cogip/mcu-firmware

Robotics firmware based on RIOT-OS

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MCU firmware

This repository contains firmware source code of Cogip robot for Eurobot, French robotic contest. Its firmware intends to run on stm32f4xx MCU family and rely on RIOT-OS.

As this firmware and RIOT-OS are both evolving, two git repositories lives next to each other, and both are required to generate the firwmare binaries.

Build status

Environment setup

Cloning repositories

$ git clone https://github.com/cogip/RIOT.git -b cogip_master
$ git clone https://github.com/cogip/mcu-firmware.git

Requirements

Toolchain

To install toolchain and development on ubuntu 20.04:

$ sudo apt install build-essential gcc-multilib g++-multilib openocd

Minimal gcc version: 8.1

To manually install arm-none-eabi toolchain:

$ mkdir ~/toolchain/
$ cd ~/toolchain/
$ wget https://developer.arm.com/-/media/Files/downloads/gnu-rm/8-2018q4/gcc-arm-none-eabi-8-2018-q4-major-linux.tar.bz2
$ tar xf gcc-arm-none-eabi-8-2018-q4-major-linux.tar.bz2

Edit ~/.bashrc file and add $HOME/toolchain/gcc-arm-none-eabi-8-2018-q4-major/bin/ to $PATH variable:

PATH=${PATH}:$HOME/toolchain/gcc-arm-none-eabi-8-2018-q4-major/bin/

Quilt

Quilt is a tool to manage large sets of patches by keeping track of the changes each patch makes. It is used to apply patches on RIOT-OS

$ sudo apt install quilt

cqfd (for native architecture only)

Cqfd wraps commands to run them inside the Docker container using your host current user. It can be configured with some pre defined commands called flavors and it can produce release artifacts.

To install cqfd:

git clone [email protected]:savoirfairelinux/cqfd.git
cd cqfd/
sudo make install

For more information: cqfd repository

Python Virtual Environment

$ sudo apt install  python3-pip python3-venv
$ python3 -m venv venv
$ source venv/bin/activate
$ pip install -r mcu-firmware/requirements.txt

Apply RIOT-OS patches

Prior to any build, apply RIOT-OS patches

make riot-patches

Simulation target (x86_64 architecture)

Assuming the platform is pf_test and the application is app_test

Build

Build one application with default board

$ make -j$(nproc) -C applications/<application_name>

Build one application with an other board

$ make -j$(nproc) BOARD=<board_name> -C applications/<application_name>

Using cqfd

Init cqfd docker image

This command has to be done once per project:

$ cqfd init

Launch the build using a flavor

$ cqfd -b app_test-native

Build and launch in debugger (only for native cpu architecture)

$ make -j$(nproc) BOARD=<board_name> -C applications/<application_name> all-debug
$ ddd applications/<application_name>/bin/<board_name>/<binary>.elf

Build and flash (only for real board, not native based)

Make sure JTAG programmer is plugged on target board.

$ make -j$(nproc) BOARD=<board_name> -C applications/<application_name> flash

Start ddd on a gdbserver's target

$ make DBG=ddd DBG_FLAGS='--debugger "${GDB} ${DBG_DEFAULT_FLAGS}"' debug

Then, inside DDD application, in gdb prompt, type

target remote localhost:3333

To debug specific function, type

list <functionname>

General build targets

Build all applications on all boards

$ make

Clean all platforms

$ make clean

Distclean all platforms

$ make distclean

Generate doc in various formats

$ make doc docman doclatex

Clean doc

$ make docclean

Run uncrustify to check coding rules

$ make check-codingrules

mcu-firmware's Issues

Add missing actuators/sensors to pegasus

Setup following actuators:

• Starter
• Limit switches
• DC motors
• GPIO expander
• PCA9685
  • Servo
  • ESC

Add support for actuators and remote control using PB messages

Add C++ classes to represent servomotors and vacuum pumps.
Initialize all actuators.
Define PB messages to send actuators state to Copilot.
Define PB messages to receive actuator commands from Copilot.
Create a thread to send actuators state.
Add uartpb handlers for actuator commands.

