FSM Setup for Quadruna (#1124)

.vscode/launch.json

@@ -62,7 +62,7 @@
       },
     },
     {
-      "name": "Debug Embedded: FSM",
+      "name": "Debug Embedded: FSM (Thruna)",
       "cwd": "${workspaceRoot}",
       "executable": "build_fw_deploy/firmware/thruna/FSM/FSM.hex",
       "symbolFiles": [
@@ -91,6 +91,36 @@
         ]
       },
     },
+    {
+      "name": "Debug Embedded: FSM (Quadruna)",
+      "cwd": "${workspaceRoot}",
+      "executable": "build_fw_deploy/firmware/quadruna/FSM/FSM.hex",
+      "symbolFiles": [
+        // This order matters, or RTT won't work! (app has to be last)
+        "build_fw_deploy/firmware/boot/f4boot/FSM_boot.elf",
+        "build_fw_deploy/firmware/quadruna/FSM/FSM_app.elf",
+      ],
+      "request": "launch",
+      "type": "cortex-debug",
+      "servertype": "openocd",
+      "configFiles": [
+        "tools/openocd/stm32f4x.cfg"
+      ],
+      "showDevDebugOutput": "none",
+      "preLaunchTask": "Build: FSM",
+      "rttConfig": {
+        "enabled": true,
+        "address": "auto",
+        "clearSearch": false, // Required for OpenOCD
+        "decoders": [
+          {
+            "label": "Debug logs: FSM",
+            "port": 0,
+            "type": "console"
+          }
+        ]
+      },
+    },
     {
       "name": "Debug Embedded: PDM",
       "cwd": "${workspaceRoot}",
@@ -248,7 +278,7 @@
       }
     },
     {
-      "name": "Debug Tests: FSM",
+      "name": "Debug Tests: FSM (Thruna)",
       "type": "cppdbg",
       "request": "launch",
       "program": "${workspaceRoot}/build_fw_test/firmware/thruna/FSM/FSM_test",
@@ -261,6 +291,20 @@
         "MIMode": "lldb"
       }
     },
+    {
+      "name": "Debug Tests: FSM (Quadruna)",
+      "type": "cppdbg",
+      "request": "launch",
+      "program": "${workspaceRoot}/build_fw_test/firmware/quadruna/FSM/FSM_test",
+      "cwd": "${workspaceRoot}",
+      "preLaunchTask": "Build: FSM_test",
+      "linux": {
+        "MIMode": "gdb"
+      },
+      "osx": {
+        "MIMode": "lldb"
+      }
+    },
     {
       "name": "Debug Tests: PDM",
       "type": "cppdbg",

can_bus/quadruna/FSM/FSM_alerts.json

@@ -0,0 +1,19 @@
+{
+    "warnings_id": 303,
+    "faults_id": 304,
+    "warnings_counts_id": 305,
+    "faults_counts_id": 306,
+    "warnings": [
+        "WatchdogTimeout",
+        "TxOverflow",
+        "RxOverflow",
+        "StackWaterMarkHighTask1Hz",
+        "StackWaterMarkHighTask100Hz",
+        "StackWaterMarkHighTask1kHz",
+        "StackWaterMarkHighTaskCanRx",
+        "StackWaterMarkHighTaskCanTx"
+    ],
+    "faults": [
+        "DummyFault"
+    ]
+}

can_bus/quadruna/FSM/FSM_enum.json

@@ -0,0 +1,6 @@
+{
+    "FSMState": {
+      "FSM_INIT_STATE": 0,
+      "FSM_DRIVE_STATE": 1
+    }
+}

can_bus/quadruna/FSM/FSM_rx.json

@@ -0,0 +1,4 @@
+{
+    "messages": [
+    ]
+}

can_bus/quadruna/FSM/FSM_tx.json

@@ -0,0 +1,47 @@
+{
+    "Vitals": {
+        "msg_id": 300, 
+        "cycle_time": 100,
+        "description": "FSM vitals message.",
+        "signals": {
+            "Heartbeat": {
+                "bits": 1
+            },
+            "State": {
+                "enum": "FSMState"
+            }
+        }
+    },
+    "AlertsContext": {
+        "msg_id": 301,
+        "cycle_time": 1000,
+        "description": "Context info for FSM alerts",
+        "signals": {
+            "WatchdogTimeout": {
+                "bits": 1
+            },
+            "WatchdogTimeoutTaskName": {
+                "enum": "RtosTaskName"
+            },
+            "TxOverflowCount": {
+                "bits": 8
+            },
+            "RxOverflowCount": {
+                "bits": 8
+            }
+        }
+    },
+    "CommitInfo": {
+      "msg_id": 302,
+      "cycle_time": 100,
+      "description": "FSM Current Running Git Commit Info",
+      "signals": {
+          "Hash": {
+              "bits": 32
+          },
+          "Clean": {
+              "bits": 1
+          }
+      }
+    }
+}

