Merge pull request #117 from concordia-fsae/AF_AF_MC_YAMCAN

Bring up complete motor controller yamcan definition

.github/workflows/standard_checks.yml

@@ -20,7 +20,12 @@ jobs:
           submodules: 'recursive'
       - name: Execute build for CFR24
         run: |
-          scons --platform=cfr24 -j32 --flashable-bootloader
+          scons --platform=cfr24 -j32 --flashable-bootloader --package
+      - name: Archive Artifacts
+        uses: actions/upload-artifact@v4
+        with:
+          name: artifacts-cfr24
+          path: platform-artifacts/
   cfr25:
     runs-on: self-hosted
     container: 
@@ -36,7 +41,12 @@ jobs:
           submodules: 'recursive'
       - name: Execute build for CFR25
         run: |
-          scons --platform=cfr25 -j32 --flashable-bootloader
+          scons --platform=cfr25 -j32 --flashable-bootloader --package
+      - name: Archive Artifacts
+        uses: actions/upload-artifact@v4
+        with:
+          name: artifacts-cfr25
+          path: platform-artifacts/
   updaters:
     runs-on: self-hosted
     container: 
@@ -52,4 +62,9 @@ jobs:
           submodules: 'recursive'
       - name: Execute build for all bootloader updaters
         run: |
-          scons --targets=bl:1000,1001,1002,1003,1004,1005,1010,1011 -j32
+          scons --targets=bl:1000,1001,1002,1003,1004,1005,1010,1011 -j32 --package
+      - name: Archive Artifacts
+        uses: actions/upload-artifact@v4
+        with:
+          name: artifacts-bootloader_updater
+          path: platform-artifacts/

SConstruct

@@ -3,6 +3,7 @@
 from os import environ
 from re import compile, findall, search
 
+from SCons.Node import NodeList
 from SCons.Script import (
     AddOption,
     Default,
@@ -11,11 +12,12 @@ from SCons.Script import (
     Exit,
     GetOption,
     SConscript,
+    File
 )
 from oyaml import safe_load
 
 # create a global environment which all targets can start from
-GlobalEnv = Environment(REPO_ROOT_DIR=Dir("#"), tools=[])
+GlobalEnv = Environment(REPO_ROOT_DIR=Dir("#"), tools=[ "tar" ])
 try:
     GlobalEnv["ENV"]["TERM"] = environ["TERM"]
 except Exception:
@@ -169,3 +171,31 @@ if PlatformEnv["ARTIFACTS"]:
 
                 openocd_gdb = debug_env.openocd_gdb(artifact, *args)
                 Default(openocd_gdb)
+
+PlatformEnv.Append(
+    TARFLAGS = '-c -z',
+)
+
+def flatten(sequence: list) -> list:
+    new_list = []
+    for item in sequence:
+        if type(item) != list and type(item) != NodeList:
+            new_list.append(item)
+        else:
+            new_list.extend(flatten(item))
+    return new_list
+
+AddOption("--package", dest="package", action="store_true")
+
+artifacts = []
+for key, value in PlatformEnv["ARTIFACTS"].items():
+    if type(value) is dict:
+        for name, val in value.items():
+            if "ARTIFACT" in name:
+                artifacts.append(val["artifact"])
+plat_name = GetOption("platform") or "artifacts"
+package = PlatformEnv.Tar(f"platform-artifacts/{plat_name}.tgz", [ file.abspath for file in flatten(artifacts) ])
+Depends(package, artifacts)
+
+if GetOption("package"):
+    Default(package)

components/bms_boss/RTOS/include/FreeRTOSConfig.h

@@ -74,7 +74,7 @@ extern uint32_t SystemCoreClock;
 extern void     HW_TIM_configureRunTimeStatsTimer(void);
 extern uint64_t HW_TIM_getBaseTick(void);
 #define portCONFIGURE_TIMER_FOR_RUN_TIME_STATS() HW_TIM_configureRunTimeStatsTimer()
-#define portGET_RUN_TIME_COUNTER_VALUE()         HW_TIM_getBaseTick()
+#define portGET_RUN_TIME_COUNTER_VALUE()         (uint32_t)HW_TIM_getBaseTick()
 
 #define configSTACK_DEPTH_TYPE      UBaseType_t
 #define configMINIMAL_STACK_SIZE    (256)

components/bms_boss/SConscript

@@ -98,13 +98,15 @@ c_flags = [
     "-Wno-type-limits",
     "-Wno-unused-local-typedefs",
     "-Wundef",
+    "-Wconversion",
     # FIXME: When in single quotes outputs to cmdline with ""
     "-include", "BuildDefines.h", # Executed one after eachother
 ]
 
 free_rtos_flags = [
     "-Wno-missing-prototypes",
     "-Wno-cast-align",
+    "-Wno-conversion",
 ]
 
