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Fix #15: Make safety controller use CRC checked settings arrays for weights and persistencies. Weights not yet checked.

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This commit is contained in:
Mario Hüttel 2020-09-08 21:46:57 +02:00
parent 004be4ea5c
commit d91a1b1da0
2 changed files with 59 additions and 50 deletions
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22
stm-firmware/include/reflow-controller/safety/safety-config.h
View File

@ -55,7 +55,7 @@ enum analog_value_monitor {
ERR_AMON_UC_TEMP = (1<<1), 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 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 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} #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), \ #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_WATCHDOG, false), \
ERR_FLAG_PERSIST_ENTRY(ERR_FLAG_MEAS_ADC_UNSTABLE, 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_MEAS_ADC, false), \
ERR_FLAG_PERSIST_ENTRY(ERR_FLAG_TIMING_PID, 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_AMON_VREF, false), \
ERR_FLAG_PERSIST_ENTRY(ERR_FLAG_STACK, false), \ ERR_FLAG_PERSIST_ENTRY(ERR_FLAG_STACK, true), \
ERR_FLAG_PERSIST_ENTRY(ERR_FLAG_SAFETY_ADC, false), \ ERR_FLAG_PERSIST_ENTRY(ERR_FLAG_SAFETY_ADC, true), \
ERR_FLAG_PERSIST_ENTRY(ERR_FLAG_SYSTICK, false), \ ERR_FLAG_PERSIST_ENTRY(ERR_FLAG_SYSTICK, true), \
ERR_FLAG_PERSIST_ENTRY(ERR_FLAG_WTCHDG_FIRED, false), \ ERR_FLAG_PERSIST_ENTRY(ERR_FLAG_WTCHDG_FIRED, true), \
ERR_FLAG_PERSIST_ENTRY(ERR_FLAG_UNCAL, false), \ ERR_FLAG_PERSIST_ENTRY(ERR_FLAG_UNCAL, false), \
ERR_FLAG_PERSIST_ENTRY(ERR_FLAG_DEBUG, false), \ ERR_FLAG_PERSIST_ENTRY(ERR_FLAG_DEBUG, true), \
ERR_FLAG_PERSIST_ENTRY(ERR_FLAG_TIMING_MAIN_LOOP, false), \ ERR_FLAG_PERSIST_ENTRY(ERR_FLAG_TIMING_MAIN_LOOP, true), \
ERR_FLAG_PERSIST_ENTRY(ERR_FLAG_SAFETY_MEM_CORRUPT, false), \ ERR_FLAG_PERSIST_ENTRY(ERR_FLAG_SAFETY_MEM_CORRUPT, true), \
ERR_FLAG_PERSIST_ENTRY(ERR_FLAG_SAFETY_TAB_CORRUPT, false), 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), \ #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), \ ERR_FLAG_WEIGHT_ENTRY(ERR_FLAG_MEAS_ADC_WATCHDOG, SAFETY_FLAG_CONFIG_WEIGHT_NONE), \