firmware/quadruna/CMakeLists.txt

@@ -1,4 +1,4 @@
 # add_subdirectory(BMS)
-# add_subdirectory(FSM)
+add_subdirectory(FSM)
 add_subdirectory(VC)
 # add_subdirectory(DIM)

firmware/quadruna/FSM/CMakeLists.txt

@@ -0,0 +1,146 @@
+set(ARM_CORE "cm4")
+set(IOC_PATH "${CMAKE_CURRENT_SOURCE_DIR}/src/cubemx/FSM.ioc")
+set(LINKER_SCRIPT "${LINKER_DIR}/stm32f412rgtx/stm32f412rgtx_app.ld")
+
+# app
+file(GLOB_RECURSE APP_SRCS "${CMAKE_CURRENT_SOURCE_DIR}/src/app/*.c")
+list(APPEND APP_SRCS 
+    "${SHARED_APP_INCLUDE_DIR}/app_stateMachine.c"
+    "${SHARED_APP_INCLUDE_DIR}/app_heartbeatMonitor.c"
+    "${SHARED_APP_INCLUDE_DIR}/app_rangeCheck.c"
+    "${SHARED_APP_INCLUDE_DIR}/app_signal.c"
+    "${SHARED_APP_INCLUDE_DIR}/app_timer.c"
+)
+set(APP_INCLUDE_DIRS "${CMAKE_CURRENT_SOURCE_DIR}/src/app" "${SHARED_APP_INCLUDE_DIR}")
+
+# io
+file(GLOB_RECURSE IO_SRCS "${CMAKE_CURRENT_SOURCE_DIR}/src/io/*.c")
+list(APPEND IO_SRCS 
+    "${SHARED_IO_INCLUDE_DIR}/io_can.c"
+    "${SHARED_IO_INCLUDE_DIR}/io_jsoncan.c"
+    "${SHARED_IO_INCLUDE_DIR}/io_time.c"
+)
+set(IO_INCLUDE_DIRS "${CMAKE_CURRENT_SOURCE_DIR}/src/io" "${SHARED_IO_INCLUDE_DIR}")
+
+# hw
+file(GLOB_RECURSE HW_SRCS 
+    "${CMAKE_CURRENT_SOURCE_DIR}/src/hw/*.c"
+    "${CMAKE_CURRENT_SOURCE_DIR}/src/*.c"
+    "${CMAKE_CURRENT_SOURCE_DIR}/src/cubemx/Src/*.c"
+)
+list(APPEND HW_SRCS 
+    "${SHARED_HW_INCLUDE_DIR}/hw_hardFaultHandler.c"
+    "${SHARED_HW_INCLUDE_DIR}/hw_adcConversions.c"
+    "${SHARED_HW_INCLUDE_DIR}/hw_can.c"
+    "${SHARED_HW_INCLUDE_DIR}/hw_bootup.c"
+    "${SHARED_HW_INCLUDE_DIR}/hw_pwmInputFreqOnly.c"
+    "${SHARED_HW_INCLUDE_DIR}/hw_watchdog.c"
+    "${SHARED_HW_INCLUDE_DIR}/hw_stackWaterMark.c"
+    # "${SHARED_EMBEDDED_DIR}/hw/hw_uart.c" # TODO: add back when uart finalized
+)
+set(HW_INCLUDE_DIRS "${CMAKE_CURRENT_SOURCE_DIR}/src/hw" "${CMAKE_CURRENT_SOURCE_DIR}/src" "${SHARED_HW_INCLUDE_DIR}")
+
+# tests
+file(GLOB_RECURSE TEST_SRCS "${CMAKE_CURRENT_SOURCE_DIR}/test/*.cpp")
+set(TEST_INCLUDE_DIRS "${CMAKE_CURRENT_SOURCE_DIR}/test")
+list(APPEND TEST_INCLUDE_DIRS "${SHARED_TEST_UTILS_INCLUDE_DIRS}")
+
+# commit info
+set(COMMIT_INFO_HEADER_PATH "${CMAKE_CURRENT_BINARY_DIR}/app/app_commitInfo.h")
+set(COMMIT_INFO_SRC_PATH "${CMAKE_CURRENT_BINARY_DIR}/app/app_commitInfo.c")
+
+if("${TARGET}" STREQUAL "deploy")
+    jsoncan_library(
+        "FSM_can"
+        "FSM"
+        "${CMAKE_CURRENT_BINARY_DIR}"
+        TRUE
+        "quadruna"
+    )
+    embedded_library(
+        FSM_can
+        "${CAN_SRCS}"
+        "${CAN_INCLUDE_DIRS}"
+        "${ARM_CORE}"
+        TRUE
+    )
+    generate_stm32cube_code(
+        "FSM"
+        "${IOC_PATH}"
+    )
+
+    set(STM32_HAL_SRCS
+        "stm32f4xx_hal_adc_ex.c"
+        "stm32f4xx_hal_adc.c"
+        "stm32f4xx_hal_cortex.c"
+        "stm32f4xx_hal_dma_ex.c"
+        "stm32f4xx_hal_dma.c"
+        "stm32f4xx_hal_exti.c"
+        "stm32f4xx_hal_can.c"
+        "stm32f4xx_hal_gpio.c"
+        "stm32f4xx_hal_iwdg.c"
+        "stm32f4xx_hal_pwr_ex.c"
+        "stm32f4xx_hal_rcc_ex.c"
+        "stm32f4xx_hal_rcc.c"
+        "stm32f4xx_hal_tim_ex.c"
+        "stm32f4xx_hal_tim.c"
+        # "stm32f4xx_hal_uart_ex.c" # TODO: add back when uart finalized
+        "stm32f4xx_hal_uart.c"
+        "stm32f4xx_hal.c"
+    )
+
+    # Pass syscalls to the cube library so we can build without warnings.
+    set(SYSCALLS "${CMAKE_CURRENT_SOURCE_DIR}/src/cubemx/Src/syscalls.c")
+    stm32f412rx_cube_library(
+        "FSM_stm32cube"
+        "${CMAKE_CURRENT_SOURCE_DIR}/src/cubemx/Inc"
+        "${STM32_HAL_SRCS}"
+        "${SYSCALLS}"
+        "${IOC_PATH}.md5"
+    )
+
+    set(SRCS ${APP_SRCS} ${IO_SRCS} ${HW_SRCS} ${TASKS_SRCS})
+    set(INCLUDE_DIRS ${APP_INCLUDE_DIRS} ${IO_INCLUDE_DIRS} ${HW_INCLUDE_DIRS})
+    embedded_binary(
+        "FSM"
+        "${SRCS}"
+        "${INCLUDE_DIRS}"
+        "${LINKER_SCRIPT}"
+        "${ARM_CORE}"
+    )
+
+    commit_info_library(
+        "FSM.elf"
+        "FSM_commit_info"
+        "${COMMIT_INFO_HEADER_PATH}"
+        "${COMMIT_INFO_SRC_PATH}"
+        "${ARM_CORE}"
+    )
+
+    target_link_libraries("FSM_can" "FSM_stm32cube")
+    target_link_libraries("FSM.elf" "FSM_stm32cube" "FSM_can" "FSM_commit_info")
+
+    # TODO: embedded_image for boot
+
+elseif("${TARGET}" STREQUAL "test")
+    jsoncan_library(
+        "FSM_can"
+        "FSM"
+        "${CMAKE_CURRENT_BINARY_DIR}"
+        FALSE
+        "quadruna"
+    )
+    add_library(FSM_can STATIC "${CAN_SRCS}")
+    target_include_directories(FSM_can PUBLIC "${CAN_INCLUDE_DIRS}")
+
+    # TODO: fake libraries
+
+    set(SRCS ${APP_SRCS} ${TEST_SRCS})
+    set(INCLUDE_DIRS ${APP_INCLUDE_DIRS} ${IO_INCLUDE_DIRS} ${TEST_INCLUDE_DIRS})
+    compile_gtest_executable(
+        "FSM_test"
+        "${SRCS}"
+        "${INCLUDE_DIRS}"
+    )
+    target_link_libraries("FSM_test" "FSM_can" "shared_fakes") # TODO: add fakes here
+endif()

