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Andrewyxitsarunearunpre-commit-ci-lite[bot]sunghyuneun
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MDv6 Ansible Flashing (#3614)
* project vimrc for FZF * filter out .swp files * bootstrap bazel embedded * still working on compilation * wip mdv6 firmware * wip * wip * wip * wip * Add new cross-compiler config * wip move software/motor -> firmware/motor * Updated main from MDV6 spi branch * wip * compiles but doesn't link * both compiles AND links! * add bazel-embedded * wip * wip * perhaps flashing works * wip * wip * add arm toolchain to opt/tbotspython * debug overflow * wip * compiles now * Add compile and linker flags to optimize space usage * Build mdv6 firmware in CI * shouldn't commit this * fix syntax issue in actions file * fix firmware builds * Bazel 8 hail mary * fix alt builds * don't test firmware file * [pre-commit.ci lite] apply automatic fixes * openocd flashing works i think? * [pre-commit.ci lite] apply automatic fixes * modified locations * Replaced with remote * ansible deploy * prototype ansible * cleanup * ci fix * config created * openocd setup * cleanup * reformat * test * testing code * Working flashing script * Got rid of old unnecessary dependency * merged * linking fixed, working state * Fixed Ansible Playbook * Please test this commit * fix paths * more merge * fix merge * [pre-commit.ci lite] apply automatic fixes * Multiplexed Flashing to MD Board * [pre-commit.ci lite] apply automatic fixes * Future UI 2.2 Pinout * [pre-commit.ci lite] apply automatic fixes * Changed python to pre-compiled binary instead of compiling from source * Added OpenOCD install to setup_pi.yml. * Formatting Changes * [pre-commit.ci lite] apply automatic fixes * final push * Added documentation * Fix unintended docs deletion and ansible lint errors * Fix flash_motor_drivers.py missing rich import issue * Format code * Add deploy_motor_firmware to tbots * [pre-commit.ci lite] apply automatic fixes * removed unused pkgs * new cs values * new start stop services * module changed * [pre-commit.ci lite] apply automatic fixes * precommit fixes --------- Co-authored-by: arun <arun.sfc@outlook.com> Co-authored-by: arun <arun@zaber.com> Co-authored-by: pre-commit-ci-lite[bot] <117423508+pre-commit-ci-lite[bot]@users.noreply.github.com> Co-authored-by: sunghyuneun <gregoryeun@gmail.com> Co-authored-by: Grayson <grayhoang@gmail.com> Co-authored-by: Thunderbots <ubcrobocup@gmail.com>
1 parent 1761a61 commit c4d7fc7

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‎.github/workflows/main.yml‎

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@@ -90,6 +90,22 @@ jobs:
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cd src
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bazel build //software/embedded:thunderloop_main --copt=-O3 --platforms=//toolchains/cc:robot
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- name: Motor Firmware build Test
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run: |
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cd src
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bazel build @mdv6_firmware//:mdv6_firmware_main --platforms=//toolchains/cc:motor_board
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motor-firmware:
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name: Motor Firmware
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runs-on: ubuntu-24.04
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steps:
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- uses: actions/checkout@v4
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- uses: ./.github/actions/environment-setup
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- name: Build Motor Firmware
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run: |
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cd src
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bazel build @mdv6_firmware//:mdv6_firmware_main --platforms=//toolchains/cc:motor_board
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software-tests:
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needs: check-and-clear-cache

‎.pre-commit-config.yaml‎

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name: fix common trivial code errors
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language: system
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entry: scripts/lint_and_format.sh
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pass_filenames: false
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- id: generate_fsm_diagrams
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name: generate new FSM diagrams

‎docs/setup-pi.md‎

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### Install OS Using Raspberry Pi Imager
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To install the Raspberry Pi OS onto a microSD card, we use the Raspberry Pi Imager program. Install it [here](https://www.raspberrypi.com/software/).
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To install the Raspberry Pi OS onto a microSD card, we use the Raspberry Pi Imager program. Install it [here](https://www.raspberrypi.com/software/).
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*Note: if using the "Download for Linux" option, you will have to right click on the installed `.AppImage` file and select `Properties` &rarr; `Permissions` &rarr; `Allow Executing File as Program` (this may appear as a checkbox)
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*Note 1: If on Linux, download the app image through `Download for Linux (x86_64)`. Using `sudo apt install rpi-imager` installs an older version of the program, which does not properly apply OS customization required in later steps.
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*Note 2: if using the "Download for Linux" option, you will have to right click on the installed `.AppImage` file and select `Properties` &rarr; `Permissions` &rarr; `Allow Executing File as Program` (this may appear as a checkbox)
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When you open the imager, you should see something like this:
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‎docs/useful-robot-commands.md‎

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- [Table of Contents](#table-of-contents)
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- [Flashing the robot's compute module](#flashing-the-robots-compute-module)
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- [Flashing the powerboard](#flashing-the-powerboard)
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- [Flashing the Motor Driver Boards from Raspberry Pi](#flashing-the-motor-driver-boards-from-raspberry-pi)
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- [Setting up the embedded host](#setting-up-the-embedded-host)
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- [Raspberry Pi](#raspberry-pi)
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- [Robot Diagnostics](#robot-diagnostics)
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bazel run //software/embedded/ansible:run_ansible --platforms=//toolchains/cc:robot -- --playbook deploy_powerboard.yml --hosts <robot_ip> --ssh_pass <robot_password>
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```
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## Flashing the Motor Driver Boards from Raspberry Pi
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This will flash from our Firmware repository's master branch onto all 4 motor driver boards.
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```bash
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./tbots.py run run_ansible -- --playbook deploy_motor_firmware.yml --hosts robot@<robot_ip> --ssh_pass <robot_password>
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```
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## Setting up the embedded host
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This section refers to setting up the computer on the robot for the first time. We need to setup dependencies, drivers and necessary configurations.

‎environment_setup/setup_software.sh‎

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/opt/tbotspython/bin/ansible-galaxy collection install ansible.posix
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print_status_msg "Finished setting up ansible-lint"
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print_status_msg "Setting up STM32 cross-compiler"
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install_stm32_cross_compiler $g_arch
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print_status_msg "Done setting up STM32 cross-compiler"
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print_status_msg "Done Software Setup, please reboot for changes to take place"

‎environment_setup/util.sh‎

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@@ -125,6 +125,19 @@ install_python_dev_cross_compile_headers() {
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rm -rf /tmp/tbots_download_cache/python-3.12.0.tar.xz
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}
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install_stm32_cross_compiler() {
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arch="aarch64"
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if is_x86 $1; then
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arch="x86_64"
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fi
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download_link=https://developer.arm.com/-/media/Files/downloads/gnu/14.3.rel1/binrel/arm-gnu-toolchain-14.3.rel1-${arch}-arm-none-eabi.tar.xz
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wget -N $download_link -O /tmp/tbots_download_cache/arm-gnu-toolchain.tar.xz
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tar -xf /tmp/tbots_download_cache/arm-gnu-toolchain.tar.xz -C /tmp/tbots_download_cache/
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sudo mv /tmp/tbots_download_cache/arm-gnu-toolchain-14.3.rel1-${arch}-arm-none-eabi /opt/tbotspython/arm-none-eabi-gcc
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rm /tmp/tbots_download_cache/arm-gnu-toolchain.tar.xz
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}
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install_python_toolchain_headers() {
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sudo mkdir -p /opt/tbotspython/py_headers/include/
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sudo ln -sfn "$(python3.12-config --includes | awk '{for(i=1;i<=NF;++i) if ($i ~ /^-I/) print substr($i, 3)}' | head -n1)" /opt/tbotspython/py_headers/include/