RIOT patches not applied when building only one application

Patches applied:

make distclean
make

Patches not applied:

make distclean
make -C applications/app_test
make -C examples/shell_menu

Replace C limits by c++ limits

speed_order variable is not contained in the controller object

mcu-firmware/controllers/include/ctrl.h

Lines 97 to 100 in 806ee58

	pose_t pose_order; /**< Position order */
	pose_t pose_current; /**< Current position */
	polar_t* speed_order; /**< Speed order to reach the position */
	polar_t speed_current; /**< Current speed reaching the position */

The "speed_order" member variable has been designed to be private one. It's content should not be modified outside the object, asynchronously, without passing by relevant accessor.

sys: uartpb: use a unique ID to identify each Protobuf message

Using a unique ID for each Protobuf message allows libraries/applications defining these messages to register a callback function associated with each ID. This way, uartpb is not dependent of applications anymore, which had to declare a Protobuf message gathering all known Protobuf messages.

This unique ID will be sent first, followed by encoded Protobuf message. The unique id can also be sent alone if the message does not required any content (like a reset or trigger message).

Update borders and default path for cup 2023

The orientation and axis of symmetry of the table 2023 has changed, so we need to change the coordinates of origin.

Refactor controller

• Move to C++
• Redesign as a succession of blocks (filters)

Add RIOT patching mechanism

Sometimes RIOT needs to be patched, mainly to temporary fix a bug.
To avoids maintaining our own RIOT-OS fork, we prefer to add few patches to mcu-firmware and stay aligned on RIOT mainline repository.

Mutex unlock just after lock

mcu-firmware/sys/tracefd/tracefd.cpp

Line 34 in 4fd18e6

thread_lock.unlock();

@ecourtois Should unlock() be called at the end of the loop ?

platforms: pf_test: fix motor configuration

pf_test platform has been updated in the same way than pegasus platform to use brushless motors, but the test plaftorm is still using olb motors.

2023 post cup cleanup

Add following improvments:

• rework motor_driver
• make pegasus and cup2023 applications working with native architecture
• bump RIOT version to 2023.07
• improve RIOT patches
• various small fixes

Bad array for PCA9548_NUMOF

In platform.h:

#define PCA9548_NUMOF (sizeof(motor_driver_config) / sizeof(motor_driver_config[0]))

uses motor_driver_config array instead of pca9845_config

Calibrate PIDs for both applications

For each application:

• Calibrate real robot PIDs
• Calibrate simulation robot PIDs

New controller integration

Integrate refactored controller into existing platforms (pf_test & pegasus)

Rework controller changes

Changes of controller implies duplicating all the quadpid controller chains which is overkill regarding the changes.
Simplify code to be able to only change a part of the controllers chain.

Create global Makefile.dep

Several USEMODULE and FEATURES_REQUIRED are set inside the Makefile.include.
They should be moved inside a Makefile.dep dedicated file.

Makefile race condition on embedded proto

When make -j is used to build all applications and examples, each embedded-application uses the same build directory to build packages leading to race conditions.

Bump RIOT version to 2022.04

applications: app_test: calibrate PIDs gains for real platform

PIDs have been reset on 196bbb6 and still need to be calibrated again.

Add module providing logging features

A log module is required to properly handle:

• debug messages, that can be disabled at compile time,
• warning/error messages,
• log messages, that could also be sent to the Copilot.

This will also replace COGIP_DEBUG_COUT macro.

Update EmbeddedProto to version 3.0

From EmbeddedProto README:

What is new in version 3.0.0

The most notable improvements in this version are:

• The length of repeated, string and bytes fields can now be set from the .proto file. You can find information on how to this in the online documentation.
• The ram size of messages has been reduced. This was done by using less polymorphism in the low level field classes. This required upgrading to C++17 and up.
• In a .proto file it is now possible to use a message or enum before it is defined. The plugin will make a dependency tree of the messages and enums defined and sort them before generating the source code. Recursive inclusion are not supported.
• Some of the message functions changed. The functions where already marked as deprecated in the latest 2.X.X release.

