Merge pull request #9 from osu-uwrt/dev

Make master the new "dev" branch

.clang-format

@@ -0,0 +1,87 @@
+BasedOnStyle: LLVM
+Language: Cpp
+
+AccessModifierOffset: -4
+AllowShortFunctionsOnASingleLine: Inline
+AllowShortIfStatementsOnASingleLine: false
+AttributeMacros:
+  - __capability
+  - __packed
+  - __unused
+BitFieldColonSpacing: None
+BraceWrapping:
+  AfterCaseLabel:  false
+  AfterClass:      false
+  AfterControlStatement: Never
+  AfterEnum:       false
+  AfterExternBlock: false
+  AfterFunction:   false
+  AfterNamespace:  false
+  AfterObjCDeclaration: false
+  AfterStruct:     false
+  AfterUnion:      false
+  BeforeCatch:     false
+  BeforeElse:      true
+  BeforeLambdaBody: false
+  BeforeWhile:     false
+  IndentBraces:    false
+  SplitEmptyFunction: true
+  SplitEmptyRecord: true
+  SplitEmptyNamespace: true
+BreakBeforeBraces: Custom
+BreakBeforeTernaryOperators: false
+BreakConstructorInitializers: AfterColon
+BreakInheritanceList: AfterColon
+ColumnLimit: 120
+CommentPragmas: '(^ IWYU pragma:)|(^ ?PICO_CONFIG:)'
+Cpp11BracedListStyle: false
+
+IncludeBlocks: Regroup
+IncludeCategories:
+  # Sorting from local to global scope, as this is best for catching weird dependency errors in your local libraries
+  # Separate ros types into their own section
+  - Regex:           '^<[a-z0-9_]*\/(msg|srv|action)\/'
+    Priority:        3
+    SortPriority:    4
+    CaseSensitive:   false
+  # Also put ROS core libraries in that seciton, but sorted above ros types
+  - Regex:           '^<(libyaml_vendor|rcutils|tracetools|ucdr|uxr|rmw[a-z0-9_]*|rcl[a-z0-9_]*|rosidl[a-z0-9_]*)\/'
+    Priority:        3
+    SortPriority:    3
+    CaseSensitive:   false
+  # Put all remaining system libraries (starting with <) at the end
+  - Regex:           '^<'
+    Priority:        5
+    SortPriority:    5
+    CaseSensitive:   false
+  # Next put pico-sdk headers in its own section
+  - Regex:           '^"(pico|hardware)\/'
+    Priority:        2
+    SortPriority:    2
+    CaseSensitive:   false
+  # Put titan firmware library headers in same section as pico-sdk
+  - Regex:           '^"(titan|driver|micro_ros_pico|canmore)\/'
+    Priority:        2
+    SortPriority:    2
+    CaseSensitive:   false
+  # Finally put the remaining headers at the top (this should only be project headers)
+  - Regex:           '.*'
+    Priority:        1
+    SortPriority:    1
+    CaseSensitive:   false
+
+IndentCaseLabels: false
+IndentExternBlock: NoIndent
+IndentWidth: 4
+KeepEmptyLinesAtTheStartOfBlocks: false
+LineEnding: LF
+NamespaceIndentation: Inner
+SortIncludes: CaseSensitive
+SortUsingDeclarations: LexicographicNumeric
+SpaceAfterCStyleCast: true
+SpaceBeforeCpp11BracedList: true
+SpaceBeforeCtorInitializerColon: false
+SpacesBeforeTrailingComments: 2
+SpacesInContainerLiterals: false
+TabWidth: 4
+UseTab: Never

.gitignore

@@ -1,5 +1,16 @@
 #git ignore attempt
 
+######################
+# Vscode Files       #
+######################
+/.vscode/**/*
+
+# Ignore files to configure the workspace
+!/.vscode/extensions.json
+!/.vscode/launch.json
+!/.vscode/settings.json
+!/.vscode/tasks.json
+
 ######################
 # OS generated files #
 ######################
@@ -9,7 +20,6 @@
 #######################
 # Build/Cache Files   #
 #######################
-.vscode/
 build/
 __pycache__/
 *.pyc
@@ -27,5 +37,9 @@ __pycache__/
 #######################
 /scratch_projects/
 
+#######################
+# Thruster cal data   #
+#######################
+
 COLCON_IGNORE
 

