Merge branch 'main' of https://github.com/Formula-Electric-Berkeley/FEB_FIRMWARE_SN5

Author: asymptonic

.cubemx-manifest.json

@@ -280,28 +280,30 @@
       }
     },
     "Sensor_Nodes": {
-      "ioc_checksum": "8c69b14e19d1dd61e329967ee4aad14fac48a8c30fc502bc9055c4a5eb52e5ab",
-      "generated_at": "2026-04-28T02:40:03Z",
+      "ioc_checksum": "2aa197f3fd419c6ece9ea9fc99ccd8fa3acc197e02f96dfc6386dda5b6f1fc3e",
+      "generated_at": "2026-05-03T19:03:35Z",
       "files": {
         "Core/Inc/adc.h": "0ac97025a4065f07b7b65a906bd0c45ea800215434ed43c287c1685507f3f612",
         "Core/Inc/can.h": "98925d7f4010f054e17d240116244377377c15248a5413a09ff811cdc23084e5",
         "Core/Inc/dma.h": "7cf6f7450a29d26303cbba5a3ca8c6cb24a02635d6a5ba4d05141fdfc75c4c49",
         "Core/Inc/gpio.h": "e2d62f964a0b7f238384ed6a20a181d09df9647240a268dc547acf5b35099f74",
         "Core/Inc/i2c.h": "f8ccbb92e950fd1d84e3851b46a5e327f04797b3596af4ad306373eee85840a4",
         "Core/Inc/main.h": "3d094f9cafa9dddc183ec8a0549cf2a3bf78b6bdf2aee71402de2f5634f26f99",
-        "Core/Inc/stm32f4xx_hal_conf.h": "c8b316b7f467708684ebfd60b1fa3dff66c46ff0aa25cfd0bbb73dcb8b090d67",
-        "Core/Inc/stm32f4xx_it.h": "c29034dac6a7ae80eb81707617496d66a639352fdb5db581518700b2eb87c293",
+        "Core/Inc/stm32f4xx_hal_conf.h": "73d247d57dfb67fbdd50432f98f71c6fe9c18d23a705828178ca7a3589f9e709",
+        "Core/Inc/stm32f4xx_it.h": "475e3816ec3c320e776dd14a5cf2e8eddadff4261a4bc80034210d1c3d71ee73",
+        "Core/Inc/tim.h": "6ea6adbad8265f73a0ca556e657fc3f1906a29dbbb243b4337030b4ce847eff8",
         "Core/Inc/usart.h": "8c7ef615ce73773c33fdce85e6a9809f9eef65226b59e67e53e72c902a6a70a9",
         "Core/Src/adc.c": "2635c7fe171aa8514bfb03abf5cab1b247a16e48cb8a6044f0c6aac56a4c3a3a",
-        "Core/Src/can.c": "589dc8b641d52fdd91ac9df2efabb17e604228248601e5017359fd25c7778525",
+        "Core/Src/can.c": "394f8a4a99d9c65784aa27c3745eca549717dfba4749d379acdfd212a5e80ca5",
         "Core/Src/dma.c": "34e9a60453cff20a0e179e43e2464abb3aa205dd8faf7acd7581ca0086f3a673",
         "Core/Src/gpio.c": "12d70d25d5a8026905bcf10ea026c982e785528fe85bd1861d2095dbae583e0e",
         "Core/Src/i2c.c": "ad7c6a964844941003cc19eac436fd531c82106f18ef2e2e24afddd6363c3425",
-        "Core/Src/main.c": "754084d09b34d901706964c2db563a09d1cdcf65d6db1885213b15c0f6c53e25",
+        "Core/Src/main.c": "63b74204d8837f4da7fc73912967c5134ab6abfcbbea1bd7d0665a4837a60830",
         "Core/Src/stm32f4xx_hal_msp.c": "3217d99dc7006dc46ac384717641fe84386f05fc71db0a3340fa0eae810bc1b7",
-        "Core/Src/stm32f4xx_it.c": "80b5d5fb42f1054d18f2ea82b60b934acd7b2b22233cbca23b60c04825f3838e",
+        "Core/Src/stm32f4xx_it.c": "ceaa18875b9504a3e34d1821555549042e62d7c1b4c4fe6fcd4d54662a34bb59",
         "Core/Src/syscalls.c": "03c06c72eafb44b499814cf9234aba57dd830f345d9b8779b5d7090e78517600",
         "Core/Src/sysmem.c": "ad20f7b1fa1e7c73330727747222cf2ffa3245ebf035230ee9a157545e79df95",
+        "Core/Src/tim.c": "b82e3fe610597a81b3d926426e0757534b3ea17d6783c640c4948a590651fdb4",
         "Core/Src/usart.c": "bdc44ebff0694aaaa1401cd98c9d689f1bf65edd5614163d2dfb96dbeb6e07b0",
         "STM32F446XX_FLASH.ld": "104cb1a1baa900a864bd01c5aebded70dda1429afc827de8ec3373ce9d64bfb3",
         "startup_stm32f446xx.s": "448435eb5d2ffe063490bcac42b9c861461ce05528141d87e62f8425c00131f8"

BMS/VERSION

@@ -1 +1 @@
-1.3.1
+1.4.0

DART/VERSION

@@ -1 +1 @@
-1.3.1
+1.4.0

DASH/VERSION

@@ -1 +1 @@
-1.3.1
+1.4.0

DCU/VERSION

@@ -1 +1 @@
-1.3.1
+1.4.0

LVPDB/VERSION

@@ -1 +1 @@
-1.3.1
+1.4.0

PCU/VERSION

@@ -1 +1 @@
-1.3.1
+1.4.0

Sensor_Nodes/.mxproject

@@ -47,6 +47,14 @@ list(APPEND ALL_SOURCES "${CMAKE_CURRENT_SOURCE_DIR}/../common/FEB_CAN_Library_S
 set(LWGPS_DIR "${CMAKE_CURRENT_SOURCE_DIR}/../third-party/lwgps/src")
 list(APPEND ALL_SOURCES "${LWGPS_DIR}/lwgps/lwgps.c")
 
+# Fusion AHRS library (xioTechnologies)
+set(FUSION_DIR "${CMAKE_CURRENT_SOURCE_DIR}/../third-party/Fusion")
+list(APPEND ALL_SOURCES
+    "${FUSION_DIR}/FusionAhrs.c"
+    "${FUSION_DIR}/FusionBias.c"
+    "${FUSION_DIR}/FusionCompass.c"
+)
+
 # ══════════════════════════════════════════════════════════════════════
 #  INCLUDE DIRECTORIES
 # ══════════════════════════════════════════════════════════════════════
@@ -74,6 +82,9 @@ list(APPEND BASE_INCLUDES
 # LwGPS library includes
 list(APPEND BASE_INCLUDES "${LWGPS_DIR}/include")
 
+# Fusion library includes
+list(APPEND BASE_INCLUDES "${FUSION_DIR}")
+
 # ══════════════════════════════════════════════════════════════════════
 #  EXECUTABLE TARGET
 # ══════════════════════════════════════════════════════════════════════

Sensor_Nodes/CMakeLists.txt

@@ -63,7 +63,7 @@
 /* #define HAL_SD_MODULE_ENABLED */
 /* #define HAL_MMC_MODULE_ENABLED */
 /* #define HAL_SPI_MODULE_ENABLED */
-/* #define HAL_TIM_MODULE_ENABLED */
+#define HAL_TIM_MODULE_ENABLED
 #define HAL_UART_MODULE_ENABLED
 /* #define HAL_USART_MODULE_ENABLED */
 /* #define HAL_IRDA_MODULE_ENABLED */