Move planner from STM32 to Raspberry Pi

boards: cogip-native: mallinfo2 is not supported on Ubuntu 20.04

With the introduction of sys/sysmon in a previous release (c1ed38b), applications/examples does not compile anymore with cogip-native board.
It is due to the use of mallinfo2 which was introduced in glibc 2.33, but Ubuntu 20.04 uses glibc 2.31.

In file included from <command-line>:
mcu-firmware/boards/cogip-native/board_init.c: In function 'board_init':
mcu-firmware/examples/sys_sysmon/bin/cogip-native/riotbuild/riotbuild.h:14:25: error: variable 'minfo' has initializer but incomplete type
   14 | #define MALLINFO struct mallinfo2
      |                         ^~~~~~~~~
mcu-firmware/boards/cogip-native/board_init.c:44:5: note: in expansion of macro 'MALLINFO'
   44 |     MALLINFO minfo = MALLINFO_FUNC();
      |     ^~~~~~~~
mcu-firmware/examples/sys_sysmon/bin/cogip-native/riotbuild/riotbuild.h:15:25: error: implicit declaration of function 'mallinfo2'; did you mean 'mallinfo'? [-Werror=implicit-function-declaration]
   15 | #define MALLINFO_FUNC() mallinfo2()
      |                         ^~~~~~~~~
mcu-firmware/boards/cogip-native/board_init.c:44:22: note: in expansion of macro 'MALLINFO_FUNC'
   44 |     MALLINFO minfo = MALLINFO_FUNC();
      |                      ^~~~~~~~~~~~~
mcu-firmware/boards/cogip-native/board_init.c:44:14: error: storage size of 'minfo' isn't known
   44 |     MALLINFO minfo = MALLINFO_FUNC();
      |              ^~~~~
mcu-firmware/boards/cogip-native/board_init.c:44:14: error: unused variable 'minfo' [-Werror=unused-variable]
cc1: all warnings being treated as errors

Functions printing JSON are broken

With introduction of COGIP_DEBUG_COUT macro that automatically adds a new line at the end, the functions printing JSON are broken since there are new lines added in the middle of the messages.

Possible fixes:

• remove those functions that are not used anymore (but could be useful for debug)
• implement a log module to handle info/log/error/debug messages
• remove the new line from the macro

Use ztimer instead of xtimer

The ztimer implementation is the new timer implementation in RIOT-OS.
Thus migrates to ztimer before xtimer becomes deprecated 1.
Moreover this commit is removing all cpp11-compat timer API calls,
replacing them by ztimer low level API.
Also a global clean of timer use is done.

Clean cogip-nucleo-f446re

Remove dead configuration and rely more on RIOT nucleo-f446re

Implement system monitoring module

This module should monitor following informations

• Heap size
• Heap allocation guardian
• Thread stack size

Remove tracefd module

tracefd was used to save logs on SD card or to print datas in json format on serial link for RPi communication.
However uartpb is now used for communication and we do not use SD Card any more, thus remove this module and clean all modules/code using it.

Up RIOT community about Ubuntu 22.04 bug.

RIOT-OS/RIOT#16282

Migrate Lidar from STM32 to Raspberry Pi

Connect the Lidar to Raspberry Pi instead of STM32.
Obstacles list is received from Copilot through Protobuf messages.

This is a very first step of migration path planning and actions from STM32 to Raspberry Pi.

Add new module canpb

This module is used for communication inside the robot, like for uartpb, but on CAN bus.

Robot is doing useless rotation in simulator

Once point is reached the robot seems to try to join the 0° position before reaching the final angle position.

Move native I2C mock to RIOT

Should be a contribution to RIOT as it is generic.

Check ztimer clock used

Add the topic "riot-os" to the description of the project.

