RSM IOC/HW

.vscode/settings.json

@@ -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

@@ -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

@@ -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}"
 )
 
@@ -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"

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

@@ -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

@@ -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

@@ -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

@@ -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 */
 

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

@@ -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

@@ -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 */