Integration: merge wingsail, rudder and pdb module branches into main

.clangd

@@ -0,0 +1,40 @@
+CompileFlags:
+  Add:
+    - -xc
+    - -std=gnu11
+
+---
+If:
+  PathMatch: (.*/)?firmware/controller-projects/rudder-controller/.*\.(c|h)$
+CompileFlags:
+  Add:
+    - -DUSE_HAL_DRIVER
+    - -DUSE_FULL_LL_DRIVER
+    - -DSTM32U575xx
+    - -I/home/george-sleen/Documents/design-team/sailbot/com-module-firmware/firmware/controller-projects/rudder-controller/Core/Inc
+    - -I/home/george-sleen/Documents/design-team/sailbot/com-module-firmware/firmware/controller-projects/rudder-controller/Drivers/STM32U5xx_HAL_Driver/Inc
+    - -I/home/george-sleen/Documents/design-team/sailbot/com-module-firmware/firmware/controller-projects/rudder-controller/Drivers/CMSIS/Device/ST/STM32U5xx/Include
+    - -I/home/george-sleen/Documents/design-team/sailbot/com-module-firmware/firmware/controller-projects/rudder-controller/Drivers/CMSIS/Include
+    - -I/home/george-sleen/Documents/design-team/sailbot/com-module-firmware/firmware/drv-modules/rudder-control-model
+    - -I/home/george-sleen/Documents/design-team/sailbot/com-module-firmware/firmware/drv-modules/motor-base-PID
+    - -I/home/george-sleen/Documents/design-team/sailbot/com-module-firmware/firmware/drv-modules/briter-encoders
+    - -I/home/george-sleen/Documents/design-team/sailbot/com-module-firmware/firmware/drv-modules/nmea0183
+
+---
+If:
+  PathMatch: (.*/)?firmware/com-modules/CANFD/.*\.(c|h)$
+CompileFlags:
+  Add:
+    - -DUSE_HAL_DRIVER
+    - -DHAL_TIM_MODULE_ENABLED
+    - -DSTM32U575xx
+    - -I/home/george-sleen/Documents/design-team/sailbot/com-module-firmware/firmware/com-modules/CANFD
+    - -I/home/george-sleen/Documents/design-team/sailbot/com-module-firmware/firmware/com-modules/library-tests/fdcan-library-test/Core/Inc
+    - -I/home/george-sleen/Documents/design-team/sailbot/com-module-firmware/firmware/com-modules/library-tests/fdcan-library-test/Drivers/STM32U5xx_HAL_Driver/Inc
+    - -I/home/george-sleen/Documents/design-team/sailbot/com-module-firmware/firmware/com-modules/library-tests/fdcan-library-test/Drivers/CMSIS/Device/ST/STM32U5xx/Include
+    - -I/home/george-sleen/Documents/design-team/sailbot/com-module-firmware/firmware/com-modules/library-tests/fdcan-library-test/Drivers/CMSIS/Include
+    - -I/home/george-sleen/Documents/design-team/sailbot/com-module-firmware/firmware/controller-projects/rudder-controller/Core/Inc
+    - -I/home/george-sleen/Documents/design-team/sailbot/com-module-firmware/firmware/controller-projects/rudder-controller/Drivers/STM32U5xx_HAL_Driver/Inc
+    - -I/home/george-sleen/Documents/design-team/sailbot/com-module-firmware/firmware/controller-projects/rudder-controller/Drivers/CMSIS/Device/ST/STM32U5xx/Include
+    - -I/home/george-sleen/Documents/design-team/sailbot/com-module-firmware/firmware/controller-projects/rudder-controller/Drivers/CMSIS/Include
+    - -I/home/george-sleen/Documents/design-team/sailbot/com-module-firmware/firmware/drv-modules/nmea0183

.github/workflows/ci.yml

@@ -0,0 +1,33 @@
+name: CI
+
+on:
+  pull_request:
+  push:
+    branches: [main]
+
+jobs:
+  ioc-sync:
+    name: CubeMX .ioc in sync with generated code
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v4
+      - uses: cachix/install-nix-action@v27
+        with:
+          extra_nix_config: "experimental-features = nix-command flakes"
+      - name: Check .ioc peripherals and pinned CubeMX version
+        run: nix develop .#ci --command python3 tools/check_ioc_sync.py .
+
+  host-tests:
+    name: Host unit tests
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v4
+      - uses: cachix/install-nix-action@v27
+        with:
+          extra_nix_config: "experimental-features = nix-command flakes"
+
+      # The harness in firmware/tests builds the drv-modules against stub HAL
+      # headers with plain gcc, so no ARM toolchain is needed. The .#ci shell
+      # omits CubeMX and the cross toolchain to keep the run small.
+      - name: Build and run module tests
+        run: nix develop .#ci --command make -C firmware/tests test

