BMS Quintuna Board Bring Up (#1390)

### Changelist 
<!-- 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
<!-- 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
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---------

Co-authored-by: Edwin <[email protected]>
Co-authored-by: DJ90864 <[email protected]>
Co-authored-by: Dikshit Jain <[email protected]>

.vscode/tasks.json

@@ -85,6 +85,15 @@
           "command": "build",
           "targets": ["quadruna_VC.hex", "can_bus_load_quadruna"],
         },
+        {
+            "label": "Build Embedded: BMS (Quintuna)",
+            "group": "build",
+            "type": "cmake",
+            "command": "build",
+            "targets": [
+                "quintuna_BMS.hex", "can_bus_load_quadruna"
+            ]
+        },
         {
             "label": "Build Embedded: CRIT (Quintuna)",
             "group": "build",

firmware/quintuna/BMS/CMakeLists.txt

@@ -0,0 +1,116 @@
+message("")
+message("⚙️ Configuring [BMS] (Quintuna)")
+set(ARM_CORE "cm7")
+set(IOC_PATH "${CMAKE_CURRENT_SOURCE_DIR}/src/cubemx/BMS.ioc")
+set(LINKER_SCRIPT "${LINKER_DIR}/stm32h733vgtx/stm32h733vgtx_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
+    ""
+)
+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} ${SYSTEM_INCLUDE_DIRS})
+    embedded_binary("quintuna_BMS_app" "${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.
+    stm32h7_boot_binary(
+        "quintuna_BMS_boot"
+        "${BOOT_SRCS}"
+        "${BOOT_INCLUDE_DIRS}"
+        "quintuna_BMS"
+        "${CMAKE_CURRENT_SOURCE_DIR}/boot/cubemx/Src/syscalls.c"
+        "${CMAKE_CURRENT_SOURCE_DIR}/boot/cubemx/BMS_boot.ioc"
+    )
+
+    set(IOC_PATH "${CMAKE_CURRENT_SOURCE_DIR}/src/cubemx/BMS.ioc")
+    generate_stm32cube_code("BMS" "${IOC_PATH}")
+    set(STM32_HAL_SRCS
+        "stm32h7xx_hal_adc_ex.c"
+        "stm32h7xx_hal_adc.c"
+        "stm32h7xx_hal_cortex.c"
+        "stm32h7xx_hal_dma_ex.c"
+        "stm32h7xx_hal_dma.c"
+        "stm32h7xx_hal_exti.c"
+        "stm32h7xx_hal_fdcan.c"
+        "stm32h7xx_hal_gpio.c"
+        "stm32h7xx_hal_iwdg.c"
+        "stm32h7xx_hal_pwr_ex.c"
+        "stm32h7xx_hal_rcc_ex.c"
+        "stm32h7xx_hal_rcc.c"
+        "stm32h7xx_hal_tim_ex.c"
+        "stm32h7xx_hal_tim.c"
+        "stm32h7xx_hal_uart_ex.c"
+        "stm32h7xx_hal_uart.c"
+        "stm32h7xx_ll_sdmmc.c"
+        "stm32h7xx_hal_sd_ex.c"
+        "stm32h7xx_hal_sd.c"
+        "stm32h7xx_hal.c"
+        "stm32h7xx_hal_i2c.c"
+        "stm32h7xx_hal_i2c_ex.c"
+    )
+    stm32h733xx_cube_library(
+        "quintuna_BMS_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(BMS quintuna "${CMAKE_CURRENT_BINARY_DIR}" ${ARM_CORE})
+
+    # CommitInfo
+    commit_info_library(
+            "quintuna_BMS_app.elf"
+            "quintuna_BMS_commit_info"
+            "${CMAKE_CURRENT_BINARY_DIR}/app"
+            "${ARM_CORE}"
+    )
+
+    target_link_libraries("quintuna_BMS_jsoncan" INTERFACE "quintuna_BMS_stm32cube")
+    target_link_libraries("quintuna_BMS_app.elf" PRIVATE "quintuna_BMS_stm32cube" "quintuna_BMS_jsoncan" "quintuna_BMS_commit_info" "debug_modules")
+    target_link_libraries("quintuna_BMS_boot.elf" PRIVATE "quintuna_BMS_commit_info")
+
+    embedded_image(
+        "quintuna_BMS"
+        "quintuna_BMS_app.hex"
+        "${CMAKE_CURRENT_BINARY_DIR}/quintuna_BMS_app.hex"
+        "quintuna_BMS_boot.hex"
+        "${CMAKE_CURRENT_BINARY_DIR}/quintuna_BMS_boot.hex"
+    )
+
+elseif ("${TARGET}" STREQUAL "test")
+endif ()

