diff --git a/stm-firmware/include/reflow-controller/safety/safety-config.h b/stm-firmware/include/reflow-controller/safety/safety-config.h index 72244f7..1531d9a 100644 --- a/stm-firmware/include/reflow-controller/safety/safety-config.h +++ b/stm-firmware/include/reflow-controller/safety/safety-config.h @@ -55,7 +55,7 @@ enum analog_value_monitor { ERR_AMON_UC_TEMP = (1<<1), }; -#define ERR_FLAG_ENTRY(errflag, persistency) {.name=#errflag, .flag = (errflag), .error_state = false, .error_state_inv = true, .persistent = (persistency), .key = 0UL} +#define ERR_FLAG_ENTRY(errflag) {.name=#errflag, .flag = (errflag), .error_state = false, .error_state_inv = true, .key = 0UL, .weight = NULL, .persistency = NULL} #define TIM_MON_ENTRY(mon, min, max, flag) {.name=#mon, .monitor = (mon), .associated_flag=(flag), .min_delta = (min), .max_delta = (max), .last = 0ULL, .enabled= false} #define ANA_MON_ENTRY(mon, min_value, max_value, flag) {.name=#mon, .monitor = (mon), .associated_flag=(flag), .min = (min_value), .max = (max_value), .value = 0.0f, .valid = false} #define ERR_FLAG_WEIGHT_ENTRY(_flag, _weight) {.flag = (_flag), .flag_ptr = NULL, .weight = (_weight), .start_dummy = 0x11823344, .end_dummy = 0xAABBCCFD} @@ -106,20 +106,20 @@ enum analog_value_monitor { #define SAFETY_CONFIG_DEFAULT_PERSIST ERR_FLAG_PERSIST_ENTRY(ERR_FLAG_MEAS_ADC_OFF, false), \ ERR_FLAG_PERSIST_ENTRY(ERR_FLAG_MEAS_ADC_WATCHDOG, false), \ ERR_FLAG_PERSIST_ENTRY(ERR_FLAG_MEAS_ADC_UNSTABLE, false), \ - ERR_FLAG_PERSIST_ENTRY(ERR_FLAG_MEAS_ADC_OVERFLOW, false), \ + ERR_FLAG_PERSIST_ENTRY(ERR_FLAG_MEAS_ADC_OVERFLOW, true), \ ERR_FLAG_PERSIST_ENTRY(ERR_FLAG_TIMING_MEAS_ADC, false), \ ERR_FLAG_PERSIST_ENTRY(ERR_FLAG_TIMING_PID, false), \ - ERR_FLAG_PERSIST_ENTRY(ERR_FLAG_AMON_UC_TEMP, false), \ + ERR_FLAG_PERSIST_ENTRY(ERR_FLAG_AMON_UC_TEMP, true), \ ERR_FLAG_PERSIST_ENTRY(ERR_FLAG_AMON_VREF, false), \ - ERR_FLAG_PERSIST_ENTRY(ERR_FLAG_STACK, false), \ - ERR_FLAG_PERSIST_ENTRY(ERR_FLAG_SAFETY_ADC, false), \ - ERR_FLAG_PERSIST_ENTRY(ERR_FLAG_SYSTICK, false), \ - ERR_FLAG_PERSIST_ENTRY(ERR_FLAG_WTCHDG_FIRED, false), \ + ERR_FLAG_PERSIST_ENTRY(ERR_FLAG_STACK, true), \ + ERR_FLAG_PERSIST_ENTRY(ERR_FLAG_SAFETY_ADC, true), \ + ERR_FLAG_PERSIST_ENTRY(ERR_FLAG_SYSTICK, true), \ + ERR_FLAG_PERSIST_ENTRY(ERR_FLAG_WTCHDG_FIRED, true), \ ERR_FLAG_PERSIST_ENTRY(ERR_FLAG_UNCAL, false), \ - ERR_FLAG_PERSIST_ENTRY(ERR_FLAG_DEBUG, false), \ - ERR_FLAG_PERSIST_ENTRY(ERR_FLAG_TIMING_MAIN_LOOP, false), \ - ERR_FLAG_PERSIST_ENTRY(ERR_FLAG_SAFETY_MEM_CORRUPT, false), \ - ERR_FLAG_PERSIST_ENTRY(ERR_FLAG_SAFETY_TAB_CORRUPT, false), + ERR_FLAG_PERSIST_ENTRY(ERR_FLAG_DEBUG, true), \ + ERR_FLAG_PERSIST_ENTRY(ERR_FLAG_TIMING_MAIN_LOOP, true), \ + ERR_FLAG_PERSIST_ENTRY(ERR_FLAG_SAFETY_MEM_CORRUPT, true), \ + ERR_FLAG_PERSIST_ENTRY(ERR_FLAG_SAFETY_TAB_CORRUPT, true), #define SAFETY_CONFIG_DEFAULT_WEIGHTS ERR_FLAG_WEIGHT_ENTRY(ERR_FLAG_MEAS_ADC_OFF, SAFETY_FLAG_CONFIG_WEIGHT_NONE), \ ERR_FLAG_WEIGHT_ENTRY(ERR_FLAG_MEAS_ADC_WATCHDOG, SAFETY_FLAG_CONFIG_WEIGHT_NONE), \ diff --git a/stm-firmware/safety/safety-controller.c b/stm-firmware/safety/safety-controller.c index 40e6ced..f36c923 100644 --- a/stm-firmware/safety/safety-controller.c +++ b/stm-firmware/safety/safety-controller.c @@ -39,12 +39,32 @@ #include #include +#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; +}; + +struct safety_persistency { + 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; - bool persistent; + volatile struct safety_persistency *persistency; + volatile struct safety_weight *weight; uint32_t key; }; @@ -70,40 +90,24 @@ struct analog_mon { uint64_t timestamp; }; -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; -}; - -struct safety_persistency { - uint32_t start_dummy; - bool persistency; - enum safety_flag flag; - volatile struct error_flag *flag_ptr; - uint32_t end_dummy; -}; - static volatile struct error_flag IN_SECTION(.ccm.data) flags[] = { - ERR_FLAG_ENTRY(ERR_FLAG_MEAS_ADC_OFF, false), - ERR_FLAG_ENTRY(ERR_FLAG_MEAS_ADC_WATCHDOG, false), - ERR_FLAG_ENTRY(ERR_FLAG_MEAS_ADC_UNSTABLE, false), - ERR_FLAG_ENTRY(ERR_FLAG_MEAS_ADC_OVERFLOW, true), - ERR_FLAG_ENTRY(ERR_FLAG_TIMING_MEAS_ADC, false), - ERR_FLAG_ENTRY(ERR_FLAG_TIMING_PID, false), - 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), - 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), - ERR_FLAG_ENTRY(ERR_FLAG_SAFETY_MEM_CORRUPT, true), - ERR_FLAG_ENTRY(ERR_FLAG_SAFETY_TAB_CORRUPT, true), + ERR_FLAG_ENTRY(ERR_FLAG_MEAS_ADC_OFF), + ERR_FLAG_ENTRY(ERR_FLAG_MEAS_ADC_WATCHDOG), + ERR_FLAG_ENTRY(ERR_FLAG_MEAS_ADC_UNSTABLE), + ERR_FLAG_ENTRY(ERR_FLAG_MEAS_ADC_OVERFLOW), + ERR_FLAG_ENTRY(ERR_FLAG_TIMING_MEAS_ADC), + ERR_FLAG_ENTRY(ERR_FLAG_TIMING_PID), + ERR_FLAG_ENTRY(ERR_FLAG_AMON_UC_TEMP), + ERR_FLAG_ENTRY(ERR_FLAG_AMON_VREF), + ERR_FLAG_ENTRY(ERR_FLAG_STACK), + ERR_FLAG_ENTRY(ERR_FLAG_SAFETY_ADC), + ERR_FLAG_ENTRY(ERR_FLAG_SYSTICK), + ERR_FLAG_ENTRY(ERR_FLAG_WTCHDG_FIRED), + ERR_FLAG_ENTRY(ERR_FLAG_UNCAL), + ERR_FLAG_ENTRY(ERR_FLAG_DEBUG), + ERR_FLAG_ENTRY(ERR_FLAG_TIMING_MAIN_LOOP), + ERR_FLAG_ENTRY(ERR_FLAG_SAFETY_MEM_CORRUPT), + ERR_FLAG_ENTRY(ERR_FLAG_SAFETY_TAB_CORRUPT), }; static volatile struct timing_mon IN_SECTION(.ccm.data) timings[] = { @@ -122,8 +126,10 @@ static volatile struct