Bootloader APP Feature bringup

concordia-fsae · Oct 27, 2024 · fce8290 · fce8290
1 parent 350537d
commit fce8290
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Showing 13 changed files with 167 additions and 48 deletions.
diff --git a/components/bootloaders/STM/stm32f103/FeatureDefs.yaml b/components/bootloaders/STM/stm32f103/FeatureDefs.yaml
@@ -0,0 +1,5 @@
+config:
+  prefix: feature
+  description: Feature definitions for the Bootloader
+defs:
+  can_debug:
diff --git a/components/bootloaders/STM/stm32f103/FeatureSels.yaml b/components/bootloaders/STM/stm32f103/FeatureSels.yaml
@@ -0,0 +1,2 @@
+featureDefs: "#/components/bootloaders/STM/stm32f103/FeatureDefs.yaml"
+features:
diff --git a/components/bootloaders/STM/stm32f103/SConscript b/components/bootloaders/STM/stm32f103/SConscript
@@ -25,6 +25,8 @@ SRC_DIR = Dir("src")
 LIBS_DIR = Dir("#/embedded/libs")
 UDS_DIR = LIBS_DIR.Dir("uds")
 ISOTP_DIR = LIBS_DIR.Dir("isotp")
+SHARED_CODE = Dir("#/components/shared/code")
+SHARED_LIBS = SHARED_CODE.Dir("libs")
 
 ARTIFACT_NAME = "bootloader"
 BUILDS_DIR = Dir(f"build")
@@ -68,6 +70,7 @@ c_flags = [
     "-Wreturn-type",
     "-Wshadow",
     "-Wunused",
+    "-Wundef",
 ]
 
 if not GetOption("release"):
@@ -92,6 +95,7 @@ inc_paths = [
     UDS_DIR.Dir("include"),
     ISOTP_DIR.Dir("include"),
     LIBS_DIR.Dir("libcrc"),
+    SHARED_LIBS,
 ]
 
 src_files = [
@@ -109,6 +113,7 @@ src_files = [
     SRC_DIR.File("HW/HW_TIM.c"),
     SRC_DIR.File("c_only_startup.S"),
     SRC_DIR.File("cortexm3_macro.S"),
+    SHARED_LIBS.File("LIB_app.c"),
 ]
 
 uds_srcs = [
@@ -133,17 +138,19 @@ uds_env.Append(
         "-Wno-unused-parameter",
         "-DBYTE_ORDER=_BYTE_ORDER",
         "-DLITTLE_ENDIAN=_LITTLE_ENDIAN",
+        "-Wno-undef",
     ]
 )
 
-renderers = [
-    File("renderers/BuildDefines_generated.h.mako"),
-]
+renderers = {
+    "buildDefs": [File("renderers/BuildDefines_generated.h.mako")],
+    "featureDefs": [File("#/shared/renderers/mako/FeatureDefines_generated.h.mako")],
+}
 
 
-def render_generated_files(options, output_dir):
+def render_generated_files(options, renderer, output_dir):
     targets = []
-    for template in renderers:
+    for template in renderer:
         renderer = Template(filename=template.abspath)
         rendered = renderer.render(**options)
         if not isinstance(rendered, str):
@@ -177,18 +184,27 @@ binaries = []
 asms = []
 
 for config_id, config in configs.items():
+    config_env = env.Clone()
+    feature_selections = config_env["FEATURE_SELECTIONS"]
+    feature_selections += config["features"]["selections"]
+    feature_selections_files = []
+    for file in feature_selections:
+        feature_selections_files += [ File(file) ]
+
     variant_dir = BUILDS_DIR.Dir(
         "_".join(config["description"].split(" ")) + f"_{config_id}"
     )
     generated_dir = variant_dir.Dir("generated")
     makedirs(generated_dir.abspath, exist_ok=True)
 
