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issue #5: Implement safety weight checking in control loop

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This commit is contained in:
Mario Hüttel
2020-09-27 22:54:06 +02:00
parent 5fd2db319d
commit ae91affc30
5 changed files with 77 additions and 40 deletions
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104
stm-firmware/safety/safety-controller.c
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@@ -37,57 +37,58 @@
#include <stddef.h>
#include <string.h>
#include <reflow-controller/safety/safety-memory.h>
#include <reflow-controller/oven-driver.h>
#include <helper-macros/helper-macros.h>
#define check_flag_persistent(flag) ((flag)->persistency && (flag)->persistency->persistency)
#define get_flag_weight(flag) ((flag)->weight ? (flag->weight->weight) : SAFETY_FLAG_CONFIG_WEIGHT_NONE)
struct safety_weight {
uint32_t start_dummy;
enum config_weight weight;
enum safety_flag flag;
volatile struct error_flag *flag_ptr;
uint32_t end_dummy;
uint32_t start_dummy;
enum config_weight weight;
enum safety_flag flag;
volatile struct error_flag *flag_ptr;
uint32_t end_dummy;
};
struct safety_persistency {
uint32_t start_dummy;
bool persistency;
enum safety_flag flag;
volatile struct error_flag *flag_ptr;
uint32_t end_dummy;
uint32_t start_dummy;
bool persistency;
enum safety_flag flag;
volatile struct error_flag *flag_ptr;
uint32_t end_dummy;
};
struct error_flag {
const char *name;
enum safety_flag flag;
bool error_state;
bool error_state_inv;
volatile struct safety_persistency *persistency;
volatile struct safety_weight *weight;
uint32_t key;
const char *name;
enum safety_flag flag;
bool error_state;
bool error_state_inv;
volatile struct safety_persistency *persistency;
volatile struct safety_weight *weight;
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;
uint64_t calculated_delta;
bool enabled;
const char *name;
enum timing_monitor monitor;
enum safety_flag associated_flag;
uint64_t min_delta;
uint64_t max_delta;
uint64_t last;
uint64_t calculated_delta;
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;
const char *name;
enum analog_value_monitor monitor;
enum safety_flag associated_flag;
float min;
float max;
float value;
bool valid;
uint64_t timestamp;
};
static volatile struct error_flag IN_SECTION(.ccm.data) flags[] = {
@@ -119,9 +120,9 @@ static volatile struct timing_mon IN_SECTION(.ccm.data) timings[] = {
static volatile struct analog_mon IN_SECTION(.ccm.data) 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),
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),
ERR_FLAG_AMON_UC_TEMP),
};
static const struct safety_weight default_flag_weights[] = { SAFETY_CONFIG_DEFAULT_WEIGHTS };
@@ -216,6 +217,9 @@ static void init_safety_flag_persistencies_from_default(void)
static bool error_flag_get_status(const volatile struct error_flag *flag)
{
if (!flag)
return true;
if (flag->error_state == flag->error_state_inv) {
return true;
} else {
@@ -576,6 +580,31 @@ static void safety_controller_do_systick_checking()
last_systick = systick;
}
static void safety_controller_handle_weighted_flags()
{
uint32_t weight_index;
volatile struct safety_weight *current_weight;
for (weight_index = 0; weight_index < COUNT_OF(flag_weights); weight_index++) {
current_weight = &flag_weights[weight_index];
if (error_flag_get_status(current_weight->flag_ptr)) {
switch (current_weight->weight) {
case SAFETY_FLAG_CONFIG_WEIGHT_NONE:
break;
case SAFETY_FLAG_CONFIG_WEIGHT_PID:
oven_pid_abort();
break;
case SAFETY_FLAG_CONFIG_WEIGHT_PANIC:
/* Expected fallthrough */
default:
oven_pid_abort();
panic_mode();
break;
}
}
}
}
int safety_controller_handle()
{
int ret = 0;
@@ -583,12 +612,9 @@ int safety_controller_handle()
safety_controller_check_stack();
safety_controller_handle_safety_adc();
safety_controller_handle_memory_checks();
safety_controller_do_systick_checking();
safety_controller_process_monitor_checks();
/* TODO: Check flag weights and trigger appropriate safety action */
safety_controller_handle_weighted_flags();
ret |= watchdog_ack(WATCHDOG_MAGIC_KEY);