MDv6 Ansible Flashing

.github/workflows/main.yml

@@ -39,6 +39,22 @@ jobs:
           cd src
           bazel build //software/embedded:thunderloop_main --copt=-O3 --platforms=//toolchains/cc:robot
 
+      - name: Motor Firmware build Test
+        run: |
+          cd src
+          bazel build @mdv6_firmware//:mdv6_firmware_main --platforms=//toolchains/cc:motor_board
+
+  motor-firmware:
+    name: Motor Firmware
+    runs-on: ubuntu-24.04
+    steps:
+      - uses: actions/checkout@v4
+      - uses: ./.github/actions/environment-setup
+
+      - name: Build Motor Firmware
+        run: |
+          cd src
+          bazel build @mdv6_firmware//:mdv6_firmware_main --platforms=//toolchains/cc:motor_board
 
   software-tests:
     name: Software Tests
@@ -90,7 +106,7 @@ jobs:
             //software/simulated_tests/...    \
             //software/ai/hl/...              \
             //software/ai/navigator/...       
-            
+
       - name: Upload simulated test proto logs
         # Ensure that simulated test logs get uploaded
         if: always()

environment_setup/setup_software.sh

@@ -201,4 +201,8 @@ print_status_msg "Set up ansible-lint"
 /opt/tbotspython/bin/ansible-galaxy collection install ansible.posix
 print_status_msg "Finished setting up ansible-lint"
 
+print_status_msg "Setting up STM32 cross-compiler"
+install_stm32_cross_compiler $g_arch
+print_status_msg "Done setting up STM32 cross-compiler"
+
 print_status_msg "Done Software Setup, please reboot for changes to take place"

environment_setup/util.sh

@@ -121,6 +121,19 @@ install_python_dev_cross_compile_headers() {
     rm -rf /tmp/tbots_download_cache/python-3.12.0.tar.xz
 }
 
+install_stm32_cross_compiler() {
+    arch="aarch64"
+    if is_x86 $1; then
+        arch="x86_64"
+    fi
+    download_link=https://developer.arm.com/-/media/Files/downloads/gnu/14.3.rel1/binrel/arm-gnu-toolchain-14.3.rel1-${arch}-arm-none-eabi.tar.xz
+
+    wget -N $download_link -O /tmp/tbots_download_cache/arm-gnu-toolchain.tar.xz
+    tar -xf /tmp/tbots_download_cache/arm-gnu-toolchain.tar.xz -C /tmp/tbots_download_cache/
+    sudo mv /tmp/tbots_download_cache/arm-gnu-toolchain-14.3.rel1-${arch}-arm-none-eabi /opt/tbotspython/arm-none-eabi-gcc
+    rm /tmp/tbots_download_cache/arm-gnu-toolchain.tar.xz
+}
+
 install_python_toolchain_headers() {
   sudo mkdir -p /opt/tbotspython/py_headers/include/
   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

@@ -193,6 +193,17 @@ http_archive(
     url = "https://github.com/saebyn/munkres-cpp/archive/61086fcf5b3a8ad4bda578cdc2d1dca57b548786.tar.gz",
 )
 
+# For flashing the motor driver board
+http_archive(
+    name = "bazel_embedded",
+    sha256 = "91a78efbb0f94479fe9ca2912aced712be9e7028325bada9a73e7d325427b404",
+    strip_prefix = "bazel-embedded-cf5b240d510313b3383e0cdb550eb9f32be7244e",
+    url = "https://github.com/bazelembedded/bazel-embedded/archive/cf5b240d510313b3383e0cdb550eb9f32be7244e.zip",
+)
+
+openocd = use_extension("//starlark/firmware:open_ocd.bzl", "openocd_extension")
+use_repo(openocd, "com_openocd")
+
 http_archive(
     name = "LTC4151",
     build_file = "@//extlibs:LTC4151.BUILD",
@@ -201,6 +212,24 @@ http_archive(
     url = "https://github.com/kerrydwong/LTC4151/archive/729952f10bcdcf359877b6f728565c17a8f17423.tar.gz",
 )
 
