Derv/swerve

.eide/eide.yml

@@ -164,9 +164,14 @@ virtualFolder:
                 - path: GSRL/Dependence/CMSIS-DSP/Source/TransformFunctions/TransformFunctionsF16.c
                 - path: GSRL/Dependence/CMSIS-DSP/Source/WindowFunctions/WindowFunctions.c
               folders: []
+    - name: chariot
+      files:
+        - path: chariot/src/crt_chassis.cpp
+        - path: chariot/src/crt_module.cpp
+      folders: []
     - name: Task
       files:
-        - path: Task/src/tsk_test.cpp
+        - path: Task/src/tsk_chassis.cpp
       folders: []
 dependenceList: []
 outDir: build
@@ -201,6 +206,9 @@ targets:
         - GSRL/Algorithm/inc
         - GSRL/Device/inc
         - GSRL/Dependence/eigen
+        - Task/src
+        - chariot/inc
+        - chariot/src
       libList: []
     excludeList: []
     toolchain: GCC
@@ -252,7 +260,7 @@ targets:
       OpenOCD:
         baseAddr: "0x08000000"
         bin: ""
-        interface: cmsis-dap
+        interface: stlink
         target: stm32f4x
       STLink:
         address: "0x08000000"

.github/copilot-instructions.md

@@ -0,0 +1,42 @@
+<!-- Copilot instructions for the GSRL codebase -->
+# GSRL — AI coding assistant guide
+
+Purpose: give concise, actionable context so AI agents are immediately productive in this embedded robot repository.
+
+- **Big picture:** This repo builds an STM32-based robot firmware composed of:
+  - platform BSP generated by STM32CubeMX: [CubeMX_BSP](CubeMX_BSP) (toolchain file: [CubeMX_BSP/cmake/gcc-arm-none-eabi.cmake](CubeMX_BSP/cmake/gcc-arm-none-eabi.cmake)).
+  - core libraries under [GSRL](GSRL) and driver/vehicle modules under [chariot](chariot) and [Task](Task).
+  - The top-level build is configured with CMake and CMake presets ([CMakePresets.json](CMakePresets.json)) — use `cmake --preset Debug` or `cmake --preset Release` then `cmake --build --preset Debug`.
+
+- **Architecture & boundaries:**
+  - Hardware / BSP: [CubeMX_BSP](CubeMX_BSP) provides low-level drivers and the cross-toolchain.
+  - Platform services: FreeRTOS is used for concurrency — task implementations live in `Task/src` (look at `Task/src/tsk_chassis.cpp`).
+  - Vehicle subsystem: `chariot` contains chassis/module implementations and motor wrappers (`chariot/src/crt_chassis.cpp`, `chariot/inc`). AI should not change low-level HAL without explicit mention.
+
+- **Key developer workflows (reproducible commands):**
+  - Configure & build (uses Ninja + arm-none-eabi toolchain):
+    - `cmake --preset Debug`
+    - `cmake --build --preset Debug`
+  - Use `build/` output and `compile_commands.json` (CMake sets `CMAKE_EXPORT_COMPILE_COMMANDS`) for static analysis / clangd.
+
+- **Project-specific conventions & patterns:**
+  - Task functions use `tsk` prefix and provide C-compatible wrappers: e.g., `tskChassisInit()` with `extern "C"` wrapper `TSK_CHASSIS_Init` (see `Task/src/tsk_chassis.cpp`).
+  - Configuration and TODOs are documented inline in Chinese; follow existing FIXME/TODO markers when making changes.
+  - Placeholder interfaces exist (e.g., temporary `TemporaryCrtChassis` and commented `// TODO` blocks in `tsk_chassis.cpp`) — prefer integrating with the real `CrtChassis` only after confirming its API (search `chariot/inc` and `chariot/src`).
+  - Motor and control classes follow names like `MotorGM6020`, `MotorM3508`, `SimplePID`, `CrtModule`, `CrtChassis` — inspect `chariot/inc` for exact method signatures before calling.
+
+- **Integration points & external dependencies:**
+  - Toolchain: `gcc-arm-none-eabi` via the toolchain file in `CubeMX_BSP/cmake`.
+  - FreeRTOS sources are in `CubeMX_BSP/Middlewares/...` and tasks use `xTaskCreate`, `xQueueCreate`, `vTaskDelayUntil`.
+  - Build links to `stm32cubemx` and `gsrl` libraries in top-level [CMakeLists.txt](CMakeLists.txt).
+
+- **When editing code, prefer small, local changes:**
+  - Preserve task timing semantics: `CHASSIS_TASK_PERIOD_MS` and `vTaskDelayUntil` usage in `tsk_chassis.cpp` are critical.
+  - Keep C ABI wrappers intact. Update both C++ and `extern "C"` functions together.
+
+- **Examples to guide code edits (search & reference):**
+  - Read the chassis task: [Task/src/tsk_chassis.cpp](Task/src/tsk_chassis.cpp)
+  - See top-level build integration: [CMakeLists.txt](CMakeLists.txt)
+  - Toolchain/presets: [CMakePresets.json](CMakePresets.json) and [CubeMX_BSP/cmake/gcc-arm-none-eabi.cmake](CubeMX_BSP/cmake/gcc-arm-none-eabi.cmake)
+
+If anything here is unclear or you want more detail on a subsystem, say which file or workflow to expand and I will update this file.

