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Further work on safety controller

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This commit is contained in:
Mario Hüttel
2020-07-26 21:40:09 +02:00
parent 9136dc196c
commit a04e894518
3 changed files with 159 additions and 6 deletions
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6
stm-firmware/include/reflow-controller/safety/safety-config.h
View File

@@ -32,6 +32,8 @@ enum safety_flag {
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),
};
enum timing_monitor {
@@ -51,12 +53,16 @@ enum analog_value_monitor {
*/
#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

4
stm-firmware/include/reflow-controller/safety/safety-controller.h
View File

@@ -62,7 +62,9 @@ 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);
bool safety_controller_get_flag(enum safety_flag);
int safety_controller_get_flag(enum safety_flag flag, bool *status, bool try_ack);
int safety_controller_ack_flag(enum safety_flag flag);
#endif /* __SAFETY_CONTROLLER_H__ */

155
stm-firmware/safety/safety-controller.c
View File

@@ -27,6 +27,7 @@
#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>
@@ -81,16 +82,21 @@ static struct error_flag flags[] = {
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),
};
static struct timing_mon timings[] = {
TIM_MON_ENTRY(ERR_TIMING_PID, 1, 800, ERR_FLAG_TIMING_PID),
TIM_MON_ENTRY(ERR_TIMING_MEAS_ADC, 1, 50, ERR_FLAG_TIMING_MEAS_ADC),
TIM_MON_ENTRY(ERR_TIMING_SAFETY_ADC, 1, 250, ERR_FLAG_SAFETY_ADC),
};
static struct analog_mon analog_mons[] = {
ANA_MON_ENTRY(ERR_AMON_VREF, 2480.0f, 2520.0f, ERR_FLAG_AMON_VREF),
ANA_MON_ENTRY(ERR_AMON_UC_TEMP, 0.0f, 55.0f, ERR_FLAG_AMON_UC_TEMP),
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 struct analog_mon *find_analog_mon(enum analog_value_monitor mon)
@@ -132,9 +138,49 @@ static struct error_flag *find_error_flag(enum safety_flag flag)
return ret;
}
static void safety_controller_process_active_timing_mons()
{
uint32_t i;
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()
{
// TODO: Implement
static bool startup_completed = false;
static uint64_t last_systick = 0;
enum analog_monitor_status amon_state;
float amon_value;
uint64_t systick;
systick = systick_get_global_tick();
if (systick == last_systick) {
safety_controller_report_error(ERR_FLAG_SYSTICK);
}
if (systick >= 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)
@@ -156,7 +202,6 @@ int safety_controller_report_error(enum safety_flag flag)
void safety_controller_report_timing(enum timing_monitor monitor)
{
uint32_t i;
struct timing_mon *tim;
uint64_t timestamp;
@@ -164,6 +209,12 @@ void safety_controller_report_timing(enum timing_monitor monitor)
tim = find_timing_mon(monitor);
if (tim) {
if (tim->enabled) {
if (!systick_ticks_have_passed(tim->last, tim->min_delta)) {
safety_controller_report_error(tim->associated_flag);
}
}
tim->last = timestamp;
tim->enabled = true;
}
@@ -193,13 +244,65 @@ void safety_controller_init()
watchdog_setup(WATCHDOG_PRESCALER);
}
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;
int poll_result;
uint16_t result;
float analog_value;
poll_result = safety_adc_poll_result(&result);
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) {
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
int ret = 0;
/* TODO: Handle safety ADC */
safety_controller_check_stack();
safety_controller_handle_safety_adc();
safety_controller_process_checks();
/* TODO: Check flags for PID and HALT */
@@ -255,4 +358,46 @@ go_out:
return ret;
}
int safety_controller_get_flag(enum safety_flag flag, bool *status, bool try_ack)
{
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)
found_flag->error_state = false;
}
return ret;
}
int safety_controller_ack_flag(enum safety_flag flag)
{
int ret = -1;
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->error_state = false;
ret = 0;
} else {
ret = -2;
}
}
return ret;
}
/** @} */