FSM hw io setup

can_bus/hexray/FSM/FSM_alerts.json

@@ -1 +1,65 @@
-{}
+{
+  "warnings_id": 601,
+  "faults_id": 602,
+  "warnings_counts_id": 603,
+  "faults_counts_id": 604,
+  "info_id": 605,
+  "info_counts_id": 606,
+  "info": {
+    "WatchdogTimeout": {
+      "id": 600,
+      "description": "Watchdog timed out."
+    },
+    "TxOverflow": {
+      "id": 601,
+      "description": "CanTx queue overflowed."
+    },
+    "RxOverflow": {
+      "id": 602,
+      "description": "CanRx queue overflowed."
+    },
+    "SteeringAngleOCSC": {
+      "id": 603,
+      "description": "Steering sensor voltage out of acceptable range (OCSC)."
+    },
+    "SteeringAngleOutOfRange": {
+      "id": 604,
+      "description": "Steering angle out of range."
+    },
+    "FrontBrakePressureOCSC": {
+      "id": 605,
+      "description": "Front brake pressure sensor voltage out of acceptable range (OCSC)."
+    },
+    "LeftSuspensionOCSC": {
+      "id": 606,
+      "description": "Left suspension sensor voltage out of acceptable range (OCSC)."
+    },
+    "RightSuspensionOCSC": {
+      "id": 607,
+      "description": "Right suspension sensor voltage out of acceptable range (OCSC)."
+    },
+    "StackOverflow": {
+      "id": 650,
+      "description": "An RTOS task stack overflowed on the previous boot cycle."
+    },
+    "FrontBrakePressureOutOfRange": {
+      "id": 611,
+      "description": "Front brake pressure out of range."
+    }
+  },
+  "warnings": {
+    "AppsDisagreement": {
+      "id": 610,
+      "description": "Conflict between primary and secondary accelerator pedals."
+    },
+    "PappsOCSC": {
+      "id": 608,
+      "description": "Primary accelerator pedal voltage out of acceptable range (OCSC)."
+    },
+    "SappsOCSC": {
+      "id": 609,
+      "description": "Secondary accelerator pedal voltage out of acceptable range (OCSC)."
+    }
+  },
+  "faults": {}
+}

can_bus/hexray/FSM/FSM_tx.json

@@ -1,12 +1,153 @@
 {
-    "Vitals": {
-        "msg_id": 600,
-        "cycle_time": 100,
-        "description": "FSM vitals message.",
-        "signals": {
-            "Heartbeat": {
-                "bits": 1
-            }
-        }
+  "Vitals": {
+      "msg_id": 600,
+      "cycle_time": 100,
+      "description": "FSM vitals message.",
+      "signals": {
+          "Heartbeat": {
+              "bits": 1
+          }
+      }
+  },
+  "Steering": {
+    "msg_id": 610,
+    "cycle_time": 10,
+    "description": "Steering angle.",
+    "signals": {
+      "SteeringAngle": {
+        "resolution": 0.1,
+        "min": -110,
+        "max": 110,
+        "unit": "deg"
+      }
     }
+  },
+  "Apps": {
+    "msg_id": 611,
+    "cycle_time": 10,
+    "description": "Primary (P) and secondary (S) accelerator percentages.",
+    "signals": {
+      "PappsMappedPedalPercentage": {
+        "resolution": 0.1,
+        "min": 0,
+        "max": 100,
+        "unit": "%"
+      },
+      "SappsMappedPedalPercentage": {
+        "resolution": 0.1,
+        "min": 0,
+        "max": 100,
+        "unit": "%"
+      },
+      "PappsRawPedalPercentage": {
+        "resolution": 0.1,
+        "min": 0,
+        "max": 100,
+        "unit": "%"
+      },
+      "SappsRawPedalPercentage": {
+        "resolution": 0.1,
+        "min": 0,
+        "max": 100,
+        "unit": "%"
+      }
+    }
+  },
+  "Brake": {
+    "msg_id": 612,
+    "cycle_time": 10,
+    "description": "Front and rear brake pressures",
+    "signals": {
+      "FrontBrakePressure": {
+        "resolution": 1,
+        "min": 0,
+        "max": 2500,
+        "unit": "psi"
+      },
+      "BrakeActuated": {
+        "bits": 1
+      }
+    }
+  },
+  "Suspension": {
+    "msg_id": 613,
+    "cycle_time": 100,
+    "description": "Suspension travel",
+    "signals": {
+      "LeftSuspensionTravel": {
+        "resolution": 0.1,
+        "min": 0,
+        "max": 50,
+        "unit": "cm"
+      },
+      "RightSuspensionTravel": {
+        "resolution": 0.1,
+        "min": 0,
+        "max": 50,
+        "unit": "cm"
+      }
+    }
+  },
+  "IMU": {
+    "msg_id": 614,
+    "cycle_time": 10,
+    "description": "IMU sensor data",
+    "signals": {
+      "LinearAccelerationX": {
+        "resolution": 0.1,
+        "min": -20,
+        "max": 20,
+        "unit": "m/s^2"
+      },
+      "LinearAccelerationY": {
+        "resolution": 0.1,
+        "min": -20,
+        "max": 20,
+        "unit": "m/s^2"
+      },
+      "LinearAccelerationZ": {
+        "resolution": 0.1,
+        "min": -20,
+        "max": 20,
+        "unit": "m/s^2"
+      },
+      "RollRate": {
+        "resolution": 0.1,
+        "min": -20,
+        "max": 20,
+        "unit": "deg/s"
+      },
+      "PitchRate": {
+        "resolution": 0.1,
+        "min": -20,
+        "max": 20,
+        "unit": "deg/s"
+      },
+      "YawRate": {
+        "resolution": 0.1,
+        "min": -20,
+        "max": 20,
+        "unit": "deg/s"
+      }
+    }
+  },
+  "ShdnNodeStatus": {
+    "msg_id": 615,
+    "cycle_time": 10,
+    "description": "FSM Shutdown Node Status",
+    "signals": {
+      "BOTSOKStatus": {
+        "bits": 1
+      },
+      "COCKPITOKStatus": {
+        "bits": 1
+      },
+      "FrontLeftILCKInertiaOKStatus": {
+        "bits": 1
+      },
+      "FrontRightILCKOKStatus": {
+        "bits": 1
+      }
+    }
+  }
 }