+# TODO: Perhaps set this to pull latest
+#http_archive(
+#    name = "mdv6_firmware",
+#    build_file = "@//extlibs:mdv6_firmware.bzl",
+#    sha256 = "8054aca4ae3543e39d3587c58aa5904917d9b268922564f6ca3acf4b59bd8fe8",
+#    strip_prefix = "MDv6_Firmware-81627d25b5f147c0b5b3f8ceb2c22c883625a3d1",
+#    url = "https://github.com/UBC-Thunderbots/MDv6_Firmware/archive/81627d25b5f147c0b5b3f8ceb2c22c883625a3d1.tar.gz",
+#)
+
+git_repository = use_repo_rule("@bazel_tools//tools/build_defs/repo:git.bzl", "git_repository")
+
+git_repository(
+    name = "mdv6_firmware",
+    branch = "LEDtest",
+    build_file = "@//extlibs:mdv6_firmware.bzl",
+    remote = "https://github.com/UBC-Thunderbots/MDv6_Firmware.git",
+)
+
 http_archive(
     name = "trinamic",
     build_file = "@//extlibs:trinamic.BUILD",
@@ -224,6 +253,7 @@ register_toolchains(
     "//toolchains/cc:cc_toolchain_for_k8_aarch64_linux",
     "//toolchains/cc:cc_toolchain_for_k8",
     "//toolchains/cc:cc_toolchain_for_aarch64",
+    "//toolchains/cc:cc_toolchain_for_stm32",
 )
 
 ##############################################
@@ -256,6 +286,12 @@ new_local_repository(
     path = "/opt/tbotspython/aarch64-tbots-linux-gnu/",
 )
 
+new_local_repository(
+    name = "motor_board_gcc",
+    build_file = "@//extlibs:motor_board_gcc.BUILD",
+    path = "/opt/tbotspython/arm-none-eabi-gcc/",
+)
+
 new_local_repository(
     name = "py_cc_toolchain_host",
     build_file = "@//extlibs:py_cc_toolchain.BUILD",

src/extlibs/mdv6_firmware.bzl

@@ -0,0 +1,89 @@
+load("@bazel_embedded//tools/openocd:defs.bzl", "openocd_flash")
+
+cc_binary(
+    name = "mdv6_firmware_main",
+    # Linker file informs the toolchain how much RAM and flash you have as well as its locations on the chip
+    additional_linker_inputs = [
+        "STM32CubeIDE/STM32F031C6TX_FLASH.ld",
+    ],
+    linkopts = ["-T $(location STM32CubeIDE/STM32F031C6TX_FLASH.ld)"],
+    target_compatible_with = [
+        "@platforms//cpu:armv6-m",
+        "@platforms//os:none",
+    ],
+    deps = [
+        ":mdv6_firmware",
+    ],
+)
+
+openocd_flash(
+    name = "mdv6_firmware_flash",
+    device_configs = [
+        # Part of the STM32F0 family
+        # https://www.st.com/resource/en/reference_manual/rm0091-stm32f0x1stm32f0x2stm32f0x8-advanced-armbased-32bit-mcus-stmicroelectronics.pdf
+        "target/stm32f0x.cfg",
+    ],
+    # WARNING! `flash_offset` attribute is broken in the Bazel rule. The .elf file (mdv6_firmware_main.stripped)
+    # contains the memory mappings already, so this attribute is necessary.
+    flash_offset = "",
