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Implement safety memory functions for config overrides

This commit is contained in:
Mario Hüttel 2020-11-29 19:03:42 +01:00
parent a474111f36
commit b6d4a2e35e
1 changed files with 128 additions and 3 deletions
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131
stm-firmware/safety/safety-memory.c
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@ -477,11 +477,136 @@ return_value:
return ret;
}
int safety_memory_insert_config_override(struct config_override *config_override);
int safety_memory_get_config_override_count(uint32_t *count);
static uint32_t convert_config_override_to_word(const struct config_override *conf_override)
{
uint32_t data = 0;
int safety_memory_get_config_override(uint32_t idx, struct config_override *config_override);
if (conf_override->type == SAFETY_MEMORY_CONFIG_OVERRIDE_WEIGHT) {
data |= 0xAA0000A2UL;
data |= ((uint32_t)conf_override->entry.weight_override.flag) << 16;
data |= ((uint32_t)conf_override->entry.weight_override.weight) << 8;
} 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;
}
return data;
}
int safety_memory_insert_config_override(struct config_override *config_override)
{
struct safety_memory_header header;
uint32_t idx;
uint32_t data;
int res;
int ret = -3;
if (safety_memory_get_header(&header) != SAFETY_MEMORY_INIT_VALID_MEMORY) {
return -2000;
}
if (header.config_overrides_len == 0)
return -1;
for (idx = 0; idx < header.config_overrides_len; idx++) {
res = backup_ram_get_data(header.config_overrides_offset + idx, &data, 1UL);
if (res)
return -2;
if (data == 0UL) {
data = convert_config_override_to_word(config_override);
res = backup_ram_write_data(header.config_overrides_offset + idx, &data, 1UL);
if (res)
return -4;
res = safety_memory_gen_crc();
if (res)
return -5;
ret = 0;
break;
}
}
return ret;
}
int safety_memory_get_config_override_count(uint32_t *count)
{
struct safety_memory_header header;
uint32_t iter;
uint32_t valid_count;
uint32_t data;
int res;
if (!count)
return -1001;
*count = 0UL;
if (safety_memory_get_header(&header) != SAFETY_MEMORY_INIT_VALID_MEMORY) {
return -2000;
}
if (header.config_overrides_len == 0)
return 0;
valid_count = 0;
for (iter = 0; iter < header.config_overrides_len; iter++) {
res = backup_ram_get_data(header.config_overrides_offset + iter, &data, 1UL);
if (res)
return -2;
if (data != 0)
valid_count++;
else
break;
}
*count = valid_count;
return 0;
}
int safety_memory_get_config_override(uint32_t idx, struct config_override *config_override)
{
struct safety_memory_header header;
uint32_t data;
int res;
if (!config_override)
return -1002;
if (safety_memory_get_header(&header) != SAFETY_MEMORY_INIT_VALID_MEMORY) {
return -2000;
}
if (idx >= header.config_overrides_len) {
return -1001;
}
res = backup_ram_get_data(header.config_overrides_offset + idx, &data, 1UL);
if (res) {
return -1;
}
switch (data & 0xFF) {
case 0xA2:
/* Weight override */
config_override->type = SAFETY_MEMORY_CONFIG_OVERRIDE_WEIGHT;
config_override->entry.weight_override.flag = (data & 0xFF0000UL) >> 16;
config_override->entry.weight_override.weight = (data & 0xFF00UL) >> 8;
break;
case 0x8E:
/* 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;
break;
default:
return -2;
}
return 0;
}
int safety_memory_dump_base64(char *buffer, size_t buffsize, size_t *used_size)
{