Merge branch 'master' into 2025_ioc_approvals

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"

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 };

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);
+}

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 ------------------------------------------------------------*/

firmware/quadruna/BMS/src/io/io_taskMonitors.c

@@ -0,0 +1,8 @@
+#include "io_taskMonitors.h"
+#include "main.h"
+
+const TaskMonitor task_1_hz_monitor   = { .handle = &Task1HzHandle, .attributes = &Task1Hz_attributes },
+                  task_100_hz_monitor = { .handle = &Task100HzHandle, .attributes = &Task100Hz_attributes },
+                  task_1_khz_monitor  = { .handle = &Task1kHzHandle, .attributes = &Task1kHz_attributes },
+                  task_can_rx_monitor = { .handle = &TaskCanRxHandle, .attributes = &TaskCanRx_attributes },
+                  task_can_tx_monitor = { .handle = &TaskCanTxHandle, .attributes = &TaskCanTx_attributes };

firmware/quadruna/BMS/src/io/io_taskMonitors.h

@@ -0,0 +1,5 @@
+#pragma once
+#include "io_taskMonitor.h"
+
+extern const TaskMonitor task_1_hz_monitor, task_100_hz_monitor, task_1_khz_monitor, task_can_rx_monitor,
+    task_can_tx_monitor;

firmware/quadruna/BMS/src/jobs.c

@@ -8,6 +8,7 @@
 #include "states/app_initState.h"
 #include "app_commitInfo.h"
 #include "app_heartbeatMonitors.h"
+#include "app_stackWaterMarks.h"
 
 #include "io_canMsg.h"
 #include "io_canQueue.h"
@@ -41,8 +42,12 @@ void jobs_init(void)
     // broadcast commit info
     app_canTx_BMS_Hash_set(GIT_COMMIT_HASH);
     app_canTx_BMS_Clean_set(GIT_COMMIT_CLEAN);
+    app_canTx_BMS_Heartbeat_set(true);
+}
+void jobs_run1Hz_tick(void)
+{
+    app_stackWaterMark_check();
 }
-void jobs_run1Hz_tick(void) {}
 void jobs_run100Hz_tick(void) {}
 void jobs_run1kHz_tick(void) {}
 

firmware/quadruna/BMS/src/tasks.c

@@ -4,34 +4,28 @@
 #include "cmsis_os.h"
 
 #include "hw_adcs.h"
-#include "hw_gpios.h"
 #include "hw_hardFaultHandler.h"
 #include "hw_bootup.h"
 #include "hw_utils.h"
 #include "hw_spi.h"
 #include "hw_pwmInput.h"
-#include "hw_stackWaterMarkConfig.h"
 #include "hw_watchdogConfig.h"
 #include "hw_watchdog.h"
 #include "hw_uarts.h"
-#include "hw_sd.h"
 #include "hw_crc.h"
 
 #include "io_canTx.h"
 #include "io_sd.h"
-#include "io_faultLatch.h"
 #include "io_imd.h"
 #include "ltc6813/io_ltc6813Shared.h"
 #include "io_tractiveSystem.h"
 #include "io_log.h"
 #include "io_chimera.h"
-#include "io_bmsShdn.h"
 
 #include "app_canRx.h"
 #include "app_accumulator.h"
 #include "app_globals.h"
 #include "app_stateMachine.h"
-#include "app_heartbeatMonitors.h"
 
 #include "shared.pb.h"
 
@@ -130,7 +124,6 @@ _Noreturn void tasks_run1Hz(void)
 
     for (;;)
     {
-        hw_stackWaterMarkConfig_check();
         app_stateMachine_tick1Hz();
 
         const bool debug_mode_enabled = app_canRx_Debug_EnableDebugMode_get();

firmware/quadruna/BMS/test/test_iovars.cpp

@@ -0,0 +1,7 @@
+extern "C"
+{
+#include "io_taskMonitors.h"
+}
+
+const TaskMonitor task_1_hz_monitor{}, task_100_hz_monitor{}, task_1_khz_monitor{}, task_can_rx_monitor{},
+    task_can_tx_monitor{};

firmware/quadruna/CRIT/CMakeLists.txt

@@ -26,6 +26,7 @@ list(APPEND IO_SRCS
         "${SHARED_IO_INCLUDE_DIR}/io_time.c"
         "${SHARED_IO_INCLUDE_DIR}/io_chimera.c"
         "${SHARED_IO_INCLUDE_DIR}/io_rgbLed.c"
+        "${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}")
 