87
stm-firmware/safety/safety-controller.c
View File

@ -39,12 +39,32 @@
#include <reflow-controller/safety/safety-memory.h> #include <reflow-controller/safety/safety-memory.h>
#include <helper-macros/helper-macros.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;
};
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 { struct error_flag {
const char *name; const char *name;
enum safety_flag flag; enum safety_flag flag;
bool error_state; bool error_state;
bool error_state_inv; bool error_state_inv;
bool persistent; volatile struct safety_persistency *persistency;
volatile struct safety_weight *weight;
uint32_t key; uint32_t key;
}; };
@ -70,40 +90,24 @@ struct analog_mon {
uint64_t timestamp; 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[] = { 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_OFF),
ERR_FLAG_ENTRY(ERR_FLAG_MEAS_ADC_WATCHDOG, false), ERR_FLAG_ENTRY(ERR_FLAG_MEAS_ADC_WATCHDOG),
ERR_FLAG_ENTRY(ERR_FLAG_MEAS_ADC_UNSTABLE, false), ERR_FLAG_ENTRY(ERR_FLAG_MEAS_ADC_UNSTABLE),
ERR_FLAG_ENTRY(ERR_FLAG_MEAS_ADC_OVERFLOW, true), ERR_FLAG_ENTRY(ERR_FLAG_MEAS_ADC_OVERFLOW),
ERR_FLAG_ENTRY(ERR_FLAG_TIMING_MEAS_ADC, false), ERR_FLAG_ENTRY(ERR_FLAG_TIMING_MEAS_ADC),
ERR_FLAG_ENTRY(ERR_FLAG_TIMING_PID, false), ERR_FLAG_ENTRY(ERR_FLAG_TIMING_PID),
ERR_FLAG_ENTRY(ERR_FLAG_AMON_UC_TEMP, true), ERR_FLAG_ENTRY(ERR_FLAG_AMON_UC_TEMP),
ERR_FLAG_ENTRY(ERR_FLAG_AMON_VREF, false), ERR_FLAG_ENTRY(ERR_FLAG_AMON_VREF),
ERR_FLAG_ENTRY(ERR_FLAG_STACK, true), ERR_FLAG_ENTRY(ERR_FLAG_STACK),
ERR_FLAG_ENTRY(ERR_FLAG_SAFETY_ADC, true), ERR_FLAG_ENTRY(ERR_FLAG_SAFETY_ADC),
ERR_FLAG_ENTRY(ERR_FLAG_SYSTICK, true), ERR_FLAG_ENTRY(ERR_FLAG_SYSTICK),
ERR_FLAG_ENTRY(ERR_FLAG_WTCHDG_FIRED, true), ERR_FLAG_ENTRY(ERR_FLAG_WTCHDG_FIRED),
ERR_FLAG_ENTRY(ERR_FLAG_UNCAL, false), ERR_FLAG_ENTRY(ERR_FLAG_UNCAL),
ERR_FLAG_ENTRY(ERR_FLAG_DEBUG, true), ERR_FLAG_ENTRY(ERR_FLAG_DEBUG),
ERR_FLAG_ENTRY(ERR_FLAG_TIMING_MAIN_LOOP, false), ERR_FLAG_ENTRY(ERR_FLAG_TIMING_MAIN_LOOP),
ERR_FLAG_ENTRY(ERR_FLAG_SAFETY_MEM_CORRUPT, true), ERR_FLAG_ENTRY(ERR_FLAG_SAFETY_MEM_CORRUPT),
ERR_FLAG_ENTRY(ERR_FLAG_SAFETY_TAB_CORRUPT, true), ERR_FLAG_ENTRY(ERR_FLAG_SAFETY_TAB_CORRUPT),
}; };
static volatile struct timing_mon IN_SECTION(.ccm.data) timings[] = { 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_weight default_flag_weights[] = { SAFETY_CONFIG_DEFAULT_WEIGHTS };
static const struct safety_persistency default_flag_persistencies[] = {SAFETY_CONFIG_DEFAULT_PERSIST}; 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 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 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 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; 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++) { for (index = 0; index < COUNT_OF(flag_weights); index++) {
current_weight = &flag_weights[index]; current_weight = &flag_weights[index];
current_weight->flag_ptr = find_error_flag(current_weight->flag); 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(); 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++) { for (index = 0; index < COUNT_OF(flag_persistencies); index++) {
current_persistency = &flag_persistencies[index]; current_persistency = &flag_persistencies[index];
current_persistency->flag_ptr = find_error_flag(current_persistency->flag); 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(); 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].error_state_inv = !flags[i].error_state;
flags[i].key = key; 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.counter = 1;
err_mem_entry.flag_num = flag_enum_to_flag_no(flags[i].flag); err_mem_entry.flag_num = flag_enum_to_flag_no(flags[i].flag);
err_mem_entry.type = SAFETY_MEMORY_ERR_ENTRY_FLAG; err_mem_entry.type = SAFETY_MEMORY_ERR_ENTRY_FLAG;
res = safety_memory_insert_error_entry(&err_mem_entry); res = safety_memory_insert_error_entry(&err_mem_entry);
if (res) { if (res)
ret = -12; ret = -12;
}
} else { } else {
ret = 0; 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); found_flag = find_error_flag(flag);
if (found_flag) { if (found_flag) {
*status = error_flag_get_status(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 /* 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
*/ */
@ -630,7 +639,7 @@ int safety_controller_ack_flag_with_key(enum safety_flag flag, uint32_t key)
found_flag = find_error_flag(flag); found_flag = find_error_flag(flag);
if (found_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 = false;
found_flag->error_state_inv = true; found_flag->error_state_inv = true;
ret = 0; ret = 0;