-    generated = render_generated_files(config["options"], generated_dir)
+    features = {"features": config_env.GenerateFeatures(feature_selections_files, config["features"]["overrides"]) }
+    generated_features = render_generated_files(features, renderers["featureDefs"], generated_dir)
+    generated = render_generated_files(config["options"], renderers["buildDefs"], generated_dir)
 
     objs = []
     objs.extend(
         [
-            env.Object(
+            config_env.Object(
                 target=make_build_target(variant_dir, src, ".obj"),
                 source=src,
                 CPPPATH=inc_paths + [generated_dir],
@@ -208,7 +224,7 @@ for config_id, config in configs.items():
     )
 
     # link all the compiled objects into an elf
-    elf, map = env.Program(
+    elf, map = config_env.Program(
         variant_dir.File(ARTIFACT_NAME + ".elf"),
         objs,
         MAPFILE=variant_dir.File(ARTIFACT_NAME + ".map"),
@@ -218,18 +234,18 @@ for config_id, config in configs.items():
     Clean(elf, generated)
 
     # generate a binary
-    binaries.append(env.Bin(source=elf))
+    binaries.append(config_env.Bin(source=elf))
 
     # asms target generates disassembled binaries
-    asms.append(env.Asm(source=objs + [elf]))
+    asms.append(config_env.Asm(source=objs + [elf]))
 
     # build compilation database
-    compile_db = env.CompilationDatabase(variant_dir.File("compile_commands.json"))
+    compile_db = config_env.CompilationDatabase(variant_dir.File("compile_commands.json"))
     Depends(compile_db, objs)
     # always generate compilation database
     Default(compile_db)
     # use compiledb alias to _only_ build the compiledb
-    env.Alias("compiledb", compile_db)
+    config_env.Alias("compiledb", compile_db)
 
 
 Default(binaries)

diff --git a/components/bootloaders/STM/stm32f103/include/HW/BuildDefines.h b/components/bootloaders/STM/stm32f103/include/HW/BuildDefines.h
@@ -0,0 +1,9 @@
+/*
+ * BuildDefines.h
+ *
+ */
+
+#pragma once
+
+#include "FeatureDefines_generated.h"
+#include "BuildDefines_generated.h"
diff --git a/components/bootloaders/STM/stm32f103/include/HW/HW_SYS.h b/components/bootloaders/STM/stm32f103/include/HW/HW_SYS.h
@@ -11,19 +11,12 @@
 
 #include "Types.h"
 
+#include "LIB_app.h"
 
 /******************************************************************************
  *                             T Y P E D E F S
  ******************************************************************************/
 
-typedef struct
-{
-    uint32_t appStart;
-    uint32_t appEnd;
-    uint32_t appCrcLocation;
-} appDesc_S;
-
-
 typedef enum
 {
     RESET_TYPE_NONE = 0U,

diff --git a/components/bootloaders/STM/stm32f103/include/HW/HW_specific.h b/components/bootloaders/STM/stm32f103/include/HW/HW_specific.h
@@ -11,7 +11,7 @@
  *                             I N C L U D E S
  ******************************************************************************/
 
-#include "BuildDefines_generated.h"
+#include "BuildDefines.h"
 #include "Types.h"
 
 
@@ -21,7 +21,7 @@
 
 #define HSE_STARTUP_TIMEOUT    0x0500UL  // Time out for HSE start up
 
-#if PCB_ID == 0
+#if APP_PCBA_ID == 0
 
 # define CAN_AFIO_REMAP    true
 # define CAN_RX_PORT       GPIOB
@@ -30,7 +30,7 @@
 # define CAN_TX_PORT       GPIOB
 # define CAN_TX_PIN        9U
 