.vscode/tasks.json

@@ -6,7 +6,7 @@
             "type": "shell",
             "command": "${command:eide.project.build}",
             "group": "build",
-            "problemMatcher": []
+            "problemMatcher": "$gcc"
         },
         {
             "label": "flash",

CMakeLists.txt

@@ -51,13 +51,16 @@ target_link_directories(${CMAKE_PROJECT_NAME} PRIVATE
 # Add sources to executable
 target_sources(${CMAKE_PROJECT_NAME} PRIVATE
     # Add user sources here
-    Task/src/tsk_test.cpp
+    chariot/src/crt_chassis.cpp
+    chariot/src/crt_module.cpp
+    Task/src/tsk_chassis.cpp
 )
 
 # Add include paths
 target_include_directories(${CMAKE_PROJECT_NAME} PRIVATE
     # Add user defined include paths
     Task/inc
+    chariot/inc
 )
 
 # Add project symbols (macros)

CubeMX_BSP/GMStdRobotLib.ioc

@@ -105,6 +105,7 @@ Dma.USART6_TX.5.PeriphDataAlignment=DMA_PDATAALIGN_BYTE
 Dma.USART6_TX.5.PeriphInc=DMA_PINC_DISABLE
 Dma.USART6_TX.5.Priority=DMA_PRIORITY_MEDIUM
 Dma.USART6_TX.5.RequestParameters=Instance,Direction,PeriphInc,MemInc,PeriphDataAlignment,MemDataAlignment,Mode,Priority,FIFOMode
+FREERTOS.FootprintOK=true
 FREERTOS.INCLUDE_eTaskGetState=1
 FREERTOS.INCLUDE_pcTaskGetTaskName=1
 FREERTOS.INCLUDE_uxTaskGetStackHighWaterMark=1
@@ -117,8 +118,8 @@ FREERTOS.INCLUDE_xTaskAbortDelay=1
 FREERTOS.INCLUDE_xTaskGetCurrentTaskHandle=1
 FREERTOS.INCLUDE_xTaskGetHandle=1
 FREERTOS.INCLUDE_xTimerPendFunctionCall=1
-FREERTOS.IPParameters=Tasks01,configTOTAL_HEAP_SIZE,INCLUDE_vTaskDelayUntil,INCLUDE_eTaskGetState,INCLUDE_uxTaskGetStackHighWaterMark,INCLUDE_xQueueGetMutexHolder,INCLUDE_xSemaphoreGetMutexHolder,INCLUDE_pcTaskGetTaskName,INCLUDE_xTaskGetCurrentTaskHandle,INCLUDE_xTimerPendFunctionCall,INCLUDE_xEventGroupSetBitFromISR,INCLUDE_xTaskAbortDelay,INCLUDE_xTaskGetHandle,INCLUDE_vTaskCleanUpResources
-FREERTOS.Tasks01=test,24,128,test_task,As weak,NULL,Dynamic,NULL,NULL
+FREERTOS.IPParameters=Tasks01,configTOTAL_HEAP_SIZE,INCLUDE_vTaskDelayUntil,INCLUDE_eTaskGetState,INCLUDE_uxTaskGetStackHighWaterMark,INCLUDE_xQueueGetMutexHolder,INCLUDE_xSemaphoreGetMutexHolder,INCLUDE_pcTaskGetTaskName,INCLUDE_xTaskGetCurrentTaskHandle,INCLUDE_xTimerPendFunctionCall,INCLUDE_xEventGroupSetBitFromISR,INCLUDE_xTaskAbortDelay,INCLUDE_xTaskGetHandle,INCLUDE_vTaskCleanUpResources,FootprintOK
+FREERTOS.Tasks01=chassis,24,1024,chassis_task,As weak,NULL,Static,chassisBuffer,chassisControlBlock
 FREERTOS.configTOTAL_HEAP_SIZE=24576
 File.Version=6
 I2C1.I2C_Mode=I2C_Fast
@@ -233,8 +234,8 @@ Mcu.PinsNb=68
 Mcu.ThirdPartyNb=0
 Mcu.UserConstants=
 Mcu.UserName=STM32F407IGHx
-MxCube.Version=6.15.0
-MxDb.Version=DB.6.0.150
+MxCube.Version=6.16.1
+MxDb.Version=DB.6.0.161
 NVIC.BusFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false\:false
 NVIC.CAN1_RX0_IRQn=true\:6\:0\:true\:false\:true\:true\:true\:true\:true
 NVIC.CAN2_RX0_IRQn=true\:6\:0\:true\:false\:true\:true\:true\:true\:true
@@ -404,6 +405,13 @@ PC9.GPIO_Pu=GPIO_PULLUP
 PC9.Locked=true
 PC9.Mode=I2C
 PC9.Signal=I2C3_SDA
+PCC.Checker=false
+PCC.Line=STM32F407/417
+PCC.MCU=STM32F407I(E-G)Hx
+PCC.PartNumber=STM32F407IGHx
+PCC.Series=STM32F4
+PCC.Temperature=25
+PCC.Vdd=3.3
 PD0.Locked=true
 PD0.Mode=CAN_Activate
 PD0.Signal=CAN1_RX
@@ -525,6 +533,7 @@ ProjectManager.DeletePrevious=true
 ProjectManager.DeviceId=STM32F407IGHx
 ProjectManager.FirmwarePackage=STM32Cube FW_F4 V1.28.3
 ProjectManager.FreePins=false
+ProjectManager.FreePinsContext=
 ProjectManager.HalAssertFull=false
 ProjectManager.HeapSize=0x2000
 ProjectManager.KeepUserCode=true

