addng bms runtime stats for testing

Author: AmirTajaddodi

.vscode/settings.json

@@ -18,6 +18,8 @@
     "hw_runtimestats.h": "c",
     "stm32f4xx_hal_exti.h": "c",
     "cmsis_os.h": "c",
-    "app_utils.h": "c"
+    "app_utils.h": "c",
+    "app_cantx.h": "c",
+    "stm32f4xx_hal_tim.h": "c"
   }
 }

firmware/quintuna/BMS/CMakeLists.txt

@@ -50,6 +50,7 @@ list(APPEND HW_SRCS
         "${SHARED_HW_INCLUDE_DIR}/hw_hardFaultHandler.c"
         "${SHARED_HW_INCLUDE_DIR}/hw_freeRtosConfigs.c"
         "${SHARED_HW_INCLUDE_DIR}/hw_bootup.c"
+        "${SHARED_HW_INCLUDE_DIR}/hw_runTimeStat.c"
 )
 set(HW_INCLUDE_DIRS
         "${CMAKE_CURRENT_SOURCE_DIR}/src/hw"

firmware/quintuna/BMS/src/cubemx/BMS.ioc

@@ -138,9 +138,10 @@ FDCAN2.StdFiltersNbr=1
 FDCAN2.TxElmtSize=FDCAN_DATA_BYTES_64
 FDCAN2.TxFifoQueueElmtsNbr=32
 FREERTOS.FootprintOK=true
-FREERTOS.IPParameters=Tasks01,configENABLE_FPU,configUSE_NEWLIB_REENTRANT,FootprintOK
+FREERTOS.IPParameters=Tasks01,configENABLE_FPU,configUSE_NEWLIB_REENTRANT,FootprintOK,configGENERATE_RUN_TIME_STATS
 FREERTOS.Tasks01=Task100Hz,40,512,RunTask100Hz,Default,NULL,Static,Task100HzBuffer,Task100HzControlBlock;TaskCanRx,16,512,RunTaskCanRx,Default,NULL,Static,TaskCanRxBuffer,TaskCanRxControlBlock;TaskCanTx,16,512,RunTaskCanTx,Default,NULL,Static,TaskCanTxBuffer,TaskCanTxControlBlock;Task1kHz,48,512,RunTask1kHz,Default,NULL,Static,Task1kHzBuffer,Task1kHzControlBlock;Task1Hz,32,512,RunTask1Hz,Default,NULL,Static,Task1HzBuffer,Task1HzControlBlock;TaskChimera,40,512,RunTaskChimera,Default,NULL,Static,TaskChimeraBuffer,TaskChimeraControlBlock;TaskLtcVoltages,24,512,RunTaskLtcVoltages,Default,NULL,Static,TaskLtcVoltagesBuffer,TaskLtcVoltagesControlBlock;TaskLtcTemps,24,512,RunTaskLtcTemps,Default,NULL,Static,TaskLtcTempsBuffer,TaskLtcTempsControlBlock;TaskLtcDiag,24,512,RunTaskLtcDiag,Default,NULL,Static,TaskLtcDiagBuffer,TaskLtcDiagControlBlock;TaskInit,48,512,RunTaskInit,Default,NULL,Static,TaskInitBuffer,TaskInitControlBlock
 FREERTOS.configENABLE_FPU=1
+FREERTOS.configGENERATE_RUN_TIME_STATS=1
 FREERTOS.configUSE_NEWLIB_REENTRANT=1
 File.Version=6
 GPIO.groupedBy=Group By Peripherals

firmware/quintuna/BMS/src/cubemx/BMS.ioc.md5

@@ -1 +1 @@
-a0b28da69efc77dea2b4d2b3360a0e7a
+1fc734b4451a9760aaed5edce1bf8c39

firmware/quintuna/BMS/src/cubemx/Inc/FreeRTOSConfig.h

@@ -51,6 +51,10 @@
 #if defined(__ICCARM__) || defined(__CC_ARM) || defined(__GNUC__)
 #include <stdint.h>
 extern uint32_t SystemCoreClock;
+/* USER CODE BEGIN 0 */
+extern void          configureTimerForRunTimeStats(void);
+extern unsigned long getRunTimeCounterValue(void);
+/* USER CODE END 0 */
 #endif
 #ifndef CMSIS_device_header
 #define CMSIS_device_header "stm32h7xx.h"
@@ -70,6 +74,7 @@ extern uint32_t SystemCoreClock;
 #define configMINIMAL_STACK_SIZE ((uint16_t)128)
 #define configTOTAL_HEAP_SIZE ((size_t)15360)
 #define configMAX_TASK_NAME_LEN (16)
+#define configGENERATE_RUN_TIME_STATS 1
 #define configUSE_TRACE_FACILITY 1
 #define configUSE_16_BIT_TICKS 0
 #define configUSE_MUTEXES 1
@@ -173,6 +178,12 @@ standard names. */
 
