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reflow-oven-control-sw/stm-firmware/safety/safety-controller.c

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/* Reflow Oven Controller
*
* Copyright (C) 2020 Mario Hüttel <mario.huettel@gmx.net>
*
* This file is part of the Reflow Oven Controller Project.
*
* The reflow oven controller is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License version 2 as
* published by the Free Software Foundation.
*
* The Reflow Oven Control Firmware is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with the reflow oven controller project.
* If not, see <http://www.gnu.org/licenses/>.
*/
/**
* @addtogroup safety-controller
* @{
*/
#include <reflow-controller/safety/safety-controller.h>
#include <reflow-controller/safety/safety-config.h>
#include <reflow-controller/safety/watchdog.h>
#include <reflow-controller/safety/safety-adc.h>
#include <reflow-controller/safety/stack-check.h>
#include <reflow-controller/hw-version-detect.h>
#include <helper-macros/helper-macros.h>
#include <stm-periph/crc-unit.h>
#include <reflow-controller/systick.h>
#include <reflow-controller/safety/fault.h>
#include <stm32/stm32f4xx.h>
#include <cmsis/core_cm4.h>
#include <stddef.h>
#include <string.h>
#include <reflow-controller/safety/safety-memory.h>
#include <reflow-controller/oven-driver.h>
#include <helper-macros/helper-macros.h>
#include <stm-periph/rcc-manager.h>
#include <reflow-controller/temp-converter.h>
#include <reflow-controller/adc-meas.h>
#include <reflow-controller/periph-config/safety-adc-hwcfg.h>
/**
* @brief Macro that checks if a given @ref error_flag is persistent
*/
#define check_flag_persistent(flag) ((flag)->persistence && (flag)->persistence->persistence)
/**
* @brief Macro that retrieves the flag weight of a given @ref error_flag
*
* If no flag weight table is present, the flag is evaluated as SAFETY_FLAG_CONFIG_WEIGHT_PANIC
*/
#define get_flag_weight(flag) ((flag)->weight ? ((flag)->weight->weight) : SAFETY_FLAG_CONFIG_WEIGHT_PANIC)
/**
* @brief Safety controller internal structure implementing a safety flag weight.
*/
struct safety_weight {
/** @brief Dummy value. This seeds the CRC */
uint32_t start_dummy;
/** @brief The safety flag's weight */
enum config_weight weight;
/** @brief The enum value of the flag this weight corresponds to */
enum safety_flag flag;
/** @brief the flag, this weight corresponds to */
volatile struct error_flag *flag_ptr;
/** @brief Dummy value. This seeds the CRC */
uint32_t end_dummy;
};
/**
* @brief Safety controller internal struct implementing a flag persistence entry
*/
struct safety_persistence {
/** @brief Dummy value. This seeds the CRC */
uint32_t start_dummy;
/** @brief Corresponding flag is persistent and cannot be cleared */
bool persistence;
/** @brief Corresponding safety flag's enum value */
enum safety_flag flag;
/** @brief Corresponding safety error flag */
volatile struct error_flag *flag_ptr;
/** @brief Dummy value. This seeds the CRC */
uint32_t end_dummy;
};
/**
* @brief Safety controller internal struct implementing an error flag
*/
struct error_flag {
/** @brief Name of the error flag */
const char *name;
/** @brief Enum value of this safety flag */
enum safety_flag flag;
/** @brief The flag's state. True is errorneous. */
bool error_state;
/** @brief Not the flag's state. This always has to be inverted to @ref error_flag::error_state */
bool error_state_inv;
/** @brief Persistence entry of this flag */
volatile struct safety_persistence *persistence;
/** @brief Weight entry of this flag */
volatile struct safety_weight *weight;
/** @brief Key needed to remove this safety flag. If key == 0, no key is set and
* the flag can be cleared by all code
*/
uint32_t key;
};
struct timing_mon {
const char *name;
enum timing_monitor monitor;
enum safety_flag associated_flag;
uint64_t min_delta;
uint64_t max_delta;
uint64_t last;
uint64_t calculated_delta;
bool enabled;
};
struct analog_mon {
const char *name;
enum analog_value_monitor monitor;
enum safety_flag associated_flag;
float min;
float max;
float value;
bool valid;
uint64_t timestamp;
};
struct overtemp_config {
uint32_t crc_dummy_seed;
float overtemp_deg_celsius;
float overtemp_equiv_resistance;
uint32_t crc;
};
struct flash_crcs {
uint32_t start_magic;
uint32_t crc_section_text;
uint32_t crc_section_data;
uint32_t crc_section_ccm_data;
uint32_t crc_section_vectors;
uint32_t end_magic;
};
struct crc_monitor_register {
const volatile void *reg_addr;
uint32_t mask;
uint8_t size;
};
#define CRC_MON_REGISTER_ENTRY(_addr, _mask, _size) {.reg_addr = &(_addr), .mask = (_mask), .size = (_size)}
struct crc_mon {
/**
* @brief Array of registers to monitor. Terminated by NULL sentinel!
*/
const struct crc_monitor_register *registers;
const enum crc_monitor monitor;
const uint32_t pw;
const enum safety_flag flag_to_set;
uint32_t expected_crc;
uint32_t expected_crc_inv;
uint32_t last_crc;
bool active;
};
/**
* @brief All safety error flags.
