+ * @return 0 if successful
+ */
+int safety_controller_handle();
+
+int safety_controller_report_error(enum safety_flag flag);
+
+int safety_controller_report_error_with_key(enum safety_flag flag, uint32_t key);
+
+void safety_controller_report_timing(enum timing_monitor monitor);
+
+void safety_controller_report_analog_value(enum analog_value_monitor monitor, float value);
+
+int safety_controller_enable_timing_mon(enum timing_monitor monitor, bool enable);
+
+enum analog_monitor_status safety_controller_get_analog_mon_value(enum analog_value_monitor monitor, float *value);
+
+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);
+
+bool safety_controller_get_flags_by_mask(enum safety_flag mask);
+
+uint32_t safety_controller_get_flag_count();
+
+uint32_t safety_controller_get_analog_monitor_count();
+
+int safety_controller_get_flag_name_by_index(uint32_t index, char *buffer, size_t buffsize);
+
+int safety_controller_get_flag_by_index(uint32_t index, bool *status, enum safety_flag *flag_enum);
+
+int safety_controller_get_analog_mon_by_index(uint32_t index, struct analog_monitor_info *info);
+
+int safety_controller_get_analog_mon_name_by_index(uint32_t index, char *buffer, size_t buffsize);
+
+#endif /* __SAFETY_CONTROLLER_H__ */
+
+/** @} */

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

@@ -0,0 +1,50 @@
+/* Reflow Oven Controller
+*
+* Copyright (C) 2020  Mario Hüttel <mario.huettel@gmx.net>
+*
+* This file is part of the Reflow Oven Controller Project.
+*
+* The reflow oven controller is free software: you can redistribute it and/or modify
+* it under the terms of the GNU General Public License version 2 as
+* published by the Free Software Foundation.
+*
+* The Reflow Oven Control Firmware is distributed in the hope that it will be useful,
+* but WITHOUT ANY WARRANTY; without even the implied warranty of
+* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+* GNU General Public License for more details.
+*
+* You should have received a copy of the GNU General Public License
+* along with the reflow oven controller project.
+* If not, see <http://www.gnu.org/licenses/>.
+*/
+
+#ifndef __WATCHDOG_H__
+#define __WATCHDOG_H__
+
+#include <reflow-controller/safety/safety-config.h>
+#include <stdint.h>
+#include <stdbool.h>
+
+/**
+ * @brief Setup the watchdog for the safety controller
+ * @param Prescaler to use for the 32 KHz LSI clock
+ * @return 0 if successful
+ * @note Once the watchdog is enabled, it cannot be turned off!
+ */
+int watchdog_setup(uint8_t prescaler);
+
+/**
+ * @brief Reset watchdog counter
+ * @param magic Magic value to prevent this fuinction from being called randomly
+ * @return 0 if successful
+ */
+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/main.c

@@ -41,9 +41,9 @@
 #include <stm-periph/uart.h>
 #include <reflow-controller/shell-uart-config.h>
 #include <reflow-controller/oven-driver.h>
-#include <reflow-controller/safety/safety-adc.h>
 #include <fatfs/ff.h>
 #include <reflow-controller/reflow-menu.h>
+#include <reflow-controller/safety/safety-controller.h>
 
 bool global_error_state;
 
@@ -148,18 +148,21 @@ static inline void setup_system(void)
 	setup_nvic_priorities();
 	systick_setup();
 
-	adc_pt1000_setup_meas();
+
 	oven_driver_init();
 	digio_setup_default_all();
 	led_setup();
 	loudspeaker_setup();
 	reflow_menu_init();
-	safety_adc_init();
+
 
 	uart_gpio_config();
 	setup_shell_uart(&shell_uart);
 
 	setup_unused_pins();
+
+	safety_controller_init();
+	adc_pt1000_setup_meas();
 }
 
 static void handle_shell_uart_input(shellmatta_handle_t shell_handle)
@@ -188,39 +191,12 @@ static void zero_ccm_ram(void)
 		ptr[i] = 0UL;
 }
 
-/**
- * @brief This function sets the appropriate error flags in the oven PID controller
- * depending on the Safety ADC measurements.
- * The PID controller's error flags have to be cleared via the GUI by either starting a new RUN or explicitly
- * ack'ing these errors.
- */
-static void propagate_safety_adc_error_to_oven_pid(void)
-{
-	enum safety_adc_check_result safety_adc_result;
-
-	safety_adc_result = safety_adc_get_errors();
-
-	if (safety_adc_result & SAFETY_ADC_CHECK_TEMP_LOW ||
-	    safety_adc_result & SAFETY_ADC_CHECK_TEMP_HIGH)
-		oven_pid_report_error(OVEN_PID_ERR_OVERTEMP);
-
-	if (safety_adc_result & SAFETY_ADC_CHECK_VREF_LOW ||
-	    safety_adc_result & SAFETY_ADC_CHECK_VREF_HIGH)
-		oven_pid_report_error(OVEN_PID_ERR_VREF_TOL);
-
-	if (safety_adc_result & SAFETY_ADC_INTERNAL_ERROR)
-		oven_pid_report_error(0);
-}
-
 int main(void)
 {
 	bool sd_card_mounted = false;
 	shellmatta_handle_t shell_handle;
 	int menu_wait_request;
 	uint64_t quarter_sec_timestamp = 0ULL;
-	const struct oven_pid_status *pid_status;
-	enum adc_pt1000_error pt1000_status;
-
 	zero_ccm_ram();
 	setup_system();
 
@@ -232,31 +208,18 @@ int main(void)
 	while (1) {
 		sd_card_mounted = mount_sd_card_if_avail(sd_card_mounted);
 
-		pid_status = oven_pid_get_status();
-
 		if (systick_ticks_have_passed(quarter_sec_timestamp, 250)) {
 			quarter_sec_timestamp = systick_get_global_tick();
-
-			(void)handle_safety_adc();
-			propagate_safety_adc_error_to_oven_pid();
-
-			if (global_error_state)
-				led_set(0, !led_get(0));
-			else
-				led_set(0, 0);
 		}
 
-		pt1000_status = adc_pt1000_check_error();
-		global_error_state = pid_status->error_set || !!safety_adc_get_errors() || !!pt1000_status;
-
 		menu_wait_request = reflow_menu_handle();
-
-		/* Deactivate oven output in case of error! */
-		if (!pid_status->active || global_error_state)
-			oven_driver_set_power(0U);
-
 		handle_shell_uart_input(shell_handle);
 
