RSM IOC/HW #1807

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SAki2007 wants to merge 84 commits into master from shun/RSM-hw

.vscode/settings.json

Contributor

AmirTajaddodi Jan 17, 2026

please remove the stuff added here

-Original file line number
+Diff line change
@@ Expand Up / @@ -13,4 +13,4 @@ @@
         "--query-driver=/usr/local/bin/arm-none-eabi-gcc"
       ],
       "cortex-debug.variableUseNaturalFormat": false,
-    }
+    }

firmware/chimera_v2/proto/hexray_proto/rsm.proto

            
                      Original file line number
                      Diff line number
                      Diff line change
                  
    @@ -7,11 +7,13 @@ enum GpioNetName {
  
      GPIO_LED = 1;

      GPIO_BRAKE_LIGHT_EN= 2;

      GPIO_RL_INT = 3;

      GPIO_IMU_INT1 = 4;

      GPIO_IMU_INT2 = 5; 

      GPIO_BOOT = 6;

      GPIO_IMU_CS = 4;

      GPIO_IMU_INT = 5; 

      GPIO_IMU_FSYNC = 6;

      GPIO_SUSP_TRAVEL_RR_OCSC = 7;

      GPIO_SUSP_TRAVEL_RL_OCSC = 8;

      GPIO_BRAKE_OCSC_OK = 9;

      GPIO_D_P_PULLUP = 10;

    }

    enum AdcNetName {

    @@ -20,10 +22,17 @@ enum AdcNetName {
  
      ADC_SUSP_TRAVEL_RL_3V3 = 2;

      ADC_SUSP_TRAVEL_RR_3V3 = 3; 

      ADC_BPS_3V3 = 4;

      ADC_nBSPD_BRAKE_PRESSED = 5;

    }

    enum I2cNetName {

      I2C_NET_NAME_UNSPECIFIED = 0;

      I2C_IMU_I2C = 1;

      I2C_R_PUMP_I2C = 2;

      I2C_R_PUMP_I2C = 1;

    }

    enum SpiNetName {

      SPI_NET_NAME_UNSPECIFIED = 0;

      SPI_IMU = 1;

    }

firmware/hexray/RSM/CMakeLists.txt

-Original file line number
+Diff line change
@@ Expand Up / @@ -39,7 +39,7 @@ list(APPEND HW_SRCS @@
             "${SHARED_HW_INCLUDE_DIR}/hw_error.c"
     )
     set(HW_INCLUDE_DIRS
-            #        "${CMAKE_CURRENT_SOURCE_DIR}/src/hw"
+                   "${CMAKE_CURRENT_SOURCE_DIR}/src/hw"
             "${SHARED_HW_INCLUDE_DIR}" "${SHARED_HW_INCLUDE_DIR_CPP}"
     )
@@ Expand Down Expand Up / @@ -75,6 +75,8 @@ if ("${TARGET}" STREQUAL "binary") @@
                 "stm32h5xx_hal_adc.c"
                 "stm32h5xx_hal_adc_ex.c"
                 "stm32h5xx_hal_gpio.c"
+                "stm32h5xx_hal_fdcan.c"
+                "stm32h5xx_hal_spi.c"
         )
         stm32h562xx_cube_library(
                 "hexray_RSM_stm32"
@@ Expand Down @@

firmware/hexray/RSM/src/app/app_heartbeatMonitors.hpp

-Original file line number
+Diff line change
@@ Expand Up / @@ -3,4 +3,4 @@ @@
     #include "app_heartbeatMonitor.hpp"
     #include "io_heartbeatNode.hpp"
-    extern const app::heartbeat::monitor<1> hb_monitor;
+    extern const app::heartbeat::monitor<1> hb_monitor;

firmware/hexray/RSM/src/app/app_imu.hpp

-Original file line number
+Diff line change
@@ Expand Up / @@ -6,4 +6,4 @@ namespace app::imu @@
     void broadcast();
     }
-    extern io::imu::Imu imu_config;
+    extern io::imu::Imu imu_config;

