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CPU and Stack Monitoring #1711

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cfe4065
working through it????
AmirTajaddodi Jul 7, 2025
01e5a54
added concept of max cpu usage
AmirTajaddodi Jul 14, 2025
7fa2d54
more changes
AmirTajaddodi Jul 14, 2025
e770554
fixed broadcast
AmirTajaddodi Jul 14, 2025
d42f8d2
cpu and stack usage changes
AmirTajaddodi Aug 29, 2025
c52e1c9
intergrated into rsm
AmirTajaddodi Aug 29, 2025
496e085
some small changes
AmirTajaddodi Aug 30, 2025
75d7405
some small changes
AmirTajaddodi Aug 31, 2025
3b061ee
more things to come
AmirTajaddodi Sep 3, 2025
e5a36d5
more input validation
AmirTajaddodi Sep 3, 2025
5b350c2
added total cpu load but still needs testing
AmirTajaddodi Sep 19, 2025
470a66c
making cmake file cleaner
AmirTajaddodi Sep 19, 2025
e782617
basic naming scheme
AmirTajaddodi Sep 19, 2025
a33f214
cpu usage
AmirTajaddodi Sep 20, 2025
0008f40
adding something else
AmirTajaddodi Sep 20, 2025
cfb0824
its working
AmirTajaddodi Sep 20, 2025
10c4e0c
addng bms runtime stats for testing
AmirTajaddodi Oct 10, 2025
66aa7b0
added rsm and rsm
AmirTajaddodi Nov 18, 2025
e65ed72
fixed setting.json
AmirTajaddodi Nov 18, 2025
8d918c8
cleaningup the code base more
AmirTajaddodi Nov 26, 2025
9be5e1c
adding run time stat to bms
AmirTajaddodi Nov 26, 2025
a5453eb
added for vc and bms
AmirTajaddodi Nov 26, 2025
7ea5d1d
make some changes
AmirTajaddodi Dec 3, 2025
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37 changes: 37 additions & 0 deletions can_bus/quintuna/BMS/BMS_tx.json
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Original file line number Diff line number Diff line change
Expand Up @@ -25,6 +25,43 @@
}
}
},
"CPUDataLogInfo" :{
"msg_id" : 408,
"cycle_time" : 100,
"description" : "RSM cpu and stack information",
"signals" : {
"CoreCpuUsageMax" : {
"resolution" : 0.1,
"min": 0,
"max" : 100,
"unit" : "%"
},
"CoreCpuUsage" : {
"resolution" : 0.1,
"min": 0,
"max" : 100,
"unit" : "%"
},
"TaskRun1HzCpuUsageMax" : {
"resolution" : 0.1,
"min": 0,
"max" : 100,
"unit" : "%"
},
"TaskRun1HzCpuUsage" : {
"resolution" : 0.1,
"min": 0,
"max" : 100,
"unit" : "%"
},
"TaskRun1HzStackUsage" : {
"resolution" : 0.1,
"min": 0,
"max" : 100,
"unit" : "%"
}
}
},
"Debug": {
"msg_id": 407,
"cycle_time": 1000,
Expand Down
