F4dev board | SD_card driver (#1031)

### Summary Set up a new Cubemx project for the f4dev board Write a driver that wraps the HAL SDIO SD card driver supported_boards.py will check dev folder Added some rules to CMakefiles for different boards to resolve dependency issue ### Changelist `supported_boards.py` new folder 'firmware/dev/' new files `firmware/shared/hw/hw_sdio_sd.c`, `firmware/shared/hw/hw_sdio_sd.h` ### Testing Done The project builds. To build the project, run the task `build all embedded binary`, the dev board will build with other boards. Or `cd` to `build_arm`, and make `f4dev.elf` ### Resolved Issues ### Checklist *Please change `[ ]` to `[x]` when you are ready.* - [x] I have read and followed the code conventions detailed in [README.md](../README.md) (*This will save time for both you and the reviewer!*). - [x ] If this pull request is longer then **500** lines, I have provided *explicit* justification in the summary above explaining why I *cannot* break this up into multiple pull requests (*Small PR's are faster and less painful for everyone involved!*). --------- Co-authored-by: gtaharaedmonds <[email protected]>
UBCFormulaElectric · Nov 6, 2023 · 236bf6f · 236bf6f
1 parent 56a4449
commit 236bf6f
Show file tree

Hide file tree

Showing 29 changed files with 4,044 additions and 13 deletions.
diff --git a/.github/workflows/build.yml b/.github/workflows/build.yml
@@ -23,6 +23,7 @@ jobs:
           - BMS
           - DCM
           - DIM
+          - f4dev
 
     container:
       image: ubcformulaelectric/environment:latest

diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml
@@ -46,6 +46,8 @@ jobs:
             ioc_dir: firmware/thruna/DCM
           - board: BMS
             ioc_dir: firmware/thruna/BMS
+          - board: f4dev
+            ioc_dir: firmware/dev/f4dev/src/cubemx
 
     container:
       image: ubcformulaelectric/environment:latest

diff --git a/.github/workflows/master_cd.yml b/.github/workflows/master_cd.yml
@@ -36,7 +36,7 @@ jobs:
         uses: ./.github/actions/push_release
         with:
           # https://github.com/actions/download-artifact#download-all-artifacts
-          files: "FSM.elf/FSM.elf BMS.elf/BMS.elf DCM.elf/DCM.elf DIM.elf/DIM.elf PDM.elf/PDM.elf CanMsgs.dbc/CanMsgs.dbc"
+          files: "FSM.elf/FSM.elf BMS.elf/BMS.elf DCM.elf/DCM.elf DIM.elf/DIM.elf PDM.elf/PDM.elf f4dev.elf/f4dev.elf CanMsgs.dbc/CanMsgs.dbc"
           latest: true
           title: "Stable Binaries and DBCs"
           body: "This release contains the latest stable binaries and DBCs."

diff --git a/.vscode/tasks.json b/.vscode/tasks.json
@@ -82,6 +82,15 @@
                 "cwd": "${workspaceFolder}/build_arm"
             }
         },
+        {
+            "label": "Build: f4dev.elf",
+            "type": "shell",
+            "command": "make -j`nproc` f4dev.elf",
+            "group": "build",
+            "options": {
+                "cwd": "${workspaceFolder}/build_arm"
+            }
+        },
         {
             "label": "Build: BMS_test",
             "type": "shell",

diff --git a/firmware/CMakeLists.txt b/firmware/CMakeLists.txt
@@ -86,4 +86,5 @@ endif()
 
 add_subdirectory(third_party)
 add_subdirectory(shared)
-add_subdirectory(thruna)
+add_subdirectory(thruna)
+add_subdirectory(dev)
diff --git a/firmware/cmake/shared.cmake b/firmware/cmake/shared.cmake
@@ -1,8 +1,8 @@
 set(FIRMWARE_DIR "${CMAKE_SOURCE_DIR}/firmware")
-SET(SHARED_DIR "${FIRMWARE_DIR}/shared")
-SET(SHARED_EMBEDDED_DIR "${SHARED_DIR}/src")
-SET(SHARED_TEST_DIR "${SHARED_DIR}/test")
-SET(THIRD_PARTY_DIR "${FIRMWARE_DIR}/third_party")
+set(SHARED_DIR "${FIRMWARE_DIR}/shared")
+set(SHARED_EMBEDDED_DIR "${SHARED_DIR}/src")
+set(SHARED_TEST_DIR "${SHARED_DIR}/test")
+set(THIRD_PARTY_DIR "${FIRMWARE_DIR}/third_party")
 
