Merge branch 'main' into unitree

.gitattributes

@@ -0,0 +1 @@
+* text=auto

.vscode/launch.json

@@ -2,7 +2,7 @@
     "version": "0.2.0",
     "configurations": [
         {
-            "name": "cmsis-dap-debug (Windows)",
+            "name": "dap (Win)",
             "cwd": "${workspaceRoot}",
             "executable": "${workspaceRoot}\\build\\control-base.elf",
             "request": "launch",
@@ -21,7 +21,7 @@
             "preLaunchTask": "build (Windows)" // build before debug
         },
         {
-            "name": "stlink-debug (Windows)",
+            "name": "stlink (Win)",
             "cwd": "${workspaceRoot}",
             "executable": "${workspaceRoot}\\build\\control-base.elf",
             "request": "launch",
@@ -40,7 +40,7 @@
             "preLaunchTask": "build (Windows)" // build before debug
         },
         {
-            "name": "cmsis-dap-debug (Darwin)",
+            "name": "dap",
             "cwd": "${workspaceRoot}",
             "executable": "${workspaceRoot}/build/control-base.elf",
             "request": "launch",
@@ -56,7 +56,26 @@
                 "enabled": true,
                 "samplesPerSecond": 4
             },
-            "preLaunchTask": "build (Darwin)" // build before debug
+            "preLaunchTask": "build" // build before debug
+        },
+        {
+            "name": "stlink",
+            "cwd": "${workspaceRoot}",
+            "executable": "${workspaceRoot}\\build\\control-base.elf",
+            "request": "launch",
+            "type": "cortex-debug",
+            "svdFile": "STM32F407.svd",
+            "servertype": "openocd", //GDB server
+            "configFiles": [
+                "${workspaceRoot}/config/openocd_stlink.cfg" // config
+            ],
+            //"runToEntryPoint": "main", // stop at main
+            //"rtos": "FreeRTOS",
+            "liveWatch": { 
+                "enabled": true,
+                "samplesPerSecond": 4
+            },
+            "preLaunchTask": "build" // build before debug
         }
     ]
 }

.vscode/tasks.json

@@ -1,8 +1,9 @@
 {
     "version": "2.0.0",
     "tasks": [
+        /* For Unix-Like (Linux and MacOS) */
         {
-            "label": "build (Darwin)",
+            "label": "build",
             "type": "shell",
             "command": "make -j24 V=1",
             "args": [],
@@ -24,14 +25,25 @@
             }
         },
         {
-            "label": "flash (Darwin)",
+            "label": "flash",
             "type": "shell",
-            "command": "mingw32-make -j24 V=1; mingw32-make download",
+            "command": "make -j24 V=1; make download",
             "group": {
                 "kind": "build",
                 "isDefault": false
             }
         },
+        {
+            "label": "rebuild",
+            "type": "shell",
+            "command": "git submodule update; make clean_unix; make -j24 V=1",
+            "group": {
+                "kind": "build",
+                "isDefault": false
+            },
+            "problemMatcher": [],
+        },
+        /* For Windows */
         {
             "label": "build (Windows)",
             "type": "shell",
@@ -45,12 +57,12 @@
         {
             "label": "rebuild (Windows)",
             "type": "shell",
-            "command": "mingw32-make clean; mingw32-make -j24 V=1",
+            "command": "git submodule update; mingw32-make clean; mingw32-make -j24 V=1",
             "group": {
                 "kind": "build",
                 "isDefault": false
             },
-            "problemMatcher": []
+            "problemMatcher": [],
         },
         {
             "label": "clean (Windows)",

LICENSE

@@ -175,18 +175,7 @@
 
    END OF TERMS AND CONDITIONS
 
-   APPENDIX: How to apply the Apache License to your work.
-
-      To apply the Apache License to your work, attach the following
-      boilerplate notice, with the fields enclosed by brackets "[]"
-      replaced with your own identifying information. (Don't include
-      the brackets!)  The text should be enclosed in the appropriate
-      comment syntax for the file format. We also recommend that a
-      file or class name and description of purpose be included on the
-      same "printed page" as the copyright notice for easier
-      identification within third-party archives.
-
-   Copyright [yyyy] [name of copyright owner]
+   Copyright 2024 Purdue Robomaster
 
    Licensed under the Apache License, Version 2.0 (the "License");
    you may not use this file except in compliance with the License.

Makefile

@@ -122,8 +122,8 @@ src/bsp/src/bsp_spi.c \
 src/bsp/src/bsp_serial.c \
 src/bsp/src/bsp_crc.c \
 src/bsp/src/bsp_uart.c \
-src/devices/src/BMI088driver.c \
-src/devices/src/BMI088Middleware.c \
+src/devices/src/bmi088driver.c \
+src/devices/src/bmi088middleware.c \
 src/devices/src/buzzer.c \
 src/devices/src/dji_motor.c \
 src/devices/src/dm_motor.c \
@@ -209,8 +209,8 @@ C_INCLUDES =  \
 -Ilib/CMSIS-DSP/PrivateInclude \
 -Isrc/algo/inc \
 -Isrc/devices/inc \
--Isrc/bsp/Inc \
--Isrc/app/Inc
+-Isrc/bsp/inc \
+-Isrc/app/inc
 
