Csm bringup

.vscode/c_cpp_properties.json

@@ -1,4 +1,5 @@
 {
+<<<<<<< HEAD
   "configurations": [
     {
       "name": "Firmware",
@@ -11,4 +12,31 @@
     }
   ],
   "version": 4
+=======
+    "configurations": [
+        {
+            "name": "STM32",
+            "includePath": [
+                "${workspaceFolder}/**",
+                "${workspaceFolder}/CSM/firmware/Core/Inc",
+                "${workspaceFolder}/CSM/firmware/Core/Src",
+                "${workspaceFolder}/CSM/firmware/Libs/AFBR-S50",
+                "${workspaceFolder}/CSM/firmware/Libs/AFBR-S50/Include",
+                "${workspaceFolder}/CSM/firmware/Drivers/STM32G4xx_HAL_Driver/Inc",
+                "${workspaceFolder}/CSM/firmware/Drivers/CMSIS/Device/ST/STM32G4xx/Include",
+                "${workspaceFolder}/CSM/firmware/Drivers/CMSIS/Include",
+                "${workspaceFolder}/CSM/firmware/Middlewares/Third_Party/FreeRTOS/Source/include",
+                "${workspaceFolder}/CSM/firmware/Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2"
+            ],
+            "defines": [
+                "STM32G491xx",
+                "USE_HAL_DRIVER"
+            ],
+            "compilerPath": "arm-none-eabi-gcc",
+            "cStandard": "c11",
+            "intelliSenseMode": "gcc-arm"
+        }
+    ],
+    "version": 4
+>>>>>>> 00f9461c (Added suspension potentiometer, strain gauge, and imu code)
 }

CSM/firmware/BUILD.bazel

@@ -2,18 +2,32 @@ load("//tools:outputs/build_outputs.bzl", "firmware_project_g4")
 
 firmware_project_g4(
     name = "csm_firmware_2026",
-    linker_script = "STM32G474XX_FLASH.ld",
-    startup_script = "startup_stm32g474xx.s",
+    linker_script = "STM32G491XX_FLASH.ld",
+    startup_script = "startup_stm32g491xx.s",
     defines = [
         "STM32G474xx",
     ],
+    enable_dfu = True,
     enable_freertos = True,
     enable_usb = True,
     usb_device_name = "Corner Sensor Module",
+    extra_includes = [
+        "Core/Inc",
+        "Libs/AFBR-S50/Include",
+        "Libs/AFBR-S50/Include/platform",
+        "Libs/AFBR-S50/Test",
+    ],
+    extra_srcs = glob([
+        "Libs/AFBR-S50/Include/platform/*.c",
+        "Libs/AFBR-S50/Test/*.c",
+    ]),
+    extra_deps = [
+        "//CSM/firmware/Libs/AFBR-S50/Lib:afbrs50",
+    ],
     locations = [
-    "RR",
-    "RL",
-    "FR",
-    "FL",
+        "RR",
+        "RL",
+        "FR",
+        "FL",
     ],
-)
+)

CSM/firmware/Core/Inc/FreeRTOSConfig.h

@@ -68,7 +68,7 @@
 #define configTICK_RATE_HZ                       ((TickType_t)1000)
 #define configMAX_PRIORITIES                     ( 56 )
 #define configMINIMAL_STACK_SIZE                 ((uint16_t)128)
-#define configTOTAL_HEAP_SIZE                    ((size_t)16384)
+#define configTOTAL_HEAP_SIZE                    ((size_t)65536)
 #define configMAX_TASK_NAME_LEN                  ( 16 )
 #define configUSE_TRACE_FACILITY                 1
 #define configUSE_16_BIT_TICKS                   0

CSM/firmware/Core/Inc/adc.h

@@ -36,15 +36,12 @@ extern ADC_HandleTypeDef hadc1;
 
 extern ADC_HandleTypeDef hadc2;
 
-extern ADC_HandleTypeDef hadc3;
-
 /* USER CODE BEGIN Private defines */
 
 /* USER CODE END Private defines */
 
 void MX_ADC1_Init(void);
 void MX_ADC2_Init(void);
-void MX_ADC3_Init(void);
 
 /* USER CODE BEGIN Prototypes */
 

CSM/firmware/Core/Inc/csm_can.h

@@ -0,0 +1,12 @@
+#ifndef CSM_CAN_H
+#define CSM_CAN_H
+
+#include <stdint.h>
+
+void csm_can_init(void);
+void csm_can_update_strain_gauge_sus_pot(float suspot_travel, float strain_voltage);
+void csm_can_update_accel_ride_height(float x, float y, float z, float ride_height_mm);
+void csm_can_update_gyro(float x, float y, float z);
+void csm_can_debug(void);
+
+#endif // CSM_CAN_H