+
+		safety_controller_handle();
+		oven_driver_set_power(0);
+		oven_driver_apply_power_level();
+
 		if (menu_wait_request)
 			__WFI();
 		else

stm-firmware/oven-driver.c

@@ -24,16 +24,12 @@
 #include <reflow-controller/systick.h>
 #include <reflow-controller/adc-meas.h>
 #include <reflow-controller/temp-converter.h>
+#include <reflow-controller/safety/safety-controller.h>
 
 static struct pid_controller oven_pid;
-
+static bool oven_pid_running = false;
-static struct oven_pid_status oven_pid_current_status = {
+static bool oven_pid_aborted = false;
-	.active = false,
+static uint8_t oven_driver_power_level = 0U;
-	.error_set = false,
-	.target_temp = 0.0f,
-	.current_temp = 0.0f,
-	.timestamp_last_run = 0ULL
-};
 
 void oven_driver_init()
 {
@@ -60,7 +56,12 @@ void oven_driver_set_power(uint8_t power)
 	if (power > 100U)
 		power = 100U;
 
-	OVEN_CONTROLLER_PWM_TIMER->CCR3 = power * 10;
+	oven_driver_power_level = power;
+}
+
+void oven_driver_apply_power_level(void)
+{
+	OVEN_CONTROLLER_PWM_TIMER->CCR3 = oven_driver_power_level * 10;
 }
 
 void oven_driver_disable()
@@ -71,93 +72,52 @@ void oven_driver_disable()
 	rcc_manager_disable_clock(&RCC->APB1ENR, BITMASK_TO_BITNO(OVEN_CONTROLLER_TIM_RCC_MASK));
 }
 
-void oven_pid_ack_errors(void)
-{
-	oven_pid_current_status.error_set = false;
-	oven_pid_current_status.error_flags.vref_tol = false;
-	oven_pid_current_status.error_flags.pt1000_other = false;
-	oven_pid_current_status.error_flags.generic_error = false;
-	oven_pid_current_status.error_flags.pt1000_adc_off = false;
-	oven_pid_current_status.error_flags.controller_overtemp = false;
-	oven_pid_current_status.error_flags.pt1000_adc_watchdog = false;
-}
-
 void oven_pid_init(struct pid_controller *controller_to_copy)
 {
 	pid_copy(&oven_pid, controller_to_copy);
 	oven_pid.output_sat_min = 0.0f;
 	oven_pid.output_sat_max = 100.0f;
-	oven_pid_current_status.timestamp_last_run = 0ULL;
+
-	oven_pid_current_status.active = true;
+	oven_pid_running = true;
-	oven_pid_ack_errors();
+	oven_pid_aborted = false;
+	safety_controller_report_timing(ERR_TIMING_PID);
 }
 
 void oven_pid_handle(float target_temp)
 {
 	float pid_out;
 	float current_temp;
-	int resistance_status;
+	static uint64_t timestamp_last_run;
-	enum adc_pt1000_error pt1000_error;
-
-	if (oven_pid_current_status.active && !oven_pid_current_status.error_set) {
-		if (systick_ticks_have_passed(oven_pid_current_status.timestamp_last_run,
-					      (uint64_t)(oven_pid.sample_period * 1000))) {
-
-			resistance_status = adc_pt1000_get_current_resistance(&current_temp);
-			if (resistance_status < 0) {
-				oven_driver_set_power(0);
-				pt1000_error = adc_pt1000_check_error();
-				if (pt1000_error & ADC_PT1000_WATCHDOG_ERROR)
-					oven_pid_report_error(OVEN_PID_ERR_PT1000_ADC_WATCHDOG);
-				if (pt1000_error & ADC_PT1000_INACTIVE)
-					oven_pid_report_error(OVEN_PID_ERR_PT1000_ADC_OFF);
-				if (pt1000_error & ADC_PT1000_OVERFLOW)
-					oven_pid_report_error(OVEN_PID_ERR_PT1000_OTHER);
-
-				return;
-			}
 
+	if (oven_pid_running && !oven_pid_aborted) {
+		if (systick_ticks_have_passed(timestamp_last_run, (uint64_t)(oven_pid.sample_period * 1000))) {
+			/* No need to check. Safety controller will monitor this */
+			(void)adc_pt1000_get_current_resistance(&current_temp);
 			(void)temp_converter_convert_resistance_to_temp(current_temp, &current_temp);
 
 			pid_out = pid_sample(&oven_pid, target_temp - current_temp);
 			oven_driver_set_power((uint8_t)pid_out);
-			oven_pid_current_status.timestamp_last_run = systick_get_global_tick();
+			timestamp_last_run = systick_get_global_tick();
-			oven_pid_current_status.target_temp = target_temp;
-			oven_pid_current_status.current_temp = current_temp;
-		}
-	}
-}
 
-void oven_pid_report_error(enum oven_pid_error_report report)
+			safety_controller_report_timing(ERR_TIMING_PID);
-{
-	struct oven_pid_errors *e = &oven_pid_current_status.error_flags;
-
-	oven_pid_current_status.active = false;
-	oven_pid_current_status.error_set = true;
-
-	if (report == 0) {
-		e->generic_error = true;
 		}
-	if (report & OVEN_PID_ERR_OVERTEMP)
-		e->controller_overtemp = true;
-	if (report & OVEN_PID_ERR_VREF_TOL)
-		e->controller_overtemp = true;
-	if (report & OVEN_PID_ERR_PT1000_OTHER)
-		e->pt1000_other = true;
-	if (report & OVEN_PID_ERR_PT1000_ADC_OFF)
-		e->pt1000_adc_off = true;
-	if (report & OVEN_PID_ERR_PT1000_ADC_WATCHDOG)
-		e->pt1000_adc_watchdog = true;
 	}
-
-const struct oven_pid_status *oven_pid_get_status()
-{
-	return &oven_pid_current_status;
 }
 
 void oven_pid_stop()
 {
-	oven_pid_current_status.active = false;
+	oven_pid_running = false;
-	oven_pid_current_status.target_temp = 0.0f;
+	safety_controller_enable_timing_mon(ERR_TIMING_PID, false);
-	oven_pid_current_status.current_temp = 0.0f;
+}
+
+enum oven_pid_status oven_pid_get_status(void)
+{
+	enum oven_pid_status ret = OVEN_PID_ABORTED;
+
+	if (oven_pid_running && !oven_pid_aborted)
+		ret = OVEN_PID_RUNNING;
+	else if (!oven_pid_running && !oven_pid_aborted)
+		ret = OVEN_PID_DEACTIVATED;
+
+	return ret;
 }

stm-firmware/reflow-menu.c

@@ -24,7 +24,7 @@
 #include <reflow-controller/rotary-encoder.h>
 #include <reflow-controller/systick.h>
 #include <reflow-controller/adc-meas.h>
-#include <reflow-controller/safety/safety-adc.h>
+#include <reflow-controller/safety/safety-controller.h>
 #include <reflow-controller/temp-converter.h>
 #include <helper-macros/helper-macros.h>
 #include <stm-periph/unique-id.h>
@@ -90,11 +90,11 @@ static void reflow_menu_monitor(struct lcd_menu *menu, enum menu_entry_func_entr
 		snprintf(line, sizeof(line), "Temp: %s%.1f " LCD_DEGREE_SYMBOL_STRING "C", prefix, tmp);
 		menu->update_display(1, line);
 
