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Issue #15: Implement redundancy for error flags

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This commit is contained in:
Mario Hüttel 2020-09-05 20:29:21 +02:00
parent b2b1702670
commit c4fe006efa
1 changed files with 17 additions and 5 deletions
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22
stm-firmware/safety/safety-controller.c
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@ -112,6 +112,15 @@ static volatile struct analog_mon IN_SECTION(.ccm.data) analog_mons[] = {
ERR_FLAG_AMON_UC_TEMP), ERR_FLAG_AMON_UC_TEMP),
}; };
static bool error_flag_get_status(const volatile struct error_flag *flag)
{
if (flag->error_state == flag->error_state_inv) {
return true;
} else {
return flag->error_state;
}
}
static volatile struct analog_mon *find_analog_mon(enum analog_value_monitor mon) static volatile struct analog_mon *find_analog_mon(enum analog_value_monitor mon)
{ {
uint32_t i; uint32_t i;
@ -185,7 +194,6 @@ static void safety_controller_process_checks()
amon_state = safety_controller_get_analog_mon_value(ERR_AMON_UC_TEMP, &amon_value); amon_state = safety_controller_get_analog_mon_value(ERR_AMON_UC_TEMP, &amon_value);
if (amon_state != ANALOG_MONITOR_OK) if (amon_state != ANALOG_MONITOR_OK)
safety_controller_report_error(ERR_FLAG_AMON_UC_TEMP); safety_controller_report_error(ERR_FLAG_AMON_UC_TEMP);
} }
safety_controller_process_active_timing_mons(); safety_controller_process_active_timing_mons();
@ -204,6 +212,7 @@ int safety_controller_report_error_with_key(enum safety_flag flag, uint32_t key)
for (i = 0; i < COUNT_OF(flags); i++) { for (i = 0; i < COUNT_OF(flags); i++) {
if (flags[i].flag & flag) { if (flags[i].flag & flag) {
flags[i].error_state = true; flags[i].error_state = true;
flags[i].error_state_inv = !flags[i].error_state;
flags[i].key = key; flags[i].key = key;
ret = 0; ret = 0;
} }
@ -436,13 +445,15 @@ int safety_controller_get_flag(enum safety_flag flag, bool *status, bool try_ack
found_flag = find_error_flag(flag); found_flag = find_error_flag(flag);
if (found_flag) { if (found_flag) {
*status = found_flag->error_state; *status = error_flag_get_status(found_flag);
if (try_ack && !found_flag->persistent) { if (try_ack && !found_flag->persistent) {
/* Flag is generally non persistent /* Flag is generally non persistent
* If key is set, this function cannot remove the flag * If key is set, this function cannot remove the flag
*/ */
if (found_flag->key == 0UL) if (found_flag->key == 0UL) {
found_flag->error_state = false; found_flag->error_state = false;
found_flag->error_state_inv = !found_flag->error_state;
}
} }
} }
@ -467,6 +478,7 @@ int safety_controller_ack_flag_with_key(enum safety_flag flag, uint32_t key)
if (found_flag) { if (found_flag) {
if (!found_flag->persistent && (found_flag->key == key || !key)) { if (!found_flag->persistent && (found_flag->key == key || !key)) {
found_flag->error_state = false; found_flag->error_state = false;
found_flag->error_state_inv = true;
ret = 0; ret = 0;
} else { } else {
ret = -2; ret = -2;
@ -482,7 +494,7 @@ bool safety_controller_get_flags_by_mask(enum safety_flag mask)
bool ret = false; bool ret = false;
for (i = 0; i < COUNT_OF(flags); i++) { for (i = 0; i < COUNT_OF(flags); i++) {
if ((flags[i].flag & mask) && flags[i].error_state) { if ((flags[i].flag & mask) && error_flag_get_status(&flags[i])) {
ret = true; ret = true;
break; break;
} }
@ -557,7 +569,7 @@ int safety_controller_get_flag_by_index(uint32_t index, bool *status, enum safet
if (index < COUNT_OF(flags)) { if (index < COUNT_OF(flags)) {
if (status) if (status)
*status = flags[index].error_state; *status = error_flag_get_status(&flags[index]);
if (flag_enum) if (flag_enum)
*flag_enum = flags[index].flag; *flag_enum = flags[index].flag;