Dynamic QML-script write support

Author: vedderb

CHANGELOG

@@ -23,6 +23,8 @@
 * Limit hall sensor angle rate of change based on ERPM.
 * Added p_pid_gain_dec_angle parameter.
 * Low pass filter input voltage.
+* Dual hardware CAN-scan fix.
+* Dynamic QML-script write support.
 
 === FW 5.02 ===
 * IMU calibration improvement.

commands.c

@@ -196,7 +196,7 @@ void commands_process_packet(unsigned char *data, unsigned int len,
 	switch (packet_id) {
 	case COMM_FW_VERSION: {
 		int32_t ind = 0;
-		uint8_t send_buffer[50];
+		uint8_t send_buffer[60];
 		send_buffer[ind++] = COMM_FW_VERSION;
 		send_buffer[ind++] = FW_VERSION_MAJOR;
 		send_buffer[ind++] = FW_VERSION_MINOR;
@@ -243,7 +243,11 @@ void commands_process_packet(unsigned char *data, unsigned int len,
 		send_buffer[ind++] = 1;
 #endif
 #else
-		send_buffer[ind++] = 0;
+		if (flash_helper_qmlui_data()) {
+			send_buffer[ind++] = flash_helper_qmlui_flags();
+		} else {
+			send_buffer[ind++] = 0;
+		}
 #endif
 
 		fw_version_sent_cnt++;
@@ -1321,27 +1325,71 @@ void commands_process_packet(unsigned char *data, unsigned int len,
 	} break;
 
 	case COMM_GET_QML_UI_APP: {
-#ifdef QMLUI_SOURCE_APP
 		int32_t ind = 0;
 
 		int32_t len_qml = buffer_get_int32(data, &ind);
 		int32_t ofs_qml = buffer_get_int32(data, &ind);
 
-		if ((len_qml + ofs_qml) > DATA_QML_APP_SIZE || len_qml > (PACKET_MAX_PL_LEN - 10)) {
+		uint8_t *qmlui_data = flash_helper_qmlui_data();
+		int32_t qmlui_len = flash_helper_qmlui_size();
+
+#ifdef QMLUI_SOURCE_APP
+		qmlui_data = data_qml_app;
+		qmlui_len = DATA_QML_APP_SIZE;
+#endif
+
+		if (!qmlui_data) {
+			break;
+		}
+
+		if ((len_qml + ofs_qml) > qmlui_len || len_qml > (PACKET_MAX_PL_LEN - 10)) {
 			break;
 		}
 
 		chMtxLock(&send_buffer_mutex);
 		ind = 0;
 		send_buffer_global[ind++] = packet_id;
-		buffer_append_int32(send_buffer_global, DATA_QML_APP_SIZE, &ind);
+		buffer_append_int32(send_buffer_global, qmlui_len, &ind);
 		buffer_append_int32(send_buffer_global, ofs_qml, &ind);
-		memcpy(send_buffer_global + ind, data_qml_app + ofs_qml, len_qml);
+		memcpy(send_buffer_global + ind, qmlui_data + ofs_qml, len_qml);
 		ind += len_qml;
 		reply_func(send_buffer_global, ind);
 
 		chMtxUnlock(&send_buffer_mutex);
-#endif
+	} break;
+
+	case COMM_QMLUI_ERASE: {
+		int32_t ind = 0;
+
+		if (nrf_driver_ext_nrf_running()) {
+			nrf_driver_pause(6000);
+		}
+		uint16_t flash_res = flash_helper_erase_qmlui();
+
+		ind = 0;
+		uint8_t send_buffer[50];
+		send_buffer[ind++] = COMM_QMLUI_ERASE;
+		send_buffer[ind++] = flash_res == FLASH_COMPLETE ? 1 : 0;
+		reply_func(send_buffer, ind);
+	} break;
+
+	case COMM_QMLUI_WRITE: {
+		int32_t ind = 0;
+		uint32_t qmlui_offset = buffer_get_uint32(data, &ind);
+
+		if (nrf_driver_ext_nrf_running()) {
+			nrf_driver_pause(2000);
+		}
+		uint16_t flash_res = flash_helper_write_qmlui(qmlui_offset, data + ind, len - ind);
+
+		SHUTDOWN_RESET();
+
+		ind = 0;
+		uint8_t send_buffer[50];
+		send_buffer[ind++] = COMM_QMLUI_WRITE;
+		send_buffer[ind++] = flash_res == FLASH_COMPLETE ? 1 : 0;
+		buffer_append_uint32(send_buffer, qmlui_offset, &ind);
+		reply_func(send_buffer, ind);
 	} break;
 
 	// Blocking commands. Only one of them runs at any given time, in their

conf_general.h

@@ -24,7 +24,7 @@
 #define FW_VERSION_MAJOR			5
 #define FW_VERSION_MINOR			03
 // Set to 0 for building a release and iterate during beta test builds
-#define FW_TEST_VERSION_NUMBER		28
+#define FW_TEST_VERSION_NUMBER		30
 
 #include "datatypes.h"
 

datatypes.h

@@ -972,6 +972,8 @@ typedef enum {
 	COMM_GET_QML_UI_HW,
 	COMM_GET_QML_UI_APP,
 	COMM_CUSTOM_HW_DATA,
+	COMM_QMLUI_ERASE,
+	COMM_QMLUI_WRITE,
 } COMM_PACKET_ID;
 
 // CAN commands

flash_helper.c

@@ -1,5 +1,5 @@
 /*
-	Copyright 2016 - 2019 Benjamin Vedder	[email protected]
+	Copyright 2016 - 2021 Benjamin Vedder	[email protected]
 
 	This file is part of the VESC firmware.
 
