QUTMS_Embedded_Common

Common libraries to be shared across embedded board source code

Use with CPP & QUTMS_Driverless

The embedded common library can be used in ROS & C++ to expose the functionality of Parsing and Composing can messages. Follow these steps to ensure that the libraries are included, compilied and are usable in VSCode.

1. Add include_directories(${CMAKE_SOURCE_DIR}/../../hardware/QUTMS_Embedded_Common/Inc) to the nodes CmakeLists.txt
2. For each required library, add add_compile_definitions(QUTMS_CAN_[XXX]) where [XXX] could be VCU or AMS etc to the CMakeLists.txt.
3. For each required library, add ${CMAKE_SOURCE_DIR}/../../hardware/QUTMS_Embedded_Common/Src/[XXX].c to your nodes CMakeLists.txt.
4. Add SET_SOURCE_FILES_PROPERTIES(${SOURCES} PROPERTIES LANGUAGE CXX) so CXX is used for C extension files.
5. For each required library, add QUTMS_CAN_[XXX] to the defines field in the c_cpp_properties.json config.

Example:
CMakeLists.txt:

add_compile_definitions(QUTMS_CAN_VCU)
include_directories(${CMAKE_SOURCE_DIR}/../../hardware/QUTMS_Embedded_Common/Inc)

set (SOURCES
  ${CMAKE_SOURCE_DIR}/../../hardware/QUTMS_Embedded_Common/Src/CAN_VCU.c
)

SET_SOURCE_FILES_PROPERTIES(${SOURCES} PROPERTIES LANGUAGE CXX )

c_cpp_properties:

"defines": [
	"QUTMS_CAN_VCU"
],

node.cpp:

#include "CAN_VCU.h"
#include "QUTMS_can.h"

Setup

1. cd to Project/Software/Core/
2. Run git submodule add https://github.com/QUT-Motorsport/QUTMS_Embedded_Common.git ./Common/
3. Go int STM32CubeIde, Right click on the Project, Properties->C/C++ General->Paths and Symbols->Includes->Add
4. Add Core/Common/Inc
5. Clean & Rebuild

First Time Usage

1. cd to the repository
2. Run git submodule update --init --recursive to initalise the submodules.
3. Run git submodule update --recursive or git submodule foreach git pull origin masterto update the submodules.

Updating

To update to the latest version of the submodule in a parent repo:

1. Run git submodule update --recursive
2. Have a beer, you did a good job.

FSM

Requirements

• CMSISv2 RTOS Wrapper

Required Files

• FSM.h
• FSM.c
• xx_States.h -> (To be written by user)
• xx_States.c -> (To be written by user)

Usage

Main

#include "FSM.h"

// Create a new FSM
fsm_t *fsm = fsm_new(&userDefinedInitialState);

// Set its log user defined log method, prototype is:
// void log(char* msg, size_t len);
fsm_setLogFunction(fsm, &logFn);

// Reset the FSM to a given state, will keep log function.
fsm_reset(fsm, &userDefinedInitialState);

// Your main loop
for(;;)
{
	// Iterate the FSM
	fsm_iterate(fsm);
}

How to design states

State Header

#include "fsm.h"

// Create the state
state_t stateName;

// Enter, Iterate and Exit functions
void stateName_enter(fsm_t *fsm);
void stateName_iterate(fsm_t *fsm);
void stateName_exit(fsm_t *fsm);

State C

#include "stateHeader.h"

stateName = {&stateName_enter, &stateName_iterate, &stateName_exit, "stateName_s"};

void stateName_enter(fsm_t *fsm)
{
	// Do code here, maybe change the state, like this?
	fsm_changeState(fsm, &stateName2); // FSM pointer is passed everywhere.
}

Info

If you need any advice on implementation of the FSM, ask Tom or check the AMS repo and the following files:

• FSM.h
• FSM.c
• main.h
• main.c
• AMS_FSM_States.h
• AMS_FSM_States.c