 
@@ -320,6 +322,7 @@ for config_id, config in configs.items():
             "-DBYTE_ORDER=_BYTE_ORDER",
             "-DLITTLE_ENDIAN=_LITTLE_ENDIAN",
             "-Wno-inline",
+            "-Wno-conversion",
             "-Wno-undef",
         ]
     )
@@ -366,12 +369,19 @@ for config_id, config in configs.items():
     # compile UDS source files
     objs.extend(compile_objects(uds_env, uds_srcs, variant_dir=variant_dir, target_dir="uds/"))
 
+    gen_env = config_env.Clone()
+    gen_env.Append(
+        CCFLAGS=[
+            "-Wno-inline",
+            "-Wno-conversion",
+        ]
+    )
     gen_srcs = []
     for generated_source in generated_sources:
         gen_srcs += [generated_dir.File(generated_source)]
     objs.extend(
         compile_objects(
-            config_env,
+            gen_env,
             gen_srcs,
             variant_dir=variant_dir,
             target_dir=variant_dir.Dir("generated/obj"),

components/bms_boss/include/CANIO_componentSpecific.h

@@ -59,5 +59,7 @@ CAN_prechargeContactorState_E CANIO_tx_getContactorState(void);
 #define set_elconMaxChargeCurrent(m,b,n,s) set(m,b,n,s, BMS.pack_charge_limit)
 #define set_elconControlByte(m,b,n,s) set(m,b,n,s, CANIO_tx_getElconControlByte())
 #define transmit_BMSB_elconChargeCommand (SYS_SFT_checkElconChargerTimeout() == false)
-
+#define transmit_BMSB_currentLimit (SYS_SFT_checkMCTimeout() == false)
+#define set_maxCharge(m,b,n,s) set(m,b,n,s, BMS.pack_charge_limit);
+#define set_maxDischarge(m,b,n,s) set(m,b,n,s, BMS.pack_discharge_limit);
 #include "TemporaryStubbing.h"

components/bms_boss/include/Utility.h

@@ -82,13 +82,13 @@ static inline uint16_t u32CountLeadingZeroes(uint32_t x)
 // FLAGS
 // This should get moved elsewhere at some point
 #define FLAG_bits_each            16
-#define WORDS_FROM_COUNT(count)   (((uint16_t)count + (FLAG_bits_each - 1)) / FLAG_bits_each)
+#define WORDS_FROM_COUNT(count)   (uint16_t)((count + (FLAG_bits_each - 1)) / FLAG_bits_each)
 #define FLAG_GET_WORD(name, flag) (name[(uint16_t)flag / FLAG_bits_each])
 #define FLAG_GET_MASK(flag)       (1U << ((uint16_t)flag % FLAG_bits_each))
 
 #define FLAG_create(name, size) uint16_t(name)[WORDS_FROM_COUNT(size)]
-#define FLAG_set(name, pos)     FLAG_GET_WORD(name, pos) |= FLAG_GET_MASK(pos)
-#define FLAG_clear(name, pos)   FLAG_GET_WORD(name, pos) &= ~FLAG_GET_MASK(pos)
+#define FLAG_set(name, pos)     FLAG_GET_WORD(name, pos) |= (uint16_t)FLAG_GET_MASK(pos)
+#define FLAG_clear(name, pos)   FLAG_GET_WORD(name, pos) &= (uint16_t)~FLAG_GET_MASK(pos)
 #define FLAG_get(name, pos)     ((bool)((FLAG_GET_WORD(name, pos) & FLAG_GET_MASK(pos)) == FLAG_GET_MASK(pos)))
 #define FLAG_assign(name, pos, value) \
  do {                                 \

components/bms_boss/src/CANIO_componentSpecific.c

@@ -75,24 +75,24 @@ uint8_t CANIO_tx_getNLG513ControlByte(void)
 