firmware/hexray/FSM/CMakeLists.txt

@@ -9,21 +9,30 @@ set(TASKS_SRC "${CMAKE_CURRENT_SOURCE_DIR}/src/tasks.cpp")
 set(SYSTEM_SRCS ${JOBS_SRC} ${TASKS_SRC})
 set(SYSTEM_INCLUDE_DIRS
         "${CMAKE_CURRENT_SOURCE_DIR}/src"
-        #        "${CMAKE_CURRENT_SOURCE_DIR}/boot"
+        #"${CMAKE_CURRENT_SOURCE_DIR}/boot"
 )
 
-file(GLOB_RECURSE APP_SRCS CONFIGURE_DEPENDS "${CMAKE_CURRENT_SOURCE_DIR}/src/app/*.c")
-list(APPEND APP_SRCS)
+file(GLOB_RECURSE APP_SRCS CONFIGURE_DEPENDS "${CMAKE_CURRENT_SOURCE_DIR}/src/app/*.cpp")
+list(APPEND APP_SRCS
+        "${SHARED_APP_INCLUDE_DIR}/app_signal.c"
+        "${SHARED_APP_INCLUDE_DIR}/app_shdnLoopNode.c"
+        "${SHARED_APP_INCLUDE_DIR}/app_timer.c"
+        "${SHARED_APP_INCLUDE_DIR}/app_rangeCheck.c"
+)
 set(APP_INCLUDE_DIRS
-        # "${CMAKE_CURRENT_SOURCE_DIR}/src/app"
-        "${SHARED_APP_INCLUDE_DIR}" "${SHARED_APP_INCLUDE_DIR_CPP}"
+        "${CMAKE_CURRENT_SOURCE_DIR}/src/app"
+        "${SHARED_APP_INCLUDE_DIR}"
+        "${SHARED_APP_INCLUDE_DIR_CPP}"
 )
 
-file(GLOB_RECURSE IO_SRCS CONFIGURE_DEPENDS "${CMAKE_CURRENT_SOURCE_DIR}/src/io/*.c")
-list(APPEND IO_SRCS)
+file(GLOB_RECURSE IO_SRCS CONFIGURE_DEPENDS "${CMAKE_CURRENT_SOURCE_DIR}/src/io/*.cpp")
+# list(APPEND IO_SRCS
+#         "${SHARED_IO_INCLUDE_DIR}/io_apps.c"
+# )
 set(IO_INCLUDE_DIRS
-        # "${CMAKE_CURRENT_SOURCE_DIR}/src/io"
-        "${SHARED_IO_INCLUDE_DIR}" "${SHARED_IO_INCLUDE_DIR_CPP}"
+        "${CMAKE_CURRENT_SOURCE_DIR}/src/io"
+        "${SHARED_IO_INCLUDE_DIR}" 
+        "${SHARED_IO_INCLUDE_DIR_CPP}"
 )
 