analog_mon IN_SECTION(.ccm.data) analog_mons[] = { static const struct safety_weight default_flag_weights[] = { SAFETY_CONFIG_DEFAULT_WEIGHTS }; static const struct safety_persistency default_flag_persistencies[] = {SAFETY_CONFIG_DEFAULT_PERSIST}; + static volatile struct safety_persistency IN_SECTION(.ccm.bss) flag_persistencies[COUNT_OF(default_flag_persistencies)]; static uint32_t IN_SECTION(.ccm.bss) flag_persistencies_crc; + static volatile struct safety_weight IN_SECTION(.ccm.bss) flag_weights[COUNT_OF(default_flag_weights)]; static uint32_t IN_SECTION(.ccm.bss) flag_weight_crc; @@ -178,6 +184,8 @@ static void init_safety_flag_weight_table_from_default(void) for (index = 0; index < COUNT_OF(flag_weights); index++) { current_weight = &flag_weights[index]; current_weight->flag_ptr = find_error_flag(current_weight->flag); + if (current_weight->flag_ptr) + current_weight->flag_ptr->weight = current_weight; } crc_unit_reset(); @@ -197,6 +205,8 @@ static void init_safety_flag_persistencies_from_default(void) for (index = 0; index < COUNT_OF(flag_persistencies); index++) { current_persistency = &flag_persistencies[index]; current_persistency->flag_ptr = find_error_flag(current_persistency->flag); + if (current_persistency->flag_ptr) + current_persistency->flag_ptr->persistency = current_persistency; } crc_unit_reset(); @@ -323,14 +333,13 @@ int safety_controller_report_error_with_key(enum safety_flag flag, uint32_t key) flags[i].error_state_inv = !flags[i].error_state; flags[i].key = key; - if (flags[i].persistent && !old_state) { + if (check_flag_persistent(&flags[i]) && !old_state) { err_mem_entry.counter = 1; err_mem_entry.flag_num = flag_enum_to_flag_no(flags[i].flag); err_mem_entry.type = SAFETY_MEMORY_ERR_ENTRY_FLAG; res = safety_memory_insert_error_entry(&err_mem_entry); - if (res) { + if (res) ret = -12; - } } else { ret = 0; } @@ -600,7 +609,7 @@ int safety_controller_get_flag(enum safety_flag flag, bool *status, bool try_ack found_flag = find_error_flag(flag); if (found_flag) { *status = error_flag_get_status(found_flag); - if (try_ack && !found_flag->persistent) { + if (try_ack && !check_flag_persistent(found_flag)) { /* Flag is generally non persistent * If key is set, this function cannot remove the flag */ @@ -630,7 +639,7 @@ int safety_controller_ack_flag_with_key(enum safety_flag flag, uint32_t key) found_flag = find_error_flag(flag); if (found_flag) { - if (!found_flag->persistent && (found_flag->key == key || !key)) { + if (!check_flag_persistent(found_flag) && (found_flag->key == key || !found_flag->key)) { found_flag->error_state = false; found_flag->error_state_inv = true; ret = 0;