+    # .stripped strips debug symbols to reduce the size of the binary.
+    # see: https://bazel.build/reference/be/c-cpp#cc_binary
+    image = ":mdv6_firmware_main.stripped",
+    interface_configs = [
+        "interface/stlink.cfg",  # The ST-Link V2 programmer is used to flash the firmware.
+    ],
+)
+
+cc_library(
+    name = "mdv6_firmware",
+    srcs = glob([
+        "Core/Src/**/*.c",
+        "Src/**/*.c",
+        "STM32CubeIDE/Application/Startup/*.s",
+        "STM32CubeIDE/Application/User/*.c",
+        "*.c",
+        "Drivers/STM32F0xx_HAL_Driver/Src/*.c",
+    ], exclude = [
+        "Drivers/STM32F0xx_HAL_Driver/Src/*_template.c",
+    ]) + [
+        "MCSDK_v6.4.1-Full/MotorControl/MCSDK/MCLib/Any/Src/bus_voltage_sensor.c",
+        "MCSDK_v6.4.1-Full/MotorControl/MCSDK/MCLib/Any/Src/circle_limitation.c",
+        "MCSDK_v6.4.1-Full/MotorControl/MCSDK/MCLib/Any/Src/digital_output.c",
+        "MCSDK_v6.4.1-Full/MotorControl/MCSDK/MCLib/Any/Src/feed_forward_ctrl.c",
+        "MCSDK_v6.4.1-Full/MotorControl/MCSDK/MCLib/Any/Src/ntc_temperature_sensor.c",
+        "MCSDK_v6.4.1-Full/MotorControl/MCSDK/MCLib/Any/Src/open_loop.c",
+        "MCSDK_v6.4.1-Full/MotorControl/MCSDK/MCLib/Any/Src/pid_regulator.c",
+        "MCSDK_v6.4.1-Full/MotorControl/MCSDK/MCLib/Any/Src/pqd_motor_power_measurement.c",
+        "MCSDK_v6.4.1-Full/MotorControl/MCSDK/MCLib/Any/Src/r_divider_bus_voltage_sensor.c",
+        "MCSDK_v6.4.1-Full/MotorControl/MCSDK/MCLib/Any/Src/ramp_ext_mngr.c",
+        "MCSDK_v6.4.1-Full/MotorControl/MCSDK/MCLib/Any/Src/revup_ctrl.c",
+        "MCSDK_v6.4.1-Full/MotorControl/MCSDK/MCLib/Any/Src/speed_pos_fdbk.c",
+        "MCSDK_v6.4.1-Full/MotorControl/MCSDK/MCLib/Any/Src/virtual_speed_sensor.c",
+    ],
+    hdrs = glob([
+        "Core/Inc/**/*.h",
+        "*.h",
+        "Inc/**/*.h",
+        "Drivers/STM32F0xx_HAL_Driver/Inc/**/*.h",
+        "Drivers/CMSIS/Device/ST/STM32F0xx/Include/**/*.h",
+        "Drivers/CMSIS/Include/**/*.h",
+        "MCSDK_v6.4.1-Full/**/*.h",
+    ]),
+    includes = [
+        "Core/Inc",
+        "Drivers/STM32F0xx_HAL_Driver/Inc",
+        "Drivers/CMSIS/Device/ST/STM32F0xx/Include",
+        "Drivers/CMSIS/Include",
+        "MCSDK_v6.4.1-Full/MotorControl/MCSDK/MCLib/Any/Inc",
+        "Inc",
+    ],
+    defines = [
+        # Our MCU is the STM32F0251: https://www.st.com/resource/en/datasheet/stspin32f0251.pdf
+        "STM32F031x6",
+        # Use the HAL and Low-Layer APIs.
+        "USE_HAL_DRIVER",
+        "USE_FULL_LL_DRIVER",
+        "ARM_MATH_CM0",
+    ],
+    alwayslink = True,
+)