 set(SHARED_APP_INCLUDE_DIR "${SHARED_EMBEDDED_DIR}/app")
 set(SHARED_IO_INCLUDE_DIR "${SHARED_EMBEDDED_DIR}/io")

diff --git a/firmware/dev/CMakeLists.txt b/firmware/dev/CMakeLists.txt
@@ -0,0 +1 @@
+add_subdirectory(f4dev)
diff --git a/firmware/dev/f4dev/CMakeLists.txt b/firmware/dev/f4dev/CMakeLists.txt
@@ -0,0 +1,76 @@
+set(ARM_CORE "cm4")
+set(IOC_PATH "${CMAKE_CURRENT_SOURCE_DIR}/src/cubemx/f4dev.ioc")
+set(SHARED_DIR "${FIRMWARE_DIR}/shared")
+set(LINKER_SCRIPT "${THIRD_PARTY_DIR}/linker/STM32F412RGTX_FLASH.ld")
+
+file(GLOB_RECURSE APP_SRCS "${CMAKE_CURRENT_SOURCE_DIR}/src/app/*.c")
+list(APPEND APP_SRCS "${SHARED_APP_SRCS}")
+set(APP_INCLUDE_DIRS "${CMAKE_CURRENT_SOURCE_DIR}/src/app" "${SHARED_APP_INCLUDE_DIR}")
+
+set(IO_INCLUDE_DIRS "${CMAKE_CURRENT_SOURCE_DIR}/src/io" "${SHARED_IO_INCLUDE_DIR}")
+
+file(GLOB_RECURSE HW_SRCS 
+    "${CMAKE_CURRENT_SOURCE_DIR}/src/hw/*.c"
+    "${CMAKE_CURRENT_SOURCE_DIR}/src/cubemx/Src/*.c"
+)
+
+list (APPEND HW_SRCS "${SHARED_DIR}/src/hw/hw_sd.c")
+set(HW_INCLUDE_DIRS "${CMAKE_CURRENT_SOURCE_DIR}/src/hw" "${SHARED_HW_INCLUDE_DIR}")
+
+# Autogenerate git commit info header/source.
+set(COMMIT_INFO_HEADER_PATH "${CMAKE_CURRENT_BINARY_DIR}/app/App_CommitInfo.h")
+set(COMMIT_INFO_SRC_PATH "${CMAKE_CURRENT_BINARY_DIR}/app/App_CommitInfo.c")
+commit_info_library(
+    "f4dev_commit_info"
+    "${COMMIT_INFO_HEADER_PATH}"
+    "${COMMIT_INFO_SRC_PATH}"
+    "${ARM_CORE}"
+)
+
+if("${PLATFORM}" STREQUAL "arm")
+    generate_stm32cube_code(
+        "f4dev"
+        "${IOC_PATH}"
+    )
+
+    set(STM32_HAL_SRCS
+        "stm32f4xx_hal_adc_ex.c"
+        "stm32f4xx_hal_adc.c"
+        "stm32f4xx_hal_can.c"
+        "stm32f4xx_hal_cortex.c"
+        "stm32f4xx_hal_dma_ex.c"
+        "stm32f4xx_hal_dma.c"
+        "stm32f4xx_hal_exti.c"
+        "stm32f4xx_hal_gpio.c"
+        "stm32f4xx_hal_iwdg.c"
+        "stm32f4xx_hal_rcc_ex.c"
+        "stm32f4xx_hal_rcc.c"
+        "stm32f4xx_hal_spi.c"
+        "stm32f4xx_hal_tim_ex.c"
+        "stm32f4xx_hal_tim.c"
+        "stm32f4xx_hal.c"
+        "stm32f4xx_hal_sd.c"
+        "stm32f4xx_ll_sdmmc.c"
+    )
+
+    # Pass syscalls to the cube library so we can build without warnings.
+    set(SYSCALLS "${CMAKE_CURRENT_SOURCE_DIR}/src/cubemx/Src/syscalls.c")
+    stm32f412rx_cube_library(
+        "f4dev_stm32cube"
+        "${CMAKE_CURRENT_SOURCE_DIR}/src/cubemx/Inc"
+        "${STM32_HAL_SRCS}"
+        "${SYSCALLS}"
+        "${IOC_PATH}.md5"
+    )
+
+    set(SRCS  ${HW_SRCS})
+    set(INCLUDE_DIRS ${APP_INCLUDE_DIRS} ${IO_INCLUDE_DIRS} ${HW_INCLUDE_DIRS})
+    embedded_binary(
+        "f4dev.elf"
+        "${SRCS}"
+        "${INCLUDE_DIRS}"
+        "${LINKER_SCRIPT}"
+        "${ARM_CORE}"
+    )
+    target_link_libraries("f4dev.elf" "f4dev_stm32cube" "f4dev_commit_info" "littlefs_cm4")
+endif()
diff --git a/firmware/dev/f4dev/src/cubemx/Inc/FreeRTOSConfig.h b/firmware/dev/f4dev/src/cubemx/Inc/FreeRTOSConfig.h
@@ -0,0 +1,177 @@
+/* USER CODE BEGIN Header */
+/*
+ * FreeRTOS Kernel V10.0.1
