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Issue #18: Fix bugs in safety memory handling

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This commit is contained in:
Mario Hüttel
2020-09-05 15:56:52 +02:00
parent c9a5a2c2ff
commit 7434554319
3 changed files with 41 additions and 10 deletions
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18
stm-firmware/safety/safety-controller.c
View File

@@ -328,6 +328,23 @@ static void safety_controller_handle_safety_adc()
}
}
static void safety_controller_handle_safety_memory_check(void)
{
static uint64_t ts = 0;
enum safety_memory_state found_state;
if (systick_ticks_have_passed(ts, 5000)) {
ts = systick_get_global_tick();
if (safety_memory_check()) {
safety_memory_reinit(&found_state);
if (found_state != SAFETY_MEMORY_INIT_VALID_MEMORY) {
safety_controller_report_error(ERR_FLAG_SAFETY_MEM_CORRUPT);
}
}
}
}
int safety_controller_handle()
{
static uint64_t last_systick;
@@ -338,6 +355,7 @@ int safety_controller_handle()
safety_controller_check_stack();
safety_controller_handle_safety_adc();
safety_controller_handle_safety_memory_check();
systick = systick_get_global_tick();
if (systick == last_systick) {

29
stm-firmware/safety/safety-memory.c
View File

@@ -71,10 +71,13 @@ static void safety_memory_write_new_header(void)
{
struct safety_memory_header header;
header.boot_status_offset = sizeof(struct safety_memory_header);
header.config_overrides_offset = header.boot_status_offset + sizeof(struct safety_memory_boot_status)/4;
header.boot_status_offset = wordsize_of(struct safety_memory_header);
header.config_overrides_len = SAFETY_MEMORY_CONFIG_OVERRIDE_COUNT;
header.config_overrides_offset = header.boot_status_offset + wordsize_of(struct safety_memory_boot_status);
header.err_memory_offset = header.config_overrides_offset + SAFETY_MEMORY_CONFIG_OVERRIDE_COUNT;
header.err_memory_end = header.err_memory_offset;
header.magic = SAFETY_MEMORY_MAGIC;
header.magic_i = ~SAFETY_MEMORY_MAGIC;
backup_ram_wipe();
backup_ram_write_data(0UL, (uint32_t *)&header, wordsize_of(header));
@@ -140,7 +143,7 @@ static int safety_memory_gen_crc()
return 0;
}
int safety_memory_init(enum safety_memory_state *found_state)
int safety_memory_reinit(enum safety_memory_state *found_state)
{
struct safety_memory_header header;
int res;
@@ -149,9 +152,6 @@ int safety_memory_init(enum safety_memory_state *found_state)
if (!found_state)
return -1001;
crc_unit_init();
backup_ram_init(true);
*found_state = safety_memory_get_header(&header);
switch (*found_state) {
@@ -162,28 +162,39 @@ int safety_memory_init(enum safety_memory_state *found_state)
*found_state = SAFETY_MEMORY_INIT_CORRUPTED;
break;
case SAFETY_MEMORY_INIT_FRESH:
safety_memory_write_new_header();
break;
case SAFETY_MEMORY_INIT_CORRUPTED:
break;
default:
*found_state = SAFETY_MEMORY_INIT_CORRUPTED;
safety_memory_write_new_header();
break;
}
/* Check if memory header was written newly */
/* Check if memory header has to be written */
if (*found_state != SAFETY_MEMORY_INIT_VALID_MEMORY) {
safety_memory_write_new_header();
/* If yes, generate new CRC checksum */
res = safety_memory_gen_crc();
if (res)
ret = -100;
else
ret = 0;
} else {
ret = 0;
}
return ret;
}
int safety_memory_init(enum safety_memory_state *found_state)
{
crc_unit_init();
backup_ram_init(true);
return safety_memory_reinit(found_state);
}
int safety_memory_get_boot_status(struct safety_memory_boot_status *status);
int safety_memory_get_error_entry_count(uint32_t *count);