rusefi_wideband.cpp

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#include "pch.h"
 
/*
 * - we have many board with one or two on-board F0 WBO module
 * - we have a requirement to use external AEM controller instead of onboard module ('Genesis use-case')
 * - we also have requirement for CANbus ID conflict resolution in case of vehicle integration ('Camaro use-case')
 */
 
// do we use some sort of a custom bootloader protocol in rusEFI WBO?
// todo: should we move to any widely used protocol like OpenBLT or else?
 
#if EFI_CAN_SUPPORT
 
#include "ch.h"
#include "can_msg_tx.h"
#include "rusefi_wideband.h"
#pragma GCC diagnostic push
#pragma GCC diagnostic ignored "-Wunused-function"
#include "wideband_firmware/for_rusefi/wideband_can.h"
#pragma GCC diagnostic pop
 
size_t getWidebandBus() {
    return engineConfiguration->widebandOnSecondBus ? 1 : 0;
}
 
#define EVT_BOOTLOADER_ACK EVENT_MASK(0)
 
static thread_t* waitingBootloaderThread = nullptr;
static char widebandRestart = 0;
 
void handleWidebandCan(const size_t busIndex, const CANRxFrame& frame) {
    // wrong bus
    if (busIndex != getWidebandBus()) {
        return;
    }
 
    // Bootloader acks with address 0x727573 aka ascii "rus"
    if (CAN_EID(frame) != WB_ACK) {
        return;
    }
 
    if (frame.DLC == 0)
    {
        // Ack reply
        // Nop
    } else if (frame.DLC == 8)
    {
        // Ping reply
        #if EFI_TUNER_STUDIO
            auto data = reinterpret_cast<const wbo::PongData*>(&frame.data8[0]);
 
            engine->outputChannels.canReWidebandVersion = data->Version;
            engine->outputChannels.canReWidebandFwDay = data->day;
            engine->outputChannels.canReWidebandFwMon = data->month;
            engine->outputChannels.canReWidebandFwYear = data->year;
        #endif
    } else {
        // Unknown
        return;
    }
 
    // Wake thread in any case
    auto t = waitingBootloaderThread;
    if (t) {
        chEvtSignal(t, EVT_BOOTLOADER_ACK);
    }
}
 
bool waitAck(int timeout = 1000) {
    return chEvtWaitAnyTimeout(EVT_BOOTLOADER_ACK, TIME_MS2I(timeout)) != 0;
}
 
static void setStatus(can_wbo_re_status_e status)
{
#if EFI_TUNER_STUDIO
    engine->outputChannels.canReWidebandCmdStatus = static_cast<uint8_t>(status);
#endif
}
 
void setWidebandOffsetNoWait(uint8_t hwIndex, uint8_t index) {
    size_t bus = getWidebandBus();
 
    if (hwIndex == 0xff) {
        CanTxMessage m(CanCategory::WBO_SERVICE, WB_MSG_SET_INDEX, 1, bus, true);
        m[0] = index;
    } else {
        CanTxMessage m(CanCategory::WBO_SERVICE, WB_MSG_SET_INDEX, 2, bus, true);
        m[0] = index;
        m[1] = hwIndex;
    }
}
 
void setWidebandOffset(uint8_t hwIndex, uint8_t index) {
    setStatus(WBO_RE_BUSY);
 
    // Clear any pending acks for this thread
    chEvtGetAndClearEvents(EVT_BOOTLOADER_ACK);
 
    // Send messages to the current thread when acks come in
    waitingBootloaderThread = chThdGetSelfX();
 
    efiPrintf("***************************************");
    efiPrintf("          WIDEBAND INDEX SET");
    efiPrintf("***************************************");
 
    if (hwIndex == 0xff) {
        efiPrintf("Setting all connected widebands to index %d...", index);
    } else {
        efiPrintf("Setting wideband with hwIndex %d to CAN index %d...", hwIndex, index);
    }
    setWidebandOffsetNoWait(hwIndex, index);
 
    if (!waitAck()) {
        efiPrintf("Wideband index set failed: no controller detected!");
        setStatus(WBO_RE_FAILED);
    } else {
        setStatus(WBO_RE_DONE);
    }
 
    waitingBootloaderThread = nullptr;
}
 
void setWidebandSensorType(uint8_t hwIndex, uint8_t type) {
    size_t bus = getWidebandBus();
 
    setStatus(WBO_RE_BUSY);
 
    // Clear any pending acks for this thread
    chEvtGetAndClearEvents(EVT_BOOTLOADER_ACK);
 
    // Send messages to the current thread when acks come in
    waitingBootloaderThread = chThdGetSelfX();
 
    {
        // Note position of hwIndex, compared to WB_MSG_SET_INDEX
        // TODO: replace madic number after updating WBO submodule
        CanTxMessage m(CanCategory::WBO_SERVICE, 0xEF7'0000 /* WB_MSG_SET_SENS_TYPE */, 2, bus, true);
        m[0] = hwIndex;
        m[1] = type;
    }
 
    if (!waitAck()) {
        efiPrintf("Wideband sensor type set failed: no controller detected!");
        setStatus(WBO_RE_FAILED);
    } else {
        setStatus(WBO_RE_DONE);
    }
 
    waitingBootloaderThread = nullptr;
}
 
void pingWideband(uint8_t hwIndex) {
    size_t bus = getWidebandBus();
 
    setStatus(WBO_RE_BUSY);
 
