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feat: add seat firmware workbench and OTA delivery

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This commit is contained in:
vee
2026-09-16 17:55:30 +08:00
parent 3eeca2ea75
commit ab8e43050c
70 changed files with 22594 additions and 316 deletions
Download Patch File Download Diff File Expand all files Collapse all files
firmware/t2g/Seat_Controller_demo/App/main_cm0plus.c
+5
View File
@@ -13,6 +13,7 @@
#include "bsp_seat_backrest_heater.h"
#include "bsp_seat_fan.h"
#include "seat_controller_thermal.h"
#include "seat_feature_profile.h"
volatile uint32_t g_seatMoveResetReason = 0u;
volatile uint32_t g_seatMoveInitResult = MOTOR_API_FAILURE;
@@ -59,11 +60,13 @@ int main(void)
}
Motor_SetWatchdogServiceEnabled(true);
#if SEAT_FEATURE_THERMAL
if(!SeatControllerThermal_Init())
{
SafetyManager_LatchFault(SAFETY_FAULT_DRIVER);
SeatMove_HoldSafeOff();
}
#endif
if(!SeatMoveApplication_Init())
{
SeatMove_HoldSafeOff();
@@ -72,7 +75,9 @@ int main(void)
for(;;)
{
SeatMoveApplication_Service();
#if SEAT_FEATURE_THERMAL
SeatControllerThermal_Service1ms();
#endif
if(SafetyManager_IsInhibited())
{
Motor_ForceSafeOff();
firmware/t2g/Seat_Controller_demo/App/seat_controller_thermal.c
+47
View File
@@ -7,6 +7,7 @@
#include "seat_backrest_heater.h"
#include "seat_backrest_heater_config.h"
#include "seat_fan_config.h"
#include "seat_feature_profile.h"
#define SEAT_CONTROLLER_THERMAL_CONTROL_ID (0x29Eu)
#define SEAT_CONTROLLER_THERMAL_CONFIG_ID (0x2AAu)
@@ -247,6 +248,7 @@ static void SeatControllerThermal_HandleControl29e(
fanGear = (uint8_t)((frame->data0 >> 16u) & 0x0Fu);
heaterGear = (uint8_t)((frame->data0 >> 20u) & 0x0Fu);
#if SEAT_FEATURE_VENTILATION
if(fanOn == 2u)
{
SeatControllerThermal_StopFan(1u);
@@ -266,7 +268,14 @@ static void SeatControllerThermal_HandleControl29e(
g_seatControllerThermalInvalidCount++;
SeatControllerThermal_StopFan(0u);
}
#else
(void)fanOn;
(void)fanMode;
(void)fanGear;
SeatControllerThermal_StopFan(1u);
#endif
#if SEAT_FEATURE_HEATING
if(heaterOn == 2u)
{
SeatControllerThermal_StopHeater(1u);
@@ -286,6 +295,11 @@ static void SeatControllerThermal_HandleControl29e(
g_seatControllerThermalInvalidCount++;
SeatControllerThermal_StopHeater(0u);
}
#else
(void)heaterOn;
(void)heaterGear;
SeatControllerThermal_StopHeater(1u);
#endif
}
static void SeatControllerThermal_HandleConfig2aa(
@@ -308,16 +322,23 @@ static void SeatControllerThermal_HandleConfig2aa(
g_seatControllerThermalInvalidCount++;
return;
}
#if SEAT_FEATURE_VENTILATION
s_fanConfiguredMaxGear = (fanConfig == 1u) ? 1u :
((fanConfig == 2u) ? 2u : 3u);
#endif
#if SEAT_FEATURE_HEATING
s_heaterConfiguredMaxLevel = (heaterConfig == 1u) ? 1u :
((heaterConfig == 2u) ? 2u : 3u);
#endif
#if SEAT_FEATURE_VENTILATION
if(s_fanRunning &&
!SeatControllerThermal_RequestFan(s_fanLastVehicleGear))
{
g_seatControllerThermalOutputFaultStage = 4u;