‎src/MODULE.bazel‎

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url = "https://github.com/saebyn/munkres-cpp/archive/61086fcf5b3a8ad4bda578cdc2d1dca57b548786.tar.gz",
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)
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# For flashing the motor driver board
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http_archive(
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name = "bazel_embedded",
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sha256 = "91a78efbb0f94479fe9ca2912aced712be9e7028325bada9a73e7d325427b404",
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strip_prefix = "bazel-embedded-cf5b240d510313b3383e0cdb550eb9f32be7244e",
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url = "https://github.com/bazelembedded/bazel-embedded/archive/cf5b240d510313b3383e0cdb550eb9f32be7244e.zip",
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)
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openocd = use_extension("//starlark/firmware:open_ocd.bzl", "openocd_extension")
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use_repo(openocd, "com_openocd")
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http_archive(
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name = "LTC4151",
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build_file = "@//extlibs:LTC4151.BUILD",
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url = "https://github.com/kerrydwong/LTC4151/archive/729952f10bcdcf359877b6f728565c17a8f17423.tar.gz",
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)
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git_repository = use_repo_rule("@bazel_tools//tools/build_defs/repo:git.bzl", "git_repository")
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git_repository(
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name = "mdv6_firmware",
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build_file = "@//extlibs:mdv6_firmware.bzl",
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# Pinning to the exact commit guarantees Bazel will rebuild when this commit SHA is updated
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commit = "97e06b9ce8db1940a033b536cd55b4059943d601", # latest commit on master branch
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remote = "https://github.com/UBC-Thunderbots/MDv6_Firmware.git",
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)
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http_archive(
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name = "trinamic",
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build_file = "@//extlibs:trinamic.BUILD",
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"//toolchains/cc:cc_toolchain_for_k8_aarch64_linux",
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"//toolchains/cc:cc_toolchain_for_k8",
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"//toolchains/cc:cc_toolchain_for_aarch64",
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"//toolchains/cc:cc_toolchain_for_stm32",
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)
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##############################################
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path = "/opt/tbotspython/aarch64-tbots-linux-gnu/",
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)
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new_local_repository(
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name = "motor_board_gcc",
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build_file = "@//extlibs:motor_board_gcc.BUILD",
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path = "/opt/tbotspython/arm-none-eabi-gcc/",
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)
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new_local_repository(
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name = "py_cc_toolchain_host",
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build_file = "@//extlibs:py_cc_toolchain.BUILD",

‎src/MODULE.bazel.lock‎

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‎src/extlibs/mdv6_firmware.bzl‎