src/extlibs/motor_board_gcc.BUILD

@@ -0,0 +1,9 @@
+package(default_visibility = ["//visibility:public"])
+
+filegroup(
+    name = "includes",
+    srcs = glob([
+        "arm-none-eabi/include",
+        "lib/gcc/arm-none-eabi/14.3.1/include",
+    ]),
+)

src/software/embedded/ansible/playbooks/deploy_motor_firmware.yml

@@ -0,0 +1,112 @@
+---
+- name: Deploy firmware to the motor driver boards
+  hosts: THUNDERBOTS_HOSTS
+
+  vars:
+    repo_root: "{{ workspace_dir | default(playbook_dir + '/../../../../') }}"
+    # Bazel output location (convenience symlink)
+    # bazel_raw_out_path: "bazel-bin/external/+_repo_rules2+mdv6_firmware/mdv6_firmware_main"
+    # bazel_out_path: "bazel-bin/external/+_repo_rules2+mdv6_firmware/mdv6_firmware_main.bin"
+    firmware_bin_name: "mdv6_firmware_main.bin"
+    firmware_archive_name: "mdv6_firmware.tar.gz"
+    script_path: "software/embedded/drivers/flash_motor_drivers.py"
+    cfg_path: "software/embedded/drivers/raspberrypi.cfg"
+    stm32_cfg_path: "software/embedded/drivers/stm32_rpi.cfg"
+    remote_dir: "~/motor_firmware"
+    arm_toolchain_path: "/opt/tbotspython/arm-none-eabi-gcc/bin"
+
+  tasks:
+    - name: Build firmware locally
+      delegate_to: localhost
+      ansible.builtin.command: "bazel build @mdv6_firmware//:mdv6_firmware_main --platforms=//toolchains/cc:motor_board"
+      args:
+        chdir: "{{ repo_root }}"
+      changed_when: false
+
+    - name: Get binary path
+      delegate_to: localhost
+      ansible.builtin.command: "bazel cquery @mdv6_firmware//:mdv6_firmware_main --output=files --platforms=//toolchains/cc:motor_board"
+      args:
+        chdir: "{{ repo_root }}"
+      register: cquery_result
+      changed_when: false
+
+    - name: Set path facts
+      ansible.builtin.set_fact:
+        bazel_raw_out_path: "{{ cquery_result.stdout.strip() }}"
+        bazel_out_path: "{{ cquery_result.stdout.strip() }}.bin"
+
+    - name: Debug resolved paths
+      ansible.builtin.debug:
+        msg: "ELF Path: {{ bazel_raw_out_path }} | BIN Path: {{ bazel_out_path }}"
+
+    - name: Convert .elf binary to .bin binary
+      delegate_to: localhost
+      ansible.builtin.command: "{{ arm_toolchain_path }}/arm-none-eabi-objcopy -O binary {{ bazel_raw_out_path }} {{ bazel_out_path }}"
+      args:
+        chdir: "{{ repo_root }}"
+
+    - name: Archive firmware binary locally
+      delegate_to: localhost
+      ansible.builtin.command: "tar -czf {{ firmware_archive_name }} {{ bazel_out_path | basename }}" # noqa: command-instead-of-module
+      args:
+        chdir: "{{ repo_root }}/{{ bazel_out_path | dirname }}"
+      changed_when: false
+
+    - name: Remove existing remote directory
+      ansible.builtin.file:
+        path: "{{ remote_dir }}"
+        state: absent
+
+    - name: Create directory on remote
+      ansible.builtin.file:
+        path: "{{ remote_dir }}"
+        state: directory
+        mode: "0755"
+
+    - name: Copy firmware archive to remote
+      ansible.builtin.copy:
+        src: "{{ repo_root }}/{{ bazel_out_path | dirname }}/{{ firmware_archive_name }}"
+        dest: "{{ remote_dir }}/{{ firmware_archive_name }}"
+        mode: "0644"
+
+    - name: Copy flashing script to remote
+      ansible.builtin.copy:
+        src: "{{ repo_root }}/{{ script_path }}"
+        dest: "{{ remote_dir }}/flash_motor_drivers.py"
+        mode: "0755"
+
+    - name: Copy openocd config to remote
+      ansible.builtin.copy:
+        src: "{{ repo_root }}/{{ cfg_path }}"
+        dest: "{{ remote_dir }}/raspberrypi.cfg"
+        mode: "0644"
+
+    - name: Copy STM32 OpenOCD config to remote
+      ansible.builtin.copy:
+        src: "{{ repo_root }}/{{ stm32_cfg_path }}"
+        dest: "{{ remote_dir }}/stm32_rpi.cfg"
+        mode: "0644"
+
+    - name: Unarchive firmware on remote
+      ansible.builtin.unarchive:
+        src: "{{ remote_dir }}/{{ firmware_archive_name }}"
+        dest: "{{ remote_dir }}"
+        remote_src: true
+
+    - name: Configure Pinmux for SWD
+      ansible.builtin.shell: "echo {{ ansible_sudo_pass }} | sudo -S pinctrl set 4 ip pu && echo {{ ansible_sudo_pass }} | sudo -S pinctrl set 17 ip pu && echo {{
+        ansible_sudo_pass }} | sudo -S pinctrl set 18 ip pu"
+      ignore_errors: true
+
+    - name: Run flashing script for Motor Driver A
+      ansible.builtin.shell: "echo {{ ansible_sudo_pass }} | sudo -S python3 flash_motor_drivers.py 12"
+      args:
+        chdir: "{{ remote_dir }}"
+      changed_when: true
+
+    - name: Run flashing script for Motor Driver C
+      ansible.builtin.shell: "echo {{ ansible_sudo_pass }} | sudo -S python3 flash_motor_drivers.py 23"
+      args:
+        chdir: "{{ remote_dir }}"
+      changed_when: true

src/software/embedded/ansible/playbooks/setup_pi.yml

@@ -29,6 +29,7 @@
       ansible.builtin.import_tasks:
         file: ../tasks/setup_robot_software_deps.yml
 
+    # TODO ADD COMPILE OPENOCD FROM SOURCE OPTIONS
     - name: Setup systemd
       tags:
         - dependencies

src/software/embedded/ansible/requirements.in

@@ -1 +1,2 @@
 ansible==11.9.0
+gpiozero==2.0.1