 CAN_prechargeContactorState_E CANIO_tx_getContactorState(void)
 {
-    CAN_prechargeContactorState_E ret = CAN_PRECHARGECONTACTORSTATE_CONTACTORS_SNA;
+    CAN_prechargeContactorState_E ret = CAN_PRECHARGECONTACTORSTATE_SNA;
 
     switch (SYS.contacts)
     {
         case SYS_CONTACTORS_OPEN:
-            ret = CAN_PRECHARGECONTACTORSTATE_CONTACTORS_OPEN;
+            ret = CAN_PRECHARGECONTACTORSTATE_OPEN;
             break;
 
         case SYS_CONTACTORS_PRECHARGE:
-            ret = CAN_PRECHARGECONTACTORSTATE_CONTACTORS_PRECHARGE_CLOSED;
+            ret = CAN_PRECHARGECONTACTORSTATE_PRECHARGE_CLOSED;
             break;
 
         case SYS_CONTACTORS_CLOSED:
-            ret = CAN_PRECHARGECONTACTORSTATE_CONTACTORS_PRECHARGE_HVP_CLOSED;
+            ret = CAN_PRECHARGECONTACTORSTATE_PRECHARGE_HVP_CLOSED;
             break;
 
         case SYS_CONTACTORS_HVP_CLOSED:
-            ret = CAN_PRECHARGECONTACTORSTATE_CONTACTORS_HVP_CLOSED;
+            ret = CAN_PRECHARGECONTACTORSTATE_HVP_CLOSED;
             break;
     }
 
@@ -108,4 +108,4 @@ uint8_t CANIO_tx_getElconControlByte(void)
     }
 
     return ret;
-}
+}

components/bms_boss/src/Module.c

@@ -77,7 +77,7 @@ void Module_1kHz_TSK(void)
         }
     }
 
-    stats[MODULE_1kHz_TASK].total_percentage = ulTaskGetRunTimePercent(NULL);
+    stats[MODULE_1kHz_TASK].total_percentage = (uint8_t)ulTaskGetRunTimePercent(NULL);
 }
 
 /**
@@ -94,7 +94,7 @@ void Module_100Hz_TSK(void)
         }
     }
 
-    stats[MODULE_100Hz_TASK].total_percentage = ulTaskGetRunTimePercent(NULL);
+    stats[MODULE_100Hz_TASK].total_percentage = (uint8_t)ulTaskGetRunTimePercent(NULL);
 }
 
 /**
@@ -111,7 +111,7 @@ void Module_10Hz_TSK(void)
         }
     }
 
-    stats[MODULE_10Hz_TASK].total_percentage = ulTaskGetRunTimePercent(NULL);
+    stats[MODULE_10Hz_TASK].total_percentage = (uint8_t)ulTaskGetRunTimePercent(NULL);
 }
 
 /**
@@ -128,15 +128,15 @@ void Module_1Hz_TSK(void)
         }
     }
 
-    stats[MODULE_1Hz_TASK].total_percentage = ulTaskGetRunTimePercent(NULL);
+    stats[MODULE_1Hz_TASK].total_percentage = (uint8_t)ulTaskGetRunTimePercent(NULL);
 }
 
 /**
  * @brief  Idle task used by FreeRTOS
  */
 void Module_ApplicationIdleHook()
 {
-    stats[MODULE_IDLE_TASK].total_percentage = ulTaskGetRunTimePercent(NULL);
+    stats[MODULE_IDLE_TASK].total_percentage = (uint8_t)ulTaskGetRunTimePercent(NULL);
 }
 
 /**

components/bms_boss/src/Utility.c

@@ -9,7 +9,7 @@ float32_t ln(float32_t x)
     // unsigned int s = (t < 0) ? (-t) : t;
     bx = 1065353216 | (bx & 8388607);
     x  = *(float32_t*)(&bx);
-    return -1.49278 + (2.11263 + (-0.729104 + 0.10969 * x) * x) * x + 0.6931471806 * t;
+    return (float32_t)(-1.49278f + (2.11263f + (-0.729104f + 0.10969f * x) * x) * x + 0.6931471806f * (float32_t)t);
 }
 
 uint8_t* reverse_bytes(uint8_t* in, uint8_t len)

components/bms_worker/include/CANIO_componentSpecific.h

@@ -26,10 +26,10 @@
 #define CANIO_UDS_BUFFER_LENGTH 8U
 #define CANIO_getTimeMs() (HW_TIM_getTimeMS())
 
