Make safety controller use config overrides from backup ram

stm-firmware/include/reflow-controller/safety/safety-memory.h

@@ -23,6 +23,7 @@
 
 #include <stdint.h>
 #include <stddef.h>
+#include <stdbool.h>
 
 /** @addtogroup safety-memory
  * @{
@@ -143,7 +144,7 @@ struct config_override {
 		} weight_override;
 		struct {
 			uint8_t flag;
-			uint8_t persistance;
+			bool persistance;
 		} persistance_override;
 	} entry;
 };

stm-firmware/safety/safety-controller.c

@@ -134,6 +134,33 @@ 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.bss) flag_weight_crc;
 
+
+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;
+}
+
+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);
+}
+
+
 static int flag_weight_table_crc_check(void)
 {
 	/* Check the flag weight table */
@@ -215,6 +242,51 @@ static void init_safety_flag_persistencies_from_default(void)
 	flag_persistencies_crc = crc_unit_get_crc();
 }
 
+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_PERSISTANCE:
+			flag_enum = flag_no_to_flag_enum(override.entry.persistance_override.flag);
+			flag = find_error_flag(flag_enum);
+			if (flag && flag->persistency) {
+				flag->persistency->persistency = override.entry.persistance_override.persistance;
+			}
+			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();
+}
+
 static bool error_flag_get_status(const volatile struct error_flag *flag)
 {
 	if (!flag)
@@ -292,31 +364,6 @@ static void safety_controller_process_monitor_checks()
 	safety_controller_process_active_timing_mons();
 }
 
-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;
-}
-
-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);
-}
-
 static int report_error(enum safety_flag flag, uint32_t key, bool prevent_error_mem_enty)
 {
 	uint32_t i;
@@ -446,6 +493,7 @@ void safety_controller_init()
 
 	init_safety_flag_weight_table_from_default();
 	init_safety_flag_persistencies_from_default();
+	apply_config_overrides();
 
 	if (found_memory_state == SAFETY_MEMORY_INIT_CORRUPTED)
 		safety_controller_report_error(ERR_FLAG_SAFETY_MEM_CORRUPT);

stm-firmware/safety/safety-memory.c

@@ -489,7 +489,7 @@ static uint32_t convert_config_override_to_word(const struct config_override *co
 	} else if (conf_override->type == SAFETY_MEMORY_CONFIG_OVERRIDE_PERSISTANCE) {
 		data |= 0xBB00008EUL;
 		data |= ((uint32_t)conf_override->entry.persistance_override.flag) << 16;
-		data |= ((uint32_t)conf_override->entry.persistance_override.persistance) << 8;
+		data |= ((uint32_t)(conf_override->entry.persistance_override.persistance ? 1UL : 0UL)) << 8;
 	}
 
 	return data;
@@ -599,7 +599,7 @@ int safety_memory_get_config_override(uint32_t idx, struct config_override *conf
 		/* persistance override */
 		config_override->type = SAFETY_MEMORY_CONFIG_OVERRIDE_PERSISTANCE;
 		config_override->entry.persistance_override.flag = (data & 0xFF0000UL) >> 16;
-		config_override->entry.persistance_override.persistance = (data & 0xFF00UL) >> 8;
+		config_override->entry.persistance_override.persistance = ((data & 0xFF00UL) >> 8) ? true : false;
 		break;
 	default:
 		return -2;