pre driver refactor

Author: cynosure

.gitignore

@@ -1,2 +1,6 @@
 build
-.vscode
+.vscode
+.clangd
+compile_commands.json
+.cache
+AGENTS.md

.mxproject

@@ -22,7 +22,6 @@ endif()
 set(CMAKE_PROJECT_NAME MSB-FW-2)
 
 # NER 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)

CMakeLists.txt

@@ -0,0 +1,28 @@
+/* USER CODE BEGIN Header */
+/**
+  ******************************************************************************
+  * @file
+  * @author  MCD Application Team
+  * @version V2.0.0
+  ******************************************************************************
+  * @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  __RTE_COMPONENTS_H__
+#define  __RTE_COMPONENTS_H__
+
+/* Defines ------------------------------------------------------------------*/
+/* STMicroelectronics.X-CUBE-TOF1.3.4.3 */
+#define VL53L7CX
+
+#endif /* __RTE_COMPONENTS_H__ */

Core/Inc/RTE_Components.h

@@ -0,0 +1,139 @@
+/* USER CODE BEGIN Header */
+/**
+  ******************************************************************************
+  * @file           : custom_bus.h
+  * @brief          : header file for the BSP BUS IO driver
+  ******************************************************************************
+  * @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 CUSTOM_BUS_H
+#define CUSTOM_BUS_H
+
+#ifdef __cplusplus
+ extern "C" {
+#endif
+
+/* Includes ------------------------------------------------------------------*/
+#include "custom_conf.h"
+#include "custom_errno.h"
+
+/** @addtogroup BSP
+  * @{
+  */
+
+/** @addtogroup CUSTOM
+  * @{
+  */
+
+/** @defgroup CUSTOM_BUS CUSTOM BUS
+  * @{
+  */
+
+/** @defgroup CUSTOM_BUS_Exported_Constants CUSTOM BUS Exported Constants
+  * @{
+  */
+
+#define BUS_I2C1_INSTANCE I2C1
+#define BUS_I2C1_SCL_GPIO_PORT GPIOB
+#define BUS_I2C1_SCL_GPIO_AF GPIO_AF4_I2C1
+#define BUS_I2C1_SCL_GPIO_CLK_ENABLE() __HAL_RCC_GPIOB_CLK_ENABLE()
+#define BUS_I2C1_SCL_GPIO_CLK_DISABLE() __HAL_RCC_GPIOB_CLK_DISABLE()
+#define BUS_I2C1_SCL_GPIO_PIN GPIO_PIN_8
+#define BUS_I2C1_SDA_GPIO_PIN GPIO_PIN_9
+#define BUS_I2C1_SDA_GPIO_CLK_DISABLE() __HAL_RCC_GPIOB_CLK_DISABLE()
+#define BUS_I2C1_SDA_GPIO_PORT GPIOB
+#define BUS_I2C1_SDA_GPIO_AF GPIO_AF4_I2C1
+#define BUS_I2C1_SDA_GPIO_CLK_ENABLE() __HAL_RCC_GPIOB_CLK_ENABLE()
+
+#ifndef BUS_I2C1_POLL_TIMEOUT
+   #define BUS_I2C1_POLL_TIMEOUT                0x1000U
+#endif
+/* I2C1 Frequency in Hz  */
+#ifndef BUS_I2C1_FREQUENCY
+   #define BUS_I2C1_FREQUENCY  1000000U /* Frequency of I2Cn = 100 KHz*/
+#endif
+
+/**
+  * @}
+  */
+
+/** @defgroup CUSTOM_BUS_Private_Types CUSTOM BUS Private types
+  * @{
+  */
+#if (USE_HAL_I2C_REGISTER_CALLBACKS == 1U)
+typedef struct
+{
+  pI2C_CallbackTypeDef  pMspInitCb;
+  pI2C_CallbackTypeDef  pMspDeInitCb;
+}BSP_I2C_Cb_t;
+#endif /* (USE_HAL_I2C_REGISTER_CALLBACKS == 1U) */
+/**
+  * @}
+  */
+
+/** @defgroup CUSTOM_LOW_LEVEL_Exported_Variables LOW LEVEL Exported Constants
+  * @{
+  */
+
+extern I2C_HandleTypeDef hi2c1;
+
+/**
+  * @}
+  */
+
+/** @addtogroup CUSTOM_BUS_Exported_Functions
+  * @{
+  */
+
+/* BUS IO driver over I2C Peripheral */
+HAL_StatusTypeDef MX_I2C1_Init(I2C_HandleTypeDef* hi2c);
+int32_t BSP_I2C1_Init(void);
+int32_t BSP_I2C1_DeInit(void);
+int32_t BSP_I2C1_IsReady(uint16_t DevAddr, uint32_t Trials);
+int32_t BSP_I2C1_WriteReg(uint16_t Addr, uint16_t Reg, uint8_t *pData, uint16_t Length);
+int32_t BSP_I2C1_ReadReg(uint16_t Addr, uint16_t Reg, uint8_t *pData, uint16_t Length);
+int32_t BSP_I2C1_WriteReg16(uint16_t Addr, uint16_t Reg, uint8_t *pData, uint16_t Length);
+int32_t BSP_I2C1_ReadReg16(uint16_t Addr, uint16_t Reg, uint8_t *pData, uint16_t Length);
+int32_t BSP_I2C1_Send(uint16_t DevAddr, uint8_t *pData, uint16_t Length);
+int32_t BSP_I2C1_Recv(uint16_t DevAddr, uint8_t *pData, uint16_t Length);
+int32_t BSP_I2C1_SendRecv(uint16_t DevAddr, uint8_t *pTxdata, uint8_t *pRxdata, uint16_t Length);
+#if (USE_HAL_I2C_REGISTER_CALLBACKS == 1U)
+int32_t BSP_I2C1_RegisterDefaultMspCallbacks (void);
+int32_t BSP_I2C1_RegisterMspCallbacks (BSP_I2C_Cb_t *Callbacks);
+#endif /* (USE_HAL_I2C_REGISTER_CALLBACKS == 1U) */
+
+int32_t BSP_GetTick(void);
+
+/**
+  * @}
+  */
+
+/**
+  * @}
+  */
+
+/**
+  * @}
+  */
+
+/**
+  * @}
+  */
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* CUSTOM_BUS_H */
+