-		tmp = safety_adc_get_temp();
+		(void)safety_controller_get_analog_mon_value(ERR_AMON_UC_TEMP, &tmp);
 		snprintf(line, sizeof(line), "Tj: %.1f " LCD_DEGREE_SYMBOL_STRING "C", tmp);
 		menu->update_display(2, line);
 
-		tmp = safety_adc_get_vref();
+		(void)safety_controller_get_analog_mon_value(ERR_AMON_VREF, &tmp);
 		snprintf(line, sizeof(line), "Vref: %.1f mV", tmp);
 		menu->update_display(3, line);
 	}

stm-firmware/safety/safety-adc.c

@@ -18,29 +18,20 @@
 * If not, see <http://www.gnu.org/licenses/>.
 */
 
+/**
+ * @addtogroup safety-adc
+ * @{
+ */
+
 #include <reflow-controller/safety/safety-adc.h>
 #include <reflow-controller/periph-config/safety-adc-hwcfg.h>
 #include <helper-macros/helper-macros.h>
 #include <stm-periph/clock-enable-manager.h>
 
-enum safety_adc_check_result global_safety_adc_status;
-
-enum safety_adc_check_result safety_adc_get_errors()
-{
-	return global_safety_adc_status;
-}
-
-void safety_adc_clear_errors(void)
-{
-	global_safety_adc_status = SAFETY_ADC_CHECK_OK;
-}
-
 void safety_adc_init()
 {
 	rcc_manager_enable_clock(&RCC->APB2ENR, BITMASK_TO_BITNO(SAFETY_ADC_ADC_RCC_MASK));
 
-	safety_adc_clear_errors();
-
 	/* Enable temperature and VREFINT measurement */
 	ADC->CCR |= ADC_CCR_TSVREFE;
 
@@ -60,38 +51,27 @@ void safety_adc_deinit()
 	rcc_manager_enable_clock(&RCC->APB1ENR, BITMASK_TO_BITNO(RCC_APB2ENR_ADC2EN));
 }
 
-enum safety_adc_check_result safety_adc_check_results(uint16_t vref_result, uint16_t temp_result,
+float safety_adc_convert_channel(enum safety_adc_meas_channel channel, uint16_t analog_value)
-						      float *vref_calculated, float *temp_calculated)
 {
-	enum safety_adc_check_result res = SAFETY_ADC_CHECK_OK;
+	float converted_val;
-	float vref;
-	float temp;
 
 
-	vref = (SAFETY_ADC_INT_REF_MV * 4095.0f) / (float)vref_result;
+
-	if (vref_calculated) {
+	switch (channel) {
-		*vref_calculated = vref;
+	case SAFETY_ADC_MEAS_TEMP:
+		converted_val = (((float)analog_value / 4095.0f * 2500.0f - SAFETY_ADC_TEMP_NOM_MV) /
+				 SAFETY_ADC_TEMP_MV_SLOPE) + SAFETY_ADC_TEMP_NOM;
+		break;
+	case SAFETY_ADC_MEAS_VREF:
+		converted_val = (SAFETY_ADC_INT_REF_MV * 4095.0f) / (float)analog_value;
+		break;
+	default:
+		/* Generate NaN value as default return */
+		converted_val = 0.0f / 0.0f;
+		break;
 	}
 
-	temp = (((float)temp_result / 4095.0f * 2500.0f -
+	return converted_val;
-			     SAFETY_ADC_TEMP_NOM_MV) / SAFETY_ADC_TEMP_MV_SLOPE) + SAFETY_ADC_TEMP_NOM;
-	if (temp_calculated) {
-		*temp_calculated = temp;
-	}
-
-	if (ABS(vref - SAFETY_ADC_VREF_MVOLT) > SAFETY_ADC_VREF_TOL_MVOLT) {
-		if (vref > SAFETY_ADC_VREF_MVOLT)
-			res |= SAFETY_ADC_CHECK_VREF_HIGH;
-		else
-			res |= SAFETY_ADC_CHECK_VREF_LOW;
-	}
-
-	if (temp < SAFETY_ADC_TEMP_LOW_LIM)
-		res |= SAFETY_ADC_CHECK_TEMP_LOW;
-	else if (temp < SAFETY_ADC_CHECK_TEMP_HIGH)
-		res |= SAFETY_ADC_CHECK_TEMP_HIGH;
-
-	return res;
 }
 
 int safety_adc_poll_result(uint16_t *adc_result)
@@ -131,58 +111,5 @@ void safety_adc_trigger_meas(enum safety_adc_meas_channel measurement)
 	SAFETY_ADC_ADC_PERIPHERAL->CR2 |= ADC_CR2_SWSTART;
 }
 
-static uint16_t safety_vref_meas_raw;
-static bool safety_vref_valid = false;
-static uint16_t safety_temp_meas_raw;
-static bool safety_temp_valid = false;
-static float safety_vref;
-static float safety_temp;
 
-enum safety_adc_check_result handle_safety_adc()
+/** @} */
-{
-	static enum safety_adc_meas_channel safety_meas_channel = SAFETY_ADC_MEAS_VREF;
-	enum safety_adc_check_result check_result;
-	uint16_t result;
-	int poll_status;
-
-	poll_status = safety_adc_poll_result(&result);
-
-	if (poll_status < 0) {
-		safety_adc_trigger_meas(safety_meas_channel);
-	} else if (poll_status > 0) {
-		switch (safety_meas_channel) {
-		case SAFETY_ADC_MEAS_TEMP:
-			safety_temp_meas_raw = result;
-			safety_temp_valid = true;
-			safety_meas_channel = SAFETY_ADC_MEAS_VREF;
-			break;
-		case SAFETY_ADC_MEAS_VREF:
-			safety_vref_meas_raw = result;
-			safety_vref_valid = true;
-			safety_meas_channel = SAFETY_ADC_MEAS_TEMP;
-			break;
-		default:
-			safety_meas_channel = SAFETY_ADC_MEAS_VREF;
-			return SAFETY_ADC_INTERNAL_ERROR;
-		}
-	}
-
-	if (safety_temp_valid && safety_vref_valid) {
-		check_result = safety_adc_check_results(safety_vref_meas_raw, safety_temp_meas_raw, &safety_vref, &safety_temp);
-		global_safety_adc_status |= check_result;
-	} else {
-		check_result = SAFETY_ADC_CHECK_OK;
-	}
-
-	return check_result;
-}
-
-float safety_adc_get_temp()
-{
-	return safety_temp;
-}
-
-float safety_adc_get_vref()
-{
-	return safety_vref;
-}

