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FSM Bringup (#1392)
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### Changelist 

- Set up CMake and STM32 for FSM on quintuna
<!-- Give a list of the changes covered in this PR. This will help both
you and the reviewer keep this PR within scope. -->

### Testing Done

- it builds
<!-- Outline the testing that was done to demonstrate the changes are
solid. This could be unit tests, integration tests, testing on the car,
etc. Include relevant code snippets, screenshots, etc as needed. -->

### Resolved Tickets

none (there might be one)
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---------

Co-authored-by: Edwin <[email protected]>
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@kryptoish @Lucien950
kryptoish and Lucien950 authored Jan 21, 2025
1 parent d1dc920 commit 272982c
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1 change: 1 addition & 0 deletions firmware/quintuna/CMakeLists.txt
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set(QUINTUNA_DIR "${FIRMWARE_DIR}/quintuna")
add_subdirectory(CRIT)
add_subdirectory(FSM)
add_subdirectory(DAM)
add_subdirectory(RSM)
add_subdirectory(VC)
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122 changes: 122 additions & 0 deletions firmware/quintuna/FSM/CMakeLists.txt
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message("")
message("⚙️ Configuring FSM (Quintuna)")

set(ARM_CORE "cm4")
set(LINKER_SCRIPT "${LINKER_DIR}/stm32f412rgtx/stm32f412rgtx_app.ld")

file(GLOB_RECURSE SYSTEM_SRCS
"${CMAKE_CURRENT_SOURCE_DIR}/src/*.cpp"
"${CMAKE_CURRENT_SOURCE_DIR}/src/cubemx/Src/*.c"
)
set(SYSTEM_INCLUDE_DIRS
"${CMAKE_CURRENT_SOURCE_DIR}/src"
)

file(GLOB_RECURSE APP_SRCS "${CMAKE_CURRENT_SOURCE_DIR}/src/app/*.cpp")
list(APPEND APP_SRCS
"${SHARED_APP_INCLUDE_DIR_CPP}/app_stateMachine.cpp"
"${SHARED_APP_INCLUDE_DIR_CPP}/app_timer.cpp"
)
set(APP_INCLUDE_DIRS "${CMAKE_CURRENT_SOURCE_DIR}/src/app" "${SHARED_APP_INCLUDE_DIR_CPP}")

file(GLOB_RECURSE IO_SRCS "${CMAKE_CURRENT_SOURCE_DIR}/src/io/*.cpp")
list(APPEND IO_SRCS
""
)
set(IO_INCLUDE_DIRS "${CMAKE_CURRENT_SOURCE_DIR}/src/io" "${SHARED_IO_INCLUDE_DIR_CPP}")

file(GLOB_RECURSE HW_SRCS
"${CMAKE_CURRENT_SOURCE_DIR}/src/hw/*.cpp"
)
list(APPEND HW_SRCS
""
)
set(HW_INCLUDE_DIRS
"${CMAKE_CURRENT_SOURCE_DIR}/src/hw"
"${SHARED_HW_INCLUDE_DIR_CPP}"
)

if ("${TARGET}" STREQUAL "binary")
set(SRCS ${APP_SRCS} ${IO_SRCS} ${HW_SRCS} ${TASKS_SRCS} ${SYSTEM_SRCS})
set(INCLUDE_DIRS ${APP_INCLUDE_DIRS} ${IO_INCLUDE_DIRS} ${HW_INCLUDE_DIRS} ${SYSTEM_INCLUDE_DIRS})

embedded_binary(
"quintuna_FSM_app"
"${SRCS}"
"${INCLUDE_DIRS}"
"${LINKER_SCRIPT}"
"${ARM_CORE}"
)

#bootloader files
file(GLOB_RECURSE BOOT_SRCS "${CMAKE_CURRENT_SOURCE_DIR}/boot/*.c")
set(BOOT_INCLUDE_DIRS "${CMAKE_CURRENT_SOURCE_DIR}/boot" "${CMAKE_CURRENT_SOURCE_DIR}/boot/cubemx/Inc")
# Build bootloader
stm32f4_boot_binary(
"quintuna_FSM_boot"
"${BOOT_SRCS}"
"${BOOT_INCLUDE_DIRS}"
"quintuna_FSM"
"${CMAKE_CURRENT_SOURCE_DIR}/boot/cubemx/Src/syscalls.c"
"${CMAKE_CURRENT_SOURCE_DIR}/boot/cubemx/FSM_boot.ioc"
)

set(IOC_PATH "${CMAKE_CURRENT_SOURCE_DIR}/src/cubemx/FSM.ioc")
generate_stm32cube_code("FSM" "${IOC_PATH}")

