feat: add seat firmware workbench and OTA delivery

firmware/t2g/Seat_Controller_demo/App/main_cm0plus.c

@@ -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

@@ -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

@@ -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;