Core/Inc/custom_bus.h

@@ -0,0 +1,83 @@
+/* USER CODE BEGIN Header */
+/**
+  ******************************************************************************
+  * @file           : custom_conf.h
+  * @brief          : Configuration 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 CUSTOM_CONF_H
+#define CUSTOM_CONF_H
+
+#ifdef __cplusplus
+ extern "C" {
+#endif
+/* Includes ------------------------------------------------------------------*/
+#include "stm32h5xx_hal.h"
+
+/** @addtogroup BSP
+  * @{
+  */
+
+/** @addtogroup CUSTOM
+  * @{
+  */
+
+/** @defgroup CUSTOM_CONFIG Config
+  * @{
+  */
+
+/** @defgroup CUSTOM_CONFIG_Exported_Constants
+  * @{
+  */
+/* COM Feature define */
+#define USE_BSP_COM_FEATURE                 0U
+
+/* COM define */
+#define USE_COM_LOG                         1U
+
+/* IRQ priorities */
+#define BSP_BUTTON_USER_IT_PRIORITY         14U
+
+/* I2C1 Frequency in Hz  */
+#define BUS_I2C1_FREQUENCY                  100000U /* Frequency of I2C1 = 100 KHz*/
+
+/* SPI1 Baud rate in bps  */
+#define BUS_SPI1_BAUDRATE                   16000000U /* baud rate of SPIn = 16 Mbps */
+
+/* UART1 Baud rate in bps  */
+#define BUS_UART1_BAUDRATE                  9600U /* baud rate of UARTn = 9600 baud */
+
+/**
+  * @}
+  */
+
+/**
+  * @}
+  */
+
+/**
+  * @}
+  */
+
+/**
+  * @}
+  */
+
+#ifdef __cplusplus
+}
+#endif
+#endif  /* CUSTOM_CONF_H */
+