 # compile gcc flags
 ASFLAGS = $(MCU) $(AS_DEFS) $(AS_INCLUDES) $(OPT) -fdata-sections -ffunction-sections
@@ -235,7 +235,7 @@ LDSCRIPT = $(BOARD_BASE)/$(LINK_SCRIPT_PREFIX)_FLASH.ld
 # libraries
 LIBS = -lc -lm -lnosys 
 LIBDIR = 
-LDFLAGS = $(MCU) -T$(LDSCRIPT) $(LIBDIR) $(LIBS) -Wl,-Map=$(BUILD_DIR)/$(TARGET).map,--cref -Wl,--gc-sections -flto -Wl,--no-warn-rwx-segments -Wl,--print-memory-usage -u _printf_float
+LDFLAGS = $(MCU) -T$(LDSCRIPT) $(LIBDIR) $(LIBS) -Wl,-Map=$(BUILD_DIR)/$(TARGET).map,--cref -Wl,--gc-sections -flto -Wl,--print-memory-usage -u _printf_float
 
 # default action: build all
 all: $(BUILD_DIR)/$(TARGET).elf $(BUILD_DIR)/$(TARGET).hex $(BUILD_DIR)/$(TARGET).bin
@@ -274,8 +274,10 @@ $(BUILD_DIR):
 # clean up
 #######################################
 clean:
-	rd $(BUILD_DIR) /s/q
-
+	rm -rf $(BUILD_DIR) /s/q
+
+clean_unix:
+	rm -rf $(BUILD_DIR)
 #######################################
 # dependencies
 #######################################
@@ -300,8 +302,8 @@ download_powershell:
 
 
 # Unix-Like (Linux, MacOS)
-ECHO_WARNING=@echo -e "\033[33m[Warning]\033[0m"
-ECHO_SUCCESS=@echo -e "\033[32m[Success]\033[0m"
+ECHO_WARNING=echo "\033[33m[Warning]\033[0m"
+ECHO_SUCCESS=echo "\033[32m[Success]\033[0m"
 
 download:
 	@echo "Attempting to use CMSIS-DAP..."
@@ -312,4 +314,7 @@ download:
 	($(ECHO_SUCCESS) "Successfully programmed the device using STLink.") || \
 	($(ECHO_WARNING) "Failed to connect using both CMSIS-DAP and STLink. Please check your connections and try again."))
 
+test_download:
+	openocd -d4 -f config/openocd_cmsis_dap.cfg -c init -c halt -c "program $(BUILD_DIR)/$(TARGET).bin 0x08000000 verify reset" -c "reset run" -c shutdown
+
 # *** EOF ***

README.md

@@ -1,19 +1,175 @@
-![Build Project](https://github.com/RoboMaster-Club/control-base/actions/workflows/build.yml/badge.svg)
+# Purdue Robomasters Control Base Template
+This repository contains the shared control code between Purdue Robomasters robots.
 
-# About The Library
-This is a shareable hardware library for robomaster embedded system. It contains board support packages, device-drivers, and algorithms for control systems.
-
-## Setup Guide
-Clone repo, initialize submodule (STM32-CubeMX project)
-``` shell
+# Repository Initialization Guide
+``` bash
 git clone https://github.com/RoboMaster-Club/control-base.git
 cd control-base
 git submodule update --init
 ```
-# Usage
-## Motor Initialization
 
-an example usage
+## VSCode MAKEFILE environment setup guide
+### Install tools
+Download VSCode from [here](https://code.visualstudio.com/download)
+
+**Linux**
+- Install tools
+```bash
+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
+```json
+"cortex-debug.gdbPath": "/usr/bin/gdb-multiarch" // this is the output from last step
+```
+
+**Windows**
+- Download MSYS2 from [here](https://www.msys2.org/)
+- 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.
+```powershell
+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](#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](https://docs.brew.sh/Installation).
+```zsh
+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](https://marketplace.visualstudio.com/items?itemName=marus25.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 task.
+- **Windows:** build (Windows). 
+- **MacOS:** build (Darwin).
+
+You can use the shortcut [Ctrl+Shift+B] if you set it as the default build task.
+
+
+### Debugging the Project
+Navigate to [Run and Debug] in VSCode or press [Ctrl+Shift+D].
+Select the appropriate launch configuration 
+- **Windows:** cmsis-dap-debug (Windows)
+- **MacOS:** cmsis-dap-debug (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.
+```c
+ float example_float = 1.5f;
+```
+
+Macros should be all UPPERCASE, and enclosed by ()
+```c
+ #define EXAMPLE_MACRO (3.14f)
+```
+
+Function names should capitalize the first letter of each word.
+```c
+ float Example_Function() {}
+```
+
+typedef names should capitalize the first letter of each word and end in _t. 
+```c
+typedef struct _Example_Struct_s Example_Typedef_t {} 
+```
+
+Enum names should capitalized the first letter of each word and end in _e.
+```c
+ 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.
+```c
+void Example_Func()
+{
+   if (some_condition)
+   {
+      switch(some_num)
+      {
+      case 0:
+         break;
+      default:
+         break;
+      }
+   }
+}
+```
+
+For multiline macros, indent as such:
+```c
+#define YOUR_MACRO        \
+   {                      \
+        FIRST_LINE = 0,   \
+        SECOND_LINE = 1,  \
+        THIRD_LINE = 2,   \
+   }
+```
+
+
+# an example usage
 ```C
 Motor_Config_t yaw_motor_config = {
         // Comm Config

src/app/inc/debug_task.h

@@ -1,7 +1,7 @@
 #ifndef DEBUG_TASK_H
 #define DEBUG_TASK_H
 
-#define DEBUG_PERIOD (1)
+#define DEBUG_PERIOD (10)
 
 void Debug_Task_Init(void);
 void Debug_Task_Loop(void);