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ODrive/Firmware/Tupfile.lua
Paul Guenette 5c039a9761 Add CONFIG_ARM_COMPILER_PATH
2022-09-29 21:18:00 -07:00

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-- Utility functions -----------------------------------------------------------
function run_now(command)
local handle
handle = io.popen(command)
local output = handle:read("*a")
local rc = {handle:close()}
return rc[1], output
end
-- If we simply invoke python or python3 on a pristine Windows 10, it will try
-- to open the Microsoft Store which will not work and hang tup instead. The
-- command "python --version" does not open the Microsoft Store.
-- On some systems this may return a python2 command if Python3 is not installed.
function find_python3()
success, python_version = run_now("python --version 2>&1")
if success and string.match(python_version, "Python 3") then return "python -B" end
success, python_version = run_now("python3 --version 2>&1")
if success and string.match(python_version, "Python 3") then return "python3 -B" end
error("Python 3 not found.")
end
function add_pkg(pkg)
if pkg.is_included == true then
return
end
pkg.is_included = true
for _, file in pairs(pkg.code_files or {}) do
code_files += (pkg.root or '.')..'/'..file
end
for _, dir in pairs(pkg.include_dirs or {}) do
CFLAGS += '-I'..(pkg.root or '.')..'/'..dir
end
tup.append_table(CFLAGS, pkg.cflags or {})
tup.append_table(LDFLAGS, pkg.ldflags or {})
for _, pkg in pairs(pkg.include or {}) do
add_pkg(pkg)
end
end
function compile(src_file, obj_file)
compiler = (tup.ext(src_file) == 'c') and CC or CXX
tup.frule{
inputs={src_file},
extra_inputs = {'autogen/interfaces.hpp', 'autogen/function_stubs.hpp', 'autogen/endpoints.hpp', 'autogen/type_info.hpp'},
command='^o^ '..compiler..' -c %f '..tostring(CFLAGS)..' -o %o',
outputs={obj_file}
}
end
-- Packages --------------------------------------------------------------------
tup.include('fibre-cpp/package.lua')
fibre_pkg = get_fibre_package({
enable_server=true,
enable_client=false,
allow_heap=false,
max_log_verbosity=0,
pkgconf=false,
})
odrive_firmware_pkg = {
root = '.',
include_dirs = {
'.',
'MotorControl',
'fibre-cpp/include',
},
code_files = {
'syscalls.c',
'MotorControl/utils.cpp',
'MotorControl/arm_sin_f32.c',
'MotorControl/arm_cos_f32.c',
'MotorControl/low_level.cpp',
'MotorControl/axis.cpp',
'MotorControl/motor.cpp',
'MotorControl/thermistor.cpp',
'MotorControl/encoder.cpp',
'MotorControl/endstop.cpp',
'MotorControl/acim_estimator.cpp',
'MotorControl/mechanical_brake.cpp',
'MotorControl/controller.cpp',
'MotorControl/foc.cpp',
'MotorControl/open_loop_controller.cpp',
'MotorControl/oscilloscope.cpp',
'MotorControl/sensorless_estimator.cpp',
'MotorControl/trapTraj.cpp',
'MotorControl/pwm_input.cpp',
'MotorControl/main.cpp',
'Drivers/STM32/stm32_system.cpp',
'Drivers/STM32/stm32_gpio.cpp',