+ * Copyright (C) 2017 Amazon.com, Inc. or its affiliates.  All Rights Reserved.
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy of
+ * this software and associated documentation files (the "Software"), to deal in
+ * the Software without restriction, including without limitation the rights to
+ * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
+ * the Software, and to permit persons to whom the Software is furnished to do so,
+ * subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in all
+ * copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
+ * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
+ * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
+ * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
+ * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+ *
+ * http://www.FreeRTOS.org
+ * http://aws.amazon.com/freertos
+ *
+ * 1 tab == 4 spaces!
+ */
+/* USER CODE END Header */
+
+#ifndef FREERTOS_CONFIG_H
+#define FREERTOS_CONFIG_H
+
+/*-----------------------------------------------------------
+ * Application specific definitions.
+ *
+ * These definitions should be adjusted for your particular hardware and
+ * application requirements.
+ *
+ * These parameters and more are described within the 'configuration' section of the
+ * FreeRTOS API documentation available on the FreeRTOS.org web site.
+ *
+ * See http://www.freertos.org/a00110.html
+ *----------------------------------------------------------*/
+
+/* USER CODE BEGIN Includes */
+/* Section where include file can be added */
+/* USER CODE END Includes */
+
+/* Ensure definitions are only used by the compiler, and not by the assembler. */
+#if defined(__ICCARM__) || defined(__CC_ARM) || defined(__GNUC__)
+#include <stdint.h>
+extern uint32_t SystemCoreClock;
+void            xPortSysTickHandler(void);
+#endif
+#ifndef CMSIS_device_header
+#define CMSIS_device_header "stm32f4xx.h"
+#endif /* CMSIS_device_header */
+
+#define configENABLE_FPU 0
+#define configENABLE_MPU 0
+
+#define configUSE_PREEMPTION 1
+#define configSUPPORT_STATIC_ALLOCATION 1
+#define configSUPPORT_DYNAMIC_ALLOCATION 1
+#define configUSE_IDLE_HOOK 0
+#define configUSE_TICK_HOOK 0
+#define configCPU_CLOCK_HZ (SystemCoreClock)
+#define configTICK_RATE_HZ ((TickType_t)1000)
+#define configMAX_PRIORITIES (56)
+#define configMINIMAL_STACK_SIZE ((uint16_t)128)
+#define configTOTAL_HEAP_SIZE ((size_t)15360)
+#define configMAX_TASK_NAME_LEN (16)
+#define configUSE_TRACE_FACILITY 1
+#define configUSE_16_BIT_TICKS 0
+#define configUSE_MUTEXES 1
+#define configQUEUE_REGISTRY_SIZE 8
+#define configUSE_RECURSIVE_MUTEXES 1
+#define configUSE_COUNTING_SEMAPHORES 1
+#define configUSE_PORT_OPTIMISED_TASK_SELECTION 0
+/* USER CODE BEGIN MESSAGE_BUFFER_LENGTH_TYPE */
+/* Defaults to size_t for backward compatibility, but can be changed
+   if lengths will always be less than the number of bytes in a size_t. */
+#define configMESSAGE_BUFFER_LENGTH_TYPE size_t
+/* USER CODE END MESSAGE_BUFFER_LENGTH_TYPE */
+
+/* Co-routine definitions. */
