PHASE 1 : NORMAL 정상 유저 복사: STAC / CLAC 하드웨어 윈도우
[Step 1/3] 유저 모션 데몬이 ioctl(SET_SAFETY_LIMITS)를 통해 모션 안전 파라미터 구조체 포인터를 커널로 전달함.
USER SPACE (Ring 3 / EL0) Virtual Address: < TASK_SIZE struct robot_safety_policy • max_torque = 120.0 Nm • collision_margin = 0.50 m • e_stop_en = 1 (Active) HARDWARE MMU & CPU CR4.SMAP=1 | PSTATE.PAN=1 EFLAGS.AC = 0 (LOCKED) Window: Closed (No Access) KERNEL SPACE (Ring 0 / EL1) Virtual Address: > TASK_SIZE copy_from_user() Dest Buf • torque: [Waiting...] • margin: [Waiting...] • estop: [Waiting...]
CPU Mode
Ring 3 (User)
CR4.SMAP / PAN
Armed (1)
EFLAGS.AC Flag
0 (Closed)
Data Validation
VALIDATED (120Nm)