#if EFI_TUNER_STUDIO
    engine->outputChannels.canReWidebandVersion = 0;
    engine->outputChannels.canReWidebandFwDay = 0;
    engine->outputChannels.canReWidebandFwMon = 0;
    engine->outputChannels.canReWidebandFwYear = 0;
#endif
 
    // Clear any pending acks for this thread
    chEvtGetAndClearEvents(EVT_BOOTLOADER_ACK);
 
    // Send messages to the current thread when acks come in
    waitingBootloaderThread = chThdGetSelfX();
 
    {
        // TODO: replace magic number with WB_MSG_PING after updating Wideband submodule
        CanTxMessage m(CanCategory::WBO_SERVICE, 0xEF6'0000, 1, bus, true);
        m[0] = hwIndex;
    }
 
    // 25mS should be enought, lets do not block TS thread too long while waiting for WBO reply
    if (!waitAck(25)) {
        efiPrintf("Wideband ping failed: no controller detected!");
        setStatus(WBO_RE_FAILED);
    } else {
        efiPrintf("WBO_RE_DONE");
        setStatus(WBO_RE_DONE);
    }
 
    waitingBootloaderThread = nullptr;
}
 
void restartWideband() {
    // 10 times of 50 mS
    widebandRestart = 10;
}
 
// Called with 50mS interval and only if CAN and (on-boards) WBO(s) are enabled
void sendWidebandInfo() {
    static int counter = 0;
 
    CanTxMessage m(CanCategory::WBO_SERVICE, WB_MSG_ECU_STATUS, /*dlc*/2, getWidebandBus(), /*isExtended*/true);
 
    float vbatt = Sensor::getOrZero(SensorType::BatteryVoltage) * 10;
 
    m[0] = vbatt;
 
    // Offset 1 bit 0 = heater enable
    if (widebandRestart) {
        m[1] = 0x00;
        widebandRestart--;
    } else {
        m[1] = engine->engineState.heaterControlEnabled ? 0x01 : 0x00;
    }
 
    // 10 * 50 = 0.5S delay
    if (counter == 10) {
        for (size_t i = 0; i < CAN_WBO_COUNT; i++) {
            if ((engineConfiguration->canWbo[i].enableRemap) &&
                (engineConfiguration->canWbo[i].type == RUSEFI)) {
                // remap
                setWidebandOffsetNoWait(engineConfiguration->canWbo[i].reHwidx, engineConfiguration->canWbo[i].reId);
            }
        }
    }
 
    counter++;
}
 
#if EFI_WIDEBAND_FIRMWARE_UPDATE
 
// reboots to bootloader and erases FW area
static int updateWidebandFirmwarePrepare(size_t bus, uint8_t hwIndex) {
    int ret = -1;
 
    setStatus(WBO_RE_BUSY);
 
    // Clear any pending acks for this thread
    chEvtGetAndClearEvents(EVT_BOOTLOADER_ACK);
 
    // Send messages to the current thread when acks come in
    waitingBootloaderThread = chThdGetSelfX();
 
    efiPrintf("***************************************");
    efiPrintf("        WIDEBAND FIRMWARE UPDATE");
    efiPrintf("***************************************");
    if (hwIndex != 0xff) {
        efiPrintf("Wideband Update: Rebooting WBO hwIndex %d to bootloader...", hwIndex);
    } else {
        efiPrintf("Wideband Update: Rebooting any WBO to bootloader...");
    }
    // The first request will reboot the chip (if necessary), and the second one will enable bootloader mode
    // If the chip was already in bootloader (aka manual mode), then that's ok - the second request will
    // just be safely ignored (but acked)
    for (int i = 0; i < 2; i++) {
        // Send bootloader entry command
        // First packet will ask main FW to reboot to bootloader
        // Second will ask bootloader to stay in bootloader and wait for FW upload
        // First packet can be new format - individually addressed
        // Second one should have zero payload - bootloader expects no payload.
        if ((hwIndex != 0xff) && (i == 0)) {
            // New format - individually addressed
            CanTxMessage m(CanCategory::WBO_SERVICE, WB_BL_ENTER, 1, bus, true);
            m[0] = hwIndex;
        } else {
            CanTxMessage m(CanCategory::WBO_SERVICE, WB_BL_ENTER, 0, bus, true);
        }
 
        if (!waitAck()) {
            efiPrintf("Wideband Update ERROR: Expected ACK from entry to bootloader, didn't get %s.",
                i ? "second (from bootloader)" : "first (from app)");
            setStatus(WBO_RE_FAILED);
            goto exit;
        }
 
        // Let the controller reboot (and show blinky lights for a second before the update begins)
        chThdSleepMilliseconds(200);
    }
 
    efiPrintf("Wideband Update: in update mode, erasing flash...");
 