CSM/firmware/Core/Inc/dma.h

@@ -0,0 +1,52 @@
+/* USER CODE BEGIN Header */
+/**
+  ******************************************************************************
+  * @file    dma.h
+  * @brief   This file contains all the function prototypes for
+  *          the dma.c file
+  ******************************************************************************
+  * @attention
+  *
+  * Copyright (c) 2025 STMicroelectronics.
+  * All rights reserved.
+  *
+  * This software is licensed under terms that can be found in the LICENSE file
+  * in the root directory of this software component.
+  * If no LICENSE file comes with this software, it is provided AS-IS.
+  *
+  ******************************************************************************
+  */
+/* USER CODE END Header */
+/* Define to prevent recursive inclusion -------------------------------------*/
+#ifndef __DMA_H__
+#define __DMA_H__
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/* Includes ------------------------------------------------------------------*/
+#include "main.h"
+
+/* DMA memory to memory transfer handles -------------------------------------*/
+
+/* USER CODE BEGIN Includes */
+
+/* USER CODE END Includes */
+
+/* USER CODE BEGIN Private defines */
+
+/* USER CODE END Private defines */
+
+void MX_DMA_Init(void);
+
+/* USER CODE BEGIN Prototypes */
+
+/* USER CODE END Prototypes */
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* __DMA_H__ */
+

CSM/firmware/Core/Inc/fdcan.h

@@ -32,15 +32,12 @@ extern "C" {
 
 /* USER CODE END Includes */
 
-extern FDCAN_HandleTypeDef hfdcan1;
-
 extern FDCAN_HandleTypeDef hfdcan2;
 
 /* USER CODE BEGIN Private defines */
 
 /* USER CODE END Private defines */
 
-void MX_FDCAN1_Init(void);
 void MX_FDCAN2_Init(void);
 
 /* USER CODE BEGIN Prototypes */

CSM/firmware/Core/Inc/imu.h

@@ -0,0 +1,73 @@
+#ifndef IMU_H
+#define IMU_H
+
+#include "stm32g4xx_hal.h"
+#include <stdint.h>
+#include <stdbool.h>
+
+/*******************************************************************************
+ * Data Structures
+ ******************************************************************************/
+
+typedef struct {
+    float x;
+    float y;
+    float z;
+} xyz_t;
+
+typedef struct {
+    xyz_t accel;  // m/s^2
+    xyz_t gyro;   // rad/s
+} imu_data_t;
+
+/*******************************************************************************
+ * Public Functions
+ ******************************************************************************/
+
+/**
+ * @brief  Initializes the IMU over SPI and runs gyro bias calibration.
+ * @param  hspi  Pointer to SPI handle (pass &hspi1)
+ * @retval 0 on success, non-zero on failure (returns WHO_AM_I value if wrong)
+ */
+int IMU_Init(SPI_HandleTypeDef *hspi);
+
+/**
+ * @brief  Calibrates gyroscope bias at startup.
+ * @note   Call while car is stationary. Accel is not calibrated since
+ *         car may not be level at startup.
+ */
+void IMU_Calibrate(void);
+
+/**
+ * @brief  Checks if new accelerometer data is available.
+ * @retval true if ready
+ */
+bool IMU_AccelStatus(void);
+
+/**
+ * @brief  Checks if new gyroscope data is available.
+ * @retval true if ready
+ */
+bool IMU_GyroStatus(void);
+
+/**
+ * @brief  Reads accelerometer data with gyro bias removed.
+ * @param  vec  Pointer to xyz_t to store result in m/s^2
+ */
+void IMU_GetAccel(xyz_t *vec);
+
+/**
+ * @brief  Reads gyroscope data with bias removed.
+ * @param  vec  Pointer to xyz_t to store result in rad/s
+ */
+void IMU_GetGyro(xyz_t *vec);
+
+/**
+ * @brief  Reads both accel and gyro in one call.
+ * @param  out  Pointer to imu_data_t to store result
+ */
+void IMU_GetData(imu_data_t *out);
+
+uint8_t imu_read(uint8_t reg);
+
+#endif /* IMU_H */