-#elif PCB_ID == 10
+#elif APP_PCBA_ID == 10
 
 # define CAN_AFIO_REMAP    false
 # define CAN_RX_PORT       GPIOA
@@ -48,9 +48,9 @@
 #define LED_PORT                GPIOC
 #define LED_PIN                 13U
 #define LED_ON_STATE            0U // this can probably be refactored
-#if PCB_ID == 0
+#if APP_PCBA_ID == 0
 # define LED_MODE               GPIO_CFG_OUTPUT_OPEN_DRAIN
-#elif PCB_ID == 10
+#elif APP_PCBA_ID == 10
 # define LED_MODE               GPIO_CFG_OUTPUT_PUSH_PULL
 #endif
 

diff --git a/components/bootloaders/STM/stm32f103/renderers/BuildDefines_generated.h.mako b/components/bootloaders/STM/stm32f103/renderers/BuildDefines_generated.h.mako
@@ -5,6 +5,8 @@
 
 #pragma once
 
-#define PCB_ID           ${pcbId}
-#define UDS_REQUEST_ID   ${udsRequestId}
-#define UDS_RESPONSE_ID  ${udsResponseId}
+%if nodeId is not UNDEFINED:
+#define NODE_ID          ${nodeId}U
+%endif
+#define UDS_REQUEST_ID   ${udsRequestId}U
+#define UDS_RESPONSE_ID  ${udsResponseId}U
diff --git a/components/bootloaders/STM/stm32f103/src/HW/HW_SYS.c b/components/bootloaders/STM/stm32f103/src/HW/HW_SYS.c
@@ -19,6 +19,19 @@
 #include "UDS.h"
 #include "Utilities.h"
 
+#include "BuildDefines.h"
+
+__attribute__((section(".appDescriptor")))
+const appDesc_S hwDesc = {
+    .appStart = (const uint32_t)&__app_start_addr,
+    .appEnd = (const uint32_t)&__app_end_addr,
+    .appCrcLocation = (const uint32_t)&__app_end_addr,
+    .appComponentId = APP_COMPONENT_ID,
+    .appPcbaId = APP_PCBA_ID,
+#if FEATURE_IS_ENABLED(APP_NODE_ID)
+    .appNodeId = APP_NODE_ID,
+#endif // APP_NODE_ID
+};
 
 /******************************************************************************
  *                     P R I V A T E  F U N C T I O N S
@@ -59,21 +72,21 @@ void bootApp(uint32_t appAddr)
 static bool checkAppDescValid(appDesc_S *appDesc)
 {
     // TODO: clean this up
-    uint8_t valid = 0b111;
+    uint8_t valid = 0b11111;
 
     if (appDesc->appStart < APP_FLASH_START)
     {
-        valid &= 0b110;
+        valid &= 0b11110;
     }
 
     if (appDesc->appEnd >= APP_FLASH_END)
     {
-        valid &= 0b101;
+        valid &= 0b11101;
     }
 
     if ((appDesc->appCrcLocation & 0x0FF00000) != 0x08000000)
     {
-        valid &= 0b011;
+        valid &= 0b11011;
     }
 
     CAN_TxMessage_S msg = {

diff --git a/components/bootloaders/STM/stm32f103/src/UDS.c b/components/bootloaders/STM/stm32f103/src/UDS.c
@@ -22,6 +22,9 @@
 // system includes
 #include <string.h>
 
+#ifndef ISO_TP_USER_DEBUG_ENABLED
+#define ISO_TP_USER_DEBUG_ENABLED 0U
+#endif
 
 /******************************************************************************
  *                              E X T E R N S

diff --git a/components/bootloaders/STM/stm32f103/src/main.c b/components/bootloaders/STM/stm32f103/src/main.c
@@ -15,14 +15,14 @@
 
 #include <string.h>    // memset
 
+#include "LIB_app.h"
 
 /******************************************************************************
  *                         P R I V A T E  V A R S
  ******************************************************************************/
 
 appDesc_S *appDesc;
 
-
 /******************************************************************************
  *                     P R I V A T E  F U N C T I O N S
  ******************************************************************************/
Original file line number	Diff line number	Diff line change
		@@ -0,0 +1,2 @@
		featureDefs: "#/components/bootloaders/STM/stm32f103/FeatureDefs.yaml"
		features: