Usm firmware

[zohaib642]

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Project	Deployment	Actions	Updated (UTC)
lhre-2026	Ready	Preview, Comment	May 17, 2026 5:38am

[gemini-code-assist]

Code Review

This pull request implements the core firmware for the Upright Sensor Module, introducing new modules for IMU data acquisition, wheel speed sensing, and CAN communication alongside significant project restructuring and hardware configuration updates. The review identifies several critical issues, including a potential buffer overflow in USB string formatting, a logic error in CAN message updates that would overwrite data from other modules, and integer overflow risks in sensor calculations. Additionally, the feedback highlights the need to properly handle return values for peripheral operations to prevent silent failures and recommends removing a duplicate source file.

[gemini-code-assist]

Potential buffer overflow and out-of-bounds read. snprintf returns the number of characters that would have been written if the buffer were large enough. If the output is truncated, len will be greater than or equal to sizeof(buf), causing CDC_Transmit_FS to read past the end of the stack-allocated buffer.

    int len = snprintf(buf, sizeof(buf), "RPM:%.1f MPH:%.2f Ax:%.2f Ay:%.2f Az:%.2f\r\n",
                       rpm, mph, imu.accel_x, imu.accel_y, imu.accel_z);
    if (len > 0) {
        uint16_t transmit_len = (len >= (int)sizeof(buf)) ? (uint16_t)(sizeof(buf) - 1) : (uint16_t)len;
        CDC_Transmit_FS((uint8_t *)buf, transmit_len);
    }

[gemini-code-assist]

Logic error in unified CAN message update. By zeroing out the speeds of other corners, this board will overwrite valid data from other USMs if they share the same CAN ID (1024). Per the general rules, each message is treated as a complete state snapshot. This implementation will cause the global wheel speed state to flicker between one valid corner and three zeros.

[gemini-code-assist]

Potential integer overflow. s->x, s->y, and s->z are int16_t. Their squares are promoted to int32_t. The sum of three such squares can exceed the maximum value of a signed 32-bit integer ($2^{31}-1$), leading to overflow and a negative input to sqrtf, resulting in NaN magnitudes.

Suggested change

	s->magnitude = sqrtf((float)(s->x * s->x) +
	(float)(s->y * s->y) +
	(float)(s->z * s->z));
	s->magnitude = sqrtf((float)s->x * s->x +
	(float)s->y * s->y +
	(float)s->z * s->z);

[gemini-code-assist]

This file appears to be a duplicate of main.c with a .txt extension and should be removed from the repository to maintain code cleanliness.

[gemini-code-assist]

The return value of CDC_Transmit_FS is ignored. This function is non-blocking and returns USBD_BUSY if a previous transmission is still in progress. Failing to check this can lead to silent data loss.

[gemini-code-assist]

IMU_Init returns the raw device ID on failure, but this return value is ignored in main.c. If the IMU fails to initialize, subsequent calls to IMU_Read will process invalid data.

[gemini-code-assist]

The return value of HAL_FDCAN_Start is ignored. If the CAN peripheral fails to start, the system will proceed as if communication is active, which can lead to difficult-to-debug failures.

[gemini-code-assist]

Using HAL_MAX_DELAY in a recurring task loop is risky. If the SPI hardware hangs, this task will block indefinitely, potentially affecting system stability.