set(STM32_HAL_SRCS
"stm32f4xx_hal.c" #add more hal library here if needed
)

set(STM32_HAL_SRCS
"stm32f4xx_hal_adc_ex.c"
"stm32f4xx_hal_adc.c"
"stm32f4xx_hal_cortex.c"
"stm32f4xx_hal_dma_ex.c"
"stm32f4xx_hal_dma.c"
"stm32f4xx_hal_exti.c"
"stm32f4xx_hal_can.c"
"stm32f4xx_hal_gpio.c"
"stm32f4xx_hal_iwdg.c"
"stm32f4xx_hal_pwr_ex.c"
"stm32f4xx_hal_rcc_ex.c"
"stm32f4xx_hal_rcc.c"
"stm32f4xx_hal_tim_ex.c"
"stm32f4xx_hal_tim.c"
"stm32f4xx_hal_uart.c"
"stm32f4xx_hal.c"
)

stm32f412rx_cube_library(
"quintuna_FSM_stm32cube"
"${CMAKE_CURRENT_SOURCE_DIR}/src/cubemx/Inc"
"${STM32_HAL_SRCS}"
"${CMAKE_CURRENT_SOURCE_DIR}/src/cubemx/Src/syscalls.c"
"${MD5_LOCATION}"
FALSE
)

# JSONCAN
jsoncan_embedded_library(FSM quintuna "${CMAKE_CURRENT_BINARY_DIR}" ${ARM_CORE})

# CommitInfo
commit_info_library(
"quintuna_FSM_app.elf"
"quintuna_FSM_commit_info"
"${CMAKE_CURRENT_BINARY_DIR}/app"
"${ARM_CORE}"
)

target_link_libraries("quintuna_FSM_jsoncan" INTERFACE "quintuna_FSM_stm32cube")
target_link_libraries("quintuna_FSM_app.elf" PRIVATE "quintuna_FSM_stm32cube" "quintuna_FSM_jsoncan" "quintuna_FSM_commit_info" "debug_modules")
target_link_libraries("quintuna_FSM_boot.elf" PRIVATE "quintuna_FSM_commit_info")

embedded_image(
"quintuna_FSM"
"quintuna_FSM_app.hex"
"${CMAKE_CURRENT_BINARY_DIR}/quintuna_FSM_app.hex"
"quintuna_FSM_boot.hex"
"${CMAKE_CURRENT_BINARY_DIR}/quintuna_FSM_boot.hex"
)
elseif ("${TARGET}" STREQUAL "test")
endif ()
5 changes: 5 additions & 0 deletions firmware/quintuna/FSM/boot/bootloaderConfig.h
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#pragma once

#define START_UPDATE_ID 0000
#define UPDATE_ACK_ID 0000
#define STATUS_10HZ_ID 0000
173 changes: 173 additions & 0 deletions firmware/quintuna/FSM/boot/cubemx/FSM_boot.ioc
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#MicroXplorer Configuration settings - do not modify
CAD.formats=
CAD.pinconfig=
CAD.provider=
CAN1.ABOM=ENABLE
CAN1.BS1=CAN_BS1_13TQ
CAN1.BS2=CAN_BS2_2TQ
CAN1.CalculateBaudRate=500000
CAN1.CalculateTimeBit=2000
CAN1.CalculateTimeQuantum=125.0
CAN1.IPParameters=CalculateTimeQuantum,CalculateTimeBit,CalculateBaudRate,BS1,Prescaler,SJW,ABOM,NART,RFLM,TXFP,BS2
CAN1.NART=ENABLE
CAN1.Prescaler=6
CAN1.RFLM=ENABLE
CAN1.SJW=CAN_SJW_4TQ
CAN1.TXFP=ENABLE
FREERTOS.FootprintOK=true
FREERTOS.IPParameters=Tasks01,FootprintOK,configUSE_NEWLIB_REENTRANT
FREERTOS.Tasks01=interfaceTask,32,512,runInterfaceTask,Default,NULL,Static,interfaceTaskBuffer,interfaceTaskControlBlock;canTxTask,16,512,runCanTxTask,Default,NULL,Static,canTxTaskBuffer,canTxTaskControlBlock;tickTask,24,512,runTickTask,Default,NULL,Static,tickTaskBuffer,tickTaskControlBlock
FREERTOS.configUSE_NEWLIB_REENTRANT=1
File.Version=6
GPIO.groupedBy=
KeepUserPlacement=false
Mcu.CPN=STM32F412RGT6
Mcu.Family=STM32F4
Mcu.IP0=CAN1
Mcu.IP1=CRC
Mcu.IP2=FREERTOS
Mcu.IP3=NVIC
Mcu.IP4=RCC
Mcu.IP5=SYS
Mcu.IPNb=6
Mcu.Name=STM32F412R(E-G)Tx
Mcu.Package=LQFP64
Mcu.Pin0=PC13
Mcu.Pin1=PH0 - OSC_IN
Mcu.Pin10=VP_FREERTOS_VS_CMSIS_V2
Mcu.Pin11=VP_SYS_VS_tim6
Mcu.Pin2=PH1 - OSC_OUT
Mcu.Pin3=PA11
Mcu.Pin4=PA12
Mcu.Pin5=PA13
Mcu.Pin6=PA14
Mcu.Pin7=PA15
Mcu.Pin8=PB3
Mcu.Pin9=VP_CRC_VS_CRC
Mcu.PinsNb=12
Mcu.ThirdPartyNb=0
Mcu.UserConstants=
Mcu.UserName=STM32F412RGTx
MxCube.Version=6.9.2
MxDb.Version=DB.6.0.92
NVIC.BusFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false\:false
NVIC.CAN1_RX0_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true\:true
NVIC.CAN1_RX1_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true\:true
NVIC.DebugMonitor_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false\:false
NVIC.ForceEnableDMAVector=true
NVIC.HardFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false\:false
NVIC.MemoryManagement_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false\:false
NVIC.NonMaskableInt_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false\:false
NVIC.PendSV_IRQn=true\:15\:0\:false\:false\:false\:true\:false\:false\:false
NVIC.PriorityGroup=NVIC_PRIORITYGROUP_4
NVIC.SVCall_IRQn=true\:0\:0\:false\:false\:false\:false\:false\:false\:false
NVIC.SavedPendsvIrqHandlerGenerated=true
NVIC.SavedSvcallIrqHandlerGenerated=true
NVIC.SavedSystickIrqHandlerGenerated=true
NVIC.SysTick_IRQn=true\:15\:0\:false\:false\:false\:true\:false\:true\:false
NVIC.TIM6_IRQn=true\:15\:0\:false\:false\:true\:false\:false\:true\:true
NVIC.TimeBase=TIM6_IRQn
NVIC.TimeBaseIP=TIM6
NVIC.UsageFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false\:false
PA11.Mode=CAN_Activate
PA11.Signal=CAN1_RX
PA12.Mode=CAN_Activate
PA12.Signal=CAN1_TX
PA13.Mode=Trace_Asynchronous_SW
PA13.Signal=SYS_JTMS-SWDIO
PA14.Mode=Trace_Asynchronous_SW
PA14.Signal=SYS_JTCK-SWCLK
PA15.GPIOParameters=GPIO_PuPd,GPIO_Label
PA15.GPIO_Label=nBOOT_EN
PA15.GPIO_PuPd=GPIO_PULLUP
PA15.Locked=true
PA15.Signal=GPIO_Input
PB3.Mode=Trace_Asynchronous_SW
PB3.Signal=SYS_JTDO-SWO
PC13.GPIOParameters=GPIO_Label
PC13.GPIO_Label=LED
PC13.Locked=true
PC13.Signal=GPIO_Output
PH0\ -\ OSC_IN.Mode=HSE-External-Oscillator
PH0\ -\ OSC_IN.Signal=RCC_OSC_IN
PH1\ -\ OSC_OUT.Mode=HSE-External-Oscillator
PH1\ -\ OSC_OUT.Signal=RCC_OSC_OUT
PinOutPanel.RotationAngle=0
