Northeastern-Electric-Racing · caiodasilva2005 · Apr 15, 2026 · Apr 8, 2026 · Apr 9, 2026 · Apr 9, 2026
diff --git a/.github/workflows/build-check.yml b/.github/workflows/build-check.yml
@@ -18,6 +18,6 @@ jobs:
           find . -type d -name "build" -exec rm -rf {} + ;
           mkdir -p build &&
           cd build &&
-          cmake -DCMAKE_BUILD_TYPE=Release .. &&
+          cmake -DCMAKE_BUILD_TYPE=Release -DCMAKE_TOOLCHAIN_FILE=cmake/gcc-arm-none-eabi.cmake .. &&
           cmake --build .
         '
diff --git a/.mxproject b/.mxproject
diff --git a/AZURE_RTOS/App/app_azure_rtos_config.h b/AZURE_RTOS/App/app_azure_rtos_config.h
@@ -43,9 +43,9 @@ extern "C" {
 
 #define USE_STATIC_ALLOCATION                    1
 
-#define TX_APP_MEM_POOL_SIZE                     1024
+#define TX_APP_MEM_POOL_SIZE                     60040
 
-#define NX_APP_MEM_POOL_SIZE                     1024
+#define NX_APP_MEM_POOL_SIZE                     10240
 