CSM/firmware/Core/Inc/main.h

@@ -57,6 +57,27 @@ void Error_Handler(void);
 /* USER CODE END EFP */
 
 /* Private defines -----------------------------------------------------------*/
+#define IMU_INT1_Pin GPIO_PIN_13
+#define IMU_INT1_GPIO_Port GPIOC
+#define IMU_INT1_EXTI_IRQn EXTI15_10_IRQn
+#define IMU_INT2_Pin GPIO_PIN_14
+#define IMU_INT2_GPIO_Port GPIOC
+#define IMU_INT2_EXTI_IRQn EXTI15_10_IRQn
+#define STRAIN_GAUGE_VA_IN_Pin GPIO_PIN_3
+#define STRAIN_GAUGE_VA_IN_GPIO_Port GPIOA
+#define RH_CS_Pin GPIO_PIN_0
+#define RH_CS_GPIO_Port GPIOB
+#define IMU_CS_Pin GPIO_PIN_1
+#define IMU_CS_GPIO_Port GPIOB
+#define SUS_POT_VWIPER_Pin GPIO_PIN_2
+#define SUS_POT_VWIPER_GPIO_Port GPIOB
+#define STRAIN_GAUGE_VB_IN_Pin GPIO_PIN_14
+#define STRAIN_GAUGE_VB_IN_GPIO_Port GPIOB
+#define RH_IRQ_Pin GPIO_PIN_15
+#define RH_IRQ_GPIO_Port GPIOB
+#define RH_IRQ_EXTI_IRQn EXTI15_10_IRQn
+#define BOOT0trig_Pin GPIO_PIN_9
+#define BOOT0trig_GPIO_Port GPIOB
 
 /* USER CODE BEGIN Private defines */
 

CSM/firmware/Core/Inc/ride_height.h

@@ -0,0 +1,11 @@
+#ifndef CSM_FIRMWARE_RIDE_HEIGHT_H
+#define CSM_FIRMWARE_RIDE_HEIGHT_H
+
+#include "main.h"
+
+void ride_height_init();
+float ride_height_get_distance_mm();
+uint8_t ride_height_get_quality();
+
+
+#endif // CSM_FIRMWARE_RIDE_HEIGHT_H

CSM/firmware/Core/Inc/spi.h

@@ -0,0 +1,52 @@
+/* USER CODE BEGIN Header */
+/**
+  ******************************************************************************
+  * @file    spi.h
+  * @brief   This file contains all the function prototypes for
+  *          the spi.c file
+  ******************************************************************************
+  * @attention
+  *
+  * Copyright (c) 2026 STMicroelectronics.
+  * All rights reserved.
+  *
+  * This software is licensed under terms that can be found in the LICENSE file
+  * in the root directory of this software component.
+  * If no LICENSE file comes with this software, it is provided AS-IS.
+  *
+  ******************************************************************************
+  */
+/* USER CODE END Header */
+/* Define to prevent recursive inclusion -------------------------------------*/
+#ifndef __SPI_H__
+#define __SPI_H__
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/* Includes ------------------------------------------------------------------*/
+#include "main.h"
+
+/* USER CODE BEGIN Includes */
+
+/* USER CODE END Includes */
+
+extern SPI_HandleTypeDef hspi1;
+
+/* USER CODE BEGIN Private defines */
+
+/* USER CODE END Private defines */
+
+void MX_SPI1_Init(void);
+
+/* USER CODE BEGIN Prototypes */
+
+/* USER CODE END Prototypes */
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* __SPI_H__ */
+

CSM/firmware/Core/Inc/spi_mutex.h

@@ -0,0 +1,7 @@
+#ifndef SPI_MUTEX_H
+#define SPI_MUTEX_H
+#include "cmsis_os.h"
+
+extern osMutexId_t spi1_mutex;
+void spi_mutex_init(void);
+#endif

CSM/firmware/Core/Inc/stm32g4xx_hal_conf.h

@@ -60,10 +60,10 @@
 /*#define HAL_SAI_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_UART_MODULE_ENABLED   */
+#define HAL_UART_MODULE_ENABLED
 /*#define HAL_USART_MODULE_ENABLED   */
 /*#define HAL_WWDG_MODULE_ENABLED   */
 #define HAL_GPIO_MODULE_ENABLED
@@ -115,7 +115,7 @@
   *        (when HSE is used as system clock source, directly or through the PLL).
   */
 #if !defined  (HSE_VALUE)
-  #define HSE_VALUE    (8000000UL) /*!< Value of the External oscillator in Hz */
+  #define HSE_VALUE    (16000000UL) /*!< Value of the External oscillator in Hz */
 #endif /* HSE_VALUE */
 
 #if !defined  (HSE_STARTUP_TIMEOUT)

CSM/firmware/Core/Inc/stm32g4xx_it.h

@@ -52,7 +52,11 @@ void MemManage_Handler(void);
 void BusFault_Handler(void);
 void UsageFault_Handler(void);
 void DebugMon_Handler(void);
+void DMA1_Channel1_IRQHandler(void);
+void DMA1_Channel2_IRQHandler(void);
 void USB_LP_IRQHandler(void);
+void EXTI15_10_IRQHandler(void);
+void TIM6_DAC_IRQHandler(void);
 void TIM20_UP_IRQHandler(void);
 /* USER CODE BEGIN EFP */