Merge branch 'master' of https://github.com/UBCFormulaElectric/Consol…

…idated-Firmware into mattiasjack/bms_diagnostics_mode
UBCFormulaElectric · Feb 1, 2025 · 0991c3f · 0991c3f
2 parents 22416ec + 77a1b3a
commit 0991c3f
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diff --git a/.github/actions/build_binary/action.yml b/.github/actions/build_binary/action.yml
@@ -25,4 +25,4 @@ runs:
       shell: bash
       run: |
         cmake --preset "FW Deploy CI" -B ${{ inputs.build_dir }}
-        xvfb-run cmake --build ${{ inputs.build_dir }} --target ${{ inputs.board }}.hex
+        cmake --build ${{ inputs.build_dir }} --target ${{ inputs.board }}.hex -- -j $(nproc)
diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml
@@ -7,11 +7,11 @@ jobs:
     name: Check C Formatting
     runs-on: ubuntu-22.04
 
-    container:
-      image: ubcformulaelectric/environment:latest
-      credentials:
-        username: ubcformulaelectric
-        password: ${{ secrets.DOCKER_TOKEN }}
+    #    container:
+    #      image: ubcformulaelectric/environment:no_cube
+    #      credentials:
+    #        username: ubcformulaelectric
+    #        password: ${{ secrets.DOCKER_TOKEN }}
 
     steps:
       # Fix to get git diff working in a Docker container
@@ -23,64 +23,51 @@ jobs:
         uses: actions/checkout@v4
 
       - name: Format code
-        run: python3 scripts/utilities/fix_formatting.py
+        run: python3 scripts/utilities/fix_formatting.py # this should just use system dependencies
 
       - name: Check for differences
         run: git --no-pager diff --color --exit-code
 
   codegen:
     name: Check CubeMX Code Gen
     runs-on: ubuntu-22.04
-    needs: [ clang-format ]
     strategy:
       fail-fast: false
       matrix:
         include:
           - board: VC
             ioc_dir: firmware/quadruna/VC/src/cubemx
-            env_version: latest
           - board: BMS
             ioc_dir: firmware/quadruna/BMS/src/cubemx
-            env_version: latest
           - board: FSM
             ioc_dir: firmware/quadruna/FSM/src/cubemx
-            env_version: latest
           - board: RSM
             ioc_dir: firmware/quadruna/RSM/src/cubemx
-            env_version: latest
           - board: CRIT
             ioc_dir: firmware/quadruna/CRIT/src/cubemx
-            env_version: latest
           - board: f4dev
             ioc_dir: firmware/dev/f4dev/src/cubemx
-            env_version: latest
           - board: h7dev
             ioc_dir: firmware/dev/h7dev/src/cubemx
-            env_version: latest
-          #          - board: BMS_Quint
+          #          - board: BMS
           #            ioc_dir: firmware/quintuna/BMS/src/cubemx
-          #            env_version: cube_6_12_0
           - board: CRIT
             ioc_dir: firmware/quintuna/CRIT/src/cubemx
-            env_version: cube_6_12_0
-          #          - board: FSM_Quint
+          #          - board: FSM
           #            ioc_dir: firmware/quintuna/FSM/src/cubemx
-          #            env_version: cube_6_12_0
           - board: RSM
             ioc_dir: firmware/quintuna/RSM/src/cubemx
-            env_version: cube_6_12_0
           - board: VC
             ioc_dir: firmware/quintuna/VC/src/cubemx
-            env_version: cube_6_12_0
           - board: DAM
             ioc_dir: firmware/quintuna/DAM/src/cubemx
-            env_version: cube_6_12_0
 
-    container:
-      image: ubcformulaelectric/environment:${{ matrix.env_version }}
-      credentials:
-        username: ubcformulaelectric
-        password: ${{ secrets.DOCKER_TOKEN }}
+    # both packages shouldn't need to use python dependences that we need...
+    #    container:
+    #      image: ubcformulaelectric/environment:no_cube
+    #      credentials:
+    #        username: ubcformulaelectric
+    #        password: ${{ secrets.DOCKER_TOKEN }}
 
     steps:
       # Fix to get git diff working in a Docker container
@@ -91,8 +78,9 @@ jobs:
       - name: Checkout repository
         uses: actions/checkout@v4
 
-      - name: Generate Log4J file
-        run: python3 scripts/utilities/generate_log4j_properties.py --log4j_properties_output /root/.stm32cubemx/log4j.properties
+      # should not need this
+      #      - name: Generate Log4J file
+      #        run: python3 scripts/utilities/generate_log4j_properties.py --log4j_properties_output /root/.stm32cubemx/log4j.properties
 