@@ -26,6 +26,7 @@
 #include "timeout.h"
 #include "hw.h"
 #include "crc.h"
+#include "buffer.h"
 #include <string.h>
 
 /*
@@ -36,7 +37,9 @@
 #define APP_BASE								0
 #define NEW_APP_BASE							8
 #define NEW_APP_SECTORS							3
-#define APP_MAX_SIZE							(393216 - 8) // Note that the bootloader needs 8 extra bytes
+#define APP_MAX_SIZE							(1024 * 128 * 3 - 8) // Note that the bootloader needs 8 extra bytes
+#define QMLUI_BASE								7
+#define QMLUI_MAX_SIZE							(1024 * 128 - 8)
 
 // Base address of the Flash sectors
 #define ADDR_FLASH_SECTOR_0    					((uint32_t)0x08000000) // Base @ of Sector 0, 16 Kbytes
@@ -66,11 +69,20 @@
 typedef struct {
 	uint32_t crc_flag;
 	uint32_t crc;
-}crc_info_t;
+} crc_info_t;
 
-//Make sure the app image has the CRC bits set to '1' to later write the flag and CRC.
+// Make sure the app image has the CRC bits set to '1' to later write the flag and CRC.
 const crc_info_t __attribute__((section (".crcinfo"))) crc_info = {0xFFFFFFFF, 0xFFFFFFFF};
 
+// Private functions
+static uint16_t erase_sector(uint32_t sector);
+static uint16_t write_data(uint32_t base, uint8_t *data, uint32_t len);
+static void qmlui_check(void);
+
+// Private variables
+static bool qmlui_check_done = false;
+static bool qmlui_ok = false;
+
 // Private constants
 static const uint32_t flash_addr[FLASH_SECTORS] = {
 		ADDR_FLASH_SECTOR_0,
@@ -135,52 +147,57 @@ uint16_t flash_helper_erase_new_app(uint32_t new_app_size) {
 }
 
 uint16_t flash_helper_erase_bootloader(void) {
-	FLASH_Unlock();
-	FLASH_ClearFlag(FLASH_FLAG_OPERR | FLASH_FLAG_WRPERR | FLASH_FLAG_PGAERR |
-			FLASH_FLAG_PGPERR | FLASH_FLAG_PGSERR);
-
-	mc_interface_unlock();
-	mc_interface_release_motor();
-	utils_sys_lock_cnt();
-	timeout_configure_IWDT_slowest();
-
-	uint16_t res = FLASH_EraseSector(flash_sector[BOOTLOADER_BASE], VoltageRange_3);
-	if (res != FLASH_COMPLETE) {
-		FLASH_Lock();
-		return res;
-	}
+	return erase_sector(flash_sector[BOOTLOADER_BASE]);
+}
 
-	FLASH_Lock();
-	timeout_configure_IWDT();
-	utils_sys_unlock_cnt();
+uint16_t flash_helper_write_new_app_data(uint32_t offset, uint8_t *data, uint32_t len) {
+	return write_data(flash_addr[NEW_APP_BASE] + offset, data, len);
+}
 
-	return FLASH_COMPLETE;
+uint16_t flash_helper_erase_qmlui(void) {
+	qmlui_check_done = false;
+	qmlui_ok = false;
+	return erase_sector(flash_sector[QMLUI_BASE]);
 }
 
-uint16_t flash_helper_write_new_app_data(uint32_t offset, uint8_t *data, uint32_t len) {
-	FLASH_Unlock();
-	FLASH_ClearFlag(FLASH_FLAG_OPERR | FLASH_FLAG_WRPERR | FLASH_FLAG_PGAERR |
-			FLASH_FLAG_PGPERR | FLASH_FLAG_PGSERR);
+uint16_t flash_helper_write_qmlui(uint32_t offset, uint8_t *data, uint32_t len) {
+	qmlui_check_done = false;
+	qmlui_ok = false;
+	return write_data(flash_addr[QMLUI_BASE] + offset, data, len);
+}
 
-	mc_interface_unlock();
-	mc_interface_release_motor();
-	utils_sys_lock_cnt();
-	timeout_configure_IWDT_slowest();
+uint8_t *flash_helper_qmlui_data(void) {
+	qmlui_check();
 