stm-firmware/safety/safety-adc.dox

@@ -0,0 +1,8 @@
+/**
+@defgroup safety-adc Safety ADC
+@ingroup safety
+
+The safety ADC continuously monitors the microcontrollers internal core temperature (and therefore the whole device's temperature) and the external reference voltage compared to its 
+internal bandgap reference voltage.
+
+*/

stm-firmware/safety/safety-controller.c

@@ -0,0 +1,546 @@
+/* Reflow Oven Controller
+*
+* Copyright (C) 2020  Mario Hüttel <mario.huettel@gmx.net>
+*
+* This file is part of the Reflow Oven Controller Project.
+*
+* The reflow oven controller is free software: you can redistribute it and/or modify
+* it under the terms of the GNU General Public License version 2 as
+* published by the Free Software Foundation.
+*
+* The Reflow Oven Control Firmware is distributed in the hope that it will be useful,
+* but WITHOUT ANY WARRANTY; without even the implied warranty of
+* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+* GNU General Public License for more details.
+*
+* You should have received a copy of the GNU General Public License
+* along with the reflow oven controller project.
+* If not, see <http://www.gnu.org/licenses/>.
+*/
+
+/**
+ * @addtogroup safety-controller
+ * @{
+ */
+
+#include <reflow-controller/safety/safety-controller.h>
+#include <reflow-controller/safety/safety-config.h>
+#include <reflow-controller/safety/watchdog.h>
+#include <reflow-controller/safety/safety-adc.h>
+#include <reflow-controller/stack-check.h>
+#include <helper-macros/helper-macros.h>
+#include <reflow-controller/systick.h>
+#include <stddef.h>
+#include <string.h>
+
+struct error_flag {
+	const char *name;
+	enum safety_flag flag;
+	bool error_state;
+	bool persistent;
+	uint32_t key;
+};
+
+struct timing_mon {
+	const char *name;
+	enum timing_monitor monitor;
+	enum safety_flag associated_flag;
+	uint64_t min_delta;
+	uint64_t max_delta;
+	uint64_t last;
+	bool enabled;
+};
+
+struct analog_mon {
+	const char *name;
+	enum analog_value_monitor monitor;
+	enum safety_flag associated_flag;
+	float min;
+	float max;
+	float value;
+	bool valid;
+	uint64_t timestamp;
+};
+
+#ifdef COUNT_OF
+#undef COUNT_OF
+#endif
+
+#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), .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}
+
+static volatile struct error_flag flags[] = {
+	ERR_FLAG_ENTRY(ERR_FLAG_MEAS_ADC_OFF, false),
+	ERR_FLAG_ENTRY(ERR_FLAG_MEAS_ADC_WATCHDOG, false),
+	ERR_FLAG_ENTRY(ERR_FLAG_MEAS_ADC_UNSTABLE, false),
+	ERR_FLAG_ENTRY(ERR_FLAG_MEAS_ADC_OVERFLOW, true),
+	ERR_FLAG_ENTRY(ERR_FLAG_TIMING_MEAS_ADC, false),
+	ERR_FLAG_ENTRY(ERR_FLAG_TIMING_PID, false),
+	ERR_FLAG_ENTRY(ERR_FLAG_AMON_UC_TEMP, true),
+	ERR_FLAG_ENTRY(ERR_FLAG_AMON_VREF, false),
+	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),
+	ERR_FLAG_ENTRY(ERR_FLAG_UNCAL, false),
+	ERR_FLAG_ENTRY(ERR_FLAG_DEBUG, true),
+};
+
+static volatile struct timing_mon timings[] = {
+	TIM_MON_ENTRY(ERR_TIMING_PID, 2, 1000, ERR_FLAG_TIMING_PID),
+	TIM_MON_ENTRY(ERR_TIMING_MEAS_ADC, 0, 50, ERR_FLAG_TIMING_MEAS_ADC),
+	TIM_MON_ENTRY(ERR_TIMING_SAFETY_ADC, 10, SAFETY_CONTROLLER_ADC_DELAY_MS + 500, ERR_FLAG_SAFETY_ADC),
+};
+
+static volatile struct analog_mon analog_mons[] = {
+	ANA_MON_ENTRY(ERR_AMON_VREF, SAFETY_ADC_VREF_MVOLT - SAFETY_ADC_VREF_TOL_MVOLT,
+		      SAFETY_ADC_VREF_MVOLT + SAFETY_ADC_VREF_TOL_MVOLT, ERR_FLAG_AMON_VREF),
+	ANA_MON_ENTRY(ERR_AMON_UC_TEMP, SAFETY_ADC_TEMP_LOW_LIM, SAFETY_ADC_TEMP_HIGH_LIM,
+		      ERR_FLAG_AMON_UC_TEMP),
+};
+
+static volatile struct analog_mon *find_analog_mon(enum analog_value_monitor mon)
+{
+	uint32_t i;
+	volatile struct analog_mon *ret = NULL;
+
+	for (i = 0; i < COUNT_OF(analog_mons); i++) {
+		if (analog_mons[i].monitor == mon)
+			ret = &analog_mons[i];
+	}
+
+	return ret;
+}
+
+static volatile struct timing_mon *find_timing_mon(enum timing_monitor mon)
+{
+	uint32_t i;
+	volatile struct timing_mon *ret = NULL;
+
+	for (i = 0; i < COUNT_OF(timings); i++) {
+		if (timings[i].monitor == mon)
+			ret = &timings[i];
+	}
+
+	return ret;
+}
+
+static volatile struct error_flag *find_error_flag(enum safety_flag flag)
+{
+	uint32_t i;
+	volatile struct error_flag *ret = NULL;
+
+	for (i = 0; i < COUNT_OF(flags); i++) {
+		if (flags[i].flag == flag)
+			ret = &flags[i];
+	}
+
+	return ret;
+}
+
+static void safety_controller_process_active_timing_mons()
+{
+	uint32_t i;
+	volatile struct timing_mon *current_mon;
+
+	for (i = 0; i < COUNT_OF(timings); i++) {
+		current_mon = &timings[i];
+		if (current_mon->enabled) {
+			if (systick_ticks_have_passed(current_mon->last, current_mon->max_delta))
+				safety_controller_report_error(current_mon->associated_flag);
+		}
+	}
+}
+
+static void safety_controller_process_checks()
+{
+	static bool startup_completed = false;
+	enum analog_monitor_status amon_state;
+	float amon_value;
+
+
+
+	if (!startup_completed && systick_get_global_tick() >= 1000)
+		startup_completed = true;
+
+
+	if (startup_completed) {
+		amon_state = safety_controller_get_analog_mon_value(ERR_AMON_VREF, &amon_value);
+		if (amon_state != ANALOG_MONITOR_OK)
+			safety_controller_report_error(ERR_FLAG_AMON_VREF);
+		amon_state = safety_controller_get_analog_mon_value(ERR_AMON_UC_TEMP, &amon_value);
+		if (amon_state != ANALOG_MONITOR_OK)
+			safety_controller_report_error(ERR_FLAG_AMON_UC_TEMP);
+
+	}
+
+	safety_controller_process_active_timing_mons();
+
+}
+
+int safety_controller_report_error(enum safety_flag flag)
+{
+	return safety_controller_report_error_with_key(flag, 0x0UL);
+}
+
+int safety_controller_report_error_with_key(enum safety_flag flag, uint32_t key)
+{
+	uint32_t i;
+	int ret = -1;
+
+	for (i = 0; i < COUNT_OF(flags); i++) {
+		if (flags[i].flag & flag) {
+			flags[i].error_state = true;
+			flags[i].key = key;
+			ret = 0;
+		}
+	}
+
+	return ret;
+}
+
+void safety_controller_report_timing(enum timing_monitor monitor)
+{
+	volatile struct timing_mon *tim;
+	uint64_t timestamp;
+
+	timestamp = systick_get_global_tick();
+
+	tim = find_timing_mon(monitor);
+	if (tim) {
+		if (tim->enabled) {
+			if (!systick_ticks_have_passed(tim->last, tim->min_delta) && tim->min_delta > 0U) {
+				safety_controller_report_error(tim->associated_flag);
+			}
+		}
+
+		tim->last = timestamp;
+		tim->enabled = true;
+	}
+
+}
+
+void safety_controller_report_analog_value(enum analog_value_monitor monitor, float value)
+{
+	volatile struct analog_mon *ana;
+
+	/* Return if not a power of two */
+	if (!is_power_of_two(monitor))
+		return;
