Start documentation for safety RAM. Will be implemented afterwards
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doc/source/firmware/backup-ram.rst
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doc/source/firmware/backup-ram.rst
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.. _backup_ram:
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Safety Backup RAM
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=================
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Overview
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--------
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The STM controller's backup RAM is used to store different kinds of information that shall be preserved if the controller resets.
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The hardware setup is missing a separate powersupply for the controller's backup domain. Therefore, the backup RAM is cleared, when the power is cut.
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The backup RAM is used to store permanent error flags (See :ref:`safety_flags`). This ensures the flags stay present, even if a system reset is performed. The only way to clear them is by cutting the power.
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Because cutting the power is a way to clear the backup RAM, no separate method for clearing the error entries in the backup RAM is defined.
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The backup RAM contents are protected by a `CRC Checksum`_.
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The backup RAM is initialized and checked after boot. If the controller starts from a powered down state,
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the backup RAM is empty. This is detected by an invalid `Header`_ at the beginning of the backup RAM. If this is the case, the safety ocntoller
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will create a valid backup RAM image with a `Header`_, empty `Status Flag Entries`_, an empty `Error Memory`_, and a valid `CRC Checksum`_.
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If the Header is valid during boot (verified by plausible values and correct magic numbers), the backup RAM is CRC checked.
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In case of a CRC error, the Backup RAM is wiped and reinitialized. On top of that, the error flag :ref:`safety_flags_safety_mem_corrupt` is set.
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.. note:: It may be possible that future versions of the hardware include a backup RAM battery / Goldcap. In this case, a way to clear the error memory will be implemented,
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because it will no longer be possible to clear the error memory by cutting the power.
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On top of that, the backup memory will also contain the calibration data.
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Partitioning and Entries
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------------------------
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The backup RAM consists of multiple sections. The memory section are listed below.
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Header
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~~~~~~
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The backup memory header is located at offset address:
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.. doxygendefine:: SAFETY_MEMORY_HEADER_ADDRESS
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The header is defined by the following structure:
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.. doxygenstruct:: safety_memory_header
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The validity of the header is checked, if the magic and inverse amgic fields contain the correct values, and if the offset address pointers
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have values that are located inside the error memory and are not ``0`` or the same value.
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The safety memory header magic is:
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.. doxygendefine:: SAFETY_MEMORY_MAGIC
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Status Flag Entries
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~~~~~~~~~~~~~~~~~~~
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Error Memory
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~~~~~~~~~~~~
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CRC Checksum
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~~~~~~~~~~~~
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@ -7,3 +7,14 @@ Error Handling
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Panic Mode
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----------
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.. _safety_error_mem:
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Error memory
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------------
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Permanent errors are stored in the backup RAM of the STM. This ensures, that errors can be read even after a full system reset has occured.
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.. seealso:: :ref:`backup_ram`
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@ -73,3 +73,21 @@ persistent self-clearing Stops PID Panic Mode
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========== ============= ============= ===========
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no yes no no
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========== ============= ============= ===========
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.. _safety_flags_safety_mem_corrupt:
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ERR_FLAG_SAFETY_MEM_CORRUPT
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---------------------------
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``ERR_FLAG_SAFETY_MEM_CORRUPT`` is set during the initialization of the controller, in case a corrupted safety memory is encountered.
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In this case the error memory is reinitialized and the flag is set in the error memory. Afer a reboot it will stay asserted until the
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safety backup memory is cleared
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.. seealso:: :ref:`backup_ram`
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========== ============= ============= ===========
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persistent self-clearing Stops PID Panic Mode
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========== ============= ============= ===========
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yes no yes no
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========== ============= ============= ===========
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@ -16,4 +16,5 @@ which forces the output zero, but does not allow any more interaction.
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:maxdepth: 2
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flags
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backup-ram
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error-handling
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@ -0,0 +1,52 @@
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/* Reflow Oven Controller
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*
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* Copyright (C) 2020 Mario Hüttel <mario.huettel@gmx.net>
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*
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* This file is part of the Reflow Oven Controller Project.
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*
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* The reflow oven controller is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License version 2 as
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* published by the Free Software Foundation.
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*
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* The Reflow Oven Control Firmware is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with the reflow oven controller project.
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* If not, see <http://www.gnu.org/licenses/>.
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*/
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#ifndef __SAFETY_MEMORY_H__
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#define __SAFETY_MEMORY_H__
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/**
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* @brief Magic number to signal a valid safety memory header.
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*/
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#define SAFETY_MEMORY_MAGIC 0x12AA5CB7
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/**
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* @brief Offset address for the safety_memory_header.
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* @note Any other value than 0UL doesn't really make sense. Therfore, this should not be changed.
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*/
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#define SAFETY_MEMORY_HEADER_ADDRESS 0UL
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/**
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* @brief Safety memory header
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*/
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struct safety_memory_header {
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uint32_t magic; /**< @brief Magic. Set to SAFETY_MEMORY_MAGIC */
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uint32_t boot_status_offset; /**< Offset of the safety_memory_boot_status struct (in 32 bit words)*/
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uint32_t err_memory_offset; /**< Offset of the error memory */
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uint32_t err_memory_end; /**< End of the error memory. This points to the word after the error memory, containing the CRC of the whole backup RAM. */
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uint32_t magic_i; /**< @brief Invers Magic. Set to ~SAFETY_MEMORY_MAGIC */
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};
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struct safety_memory_boot_status {
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uint32_t reboot_to_bootloader;
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uint32_t code_updated;
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}
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#endif /* __SAFETY_MEMORY_H__ */
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@ -0,0 +1,50 @@
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/* Reflow Oven Controller
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*
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* Copyright (C) 2020 Mario Hüttel <mario.huettel@gmx.net>
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*
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* This file is part of the Reflow Oven Controller Project.
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*
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* The reflow oven controller is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License version 2 as
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* published by the Free Software Foundation.
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*
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* The Reflow Oven Control Firmware is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with the reflow oven controller project.
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* If not, see <http://www.gnu.org/licenses/>.
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*/
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#ifndef __WATCHDOG_H__
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#define __WATCHDOG_H__
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#include <reflow-controller/safety/safety-config.h>
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#include <stdint.h>
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#include <stdbool.h>
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/**
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* @brief Setup the watchdog for the safety controller
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* @param Prescaler to use for the 32 KHz LSI clock
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* @return 0 if successful
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* @note Once the watchdog is enabled, it cannot be turned off!
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*/
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int watchdog_setup(uint8_t prescaler);
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/**
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* @brief Reset watchdog counter
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* @param magic Magic value to prevent this fuinction from being called randomly
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* @return 0 if successful
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*/
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int watchdog_ack(uint32_t magic);
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/**
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* @brief Check if reset was generated by the watchdog.
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* @note This also clears the relevant flag, so the function will reutrn false when called a second time
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* @return
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*/
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bool watchdog_check_reset_source(void);
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#endif /* __WATCHDOG_H__ */
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22
stm-firmware/safety/safety-memory.c
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stm-firmware/safety/safety-memory.c
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/* Reflow Oven Controller
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*
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* Copyright (C) 2020 Mario Hüttel <mario.huettel@gmx.net>
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*
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* This file is part of the Reflow Oven Controller Project.
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*
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* The reflow oven controller is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License version 2 as
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* published by the Free Software Foundation.
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*
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* The Reflow Oven Control Firmware is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with the reflow oven controller project.
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* If not, see <http://www.gnu.org/licenses/>.
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*/
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#include <reflow-controller/safety/safety-memory.h>
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