'Drivers/STM32/stm32_nvm.c',
'Drivers/STM32/stm32_spi_arbiter.cpp',
'communication/can/can_simple.cpp',
'communication/can/odrive_can.cpp',
'communication/communication.cpp',
'communication/ascii_protocol.cpp',
'communication/interface_uart.cpp',
'communication/interface_usb.cpp',
'communication/interface_i2c.cpp',
'FreeRTOS-openocd.c',
'autogen/version.c'
}
}
stm32f4xx_hal_pkg = {
root = 'ThirdParty/STM32F4xx_HAL_Driver',
include_dirs = {
'Inc',
},
code_files = {
'Src/stm32f4xx_hal.c',
'Src/stm32f4xx_hal_adc.c',
'Src/stm32f4xx_hal_adc_ex.c',
'Src/stm32f4xx_hal_can.c',
'Src/stm32f4xx_hal_cortex.c',
'Src/stm32f4xx_hal_dma.c',
'Src/stm32f4xx_hal_dma_ex.c',
'Src/stm32f4xx_hal_flash.c',
'Src/stm32f4xx_hal_flash_ex.c',
'Src/stm32f4xx_hal_flash_ramfunc.c',
'Src/stm32f4xx_hal_gpio.c',
'Src/stm32f4xx_hal_i2c.c',
'Src/stm32f4xx_hal_i2c_ex.c',
'Src/stm32f4xx_hal_pcd.c',
'Src/stm32f4xx_hal_pcd_ex.c',
'Src/stm32f4xx_hal_pwr.c',
'Src/stm32f4xx_hal_pwr_ex.c',
'Src/stm32f4xx_hal_rcc.c',
'Src/stm32f4xx_hal_rcc_ex.c',
'Src/stm32f4xx_hal_spi.c',
'Src/stm32f4xx_hal_tim.c',
'Src/stm32f4xx_hal_tim_ex.c',
'Src/stm32f4xx_hal_uart.c',
'Src/stm32f4xx_ll_usb.c',
},
cflags = {'-DARM_MATH_CM4', '-mcpu=cortex-m4', '-mfpu=fpv4-sp-d16', '-DFPU_FPV4'}
}
stm32f7xx_hal_pkg = {
root = 'Private/ThirdParty/STM32F7xx_HAL_Driver',
include_dirs = {
'Inc',
},
code_files = {
'Src/stm32f7xx_hal.c',
'Src/stm32f7xx_hal_adc.c',
'Src/stm32f7xx_hal_adc_ex.c',
'Src/stm32f7xx_hal_can.c',
'Src/stm32f7xx_hal_cortex.c',
'Src/stm32f7xx_hal_dma.c',
'Src/stm32f7xx_hal_dma_ex.c',
'Src/stm32f7xx_hal_exti.c',
'Src/stm32f7xx_hal_flash.c',
'Src/stm32f7xx_hal_flash_ex.c',
'Src/stm32f7xx_hal_gpio.c',
'Src/stm32f7xx_hal_i2c.c',
'Src/stm32f7xx_hal_i2c_ex.c',
'Src/stm32f7xx_hal_i2s.c',
'Src/stm32f7xx_hal_pcd.c',
'Src/stm32f7xx_hal_pcd_ex.c',
'Src/stm32f7xx_hal_pwr.c',
'Src/stm32f7xx_hal_pwr_ex.c',
'Src/stm32f7xx_hal_rcc.c',
'Src/stm32f7xx_hal_rcc_ex.c',
'Src/stm32f7xx_hal_spi.c',
'Src/stm32f7xx_hal_spi_ex.c',
'Src/stm32f7xx_hal_tim.c',
'Src/stm32f7xx_hal_tim_ex.c',
'Src/stm32f7xx_hal_uart.c',
'Src/stm32f7xx_hal_uart_ex.c',
'Src/stm32f7xx_ll_usb.c',
},
cflags = {'-DARM_MATH_CM7', '-mcpu=cortex-m7', '-mfpu=fpv5-sp-d16'}
}
freertos_pkg = {
root = 'ThirdParty/FreeRTOS',
include_dirs = {
'Source/include',
'Source/CMSIS_RTOS',
},
code_files = {
'Source/croutine.c',
'Source/event_groups.c',
'Source/list.c',
'Source/queue.c',
'Source/stream_buffer.c',
'Source/tasks.c',
'Source/timers.c',
'Source/CMSIS_RTOS/cmsis_os.c',
'Source/portable/MemMang/heap_4.c',
}
}
cmsis_pkg = {
root = 'ThirdParty/CMSIS',
include_dirs = {
'Include',
'Device/ST/STM32F7xx/Include',
'Device/ST/STM32F4xx/Include'
},
ldflags = {'-LThirdParty/CMSIS/Lib/GCC'},
}
stm32_usb_device_library_pkg = {
root = 'ThirdParty/STM32_USB_Device_Library',
include_dirs = {
'Core/Inc',
'Class/CDC/Inc',
},
code_files = {
