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compare: mhu:d91a1b1da002c4a86c9ba4f4d351cd38cac82781
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mhu:master
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mhu:error-mem-viewer
mhu:v0.5-1
mhu:v0.5
mhu:v0.4
mhu:v0.3
mhu:v0.2-test
mhu:v0.1-hardware-test

3 Commits
1c1d1c4c97 ... d91a1b1da0

Author SHA1 Message Date
Mario Hüttel
d91a1b1da0 Fix #15: Make safety controller use CRC checked settings arrays for weights and persistencies. Weights not yet checked. 2020-09-08 21:46:57 +02:00
Mario Hüttel
004be4ea5c Move safety weights and persistencies to config file 2020-09-08 21:15:23 +02:00
Mario Hüttel
a838bf3af8 Add new Flag: ERR_FLAG_SAFETY_TAB_CORRUPT 2020-09-08 20:15:40 +02:00
2 changed files with 141 additions and 68 deletions
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42
stm-firmware/include/reflow-controller/safety/safety-config.h
View File

@ -40,6 +40,7 @@ enum safety_flag {
ERR_FLAG_DEBUG = (1<<13),
ERR_FLAG_TIMING_MAIN_LOOP = (1<<14),
ERR_FLAG_SAFETY_MEM_CORRUPT = (1<<15),
ERR_FLAG_SAFETY_TAB_CORRUPT = (1<<16),
};
enum timing_monitor {
@ -54,6 +55,11 @@ enum analog_value_monitor {
ERR_AMON_UC_TEMP = (1<<1),
};
#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}
#define ERR_FLAG_PERSIST_ENTRY(_flag, _persist) {.flag = (_flag), .flag_ptr = NULL, .persistency = (_persist), .start_dummy = 0xFF1100BB, .end_dummy = 0xEBB439A2}
/**
* @brief Magic key used to reset the watchdog using the @ref watchdog_ack function
@ -97,4 +103,40 @@ enum analog_value_monitor {
#define SAFETY_CONTROLLER_ADC_DELAY_MS 120
#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, 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, true), \
ERR_FLAG_PERSIST_ENTRY(ERR_FLAG_AMON_VREF, 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, 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), \
ERR_FLAG_WEIGHT_ENTRY(ERR_FLAG_MEAS_ADC_UNSTABLE, SAFETY_FLAG_CONFIG_WEIGHT_NONE), \
ERR_FLAG_WEIGHT_ENTRY(ERR_FLAG_MEAS_ADC_OVERFLOW, SAFETY_FLAG_CONFIG_WEIGHT_NONE), \
ERR_FLAG_WEIGHT_ENTRY(ERR_FLAG_TIMING_MEAS_ADC, SAFETY_FLAG_CONFIG_WEIGHT_NONE), \
ERR_FLAG_WEIGHT_ENTRY(ERR_FLAG_TIMING_PID, SAFETY_FLAG_CONFIG_WEIGHT_NONE), \
ERR_FLAG_WEIGHT_ENTRY(ERR_FLAG_AMON_UC_TEMP, SAFETY_FLAG_CONFIG_WEIGHT_NONE), \
ERR_FLAG_WEIGHT_ENTRY(ERR_FLAG_AMON_VREF, SAFETY_FLAG_CONFIG_WEIGHT_NONE), \
ERR_FLAG_WEIGHT_ENTRY(ERR_FLAG_STACK, SAFETY_FLAG_CONFIG_WEIGHT_NONE), \
ERR_FLAG_WEIGHT_ENTRY(ERR_FLAG_SAFETY_ADC, SAFETY_FLAG_CONFIG_WEIGHT_NONE), \
ERR_FLAG_WEIGHT_ENTRY(ERR_FLAG_SYSTICK, SAFETY_FLAG_CONFIG_WEIGHT_NONE), \
ERR_FLAG_WEIGHT_ENTRY(ERR_FLAG_WTCHDG_FIRED, SAFETY_FLAG_CONFIG_WEIGHT_NONE), \
ERR_FLAG_WEIGHT_ENTRY(ERR_FLAG_UNCAL, SAFETY_FLAG_CONFIG_WEIGHT_NONE), \
ERR_FLAG_WEIGHT_ENTRY(ERR_FLAG_DEBUG, SAFETY_FLAG_CONFIG_WEIGHT_NONE), \
ERR_FLAG_WEIGHT_ENTRY(ERR_FLAG_TIMING_MAIN_LOOP, SAFETY_FLAG_CONFIG_WEIGHT_NONE), \
ERR_FLAG_WEIGHT_ENTRY(ERR_FLAG_SAFETY_MEM_CORRUPT, SAFETY_FLAG_CONFIG_WEIGHT_NONE), \
ERR_FLAG_WEIGHT_ENTRY(ERR_FLAG_SAFETY_TAB_CORRUPT, SAFETY_FLAG_CONFIG_WEIGHT_NONE),
#endif /* __SAFETY_CONFIG_H__ */