CubeMX_BSP/Src/freertos.c

@@ -29,6 +29,7 @@
 /* USER CODE END Includes */
 
 /* Private typedef -----------------------------------------------------------*/
+typedef StaticTask_t osStaticThreadDef_t;
 /* USER CODE BEGIN PTD */
 
 /* USER CODE END PTD */
@@ -47,11 +48,16 @@
 /* USER CODE BEGIN Variables */
 
 /* USER CODE END Variables */
-/* Definitions for test */
-osThreadId_t testHandle;
-const osThreadAttr_t test_attributes = {
-  .name = "test",
-  .stack_size = 128 * 4,
+/* Definitions for chassis */
+osThreadId_t chassisHandle;
+uint32_t chassisBuffer[ 1024 ];
+osStaticThreadDef_t chassisControlBlock;
+const osThreadAttr_t chassis_attributes = {
+  .name = "chassis",
+  .cb_mem = &chassisControlBlock,
+  .cb_size = sizeof(chassisControlBlock),
+  .stack_mem = &chassisBuffer[0],
+  .stack_size = sizeof(chassisBuffer),
   .priority = (osPriority_t) osPriorityNormal,
 };
 
@@ -60,7 +66,7 @@ const osThreadAttr_t test_attributes = {
 
 /* USER CODE END FunctionPrototypes */
 
-void test_task(void *argument);
+void chassis_task(void *argument);
 
 extern void MX_USB_DEVICE_Init(void);
 void MX_FREERTOS_Init(void); /* (MISRA C 2004 rule 8.1) */
@@ -92,8 +98,8 @@ void MX_FREERTOS_Init(void) {
   /* USER CODE END RTOS_QUEUES */
 
   /* Create the thread(s) */
-  /* creation of test */
-  testHandle = osThreadNew(test_task, NULL, &test_attributes);
+  /* creation of chassis */
+  chassisHandle = osThreadNew(chassis_task, NULL, &chassis_attributes);
 
   /* USER CODE BEGIN RTOS_THREADS */
   /* add threads, ... */
@@ -105,24 +111,24 @@ void MX_FREERTOS_Init(void) {
 
 }
 
-/* USER CODE BEGIN Header_test_task */
+/* USER CODE BEGIN Header_chassis_task */
 /**
-  * @brief  Function implementing the test thread.
+  * @brief  Function implementing the chassis thread.
   * @param  argument: Not used
   * @retval None
   */
-/* USER CODE END Header_test_task */
-__weak void test_task(void *argument)
+/* USER CODE END Header_chassis_task */
+__weak void chassis_task(void *argument)
 {
   /* init code for USB_DEVICE */
   MX_USB_DEVICE_Init();
-  /* USER CODE BEGIN test_task */
+  /* USER CODE BEGIN chassis_task */
   /* Infinite loop */
   for(;;)
   {
     osDelay(1);
   }
-  /* USER CODE END test_task */
+  /* USER CODE END chassis_task */
 }
 
 /* Private application code --------------------------------------------------*/

CubeMX_BSP/cmake/stm32cubemx/CMakeLists.txt

@@ -72,7 +72,6 @@ set(STM32_Drivers_Src
     ${CMAKE_CURRENT_SOURCE_DIR}/../../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_exti.c
     ${CMAKE_CURRENT_SOURCE_DIR}/../../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_adc.c
     ${CMAKE_CURRENT_SOURCE_DIR}/../../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_adc_ex.c
-    ${CMAKE_CURRENT_SOURCE_DIR}/../../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_ll_adc.c
     ${CMAKE_CURRENT_SOURCE_DIR}/../../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_can.c
     ${CMAKE_CURRENT_SOURCE_DIR}/../../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_crc.c
     ${CMAKE_CURRENT_SOURCE_DIR}/../../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_i2c.c