 /* USER CODE BEGIN EC */
 

diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -1,113 +1,112 @@
-cmake_minimum_required(VERSION 3.22)
-
-#
-# This file is generated only once,
-# and is not re-generated if converter is called multiple times.
-#
-# User is free to modify the file as much as necessary
-#
-
-# Setup compiler settings
-set(CMAKE_C_STANDARD 11)
-set(CMAKE_C_STANDARD_REQUIRED ON)
-set(CMAKE_C_EXTENSIONS ON)
-
-
-# Define the build type
-if(NOT CMAKE_BUILD_TYPE)
-    set(CMAKE_BUILD_TYPE "Debug")
-endif()
-
-# Set the project name
-set(CMAKE_PROJECT_NAME Lightning)
-
-# Include toolchain file
-include("cmake/gcc-arm-none-eabi.cmake")
-
-# Enable compile command to ease indexing with e.g. clangd
-set(CMAKE_EXPORT_COMPILE_COMMANDS TRUE)
-
-# Core project settings
-project(${CMAKE_PROJECT_NAME})
-message("Build type: " ${CMAKE_BUILD_TYPE})
-
-# Display ASCII art at start of build
-if(EXISTS "${CMAKE_SOURCE_DIR}/art")
-    file(READ "${CMAKE_SOURCE_DIR}/art" ASCII_ART)
-    message("${ASCII_ART}")
-endif()
-
-# Enable CMake support for ASM and C languages
-enable_language(C ASM)
-
-# Create an executable object type
-add_executable(${CMAKE_PROJECT_NAME})
-
-# Add STM32CubeMX generated sources
-add_subdirectory(cmake/stm32cubemx)
-
-# Link directories setup
-target_link_directories(${CMAKE_PROJECT_NAME} PRIVATE
-    # Add user defined library search paths
-)
-
-# Add sources to executable
-target_sources(${CMAKE_PROJECT_NAME} PRIVATE
-    # Add user sources here
-
-    # ThreadX Utils
-    "./Drivers/Embedded-Base/platforms/stm32h563/src/fdcan.c"
-    "./Drivers/Embedded-Base/threadX/src/u_tx_debug.c"
-    "./Drivers/Embedded-Base/threadX/src/u_tx_mutex.c"
-    "./Drivers/Embedded-Base/threadX/src/u_tx_queues.c"
-    "./Drivers/Embedded-Base/threadX/src/u_tx_threads.c"
-    "./Drivers/Embedded-Base/middleware/src/bitstream.c"
-    "./Drivers/Embedded-Base/middleware/src/c_utils.c"
-
-    # Peripheral Drivers
-    "../Drivers/Embedded-Base/general/include/lsm6dsv_reg.h"
-    "../Drivers/Embedded-Base/general/src/lsm6dsv_reg.c"
-    "./Drivers/Embedded-Base/general/src/as3935.c"
-    "../Drivers/Embedded-Base/general/src/lis2mdl_reg.c"
-
-    # Core
-    "./Core/Src/u_test.c"
-    "./Core/Src/u_inbox.c"
-    "./Core/Src/u_sensors.c"
-    "./Core/Src/u_threads.c"
-    "./Core/Src/u_statemachine.c"
-    "./Core/Src/u_queues.c"
-    "./Core/Src/u_can.c"
-    "./Core/Src/u_mutexes.c"
-
-    # gen
-    "./Core/Src/can_messages_tx.c"
-)
-
-# Add include paths
-target_include_directories(${CMAKE_PROJECT_NAME} PRIVATE
-    # Add user defined include paths
-    "./Drivers/Embedded-Base/general/include/"
-    "./Drivers/Embedded-Base/middleware/include/"
-    "./Drivers/Embedded-Base/platforms/stm32h563/include/"
-    "./Drivers/Embedded-Base/threadX/inc/"
-    "./NetXDuo"
-    "./Core/Inc/"
-)
-
-# Add project symbols (macros)
-target_compile_definitions(${CMAKE_PROJECT_NAME} PRIVATE
-    # Add user defined symbols
-)
-
-# Compiler options
-target_compile_options(${CMAKE_PROJECT_NAME} PRIVATE
-    -Wno-unused-parameter # u_TODO - this doesn't seem to be working
-)
-
-# Add linked libraries
-target_link_libraries(${CMAKE_PROJECT_NAME}
-    stm32cubemx
-
-    # Add user defined libraries
-)
+cmake_minimum_required(VERSION 3.22)
+
+#
+# This file is generated only once,
+# and is not re-generated if converter is called multiple times.
+#
+# User is free to modify the file as much as necessary
+#
+
+# Setup compiler settings
+set(CMAKE_C_STANDARD 11)
+set(CMAKE_C_STANDARD_REQUIRED ON)
+set(CMAKE_C_EXTENSIONS ON)
+set(CMAKE_C_COMPILER "/opt/homebrew/bin/arm-none-eabi-gcc")
+
+
+# Define the build type
+if(NOT CMAKE_BUILD_TYPE)
+    set(CMAKE_BUILD_TYPE "Debug")
+endif()
+
+# Set the project name
+set(CMAKE_PROJECT_NAME Lightning)
+
+
+# Enable compile command to ease indexing with e.g. clangd
+set(CMAKE_EXPORT_COMPILE_COMMANDS TRUE)
+
+# Core project settings
+project(${CMAKE_PROJECT_NAME})
+message("Build type: " ${CMAKE_BUILD_TYPE})
+
+# Display ASCII art at start of build
+if(EXISTS "${CMAKE_SOURCE_DIR}/art")
+    file(READ "${CMAKE_SOURCE_DIR}/art" ASCII_ART)
+    message("${ASCII_ART}")
+endif()
+
+# Enable CMake support for ASM and C languages
+enable_language(C ASM)
+
+# Create an executable object type
+add_executable(${CMAKE_PROJECT_NAME})
+
+# Add STM32CubeMX generated sources
+add_subdirectory(cmake/stm32cubemx)
+
+# Link directories setup
+target_link_directories(${CMAKE_PROJECT_NAME} PRIVATE
+    # Add user defined library search paths
+)
+
+# Add sources to executable
+target_sources(${CMAKE_PROJECT_NAME} PRIVATE
+    # Add user sources here
+
+    # ThreadX Utils
+    "./Drivers/Embedded-Base/platforms/stm32h563/src/fdcan.c"
+    "./Drivers/Embedded-Base/threadX/src/u_tx_debug.c"
+    "./Drivers/Embedded-Base/threadX/src/u_tx_mutex.c"
+    "./Drivers/Embedded-Base/threadX/src/u_tx_queues.c"
+    "./Drivers/Embedded-Base/threadX/src/u_tx_threads.c"
+    "./Drivers/Embedded-Base/middleware/src/bitstream.c"
+    "./Drivers/Embedded-Base/middleware/src/c_utils.c"
+
+    # Peripheral Drivers
+    "../Drivers/Embedded-Base/general/include/lsm6dsv_reg.h"
+    "../Drivers/Embedded-Base/general/src/lsm6dsv_reg.c"
+    "./Drivers/Embedded-Base/general/src/as3935.c"
+    "../Drivers/Embedded-Base/general/src/lis2mdl_reg.c"
+
+    # Core
+    "./Core/Src/u_test.c"
+    "./Core/Src/u_inbox.c"
+    "./Core/Src/u_sensors.c"
+    "./Core/Src/u_threads.c"
+    "./Core/Src/u_statemachine.c"
+    "./Core/Src/u_queues.c"
+    "./Core/Src/u_can.c"
+    "./Core/Src/u_mutexes.c"
+
+    # gen
+    "./Core/Src/can_messages_tx.c"
+)
+
+# Add include paths
+target_include_directories(${CMAKE_PROJECT_NAME} PRIVATE
+    # Add user defined include paths
+    "./Drivers/Embedded-Base/general/include/"
+    "./Drivers/Embedded-Base/middleware/include/"
+    "./Drivers/Embedded-Base/platforms/stm32h563/include/"
+    "./Drivers/Embedded-Base/threadX/inc/"
+    "./NetXDuo"
+    "./Core/Inc/"
+)
+
+# Add project symbols (macros)
+target_compile_definitions(${CMAKE_PROJECT_NAME} PRIVATE
+    # Add user defined symbols
+)
+
+# Compiler options
+target_compile_options(${CMAKE_PROJECT_NAME} PRIVATE
+    -Wno-unused-parameter # u_TODO - this doesn't seem to be working
+)
+
+# Add linked libraries
+target_link_libraries(${CMAKE_PROJECT_NAME}
+    stm32cubemx
+
+    # Add user defined libraries
+)
diff --git a/Core/Inc/main.h b/Core/Inc/main.h
@@ -68,6 +68,12 @@ void Error_Handler(void);
 #define GREEN_GPIO_Port GPIOE
 #define IMU_INT1_Pin GPIO_PIN_13
 #define IMU_INT1_GPIO_Port GPIOC
+#define SPI2_NSS_Pin GPIO_PIN_3
+#define SPI2_NSS_GPIO_Port GPIOA
+#define SPI3_NSS_Pin GPIO_PIN_4
+#define SPI3_NSS_GPIO_Port GPIOA
+#define SPI1_NSS_Pin GPIO_PIN_10
+#define SPI1_NSS_GPIO_Port GPIOG
 