*/
static volatile struct error_flag IN_SECTION(.ccm.data) flags[] = {
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),
ERR_FLAG_ENTRY(ERR_FLAG_AMON_SUPPLY_VOLT),
ERR_FLAG_ENTRY(ERR_FLAG_OVERTEMP),
ERR_FLAG_ENTRY(ERR_FLAG_FLASH_CRC_CODE),
ERR_FLAG_ENTRY(ERR_FLAG_FLASH_CRC_DATA),
ERR_FLAG_ENTRY(ERR_FLAG_CFG_CRC_MEAS_ADC),
ERR_FLAG_ENTRY(ERR_FLAG_CFG_CRC_SAFETY_ADC),
};
/**
* @brief All timing monitors
*/
static volatile struct timing_mon IN_SECTION(.ccm.data) timings[] = {
TIM_MON_ENTRY(ERR_TIMING_PID, 2, 5000, 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),
};
/**
* @brief All analog value monitors
*/
static volatile struct analog_mon IN_SECTION(.ccm.data) analog_mons[] = {
ANA_MON_ENTRY(ERR_AMON_VREF, SAFETY_ADC_VREF_MVOLT - SAFETY_ADC_VREF_TOL_MVOLT,
SAFETY_ADC_VREF_MVOLT + SAFETY_ADC_VREF_TOL_MVOLT, ERR_FLAG_AMON_VREF),
ANA_MON_ENTRY(ERR_AMON_UC_TEMP, SAFETY_ADC_TEMP_LOW_LIM, SAFETY_ADC_TEMP_HIGH_LIM,
ERR_FLAG_AMON_UC_TEMP),
ANA_MON_ENTRY(ERR_AMON_SUPPLY_VOLT, SAFETY_ADC_SUPPLY_MVOLT - SAFETY_ADC_SUPPLY_TOL_MVOLT,
SAFETY_ADC_SUPPLY_MVOLT + SAFETY_ADC_SUPPLY_TOL_MVOLT,
ERR_FLAG_AMON_SUPPLY_VOLT),
};
/**
* @brief The default flag weights, that are loaded on boot.
*/
static const struct safety_weight default_flag_weights[] = { SAFETY_CONFIG_DEFAULT_WEIGHTS };
/**
* @brief The default flag persistencies, that are loaded on boot.
*/
static const struct safety_persistence default_flag_persistencies[] = {SAFETY_CONFIG_DEFAULT_PERSIST};
/**
* @brief The working copy of the flag persistence table. It is protected by the @ref flag_persistencies_crc
* @note This is stored in CCM RAM
*/
static volatile struct safety_persistence IN_SECTION(.ccm.bss) flag_persistencies[COUNT_OF(default_flag_persistencies)];
/**
* @brief The CRC of the flag weight table @ref flag_persistencies.
*
* The CRC is calculated using the internal CRC module of the STM32F407 controller.
* See the refernece manual for the polynomial.
*
* @note This is stored in CCM RAM.
*/
static uint32_t IN_SECTION(.ccm.bss) flag_persistencies_crc;
/**
* @brief The working copy of the flag weight table. It is protected by the @ref flag_weight_crc.
* @note This is stored in CCM RAM
*/
static volatile struct safety_weight IN_SECTION(.ccm.bss) flag_weights[COUNT_OF(default_flag_weights)];
/**
* @brief The CRC of the flag weight table @ref flag_weights.
*
* The CRC is calculated using the internal CRC module of the STM32F407 controller.
* See the refernece manual for the polynomial.
*
* @note This is stored in CCM RAM.
*/
static uint32_t IN_SECTION(.ccm.bss) flag_weight_crc;
/**
* @brief Configuration struct containing the overtemperature flag configuration
*/
static struct overtemp_config IN_SECTION(.ccm.bss) safety_controller_overtemp_config;
static const struct crc_monitor_register meas_adc_crc_regs[] = {
CRC_MON_REGISTER_ENTRY(ADC_PT1000_PERIPH->CR1, 0xFFFFFFFF, 4),
CRC_MON_REGISTER_ENTRY(ADC_PT1000_PERIPH->CR2, ADC_CR2_ADON | ADC_CR2_CONT | ADC_CR2_ALIGN |
ADC_CR2_DMA | ADC_CR2_DDS | ADC_CR2_EOCS | ADC_CR2_EXTEN | ADC_CR2_EXTSEL, 4),
CRC_MON_REGISTER_ENTRY(ADC_PT1000_PERIPH->SMPR1, 0xFFFFFFFF, 4),
CRC_MON_REGISTER_ENTRY(ADC_PT1000_PERIPH->SMPR2, 0xFFFFFFFF, 4),
CRC_MON_REGISTER_ENTRY(ADC_PT1000_PERIPH->HTR, ADC_HTR_HT, 4),
CRC_MON_REGISTER_ENTRY(ADC_PT1000_PERIPH->LTR, ADC_LTR_LT, 4),
CRC_MON_REGISTER_ENTRY(ADC_PT1000_PERIPH->SQR1, ADC_SQR1_L |
ADC_SQR1_SQ16 | ADC_SQR1_SQ15 | ADC_SQR1_SQ14 | ADC_SQR1_SQ13, 4),
CRC_MON_REGISTER_ENTRY(ADC_PT1000_PERIPH->SQR2,
ADC_SQR2_SQ12 | ADC_SQR2_SQ11 | ADC_SQR2_SQ10 | ADC_SQR2_SQ9 |
ADC_SQR2_SQ8 | ADC_SQR2_SQ7, 4),
CRC_MON_REGISTER_ENTRY(ADC_PT1000_PERIPH->SQR3, ADC_SQR3_SQ6 | ADC_SQR3_SQ5 | ADC_SQR3_SQ4 |
ADC_SQR3_SQ3| ADC_SQR3_SQ2 | ADC_SQR3_SQ1, 4),
{NULL, 0, 0}
};
static const struct crc_monitor_register safety_adc_crc_regs[] = {
CRC_MON_REGISTER_ENTRY(SAFETY_ADC_ADC_PERIPHERAL->CR1, 0xFFFFFFFF, 4),
CRC_MON_REGISTER_ENTRY(SAFETY_ADC_ADC_PERIPHERAL->CR2, ADC_CR2_ADON | ADC_CR2_CONT | ADC_CR2_ALIGN |