 #define USE_CUSTOM_SYSTICK_HANDLER_IMPLEMENTATION 0
 
+/* USER CODE BEGIN 2 */
+/* Definitions needed when configGENERATE_RUN_TIME_STATS is on */
+#define portCONFIGURE_TIMER_FOR_RUN_TIME_STATS configureTimerForRunTimeStats
+#define portGET_RUN_TIME_COUNTER_VALUE getRunTimeCounterValue
+/* USER CODE END 2 */
+
 /* USER CODE BEGIN Defines */
 /* Section where parameter definitions can be added (for instance, to override default ones in FreeRTOS.h) */
 #include "hw_freeRtosConfigs.h"

firmware/quintuna/BMS/src/cubemx/Src/freertos.c

@@ -52,6 +52,20 @@
 
 /* USER CODE END FunctionPrototypes */
 
+/* Hook prototypes */
+void          configureTimerForRunTimeStats(void);
+unsigned long getRunTimeCounterValue(void);
+
+/* USER CODE BEGIN 1 */
+/* Functions needed when configGENERATE_RUN_TIME_STATS is on */
+__weak void configureTimerForRunTimeStats(void) {}
+
+__weak unsigned long getRunTimeCounterValue(void)
+{
+    return 0;
+}
+/* USER CODE END 1 */
+
 /* Private application code --------------------------------------------------*/
 /* USER CODE BEGIN Application */
 

firmware/quintuna/BMS/src/tasks.c

@@ -26,6 +26,7 @@
 #include "hw_cans.h"
 #include "hw_adcs.h"
 #include "hw_pwms.h"
+#include "hw_runTimeStat.h"
 #include "hw_hardFaultHandler.h"
 
 // chimera

firmware/quintuna/BMS/src/tasks.h

@@ -1,5 +1,20 @@
 #pragma once
 
+
+typedef enum TaskIndex_e
+{
+    TASK_RUN100HZ          = 0,
+    TASK_RUNCANTX          = 1,
+    TASK_RUNCANRX          = 2,
+    TASK_RUN10HZ           = 3,
+    TASK_RUN1HZ            = 4,
+    TASK_RUNCHIMERA        = 5,
+    TASK_RUNLTCVOLTAGES    = 6,
+    TASK_RUNLTCTEMPS       = 7,
+    TASK_RUNLTCDIAGNOSTICS = 8,
+    NUM_OF_TASKS           = 9
+} TaskIndex_e;
+
 void           tasks_preInit(void);
 void           tasks_init(void);
 _Noreturn void tasks_run1Hz(void);

firmware/quintuna/FSM/src/tasks.c

@@ -82,11 +82,9 @@ void tasks_init(void)
         hw_bootup_setBootRequest(boot_request);
     }
 
-    CpuRunTimeStats cpu_info = {
-        .cpu_usage_max_setter = app_canTx_FSM_CoreCpuUsage_set,
-        .cpu_usage_setter = app_canTx_FSM_CoreCpuUsageMax_set
-    };
-    
+    CpuRunTimeStats cpu_info = { .cpu_usage_max_setter = app_canTx_FSM_CoreCpuUsage_set,
+                                 .cpu_usage_setter     = app_canTx_FSM_CoreCpuUsageMax_set };
+
     hw_runtimeStat_registerCpu(&cpu_info);
     jobs_init();
 

firmware/shared/src/hw/hw_runTimeStat.c

@@ -1,3 +1,5 @@
+// Needed to ensure we are not running this does not compile for the bootloadeer binary
+
 #ifndef BOOTLOADER
 #include "hw_runTimeStat.h"
 #include "main.h"
@@ -9,10 +11,10 @@
 /*
  * Software defines
  */
-#define IDLE_TASK_INDEX  0U
-#define TMR_SVC_INDEX    1U
-#define NUM_FT_TASKS     2U
-#define NUM_TOTAL_TASKS  (NUM_FT_TASKS + NUM_OF_TASKS)
+#define IDLE_TASK_INDEX 0U
+#define TMR_SVC_INDEX 1U
+#define NUM_FT_TASKS 2U
+#define NUM_TOTAL_TASKS (NUM_FT_TASKS + NUM_OF_TASKS)
 
 /*
  * Global Variables
@@ -21,10 +23,8 @@ static TIM_HandleTypeDef *runTimeCounter;
 
 volatile unsigned long ulHighFrequencyTimerTick = 0;
 