.gitmodules

@@ -1,3 +1,6 @@
 [submodule "lib/pico-sdk"]
 	path = lib/pico-sdk
 	url = https://github.com/raspberrypi/pico-sdk
+[submodule "lib/titan_canmore"]
+	path = lib/titan_canmore
+	url = https://github.com/osu-uwrt/titan_canmore

.vscode/extensions.json

@@ -0,0 +1,10 @@
+{
+    "recommendations": [
+        "ms-vscode.cpptools-extension-pack",
+        "dan-c-underwood.arm",
+        "chris-hock.pioasm",
+        "cschlosser.doxdocgen",
+        "Gruntfuggly.todo-tree",
+        "marus25.cortex-debug"
+    ]
+}

.vscode/launch.json

@@ -0,0 +1,60 @@
+{
+    "version": "0.2.0",
+    "configurations": [
+        {
+            "name": "Pico Debug",
+            "cwd": "${command:cmake.launchTargetDirectory}",
+            "executable": "${command:cmake.launchTargetPath}",
+            "request": "launch",
+            "type": "cortex-debug",
+            "servertype": "openocd",
+            // Configure toolchain path
+            // Note this MUST begin with arm-non-eabi-gdb, but most distros nowadays just have gdb-multiarch
+            // Run 'sudo ln -s gdb-multiarch /usr/bin/arm-none-eabi-gdb' and it'll make it happy
+            // This is just since Cortex Debug assumes your toolchain prefix based on your gdb executable
+            "gdbPath": "arm-none-eabi-gdb",
+            // Configure OpenOCD
+            "openOCDLaunchCommands": [
+                "adapter speed 2000"
+            ],
+            "configFiles": [
+                "interface/cmsis-dap.cfg",
+                "target/rp2040.cfg"
+            ],
+            // Using our custom upload task (since bootloader gets squirly when you upload the raw elf)
+            "preLaunchTask": "Upload SWD",
+            "overrideLaunchCommands": [],
+            // Configure how we want vscode to interact with things
+            "device": "RP2040",
+            "svdFile": "${workspaceRoot}/lib/pico-sdk/src/rp2040/hardware_regs/rp2040.svd",
+            "postRestartCommands": [
+                "break main",
+                "continue"
+            ],
+            "postStartSessionCommands": [
+                "monitor reset halt",
+                "break main",
+                "continue"
+            ]
+        },
+        {
+            "name": "Canmore Debug",
+            "cwd": "${command:cmake.getLaunchTargetDirectory}",
+            "executable": "${command:cmake.getLaunchTargetPath}",
+            "request": "attach",
+            "type": "cortex-debug",
+            "servertype": "external",
+            // Using localhost:3333 for gdbserver on CanmoreCLI
+            "gdbTarget": "localhost:3333",
+            // Configure toolchain path
+            "gdbPath": "arm-none-eabi-gdb",
+            // Using our custom upload task (since bootloader gets squirly when you upload the raw elf)
+            "preLaunchTask": "Verify Remote Version",
+            "overrideAttachCommands": [],
+            // Configure how we want vscode to interact with things
+            "device": "RP2040",
+            "svdFile": "${workspaceRoot}/lib/pico-sdk/src/rp2040/hardware_regs/rp2040.svd",
+            "breakAfterReset": false
+        }
+    ]
+}

.vscode/settings.json

@@ -0,0 +1,39 @@
+{
+    "cmake.sourceDirectory": [
+        "${workspaceFolder}/talos/Actuator/",
+        "${workspaceFolder}/talos/CameraCageBB/",
+        "${workspaceFolder}/talos/ESCBoard/",
+        "${workspaceFolder}/talos/PowerBoard/",
+        "${workspaceFolder}/talos/SmartBattery/",
+        "${workspaceFolder}/puddles/Backplane/",
+        "${workspaceFolder}/tools/upload_tool/",
+        "${workspaceFolder}/tools/canmore_cli/"
+    ],
+    "cmake.configureOnOpen": true,
+    "cmake.generator": "Unix Makefiles",
+    "cmake.options.advanced": {
+        "build": {
+            "statusBarVisibility": "visible"
+        },
+        "launch": {
+            "statusBarVisibility": "hidden"
+        },
+        "debug": {
+            "statusBarVisibility": "hidden"
+        }
+    },
+    "debug.onTaskErrors": "abort",
+    "editor.detectIndentation": false,
+    "editor.formatOnSave": true,
+    "editor.insertSpaces": true,
+    "editor.rulers": [
+        120
+    ],
+    "editor.tabSize": 4,
+    "files.trimTrailingWhitespace": true,
+    "files.insertFinalNewline": true,
+    "git.autofetch": true,
+    "C_Cpp.default.configurationProvider": "ms-vscode.cmake-tools",
+    "C_Cpp.formatting": "clangFormat",
+    "C_Cpp.autoAddFileAssociations": false
+}