123 changes: 123 additions & 0 deletions can_bus/quintuna/FSM/FSM_tx.json
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Original file line number Diff line number Diff line change
Expand Up @@ -9,6 +9,129 @@
}
}
},
"CPUDataLogInfo" :{
"msg_id" : 607,
"cycle_time" : 100,
"description" : "RSM cpu and stack information",
"signals" : {
"CoreCpuUsageMax" : {
"resolution" : 0.1,
"min": 0,
"max" : 100,
"unit" : "%"
},
"CoreCpuUsage" : {
"resolution" : 0.1,
"min": 0,
"max" : 100,
"unit" : "%"
},
"TaskRun1HzCpuUsageMax" : {
"resolution" : 0.1,
"min": 0,
"max" : 100,
"unit" : "%"
},
"TaskRun1HzCpuUsage" : {
"resolution" : 0.1,
"min": 0,
"max" : 100,
"unit" : "%"
},
"TaskRun1HzStackUsage" : {
"resolution" : 0.1,
"min": 0,
"max" : 100,
"unit" : "%"
}
}
},
"CPUDataLogInfo2" :{
"msg_id" : 616,
"cycle_time" : 100,
"description" : "RSM cpu and stack information",
"signals" : {
"TaskRun100HzCpuUsageMax" : {
"resolution" : 0.1,
"min": 0,
"max" : 100,
"unit" : "%"
},
"TaskRun100HzCpuUsage" : {
"resolution" : 0.1,
"min": 0,
"max" : 100,
"unit" : "%"
},
"TaskRun100HzStackUsage" : {
"resolution" : 0.1,
"min": 0,
"max" : 100,
"unit" : "%"
},
"TaskRun1kHzCpuUsageMax" : {
"resolution" : 0.1,
"min": 0,
"max" : 100,
"unit" : "%"
},
"TaskRun1kHzCpuUsage" : {
"resolution" : 0.1,
"min": 0,
"max" : 100,
"unit" : "%"
},
"TaskRun1kHzStackUsage" : {
"resolution" : 0.1,
"min": 0,
"max" : 100,
"unit" : "%"
}
}
},
"CPUDataLogInfo3" :{
"msg_id" : 617,
"cycle_time" : 100,
"description" : "RSM cpu and stack information",
"signals" : {
"TaskRunCanTxCpuUsageMax" : {
"resolution" : 0.1,
"min": 0,
"max" : 100,
"unit" : "%"
},
"TaskRunCanTxCpuUsage" : {
"resolution" : 0.1,
"min": 0,
"max" : 100,
"unit" : "%"
},
"TaskRunCanTxStackUsage" : {
"resolution" : 0.1,
"min": 0,
"max" : 100,
"unit" : "%"
},
"TaskRunCanRxCpuUsageMax" : {
"resolution" : 0.1,
"min": 0,
"max" : 100,
"unit" : "%"
},
"TaskRunCanRxCpuUsage" : {
"resolution" : 0.1,
"min": 0,
"max" : 100,
"unit" : "%"
},
"TaskRunCanRxStackUsage" : {
"resolution" : 0.1,
"min": 0,
"max" : 100,
"unit" : "%"
}
}
},
"Debug": {
"msg_id": 608,
"cycle_time": 1000,
Expand Down
124 changes: 124 additions & 0 deletions can_bus/quintuna/RSM/RSM_tx.json
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Original file line number Diff line number Diff line change
Expand Up @@ -9,6 +9,130 @@
}
}
},