+	ana = find_analog_mon(monitor);
+	if (ana) {
+		ana->valid = true;
+		ana->value = value;
+		ana->timestamp = systick_get_global_tick();
+	}
+
+}
+
+void safety_controller_init()
+{
+
+	/* Init default flag states */
+	safety_controller_report_error_with_key(ERR_FLAG_MEAS_ADC_OFF | ERR_FLAG_MEAS_ADC_UNSTABLE,
+						MEAS_ADC_SAFETY_FLAG_KEY);
+
+	safety_adc_init();
+	watchdog_setup(WATCHDOG_PRESCALER);
+
+	if (watchdog_check_reset_source())
+		safety_controller_report_error(ERR_FLAG_WTCHDG_FIRED);
+
+#ifdef DEBUGBUILD
+	safety_controller_report_error(ERR_FLAG_DEBUG);
+#endif
+}
+
+static void safety_controller_check_stack()
+{
+	int32_t free_stack;
+
+	free_stack = stack_check_get_free();
+	if (free_stack < SAFETY_MIN_STACK_FREE)
+		safety_controller_report_error(ERR_FLAG_STACK);
+}
+
+static void safety_controller_handle_safety_adc()
+{
+	static enum safety_adc_meas_channel current_channel = SAFETY_ADC_MEAS_TEMP;
+	static uint64_t last_result_timestamp = 0;
+	int poll_result;
+	uint16_t result;
+	float analog_value;
+
+	poll_result = safety_adc_poll_result(&result);
+	if (!systick_ticks_have_passed(last_result_timestamp, SAFETY_CONTROLLER_ADC_DELAY_MS) && poll_result != 1)
+		return;
+
+	if (poll_result) {
+		if (poll_result == -1) {
+			switch (current_channel) {
+			case SAFETY_ADC_MEAS_TEMP:
+				current_channel = SAFETY_ADC_MEAS_VREF;
+				break;
+			case SAFETY_ADC_MEAS_VREF:
+				/* Expected fallthru */
+			default:
+				current_channel = SAFETY_ADC_MEAS_TEMP;
+				break;
+			}
+			safety_adc_trigger_meas(current_channel);
+		} else if (poll_result == 1) {
+			last_result_timestamp = systick_get_global_tick();
+			analog_value = safety_adc_convert_channel(current_channel, result);
+			safety_controller_report_timing(ERR_TIMING_SAFETY_ADC);
+			switch (current_channel) {
+			case SAFETY_ADC_MEAS_TEMP:
+				safety_controller_report_analog_value(ERR_AMON_UC_TEMP, analog_value);
+				break;
+			case SAFETY_ADC_MEAS_VREF:
+				safety_controller_report_analog_value(ERR_AMON_VREF, analog_value);
+				break;
+			default:
+				safety_controller_report_error(ERR_FLAG_SAFETY_ADC);
+				break;
+			}
+		}
+	}
+}
+
+int safety_controller_handle()
+{
+	static uint64_t last_systick;
+	static uint32_t same_systick_cnt = 0UL;
+	uint64_t systick;
+
+	int ret = 0;
+
+	safety_controller_check_stack();
+	safety_controller_handle_safety_adc();
+
+	systick = systick_get_global_tick();
+	if (systick == last_systick) {
+		same_systick_cnt++;
+		if (same_systick_cnt > 1000)
+			safety_controller_report_error(ERR_FLAG_SYSTICK);
+	} else {
+		same_systick_cnt = 0UL;
+	}
+	last_systick = systick;
+
+	safety_controller_process_checks();
+	/* TODO: Check flags for PID and HALT */
+
+	ret |= watchdog_ack(WATCHDOG_MAGIC_KEY);
+
+	return (ret ? -1 : 0);
+}
+
+int safety_controller_enable_timing_mon(enum timing_monitor monitor, bool enable)
+{
+	volatile struct timing_mon *tim;
+
+	if (enable) {
+		safety_controller_report_timing(monitor);
+	} else {
+		tim = find_timing_mon(monitor);
+		if (!tim)
+			return -1;
+		tim->enabled = false;
+	}
+
+	return 0;
+}
+
+enum analog_monitor_status safety_controller_get_analog_mon_value(enum analog_value_monitor monitor, float *value)
+{
+	volatile struct analog_mon *mon;
+	int ret = ANALOG_MONITOR_ERROR;
+
+	if (!is_power_of_two(monitor))
+		goto go_out;
+
+	if (!value)
+		goto go_out;
+
+	mon = find_analog_mon(monitor);
+	if (mon) {
+		if (!mon->valid) {
+			ret = ANALOG_MONITOR_INACTIVE;
+			goto go_out;
+		}
+
+		*value = mon->value;
+		if (mon->value < mon->min)
+			ret = ANALOG_MONITOR_UNDER;
+		else if (mon->value > mon->max)
+			ret = ANALOG_MONITOR_OVER;
+		else
+			ret = ANALOG_MONITOR_OK;
+	}
+
+go_out:
+	return ret;
+}
+
+int safety_controller_get_flag(enum safety_flag flag, bool *status, bool try_ack)
+{
+	volatile struct error_flag *found_flag;
+	int ret = -1;
+
+	if (!status)
+		return -1002;
+	if (!is_power_of_two(flag))
+		return -1001;
+
+	found_flag = find_error_flag(flag);
+	if (found_flag) {
+		*status = found_flag->error_state;
+		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;
+	volatile struct error_flag *found_flag;
+
+	if (!is_power_of_two(flag)) {
+		return -1001;
+	}
+
+	found_flag = find_error_flag(flag);
+	if (found_flag) {
+		if (!found_flag->persistent && (found_flag->key == key || !key)) {
+			found_flag->error_state = false;
+			ret = 0;
+		} else {
+			ret = -2;
+		}
+	}
+
+	return ret;
+}
+
+bool safety_controller_get_flags_by_mask(enum safety_flag mask)
+{
+	uint32_t i;
+	bool ret = false;
+
+	for (i = 0; i < COUNT_OF(flags); i++) {
+		if ((flags[i].flag & mask) && flags[i].error_state) {
+			ret = true;
+			break;
+		}
+	}
+
+	return ret;
+}
+
+uint32_t safety_controller_get_flag_count()
+{
+	return COUNT_OF(flags);
+}
+
+uint32_t safety_controller_get_analog_monitor_count()
+{
+	return COUNT_OF(analog_mons);
+}
+
+int safety_controller_get_analog_mon_name_by_index(uint32_t index, char *buffer, size_t buffsize)
+{
+	if (index >= COUNT_OF(analog_mons))
+		return -1;
+
+	if (buffsize == 0 || !buffer)
+		return -1000;
+
+	strncpy(buffer, analog_mons[index].name, buffsize);
+	buffer[buffsize - 1] = 0;
+
+	return 0;
+}
+
+int safety_controller_get_flag_name_by_index(uint32_t index, char *buffer, size_t buffsize)
+{
+	if (index >= COUNT_OF(flags))
+		return -1;
+
+	if (buffsize == 0 || !buffer)
+		return -1000;
+
+	strncpy(buffer, flags[index].name, buffsize);
+	buffer[buffsize - 1] = 0;
+
+	return 0;
+}
+
+int safety_controller_get_flag_by_index(uint32_t index, bool *status, enum safety_flag *flag_enum)
+{
+	int ret = -1;
+
+	if (!status && !flag_enum)
+		return -1000;
+
+	if (index < COUNT_OF(flags)) {
+		if (status)
+			*status = flags[index].error_state;
+		if (flag_enum)
+			*flag_enum = flags[index].flag;
+
+		ret = 0;
+	}
+
+	return ret;
+}
+
+int safety_controller_get_analog_mon_by_index(uint32_t index, struct analog_monitor_info *info)
+{
+	volatile struct analog_mon *mon;
+
+	if (!info)
+		return -1002;
+
+	if (index >= COUNT_OF(analog_mons)) {
+		info->status = ANALOG_MONITOR_ERROR;
+		return -1001;
+	}
+
+	mon = &analog_mons[index];
+
+	info->max = mon->max;
+	info->min = mon->min;
+	info->value = mon->value;
+	info->timestamp = mon->timestamp;
+
+	if (!mon->valid) {
+		info->status = ANALOG_MONITOR_INACTIVE;
+	} else {
+		if (mon->value > mon->max)
+			info->status = ANALOG_MONITOR_OVER;
+		else if (mon->value < mon->min)
+			info->status = ANALOG_MONITOR_UNDER;
+		else
+			info->status = ANALOG_MONITOR_OK;
+	}
+
+	return 0;
+}
+
+/** @} */

