NVM library bringup

- BMS Boss NVM bringup
- BMS Worker NVM bringup
- Support NVM in Bootloader to not overwrite NVM on download
- Support NVM in the F105
- Added NVM FeatureDef

components/bms_boss/FeatureSels.yaml

@@ -1,4 +1,9 @@
-featureDefs: "#/components/bms_boss/FeatureDefs.yaml"
+featureDefs: 
+  - "#/components/bms_boss/FeatureDefs.yaml"
+  - "#/components/shared/FeatureDefs/NVM_FeatureDefs.yaml"
 features:
   feature_cantx_swi:
   feature_canrx_swi:
+  nvm_lib_enabled: true
+  nvm_flash_backed: true
+  nvm_block_size: 2048

components/bms_boss/RTOS/include/FreeRTOSConfig.h

@@ -48,7 +48,12 @@
 
 // Ensure definitions are only used by the compiler, and not by the assembler.
 #if defined(__ICCARM__) || defined(__CC_ARM) || defined(__GNUC__)
-# include <stdint.h>
+
+#if FEATURE_IS_ENABLED(MCU_STM32_USE_HAL)
+#include "stm32f1xx.h"
+#endif
+
+#include <stdint.h>
 extern uint32_t SystemCoreClock;
 #endif
 #define configUSE_PREEMPTION                    (1)

components/bms_boss/SConscript

@@ -150,6 +150,9 @@ project_source_files = [
     SRC_DIR.File("Utility.c"),
     SRC_DIR.File("UDS.c"),
     SHARED_LIBS.File("LIB_app.c"),
+    SHARED_LIBS.File("LIB_nvm.c"),
+    SHARED_LIBS.File("libcrc.c"),
+    SRC_DIR.File("LIB_nvm_componentSpecific.c"),
 ]
 
 project_hw_files = [
@@ -168,6 +171,7 @@ project_hw_files = [
     HW_DIR.File("DRV_HIH_componentSpecific.c"),
     SHARED_HW.File("HW_can.c"),
     SHARED_HW.File("HW_gpio.c"),
+    SHARED_HW.File("HW_flash.c"),
 ]
 
 project_source_files += project_hw_files

components/bms_boss/include/CANIO_componentSpecific.h

@@ -23,6 +23,8 @@
 #include "IMD.h"
 #include "ENV.h"
 #include "Module.h"
+#include "LIB_nvm.h"
+#include "FeatureDefines_generated.h"
 
 /******************************************************************************
  *          P R I V A T E  F U N C T I O N  P R O T O T Y P E S
@@ -50,16 +52,26 @@ CAN_prechargeContactorState_E CANIO_tx_getContactorState(void);
 #define set_nlg513MaxChargeVoltage(m,b,n,s) set(m,b,n,s, BMS_CONFIGURED_PACK_MAX_VOLTAGE)
 #define set_nlg513MaxChargeCurrent(m,b,n,s) set(m,b,n,s, BMS.pack_charge_limit)
 #define transmit_BMSB_brusaChargeCommand (SYS_SFT_checkBrusaChargerTimeout() == false)
-#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));
-#define set_taskUsage1Hz(m,b,n,s) set(m,b,n,s, Module_getTotalRuntimePercentage(MODULE_1Hz_TASK));
-#define set_taskUsageIdle(m,b,n,s) set(m,b,n,s, Module_getTotalRuntimePercentage(MODULE_IDLE_TASK));
+#define set_taskUsage1kHz(m,b,n,s) set(m,b,n,s, (uint16_t)Module_getTotalRuntimePercentage(MODULE_1kHz_TASK));
+#define set_taskUsage100Hz(m,b,n,s) set(m,b,n,s, (uint16_t)Module_getTotalRuntimePercentage(MODULE_100Hz_TASK));
+#define set_taskUsage10Hz(m,b,n,s) set(m,b,n,s, (uint16_t)Module_getTotalRuntimePercentage(MODULE_10Hz_TASK));
+#define set_taskUsage1Hz(m,b,n,s) set(m,b,n,s, (uint16_t)Module_getTotalRuntimePercentage(MODULE_1Hz_TASK));
+#define set_taskUsageIdle(m,b,n,s) set(m,b,n,s, (uint16_t)Module_getTotalRuntimePercentage(MODULE_IDLE_TASK));
 #define set_elconMaxChargeVoltage(m,b,n,s) set(m,b,n,s, BMS_CONFIGURED_PACK_MAX_VOLTAGE)
 #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);
+#define set_mcuTemp(m,b,n,s) set(m,b,n,s, ENV.board.mcu_temp)
+#if FEATURE_IS_ENABLED(NVM_LIB_ENABLED)
+#define set_nvmBootCycles(m,b,n,s) set(m,b,n,s, (uint16_t)lib_nvm_getTotalCycles())
+#define set_nvmRecordWrites(m,b,n,s) set(m,b,n,s, (uint16_t)lib_nvm_getTotalRecordWrites())
+#define set_nvmBlockErases(m,b,n,s) set(m,b,n,s, (uint16_t)lib_nvm_getTotalBlockErases())
+#define set_nvmFailedCrc(m,b,n,s) set(m,b,n,s, (uint16_t)lib_nvm_getTotalFailedCrc())
+#else
+#define transmit_BMSB_nvmInformation false
+#endif
+
 #include "TemporaryStubbing.h"