firmware/quintuna/BMS/boot/bootloaderConfig.h

@@ -0,0 +1,5 @@
+#pragma once
+
+#define START_UPDATE_ID 0
+#define UPDATE_ACK_ID 0
+#define STATUS_10HZ_ID 0

firmware/quintuna/BMS/boot/cubemx/BMS_boot.ioc

@@ -0,0 +1,253 @@
+#MicroXplorer Configuration settings - do not modify
+CAD.formats=
+CAD.pinconfig=
+CAD.provider=
+CORTEX_M7.CPU_DCache=Disabled
+CORTEX_M7.CPU_ICache=Disabled
+CORTEX_M7.IPParameters=CPU_ICache,CPU_DCache
+CRC.IPParameters=InputDataFormat
+CRC.InputDataFormat=CRC_INPUTDATA_FORMAT_WORDS
+FDCAN1.AutoRetransmission=ENABLE
+FDCAN1.CalculateBaudRateNominal=500000
+FDCAN1.CalculateTimeBitNominal=2000
+FDCAN1.CalculateTimeQuantumNominal=125.0
+FDCAN1.IPParameters=CalculateTimeQuantumNominal,CalculateTimeBitNominal,CalculateBaudRateNominal,AutoRetransmission,StdFiltersNbr,RxFifo1ElmtsNbr,TxFifoQueueElmtsNbr,NominalPrescaler,NominalTimeSeg1,NominalSyncJumpWidth,RxFifo0ElmtsNbr
+FDCAN1.NominalPrescaler=6
+FDCAN1.NominalSyncJumpWidth=4
+FDCAN1.NominalTimeSeg1=13
+FDCAN1.RxFifo0ElmtsNbr=1
+FDCAN1.RxFifo1ElmtsNbr=0
+FDCAN1.StdFiltersNbr=1
+FDCAN1.TxFifoQueueElmtsNbr=1
+FREERTOS.FootprintOK=true
+FREERTOS.IPParameters=Tasks01,configUSE_NEWLIB_REENTRANT,FootprintOK
+FREERTOS.Tasks01=interfaceTask,32,512,runInterfaceTask,Default,NULL,Static,interfaceTaskBuffer,interfaceTaskControlBlock;tickTask,24,512,runTickTask,Default,NULL,Static,tickTaskBuffer,tickTaskControlBlock;canTxTask,16,512,runCanTxTask,Default,NULL,Static,canTxTaskBuffer,canTxTaskControlBlock
+FREERTOS.configUSE_NEWLIB_REENTRANT=1
+File.Version=6
+GPIO.groupedBy=
+KeepUserPlacement=false
+Mcu.CPN=STM32H733VGT6
+Mcu.Family=STM32H7
+Mcu.IP0=CORTEX_M7
+Mcu.IP1=CRC
+Mcu.IP2=FDCAN1
+Mcu.IP3=FREERTOS
+Mcu.IP4=NVIC
+Mcu.IP5=RCC
+Mcu.IP6=SYS
+Mcu.IPNb=7
+Mcu.Name=STM32H733VGTx
+Mcu.Package=LQFP100
+Mcu.Pin0=PC13
+Mcu.Pin1=PH0-OSC_IN
+Mcu.Pin10=PB8
+Mcu.Pin11=PB9
+Mcu.Pin12=VP_CRC_VS_CRC
+Mcu.Pin13=VP_FREERTOS_VS_CMSIS_V2
+Mcu.Pin14=VP_SYS_VS_tim6
+Mcu.Pin2=PH1-OSC_OUT
+Mcu.Pin3=PC2_C
+Mcu.Pin4=PC3_C
+Mcu.Pin5=PA4
+Mcu.Pin6=PA5
+Mcu.Pin7=PE7
+Mcu.Pin8=PB12
+Mcu.Pin9=PD9
+Mcu.PinsNb=15
+Mcu.ThirdPartyNb=0
+Mcu.UserConstants=
+Mcu.UserName=STM32H733VGTx
+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.DebugMonitor_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false\:false
+NVIC.FDCAN1_IT0_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true\:true
+NVIC.FDCAN1_IT1_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true\:true
+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_DAC_IRQn=true\:15\:0\:false\:false\:true\:false\:false\:true\:true
+NVIC.TimeBase=TIM6_DAC_IRQn
+NVIC.TimeBaseIP=TIM6
+NVIC.UsageFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false\:false
