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Purdue Robomasters Control Base Template

This repository contains the shared control code between Purdue Robomasters robots.

Repository Initialization Guide

git clone https://github.com/RoboMaster-Club/control-base.git
cd control-base
git submodule update --init

VSCode MAKEFILE environment setup guide

Install tools

Download VSCode from here

Linux

  • Install tools
sudo apt update
sudo apt upgrade
sudo apt install openocd
sudo apt install gcc-arm-none-eabi gdb-arm-none-eabi
  • Check tool path with which
which arm-none-eabi-gcc
which arm-none-eabi-gdb //will be used when debug, so remember this path
which openocd
  • Install extensions
    • Install Cortex Debug vscode extension
    • Edit the extension setting .json file
"cortex-debug.gdbPath": "/usr/bin/gdb-multiarch" // this is the output from last step

Windows

  • Download MSYS2 from here
  • The default installation path is C:\msys64, run C:\msys64\msys2.exe.
  • Install OpenOCD, arm-none-eabi-gcc, and gdb-multiarch by running these commands in MSYS2 terminal.
pacman -S mingw-w64-x86_64-make
pacman -S mingw-w64-x86_64-openocd
pacman -S mingw-w64-x86_64-arm-none-eabi-gcc
pacman -S mingw-w64-x86_64-gdb-multiarch
  • Modify Environmental Variables Add C:\msys64\mingw64\bin to PATH

Refer to Common Issues section for local pointer to openocd and GNU toolchain

MacOS - Apple Silicon

  • Install Arm embedded toolchain and OpenOCD and arm-none-eabi-gdb using homebrew.
brew install gcc-arm-embedded  
brew install openocd

Make sure to add necessary tools to VSCode settings.json Alternatively, you can add them to PATH variable to allow them to be accessed globally.

Set up VSCode

  • Add the tool path for OpenOCD and make tools.

  • Install the VSCode extension Cortex-Debug to enable ARM microcontroller debugging.

  • Add GDB path by opening your VSCode settings.json in VSCode and add the following to the end of the file.

    • Windows: "cortex-debug.gdbPath": "c:/msys64/mingw64/bin/gdb-multiarch.exe".
    • MacOS: "cortex-debug.gdbPath": "/opt/homebrew/bin/arm-none-eabi-gdb".

How to use

Building the Project

Open the Command Palatte in VSCode: [Ctrl+Shift+P]. Then, select Tasks: Run Build Tasks and pick the appropriate build/flash task.

  • Windows: build/flash (Windows).
  • Unix-Like (Linux and MacOS): build/flash.

You can use the shortcut [Ctrl+Shift+B] or [Cmd+Shift+B].

Debugging the Project

Navigate to [Run and Debug] in VSCode or press [Ctrl+Shift+D]. Select the appropriate launch configuration, depending on if you are using stlink or cmsis-dap debugger.

  • Windows: dap/stlink (Windows)
  • Unix-Like (Linux and MacOS): dap/stlink (Darwin)

Click on the green play button or press [F5] to start debugging.

Common Issues

1. Windows fails to initializing cmsis-dap debugger.

Solution: Go to device manager and uninstall the usb device (probably having some error message in the list). Unplug and plug in the debugger again.

2. Tools (OpenOCD, make tools) not found

Failed to launch OpenOCD GDB Server:...

or

mingw32-make: The term 'mingw32-make' is not recognized as a name of a cmdlet, function, script file, or executable program.
Check the spelling of the name, or if a path was included, verify that the path is correct and try again.

Solution1: Add openocd.exe to system environmental variable. If you followed the installation instruction in this README file, then OpenOCD should be install at default location C:\msys64\mingw64\bin\openocd.exe, for windows user. Add C:\msys64\mingw64\bin to system executable path.

Solution2: If you don't want to mess with the system path, you could also add local openocd path in .vscode/launch.json. Add attribute serverpath by adding "serverpath": "C:\\msys64\\mingw64\\bin\\openocd.exe" in configuration.

restarting terminal is liekly needed for new environment variable to take effect.

Tips

VSCode IntelliSense Configuration

"C_Cpp.default.compilerPath": "C:/msys64/mingw64/bin/arm-none-eabi-gcc.exe"

adding this would link the standard library header files, such as stdint.h, stdlib.h, math.h.

Development Conventions

All names must use snake_case.

Variable names are all lowercase.

 float example_float = 1.5f;

Macros should be all UPPERCASE, and enclosed by ()

 #define EXAMPLE_MACRO (3.14f)

Function names should capitalize the first letter of each word.

 float Example_Function() {}

typedef names should capitalize the first letter of each word and end in _t.

typedef struct _Example_Struct_s Example_Typedef_t {}

Enum names should capitalized the first letter of each word and end in _e.

 enum Example_Enum_e {};

In general, indent code blocks for functions and if statments as such, but for switches put cases in the same line.

void Example_Func()
{
   if (some_condition)
   {
      switch(some_num)
      {
      case 0:
         break;
      default:
         break;
      }
   }
}

For multiline macros, indent as such:

#define YOUR_MACRO        \
   {                      \
        FIRST_LINE = 0,   \
        SECOND_LINE = 1,  \
        THIRD_LINE = 2,   \
   }

an example usage

Motor_Config_t yaw_motor_config = {
        // Comm Config
        .can_bus = 1, // set can bus currently using
        .speed_controller_id = 3,
        .offset = 3690,
        
        // Motor Reversal Config (if motor is installed in 
        // opposite direction, change to MOTOR_REVERSAL_REVERSED)
        .motor_reversal = MOTOR_REVERSAL_NORMAL,
        
        //external sensor config
        .use_external_feedback = 1,
        .external_feedback_dir = 1, // 1 if the feedback matches with task space direction, 0 otherwise
        .external_angle_feedback_ptr = &g_imu.rad.yaw, // assign the pointer to the external angle feedback
        .external_velocity_feedback_ptr = &(g_imu.bmi088_raw.gyro[2]), // assign the poitner to the external velocity feedback
        
        // Controller Config
        .control_mode = POSITION_CONTROL, // Control Mode, see control mode for detail
        .angle_pid =
            {
                .kp = 20000.0f,
                .kd = 1000000.0f,
                .output_limit = GM6020_MAX_CURRENT,
            },
        .velocity_pid =
            {
                .kp = 500.0f,
                .output_limit = GM6020_MAX_CURRENT,
            },
    };

Modifications

  • Change samepleFreq in MahonyAHRS.c, this will affect the fusion result
  • Initialize a task for imu in FreeRTOS environment

Debug SOP

  • Check IMU is attched firmly
  • Check remote functioning (especially the dial wheel)