This looks like a good project to get some inspiration for using RIOT-OS.
In order to make your project easier to find, could you add the topic "riot-os" in the about section of this project?

applications: compilation fails after cleaning of board-native

Since cleaning of board cogip-native in commit 6d48a4a, applications does not compile anymore:

mcu-firmware/platforms/pf_test/platform.cpp: In function ‘void pf_init()’:
mcu-firmware/platforms/pf_test/platform.cpp:310:19: error: ‘GPIO_DEBUG_LED’ was not declared in this scope
  310 |     if (gpio_init(GPIO_DEBUG_LED, GPIO_OUT)) {
      |                   ^~~~~~~~~~~~~~
/mcu-firmware/platforms/pf_test/platform.cpp:313:16: error: ‘GPIO_DEBUG_LED’ was not declared in this scope
  313 |     gpio_clear(GPIO_DEBUG_LED);
      |                ^~~~~~~~~~~~~~

After commenting out this code, there is a link error:

/usr/bin/ld: mcu-firmware/applications/app_test/bin/cogip-native/native_drivers/native-qdec.o: in function `native_motor_driver_qdec_simulation':
RIOT/boards/native/drivers/native-qdec.c:30: multiple definition of `native_motor_driver_qdec_simulation'; mcu-firmware/applications/app_test/bin/cogip-native/board/board.o:/home/eric/cogip/simulation/submodules/mcu-firmware/boards/cogip-native/board.c:32: first defined here
collect2: error: ld returned 1 exit status
make: *** [mcu-firmware/../RIOT//Makefile.include:728: mcu-firmware/applications/app_test/bin/cogip-native/app_test.elf] Error 1

Avoidance: consider the robot shape as a rectangle instead of a square

Create a patch for '--nostartfiles' build option

_init and _fini system calls defined in RIOT need to be set as weak when using libstdcpp.
Create a patch to do it.

[sysmon] Scheduling monitoring

Add this feature to sysmon module:

• Thread overshot time
• Thread switch occurences

Drive central lift with H-bridge

Configure lift motor with motor_driver from RIOT.

Add linear pose disabled for intermediate points

Disable linear pose control to always move at linear target speed and then not stopping when point is reached.
Keep angular pose correction for good orientation of the robot.

CI: add compilation with native boards

CI compiles applications and examples only for the default board defined in the Makefile.
But almost all applications/examples can be compile with native or cogip-native boards, and this is not part of the CI.

Replace PB_SpeedEnum by a percent of the platform max speed

lib: wizard: segfault when receiving a message from uartpb

Each time a Wizard message is received from uartpb, the fw crashes.
It comes from a bad registration of the message handler.

Add static analysis for C++ files

Actual tools/check-codingrules.sh script does not check *.cpp and *.hpp files.
Use cppcheck to analye both C and C++ files, and fix related warnings.

sys: shell_menu: remove dynamic allocation

Refactor code to only use strings and containers allocated at compile time.

riot patches distclean fails

$ make riot-patches 
Application de  drivers/motor_driver: rework driver
Application de  boards/native: clean motor_driver old configuration
Application de  boards/nucleo64: clean motor_driver old configuration
Application de  tests/drivers/motor_driver: rework test
Application de  cpu/native/periph/qdec: remove useless loop
Application de  drivers: pca9685: fix missing (void *) cast
Application de  cpu/native: return 0 for all gpio_init*() calls
Application de  cpu/native: make GPIO_PIN available to gpio_mock
Application de  drivers/pcf857x: fix returns on void functions
$ make distclean-riot-patches 
fatal: argument '~10' ambigu : révision inconnue ou chemin inexistant.
Utilisez '--' pour séparer les chemins des révisions, comme ceci :
'git <commande> [<révision>...] -- [<chemin>...]'
make: *** [/simulation/submodules/mcu-firmware/makefiles/riot-patches.mk.inc:17 : distclean-riot-patches] Erreur 128

fix typo (treshold -> threshold)

Use fixed size strings and containers, remove dynamic allocation

Remove dynamic memory allocation to have a better control of memory usage.

This task will be split in sub-tasks for each modules:

Dynamic allocation

• sys/shell_menu: #89
• sys/uartpb
• sys/wizard
• applications (obstacles, samples, ...)
• std::function => etl::delegate
• platforms (dynamic obstacles)

Fixed-size containers

• lib/cogip_defs/Polygon
• lib/obstacles
• lib/path
• lib/avoidance
• applications (obstacles, samples, ...)
• strings