Core/Inc/custom_conf.h

@@ -0,0 +1,58 @@
+/* USER CODE BEGIN Header */
+/**
+  ******************************************************************************
+  * @file           : custom_errno.h
+  * @brief          : Error Code
+  ******************************************************************************
+  * @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 CUSTOM_ERRNO_H
+#define CUSTOM_ERRNO_H
+
+#ifdef __cplusplus
+ extern "C" {
+#endif
+
+/* BSP Common Error codes */
+#define BSP_ERROR_NONE                    0
+#define BSP_ERROR_NO_INIT                -1
+#define BSP_ERROR_WRONG_PARAM            -2
+#define BSP_ERROR_BUSY                   -3
+#define BSP_ERROR_PERIPH_FAILURE         -4
+#define BSP_ERROR_COMPONENT_FAILURE      -5
+#define BSP_ERROR_UNKNOWN_FAILURE        -6
+#define BSP_ERROR_UNKNOWN_COMPONENT      -7
+#define BSP_ERROR_BUS_FAILURE            -8
+#define BSP_ERROR_CLOCK_FAILURE          -9
+#define BSP_ERROR_MSP_FAILURE            -10
+#define BSP_ERROR_FEATURE_NOT_SUPPORTED      -11
+
+/* BSP BUS error codes */
+
+#define BSP_ERROR_BUS_TRANSACTION_FAILURE    -100
+#define BSP_ERROR_BUS_ARBITRATION_LOSS       -101
+#define BSP_ERROR_BUS_ACKNOWLEDGE_FAILURE    -102
+#define BSP_ERROR_BUS_PROTOCOL_FAILURE       -103
+
+#define BSP_ERROR_BUS_MODE_FAULT             -104
+#define BSP_ERROR_BUS_FRAME_ERROR            -105
+#define BSP_ERROR_BUS_CRC_ERROR              -106
+#define BSP_ERROR_BUS_DMA_FAILURE            -107
+
+#ifdef __cplusplus
+}
+#endif
+#endif /*CUSTOM_ERRNO_H */
+

Core/Inc/custom_errno.h

@@ -4,18 +4,18 @@
 
 #define MOTION_FX_STATE_SIZE (size_t)(2432)
 
-/* 
+/*
  * Bias correction thresholds from MotionFX example implementations.
- * Lower GBIAS_* = more correction, higher = more stability.  
+ * Lower GBIAS_* = more correction, higher = more stability.
  * Adjust if drift or instability occurs.
  */
-#define GBIAS_ACC_TH_SC	 (2.0f * 0.000765f)
+#define GBIAS_ACC_TH_SC (2.0f * 0.000765f)
 #define GBIAS_GYRO_TH_SC (2.0f * 0.002f)
-#define GBIAS_MAG_TH_SC	 0.0f
+#define GBIAS_MAG_TH_SC 0.0f
 
 /*
- * DECIMATION controls how often sensor data is processed.  
- * 1U = use every sample, higher = skip samples  
+ * DECIMATION controls how often sensor data is processed.
+ * 1U = use every sample, higher = skip samples
  * Increase to ignore more samples if CPU usage is too high.
  */
 #define DECIMATION 1U
@@ -33,13 +33,15 @@ uint16_t init_imu();
 uint16_t init_magnetometer();
 
 /**
- * @brief reads data from the lsm6dsv and lis2mdl, and performs motionfx rotation calculations
+ * @brief reads data from the lsm6dsv and lis2mdl, and performs motionfx
+ * rotation calculations
  * @return whether there were errors in reading the data
  */
 uint16_t read_imu_and_magnometer();
 
 /**
- * @brief sends data from the lsm6dsv, lis2mdl, and motionfx rotation data over CAN
+ * @brief sends data from the lsm6dsv, lis2mdl, and motionfx rotation data over
+ * CAN
  */
 void send_imu_and_magnometer_data();
 
@@ -68,4 +70,21 @@ uint16_t read_sht30();
 /**
  * @brief sends temp and humidity data from the sht30 over CAN
  */
-void send_sht30_data();
+void send_sht30_data();
+
+/**
+ * @brief sets up vl53l7cx time of flight sensor
+ * @return if there were errors initalizing the sensor
+ */
+int32_t init_vl53l7cx(); // QUESTION: should this be 16 bit or something else
+
+/*
+ * @brief Gets data from the vl53l7cx and updates a global variable accordingly
+ * @returns if there were any errors in reading the data
+ */
+int32_t read_vl53l7cx();
+
+/*
+ * @brief sends time of flight data over CAN
+ */
+void send_vl53l7cx_data();