+PA4.GPIOParameters=GPIO_PuPd,GPIO_Label
+PA4.GPIO_Label=BSPD_TEST_EN
+PA4.GPIO_PuPd=GPIO_NOPULL
+PA4.Locked=true
+PA4.Signal=GPIO_Output
+PA5.GPIOParameters=GPIO_PuPd,GPIO_Label
+PA5.GPIO_Label=nCHIMERA
+PA5.GPIO_PuPd=GPIO_PULLUP
+PA5.Locked=true
+PA5.Signal=GPIO_Input
+PB12.GPIOParameters=GPIO_PuPd,GPIO_Label
+PB12.GPIO_Label=SPI_CS
+PB12.GPIO_PuPd=GPIO_PULLDOWN
+PB12.Locked=true
+PB12.Signal=GPIO_Output
+PB8.Locked=true
+PB8.Mode=FDCAN_Activate
+PB8.Signal=FDCAN1_RX
+PB9.Locked=true
+PB9.Mode=FDCAN_Activate
+PB9.Signal=FDCAN1_TX
+PC13.GPIOParameters=GPIO_PuPd,GPIO_Label
+PC13.GPIO_Label=nBOOT_EN
+PC13.GPIO_PuPd=GPIO_PULLUP
+PC13.Locked=true
+PC13.Signal=GPIO_Input
+PC2_C.GPIOParameters=PinState,GPIO_PuPd,GPIO_Label
+PC2_C.GPIO_Label=AIR_P_EN
+PC2_C.GPIO_PuPd=GPIO_NOPULL
+PC2_C.Locked=true
+PC2_C.PinState=GPIO_PIN_RESET
+PC2_C.Signal=GPIO_Output
+PC3_C.GPIOParameters=GPIO_Speed,GPIO_PuPd,GPIO_Label
+PC3_C.GPIO_Label=PRE_CHARGE_END
+PC3_C.GPIO_PuPd=GPIO_NOPULL
+PC3_C.GPIO_Speed=GPIO_SPEED_FREQ_LOW
+PC3_C.Locked=true
+PC3_C.Signal=GPIO_Output
+PD9.GPIOParameters=PinState,GPIO_PuPd,GPIO_Label
+PD9.GPIO_Label=BMS_OK
+PD9.GPIO_PuPd=GPIO_NOPULL
+PD9.Locked=true
+PD9.PinState=GPIO_PIN_SET
+PD9.Signal=GPIO_Output
+PE7.GPIOParameters=GPIO_PuPd,GPIO_Label
+PE7.GPIO_Label=DEBUG_LED
+PE7.GPIO_PuPd=GPIO_NOPULL
+PE7.Locked=true
+PE7.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=STM32H733VGTx
+ProjectManager.FirmwarePackage=STM32Cube FW_H7 V1.11.1
+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=BMS_boot.ioc
+ProjectManager.ProjectName=BMS_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_CRC_Init-CRC-false-HAL-true,4-MX_FDCAN1_Init-FDCAN1-false-HAL-true,0-MX_CORTEX_M7_Init-CORTEX_M7-false-HAL-true
+RCC.ADCFreq_Value=16125000
+RCC.AHB12Freq_Value=48000000
+RCC.AHB4Freq_Value=48000000
+RCC.APB1Freq_Value=24000000
+RCC.APB2Freq_Value=24000000
+RCC.APB3Freq_Value=24000000
+RCC.APB4Freq_Value=24000000
+RCC.AXIClockFreq_Value=48000000
+RCC.CECFreq_Value=32000
+RCC.CKPERFreq_Value=64000000
+RCC.CortexFreq_Value=96000000
+RCC.CpuClockFreq_Value=96000000
+RCC.D1CPRE=RCC_SYSCLK_DIV2
+RCC.D1CPREFreq_Value=96000000
+RCC.D1PPRE=RCC_APB3_DIV2
+RCC.D2PPRE1=RCC_APB1_DIV2
+RCC.D2PPRE2=RCC_APB2_DIV2
+RCC.D3PPRE=RCC_APB4_DIV2
+RCC.DFSDMACLkFreq_Value=48000000
+RCC.DFSDMFreq_Value=24000000
+RCC.DIVM1=1
+RCC.DIVN1=24
+RCC.DIVP1=1
+RCC.DIVP1Freq_Value=192000000
+RCC.DIVP2Freq_Value=16125000
+RCC.DIVP3Freq_Value=16125000
+RCC.DIVQ1=4
+RCC.DIVQ1Freq_Value=48000000
+RCC.DIVQ2Freq_Value=16125000
+RCC.DIVQ3Freq_Value=16125000
+RCC.DIVR1Freq_Value=96000000
+RCC.DIVR2Freq_Value=16125000
+RCC.DIVR3Freq_Value=16125000
+RCC.FDCANFreq_Value=48000000
+RCC.FMCFreq_Value=48000000