ADC_CR2_DMA | ADC_CR2_DDS | ADC_CR2_EOCS | ADC_CR2_EXTEN | ADC_CR2_EXTSEL, 4),
CRC_MON_REGISTER_ENTRY(SAFETY_ADC_ADC_PERIPHERAL->SMPR1, 0xFFFFFFFF, 4),
CRC_MON_REGISTER_ENTRY(SAFETY_ADC_ADC_PERIPHERAL->SMPR2, 0xFFFFFFFF, 4),
CRC_MON_REGISTER_ENTRY(SAFETY_ADC_ADC_PERIPHERAL->SQR1, ADC_SQR1_L |
ADC_SQR1_SQ16 | ADC_SQR1_SQ15 | ADC_SQR1_SQ14 | ADC_SQR1_SQ13, 4),
CRC_MON_REGISTER_ENTRY(SAFETY_ADC_ADC_PERIPHERAL->SQR2,
ADC_SQR2_SQ12 | ADC_SQR2_SQ11 | ADC_SQR2_SQ10 | ADC_SQR2_SQ9 |
ADC_SQR2_SQ8 | ADC_SQR2_SQ7, 4),
CRC_MON_REGISTER_ENTRY(SAFETY_ADC_ADC_PERIPHERAL->SQR3, ADC_SQR3_SQ6 | ADC_SQR3_SQ5 | ADC_SQR3_SQ4 |
ADC_SQR3_SQ3| ADC_SQR3_SQ2 | ADC_SQR3_SQ1, 4),
{NULL, 0, 0}
};
static struct crc_mon IN_SECTION(.ccm.data) crc_monitors[] =
{
{
.registers = meas_adc_crc_regs,
.monitor = ERR_CRC_MON_MEAS_ADC,
.pw = SAFETY_CRC_MON_MEAS_ADC_PW,
.flag_to_set = ERR_FLAG_CFG_CRC_MEAS_ADC,
.expected_crc = 0UL,
.expected_crc_inv = ~0UL,
.last_crc = 0UL,
.active = false,
},
{
.registers = safety_adc_crc_regs,
.monitor = ERR_CRC_MON_SAFETY_ADC,
.pw = SAFETY_CRC_MON_SAFETY_ADC_PW,
.flag_to_set = ERR_FLAG_CFG_CRC_SAFETY_ADC,
.expected_crc = 0UL,
.expected_crc_inv = ~0UL,
.last_crc = 0UL,
.active = false,
},
};
/**
* @brief Configure the overtemperature flag's settings
* @param over_temperature Temperature to set the limit to.
*/
static void set_overtemp_config(float over_temperature)
{
int result;
float resistance;
result = temp_converter_convert_temp_to_resistance(over_temperature, &resistance);
/* An error in this function is really bad... */
if (result < -1)
panic_mode();
crc_unit_reset();
safety_controller_overtemp_config.crc_dummy_seed = 0xA4F5C7E6UL;
safety_controller_overtemp_config.overtemp_deg_celsius = over_temperature;
safety_controller_overtemp_config.overtemp_equiv_resistance = resistance;
crc_unit_input_array((const uint32_t *)&safety_controller_overtemp_config, wordsize_of(struct overtemp_config) - 1);
safety_controller_overtemp_config.crc = crc_unit_get_crc();
}
static bool over_temperature_config_check(void)
{
if (safety_controller_overtemp_config.crc_dummy_seed != 0xA4F5C7E6UL)
return true;
crc_unit_reset();
crc_unit_input_array((const uint32_t *)&safety_controller_overtemp_config, wordsize_of(struct overtemp_config) - 1);
if (crc_unit_get_crc() != safety_controller_overtemp_config.crc)
return true;
return false;
}
/**
* @brief Convert a flag enum to the flag number.
*
* Flag numbers are used by the error memory to store flags.
* This function will fail and return 0xFF if multiple flags are ORed and
* passed as flag parameter.
*
* @param flag Flag enum
* @return Flag number or 0xFF in case of an error
*/
static uint8_t flag_enum_to_flag_no(enum safety_flag flag)
{
uint32_t flag_mask;
uint8_t i;
if (!is_power_of_two(flag))
return 0xFF;
flag_mask = (uint32_t)flag;
for (i = 0; i < 32; i++) {
if ((flag_mask >> i) & 0x1U)
break;
}
return i;
}
/**
* @brief Convert a safety flag's number to its enum value.
*
* Flag numbers are used by the error memory to store flags.
*
* @param no The flag number.
* @return Flag enum
*/
static enum safety_flag flag_no_to_flag_enum(uint8_t no)
{
if (no >= COUNT_OF(flags))
return ERR_FLAG_NO_FLAG;
return (1U << no);
}
/**
* @brief Check the CRC chacksum of the flag weight table
* @return 0 if CRC is valid, else -1;
*/
static int flag_weight_table_crc_check(void)
{
/* Check the flag weight table */
crc_unit_reset();
crc_unit_input_array((uint32_t *)flag_weights, wordsize_of(flag_weights));
if (crc_unit_get_crc() != flag_weight_crc)
return -1;
return 0;
}
/**
* @brief Check the CRC chacksum of the flag persistence table
* @return 0 if CRC is valid, else -1.
*/
static int flag_persistence_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;
}
/**
* @brief Find the error flag structure for a given safety_flag enum
*
* Only one flag can be given at a time. Giving multiple flags by ORing them
* together, will not math any flag at all.
*
* @param flag Enum defining the flag.
* @return NULL in case nothing matched. Pointer otherwise.