+#define configUSE_CO_ROUTINES 0
+#define configMAX_CO_ROUTINE_PRIORITIES (2)
+
+/* Software timer definitions. */
+#define configUSE_TIMERS 1
+#define configTIMER_TASK_PRIORITY (2)
+#define configTIMER_QUEUE_LENGTH 10
+#define configTIMER_TASK_STACK_DEPTH 256
+
+/* CMSIS-RTOS V2 flags */
+#define configUSE_OS2_THREAD_SUSPEND_RESUME 1
+#define configUSE_OS2_THREAD_ENUMERATE 1
+#define configUSE_OS2_EVENTFLAGS_FROM_ISR 1
+#define configUSE_OS2_THREAD_FLAGS 1
+#define configUSE_OS2_TIMER 1
+#define configUSE_OS2_MUTEX 1
+
+/* Set the following definitions to 1 to include the API function, or zero
+to exclude the API function. */
+#define INCLUDE_vTaskPrioritySet 1
+#define INCLUDE_uxTaskPriorityGet 1
+#define INCLUDE_vTaskDelete 1
+#define INCLUDE_vTaskCleanUpResources 0
+#define INCLUDE_vTaskSuspend 1
+#define INCLUDE_vTaskDelayUntil 1
+#define INCLUDE_vTaskDelay 1
+#define INCLUDE_xTaskGetSchedulerState 1
+#define INCLUDE_xTimerPendFunctionCall 1
+#define INCLUDE_xQueueGetMutexHolder 1
+#define INCLUDE_uxTaskGetStackHighWaterMark 1
+#define INCLUDE_xTaskGetCurrentTaskHandle 1
+#define INCLUDE_eTaskGetState 1
+
+/*
+ * The CMSIS-RTOS V2 FreeRTOS wrapper is dependent on the heap implementation used
+ * by the application thus the correct define need to be enabled below
+ */
+#define USE_FreeRTOS_HEAP_4
+
+/* Cortex-M specific definitions. */
+#ifdef __NVIC_PRIO_BITS
+/* __BVIC_PRIO_BITS will be specified when CMSIS is being used. */
+#define configPRIO_BITS __NVIC_PRIO_BITS
+#else
+#define configPRIO_BITS 4
+#endif
+
+/* The lowest interrupt priority that can be used in a call to a "set priority"
+function. */
+#define configLIBRARY_LOWEST_INTERRUPT_PRIORITY 15
+
+/* The highest interrupt priority that can be used by any interrupt service
+routine that makes calls to interrupt safe FreeRTOS API functions.  DO NOT CALL
+INTERRUPT SAFE FREERTOS API FUNCTIONS FROM ANY INTERRUPT THAT HAS A HIGHER
+PRIORITY THAN THIS! (higher priorities are lower numeric values. */
+#define configLIBRARY_MAX_SYSCALL_INTERRUPT_PRIORITY 5
+
+/* Interrupt priorities used by the kernel port layer itself.  These are generic
+to all Cortex-M ports, and do not rely on any particular library functions. */
+#define configKERNEL_INTERRUPT_PRIORITY (configLIBRARY_LOWEST_INTERRUPT_PRIORITY << (8 - configPRIO_BITS))
+/* !!!! configMAX_SYSCALL_INTERRUPT_PRIORITY must not be set to zero !!!!
+See http://www.FreeRTOS.org/RTOS-Cortex-M3-M4.html. */
+#define configMAX_SYSCALL_INTERRUPT_PRIORITY (configLIBRARY_MAX_SYSCALL_INTERRUPT_PRIORITY << (8 - configPRIO_BITS))
+
+/* Normal assert() semantics without relying on the provision of an assert.h
+header file. */
+/* USER CODE BEGIN 1 */
+#define configASSERT(x)           \
+    if ((x) == 0)                 \
+    {                             \
+        taskDISABLE_INTERRUPTS(); \
+        for (;;)                  \
+            ;                     \
+    }
+/* USER CODE END 1 */
+
+/* Definitions that map the FreeRTOS port interrupt handlers to their CMSIS