-	for (uint32_t i = 0;i < len;i++) {
-		uint16_t res = FLASH_ProgramByte(flash_addr[NEW_APP_BASE] + offset + i, data[i]);
-		if (res != FLASH_COMPLETE) {
-			FLASH_Lock();
-			return res;
-		}
+	if (qmlui_check_done && qmlui_ok) {
+		return (uint8_t*)(flash_addr[QMLUI_BASE]) + 8;
+	} else {
+		return 0;
 	}
-	FLASH_Lock();
+}
 
-	timeout_configure_IWDT();
+uint32_t flash_helper_qmlui_size(void) {
+	qmlui_check();
 
-	utils_sys_unlock_cnt();
+	if (qmlui_check_done && qmlui_ok) {
+		uint8_t *qmlui_base = (uint8_t*)(flash_addr[QMLUI_BASE]);
+		int32_t ind = 0;
+		return buffer_get_uint32(qmlui_base, &ind);
+	} else {
+		return 0;
+	}
+}
 
-	return FLASH_COMPLETE;
+uint16_t flash_helper_qmlui_flags(void) {
+	qmlui_check();
+
+	if (qmlui_check_done && qmlui_ok) {
+		uint8_t *qmlui_base = (uint8_t*)(flash_addr[QMLUI_BASE]);
+		int32_t ind = 6;
+		return buffer_get_uint16(qmlui_base, &ind);
+	} else {
+		return 0;
+	}
 }
 
 /**
@@ -339,3 +356,72 @@ uint32_t flash_helper_verify_flash_memory_chunk(void) {
 
 	return res;
 }
+
+static uint16_t erase_sector(uint32_t sector) {
+	FLASH_Unlock();
+	FLASH_ClearFlag(FLASH_FLAG_OPERR | FLASH_FLAG_WRPERR | FLASH_FLAG_PGAERR |
+			FLASH_FLAG_PGPERR | FLASH_FLAG_PGSERR);
+
+	mc_interface_unlock();
+	mc_interface_release_motor();
+	utils_sys_lock_cnt();
+	timeout_configure_IWDT_slowest();
+
+	uint16_t res = FLASH_EraseSector(sector, VoltageRange_3);
+	if (res != FLASH_COMPLETE) {
+		FLASH_Lock();
+		return res;
+	}
+
+	FLASH_Lock();
+	timeout_configure_IWDT();
+	utils_sys_unlock_cnt();
+
+	return FLASH_COMPLETE;
+}
+
+static uint16_t write_data(uint32_t base, uint8_t *data, uint32_t len) {
+	FLASH_Unlock();
+	FLASH_ClearFlag(FLASH_FLAG_OPERR | FLASH_FLAG_WRPERR | FLASH_FLAG_PGAERR |
+			FLASH_FLAG_PGPERR | FLASH_FLAG_PGSERR);
+
+	mc_interface_unlock();
+	mc_interface_release_motor();
+	utils_sys_lock_cnt();
+	timeout_configure_IWDT_slowest();
+
+	for (uint32_t i = 0;i < len;i++) {
+		uint16_t res = FLASH_ProgramByte(base + i, data[i]);
+		if (res != FLASH_COMPLETE) {
+			FLASH_Lock();
+			return res;
+		}
+	}
+	FLASH_Lock();
+
+	timeout_configure_IWDT();
+
+	utils_sys_unlock_cnt();
+
+	return FLASH_COMPLETE;
+}
+
+static void qmlui_check(void) {
+	if (qmlui_check_done) {
+		return;
+	}
+
+	uint8_t *qmlui_base = (uint8_t*)(flash_addr[QMLUI_BASE]);
+	int32_t ind = 0;
+	uint32_t qmlui_len = buffer_get_uint32(qmlui_base, &ind);
+	uint16_t qmlui_crc = buffer_get_uint16(qmlui_base, &ind);
+
+	if (qmlui_len <= QMLUI_MAX_SIZE) {
+		uint16_t crc_calc = crc16(qmlui_base + ind, qmlui_len + 2); // CRC includes the 2 byte flags
+		qmlui_ok = crc_calc == qmlui_crc;
+	} else {
+		qmlui_ok = false;
+	}
+
+	qmlui_check_done = true;
+}

flash_helper.h

@@ -1,5 +1,5 @@
 /*
-	Copyright 2016 - 2019 Benjamin Vedder	[email protected]
+	Copyright 2016 - 2021 Benjamin Vedder	[email protected]
 
 	This file is part of the VESC firmware.
 
@@ -26,6 +26,13 @@
 uint16_t flash_helper_erase_new_app(uint32_t new_app_size);
 uint16_t flash_helper_erase_bootloader(void);
 uint16_t flash_helper_write_new_app_data(uint32_t offset, uint8_t *data, uint32_t len);
+
+uint16_t flash_helper_erase_qmlui(void);
+uint16_t flash_helper_write_qmlui(uint32_t offset, uint8_t *data, uint32_t len);
+uint8_t *flash_helper_qmlui_data(void);
+uint32_t flash_helper_qmlui_size(void);
+uint16_t flash_helper_qmlui_flags(void);
+
 void flash_helper_jump_to_bootloader(void);
 uint8_t* flash_helper_get_sector_address(uint32_t fsector);
 uint32_t flash_helper_verify_flash_memory(void);