*/
static volatile struct error_flag *find_error_flag(enum safety_flag flag)
{
uint32_t i;
volatile struct error_flag *ret = NULL;
for (i = 0; i < COUNT_OF(flags); i++) {
if (flags[i].flag == flag)
ret = &flags[i];
}
return ret;
}
static int crc_monitor_calculate_crc(const struct crc_monitor_register *registers, uint32_t *crc_out)
{
const struct crc_monitor_register *reg;
uint32_t i;
uint32_t reg_val;
if (!registers || !crc_out)
return -1000;
crc_unit_reset();
for (i = 0; registers[i].reg_addr != NULL; i++) {
reg = &registers[i];
switch (reg->size) {
case 1:
reg_val = *((volatile uint8_t *)reg->reg_addr);
break;
case 2:
reg_val = *((volatile uint16_t *)reg->reg_addr);
break;
case 4: /* FALLTHRU */
default:
reg_val = *((volatile uint32_t *)reg->reg_addr);
break;
}
reg_val &= reg->mask;
crc_unit_input(reg_val);
}
*crc_out = crc_unit_get_crc();
return 0;
}
static int safety_controller_check_crc_monitors(void)
{
uint32_t i;
struct crc_mon *mon;
uint32_t crc;
for (i = 0; i < COUNT_OF(crc_monitors); i++) {
mon = &crc_monitors[i];
if (!mon->active)
continue;
if (crc_monitor_calculate_crc(mon->registers, &crc))
return -1;
if (mon->expected_crc != crc || ~mon->expected_crc_inv != crc) {
safety_controller_report_error(mon->flag_to_set);
}
mon->last_crc = crc;
}
return 0;
}
/**
* @brief This function copies the safety weigths from flash ro RAM and computes the CRC
*/
static void init_safety_flag_weight_table_from_default(void)
{
uint32_t index;
volatile struct safety_weight *current_weight;
/* Copy the table */
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();
crc_unit_input_array((uint32_t*)flag_weights, wordsize_of(flag_weights));
flag_weight_crc = crc_unit_get_crc();
}
/**
* @brief Initialize the default persistence settings of all safety flags.
*
* This function copies the default persistence settings of the safety flags defined in
* @ref SAFETY_CONFIG_DEFAULT_PERSIST and computes the protection CRC over the settings.
*/
static void init_safety_flag_persistencies_from_default(void)
{
uint32_t index;
volatile struct safety_persistence *current_persistence;
/* 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_persistence = &flag_persistencies[index];
current_persistence->flag_ptr = find_error_flag(current_persistence->flag);
if (current_persistence->flag_ptr)
current_persistence->flag_ptr->persistence = current_persistence;
}
crc_unit_reset();
crc_unit_input_array((uint32_t *)flag_persistencies, wordsize_of(flag_persistencies));
flag_persistencies_crc = crc_unit_get_crc();
}
/**
* @brief Apply the config overrrides stored in the safety memory.
*
* The config overrides are read from the safety memory and applied.
* The config overrides can override the following things:
*
* 1) Safety Weights (See @ref config_weight)
* 2) Flag Persistence
*/
static void apply_config_overrides(void)
{
uint32_t count;
uint32_t idx;
struct config_override override;
int res;
enum safety_flag flag_enum;
volatile struct error_flag *flag;
res = safety_memory_get_config_override_count(&count);
if (res)
return;
for (idx = 0; idx < count; idx++) {
res = safety_memory_get_config_override(idx, &override);
if (res)
continue;
switch (override.type) {
case SAFETY_MEMORY_CONFIG_OVERRIDE_WEIGHT:
flag_enum = flag_no_to_flag_enum(override.entry.weight_override.flag);
flag = find_error_flag(flag_enum);
if (flag && flag->weight) {
flag->weight->weight = override.entry.weight_override.weight;
}
break;
case SAFETY_MEMORY_CONFIG_OVERRIDE_PERSISTENCE:
flag_enum = flag_no_to_flag_enum(override.entry.persistence_override.flag);
flag = find_error_flag(flag_enum);
if (flag && flag->persistence) {
flag->persistence->persistence = override.entry.persistence_override.persistence;
}
break;
default:
continue;
}
}
/* Patch new CRCs */
crc_unit_reset();
crc_unit_input_array((uint32_t *)flag_persistencies, wordsize_of(flag_persistencies));
flag_persistencies_crc = crc_unit_get_crc();
crc_unit_reset();
crc_unit_input_array((uint32_t*)flag_weights, wordsize_of(flag_weights));
flag_weight_crc = crc_unit_get_crc();
}
/**
* @brief Get the error state of a flag.
*
* This function takes inbto account that the error_flag::error_state and
* error_flag::error_state_inv fileds must never be the same value. In case they are,
* the flag is treated as errorneous.
* @param flag Flag to check
* @return The error state
*/
static bool error_flag_get_status(const volatile struct error_flag *flag)
{
if (!flag)
return true;
if (flag->error_state == flag->error_state_inv) {
return true;
} else {
return flag->error_state;
}
}
/**
* @brief Find a analog value monitor structure by its enum number
* @param mon Enum representing the analog monitor
* @return NULL incase nothing is found, else pointer to structure.
*/
static volatile struct analog_mon *find_analog_mon(enum analog_value_monitor mon)
{
uint32_t i;
volatile struct analog_mon *ret = NULL;
for (i = 0; i < COUNT_OF(analog_mons); i++) {
if (analog_mons[i].monitor == mon)
ret = &analog_mons[i];
}
return ret;
}
/**
* @brief Find a timing monitor structure by its enum number
* @param mon Enum representing the timing monitor
* @return NULL incase nothing is found, else pointer to structure.
*/
static volatile struct timing_mon *find_timing_mon(enum timing_monitor mon)
{
uint32_t i;
volatile struct timing_mon *ret = NULL;
for (i = 0; i < COUNT_OF(timings); i++) {
if (timings[i].monitor == mon)
ret = &timings[i];
}
return ret;
}
/**
* @brief Check the active timing monitors and set the appropriate flags in case of an error.
*/
static void safety_controller_process_active_timing_mons()
{
uint32_t i;
volatile struct timing_mon *current_mon;
uint64_t last;
for (i = 0; i < COUNT_OF(timings); i++) {
current_mon = &timings[i];
if (current_mon->enabled) {
__disable_irq();
last = current_mon->last;
__enable_irq();
if (systick_ticks_have_passed(last, current_mon->max_delta))
safety_controller_report_error(current_mon->associated_flag);
}
}
}
/**
* @brief safety_controller_process_monitor_checks
* Process the analog and timing monitors and set the relevant flags in case of a monitor outside its limits.