stm-firmware/safety/safety-controller.dox

@@ -0,0 +1,7 @@
+/**
+@defgroup safety-controller Safety Controller
+@ingroup safety
+This is the main module for the safety part of the firmware. It monitors
+analog values, error states and timeouts of timing critical sections of the firmware.
+
+*/

stm-firmware/safety/safety.dox

@@ -0,0 +1,6 @@
+/**
+
+@defgroup safety Safety Module
+@brief Safety Supervisor Module
+This is the safety module which ensures safe operation of the reflow controller
+*/

stm-firmware/safety/watchdog.c

@@ -0,0 +1,120 @@
+/* Reflow Oven Controller
+*
+* Copyright (C) 2020  Mario Hüttel <mario.huettel@gmx.net>
+*
+* This file is part of the Reflow Oven Controller Project.
+*
+* The reflow oven controller is free software: you can redistribute it and/or modify
+* it under the terms of the GNU General Public License version 2 as
+* published by the Free Software Foundation.
+*
+* The Reflow Oven Control Firmware is distributed in the hope that it will be useful,
+* but WITHOUT ANY WARRANTY; without even the implied warranty of
+* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+* GNU General Public License for more details.
+*
+* You should have received a copy of the GNU General Public License
+* along with the reflow oven controller project.
+* If not, see <http://www.gnu.org/licenses/>.
+*/
+
+/**
+ * @addtogroup watchdog
+ * @{
+ */
+
+#include <reflow-controller/safety/watchdog.h>
+#include <stm32/stm32f4xx.h>
+
+/**
+ * @brief This key is expected by hardware to be written to the IWDG_KR register in order to reset the watchdog
+ */
+#define STM32_WATCHDOG_RESET_KEY 0xAAAA
+
+/**
+ * @brief This key is expected by hardware to be written to the IWDG_KR register in order to enable the watchdog
+ */
+#define STM32_WATCHDOG_ENABLE_KEY 0xCCCC
+
+/**
+ * @brief This key is expected by hardware to be written to the IWDG_KR register in order to enable access to config
+ * registers
+ */
+#define STM32_WATCHDOG_REGISTER_ACCESS_KEY 0x5555
+
+int watchdog_setup(uint8_t prescaler)
+{
+	uint32_t prescaler_reg_val;
+
+	/** - Activate the LSI oscillator */
+	RCC->CSR |= RCC_CSR_LSION;
+	__DSB();
+	/** - Wait for the oscillator to be ready */
+	while (!(RCC->CSR & RCC_CSR_LSIRDY));
+
+	if (prescaler == 4)
+		prescaler_reg_val = 0UL;
+	else if (prescaler == 8)
+		prescaler_reg_val = 1UL;
+	else if (prescaler == 16)
+		prescaler_reg_val = 2UL;
+	else if (prescaler == 32)
+		prescaler_reg_val = 3UL;
+	else if (prescaler == 64)
+		prescaler_reg_val = 4UL;
+	else if (prescaler == 128)
+		prescaler_reg_val = 5UL;
+	else
+		prescaler_reg_val = 6UL;
+
+	/** - Unlock registers */
+	IWDG->KR = STM32_WATCHDOG_REGISTER_ACCESS_KEY;
+
+	/** - Wait until prescaler can be written */
+	while (IWDG->SR & IWDG_SR_PVU);
+
+	/** - Write prescaler value */
+	IWDG->PR = prescaler_reg_val;
+
+	/* - Wait until reload value can be written */
+	while (IWDG->SR & IWDG_SR_RVU);
+
+	/** - Set reload value fixed to 0xFFF */
+	IWDG->RLR = 0xFFFU;
+
+	/** - Write enable key */
+	IWDG->KR = STM32_WATCHDOG_ENABLE_KEY;
+
+	/** - Do a first reset of the counter. This also locks the config regs */
+	watchdog_ack(WATCHDOG_MAGIC_KEY);
+
+	return 0;
+}
+
+int watchdog_ack(uint32_t magic)
+{
+	int ret = -1;
+
+	/** - Check if magic key is correct */
+	if (magic == WATCHDOG_MAGIC_KEY) {
+		/** - Write reset key to watchdog */
+		IWDG->KR = STM32_WATCHDOG_RESET_KEY;
+		ret = 0;
+	}
+
+	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;
+}
+
+/** @} */