165
stm-firmware/safety/safety-controller.c
View File

@ -39,12 +39,32 @@
#include <reflow-controller/safety/safety-memory.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 {
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;
};
@ -70,36 +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;
};
#define ERR_FLAG_ENTRY(errflag, persistency) {.name=#errflag, .flag = (errflag), .error_state = false, .error_state_inv = true, .persistent = (persistency), .key = 0UL}
#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}
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_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[] = {
@ -116,27 +124,14 @@ static volatile struct analog_mon IN_SECTION(.ccm.data) analog_mons[] = {
ERR_FLAG_AMON_UC_TEMP),
};
static const struct safety_weight default_flag_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_UNSTABLE, SAFETY_FLAG_CONFIG_WEIGHT_NONE),
ERR_FLAG_WEIGHT_ENTRY(ERR_FLAG_MEAS_ADC_OVERFLOW, SAFETY_FLAG_CONFIG_WEIGHT_NONE),
ERR_FLAG_WEIGHT_ENTRY(ERR_FLAG_TIMING_MEAS_ADC, SAFETY_FLAG_CONFIG_WEIGHT_NONE),
ERR_FLAG_WEIGHT_ENTRY(ERR_FLAG_TIMING_PID, SAFETY_FLAG_CONFIG_WEIGHT_NONE),
ERR_FLAG_WEIGHT_ENTRY(ERR_FLAG_AMON_UC_TEMP, SAFETY_FLAG_CONFIG_WEIGHT_NONE),
ERR_FLAG_WEIGHT_ENTRY(ERR_FLAG_AMON_VREF, SAFETY_FLAG_CONFIG_WEIGHT_NONE),
ERR_FLAG_WEIGHT_ENTRY(ERR_FLAG_STACK, SAFETY_FLAG_CONFIG_WEIGHT_NONE),
ERR_FLAG_WEIGHT_ENTRY(ERR_FLAG_SAFETY_ADC, SAFETY_FLAG_CONFIG_WEIGHT_NONE),
ERR_FLAG_WEIGHT_ENTRY(ERR_FLAG_SYSTICK, SAFETY_FLAG_CONFIG_WEIGHT_NONE),
ERR_FLAG_WEIGHT_ENTRY(ERR_FLAG_WTCHDG_FIRED, SAFETY_FLAG_CONFIG_WEIGHT_NONE),
ERR_FLAG_WEIGHT_ENTRY(ERR_FLAG_UNCAL, SAFETY_FLAG_CONFIG_WEIGHT_NONE),
ERR_FLAG_WEIGHT_ENTRY(ERR_FLAG_DEBUG, SAFETY_FLAG_CONFIG_WEIGHT_NONE),
ERR_FLAG_WEIGHT_ENTRY(ERR_FLAG_TIMING_MAIN_LOOP, SAFETY_FLAG_CONFIG_WEIGHT_NONE),
ERR_FLAG_WEIGHT_ENTRY(ERR_FLAG_SAFETY_MEM_CORRUPT, SAFETY_FLAG_CONFIG_WEIGHT_NONE),
};
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.data) flag_weight_crc;
static uint32_t IN_SECTION(.ccm.bss) flag_weight_crc;
static int flag_weight_table_crc_check(void)
{
@ -150,6 +145,17 @@ static int flag_weight_table_crc_check(void)
return 0;
}
static int flag_persistency_table_crc_check(void)
{
crc_unit_reset();
crc_unit_input_array((uint32_t*)flag_persistencies, wordsize_of(flag_persistencies));
if (crc_unit_get_crc() != flag_persistencies_crc)
return -1;
return 0;
}
static volatile struct error_flag *find_error_flag(enum safety_flag flag)
{
uint32_t i;
@ -172,12 +178,14 @@ static void init_safety_flag_weight_table_from_default(void)
volatile struct safety_weight *current_weight;
/* Copy the table */
memcpy((void *)flag_weights, default_flag_weights, wordsize_of(flag_weights));
memcpy((void *)flag_weights, default_flag_weights, sizeof(flag_weights));
/* Fill in the flag pointers */
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();
@ -185,6 +193,27 @@ static void init_safety_flag_weight_table_from_default(void)