* Furthermore, the PT1000 resistance is checked for overtemperature
*
* The checking of the analog monitors will only be armed after a startup delay of 1000 ms to allow the values to stabilize.
*/
static void safety_controller_process_monitor_checks(void)
{
static bool startup_completed = false;
struct analog_monitor_info amon_info;
uint32_t idx;
uint32_t analog_mon_count;
float pt1000_val = 1000000.0f;
if (!startup_completed && systick_get_global_tick() >= 1000)
startup_completed = true;
if (startup_completed) {
analog_mon_count = safety_controller_get_analog_monitor_count();
for (idx = 0; idx < analog_mon_count; idx++) {
if (safety_controller_get_analog_mon_by_index(idx, &amon_info)) {
panic_mode();
}
if (amon_info.status != ANALOG_MONITOR_OK) {
safety_controller_report_error(amon_info.associated_flag);
}
}
}
adc_pt1000_get_current_resistance(&pt1000_val);
if (pt1000_val > safety_controller_overtemp_config.overtemp_equiv_resistance) {
safety_controller_report_error(ERR_FLAG_OVERTEMP);
}
(void)safety_controller_check_crc_monitors();
safety_controller_process_active_timing_mons();
}
/**
* @brief Internal function for setting an error flag
*
* Multiple flags can be ored together to set them in one go.
* The provided key will be set on all of the flags in order to prevent them from being reset by
* unauthorized code. If nop key shall be used, set key to zero.
*
* @param flag Enum of the flags to set. This can be an ORed value of multiple error flags.
* @param key The kex to set on the flag.
* @param prevent_error_mem_enty Prevent the flag from being stored in the error memory.
* @return 0 if successful.
*/
static int report_error(enum safety_flag flag, uint32_t key, bool prevent_error_mem_enty)
{
uint32_t i;
int ret = -1;
bool old_state;
int res;
struct error_memory_entry err_mem_entry;
for (i = 0; i < COUNT_OF(flags); i++) {
if (flags[i].flag & flag) {
old_state = flags[i].error_state;
flags[i].error_state = true;
flags[i].error_state_inv = !flags[i].error_state;
flags[i].key = key;
if ((check_flag_persistent(&flags[i]) && !old_state && !prevent_error_mem_enty) ||
get_flag_weight(&flags[i]) == SAFETY_FLAG_CONFIG_WEIGHT_PANIC) {
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)
ret = -12;
} else {
ret = 0;
}
flag &= ~flags[i].flag;
if (!flag)
break;
}
}
return ret;
}
int safety_controller_report_error(enum safety_flag flag)
{
return safety_controller_report_error_with_key(flag, 0x0UL);
}
int safety_controller_report_error_with_key(enum safety_flag flag, uint32_t key)
{
return report_error(flag, key, false);
}
void safety_controller_report_timing(enum timing_monitor monitor)
{
volatile struct timing_mon *tim;
uint64_t timestamp;
timestamp = systick_get_global_tick();
tim = find_timing_mon(monitor);
if (tim) {
if (tim->enabled) {
if (!systick_ticks_have_passed(tim->last, tim->min_delta) && tim->min_delta > 0U) {
safety_controller_report_error(tim->associated_flag);
}
}
tim->calculated_delta = timestamp - tim->last;
tim->last = timestamp;
tim->enabled = true;
}
}
void safety_controller_report_analog_value(enum analog_value_monitor monitor, float value)
{
volatile struct analog_mon *ana;
/* Return if not a power of two */
if (!is_power_of_two(monitor))
return;
ana = find_analog_mon(monitor);
if (ana) {
ana->valid = true;
ana->value = value;
ana->timestamp = systick_get_global_tick();
}
}
/**
* @brief Return the flags, which are set in the error memory
* @param flags Flags read from error memory
* @return 0 if ok, != 0 if error
*/
static int get_safety_flags_from_error_mem(enum safety_flag *flags)
{
uint32_t count;
uint32_t idx;
int res;
enum safety_flag return_flags = 0;
struct error_memory_entry entry;
if (!flags)
return -1001;
res = safety_memory_get_error_entry_count(&count);
if (res)
return -1;
for (idx = 0; idx < count; idx++) {
res = safety_memory_get_error_entry(idx, &entry);
if (entry.type == SAFETY_MEMORY_ERR_ENTRY_FLAG) {
return_flags |= flag_no_to_flag_enum(entry.flag_num);
}
}
*flags = return_flags;
return 0;
}
/**
* @brief Initialize the GPIOs for the external hardware watchdog.
*
* The external harware watchdog has to be periodically reset or it will reset hte controller.
* Because debugging is not possible, when the watchdog is active, it is only activated, if the application is
* compiled in release mode. Any interruption of the main programm will then trigger the internal and/or the external watchdog.
*
* @note When enabled, execute the @ref external_watchdog_toggle function to reset the external watchdog.