components/bms_boss/include/LIB_nvm_componentSpecific.h

@@ -0,0 +1,24 @@
+/**
+ * LIB_nvm_config.h
+ * LIB_nvm Component Specific file
+ */
+
+#pragma once
+
+#include "HW_tim.h"
+#include "HW_flash.h"
+#include "LIB_nvm.h"
+
+/******************************************************************************
+ *                             T Y P E D E F S
+ ******************************************************************************/
+
+#define LIB_NVM_GET_TIME_MS HW_TIM_getTimeMS
+#define LIB_NVM_GET_FLASH_PAGE_SIZE FLASH_getPageSize
+#define LIB_NVM_CLEAR_FLASH_PAGES FLASH_erasePages
+#define LIB_NVM_WRITE_TO_FLASH(addr, data, bytes) FLASH_writeHalfwords(addr, data, bytes / sizeof(storage_t))
+
+typedef enum
+{
+    NVM_ENTRYID_COUNT = 0U,
+} lib_nvm_entryId_E;

components/bms_boss/include/libcrc_componentSpecific.h

@@ -0,0 +1,7 @@
+/*
+ * libcrc_componentSpecific.h
+ *
+ * Configuration for the libcrc module
+ */
+
+#define LIBCRC_CRC8_FAST

components/bms_boss/src/LIB_nvm_componentSpecific.c

@@ -0,0 +1,16 @@
+/**
+ * @file NVM.c
+ * @brief  Source code for Non Volatile Memory Manager
+ */
+
+/******************************************************************************
+ *                             I N C L U D E S
+ ******************************************************************************/
+
+#include "LIB_nvm.h"
+
+/******************************************************************************
+ *                           P U B L I C  V A R S
+ ******************************************************************************/
+
+const lib_nvm_entry_S lib_nvm_entries[NVM_ENTRYID_COUNT];

components/bms_boss/src/Module.c

@@ -22,6 +22,7 @@
 /**< Other Includes */
 #include "Utility.h"
 #include "FeatureDefines_generated.h"
+#include "LIB_nvm.h"
 
 /******************************************************************************
  *                         P R I V A T E  V A R S
@@ -93,6 +94,7 @@ void Module_100Hz_TSK(void)
             (*modules[i]->periodic100Hz_CLK)();
         }
     }
+    lib_nvm_run();
 
     stats[MODULE_100Hz_TASK].total_percentage = (uint8_t)ulTaskGetRunTimePercent(NULL);
 }

components/bms_boss/src/SystemManager.c

@@ -19,6 +19,7 @@
 #include "HW_gpio.h"
 #include "HW_i2c.h"
 #include "HW_tim.h"
+#include "HW_flash.h"
 
 /**< FreeRTOS Includes */
 #include "FreeRTOS.h"
@@ -32,6 +33,7 @@
 #include "IMD.h"
 
 #include "LIB_app.h"
+#include "LIB_nvm.h"
 
 /******************************************************************************
  *                              E X T E R N S
@@ -82,6 +84,10 @@ int main(void)
     HW_CAN_init();
     HW_DMA_init();
     HW_ADC_init();
+    FLASH_init();
+#if FEATURE_IS_ENABLED(NVM_LIB_ENABLED)
+    lib_nvm_init();
+#endif
     HW_GPIO_init();
 