flag_weight_crc = crc_unit_get_crc();
}
static void init_safety_flag_persistencies_from_default(void)
{
uint32_t index;
volatile struct safety_persistency *current_persistency;
/* Copy values */
memcpy((void *)flag_persistencies, default_flag_persistencies, sizeof(flag_persistencies));
/* Fill in flag pointers */
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();
crc_unit_input_array((uint32_t *)flag_persistencies, wordsize_of(flag_persistencies));
flag_persistencies_crc = crc_unit_get_crc();
}
static bool error_flag_get_status(const volatile struct error_flag *flag)
{
if (flag->error_state == flag->error_state_inv) {
@ -304,14 +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;
}
@ -375,6 +403,7 @@ void safety_controller_init()
stack_check_init_corruption_detect_area();
init_safety_flag_weight_table_from_default();
init_safety_flag_persistencies_from_default();
if (found_memory_state == SAFETY_MEMORY_INIT_CORRUPTED)
safety_controller_report_error(ERR_FLAG_SAFETY_MEM_CORRUPT);
@ -453,13 +482,11 @@ static void safety_controller_handle_safety_adc()
/**
* @brief Check the memory structures.
* @return 0 if okay, != 0 when an error was detected. PANIC mode shall be entered in this case.
*/
static int safety_controller_handle_memory_checks(void)
static void safety_controller_handle_memory_checks(void)
{
static uint64_t ts = 0;
enum safety_memory_state found_state;
int panic_request = 0;
if (systick_ticks_have_passed(ts, 250)) {
ts = systick_get_global_tick();
@ -472,10 +499,18 @@ static int safety_controller_handle_memory_checks(void)
}
}
panic_request = flag_weight_table_crc_check();
/* If flag weight table is broken, reinit to default and set flag */
if (flag_weight_table_crc_check()) {
safety_controller_report_error(ERR_FLAG_SAFETY_TAB_CORRUPT);
init_safety_flag_weight_table_from_default();
}
return panic_request;
/* If persistency table is broken, reinit to default and set flag */
if(flag_persistency_table_crc_check()) {
safety_controller_report_error(ERR_FLAG_SAFETY_TAB_CORRUPT);
init_safety_flag_persistencies_from_default();
}
}
}
static void safety_controller_do_systick_checking()
@ -497,21 +532,17 @@ static void safety_controller_do_systick_checking()
int safety_controller_handle()
{
int panic_requested;
int ret = 0;
safety_controller_check_stack();
safety_controller_handle_safety_adc();
panic_requested = safety_controller_handle_memory_checks();
/* Panic here. If our internal structures are broken, we cannot be sure of anything anymore */
if (panic_requested)
panic_mode();
safety_controller_handle_memory_checks();
safety_controller_do_systick_checking();
safety_controller_process_monitor_checks();
/* TODO: Check flags for PID and HALT */
/* TODO: Check flag weights and trigger appropriate safety action */
ret |= watchdog_ack(WATCHDOG_MAGIC_KEY);
@ -578,7 +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
*/
@ -608,7 +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;