"CPUDataLogInfo" :{
"msg_id" : 708,
"cycle_time" : 100,
"description" : "RSM cpu and stack information",
"signals" : {
"CoreCpuUsageMax" : {
"resolution" : 0.1,
"min": 0,
"max" : 100,
"unit" : "%"
},
"CoreCpuUsage" : {
"resolution" : 0.1,
"min": 0,
"max" : 100,
"unit" : "%"
},
"TaskRun1HzCpuUsageMax" : {
"resolution" : 0.1,
"min": 0,
"max" : 100,
"unit" : "%"
},
"TaskRun1HzCpuUsage" : {
"resolution" : 0.1,
"min": 0,
"max" : 100,
"unit" : "%"
},
"TaskRun1HzStackUsage" : {
"resolution" : 0.1,
"min": 0,
"max" : 100,
"unit" : "%"
}
}
},
"CPUDataLogInfo2" :{
"msg_id" : 715,
"cycle_time" : 100,
"description" : "RSM cpu and stack information",
"signals" : {
"TaskRun100HzCpuUsageMax" : {
"resolution" : 0.1,
"min": 0,
"max" : 100,
"unit" : "%"
},
"TaskRun100HzCpuUsage" : {
"resolution" : 0.1,
"min": 0,
"max" : 100,
"unit" : "%"
},
"TaskRun100HzStackUsage" : {
"resolution" : 0.1,
"min": 0,
"max" : 100,
"unit" : "%"
},
"TaskRun1kHzCpuUsageMax" : {
"resolution" : 0.1,
"min": 0,
"max" : 100,
"unit" : "%"
},
"TaskRun1kHzCpuUsage" : {
"resolution" : 0.1,
"min": 0,
"max" : 100,
"unit" : "%"
},
"TaskRun1kHzStackUsage" : {
"resolution" : 0.1,
"min": 0,
"max" : 100,
"unit" : "%"
}
}
},
"CPUDataLogInfo3" :{
"msg_id" : 716,
"cycle_time" : 100,
"description" : "RSM cpu and stack information",
"signals" : {
"TaskRunCanTxCpuUsageMax" : {
"resolution" : 0.1,
"min": 0,
"max" : 100,
"unit" : "%"
},
"TaskRunCanTxCpuUsage" : {
"resolution" : 0.1,
"min": 0,
"max" : 100,
"unit" : "%"
},
"TaskRunCanTxStackUsage" : {
"resolution" : 0.1,
"min": 0,
"max" : 100,
"unit" : "%"
},
"TaskRunCanRxCpuUsageMax" : {
"resolution" : 0.1,
"min": 0,
"max" : 100,
"unit" : "%"
},
"TaskRunCanRxCpuUsage" : {
"resolution" : 0.1,
"min": 0,
"max" : 100,
"unit" : "%"
},
"TaskRunCanRxStackUsage" : {
"resolution" : 0.1,
"min": 0,
"max" : 100,
"unit" : "%"
}
}
},
"Debug": {
"msg_id": 707,
"cycle_time": 1000,
Expand Down
5 changes: 5 additions & 0 deletions firmware/cmake/bootlib.cmake
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Original file line number Diff line number Diff line change
Expand Up @@ -35,6 +35,7 @@ function(stm32f4_boot_binary
"${SHARED_HW_INCLUDE_DIR}/hw_can_f4.c"
"${SHARED_HW_INCLUDE_DIR}/hw_utils.c"
"${SHARED_HW_INCLUDE_DIR}/hw_freeRtosConfigs.c"
"${SHARED_HW_INCLUDE_DIR}/hw_runTimeStat.c"
)
list(APPEND INCLUDE_DIRS
"${SHARED_APP_INCLUDE_DIR}"
Expand Down Expand Up @@ -75,6 +76,8 @@ function(stm32f4_boot_binary
)
target_link_libraries("${BOOT_NAME}.elf" PRIVATE "${BOOT_NAME}_stm32")
target_compile_definitions("${BOOT_NAME}.elf" PRIVATE "${CONFIG_DEFINE}")
target_compile_definitions("${BOOT_NAME}.elf" PRIVATE BOOTLOADER)