@@ -40,7 +41,6 @@ list(APPEND HW_SRCS
         "${SHARED_HW_INCLUDE_DIR}/hw_bootup.c"
         "${SHARED_HW_INCLUDE_DIR}/hw_pwmInputFreqOnly.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"
         "${SHARED_HW_INCLUDE_DIR}/hw_gpio.c"
@@ -148,6 +148,7 @@ elseif ("${TARGET}" STREQUAL "test")
 
     # FakeIO
     set(HEADERS_TO_FAKE
+            "${SHARED_IO_INCLUDE_DIR}/io_taskMonitor.h"
             "${CMAKE_CURRENT_SOURCE_DIR}/src/io/io_driveMode.h"
             "${CMAKE_CURRENT_SOURCE_DIR}/src/io/io_leds.h"
             "${CMAKE_CURRENT_SOURCE_DIR}/src/io/io_switches.h"

firmware/quadruna/CRIT/src/app/app_heartbeatMonitors.c

@@ -31,7 +31,4 @@ static HeartbeatBoard heartbeat_boards[4] = {
       .timeout_ms   = 200 }
 };
 
-HeartbeatMonitor hb_monitor = { .boards        = heartbeat_boards,
-                                .board_count   = 4,
-                                .block_faults  = false,
-                                .own_heartbeat = app_canTx_CRIT_Heartbeat_set };
+HeartbeatMonitor hb_monitor = { .boards = heartbeat_boards, .board_count = 4, .block_faults = false };

firmware/quadruna/CRIT/src/app/app_stackWaterMarks.c

@@ -0,0 +1,21 @@
+#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_stackWaterMark_check(void)
+{
+    // io_stackWaterMark_check(stack_watermarks, NUM_ELEMENTS_IN_ARRAY(stack_watermarks));
+    app_canAlerts_CRIT_Warning_StackWaterMarkHighTask1Hz_set(
+        io_taskMonitor_getStackUsage(&task_1hz_monitor) > STACK_HIGH_WATERMARK_THRESHOLD);
+    app_canAlerts_CRIT_Warning_StackWaterMarkHighTask100Hz_set(
+        io_taskMonitor_getStackUsage(&task_100hz_monitor) > STACK_HIGH_WATERMARK_THRESHOLD);
+    app_canAlerts_CRIT_Warning_StackWaterMarkHighTask1kHz_set(
+        io_taskMonitor_getStackUsage(&task_1khz_monitor) > STACK_HIGH_WATERMARK_THRESHOLD);
+    app_canAlerts_CRIT_Warning_StackWaterMarkHighTaskCanRx_set(
+        io_taskMonitor_getStackUsage(&task_can_rx_monitor) > STACK_HIGH_WATERMARK_THRESHOLD);
+    app_canAlerts_CRIT_Warning_StackWaterMarkHighTaskCanTx_set(
+        io_taskMonitor_getStackUsage(&task_can_tx_monitor) > STACK_HIGH_WATERMARK_THRESHOLD);
+}

firmware/quadruna/CRIT/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 ------------------------------------------------------------*/
@@ -48,6 +48,18 @@ extern "C"
     extern IWDG_HandleTypeDef hiwdg;
     extern TIM_HandleTypeDef  htim3;
     extern UART_HandleTypeDef huart2;
+
+    extern osThreadId_t Task1HzHandle;
+    extern osThreadId_t Task100HzHandle;
+    extern osThreadId_t Task1kHzHandle;
+    extern osThreadId_t TaskCanRxHandle;
+    extern osThreadId_t TaskCanTxHandle;
+
+    extern const osThreadAttr_t Task1kHz_attributes;
+    extern const osThreadAttr_t Task100Hz_attributes;
+    extern const osThreadAttr_t TaskCanRx_attributes;
+    extern const osThreadAttr_t TaskCanTx_attributes;
+    extern const osThreadAttr_t Task1Hz_attributes;
     /* USER CODE END EC */
 
     /* Exported macro ------------------------------------------------------------*/