       # To ensure that the generated STM32CubeMX code is up to date with the .ioc file, we
       # we also generate a checksum from the .ioc file when code is generated during builds.
@@ -108,45 +96,32 @@ jobs:
         run: git --no-pager diff --color --exit-code
 
   build-firmware:
-    needs: [ clang-format ]
+    needs: [ clang-format, codegen ]
     name: Build Firmware Binaries
     runs-on: ubuntu-latest
     strategy:
       fail-fast: false
       matrix:
         include:
           - board: quadruna_VC
-            env_version: latest
           - board: quadruna_BMS
-            env_version: latest
           - board: quadruna_FSM
-            env_version: latest
           - board: quadruna_RSM
-            env_version: latest
           - board: quadruna_CRIT
-            env_version: latest
           - board: f4dev
-            env_version: latest
           - board: h7dev
-            env_version: latest
           #          - board: quintuna_BMS
-          #            env_version: cube_6_12_0
           - board: quintuna_CRIT
-            env_version: cube_6_12_0
           #          - board: quintuna_FSM
-          #            env_version: cube_6_12_0
           - board: quintuna_RSM
-            env_version: cube_6_12_0
           - board: quintuna_VC
-            env_version: cube_6_12_0
           - board: quintuna_DAM
-            env_version: cube_6_12_0
 
     container:
-      image: ubcformulaelectric/environment:${{ matrix.env_version }}
-      credentials:
-        username: ubcformulaelectric
-        password: ${{ secrets.docker_token }}
+      image: ubcformulaelectric/environment:no_cube
+    #      credentials:
+    #        username: ubcformulaelectric
+    #        password: ${{ secrets.docker_token }}
     steps:
       - name: Checkout repository
         uses: actions/checkout@v4
@@ -176,10 +151,10 @@ jobs:
             car: quadruna
 
     container:
-      image: ubcformulaelectric/environment:latest
-      credentials:
-        username: ubcformulaelectric
-        password: ${{ secrets.DOCKER_TOKEN }}
+      image: ubcformulaelectric/environment:no_cube
+    #      credentials:
+    #        username: ubcformulaelectric
+    #        password: ${{ secrets.DOCKER_TOKEN }}
 
     env:
       BUILD_DIR: build_fw_test
@@ -210,10 +185,10 @@ jobs:
     runs-on: ubuntu-22.04
     needs: [ clang-format ]
     container:
-      image: ubcformulaelectric/environment:latest
-      credentials:
-        username: ubcformulaelectric
-        password: ${{ secrets.DOCKER_TOKEN }}
+      image: ubcformulaelectric/environment:no_cube
+    #      credentials:
+    #        username: ubcformulaelectric
+    #        password: ${{ secrets.DOCKER_TOKEN }}
 
     env:
       BUILD_DIR: build_fw_test
@@ -244,10 +219,10 @@ jobs:
     runs-on: ubuntu-22.04
     needs: [ clang-format ]
     container:
-      image: ubcformulaelectric/environment:latest
-      credentials:
-        username: ubcformulaelectric
-        password: ${{ secrets.DOCKER_TOKEN }}
+      image: ubcformulaelectric/environment:no_cube
+    #      credentials:
+    #        username: ubcformulaelectric
+    #        password: ${{ secrets.DOCKER_TOKEN }}
 
     env:
       BUILD_DIR: build_fw_test
@@ -277,10 +252,10 @@ jobs:
     runs-on: ubuntu-22.04
     needs: [ clang-format ]
     container:
-      image: ubcformulaelectric/environment:latest
-      credentials:
-        username: ubcformulaelectric
-        password: ${{ secrets.DOCKER_TOKEN }}
+      image: ubcformulaelectric/environment:no_cube
+    #      credentials:
+    #        username: ubcformulaelectric
+    #        password: ${{ secrets.DOCKER_TOKEN }}
 
     env:
       BUILD_DIR: build_fw_test

diff --git a/environment/Dockerfile b/environment/Dockerfile
@@ -1,8 +1,23 @@
-FROM --platform=amd64 ubuntu:22.04
+FROM debian:12.9-slim AS builder
 