*/
static void safety_controller_init_external_watchdog()
{
rcc_manager_enable_clock(&RCC->AHB1ENR, BITMASK_TO_BITNO(SAFETY_EXT_WATCHDOG_RCC_MASK));
SAFETY_EXT_WATCHDOG_PORT->MODER &= MODER_DELETE(SAFETY_EXT_WATCHDOG_PIN);
#ifndef DEBUGBUILD
SAFETY_EXT_WATCHDOG_PORT->MODER |= OUTPUT(SAFETY_EXT_WATCHDOG_PIN);
SAFETY_EXT_WATCHDOG_PORT->ODR |= (1<<SAFETY_EXT_WATCHDOG_PIN);
#endif
__DSB();
}
void safety_controller_init()
{
enum safety_memory_state found_memory_state;
enum safety_flag flags_in_err_mem = ERR_FLAG_NO_FLAG;
enum hw_revision hw_rev;
int res;
/* Init the safety memory */
if (safety_memory_init(&found_memory_state)) {
/* Trigger panic mode! */
panic_mode();
}
/* This is usually done by the safety memory already. But, since this module also uses the CRC... */
crc_unit_init();
safety_controller_trigger_flash_crc_check();
stack_check_init_corruption_detect_area();
hw_rev = get_pcb_hardware_version();
if (hw_rev == HW_REV_ERROR)
panic_mode();
if (hw_rev != HW_REV_V1_2)
safety_controller_init_external_watchdog();
init_safety_flag_weight_table_from_default();
init_safety_flag_persistencies_from_default();
apply_config_overrides();
/* Set the default limit of the overtemperature check */
set_overtemp_config(SAFETY_DEFAULT_OVERTEMP_LIMIT_DEGC);
if (found_memory_state == SAFETY_MEMORY_INIT_CORRUPTED)
safety_controller_report_error(ERR_FLAG_SAFETY_MEM_CORRUPT);
else if (found_memory_state == SAFETY_MEMORY_INIT_VALID_MEMORY) {
/* restore the corrupt flag flag */
res = get_safety_flags_from_error_mem(&flags_in_err_mem);
if (res)
panic_mode();
if (flags_in_err_mem & ERR_FLAG_SAFETY_MEM_CORRUPT)
report_error(ERR_FLAG_SAFETY_MEM_CORRUPT, 0, true);
}
/* Init default flag states */
safety_controller_report_error_with_key(ERR_FLAG_MEAS_ADC_OFF | ERR_FLAG_MEAS_ADC_UNSTABLE,
MEAS_ADC_SAFETY_FLAG_KEY);
safety_adc_init();
watchdog_setup(WATCHDOG_PRESCALER);
if (rcc_manager_get_reset_cause(false) & RCC_RESET_SOURCE_IWDG)
safety_controller_report_error(ERR_FLAG_WTCHDG_FIRED);
#ifdef DEBUGBUILD
safety_controller_report_error(ERR_FLAG_DEBUG);
#endif
}
/**
* @brief Check the processor's stack
*
* This function checks the Stack of the application.
* The check consists of 2 parts:
*
* 1) Checking the remaining free space at the moment between stack pointer and top of heap.
* 2) Checking The CRC of the corruption detect area between heap and stack
*/
static void safety_controller_check_stack()
{
int32_t free_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);
}
}
/**
* @brief Handle the Safety ADC
*
* This function handles the safety ADC.
* If the safety ADC ius not executing a measurment and the time since the last measurement has
* passed @ref SAFETY_CONTROLLER_ADC_DELAY_MS, the safety ADC is retriggered and will automatically perform a measurement
* on all of its channels.
* When called again, this function will retrieve the data from the safety ADC and converts it into the
* appropriate analog values for the analog value monitors.
*
* The safety ADC is configured to perform multiple measurmeents of each physical channel. Therefore, this function
* fist calculated the mean value before converting them into the physical values.
*
* The channels, the ssafety ADC will convert is defined in its header file using the define @ref SAFETY_ADC_CHANNELS.
*/
static void safety_controller_handle_safety_adc()
{
static uint64_t last_result_timestamp = 0;
const uint16_t *channels;
uint32_t sum;
int poll_result;
float analog_value;
poll_result = safety_adc_poll_result();
if (poll_result == 1) {
/* Data available */
channels = safety_adc_get_values();
/* Compute average of temp readings */
sum = channels[0] + channels[1] + channels[2] + channels[3];
sum /= 4;
analog_value = safety_adc_convert_channel(SAFETY_ADC_MEAS_TEMP, (uint16_t)sum);
safety_controller_report_analog_value(ERR_AMON_UC_TEMP, analog_value);
/* Average VREF readings */
sum = channels[4] + channels[5] + channels[6] + channels[7];
sum /= 4;
analog_value = safety_adc_convert_channel(SAFETY_ADC_MEAS_VREF, (uint16_t)sum);
safety_controller_report_analog_value(ERR_AMON_VREF, analog_value);
/* Compute supply voltage reading */
sum = channels[8] + channels[9] + channels[10] + channels[11];
sum /= 4;
analog_value = safety_adc_convert_channel(SAFETY_ADC_MEAS_SUPPLY, (uint16_t)sum);
safety_controller_report_analog_value(ERR_AMON_SUPPLY_VOLT, analog_value);
last_result_timestamp = systick_get_global_tick();
safety_controller_report_timing(ERR_TIMING_SAFETY_ADC);
}
if (systick_ticks_have_passed(last_result_timestamp, SAFETY_CONTROLLER_ADC_DELAY_MS)) {
if (poll_result != 1 && poll_result != 0)
safety_adc_trigger_meas();
}
}
/**
* @brief Check the memory structures
*
* This function checks multiple memory structures.
*
* 1) The safety memory in the backup RAM is checked using @ref safety_memory_check.
* In case of an error, the safety memory is reinitialized and the @ref ERR_FLAG_SAFETY_MEM_CORRUPT
* flag is set.
* 2) The flag weight table is CRC checked. In case of an error, the @ref ERR_FLAG_SAFETY_TAB_CORRUPT flag is set.
* Aditionally, the default flag weights are restored from Flash.
* 3) The flag persistence table is CRC checked. In case of an error, the @ref ERR_FLAG_SAFETY_TAB_CORRUPT flag is set.
* Aditionally, the default values of the flag persistence is restored from Flash.