firmware/hexray/RSM/src/chimera.cpp

-Original file line number
+Diff line change
@@ Expand Up / @@ -5,11 +5,80 @@ class RSMChimeraConfig : public chimera_v2::config @@
     {
       public:
         ~RSMChimeraConfig() override = default;
-        std::optional<std::reference_wrapper<const hw::Gpio>> id_to_gpio(const _GpioNetName *gnn) const override;
+        std::optional<std::reference_wrapper<const hw::Gpio>> id_to_gpio(const _GpioNetName *gnn) const override
+        {
+          if (gnn->which_name != gpio_net_name_tag)
+          {
+            LOG_ERROR("Chimera: Expected GPIO net name with tag %d, got %d", gpio_net_name_tag, gnn->which_name);
+            return std::nullopt;
+          }
+          switch (gnn->name.rsm_net_name)
+          {
+            case rsm_GpioNetName_GPIO_LED:
+              return std::cref(led);
+            case rsm_GpioNetName_GPIO_BRAKE_LIGHT_EN:
+              return std::cref(brake_light_en);
+            case rsm_GpioNetName_GPIO_RL_INT:
+              return std::cref(rl_int);
+            case rsm_GpioNetName_GPIO_IMU_CS:
+              return std::cref(imu_cs);
+            case rsm_GpioNetName_GPIO_IMU_INT:
+              return std::cref(imu_int);
+            case rsm_GpioNetName_GPIO_IMU_FSYNC:
+              return std::cref(imu_fsync);
+            case rsm_GpioNetName_GPIO_SUSP_TRAVEL_RR_OCSC:
+              return std::cref(susp_travel_rr_ocsc);
+            case rsm_GpioNetName_GPIO_SUSP_TRAVEL_RL_OCSC:
+              return std::cref(susp_travel_rl_ocsc);
+            case rsm_GpioNetName_BRAKE_OCSC_OK:
+              return std::cref(brake_ocsc_ok);
+            case rsm_GpioNetName_GPIO_D_P_PULLUP:
+              return std::cref(d_p_pullup);
+            default:
+            case rsm_GpioNetName_GPIO_NET_NAME_UNSPECIFIED:
+              LOG_INFO("Chimera: Unspecified GPIO net name");
+              return std::nullopt;
+          }
+        }
+        std::optional<std::reference_wrapper<const hw::Adc>> id_to_adc(const _AdcNetName *ann) const override
+        {
+          if (ann->which_name != adc_net_name_tag)
+          {
+            LOG_ERROR("Chimera: Expected ADC netname with tag %d, got %d", ann->which_name, adc_net_name_tag)
+            return std::nullopt;
+          }
+          switch (ann->name.rsm_net_name)
+          {
+            case rsm_AdcNetName_ADC_LC3_OUT:
+              return std::cref(lc3_out);
+            case rsm_AdcNetName_ADC_SUSP_TRAVEL_RL_3V3:
+              return std::cref(susp_travel_rl_3v3);
+            case rsm_AdcNetName_ADC_SUSP_TRAVEL_RR_3V3:
+              return std::cref(susp_travel_rr_3v3);
+            case rsm_AdcNetName_ADC_BPS_3V3:
+              return std::cref(bps_3v3);
+            case rsm_AdcNetName_ADC_nBSPD_BRAKE_PRESSED:
+              return std::cref(nBSPD_brake_pressed);
+            default:
+            case rsm_AdcNetName_ADC_NET_NAME_UNSPECIFIED:
+              return LOG_INFO("Chimera: Unspecified ADC net name");
+              return std::nullopt;
+          }
+        }
+        public:
+          RSMChimeraConfig()
+          {
+            gpio_net_name_tag = GpioNetName_rsm_net_name_tag;
+            adc_net_name_tag = AdcNetName_rsm_net_name_tag;
+          }
     } rsm_config;
     void tasks_preInit() {}
     void tasks_init()
     {
         chimera_v2::task(rsm_config);
-    }
+    }
+    //what is a protobuf generated tags
+    //how does this system actually work with python

