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Add timing monitor for main loop and add monitors to safety flag command

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This commit is contained in:
Mario Hüttel
2020-08-16 12:34:41 +02:00
parent fa3c980207
commit d1d2d514bd
5 changed files with 80 additions and 1 deletions
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45
stm-firmware/safety/safety-controller.c
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@@ -48,6 +48,7 @@ struct timing_mon {
uint64_t min_delta;
uint64_t max_delta;
uint64_t last;
uint64_t calculated_delta;
bool enabled;
};
@@ -87,12 +88,14 @@ static volatile struct error_flag flags[] = {
ERR_FLAG_ENTRY(ERR_FLAG_WTCHDG_FIRED, true),
ERR_FLAG_ENTRY(ERR_FLAG_UNCAL, false),
ERR_FLAG_ENTRY(ERR_FLAG_DEBUG, true),
ERR_FLAG_ENTRY(ERR_FLAG_TIMING_MAIN_LOOP, false),
};
static volatile struct timing_mon timings[] = {
TIM_MON_ENTRY(ERR_TIMING_PID, 2, 1000, ERR_FLAG_TIMING_PID),
TIM_MON_ENTRY(ERR_TIMING_MEAS_ADC, 0, 50, ERR_FLAG_TIMING_MEAS_ADC),
TIM_MON_ENTRY(ERR_TIMING_SAFETY_ADC, 10, SAFETY_CONTROLLER_ADC_DELAY_MS + 1000, ERR_FLAG_SAFETY_ADC),
TIM_MON_ENTRY(ERR_TIMING_MAIN_LOOP, 0, 1000, ERR_FLAG_TIMING_MAIN_LOOP),
};
static volatile struct analog_mon analog_mons[] = {
@@ -217,6 +220,7 @@ void safety_controller_report_timing(enum timing_monitor monitor)
}
}
tim->calculated_delta = timestamp - tim->last;
tim->last = timestamp;
tim->enabled = true;
}
@@ -463,6 +467,11 @@ uint32_t safety_controller_get_analog_monitor_count()
return COUNT_OF(analog_mons);
}
uint32_t safety_controller_get_timing_monitor_count()
{
return COUNT_OF(timings);
}
int safety_controller_get_analog_mon_name_by_index(uint32_t index, char *buffer, size_t buffsize)
{
if (index >= COUNT_OF(analog_mons))
@@ -491,6 +500,20 @@ int safety_controller_get_flag_name_by_index(uint32_t index, char *buffer, size_
return 0;
}
int safety_controller_get_timing_mon_name_by_index(uint32_t index, char *buffer, size_t buffsize)
{
if (index >= COUNT_OF(timings))
return -1;
if (buffsize == 0 || !buffer)
return -1000;
strncpy(buffer, timings[index].name, buffsize);
buffer[buffsize - 1] = 0;
return 0;
}
int safety_controller_get_flag_by_index(uint32_t index, bool *status, enum safety_flag *flag_enum)
{
int ret = -1;
@@ -543,4 +566,26 @@ int safety_controller_get_analog_mon_by_index(uint32_t index, struct analog_moni
return 0;
}
int safety_controller_get_timing_mon_by_index(uint32_t index, struct timing_monitor_info *info)
{
volatile struct timing_mon *mon;
if (!info)
return -1002;
if (index >= COUNT_OF(timings)) {
return -1001;
}
mon = &timings[index];
info->max = mon->max_delta;
info->min = mon->min_delta;
info->enabled = mon->enabled;
info->last_run = mon->last;
info->delta = mon->calculated_delta;
return 0;
}
/** @} */