stm-firmware/safety/watchdog.dox

@@ -0,0 +1,9 @@
+/**
+@defgroup watchdog Independent Watchdog
+@ingroup safety
+
+The independet watchdog module enusres that the safety controller run continuously and the whole formware does not lock.
+The watchdog is entirely controlled by the safety controller and must not be used by the rest of the firmware
+
+
+*/

stm-firmware/shell.c

@@ -35,7 +35,7 @@
 #include <fatfs/ff.h>
 #include <reflow-controller/stack-check.h>
 #include <reflow-controller/rotary-encoder.h>
-#include <reflow-controller/safety/safety-adc.h>
+#include <reflow-controller/safety/safety-controller.h>
 
 #ifndef GIT_VER
 #define GIT_VER "VERSION NOT SET"
@@ -59,8 +59,8 @@ static shellmatta_retCode_t shell_cmd_ver(const shellmatta_handle_t   handle,
 	unique_id_get(&high_id, &mid_id, &low_id);
 
 	shellmatta_printf(handle, "Reflow Oven Controller Firmware " xstr(GIT_VER) "\r\n"
-					"Compiled: " __DATE__ " at " __TIME__ "\r\n"
+					"Compiled: " __DATE__ " at " __TIME__ "\r\n");
-					"Serial: %08X-%08X-%08X", high_id, mid_id, low_id);
+	shellmatta_printf(handle, "Serial: %08X-%08X-%08X", high_id, mid_id, low_id);
 
 	return SHELLMATTA_OK;
 }
@@ -128,7 +128,6 @@ static shellmatta_retCode_t shell_cmd_pt1000_res(const shellmatta_handle_t   han
 	(void)length;
 	float resistance;
 	int pt1000_status;
-	enum adc_pt1000_error pt1000_flags;
 	char display_status[100];
 	float temp;
 	int temp_conv_status;
@@ -141,13 +140,7 @@ static shellmatta_retCode_t shell_cmd_pt1000_res(const shellmatta_handle_t   han
 	if (pt1000_status == 2) {
 		strcat(display_status, " UNSTABLE ");
 	} else if (pt1000_status) {
-		pt1000_flags = adc_pt1000_check_error();
+		strcpy(display_status, "ERROR");
-		if (pt1000_flags & ADC_PT1000_INACTIVE)
-			strcat(display_status, " DEACTIVATED ");
-		else if (pt1000_flags & ADC_PT1000_WATCHDOG_ERROR)
-			strcat(display_status, " WATCHDOG ");
-		else if (pt1000_flags & ADC_PT1000_OVERFLOW)
-			strcat(display_status, " OVERFLOW ");
 	} else {
 		strcpy(display_status, "VALID");
 	}
@@ -171,17 +164,6 @@ static shellmatta_retCode_t shell_cmd_pt1000_res(const shellmatta_handle_t   han
 
 	return SHELLMATTA_OK;
 }
-static shellmatta_retCode_t shell_cmd_clear_error_status(const shellmatta_handle_t handle, const char *arguments,
-							 uint32_t length)
-{
-	(void)arguments;
-	(void)length;
-	(void)handle;
-
-	adc_pt1000_clear_error();
-
-	return SHELLMATTA_OK;
-}
 
 static shellmatta_retCode_t shell_cmd_uptime(const shellmatta_handle_t   handle,
 					     const char                  *arguments,
@@ -313,6 +295,8 @@ static shellmatta_retCode_t shell_cmd_reset(const shellmatta_handle_t handle, co
 static shellmatta_retCode_t shell_cmd_cat(const shellmatta_handle_t handle, const char *arguments,
 					  uint32_t length)
 {
+
+#ifdef IMPLEMENT_SHELL_CAT
 	FIL file;
 	char path_buff[256];
 	const char *path;
@@ -349,31 +333,76 @@ static shellmatta_retCode_t shell_cmd_cat(const shellmatta_handle_t handle, cons
 
 	f_close(&file);
 
-	return SHELLMATTA_OK;
+#else
-}
-
-static shellmatta_retCode_t shell_cmd_safety_adc(const shellmatta_handle_t handle, const char *arguments,
-					  uint32_t length)
-{
 	(void)length;
 	(void)arguments;
 
-	shellmatta_printf(handle, "VREF:\t%8.2f\tmV\r\n", safety_adc_get_vref());
+	shellmatta_printf(handle, "cat not implemented!\r\n");
-	shellmatta_printf(handle, "TEMP:\t%8.2f\tdeg. Celsius\r\n", safety_adc_get_temp());
+#endif
-
-	shellmatta_printf(handle, "Errors:\t%X", safety_adc_get_errors());
 
 	return SHELLMATTA_OK;
 }
 
-static shellmatta_retCode_t shell_cmd_safety_adc_clear_error(const shellmatta_handle_t handle, const char *arguments,
+static shellmatta_retCode_t shell_cmd_read_flags(const shellmatta_handle_t handle, const char *arguments,
 					  uint32_t length)
 {
 	(void)length;
 	(void)arguments;
-	(void)handle;
+	uint32_t count;
+	uint32_t i;
+	char name[64];
+	bool flag;
+	int status;
+	struct analog_monitor_info amon_info;
 