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load("@bazel_embedded//tools/openocd:defs.bzl", "openocd_flash")
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cc_binary(
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name = "mdv6_firmware_main",
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# Linker file informs the toolchain how much RAM and flash you have as well as its locations on the chip
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additional_linker_inputs = [
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"STM32CubeIDE/STM32F031C6TX_FLASH.ld",
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],
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linkopts = ["-T $(location STM32CubeIDE/STM32F031C6TX_FLASH.ld)"],
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target_compatible_with = [
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"@platforms//cpu:armv6-m",
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"@platforms//os:none",
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],
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deps = [
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":mdv6_firmware",
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],
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)
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openocd_flash(
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name = "mdv6_firmware_flash",
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device_configs = [
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# Part of the STM32F0 family
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# https://www.st.com/resource/en/reference_manual/rm0091-stm32f0x1stm32f0x2stm32f0x8-advanced-armbased-32bit-mcus-stmicroelectronics.pdf
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"target/stm32f0x.cfg",
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],
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# WARNING! `flash_offset` attribute is broken in the Bazel rule. The .elf file (mdv6_firmware_main.stripped)
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# contains the memory mappings already, so this attribute is necessary.
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flash_offset = "",
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# .stripped strips debug symbols to reduce the size of the binary.
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# see: https://bazel.build/reference/be/c-cpp#cc_binary
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image = ":mdv6_firmware_main.stripped",
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interface_configs = [
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"interface/stlink.cfg", # The ST-Link V2 programmer is used to flash the firmware.
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],
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)
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cc_library(
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name = "mdv6_firmware",
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srcs = glob([
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"Core/Src/**/*.c",
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"Src/**/*.c",
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"STM32CubeIDE/Application/Startup/*.s",
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"STM32CubeIDE/Application/User/*.c",
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"*.c",
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"Drivers/STM32F0xx_HAL_Driver/Src/*.c",
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], exclude = [
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"Drivers/STM32F0xx_HAL_Driver/Src/*_template.c",
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]) + [
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"MCSDK_v6.4.1-Full/MotorControl/MCSDK/MCLib/Any/Src/bus_voltage_sensor.c",
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"MCSDK_v6.4.1-Full/MotorControl/MCSDK/MCLib/Any/Src/circle_limitation.c",
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"MCSDK_v6.4.1-Full/MotorControl/MCSDK/MCLib/Any/Src/digital_output.c",
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"MCSDK_v6.4.1-Full/MotorControl/MCSDK/MCLib/Any/Src/feed_forward_ctrl.c",
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"MCSDK_v6.4.1-Full/MotorControl/MCSDK/MCLib/Any/Src/ntc_temperature_sensor.c",
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"MCSDK_v6.4.1-Full/MotorControl/MCSDK/MCLib/Any/Src/open_loop.c",
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"MCSDK_v6.4.1-Full/MotorControl/MCSDK/MCLib/Any/Src/pid_regulator.c",
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"MCSDK_v6.4.1-Full/MotorControl/MCSDK/MCLib/Any/Src/pqd_motor_power_measurement.c",
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"MCSDK_v6.4.1-Full/MotorControl/MCSDK/MCLib/Any/Src/r_divider_bus_voltage_sensor.c",
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"MCSDK_v6.4.1-Full/MotorControl/MCSDK/MCLib/Any/Src/ramp_ext_mngr.c",
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"MCSDK_v6.4.1-Full/MotorControl/MCSDK/MCLib/Any/Src/revup_ctrl.c",
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"MCSDK_v6.4.1-Full/MotorControl/MCSDK/MCLib/Any/Src/speed_pos_fdbk.c",
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"MCSDK_v6.4.1-Full/MotorControl/MCSDK/MCLib/Any/Src/virtual_speed_sensor.c",
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],
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hdrs = glob([
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"Core/Inc/**/*.h",
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"*.h",
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"Inc/**/*.h",
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"Drivers/STM32F0xx_HAL_Driver/Inc/**/*.h",
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"Drivers/CMSIS/Device/ST/STM32F0xx/Include/**/*.h",
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"Drivers/CMSIS/Include/**/*.h",
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"MCSDK_v6.4.1-Full/**/*.h",
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]),
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includes = [
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"Core/Inc",
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"Drivers/STM32F0xx_HAL_Driver/Inc",
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"Drivers/CMSIS/Device/ST/STM32F0xx/Include",
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"Drivers/CMSIS/Include",
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"MCSDK_v6.4.1-Full/MotorControl/MCSDK/MCLib/Any/Inc",
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"Inc",
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],
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defines = [
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# Our MCU is the STM32F0251: https://www.st.com/resource/en/datasheet/stspin32f0251.pdf
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"STM32F031x6",
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# Use the HAL and Low-Layer APIs.
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"USE_HAL_DRIVER",
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"USE_FULL_LL_DRIVER",
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"ARM_MATH_CM0",
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],
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alwayslink = True,
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)

‎src/extlibs/motor_board_gcc.BUILD‎

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package(default_visibility = ["//visibility:public"])
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filegroup(
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name = "includes",
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srcs = glob([
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"arm-none-eabi/include",
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"lib/gcc/arm-none-eabi/14.3.1/include",
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]),
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)

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