firmware/hexray/RSM/src/cubemx/Inc/main.h

-Original file line number
+Diff line change
@@ Expand Up / @@ -53,13 +53,66 @@ extern "C" @@
         /* Exported functions prototypes ---------------------------------------------*/
         void Error_Handler(void);
-    /* USER CODE BEGIN EFP */
+        /* USER CODE BEGIN EFP */
+        extern ADC_HandleTypeDef   hadc1;
+        extern FDCAN_HandleTypeDef hfdcan1;
+        extern I2C_HandleTypeDef   hi2c2;
+        extern SPI_HandleTypeDef   hspi3;
+        extern TIM_HandleTypeDef   htim1;
+        extern TIM_HandleTypeDef   htim3;
     /* USER CODE END EFP */
     /* Private defines -----------------------------------------------------------*/
+    #define TIMx_FREQUENCY 64000000
+    #define TIM1_FREQUENCY 100
+    #define TIM1_PRESCALER 64
+    #define TIM1_ARR 1000
+    #define BPS_R_3V3_Pin GPIO_PIN_2
+    #define BPS_R_3V3_GPIO_Port GPIOC
+    #define LC3_OUT_Pin GPIO_PIN_0
+    #define LC3_OUT_GPIO_Port GPIOA
+    #define nBSPD_BRAKE_PRESSED_3V3_Pin GPIO_PIN_2
+    #define nBSPD_BRAKE_PRESSED_3V3_GPIO_Port GPIOA
+    #define BRAKE_OCSC_OK_3V3_Pin GPIO_PIN_3
+    #define BRAKE_OCSC_OK_3V3_GPIO_Port GPIOA
+    #define RL_INT_3V3_SENS_Pin GPIO_PIN_4
+    #define RL_INT_3V3_SENS_GPIO_Port GPIOA
+    #define SUSP_TRAVEL_RL_3V3_Pin GPIO_PIN_5
+    #define SUSP_TRAVEL_RL_3V3_GPIO_Port GPIOA
+    #define SUSP_TRAVEL_RR_3V3_Pin GPIO_PIN_6
+    #define SUSP_TRAVEL_RR_3V3_GPIO_Port GPIOA
+    #define SUSP_TRAVEL_RL_OCSC_Pin GPIO_PIN_7
+    #define SUSP_TRAVEL_RL_OCSC_GPIO_Port GPIOA
+    #define SUSP_TRAVEL_RR_OCSC_Pin GPIO_PIN_4
+    #define SUSP_TRAVEL_RR_OCSC_GPIO_Port GPIOC
+    #define RPUMP_SCL_Pin GPIO_PIN_10
+    #define RPUMP_SCL_GPIO_Port GPIOB
+    #define RPUMP_SDA_Pin GPIO_PIN_12
+    #define RPUMP_SDA_GPIO_Port GPIOB
+    #define IMU_CS_Pin GPIO_PIN_6
+    #define IMU_CS_GPIO_Port GPIOC
+    #define IMU_INT_Pin GPIO_PIN_7
+    #define IMU_INT_GPIO_Port GPIOC
+    #define IMU_FSYNC_Pin GPIO_PIN_8
+    #define IMU_FSYNC_GPIO_Port GPIOC
+    #define FLOW_METER_5V5_Pin GPIO_PIN_8
+    #define FLOW_METER_5V5_GPIO_Port GPIOA
+    #define BRAKE_LIGHT_EN_3V3_Pin GPIO_PIN_9
+    #define BRAKE_LIGHT_EN_3V3_GPIO_Port GPIOA
+    #define IMU_SPC_Pin GPIO_PIN_10
+    #define IMU_SPC_GPIO_Port GPIOC
+    #define IMU_SDO_Pin GPIO_PIN_11
+    #define IMU_SDO_GPIO_Port GPIOC
+    #define IMU_SDI_Pin GPIO_PIN_12
+    #define IMU_SDI_GPIO_Port GPIOC
+    #define D_P_PULLUP_Pin GPIO_PIN_2
+    #define D_P_PULLUP_GPIO_Port GPIOD
     #define LED_Pin GPIO_PIN_4
     #define LED_GPIO_Port GPIOB
+    #define CANTX_Pin GPIO_PIN_7
+    #define CANTX_GPIO_Port GPIOB
+    #define CANRX_Pin GPIO_PIN_8
+    #define CANRX_GPIO_Port GPIOB
         /* USER CODE BEGIN Private defines */
@@ Expand Down @@

firmware/hexray/RSM/src/cubemx/Inc/stm32h5xx_hal_conf.h

            
                      Original file line number
                      Diff line number
                      Diff line change
                  
    @@ -54,11 +54,11 @@ extern "C"
  
    /*#define HAL_DCMI_MODULE_ENABLED */

    /*#define HAL_DTS_MODULE_ENABLED */

    /*#define HAL_ETH_MODULE_ENABLED */

    /*#define HAL_FDCAN_MODULE_ENABLED */

    #define HAL_FDCAN_MODULE_ENABLED

    /*#define HAL_FMAC_MODULE_ENABLED */

    /*#define HAL_GTZC_MODULE_ENABLED */

    /*#define HAL_HASH_MODULE_ENABLED */

    /*#define HAL_HCD_MODULE_ENABLED */

    #define HAL_HCD_MODULE_ENABLED

    /*#define HAL_IRDA_MODULE_ENABLED */

    /*#define HAL_IWDG_MODULE_ENABLED */

    #define HAL_I2C_MODULE_ENABLED

    @@ -80,7 +80,7 @@ extern "C"
  
    /*#define HAL_MMC_MODULE_ENABLED */

    /*#define HAL_SMARTCARD_MODULE_ENABLED */

    /*#define HAL_SMBUS_MODULE_ENABLED */

    /*#define HAL_SPI_MODULE_ENABLED */

    #define HAL_SPI_MODULE_ENABLED

    /*#define HAL_SRAM_MODULE_ENABLED */

    #define HAL_TIM_MODULE_ENABLED

    /*#define HAL_RAMCFG_MODULE_ENABLED */

firmware/hexray/RSM/src/cubemx/Inc/stm32h5xx_it.h

-Original file line number
+Diff line change
@@ Expand Up / @@ -54,6 +54,8 @@ extern "C" @@
         void UsageFault_Handler(void);
         void DebugMon_Handler(void);
         void ADC1_IRQHandler(void);
+        void FDCAN1_IT0_IRQHandler(void);
+        void FDCAN1_IT1_IRQHandler(void);
         void TIM6_IRQHandler(void);
         /* USER CODE BEGIN EFP */
@@ Expand Down @@

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