endfunction()

message(" 🔃 Registered stm32h7_boot_binary() function")
Expand Down Expand Up @@ -147,4 +150,6 @@ function(stm32h7_boot_binary
)
target_link_libraries("${BOOT_NAME}.elf" PRIVATE "${BOOT_NAME}_stm32")
target_compile_definitions("${BOOT_NAME}.elf" PRIVATE "${CONFIG_DEFINE}")
target_compile_definitions("${BOOT_NAME}.elf" PRIVATE BOOTLOADER)

endfunction()
1 change: 1 addition & 0 deletions firmware/quintuna/BMS/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -51,6 +51,7 @@ list(APPEND HW_SRCS
"${SHARED_HW_INCLUDE_DIR}/hw_hardFaultHandler.c"
"${SHARED_HW_INCLUDE_DIR}/hw_freeRtosConfigs.c"
"${SHARED_HW_INCLUDE_DIR}/hw_bootup.c"
"${SHARED_HW_INCLUDE_DIR}/hw_runTimeStat.c"
)
set(HW_INCLUDE_DIRS
"${CMAKE_CURRENT_SOURCE_DIR}/src/hw"
Expand Down
3 changes: 2 additions & 1 deletion firmware/quintuna/BMS/src/cubemx/BMS.ioc
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Original file line number Diff line number Diff line change
Expand Up @@ -138,9 +138,10 @@ FDCAN2.StdFiltersNbr=1
FDCAN2.TxElmtSize=FDCAN_DATA_BYTES_64
FDCAN2.TxFifoQueueElmtsNbr=32
FREERTOS.FootprintOK=true
FREERTOS.IPParameters=Tasks01,configENABLE_FPU,configUSE_NEWLIB_REENTRANT,FootprintOK
FREERTOS.IPParameters=Tasks01,configENABLE_FPU,configUSE_NEWLIB_REENTRANT,FootprintOK,configGENERATE_RUN_TIME_STATS
FREERTOS.Tasks01=Task100Hz,40,512,RunTask100Hz,Default,NULL,Static,Task100HzBuffer,Task100HzControlBlock;TaskCanRx,16,512,RunTaskCanRx,Default,NULL,Static,TaskCanRxBuffer,TaskCanRxControlBlock;TaskCanTx,16,512,RunTaskCanTx,Default,NULL,Static,TaskCanTxBuffer,TaskCanTxControlBlock;Task1kHz,48,512,RunTask1kHz,Default,NULL,Static,Task1kHzBuffer,Task1kHzControlBlock;Task1Hz,32,512,RunTask1Hz,Default,NULL,Static,Task1HzBuffer,Task1HzControlBlock;TaskChimera,40,512,RunTaskChimera,Default,NULL,Static,TaskChimeraBuffer,TaskChimeraControlBlock;TaskLtcVoltages,24,512,RunTaskLtcVoltages,Default,NULL,Static,TaskLtcVoltagesBuffer,TaskLtcVoltagesControlBlock;TaskLtcTemps,24,512,RunTaskLtcTemps,Default,NULL,Static,TaskLtcTempsBuffer,TaskLtcTempsControlBlock;TaskLtcDiag,24,512,RunTaskLtcDiag,Default,NULL,Static,TaskLtcDiagBuffer,TaskLtcDiagControlBlock;TaskInit,48,512,RunTaskInit,Default,NULL,Static,TaskInitBuffer,TaskInitControlBlock
FREERTOS.configENABLE_FPU=1
FREERTOS.configGENERATE_RUN_TIME_STATS=1
FREERTOS.configUSE_NEWLIB_REENTRANT=1
File.Version=6
GPIO.groupedBy=Group By Peripherals
Expand Down
2 changes: 1 addition & 1 deletion firmware/quintuna/BMS/src/cubemx/BMS.ioc.md5
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@@ -1 +1 @@
a0b28da69efc77dea2b4d2b3360a0e7a
1fc734b4451a9760aaed5edce1bf8c39
11 changes: 11 additions & 0 deletions firmware/quintuna/BMS/src/cubemx/Inc/FreeRTOSConfig.h
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@Lucien950 Lucien950 Nov 18, 2025

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is this autogenerated? otherwise same comment about setare's freertos

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@AmirTajaddodi AmirTajaddodi Nov 18, 2025

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yes this is part is

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@Jugveer-Sandher Jugveer-Sandher Dec 3, 2025

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wait this is not autogenerated, you added these in. Is there a better place we can put these to make it more clear?

Original file line number Diff line number Diff line change
Expand Up @@ -51,6 +51,10 @@
#if defined(__ICCARM__) || defined(__CC_ARM) || defined(__GNUC__)
#include <stdint.h>
extern uint32_t SystemCoreClock;
/* USER CODE BEGIN 0 */
extern void configureTimerForRunTimeStats(void);
extern unsigned long getRunTimeCounterValue(void);
/* USER CODE END 0 */
#endif
#ifndef CMSIS_device_header
#define CMSIS_device_header "stm32h7xx.h"
Expand All @@ -70,6 +74,7 @@ extern uint32_t SystemCoreClock;
#define configMINIMAL_STACK_SIZE ((uint16_t)128)
#define configTOTAL_HEAP_SIZE ((size_t)256)
#define configMAX_TASK_NAME_LEN (16)
#define configGENERATE_RUN_TIME_STATS 1
#define configUSE_TRACE_FACILITY 1
#define configUSE_16_BIT_TICKS 0
#define configUSE_MUTEXES 1
Expand Down Expand Up @@ -173,6 +178,12 @@ standard names. */

#define USE_CUSTOM_SYSTICK_HANDLER_IMPLEMENTATION 0

/* USER CODE BEGIN 2 */
/* Definitions needed when configGENERATE_RUN_TIME_STATS is on */
#define portCONFIGURE_TIMER_FOR_RUN_TIME_STATS configureTimerForRunTimeStats
#define portGET_RUN_TIME_COUNTER_VALUE getRunTimeCounterValue
/* USER CODE END 2 */

/* USER CODE BEGIN Defines */
/* Section where parameter definitions can be added (for instance, to override default ones in FreeRTOS.h) */
#include "hw_freeRtosConfigs.h"
Expand Down
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