 /* USER CODE BEGIN Private defines */
 

diff --git a/Core/Inc/stm32h5xx_it.h b/Core/Inc/stm32h5xx_it.h
@@ -53,6 +53,7 @@ void BusFault_Handler(void);
 void UsageFault_Handler(void);
 void DebugMon_Handler(void);
 void TIM2_IRQHandler(void);
+void FDCAN2_IT0_IRQHandler(void);
 /* USER CODE BEGIN EFP */
 
 /* USER CODE END EFP */

diff --git a/Core/Src/app_threadx.c b/Core/Src/app_threadx.c
@@ -68,9 +68,9 @@ UINT App_ThreadX_Init(VOID *memory_ptr)
   /* Init user-written code that uses ThreadX stuff here. */
   CATCH_ERROR(queues_init(byte_pool), U_SUCCESS);
   CATCH_ERROR(mutexes_init(), U_SUCCESS);
-  CATCH_ERROR(init_imu(), U_SUCCESS);
+  // CATCH_ERROR(init_imu(), U_SUCCESS);
   CATCH_ERROR(init_lightning_sensor(), U_SUCCESS);
-  CATCH_ERROR(init_magnetometer(), U_SUCCESS);
+  // CATCH_ERROR(init_magnetometer(), U_SUCCESS);
   CATCH_ERROR(threads_init(byte_pool), U_SUCCESS);
 
   /* USER CODE END App_ThreadX_MEM_POOL */