ProjectManager.AskForMigrate=true
ProjectManager.BackupPrevious=false
ProjectManager.CompilerOptimize=6
ProjectManager.ComputerToolchain=false
ProjectManager.CoupleFile=false
ProjectManager.CustomerFirmwarePackage=
ProjectManager.DefaultFWLocation=true
ProjectManager.DeletePrevious=true
ProjectManager.DeviceId=STM32F412RGTx
ProjectManager.FirmwarePackage=STM32Cube FW_F4 V1.27.1
ProjectManager.FreePins=false
ProjectManager.HalAssertFull=false
ProjectManager.HeapSize=0x00
ProjectManager.KeepUserCode=true
ProjectManager.LastFirmware=true
ProjectManager.LibraryCopy=1
ProjectManager.MainLocation=Core/Src
ProjectManager.NoMain=false
ProjectManager.PreviousToolchain=STM32CubeIDE
ProjectManager.ProjectBuild=false
ProjectManager.ProjectFileName=FSM_boot.ioc
ProjectManager.ProjectName=FSM_boot
ProjectManager.ProjectStructure=
ProjectManager.RegisterCallBack=
ProjectManager.StackSize=0x400
ProjectManager.TargetToolchain=STM32CubeIDE
ProjectManager.ToolChainLocation=
ProjectManager.UAScriptAfterPath=
ProjectManager.UAScriptBeforePath=
ProjectManager.UnderRoot=true
ProjectManager.functionlistsort=1-SystemClock_Config-RCC-false-HAL-false,2-MX_GPIO_Init-GPIO-false-HAL-true,3-MX_CAN1_Init-CAN1-false-HAL-true,4-MX_CRC_Init-CRC-false-HAL-true
RCC.AHBFreq_Value=96000000
RCC.APB1CLKDivider=RCC_HCLK_DIV2
RCC.APB1Freq_Value=48000000
RCC.APB1TimFreq_Value=96000000
RCC.APB2Freq_Value=96000000
RCC.APB2TimFreq_Value=96000000
RCC.CortexFreq_Value=96000000
RCC.DFSDMAudioFreq_Value=48000000
RCC.DFSDMFreq_Value=96000000
RCC.FCLKCortexFreq_Value=96000000
RCC.FMPI2C1Freq_Value=48000000
RCC.FamilyName=M
RCC.HCLKFreq_Value=96000000
RCC.HSE_VALUE=8000000
RCC.I2S1Freq_Value=48000000
RCC.I2S2Freq_Value=48000000
RCC.IPParameters=AHBFreq_Value,APB1CLKDivider,APB1Freq_Value,APB1TimFreq_Value,APB2Freq_Value,APB2TimFreq_Value,CortexFreq_Value,DFSDMAudioFreq_Value,DFSDMFreq_Value,FCLKCortexFreq_Value,FMPI2C1Freq_Value,FamilyName,HCLKFreq_Value,HSE_VALUE,I2S1Freq_Value,I2S2Freq_Value,MCO2PinFreq_Value,PLLCLKFreq_Value,PLLI2SPCLKFreq_Value,PLLI2SQCLKFreq_Value,PLLI2SQoutputFreq_Value,PLLI2SRCLKFreq_Value,PLLI2SoutputFreq_Value,PLLM,PLLQCLKFreq_Value,PLLQoutputFreq_Value,PLLRCLKFreq_Value,PLLRoutputFreq_Value,PLLSourceVirtual,RNGFreq_Value,SDIOFreq_Value,SYSCLKFreq_VALUE,SYSCLKSource,USBFreq_Value,VCOI2SInputFreq_Value,VCOI2SOutputFreq_Value,VCOInputFreq_Value,VCOOutputFreq_Value
RCC.MCO2PinFreq_Value=96000000
RCC.PLLCLKFreq_Value=96000000
RCC.PLLI2SPCLKFreq_Value=48000000
RCC.PLLI2SQCLKFreq_Value=48000000
RCC.PLLI2SQoutputFreq_Value=48000000
RCC.PLLI2SRCLKFreq_Value=48000000
RCC.PLLI2SoutputFreq_Value=48000000
RCC.PLLM=8
RCC.PLLQCLKFreq_Value=96000000
RCC.PLLQoutputFreq_Value=96000000
RCC.PLLRCLKFreq_Value=96000000
RCC.PLLRoutputFreq_Value=96000000
RCC.PLLSourceVirtual=RCC_PLLSOURCE_HSE
RCC.RNGFreq_Value=96000000
RCC.SDIOFreq_Value=96000000
RCC.SYSCLKFreq_VALUE=96000000
RCC.SYSCLKSource=RCC_SYSCLKSOURCE_PLLCLK
RCC.USBFreq_Value=96000000
RCC.VCOI2SInputFreq_Value=500000
RCC.VCOI2SOutputFreq_Value=96000000
RCC.VCOInputFreq_Value=1000000
RCC.VCOOutputFreq_Value=192000000
VP_CRC_VS_CRC.Mode=CRC_Activate
VP_CRC_VS_CRC.Signal=CRC_VS_CRC
VP_FREERTOS_VS_CMSIS_V2.Mode=CMSIS_V2
VP_FREERTOS_VS_CMSIS_V2.Signal=FREERTOS_VS_CMSIS_V2
VP_SYS_VS_tim6.Mode=TIM6
VP_SYS_VS_tim6.Signal=SYS_VS_tim6
board=custom
rtos.0.ip=FREERTOS
1 change: 1 addition & 0 deletions firmware/quintuna/FSM/boot/cubemx/FSM_boot.ioc.md5
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062b8c6254530dd03f43de74949f5ad9
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