+RCC.FamilyName=M
+RCC.HCLK3ClockFreq_Value=48000000
+RCC.HCLKFreq_Value=48000000
+RCC.HPRE=RCC_HCLK_DIV2
+RCC.HSE_VALUE=8000000
+RCC.I2C123Freq_Value=24000000
+RCC.I2C4Freq_Value=24000000
+RCC.IPParameters=ADCFreq_Value,AHB12Freq_Value,AHB4Freq_Value,APB1Freq_Value,APB2Freq_Value,APB3Freq_Value,APB4Freq_Value,AXIClockFreq_Value,CECFreq_Value,CKPERFreq_Value,CortexFreq_Value,CpuClockFreq_Value,D1CPRE,D1CPREFreq_Value,D1PPRE,D2PPRE1,D2PPRE2,D3PPRE,DFSDMACLkFreq_Value,DFSDMFreq_Value,DIVM1,DIVN1,DIVP1,DIVP1Freq_Value,DIVP2Freq_Value,DIVP3Freq_Value,DIVQ1,DIVQ1Freq_Value,DIVQ2Freq_Value,DIVQ3Freq_Value,DIVR1Freq_Value,DIVR2Freq_Value,DIVR3Freq_Value,FDCANFreq_Value,FMCFreq_Value,FamilyName,HCLK3ClockFreq_Value,HCLKFreq_Value,HPRE,HSE_VALUE,I2C123Freq_Value,I2C4Freq_Value,LPTIM1Freq_Value,LPTIM2Freq_Value,LPTIM345Freq_Value,LPUART1Freq_Value,LTDCFreq_Value,MCO1PinFreq_Value,MCO2PinFreq_Value,PLL2FRACN,PLL3FRACN,PLLFRACN,PLLSourceVirtual,QSPIFreq_Value,RNGFreq_Value,RTCFreq_Value,SAI1Freq_Value,SAI4AFreq_Value,SAI4BFreq_Value,SDMMCFreq_Value,SPDIFRXFreq_Value,SPI123Freq_Value,SPI45Freq_Value,SPI6Freq_Value,SWPMI1Freq_Value,SYSCLKFreq_VALUE,SYSCLKSource,Tim1OutputFreq_Value,Tim2OutputFreq_Value,TraceFreq_Value,USART16Freq_Value,USART234578Freq_Value,USBFreq_Value,VCO1OutputFreq_Value,VCO2OutputFreq_Value,VCO3OutputFreq_Value,VCOInput1Freq_Value,VCOInput2Freq_Value,VCOInput3Freq_Value
+RCC.LPTIM1Freq_Value=24000000
+RCC.LPTIM2Freq_Value=24000000
+RCC.LPTIM345Freq_Value=24000000
+RCC.LPUART1Freq_Value=24000000
+RCC.LTDCFreq_Value=16125000
+RCC.MCO1PinFreq_Value=64000000
+RCC.MCO2PinFreq_Value=192000000
+RCC.PLL2FRACN=0
+RCC.PLL3FRACN=0
+RCC.PLLFRACN=0
+RCC.PLLSourceVirtual=RCC_PLLSOURCE_HSE
+RCC.QSPIFreq_Value=48000000
+RCC.RNGFreq_Value=48000000
+RCC.RTCFreq_Value=32000
+RCC.SAI1Freq_Value=48000000
+RCC.SAI4AFreq_Value=48000000
+RCC.SAI4BFreq_Value=48000000
+RCC.SDMMCFreq_Value=48000000
+RCC.SPDIFRXFreq_Value=48000000
+RCC.SPI123Freq_Value=48000000
+RCC.SPI45Freq_Value=24000000
+RCC.SPI6Freq_Value=24000000
+RCC.SWPMI1Freq_Value=24000000
+RCC.SYSCLKFreq_VALUE=192000000
+RCC.SYSCLKSource=RCC_SYSCLKSOURCE_PLLCLK
+RCC.Tim1OutputFreq_Value=48000000
+RCC.Tim2OutputFreq_Value=48000000
+RCC.TraceFreq_Value=64000000
+RCC.USART16Freq_Value=24000000
+RCC.USART234578Freq_Value=24000000
+RCC.USBFreq_Value=48000000
+RCC.VCO1OutputFreq_Value=192000000
+RCC.VCO2OutputFreq_Value=32250000
+RCC.VCO3OutputFreq_Value=32250000
+RCC.VCOInput1Freq_Value=8000000
+RCC.VCOInput2Freq_Value=250000
+RCC.VCOInput3Freq_Value=250000
+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

firmware/quintuna/BMS/boot/cubemx/BMS_boot.ioc.md5

@@ -0,0 +1 @@
+9a4a0a62090e5de58aec23391bcfd148