SeatControllerThermal_LatchOutputFault();
}
#endif
#if SEAT_FEATURE_HEATING
if(g_seatBackrestHeaterAppliedLevel !=
SEAT_BACKREST_HEATER_LEVEL_OFF)
{
@@ -327,11 +348,13 @@ static void SeatControllerThermal_HandleConfig2aa(
SeatControllerThermal_LatchOutputFault();
}
}
#endif
}
static void SeatControllerThermal_HandleMode3ce(
const bsp_seat_move_can_frame_t *frame)
{
#if SEAT_FEATURE_HEATING
uint8_t mode;
if(frame->dlc != SEAT_FAN_CAN_DLC)
{
@@ -347,6 +370,10 @@ static void SeatControllerThermal_HandleMode3ce(
g_seatControllerThermalInvalidCount++;
SeatControllerThermal_StopHeater(0u);
}
#else
(void)frame;
SeatControllerThermal_StopHeater(1u);
#endif
}
static void SeatControllerThermal_HandleSwitch42a(
@@ -363,6 +390,7 @@ static void SeatControllerThermal_HandleSwitch42a(
}
fanSwitch = (uint8_t)(frame->data0 & 0x03u);
heaterSwitch = (uint8_t)((frame->data0 >> 2u) & 0x03u);
#if SEAT_FEATURE_VENTILATION
if(fanSwitch == 1u)
{
if(!SeatControllerThermal_RequestFan(s_fanLastVehicleGear))
@@ -375,6 +403,11 @@ static void SeatControllerThermal_HandleSwitch42a(
{
SeatControllerThermal_StopFan(1u);
}
#else
(void)fanSwitch;
SeatControllerThermal_StopFan(1u);
#endif
#if SEAT_FEATURE_HEATING
if(heaterSwitch == 1u)
{
if(!SeatControllerThermal_RequestHeater(s_heaterLastVehicleGear))
@@ -387,10 +420,15 @@ static void SeatControllerThermal_HandleSwitch42a(
{
SeatControllerThermal_StopHeater(1u);
}
#else
(void)heaterSwitch;
SeatControllerThermal_StopHeater(1u);
#endif
}
static bool SeatControllerThermal_RequestFan(uint8_t vehicleGear)
{
#if SEAT_FEATURE_VENTILATION
uint8_t physicalGear = (vehicleGear >= 3u) ? 3u : vehicleGear;
if((vehicleGear == 0u) || (vehicleGear > 5u))
{
@@ -418,10 +456,15 @@ static bool SeatControllerThermal_RequestFan(uint8_t vehicleGear)
return BspSeatFan_SetDutyPercent(s_fanTargetDutyPercent);
}
return true;
#else
(void)vehicleGear;
return false;
#endif
}
static bool SeatControllerThermal_RequestHeater(uint8_t vehicleGear)
{
#if SEAT_FEATURE_HEATING
uint8_t physicalLevel = (vehicleGear >= 3u) ? 3u : vehicleGear;
if((vehicleGear == 0u) || (vehicleGear > 5u) || !s_heaterModeValid)
{
@@ -440,6 +483,10 @@ static bool SeatControllerThermal_RequestHeater(uint8_t vehicleGear)
g_seatControllerHeaterFeedbackRaw = physicalLevel + 1u;
s_feedbackPending = true;
return true;
#else
(void)vehicleGear;
return false;
#endif
}
static void SeatControllerThermal_StopFan(uint8_t feedbackRaw)
firmware/t2g/Seat_Controller_demo/App/seat_move_application.c
+20 -2
View File
@@ -8,6 +8,7 @@
#include "safety_manager.h"
#include "seat_controller_thermal.h"
#include "seat_dynamic_mode.h"
#include "seat_feature_profile.h"
#include "seat_motor_manager.h"
#include "seat_move_config.h"
#include "seat_move_store.h"
@@ -336,7 +337,9 @@ void SeatMoveApplication_Service(void)
}
else
{
#if SEAT_FEATURE_THERMAL
SeatControllerThermal_HandleFrame(&frame);
#endif
}
}
SeatMove_ServiceDispatcher();
