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Issue #20: Add stack checking based on protection area between stack and heap

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This commit is contained in:
Mario Hüttel 2020-09-07 21:52:53 +02:00
parent 452abfdd5c
commit dd0ee47d86
3 changed files with 40 additions and 10 deletions
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8
stm-firmware/safety/safety-controller.c
View File

@ -347,6 +347,8 @@ void safety_controller_init()
/* This is usually done by the safety memory already. But, since this module also uses the CRC... */
crc_unit_init();
stack_check_init_corruption_detect_area();
init_safety_flag_weight_table_from_default();
if (found_memory_state == SAFETY_MEMORY_INIT_CORRUPTED)
@ -374,6 +376,10 @@ static void safety_controller_check_stack()
free_stack = stack_check_get_free();
if (free_stack < SAFETY_MIN_STACK_FREE)
safety_controller_report_error(ERR_FLAG_STACK);
if (stack_check_corruption_detect_area()) {
safety_controller_report_error(ERR_FLAG_STACK);
}
}
static void safety_controller_handle_safety_adc()
@ -430,7 +436,7 @@ static int safety_controller_handle_memory_checks(void)
enum safety_memory_state found_state;
int panic_request = 0;
if (systick_ticks_have_passed(ts, 1000)) {
if (systick_ticks_have_passed(ts, 250)) {
ts = systick_get_global_tick();
/* Check the safety memory */

36
stm-firmware/stack-check.c
View File

@ -21,6 +21,7 @@
#include <reflow-controller/stack-check.h>
#include <stdint.h>
#include <stm-periph/rng.h>
#include <stm-periph/crc-unit.h>
extern char __ld_top_of_stack;
extern char __ld_end_stack;
@ -47,22 +48,27 @@ int32_t stack_check_get_free()
return stack_ptr - upper_heap_boundary;
}
#pragma GCC diagnostic push
#pragma GCC diagnostic ignored "-Warray-bounds"
extern uint32_t __ld_start_stack_corruption_detect_area;
extern uint32_t __ld_end_stack_corruption_detect_area;
int stack_check_init_corruption_detect_area(void)
{
volatile uint32_t *ptr = &__ld_start_stack_corruption_detect_area;
volatile uint32_t *end_ptr = &__ld_end_stack_corruption_detect_area;
uint32_t *ptr = &__ld_start_stack_corruption_detect_area;
uint32_t *end_ptr = &__ld_end_stack_corruption_detect_area;
const uint32_t area_size_in_words = &__ld_end_stack_corruption_detect_area -
&__ld_start_stack_corruption_detect_area;
enum random_number_error rng_stat;
uint32_t rng_number;
uint32_t crc_val;
int ret = 0;
end_ptr--;
random_number_gen_init(false);
while (ptr < end_ptr) {
while (ptr < &end_ptr[-1]) {
rng_stat = random_number_gen_get_number(&rng_number, true);
if (rng_stat != RNG_ERROR_OK) {
@ -74,13 +80,31 @@ int stack_check_init_corruption_detect_area(void)
ptr++;
}
/* Init CRC unit and leave it on */
crc_unit_init();
crc_unit_reset();
crc_unit_input_array(&__ld_start_stack_corruption_detect_area, area_size_in_words - 1);
crc_val = crc_unit_get_crc();
end_ptr[-1] = crc_val;
exit_deinit_rng:
random_number_gen_deinit();
return ret;
}
#pragma GCC diagnostic pop
int stack_check_corruption_detect_area(void)
{
const uint32_t area_size_in_words = &__ld_end_stack_corruption_detect_area -
&__ld_start_stack_corruption_detect_area;
crc_unit_reset();
crc_unit_input_array(&__ld_start_stack_corruption_detect_area, area_size_in_words);
if (crc_unit_get_crc() == 0UL) {
return 0;
} else {
return -1;
}
}

6
stm-firmware/stm32f407vet6_flash.ld
View File

@ -25,7 +25,7 @@
/* USER PARAMETERS */
__ld_stack_size = 0x3000;
__ld_heap_size = 0x2100;
__stack_corruption_area_size = 64;
__stack_corruption_area_size = 128;
/* END OF USER PARAMETERS */
ENTRY(Reset_Handler)
@ -151,12 +151,12 @@ SECTIONS
__ld_sheap = .;
. = . + __ld_heap_size;
__ld_eheap = .;
. = ALIGN(4)
. = ALIGN(4);
__ld_start_stack_corruption_detect_area = .;
. = . + __stack_corruption_area_size;
. = ALIGN(4);
__ld_end_stack_corruption_detect_area = .;
__ld_end_stack = .
__ld_end_stack = .;
. = . + __ld_stack_size;
. = ALIGN(4);
} >RAM