* 4) Check the Overtemperature flag configuration structure
*/
static void safety_controller_handle_memory_checks(void)
{
static uint64_t ts = 0;
enum safety_memory_state found_state;
if (systick_ticks_have_passed(ts, 250)) {
ts = systick_get_global_tick();
/* Check the safety memory */
if (safety_memory_check()) {
(void)safety_memory_reinit(&found_state);
if (found_state != SAFETY_MEMORY_INIT_VALID_MEMORY) {
safety_controller_report_error(ERR_FLAG_SAFETY_MEM_CORRUPT);
}
}
/* 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();
}
/* If persistence table is broken, reinit to default and set flag */
if(flag_persistence_table_crc_check()) {
safety_controller_report_error(ERR_FLAG_SAFETY_TAB_CORRUPT);
init_safety_flag_persistencies_from_default();
}
/* check overtemp struct */
if (over_temperature_config_check()) {
safety_controller_report_error(ERR_FLAG_SAFETY_TAB_CORRUPT);
set_overtemp_config(SAFETY_DEFAULT_OVERTEMP_LIMIT_DEGC);
}
}
}
/**
* @brief Check if the systick is ticking.
*
* If the systick stays constant for more than 1000 calls of this function,
* the @ref ERR_FLAG_SYSTICK flag is set.
*/
static void safety_controller_do_systick_checking()
{
static uint64_t last_systick;
static uint32_t same_systick_cnt = 0UL;
uint64_t systick;
systick = systick_get_global_tick();
if (systick == last_systick) {
same_systick_cnt++;
if (same_systick_cnt > 1000)
safety_controller_report_error(ERR_FLAG_SYSTICK);
} else {
same_systick_cnt = 0UL;
}
last_systick = systick;
}
/**
* @brief Handle weightet flags.
*
* This functions loops over all error flags and checks the weights. If a flag
* is set, the appropriate action defined by the flag weight is executed.
* @note If no flag weigth is present for a given error flag, it is treated as the most critical category
* (@ref SAFETY_FLAG_CONFIG_WEIGHT_PANIC)
*/
static void safety_controller_handle_weighted_flags()
{
uint32_t flag_index;
volatile struct error_flag *current_flag;
enum config_weight flag_weigth;
for (flag_index = 0u; flag_index < COUNT_OF(flags); flag_index++) {
current_flag = &flags[flag_index];
/* Continue if this flag is not set */
if (!error_flag_get_status(current_flag)) {
continue;
}
flag_weigth = get_flag_weight(current_flag);
switch (flag_weigth) {
case SAFETY_FLAG_CONFIG_WEIGHT_NONE:
break;
case SAFETY_FLAG_CONFIG_WEIGHT_PID:
oven_pid_abort();
break;
case SAFETY_FLAG_CONFIG_WEIGHT_PANIC:
/* EXPECTED FALLTHRU */
default:
oven_pid_abort();
panic_mode();
break;
}
}
}
#ifndef DEBUGBUILD
static void external_watchdog_toggle()
{
SAFETY_EXT_WATCHDOG_PORT->ODR ^= (1<<SAFETY_EXT_WATCHDOG_PIN);
}
#endif
int safety_controller_handle()
{
int ret = 0;
#ifndef DEBUGBUILD
static uint32_t watchdog_counter = 0UL;
#endif
safety_controller_check_stack();
safety_controller_handle_safety_adc();
safety_controller_handle_memory_checks();
safety_controller_do_systick_checking();
safety_controller_process_monitor_checks();
safety_controller_handle_weighted_flags();
ret |= watchdog_ack(WATCHDOG_MAGIC_KEY);
#ifndef DEBUGBUILD
if (get_pcb_hardware_version() != HW_REV_V1_2) {
watchdog_counter++;
if (watchdog_counter > 30) {
external_watchdog_toggle();
watchdog_counter = 0UL;
}
}
#endif
return (ret ? -1 : 0);
}
int safety_controller_enable_timing_mon(enum timing_monitor monitor, bool enable)
{
volatile struct timing_mon *tim;
if (enable) {
safety_controller_report_timing(monitor);
} else {
tim = find_timing_mon(monitor);
if (!tim)
return -1;
tim->enabled = false;
}
return 0;
}
enum analog_monitor_status safety_controller_get_analog_mon_value(enum analog_value_monitor monitor, float *value)
{
volatile struct analog_mon *mon;
int ret = ANALOG_MONITOR_ERROR;
if (!is_power_of_two(monitor))
goto go_out;
if (!value)
goto go_out;
mon = find_analog_mon(monitor);
if (mon) {
if (!mon->valid) {
ret = ANALOG_MONITOR_INACTIVE;
goto go_out;
}
*value = mon->value;
if (mon->value < mon->min)
ret = ANALOG_MONITOR_UNDER;
else if (mon->value > mon->max)
ret = ANALOG_MONITOR_OVER;
else
ret = ANALOG_MONITOR_OK;
}
go_out:
return ret;
}
int safety_controller_get_flag(enum safety_flag flag, bool *status, bool try_ack)
{
volatile struct error_flag *found_flag;
int ret = -1;
if (!status)
return -1002;
if (!is_power_of_two(flag))
return -1001;
found_flag = find_error_flag(flag);
if (found_flag) {
*status = error_flag_get_status(found_flag);
if (try_ack && !check_flag_persistent(found_flag)) {
/* Flag is generally non persistent
* If key is set, this function cannot remove the flag
*/
if (found_flag->key == 0UL) {
found_flag->error_state = false;
found_flag->error_state_inv = !found_flag->error_state;
}
}
}
return ret;
}
int safety_controller_ack_flag(enum safety_flag flag)
{
return safety_controller_ack_flag_with_key(flag, 0UL);
}
int safety_controller_ack_flag_with_key(enum safety_flag flag, uint32_t key)
{
int ret = -1;
volatile struct error_flag *found_flag;
if (!is_power_of_two(flag)) {
return -1001;
}
found_flag = find_error_flag(flag);
if (found_flag) {
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;
} else {
ret = -2;
}
}
return ret;
}
bool safety_controller_get_flags_by_mask(enum safety_flag mask)