    {
        // Erase flash - opcode 1, magic value 0x5A5A
        // TODO: replace magic numer with WB_BL_ERASE when define is fixed in wideband_can.h, currently mess with shift and addition precedence
        //CanTxMessage m(CanCategory::WBO_SERVICE, WB_BL_ERASE, 0, bus, true);
        CanTxMessage m(CanCategory::WBO_SERVICE, 0xEF1'5A5A, 0, bus, true);
    }
 
    if (!waitAck()) {
        efiPrintf("Wideband Update ERROR: Expected ACK from flash erase command, didn't get one.");
        setStatus(WBO_RE_FAILED);
        goto exit;
    }
 
    ret = 0;
 
exit:
    return ret;
}
 
 
// reboots to bootloader and erases FW area
static int updateWidebandFirmwareFinalize(size_t bus, uint8_t /* hwIndex */) {
    efiPrintf("Wideband Update: Update complete! Rebooting controller.");
 
    {
        // Reboot to firmware!
        CanTxMessage m(CanCategory::WBO_SERVICE, WB_BL_REBOOT, 0, bus, true);
    }
 
    if (!waitAck()) {
        efiPrintf("Wideband Update ERROR: No ack on reboot command");
        waitingBootloaderThread = nullptr;
        return -1;
    }
 
    return 0;
}
 
#if EFI_PROD_CODE
 
#if EFI_FILE_LOGGING
#include "ff.h"
#endif
 
// Yes, this file also contains bootloader, but this is how it was historicaly released in 2023
static const char wboFileName[] = "fw/wbo/wideband_image_with_bl.bin";
// FW goes after 6K bootloader
static const size_t wboFwOffset = 6 * 1024;
static const size_t wboFwMaxSize = 32 * 1024;
 
void updateWidebandFirmwareFromFile(uint8_t hwIndex)
{
#if EFI_FILE_LOGGING
    int ret = 0;
    size_t totalSize = 0;
    size_t bus = 0;
    FIL fil;
 
    if (f_open(&fil, wboFileName, FA_READ) != FR_OK) {
        efiPrintf("Wideband Update: filed to open %s", wboFileName);
        return;
    }
 
    if (f_lseek(&fil, wboFwOffset) != FR_OK) {
        efiPrintf("Wideband Update: filed to seek");
        goto exit;
    }
 
    totalSize = f_size(&fil) - wboFwOffset;
    bus = getWidebandBus();
 
    // this also sets waitingBootloaderThread
    ret = updateWidebandFirmwarePrepare(bus, hwIndex);
    if (ret < 0) {
        goto exit;
    }
 
    for (size_t i = 0; i < totalSize; i += 8) {
        UINT br;
        uint8_t tmp[8];
 
        if (f_read(&fil, tmp, sizeof(tmp), &br) != FR_OK) {
            efiPrintf("Wideband Update: filed to read");
            setStatus(WBO_RE_FAILED);
            goto exit;
        }
 
        if (br == 0) {
            // EOF
            break;
        }
 
        {
            CanTxMessage m(CanCategory::WBO_SERVICE, WB_BL_DATA_BASE | i, 8, bus, true);
            memcpy(&m[0], tmp, 8);
        }
 
        if (!waitAck()) {
            efiPrintf("Wideband Update ERROR: Expected ACK from data write, didn't get one.");
            setStatus(WBO_RE_FAILED);
            goto exit;
        }
    }
 
    ret = updateWidebandFirmwareFinalize(bus, hwIndex);
    if (ret) {
        goto exit;
    }
 
    setStatus(WBO_RE_DONE);
 
exit:
    waitingBootloaderThread = nullptr;
    f_close(&fil);
#else
    // Not supported
#endif
}
#endif
 
// This file contains an array called build_wideband_noboot_bin
// This array contains the firmware image for the wideband contoller
#include "wideband_firmware/for_rusefi/wideband_image.h"
 
void updateWidebandFirmware(uint8_t hwIndex) {
    size_t bus = getWidebandBus();
    size_t totalSize = sizeof(build_wideband_image_bin);
 
    // this also sets waitingBootloaderThread
    int ret = updateWidebandFirmwarePrepare(bus, hwIndex);
    if (ret < 0) {
        goto exit;
    }
 
    efiPrintf("Wideband Update: Flash erased! Sending %d bytes...", totalSize);
 
    // Send flash data 8 bytes at a time
    for (size_t i = 0; i < totalSize; i += 8) {
        {
            CanTxMessage m(CanCategory::WBO_SERVICE, WB_BL_DATA_BASE | i, 8, bus, true);
            memcpy(&m[0], build_wideband_image_bin + i, 8);
        }
 
        if (!waitAck()) {
            efiPrintf("Wideband Update ERROR: Expected ACK from data write, didn't get one.");
            setStatus(WBO_RE_FAILED);
            goto exit;
        }
    }
 
    ret = updateWidebandFirmwareFinalize(bus, hwIndex);
    if (ret) {
        goto exit;
    }
 
    setStatus(WBO_RE_DONE);
 
exit:
    waitingBootloaderThread = nullptr;
}
 
#endif // EFI_WIDEBAND_FIRMWARE_UPDATE
#endif // HAL_USE_CAN