+standard names. */
+#define vPortSVCHandler SVC_Handler
+#define xPortPendSVHandler PendSV_Handler
+
+/* IMPORTANT: After 10.3.1 update, Systick_Handler comes from NVIC (if SYS timebase = systick), otherwise from
+ * cmsis_os2.c */
+
+#define USE_CUSTOM_SYSTICK_HANDLER_IMPLEMENTATION 1
+
+/* USER CODE BEGIN Defines */
+/* Section where parameter definitions can be added (for instance, to override default ones in FreeRTOS.h) */
+/* USER CODE END Defines */
+
+#endif /* FREERTOS_CONFIG_H */
diff --git a/firmware/dev/f4dev/src/cubemx/Inc/main.h b/firmware/dev/f4dev/src/cubemx/Inc/main.h
@@ -0,0 +1,71 @@
+/* USER CODE BEGIN Header */
+/**
+ ******************************************************************************
+ * @file           : main.h
+ * @brief          : Header for main.c file.
+ *                   This file contains the common defines of the application.
+ ******************************************************************************
+ * @attention
+ *
+ * <h2><center>&copy; Copyright (c) 2023 STMicroelectronics.
+ * All rights reserved.</center></h2>
+ *
+ * This software component is licensed by ST under BSD 3-Clause license,
+ * the "License"; You may not use this file except in compliance with the
+ * License. You may obtain a copy of the License at:
+ *                        opensource.org/licenses/BSD-3-Clause
+ *
+ ******************************************************************************
+ */
+/* USER CODE END Header */
+
+/* Define to prevent recursive inclusion -------------------------------------*/
+#ifndef __MAIN_H
+#define __MAIN_H
+
+#ifdef __cplusplus
+extern "C"
+{
+#endif
+
+/* Includes ------------------------------------------------------------------*/
+#include "stm32f4xx_hal.h"
+
+    /* Private includes ----------------------------------------------------------*/
+    /* USER CODE BEGIN Includes */
+
+    /* USER CODE END Includes */
+
+    /* Exported types ------------------------------------------------------------*/
+    /* USER CODE BEGIN ET */
+
+    /* USER CODE END ET */
+
+    /* Exported constants --------------------------------------------------------*/
+    /* USER CODE BEGIN EC */
+
+    /* USER CODE END EC */
+
+    /* Exported macro ------------------------------------------------------------*/
+    /* USER CODE BEGIN EM */
+
+    /* USER CODE END EM */
+
+    /* Exported functions prototypes ---------------------------------------------*/
+    void Error_Handler(void);
+
+    /* USER CODE BEGIN EFP */
+
+    /* USER CODE END EFP */
+
+    /* Private defines -----------------------------------------------------------*/
+
+    /* USER CODE BEGIN Private defines */
+
+    /* USER CODE END Private defines */
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* __MAIN_H */
-Original file line number
+Diff line change
@@ Expand Up / @@ -23,6 +23,7 @@ jobs: @@
               - BMS
               - DCM
               - DIM
+              - f4dev
         container:
           image: ubcformulaelectric/environment:latest
@@ Expand Down @@