Make safety controller use config overrides from backup ram
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687c72bde7
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@ -23,6 +23,7 @@
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#include <stdint.h>
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#include <stddef.h>
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#include <stdbool.h>
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/** @addtogroup safety-memory
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* @{
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@ -143,7 +144,7 @@ struct config_override {
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} weight_override;
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struct {
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uint8_t flag;
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uint8_t persistance;
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bool persistance;
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} persistance_override;
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} entry;
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};
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@ -134,6 +134,33 @@ static uint32_t IN_SECTION(.ccm.bss) flag_persistencies_crc;
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static volatile struct safety_weight IN_SECTION(.ccm.bss) flag_weights[COUNT_OF(default_flag_weights)];
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static uint32_t IN_SECTION(.ccm.bss) flag_weight_crc;
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static uint8_t flag_enum_to_flag_no(enum safety_flag flag)
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{
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uint32_t flag_mask;
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uint8_t i;
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if (!is_power_of_two(flag))
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return 0xFF;
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flag_mask = (uint32_t)flag;
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for (i = 0; i < 32; i++) {
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if ((flag_mask >> i) & 0x1U)
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break;
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}
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return i;
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}
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static enum safety_flag flag_no_to_flag_enum(uint8_t no)
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{
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if (no >= COUNT_OF(flags))
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return ERR_FLAG_NO_FLAG;
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return (1U << no);
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}
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static int flag_weight_table_crc_check(void)
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{
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/* Check the flag weight table */
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@ -215,6 +242,51 @@ static void init_safety_flag_persistencies_from_default(void)
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flag_persistencies_crc = crc_unit_get_crc();
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}
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static void apply_config_overrides(void)
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{
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uint32_t count;
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uint32_t idx;
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struct config_override override;
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int res;
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enum safety_flag flag_enum;
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volatile struct error_flag *flag;
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res = safety_memory_get_config_override_count(&count);
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if (res)
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return;
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for (idx = 0; idx < count; idx++) {
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res = safety_memory_get_config_override(idx, &override);
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if (res)
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continue;
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switch (override.type) {
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case SAFETY_MEMORY_CONFIG_OVERRIDE_WEIGHT:
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flag_enum = flag_no_to_flag_enum(override.entry.weight_override.flag);
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flag = find_error_flag(flag_enum);
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if (flag && flag->weight) {
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flag->weight->weight = override.entry.weight_override.weight;
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}
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break;
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case SAFETY_MEMORY_CONFIG_OVERRIDE_PERSISTANCE:
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flag_enum = flag_no_to_flag_enum(override.entry.persistance_override.flag);
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flag = find_error_flag(flag_enum);
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if (flag && flag->persistency) {
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flag->persistency->persistency = override.entry.persistance_override.persistance;
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}
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break;
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default:
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continue;
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}
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}
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/* Patch new CRCs */
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crc_unit_reset();
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crc_unit_input_array((uint32_t *)flag_persistencies, wordsize_of(flag_persistencies));
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flag_persistencies_crc = crc_unit_get_crc();
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crc_unit_reset();
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crc_unit_input_array((uint32_t*)flag_weights, wordsize_of(flag_weights));
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flag_weight_crc = crc_unit_get_crc();
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}
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static bool error_flag_get_status(const volatile struct error_flag *flag)
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{
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if (!flag)
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@ -292,31 +364,6 @@ static void safety_controller_process_monitor_checks()
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safety_controller_process_active_timing_mons();
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}
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static uint8_t flag_enum_to_flag_no(enum safety_flag flag)
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{
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uint32_t flag_mask;
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uint8_t i;
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if (!is_power_of_two(flag))
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return 0xFF;
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flag_mask = (uint32_t)flag;
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for (i = 0; i < 32; i++) {
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if ((flag_mask >> i) & 0x1U)
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break;
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}
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return i;
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}
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static enum safety_flag flag_no_to_flag_enum(uint8_t no)
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{
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if (no >= COUNT_OF(flags))
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return ERR_FLAG_NO_FLAG;
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return (1U << no);
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}
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static int report_error(enum safety_flag flag, uint32_t key, bool prevent_error_mem_enty)
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{
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uint32_t i;
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@ -446,6 +493,7 @@ void safety_controller_init()
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init_safety_flag_weight_table_from_default();
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init_safety_flag_persistencies_from_default();
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apply_config_overrides();
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if (found_memory_state == SAFETY_MEMORY_INIT_CORRUPTED)
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safety_controller_report_error(ERR_FLAG_SAFETY_MEM_CORRUPT);
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@ -489,7 +489,7 @@ static uint32_t convert_config_override_to_word(const struct config_override *co
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} else if (conf_override->type == SAFETY_MEMORY_CONFIG_OVERRIDE_PERSISTANCE) {
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data |= 0xBB00008EUL;
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data |= ((uint32_t)conf_override->entry.persistance_override.flag) << 16;
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data |= ((uint32_t)conf_override->entry.persistance_override.persistance) << 8;
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data |= ((uint32_t)(conf_override->entry.persistance_override.persistance ? 1UL : 0UL)) << 8;
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}
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return data;
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@ -599,7 +599,7 @@ int safety_memory_get_config_override(uint32_t idx, struct config_override *conf
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/* persistance override */
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config_override->type = SAFETY_MEMORY_CONFIG_OVERRIDE_PERSISTANCE;
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config_override->entry.persistance_override.flag = (data & 0xFF0000UL) >> 16;
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config_override->entry.persistance_override.persistance = (data & 0xFF00UL) >> 8;
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config_override->entry.persistance_override.persistance = ((data & 0xFF00UL) >> 8) ? true : false;
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break;
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default:
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return -2;
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