This repo contains all the software used on our robots:
can-io-firmware
contains the firmware that runs on the IO boardmotor-control-firmware
contains the firmware that runs on the motor boardproximity-beacon-firmware
contains the firmware that runs on the proximity beacon, it's the same code as the motor board but with a different application that is tailored to the needs of our proximity beacon modulemaster-firmware
contains the software that runs on the master board, it interfaces all the other boards over CAN and runs the robot's "intelligence".eurobot
contains documentation and cofiguration files specific to the Eurobot competitionsensor-firmware
contains code running on the sensor boarduwb-beacon-firmware
contains code and documentation that runs on the UWB beacon boardhitl
contains code to support Hardware In The Loop testing of the master board firmware.Other important software components can be found in this repo:
lib
contains all the libraries and building blocks we use on multiple boards, which includes:
lib/can-bootloader
the bootloader that allows us to update our boards (IO and motor) over CANlib/ChibiOS
the RTOS/HAL we use on all our boardslib/uavcan
the CAN communication library we use on all our boardslib/error
a logging librarylib/parameter
a library to create and manage configurations of boardslib/msgbus
a publish/subscribe library for inter thread communicationtools
groups all tools we use to develop on the robot including:
tools/pid-tuner
a GUI to tune PID gains of motor boards over CAN, written using Python and Qttools/studio
a set of introspection tools written in Python and Qt to debug our robotsuavcan_data_types
contains the custom message definitions (DSDL) for the UAVCAN communication protocolci
groups scripts and Docker files for our continuous integration serveruser-guide
contains high-level documentation about software and electronics components used on our robotsThe user guide is generated using mdbook from doc/user-guide
To build one platform with cmake, for example here our UWB beacon board:
mkdir build-uwb && cd build-uwb
cmake .. -DCMAKE_TOOLCHAIN_FILE=../cmake/uwb-beacon.cmake
# WARNING: Make all or make without target does not work.
make uwb-beacon-firmware.elf
# The resulting firmware is at `uwb-beacon-firmware/uwb-beacon-firmware.elf`.
To build the unit tests for all the boards:
mkdir build
cd build
cmake ..
make all test
We use clang-format
(tested with version 7 or greater) to enforce proper source code formatting.
You can use the format-all.sh
script in the root directory to format the whole source tree.
You can also use clang-format -i --style=file src/foo.c
to format a particular file.
Finally, some editors include support for clang-format
through plugin, check for yourself.