FSM Bringup

firmware/quintuna/CMakeLists.txt

@@ -1,5 +1,6 @@
 set(QUINTUNA_DIR "${FIRMWARE_DIR}/quintuna")
 add_subdirectory(CRIT)
+add_subdirectory(FSM)
 add_subdirectory(DAM)
 add_subdirectory(RSM)
 add_subdirectory(VC)

firmware/quintuna/FSM/CMakeLists.txt

@@ -0,0 +1,120 @@
+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}"
+    )
+
+    # 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"
+            "${ARM_CORE}"
+    )
+
+    target_link_libraries("quintuna_FSM_jsoncan" PRIVATE "quintuna_FSM_stm32cube")
+    target_link_libraries("quintuna_FSM_app.elf" PRIVATE "quintuna_FSM_stm32cube" "quintuna_FSM_jsoncan" "quintuna_FSM_commit_info" "debug_modules")
+    target_link_libraries("quintuna_FSM_boot.elf" PRIVATE "quintuna_FSM_commit_info")
+
+    embedded_image(
+            "quintuna_FSM"
+            "quintuna_FSM_app.hex"
+            "${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 ()

firmware/quintuna/FSM/boot/bootloaderConfig.h

@@ -0,0 +1,5 @@
+#pragma once
+
+#define START_UPDATE_ID 0000
+#define UPDATE_ACK_ID 0000
+#define STATUS_10HZ_ID 0000

firmware/quintuna/FSM/boot/cubemx/FSM_boot.ioc

@@ -0,0 +1,173 @@
+#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

firmware/quintuna/FSM/boot/cubemx/FSM_boot.ioc.md5

@@ -0,0 +1 @@
+062b8c6254530dd03f43de74949f5ad9