     ///**< Create RTOS Tasks, Timers, etc... */

components/bms_boss/src/UDS.c

@@ -28,6 +28,7 @@
 #include "uds.h"
 #include "LIB_app.h"
 #include "Utility.h"
+#include "LIB_nvm.h"
 
 // system includes
 #include <string.h>
@@ -66,6 +67,48 @@ extern void     isotp_user_debug(const char* message, ...);
  *                     P R I V A T E  F U N C T I O N S
  ******************************************************************************/
 
+static void routine_0xf0f0(udsRoutineControlType_E routineControlType, uint8_t *payload, uint8_t payloadLengthBytes)
+{
+    UNUSED(payloadLengthBytes);
+    UNUSED(payload);
+
+    switch (routineControlType)
+    {
+        case UDS_ROUTINE_CONTROL_START:
+        {
+            uds_sendPositiveResponse(UDS_SID_ROUTINE_CONTROL,
+                                        UDS_ROUTINE_CONTROL_START,
+                                        payload,
+                                        payloadLengthBytes);
+            lib_nvm_nvmHardReset();
+        }
+            break;
+
+        case UDS_ROUTINE_CONTROL_GET_RESULT:
+        {
+            bool completed = lib_nvm_nvmHardResetGetStatus();
+            if (completed)
+            {
+                uds_sendPositiveResponse(UDS_SID_ROUTINE_CONTROL,
+                                            UDS_ROUTINE_CONTROL_GET_RESULT,
+                                            (uint8_t*)&completed,
+                                            sizeof(completed));
+            }
+            else
+            {
+                uds_sendNegativeResponse(UDS_SID_ROUTINE_CONTROL, UDS_NRC_CONDITIONS_NOT_CORRECT);
+            }
+        }
+            break;
+
+        case UDS_ROUTINE_CONTROL_STOP:
+        case UDS_ROUTINE_CONTROL_NONE:
+        default:
+            uds_sendNegativeResponse(UDS_SID_ROUTINE_CONTROL, UDS_NRC_SUB_FUNCTION_NOT_SUPPORTED);
+            break;
+    }
+
+}
 
 /******************************************************************************
  *                       P U B L I C  F U N C T I O N S
@@ -175,6 +218,9 @@ void uds_cb_routineControl(udsRoutineControlType_E routineControlType, uint8_t *
 
     switch (routineId.u16)
     {
+        case 0xf0f0:
+            routine_0xf0f0(routineControlType, payload, payloadLengthBytes);;
+            break;
         default:
             uds_sendNegativeResponse(UDS_SID_ROUTINE_CONTROL, UDS_NRC_SERVICE_NOT_SUPPORTED);
             break;

components/bms_worker/FeatureSels.yaml

@@ -1,6 +1,11 @@
-featureDefs: "#/components/bms_worker/FeatureDefs.yaml"
+featureDefs: 
+  - "#/components/bms_worker/FeatureDefs.yaml"
+  - "#/components/shared/FeatureDefs/NVM_FeatureDefs.yaml"
 features:
   feature_max14921_calibrate:
   feature_cantx_swi:
   feature_canrx_swi:
   feature_cell_diagnostics:
+  nvm_lib_enabled: false  # true Disabled due to RTOS bug with NVM manager
+  nvm_flash_backed: false # true
+  nvm_block_size: 2048