-static TaskRuntimeStats *tasks_runtime_stat[NUM_TOTAL_TASKS] = { [IDLE_TASK_INDEX] =
-                                                                                 &(TaskRuntimeStats){ 0 },
-                                                                             [TMR_SVC_INDEX] =
-                                                                                 &(TaskRuntimeStats){ 0 } };
+static TaskRuntimeStats *tasks_runtime_stat
+    [NUM_TOTAL_TASKS] = { [IDLE_TASK_INDEX] = &(TaskRuntimeStats){ 0 }, [TMR_SVC_INDEX] = &(TaskRuntimeStats){ 0 } };
 // We are going to assume that from here forth all our processors are going
 // single core but if not make the following an array
 
@@ -36,7 +36,7 @@ static CpuRunTimeStats *cpu_runtime_stat;
 
 ExitCode hw_runTimeStat_init(TIM_HandleTypeDef *htim)
 {
-    if (NULL == htim)
+    if (htim == NULL)
     {
         return EXIT_CODE_INVALID_ARGS;
     }
@@ -48,7 +48,7 @@ ExitCode hw_runTimeStat_init(TIM_HandleTypeDef *htim)
 
 ExitCode hw_runtimeStat_registerCpu(CpuRunTimeStats *cpu_info)
 {
-    if (NULL == cpu_info->cpu_usage_max_setter || NULL == cpu_info->cpu_usage_setter)
+    if (cpu_info->cpu_usage_max_setter == NULL || cpu_info->cpu_usage_setter == NULL)
     {
         return EXIT_CODE_INVALID_ARGS;
     }
@@ -60,8 +60,8 @@ ExitCode hw_runtimeStat_registerCpu(CpuRunTimeStats *cpu_info)
 
 ExitCode hw_runTimeStat_registerTask(TaskRuntimeStats *task_info)
 {
-    if (NULL == task_info->cpu_usage_max_setter || NULL == task_info->cpu_usage_setter ||
-        NULL == task_info->stack_usage_max_setter || 0 != task_info->stack_size)
+    if (task_info->cpu_usage_max_setter == NULL || task_info->cpu_usage_setter == NULL ||
+        task_info->stack_usage_max_setter == NULL || task_info->stack_size != 0)
     {
         return EXIT_CODE_INVALID_ARGS;
     }
@@ -79,12 +79,15 @@ void hw_runTimeStat_hookCallBack(void)
 {
     TaskStatus_t runTimeStats[NUM_TOTAL_TASKS];
 
+    /* Get the task IDLE handle for processing the time spend outside of idle task*/
     TaskHandle_t idleHandle = xTaskGetIdleTaskHandle();
 
     uint32_t arraySize = uxTaskGetSystemState(runTimeStats, (UBaseType_t)NUM_TOTAL_TASKS, NULL);
 
-    // given each task that we get from the following getsystemstate call we are gonna calcualte the
-    // cpu usage and stack usage
+    /*
+     * Given each task that we get from the following getsystemstate call we are gonna calcualte the
+     * cpu usage and stack usage
+     */
 
     uint32_t idle_counter = 0;
 
@@ -95,7 +98,7 @@ void hw_runTimeStat_hookCallBack(void)
             idle_counter = runTimeStats[task].ulRunTimeCounter;
 
             // Calculate total current cpu usage and max cpu usage
-            cpu_runtime_stat->cpu_curr_usage = (float)idle_counter / (float)ulHighFrequencyTimerTick;
+            cpu_runtime_stat->cpu_curr_usage = 1.0f - ((float)idle_counter / (float)ulHighFrequencyTimerTick);
 
             cpu_runtime_stat->cpu_max_usage = MAX(cpu_runtime_stat->cpu_curr_usage, cpu_runtime_stat->cpu_max_usage);
             break;
@@ -105,7 +108,7 @@ void hw_runTimeStat_hookCallBack(void)
     for (uint32_t task = 0; task < arraySize; task++)
     {
         // get the idle time that we need to calculate the cpu usage associated
-        if (NULL != tasks_runtime_stat[task])
+        if (tasks_runtime_stat[task] != NULL)
         {
             if ((idle_counter + runTimeStats[task].ulRunTimeCounter) != 0)
             {
@@ -116,7 +119,7 @@ void hw_runTimeStat_hookCallBack(void)
                 tasks_runtime_stat[task]->cpu_max_usage =
                     MAX(tasks_runtime_stat[task]->cpu_max_usage, tasks_runtime_stat[task]->cpu_curr_usage);
             }
-            
+
             // Calculate max stack usage
             tasks_runtime_stat[task]->stack_usage_max =
                 (float)runTimeStats[task].usStackHighWaterMark / (float)tasks_runtime_stat[task]->stack_size;