{
uint32_t i;
bool ret = false;
for (i = 0; i < COUNT_OF(flags); i++) {
if ((flags[i].flag & mask) && error_flag_get_status(&flags[i])) {
ret = true;
break;
}
}
return ret;
}
uint32_t safety_controller_get_flag_count()
{
return COUNT_OF(flags);
}
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))
return -1;
if (buffsize == 0 || !buffer)
return -1000;
strncpy(buffer, analog_mons[index].name, buffsize);
buffer[buffsize - 1] = 0;
return 0;
}
int safety_controller_get_flag_name_by_index(uint32_t index, char *buffer, size_t buffsize)
{
if (index >= COUNT_OF(flags))
return -1;
if (buffsize == 0 || !buffer)
return -1000;
strncpy(buffer, flags[index].name, buffsize);
buffer[buffsize - 1] = 0;
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;
if (!status && !flag_enum)
return -1000;
if (index < COUNT_OF(flags)) {
if (status)
*status = error_flag_get_status(&flags[index]);
if (flag_enum)
*flag_enum = flags[index].flag;
ret = 0;
}
return ret;
}
int safety_controller_get_analog_mon_by_index(uint32_t index, struct analog_monitor_info *info)
{
volatile struct analog_mon *mon;
if (!info)
return -1002;
if (index >= COUNT_OF(analog_mons)) {
info->status = ANALOG_MONITOR_ERROR;
return -1001;
}
mon = &analog_mons[index];
info->max = mon->max;
info->min = mon->min;
info->value = mon->value;
info->timestamp = mon->timestamp;
info->associated_flag = mon->associated_flag;
if (!mon->valid) {
info->status = ANALOG_MONITOR_INACTIVE;
} else {
if (mon->value > mon->max)
info->status = ANALOG_MONITOR_OVER;
else if (mon->value < mon->min)
info->status = ANALOG_MONITOR_UNDER;
else
info->status = ANALOG_MONITOR_OK;
}
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;
}
int safety_controller_set_overtemp_limit(float over_temperature)
{
set_overtemp_config(over_temperature);
return 0;
}
float safety_controller_get_overtemp_limit(void)
{
return safety_controller_overtemp_config.overtemp_deg_celsius;
}
extern const uint32_t __ld_vectors_start;
extern const uint32_t __ld_vectors_end;
extern const uint32_t __ld_text_start;
extern const uint32_t __ld_text_end;
extern const uint32_t __ld_sdata_ccm;
extern const uint32_t __ld_edata_ccm;
extern const uint32_t __ld_load_ccm_data;
extern const uint32_t __ld_sdata;
extern const uint32_t __ld_edata;
extern const uint32_t __ld_load_data;
int safety_controller_trigger_flash_crc_check()
{
/* This structs needs to be volatile!!
* This prevents the compiler form optimizing out the reads to the crcs which will be patched in later by
* a separate python script!
*/
static volatile const struct flash_crcs IN_SECTION(.flashcrc) crcs_in_flash =
{
.start_magic = 0xA8BE53F9UL,
.crc_section_ccm_data = 0UL,
.crc_section_text = 0UL,
.crc_section_data = 0UL,
.crc_section_vectors = 0UL,
.end_magic = 0xFFA582FFUL,
};
int ret = -1;
uint32_t len;
uint32_t crc;
/* Perform CRC check over vector table */
len = (uint32_t)((void *)&__ld_vectors_end - (void *)&__ld_vectors_start);
if (len % 4) {
safety_controller_report_error(ERR_FLAG_FLASH_CRC_CODE);
} else {
len /= 4;
crc_unit_reset();
crc_unit_input_array(&__ld_vectors_start, len);
crc = crc_unit_get_crc();
if (crc != crcs_in_flash.crc_section_vectors) {
safety_controller_report_error(ERR_FLAG_FLASH_CRC_CODE);
}
}
/* Perform CRC check over text section */
len = (uint32_t)((void *)&__ld_text_end - (void *)&__ld_text_start);
if (len % 4) {
safety_controller_report_error(ERR_FLAG_FLASH_CRC_CODE);
} else {
len /= 4;
crc_unit_reset();
crc_unit_input_array(&__ld_text_start, len);
crc = crc_unit_get_crc();
if (crc != crcs_in_flash.crc_section_text) {
safety_controller_report_error(ERR_FLAG_FLASH_CRC_CODE);
}
}
/* Perform CRC check over data section */
len = (uint32_t)((void *)&__ld_edata - (void *)&__ld_sdata);
if (len % 4) {
safety_controller_report_error(ERR_FLAG_FLASH_CRC_DATA);
} else {
len /= 4;
crc_unit_reset();
crc_unit_input_array(&__ld_load_data, len);
crc = crc_unit_get_crc();
if (crc != crcs_in_flash.crc_section_data) {
safety_controller_report_error(ERR_FLAG_FLASH_CRC_DATA);
}
}
/* Perform CRC check over ccm data section */
len = (uint32_t)((void *)&__ld_edata_ccm - (void *)&__ld_sdata_ccm);
if (len % 4) {
safety_controller_report_error(ERR_FLAG_FLASH_CRC_DATA);
} else {
len /= 4;
crc_unit_reset();
crc_unit_input_array(&__ld_load_ccm_data, len);
crc = crc_unit_get_crc();
if (crc != crcs_in_flash.crc_section_ccm_data) {
safety_controller_report_error(ERR_FLAG_FLASH_CRC_DATA);
}
}
crc_unit_reset();
crc_unit_input(0x04030201);
crc_unit_input(0xA0B0C0D0);
crc = crc_unit_get_crc();
ret = 0;
return ret;
}
int safety_controller_set_crc_monitor(enum crc_monitor mon, uint32_t password)
{
uint32_t i;
struct crc_mon *monitor;
uint32_t crc;
for (i = 0; i < COUNT_OF(crc_monitors); i++) {
monitor = &crc_monitors[i];
if (monitor->monitor != mon)
continue;
monitor->active = true;
if (password != monitor->pw)
return -1002;
crc = 0;
(void)crc_monitor_calculate_crc(monitor->registers, &crc);
monitor->expected_crc = crc;
monitor->expected_crc_inv = ~crc;
monitor->last_crc = crc;
return 0;
}
return -1001;
}
/** @} */
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