components/bms_worker/HW/HW.c

@@ -0,0 +1,75 @@
+/**
+ * @file HW.c
+ * @brief  Source code for generic firmware functions
+ */
+
+/******************************************************************************
+ *                             I N C L U D E S
+ ******************************************************************************/
+
+// Header file
+#include "HW.h"
+
+// System Includes
+#include "stdbool.h"
+
+// Firmware Includes
+#include "include/HW_tim.h"
+#include "stm32f1xx.h"
+#include "LIB_nvm.h"
+
+typedef struct
+{
+    volatile uint32_t const CPUID;
+    volatile uint32_t       ICSR;
+    volatile uint32_t       VTOR;
+    volatile uint32_t       AIRCR;
+    volatile uint32_t       SCR;
+    volatile uint32_t       CCR;
+    volatile uint32_t       SHPR[3];
+    volatile uint32_t       SHCSR;
+    volatile uint32_t       CFSR;
+    volatile uint32_t       HFSR;
+    volatile uint32_t       DFSR;
+    volatile uint32_t       MMFAR;
+    volatile uint32_t       BFAR;
+    volatile uint32_t       AFSR;
+} SCB_regMap;
+#define pSCB               ((SCB_regMap*)SCB_BASE)
+
+#define AIRCR_RESET        (0x05FA0000UL)
+#define AIRCR_RESET_REQ    (AIRCR_RESET | 0x04UL)
+
+/******************************************************************************
+ *            P U B L I C  F U N C T I O N  P R O T O T Y P E S
+ ******************************************************************************/
+
+/**
+ * @brief  Initializes the generic low-level firmware
+ *
+ * @retval HW_OK  
+ */
+HW_StatusTypeDef_E HW_init(void) 
+{
+    HAL_Init();
+    return HW_OK;
+}
+
+/**
+ * @brief Deinitializes the generic low-level firmware
+ *
+ * @retval HW_OK
+ */
+HW_StatusTypeDef_E HW_deInit(void)
+{
+    HAL_DeInit();
+    return HW_OK;
+}
+
+void HW_systemHardReset(void)
+{
+#if FEATURE_IS_ENABLED(NVM_LIB_ENABLED)
+    lib_nvm_cleanUp();
+#endif
+    pSCB->AIRCR = AIRCR_RESET_REQ;
+}

components/bms_worker/RTOS/include/FreeRTOSConfig.h

@@ -48,8 +48,12 @@
 
 // Ensure definitions are only used by the compiler, and not by the assembler.
 #if defined(__ICCARM__) || defined(__CC_ARM) || defined(__GNUC__)
-#include "stm32f103xb.h"
-# include <stdint.h>
+
+#if FEATURE_IS_ENABLED(MCU_STM32_USE_HAL)
+#include "stm32f1xx.h"
+#endif
+
+#include <stdint.h>
 extern uint32_t SystemCoreClock;
 #endif
 #define configUSE_PREEMPTION                    (1)

components/bms_worker/SConscript

@@ -160,6 +160,9 @@ src_files = [
     THERMS_DIR.File("NCP21XV103J03RA.c"),
     THERMS_DIR.File("MF52C1103F3380.c"),
     SHARED_LIBS.File("LIB_app.c"),
+    SHARED_LIBS.File("LIB_nvm.c"),
+    SRC_DIR.File("LIB_nvm_componentSpecific.c"),
+    SHARED_LIBS.File("libcrc.c"),
     SRC_DIR.File("CANIO_componentSpecific.c"),
 ]
 
@@ -185,6 +188,7 @@ hw_files = [
     HW_DIR.File("HW_NX3L4051PW.c"),
     SHARED_HW.File("HW_can.c"),
     SHARED_HW.File("HW_gpio.c"),
+    SHARED_HW.File("HW_flash.c"),
 ]
 
 src_files += hw_files

components/bms_worker/include/CANIO_componentSpecific.h

@@ -18,6 +18,7 @@
 #include "Environment.h"
 #include "BatteryMonitoring.h"
 #include "Module.h"
+#include "LIB_nvm.h"
 
 /******************************************************************************
  *                              D E F I N E S
@@ -95,5 +96,13 @@
 #define set_taskUsage10Hz(m,b,n,s)               set(m,b,n,s, Module_getTotalRuntimePercentage(MODULE_10Hz_TASK));
 #define set_taskUsage1Hz(m,b,n,s)                set(m,b,n,s, Module_getTotalRuntimePercentage(MODULE_1Hz_TASK));
 #define set_taskUsageIdle(m,b,n,s)               set(m,b,n,s, Module_getTotalRuntimePercentage(MODULE_IDLE_TASK));
+#if FEATURE_IS_ENABLED(NVM_LIB_ENABLED)
+#define set_nvmBootCycles(m,b,n,s)               set(m,b,n,s, (uint16_t)lib_nvm_getTotalCycles())
+#define set_nvmRecordWrites(m,b,n,s)             set(m,b,n,s, (uint16_t)lib_nvm_getTotalRecordWrites())
+#define set_nvmBlockErases(m,b,n,s)              set(m,b,n,s, (uint16_t)lib_nvm_getTotalBlockErases())
+#define set_nvmFailedCrc(m,b,n,s)                set(m,b,n,s, (uint16_t)lib_nvm_getTotalFailedCrc())
+#else
+#define transmit_BMSW_nvmInformation false
+#endif
 
 #include "TemporaryStubbing.h"