.vscode/tasks.json

@@ -0,0 +1,43 @@
+{
+    "version": "2.0.0",
+    "tasks": [
+        {
+            "label": "Upload SWD",
+            "detail": "Uploads Active CMake Project over SWD",
+            "type": "shell",
+            "isBackground": false,
+            "command": "make swd_flash",
+            "options": {
+                "cwd": "${command:cmake.launchTargetDirectory}"
+            },
+            "presentation": {
+                "reveal": "always",
+                "panel": "dedicated",
+                "focus": true,
+                "clear": true,
+                "showReuseMessage": true
+            },
+            "problemMatcher": []
+        },
+        {
+            "hide": true,
+            "label": "Verify Remote Version",
+            "detail": "Verifies that the GDB remote version matches the copiled version",
+            "type": "shell",
+            "isBackground": false,
+            "command": "${workspaceRoot}/.vscode/verify_remote_version.sh",
+            "args": [
+                "${command:cmake.getLaunchTargetPath}"
+            ],
+            "options": {
+                "cwd": "${command:cmake.getLaunchTargetDirectory}",
+            },
+            "presentation": {
+                "reveal": "silent",
+                "panel": "dedicated",
+                "clear": true,
+                "showReuseMessage": false
+            }
+        }
+    ]
+}

.vscode/verify_remote_version.sh

@@ -0,0 +1,23 @@
+#!/bin/bash
+
+# Verifies that the firmware version on the GDB remote target matches the locally compiled version
+
+REMOTE_URL="localhost:3333"
+LOCAL_FILE="$1"
+TIMEOUT_SEC=5
+
+if [ -z "$1" ]; then
+    echo "Expected filename!"
+    echo "Usage: $0 [elf file]"
+    exit 2
+fi
+
+LOCAL_VERSION="$(gdb-multiarch -batch -silent -ex 'printf "%s", FULL_BUILD_TAG' -ex quit "$LOCAL_FILE")"
+REMOTE_VERSION="$(gdb-multiarch -batch-silent -ex "set tcp connect-timeout $TIMEOUT_SEC" -ex "target remote $REMOTE_URL" -ex "set logging file /dev/stdout" -ex "set logging enabled on" -ex 'printf "%s", FULL_BUILD_TAG' -ex "set logging enabled off" -ex quit "$LOCAL_FILE")"
+
+if [[ "$LOCAL_VERSION" != "$REMOTE_VERSION" ]]; then
+    echo -e "\033[91mVersion on remote does not match local version!\033[0m" >&2
+    echo -e "\033[32mLocal Version:\033[0m  $LOCAL_VERSION"
+    echo -e "\033[32mRemote Version:\033[0m $REMOTE_VERSION"
+    exit 1
+fi

README.md

@@ -1,6 +1,8 @@
 # Titan Firmware
 Firmware for OSU UWRT's RP2040 microcontrollers. Written in C using the [Pico SDK](https://github.com/raspberrypi/pico-sdk).
 
+### Read the setup documentation [here](docs/01_Setup.md).
+
 ## Features
 * **[micro-ROS](https://micro.ros.org/)**: Runs ROS, used by the software stack, directly in firmware to simplify application development. Supports multiple transports:
     * CAN Bus: Used on all Talos MCUs
@@ -19,6 +21,7 @@ Firmware for OSU UWRT's RP2040 microcontrollers. Written in C using the [Pico SD
 
 ## Repository Structure
 
+* `docs/`: Documentation for working with Titan Firmware
 * `examples/`: Contains example code as a starting point for new projects
 * `lib/`: Common code shared across several projects. Libraries are split into driver and titan library types.
 * `puddles/`: Code for the puddles vehicle microcontrollers