-# Install dependencies:
 # wget: Downloading files from the internet
 # unzip: Tool to extract zipped archives
+RUN apt update -y && apt install -y bzip2
+
+ADD "https://developer.arm.com/-/media/Files/downloads/gnu-rm/10.3-2021.10/gcc-arm-none-eabi-10.3-2021.10-x86_64-linux.tar.bz2?rev=78196d3461ba4c9089a67b5f33edf82a&hash=D484B37FF37D6FC3597EBE2877FB666A41D5253B" /usr/local/bin
+RUN tar -xvf /usr/local/bin/gcc-arm-none-eabi-10.3-2021.10-x86_64-linux.tar.bz2 -C /
+
+# Install STM32CubeMX for auto-generating code.
+#COPY scripts/install_stm32cubemx.py /root/environment/
+#COPY data/en.stm32cubemx-lin-v6-12-0.zip /root/environment
+#RUN python3 install_stm32cubemx.py --install-dir /usr/local/STM32CubeMX --cube-zip en.stm32cubemx-lin-v6-12-0.zip
+
+FROM debian:12.9-slim AS environment
+
+# COPY over builds from builder
+COPY --from=builder /gcc-arm-none-eabi-10.3-2021.10 /usr/local
+#COPY --from=builder /usr/local/STM32CubeMX /usr/local/STM32CubeMX
+
 # pip: For installing python packages
 # git: For pulling external repos, invoked via cmake
 # git-lfs: Large file storage, used for saving zipped STM32CubeMX installer
@@ -15,34 +30,19 @@ FROM --platform=amd64 ubuntu:22.04
 # libxtst6: Random library required for running STM32CubeMX V6 in container
 # libxrender1: Random library required for running STM32CubeMX V6 in container
 RUN apt update -y && apt install -y \
-    wget \
-    unzip \
     pip \
     git \
-    git-lfs \
-    xvfb \
+#    xvfb \
     libncurses5 \
     valgrind \
-    libgtk-3-0 \
-    libxi6 \
-    libxtst6 \
-    libxrender1 \
+#    libgtk-3-0 \
+#    libxi6 \
+#    libxtst6 \
+#    libxrender1 \
     protobuf-compiler
 
 # Install python package dependencies.
-WORKDIR /root/environment
-COPY requirements.txt /root/environment/
+RUN echo "[global]\n break-system-packages = true" > /etc/pip.conf
+COPY requirements.txt .
 RUN pip3 install -r requirements.txt
-
-# Install GNU ARM Embedded Toolchain, for compiling/debugging on embedded.
-COPY scripts/install_gcc_arm_none_eabi.sh /root/environment/
-RUN /bin/sh ./install_gcc_arm_none_eabi.sh /usr/local
-
-# Install STM32CubeMX for auto-generating code.
-COPY scripts/install_stm32cubemx.py /root/environment/
-COPY data/en.stm32cubemx-lin-v6-12-0.zip /root/environment
-RUN python3 install_stm32cubemx.py --install-dir /usr/local/STM32CubeMX --cube-zip en.stm32cubemx-lin-v6-12-0.zip
-
-# Cleanup copied directory.
-WORKDIR /root/
-RUN rm -rf environment
+RUN rm requirements.txt
diff --git a/firmware/cmake/stmlib.cmake b/firmware/cmake/stmlib.cmake
@@ -8,12 +8,14 @@ IF (${CMAKE_HOST_WIN32}) # this is slightly more reliable than WIN32
 ELSE ()
     set(LOG4J_PROPERTIES "$ENV{HOME}/.stm32cubemx/log4j.properties")
 ENDIF ()
-message("  📝 Generating log4j.properties at ${LOG4J_PROPERTIES}")
-execute_process(
-        COMMAND ${PYTHON_COMMAND}
-        ${SCRIPTS_DIR}/utilities/generate_log4j_properties.py
-        --log4j_properties_output ${LOG4J_PROPERTIES}
-)
+if (NOT EXISTS ${LOG4J_PROPERTIES})
+    execute_process(
+            COMMAND ${PYTHON_COMMAND}
+            ${SCRIPTS_DIR}/utilities/generate_log4j_properties.py
+            --log4j_properties_output ${LOG4J_PROPERTIES}
+    )
+endif ()
+message("  📝 log4j.properties generated at ${LOG4J_PROPERTIES}")
 
 file(GLOB_RECURSE NEWLIB_SRCS "${THIRD_PARTY_DIR}/newlib_freertos_patch/*.c")
 

diff --git a/firmware/quadruna/BMS/CMakeLists.txt b/firmware/quadruna/BMS/CMakeLists.txt
@@ -26,6 +26,7 @@ list(APPEND IO_SRCS
         "${SHARED_IO_INCLUDE_DIR}/io_jsoncan.c"
         "${SHARED_IO_INCLUDE_DIR}/io_time.c"
         "${SHARED_IO_INCLUDE_DIR}/io_chimera.c"
+        "${SHARED_IO_INCLUDE_DIR}/io_taskMonitor.c"
 )
 set(IO_INCLUDE_DIRS "${CMAKE_CURRENT_SOURCE_DIR}/src/io" "${SHARED_IO_INCLUDE_DIR}" "${SHARED_IO_INCLUDE_QUADRUNA_DIR}")
 