.gitignore

@@ -1,19 +1,37 @@
+# Build artifacts
 *.bin
 *.elf
 *.list
 *.map
-*.list
 !objects.list
 *.d
 *.o
 *.su
 *.metadata
 *.settings
+*.exe
 
 #Debug
 *Debug/
 *debug/
 *Release/
 *release
 
+# Code editors
 *.vscode
+*.idea
+*.cache
+
+# Agent instructions
+*/AGENTS.md
+
+# Tooling artifacts
+compile_commands.json
+firmware/compile_commands.json
+.clangd
+
+# Host test artifacts
+firmware/tests/build/
+test_state_machine.c
+
+__pycache__

.gitmodules

@@ -0,0 +1,4 @@
+[submodule "firmware/PLRS-IMU"]
+	path = firmware/PLRS-IMU
+	url = https://github.com/UBCSailbot/PLRS-IMU.git
+	branch = main

.project

@@ -0,0 +1,11 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<projectDescription>
+	<name>com-module-firmware</name>
+	<comment></comment>
+	<projects>
+	</projects>
+	<buildSpec>
+	</buildSpec>
+	<natures>
+	</natures>
+</projectDescription>

README.md

@@ -80,6 +80,20 @@ We do not require an in-depth understanding of version control and git, but you
 
 **Main Branch:** This is where our finalized, reviewed code goes. Only properly documented, clean, and functional code should be included in (the caveat being that some pre-existing code may not follow this standard). To get code in the main branch, you must make a PR with two people signing off on it, one of whom should be an ELEC lead.
 
+## On-water tests: tagged and on main
+
+**Firmware for an on-water test must be built from a tagged commit on `main`.** Not a working branch, not a local build.
+
+A tag is the only reliable answer to "what was actually running?" after something misbehaves. Working branches move; the flashed build may no longer exist.
+
+1. Merge to `main` via the normal PR process.
+2. `git tag -a v0.2.0 -m "<changes>"` and `git push origin v0.2.0`.
+3. Build and flash from the tag, and record it in the test log.
+
+Tags are `vMAJOR.MINOR.PATCH`: MINOR for new functionality, PATCH for fixes.
+
+If a board's firmware can't be traced to a tag, treat the test results as unverified.
+
 ## Linking modules to controller-projects
 
 ```controller-projects``` is where whole projects are created, while ```___-modules``` is where small modules are written.

firmware/.clangd

@@ -0,0 +1,7 @@
+CompileFlags:
+  # Use the ARM GCC toolchain for system headers to avoid host glibc includes.
+  Compiler: /run/current-system/sw/bin/arm-none-eabi-gcc
+  Add:
+    - --target=arm-none-eabi
+    - --gcc-toolchain=/nix/store/xixg6bjakn3ymzc3qs0c6nd0ymwav6ha-gcc-arm-embedded-14.3.rel1/bin/..
+    - --sysroot=/nix/store/xixg6bjakn3ymzc3qs0c6nd0ymwav6ha-gcc-arm-embedded-14.3.rel1/bin/../arm-none-eabi

firmware/.project

@@ -0,0 +1,11 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<projectDescription>
+	<name>firmware</name>
+	<comment></comment>
+	<projects>
+	</projects>
+	<buildSpec>
+	</buildSpec>
+	<natures>
+	</natures>
+</projectDescription>

firmware/Makefile

@@ -0,0 +1,18 @@
+.PHONY: test clean compile_commands help
+
+help:
+	@printf "%s\n" \
+		"Targets:" \
+		"  test              Build and run host-side tests" \
+		"  clean             Clean test build artifacts" \
+		"  compile_commands  Regenerate top-level compile_commands.json" \
+		"  help              Show this help"
+
+test:
+	$(MAKE) -C tests test
+
+clean:
+	$(MAKE) -C tests clean
+
+compile_commands:
+	$(MAKE) -C controller-projects/wingsail-controller compile_commands