@@ -363,7 +366,9 @@ void Motor_CalibrationServiceHook(void)
}
else
{
#if SEAT_FEATURE_THERMAL
SeatControllerThermal_HandleFrame(&frame);
#endif
}
}
if(g_bspSeatMoveCanBusOff != 0u)
@@ -533,15 +538,28 @@ static bool SeatMove_ParseCommand(const bsp_seat_move_can_frame_t *frame,
{
case SEAT_MOVE_OPCODE_MOVE_ABSOLUTE:
case SEAT_MOVE_OPCODE_MOVE_RELATIVE:
#if SEAT_FEATURE_POSITION_CONTROL
break;
#else
*reject = SEAT_MOVE_REJECT_BAD_OPCODE;
return false;
#endif
case SEAT_MOVE_OPCODE_MOVE_TIMED:
case SEAT_MOVE_OPCODE_STOP_MOTOR:
case SEAT_MOVE_OPCODE_STOP_ALL:
break;
case SEAT_MOVE_OPCODE_CALIBRATE_RANGE:
case SEAT_MOVE_OPCODE_HOME_KNOWN_RANGE:
case SEAT_MOVE_OPCODE_QUERY_STATUS:
case SEAT_MOVE_OPCODE_CLEAR_FAULT:
case SEAT_MOVE_OPCODE_START_DYNAMIC_MODE:
case SEAT_MOVE_OPCODE_STOP_DYNAMIC_MODE:
#if SEAT_FEATURE_POSITION_CONTROL
break;
#else
*reject = SEAT_MOVE_REJECT_BAD_OPCODE;
return false;
#endif
case SEAT_MOVE_OPCODE_QUERY_STATUS:
case SEAT_MOVE_OPCODE_CLEAR_FAULT:
break;
default:
*reject = SEAT_MOVE_REJECT_BAD_OPCODE;
firmware/t2g/Seat_Controller_demo/Config/seat_feature_profile.h
+27
View File
@@ -0,0 +1,27 @@
#ifndef SEAT_FEATURE_PROFILE_H
#define SEAT_FEATURE_PROFILE_H
/*
* Repository default is the complete controller. The workbench build script
* replaces this header only inside its isolated staging tree so every OTA
* task receives the exact capability profile selected by the user.
*/
#define SEAT_FEATURE_POSITION_CONTROL (1)
#define SEAT_FEATURE_VENTILATION (1)
#define SEAT_FEATURE_HEATING (1)
#if ((SEAT_FEATURE_POSITION_CONTROL != 0) && \
(SEAT_FEATURE_POSITION_CONTROL != 1))
#error "SEAT_FEATURE_POSITION_CONTROL must be 0 or 1"
#endif
#if ((SEAT_FEATURE_VENTILATION != 0) && (SEAT_FEATURE_VENTILATION != 1))
#error "SEAT_FEATURE_VENTILATION must be 0 or 1"
#endif
#if ((SEAT_FEATURE_HEATING != 0) && (SEAT_FEATURE_HEATING != 1))
#error "SEAT_FEATURE_HEATING must be 0 or 1"
#endif
#define SEAT_FEATURE_THERMAL \
((SEAT_FEATURE_VENTILATION != 0) || (SEAT_FEATURE_HEATING != 0))
#endif /* SEAT_FEATURE_PROFILE_H */
firmware/t2g/Seat_Controller_demo/IAR/Seat_Controller_demo.ewp
+3
View File
@@ -2359,6 +2359,9 @@
<file>
<name>$PROJ_DIR$\..\Config\seat_move_config.h</name>
</file>
<file>
<name>$PROJ_DIR$\..\Config\seat_feature_profile.h</name>
</file>
<file>
<name>$PROJ_DIR$\..\Config\seat_backrest_heater_config.h</name>
</file>
firmware/t2g/Seat_Controller_demo/IAR/rev_d/Exe/Seat_Controller_demo.hex
+253 -258
View File
@@ -1,12 +1,12 @@
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@@ -78,7 +78,7 @@
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@@ -313,8 +313,8 @@
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@@ -343,9 +343,9 @@
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@@ -1109,12 +1109,12 @@
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firmware/t2g/Seat_Controller_demo/IAR/rev_d/Exe/Seat_Controller_demo.out
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