@@ -43,7 +44,6 @@ list(APPEND HW_SRCS
         "${SHARED_HW_INCLUDE_DIR}/hw_spi.c"
         "${SHARED_HW_INCLUDE_DIR}/hw_pwmInput.c"
         "${SHARED_HW_INCLUDE_DIR}/hw_watchdog.c"
-        "${SHARED_HW_INCLUDE_DIR}/hw_stackWaterMark.c"
         "${SHARED_HW_INCLUDE_DIR}/hw_assert.c"
         "${SHARED_HW_INCLUDE_DIR}/hw_uart.c"
         "${SHARED_HW_INCLUDE_DIR}/hw_error.c"
@@ -156,6 +156,7 @@ elseif ("${TARGET}" STREQUAL "test")
 
     # FAKE IO
     set(HEADERS_TO_FAKE
+            "${SHARED_IO_INCLUDE_DIR}/io_taskMonitor.h"
             "${CMAKE_CURRENT_SOURCE_DIR}/src/io/ltc6813/io_ltc6813CellTemps.h"
             "${CMAKE_CURRENT_SOURCE_DIR}/src/io/ltc6813/io_ltc6813CellVoltages.h"
             "${CMAKE_CURRENT_SOURCE_DIR}/src/io/ltc6813/io_ltc6813Shared.h"

diff --git a/firmware/quadruna/BMS/src/app/app_heartbeatMonitors.c b/firmware/quadruna/BMS/src/app/app_heartbeatMonitors.c
@@ -14,7 +14,4 @@ static HeartbeatBoard heartbeat_boards[1] = {
     }
 };
 
-HeartbeatMonitor hb_monitor = { .boards        = heartbeat_boards,
-                                .board_count   = 1,
-                                .block_faults  = false,
-                                .own_heartbeat = app_canTx_BMS_Heartbeat_set };
+HeartbeatMonitor hb_monitor = { .boards = heartbeat_boards, .board_count = 1, .block_faults = false };
diff --git a/firmware/quadruna/BMS/src/app/app_stackWaterMarks.c b/firmware/quadruna/BMS/src/app/app_stackWaterMarks.c
@@ -0,0 +1,20 @@
+#include "app_stackWaterMarks.h"
+#include "io_taskMonitors.h"
+#include "app_canAlerts.h"
+
+/** @brief The stack watermark threshold as a percentage of the stack size */
+#define STACK_HIGH_WATERMARK_THRESHOLD 0.7f
+
+void app_stackWaterMarkConfig_check(void)
+{
+    app_canAlerts_BMS_Warning_StackWaterMarkHighTask1Hz_set(
+        io_taskMonitor_getStackUsage(&task_1_hz_monitor) > STACK_HIGH_WATERMARK_THRESHOLD);
+    app_canAlerts_BMS_Warning_StackWaterMarkHighTask100Hz_set(
+        io_taskMonitor_getStackUsage(&task_100_hz_monitor) > STACK_HIGH_WATERMARK_THRESHOLD);
+    app_canAlerts_BMS_Warning_StackWaterMarkHighTask1kHz_set(
+        io_taskMonitor_getStackUsage(&task_1_khz_monitor) > STACK_HIGH_WATERMARK_THRESHOLD);
+    app_canAlerts_BMS_Warning_StackWaterMarkHighTaskCanRx_set(
+        io_taskMonitor_getStackUsage(&task_can_rx_monitor) > STACK_HIGH_WATERMARK_THRESHOLD);
+    app_canAlerts_BMS_Warning_StackWaterMarkHighTaskCanTx_set(
+        io_taskMonitor_getStackUsage(&task_can_tx_monitor) > STACK_HIGH_WATERMARK_THRESHOLD);
+}
diff --git a/firmware/quadruna/BMS/src/cubemx/Inc/main.h b/firmware/quadruna/BMS/src/cubemx/Inc/main.h
@@ -32,7 +32,7 @@ extern "C"
 
     /* Private includes ----------------------------------------------------------*/
     /* USER CODE BEGIN Includes */
-
+#include "cmsis_os.h"
     /* USER CODE END Includes */
 
     /* Exported types ------------------------------------------------------------*/
@@ -53,6 +53,18 @@ extern "C"
     extern TIM_HandleTypeDef   htim3;
     extern TIM_HandleTypeDef   htim15;
     extern UART_HandleTypeDef  huart1;
+
+    extern osThreadId_t Task1HzHandle;
+    extern osThreadId_t Task100HzHandle;
+    extern osThreadId_t Task1kHzHandle;
+    extern osThreadId_t TaskCanRxHandle;
+    extern osThreadId_t TaskCanTxHandle;
+
+    extern const osThreadAttr_t Task100Hz_attributes;
+    extern const osThreadAttr_t TaskCanRx_attributes;
+    extern const osThreadAttr_t TaskCanTx_attributes;
+    extern const osThreadAttr_t Task1kHz_attributes;
+    extern const osThreadAttr_t Task1Hz_attributes;
     /* USER CODE END EC */
 
     /* Exported macro ------------------------------------------------------------*/