firmware/quadruna/FSM/src/app/app_globals.c

@@ -0,0 +1,4 @@
+#include "app_globals.h"
+
+Globals        fsm_globals;
+Globals *const globals = &fsm_globals;

firmware/quadruna/FSM/src/app/app_globals.h

@@ -0,0 +1,8 @@
+#pragma once
+
+typedef struct
+{
+    int unused;
+} Globals;
+
+extern Globals *const globals;

firmware/quadruna/FSM/src/app/states/app_driveState.c

@@ -0,0 +1,23 @@
+#include "states/app_driveState.h"
+#include "app_stateMachine.h"
+
+static void driveStateRunOnEntry(void) {}
+
+static void driveStateRunOnTick1Hz(void) {}
+
+static void driveStateRunOnTick100Hz(void) {}
+
+static void driveStateRunOnExit(void) {}
+
+const State *app_driveState_get()
+{
+    static State drive_state = {
+        .name              = "DRIVE",
+        .run_on_entry      = driveStateRunOnEntry,
+        .run_on_tick_1Hz   = driveStateRunOnTick1Hz,
+        .run_on_tick_100Hz = driveStateRunOnTick100Hz,
+        .run_on_exit       = driveStateRunOnExit,
+    };
+
+    return &drive_state;
+}

firmware/quadruna/FSM/src/app/states/app_driveState.h

@@ -0,0 +1,9 @@
+#pragma once
+
+#include "app_stateMachine.h"
+
+/**
+ * Get a pointer to the Drive State.
+ * @return A pointer to the Drive State. THIS SHOULD NOT BE MODIFIED.
+ */
+const State *app_driveState_get(void);