-	safety_adc_clear_errors();
+	shellmatta_printf(handle, "Error flags\r\n"
+	       "-----------\r\n");
+
+	count = safety_controller_get_flag_count();
+	for (i = 0; i < count; i++) {
+		status = safety_controller_get_flag_name_by_index(i, name, sizeof(name));
+		if (status) {
+			shellmatta_printf(handle, "Error getting flag name %lu\r\n", i);
+			continue;
+		}
+
+		status = safety_controller_get_flag_by_index(i, &flag, NULL);
+		if (status) {
+			shellmatta_printf(handle, "Error getting flag value %lu\r\n", i);
+			continue;
+		}
+
+		shellmatta_printf(handle, "\t%2lu) %-20s\t[%s]\r\n", i+1, name, (flag ? "\e[1;31mERR\e[m" : "\e[32mOK\e[m"));
+	}
+
+	shellmatta_printf(handle, "\r\nAnalog Monitors\r\n"
+				  "---------------\r\n");
+	count = safety_controller_get_analog_monitor_count();
+
+	for (i = 0; i < count; i++) {
+		status = safety_controller_get_analog_mon_name_by_index(i, name, sizeof(name));
+		if (status) {
+			shellmatta_printf(handle, "Error getting analog value monitor %lu name\r\n", i);
+			continue;
+		}
+
+		status = safety_controller_get_analog_mon_by_index(i, &amon_info);
+		if (status) {
+			shellmatta_printf(handle, "Error reading analog monitor status %lu\r\n", i);
+			continue;
+		}
+
+		shellmatta_printf(handle, "\t%2lu) %-20s\t[%s%8.2f%s]", i+1, name,
+				  amon_info.status == ANALOG_MONITOR_OK ? "\e[32m" : "\e[1;31m",
+				  amon_info.value,
+				  "\e[m");
+		if (amon_info.status == ANALOG_MONITOR_INACTIVE) {
+			shellmatta_printf(handle, "Inactive\r\n");
+		} else {
+			shellmatta_printf(handle, " valid from %-8.2f to %-8.2f", amon_info.min, amon_info.max);
+			shellmatta_printf(handle, "\tchecked %llu ms ago\r\n", systick_get_global_tick() - amon_info.timestamp);
+		}
+	}
 
 	return SHELLMATTA_OK;
 }
@@ -388,7 +417,7 @@ static shellmatta_retCode_t shell_cmd_safety_adc_clear_error(const shellmatta_ha
 //    struct shellmatta_cmd   *next;      /**< pointer to next command or NULL        */
 //} shellmatta_cmd_t;
 
-static shellmatta_cmd_t cmd[15] = {
+static shellmatta_cmd_t cmd[13] = {
 	{
 		.cmd = "version",
 		.cmdAlias = "ver",
@@ -413,21 +442,13 @@ static shellmatta_cmd_t cmd[15] = {
 		.cmdFct = shell_cmd_pt1000_res_loop,
 		.next = &cmd[3],
 	},
-	{
-		.cmd = "pt1000-clear-error",
-		.cmdAlias = "pt-clear",
-		.helpText = "Clear error status of PT1000 reading",
-		.usageText = NULL,
-		.cmdFct = shell_cmd_clear_error_status,
-		.next = &cmd[4],
-	},
 	{
 		.cmd = "digio-get",
 		.cmdAlias = "dg",
 		.helpText = "Read all digital input/output ports",
 		.usageText = NULL,
 		.cmdFct = shell_cmd_digio_get,
-		.next = &cmd[5],
+		.next = &cmd[4],
 	},
 	{
 		.cmd = "digio-set",
@@ -435,7 +456,7 @@ static shellmatta_cmd_t cmd[15] = {
 		.helpText = "Set DIGIO Port",
 		.usageText = "digio-set <num> <state>",
 		.cmdFct = shell_cmd_digio_set,
-		.next = &cmd[6],
+		.next = &cmd[5],
 	},
 	{
 		.cmd = "uptime",
@@ -443,7 +464,7 @@ static shellmatta_cmd_t cmd[15] = {
 		.helpText = "Get uptime in seconds",
 		.usageText = "",
 		.cmdFct = shell_cmd_uptime,
-		.next = &cmd[7],
+		.next = &cmd[6],
 	},
 	{
 		.cmd = "calibrate",
@@ -451,7 +472,7 @@ static shellmatta_cmd_t cmd[15] = {
 		.helpText = "Calibrate resistance measurement",
 		.usageText = "",
 		.cmdFct = shell_cmd_cal,
-		.next = &cmd[8],
+		.next = &cmd[7],
 	},
 	{
 		.cmd = "meminfo",
@@ -459,7 +480,7 @@ static shellmatta_cmd_t cmd[15] = {
 		.helpText = "Get information about memory usage",
 		.usageText = "",
 		.cmdFct = shell_meminfo,
-		.next = &cmd[9],
+		.next = &cmd[8],
 	},
 	{
 		.cmd = "rotary-encoder",
@@ -467,7 +488,7 @@ static shellmatta_cmd_t cmd[15] = {
 		.helpText = "Get current rotary encoder value",
 		.usageText = "",
 		.cmdFct = shell_cmd_rot,
-		.next = &cmd[10],
+		.next = &cmd[9],
 	},
 	{
 		.cmd = "ls",
@@ -475,7 +496,7 @@ static shellmatta_cmd_t cmd[15] = {
 		.helpText = "List filesystem contents",
 		.usageText = "",
 		.cmdFct = shell_cmd_ls,
-		.next = &cmd[11],
+		.next = &cmd[10],
 	},
 	{
 		.cmd = "reset",
@@ -483,7 +504,7 @@ static shellmatta_cmd_t cmd[15] = {
 		.helpText = "Reset controller",
 		.usageText = "reset",
 		.cmdFct = shell_cmd_reset,
-		.next = &cmd[12],
+		.next = &cmd[11],
 	},
 	{
 		.cmd = "cat",
@@ -491,25 +512,16 @@ static shellmatta_cmd_t cmd[15] = {
 		.helpText = "Print file contents",
 		.usageText = "cat <path>",
 		.cmdFct = shell_cmd_cat,
-		.next = &cmd[13],
+		.next = &cmd[12],
 	},
 	{
-		.cmd = "safety-adc",
+		.cmd = "safety-flags",
-		.cmdAlias = NULL,
+		.cmdAlias = "flags",
 		.helpText = "",
 		.usageText = "",
-		.cmdFct = shell_cmd_safety_adc,
+		.cmdFct = shell_cmd_read_flags,
-		.next = &cmd[14],
-	},
-	{
-		.cmd = "safety-adc-clear-error",
-		.cmdAlias = NULL,
-		.helpText = "",
-		.usageText = "",
-		.cmdFct = shell_cmd_safety_adc_clear_error,
 		.next = NULL,
-	},
+	}
-
 };
 
 shellmatta_handle_t shell_init(shellmatta_write_t write_func)
@@ -529,7 +541,7 @@ void shell_print_motd(shellmatta_handle_t shell)
 {
 	/* Clear display and set cursor to home position */
 	shellmatta_printf(shell, "\e[2J\e[H");
-	shellmatta_printf(shell, "Shimatta 仕舞った Reflow Controller ready\r\n\r\n");
+	shellmatta_printf(shell, "Shimatta Reflow Controller ready\r\n\r\n");
 	shell_cmd_ver(shell, NULL, 0UL);
 	shell_handle_input(shell, "\r\n", 2UL);
 }