 file(GLOB_RECURSE IO_SRCS CONFIGURE_DEPENDS "${CMAKE_CURRENT_SOURCE_DIR}/src/io/*.c")
@@ -32,14 +41,15 @@ list(APPEND IO_SRCS
 )
 
 file(GLOB_RECURSE HW_SRCS
-        "${CMAKE_CURRENT_SOURCE_DIR}/src/hw/*.c"
+        "${CMAKE_CURRENT_SOURCE_DIR}/src/hw/*.cpp"
 )
 list(APPEND HW_SRCS
         "${SHARED_HW_INCLUDE_DIR_CPP}/hw_error.cpp"
 )
 set(HW_INCLUDE_DIRS
-        #        "${CMAKE_CURRENT_SOURCE_DIR}/src/hw"
-        "${SHARED_HW_INCLUDE_DIR}" "${SHARED_HW_INCLUDE_DIR_CPP}"
+        "${CMAKE_CURRENT_SOURCE_DIR}/src/hw"
+        "${SHARED_HW_INCLUDE_DIR}" 
+        "${SHARED_HW_INCLUDE_DIR_CPP}"
 )
 
 # chimera sources
@@ -67,8 +77,16 @@ if ("${TARGET}" STREQUAL "binary")
             "stm32h5xx_hal_pwr_ex.c"
             "stm32h5xx_hal_cortex.c"
             "stm32h5xx_hal_exti.c"
+            "stm32h5xx_hal_adc.c"
+            "stm32h5xx_hal_adc_ex.c"
+            "stm32h5xx_hal_gpio.c"
             "stm32h5xx_hal_tim.c"
             "stm32h5xx_hal_tim_ex.c"
+            "stm32h5xx_hal_i2c.c"
+            "stm32h5xx_hal_i2c_ex.c"
+            "stm32h5xx_hal_spi.c"
+            "stm32h5xx_hal_spi_ex.c"
+            "stm32h5xx_hal_fdcan.c"
     )
     stm32h562xx_cube_library(
             "hexray_FSM_stm32"
@@ -98,10 +116,16 @@ if ("${TARGET}" STREQUAL "binary")
     target_link_libraries("hexray_FSM_chimera.elf" PRIVATE "hexray_FSM_stm32")
 elseif ("${TARGET}" STREQUAL "test")
     file(GLOB_RECURSE TEST_SRCS CONFIGURE_DEPENDS "${CMAKE_CURRENT_SOURCE_DIR}/test/*.cpp")
-    set(SRCS ${APP_SRCS} ${JOBS_SRC} ${TEST_SRCS})
+    set(FAKE_SRCS 
+        "${SHARED_FAKES_DIR}/io_imuQuintuna.cpp"
+        "${SHARED_FAKES_DIR}/io_time.cpp"
+    )
+    set(SRCS ${APP_SRCS} ${JOBS_SRC} ${TEST_SRCS} ${FAKE_SRCS})
     set(INCLUDE_DIRS
             # "${CMAKE_CURRENT_SOURCE_DIR}/test"
-            ${APP_INCLUDE_DIRS} ${IO_INCLUDE_DIRS} ${TEST_INCLUDE_DIRS} ${SYSTEM_INCLUDE_DIRS} ${SHARED_UTIL_INCLUDE_DIR_CPP}
+            ${APP_INCLUDE_DIRS} ${IO_INCLUDE_DIRS} ${TEST_INCLUDE_DIRS} 
+            ${SYSTEM_INCLUDE_DIRS} ${SHARED_UTIL_INCLUDE_DIR_CPP} 
+            ${SHARED_UTIL_INCLUDE_DIR} ${SHARED_FAKES_DIR}
     )
     compile_gtest_executable(
             "hexray_FSM_test"
@@ -121,16 +145,5 @@ elseif ("${TARGET}" STREQUAL "test")
             "${CMAKE_CURRENT_BINARY_DIR}/app"
     )
 
-    # FakeIO
-    set(HEADERS_TO_FAKE
-    )
-
-    file(GLOB TEST_IO_HDRS "${CMAKE_CURRENT_SOURCE_DIR}/src/io/*.h")
-    list(APPEND HEADERS_TO_FAKE ${TEST_IO_HDRS})
-    create_fake_library(
-            "hexray_FSM_fakes"
-            "${HEADERS_TO_FAKE}"
-    )
-
-    target_link_libraries("hexray_FSM_test" PRIVATE "hexray_FSM_fakes" "hexray_FSM_commit_info" "hexray_FSM_jsoncan")
+    target_link_libraries("hexray_FSM_test" PRIVATE "hexray_FSM_commit_info" "hexray_FSM_jsoncan")
 endif ()