yeekzhang/robot-software

CVRA monorepo - All software running on our bots lives here

Robot software stack

This repo contains all the software used on our robots:

• can-io-firmware contains the firmware that runs on the IO board
• motor-control-firmware contains the firmware that runs on the motor board
• proximity-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 module
• master-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 competition
• sensor-firmware contains code running on the sensor board
• uwb-beacon-firmware contains code and documentation that runs on the UWB beacon board
• hitl 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 CAN
  • lib/ChibiOS the RTOS/HAL we use on all our boards
  • lib/uavcan the CAN communication library we use on all our boards
  • lib/error a logging library
  • lib/parameter a library to create and manage configurations of boards
  • lib/msgbus a publish/subscribe library for inter thread communication
  • and more.
• tools 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 Qt
  • tools/studio a set of introspection tools written in Python and Qt to debug our robots
• uavcan_data_types contains the custom message definitions (DSDL) for the UAVCAN communication protocol
• ci groups scripts and Docker files for our continuous integration server
• user-guide contains high-level documentation about software and electronics components used on our robots

The user guide is generated using mdbook from doc/user-guide

Building with CMake

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

Coding style

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.