RIT Formula SAE Vehicle Controller

Requirements

• Git is used to download dependencies
• Docker is used to build anywhere
  • Docker Desktop is recommended on Windows and Mac OS
• Arm GNU Toolchain
  • For Windows, select Windows (mingw-w64-i686) hosted cross toolchains -> AArch32 bare-metal target (arm-none-eabi)
• VS Code is recommended for editing code.
  • C/C++ Extension
  • Native Debug Extension

Setup

Once docker is installed and running, click Terminal -> Run Task -> Setup to build the docker image. If running from a linux terminal, execute scripts/setup.sh from the project's root directory. This only needs to be done once.

Compilation

Click Terminal -> Run Build Task to compile the code.

Testing

Two types of tests exist for the codebase: Unit Testing, and Software in the Loop (SIL) testing.

Unit tests validate single modules, using CMock to mock out dependencies. To run unit tests, click Terminal -> Run Task -> Unit Tests.

SIL tests build vc for linux and run it in a child process. Python tests using a sockets interface feed the program input and validate its output. To run SIL tests, click Terminal -> Run Task -> SIL Tests.

Building Specific Targets

Click Terminal -> Run Task -> Enter Container or execute scripts/enter-docker.sh to get a shell inside the docker container.

Specific targets can be built using SCons commands from the docker container shell:

• scons vc.bin -build stm32 binary for loading onto the VC
• scons unit_tests -build and run application module unit tests
• scons sil -build and run SIL tests
• scons memchecks -run valgrind memcheck tool on unit tests
• scons src/app/<app module name>/unit_test_results.txt -unit test a specific application module
• scons src/app/<app module name>/memcheck_results.txt -run valgrind memcheck on a specific application unit test runner

You can speed up builds with multithreading by adding -j<number of cores> to any scons command

Custom SCons Build Options

• --dbg -adds -g to linux build commands, enabling debugging symbols (helps track valgrind error origins)

See SCons and our sconstruct.py (top level) for more details on the build system.

Source Code Structure

Each C module has its own folder where its header (.h), source (.c), and test source (test_<module name>.c) files are located.

Application logic is implemented in hardware agnostic application modules under src/app. The test source for these modules contains unit tests that run automatically using Unity/CMock.

Driver code is implemented in hardware specific driver modules under src/driver. There are two source files for each driver module: SIM_HAL_<module name>.c, drivers for interfacing with a simulation running on linux, and STM32_HAL_<module name>.c, drivers for the stm32 microcontroller. The test source for driver modules is a program made for running on an stm32 evaluation board for testing the drivers.