-#define set_envFaultFlag(m,b,n,s)                set(m,b,n,s, ENV.state == ENV_FAULT)
-#define set_envErrorFlag(m, b, n, s)             set(m,b,n,s, ENV.state == ENV_ERROR)
-#define set_faultFlag(m, b, n, s)                set(m,b,n,s, BMS.fault)
-#define set_errorFlag(m, b, n, s)                set(m,b,n,s, BMS.state == BMS_ERROR)
+#define set_envFaultFlag(m,b,n,s)                set(m,b,n,s, (ENV.state == ENV_FAULT) ? CAN_FLAG_SET : CAN_FLAG_CLEARED)
+#define set_envErrorFlag(m, b, n, s)             set(m,b,n,s, (ENV.state == ENV_ERROR) ? CAN_FLAG_SET : CAN_FLAG_CLEARED)
+#define set_faultFlag(m, b, n, s)                set(m,b,n,s, (BMS.fault) ? CAN_FLAG_SET : CAN_FLAG_CLEARED)
+#define set_errorFlag(m, b, n, s)                set(m,b,n,s, (BMS.state == BMS_ERROR) ? CAN_FLAG_SET : CAN_FLAG_CLEARED)
 #define set_dischargeLimit(m, b, n, s)           set(m,b,n,s, BMS.discharge_limit)
 #define set_chargeLimit(m, b, n, s)              set(m,b,n,s, BMS.charge_limit)
 #define set_tempMax(m, b, n, s)                  set(m,b,n,s, ENV.values.max_temp)
@@ -87,9 +87,9 @@
 #define set_fan1RPM(m, b, n, s)                  set(m,b,n,s, COOL.rpm[1])
 #define set_fan0RPM(m, b, n, s)                  set(m,b,n,s, COOL.rpm[0])
 #define set_coolPct1(m, b, n, s)                 set(m,b,n,s, COOL.percentage[1])
-#define set_coolState1(m, b, n, s)               set(m,b,n,s, (COOL.state[1] != COOL_OFF) ? CAN_OUTPUTSTATE_ON : CAN_OUTPUTSTATE_OFF)
+#define set_coolState1(m, b, n, s)               set(m,b,n,s, (COOL.state[1] != COOL_OFF) ? CAN_DIGITALSTATUS_ON : CAN_DIGITALSTATUS_OFF)
 #define set_coolPct0(m, b, n, s)                 set(m,b,n,s, COOL.percentage[0])
-#define set_coolState0(m,b,n,s)                  set(m,b,n,s, (COOL.state[0] != COOL_OFF) ? CAN_OUTPUTSTATE_ON : CAN_OUTPUTSTATE_OFF)
+#define set_coolState0(m,b,n,s)                  set(m,b,n,s, (COOL.state[0] != COOL_OFF) ? CAN_DIGITALSTATUS_ON : CAN_DIGITALSTATUS_OFF)
 #define set_taskUsage1kHz(m,b,n,s)               set(m,b,n,s, Module_getTotalRuntimePercentage(MODULE_1kHz_TASK));
 #define set_taskUsage100Hz(m,b,n,s)              set(m,b,n,s, Module_getTotalRuntimePercentage(MODULE_100Hz_TASK));
 #define set_taskUsage10Hz(m,b,n,s)               set(m,b,n,s, Module_getTotalRuntimePercentage(MODULE_10Hz_TASK));

components/bms_worker/include/Utility.h

@@ -83,7 +83,7 @@ static inline uint16_t u32CountLeadingZeroes(uint32_t x)
 // FLAGS
 // This should get moved elsewhere at some point
 #define FLAG_bits_each            16
-#define WORDS_FROM_COUNT(count)   (((uint16_t)count + (FLAG_bits_each - 1)) / FLAG_bits_each)
+#define WORDS_FROM_COUNT(count)   (uint16_t)((count + (FLAG_bits_each - 1)) / FLAG_bits_each)
 #define FLAG_GET_WORD(name, flag) (name[(uint16_t)flag / FLAG_bits_each])
 #define FLAG_GET_MASK(flag)       (1U << ((uint16_t)flag % FLAG_bits_each))
 

components/bootloaders/STM/stm32f1/SConscript

@@ -274,22 +274,20 @@ Alias("asms", asms)
 # Return artifacts to the caller
 artifacts = {}
 
-if len(binaries) == 1:
-    artifacts["FLASHABLE_ARTIFACT"] = {
-        "artifact": binaries[0],
-        "addr": APP_START_ADDR,
-        "tools": ["st-flash"],
-    }
-
-if len(elfs) == 1:
-    artifacts["DEBUG_ARTIFACT"] = {
-        "artifact": elfs[0],
-        "args": [],
-        "tools": ["gcc-arm-none-eabi", "openocd"],
-        "env": {
-            "OPENOCD_INTERFACE": "stlink",
-            "OPENOCD_MCU": "stm32f103c8",
-        },
-    }
+artifacts["FLASHABLE_ARTIFACT"] = {
+    "artifact": binaries_crced,
+    "addr": APP_START_ADDR,
+    "tools": ["st-flash"],
+}
+
+artifacts["DEBUG_ARTIFACT"] = {
+    "artifact": elfs,
+    "args": [],
+    "tools": ["gcc-arm-none-eabi", "openocd"],
+    "env": {
+        "OPENOCD_INTERFACE": "stlink",
+        "OPENOCD_MCU": "stm32f103c8",
+    },
+}
 
 Return("artifacts")