'Core/Src/usbd_core.c',
'Core/Src/usbd_ctlreq.c',
'Core/Src/usbd_ioreq.c',
'Class/CDC/Src/usbd_cdc.c',
}
}
crypto_pkg = {
root = 'Private',
include_dirs = {
'ThirdParty/sha-2',
'ThirdParty/rsa_embedded',
},
code_files = {
'ThirdParty/sha-2/sha-256.c',
'ThirdParty/rsa_embedded/rsa.c',
}
}
board_v3 = {
root = 'Board/v3',
root_interface = 'ODrive3',
include = {stm32f4xx_hal_pkg},
include_dirs = {
'Inc',
'../../ThirdParty/FreeRTOS/Source/portable/GCC/ARM_CM4F',
},
code_files = {
'startup_stm32f405xx.s',
'../../ThirdParty/FreeRTOS/Source/portable/GCC/ARM_CM4F/port.c',
'../../Drivers/DRV8301/drv8301.cpp',
'board.cpp',
'Src/stm32f4xx_hal_timebase_TIM.c',
'Src/tim.c',
'Src/dma.c',
'Src/freertos.c',
'Src/main.c',
'Src/usbd_conf.c',
'Src/spi.c',
'Src/usart.c',
'Src/usbd_cdc_if.c',
'Src/adc.c',
'Src/stm32f4xx_hal_msp.c',
'Src/usbd_desc.c',
'Src/stm32f4xx_it.c',
'Src/usb_device.c',
'Src/can.c',
'Src/system_stm32f4xx.c',
'Src/gpio.c',
'Src/i2c.c',
},
cflags = {'-DSTM32F405xx', '-DHW_VERSION_MAJOR=3'},
ldflags = {
'-TBoard/v3/STM32F405RGTx_FLASH.ld',
'-larm_cortexM4lf_math',
}
}
board_v4 = {
root = 'Private/v4',
root_interface = 'ODrive4',
include = {stm32f7xx_hal_pkg, crypto_pkg},
include_dirs = {
'..',
'Inc',
'../../ThirdParty/FreeRTOS/Source/portable/GCC/ARM_CM7/r0p1',
},
code_files = {
'startup_stm32f722xx.s',
'../../ThirdParty/FreeRTOS/Source/portable/GCC/ARM_CM7/r0p1/port.c',
'../Drivers/DRV8353/drv8353.cpp',
'../Drivers/status_led.cpp',
'board.cpp',
'Src/main.c',
'Src/gpio.c',
'Src/adc.c',
'Src/can.c',
'Src/dma.c',
'Src/freertos.c',
'Src/spi.c',
'Src/tim.c',
'Src/stm32f7xx_it.c',
'Src/stm32f7xx_hal_msp.c',
'Src/stm32f7xx_hal_timebase_tim.c',
'Src/system_stm32f7xx.c',
'Src/i2s.c',
'Src/usart.c',
'Src/usb_device.c',
'Src/usbd_conf.c',
'Src/usbd_desc.c',
'Src/usbd_cdc_if.c',
'Src/i2c.c',
},
cflags = {'-DSTM32F722xx', '-DHW_VERSION_MAJOR=4'},
ldflags = {
'-TPrivate/v4/STM32F722RETx_FLASH.ld',
'-larm_cortexM7lfsp_math',
}
}
boards = {
["v3.1"] = {include={board_v3}, cflags={"-DHW_VERSION_MINOR=1 -DHW_VERSION_VOLTAGE=24"}},
["v3.2"] = {include={board_v3}, cflags={"-DHW_VERSION_MINOR=2 -DHW_VERSION_VOLTAGE=24"}},
["v3.3"] = {include={board_v3}, cflags={"-DHW_VERSION_MINOR=3 -DHW_VERSION_VOLTAGE=24"}},
["v3.4-24V"] = {include={board_v3}, cflags={"-DHW_VERSION_MINOR=4 -DHW_VERSION_VOLTAGE=24"}},
["v3.4-48V"] = {include={board_v3}, cflags={"-DHW_VERSION_MINOR=4 -DHW_VERSION_VOLTAGE=48"}},
["v3.5-24V"] = {include={board_v3}, cflags={"-DHW_VERSION_MINOR=5 -DHW_VERSION_VOLTAGE=24"}},
["v3.5-48V"] = {include={board_v3}, cflags={"-DHW_VERSION_MINOR=5 -DHW_VERSION_VOLTAGE=48"}},
["v3.6-24V"] = {include={board_v3}, cflags={"-DHW_VERSION_MINOR=6 -DHW_VERSION_VOLTAGE=24"}},
["v3.6-56V"] = {include={board_v3}, cflags={"-DHW_VERSION_MINOR=6 -DHW_VERSION_VOLTAGE=56"}},
["v4.0-56V"] = {include={board_v4}, cflags={"-DHW_VERSION_MINOR=0 -DHW_VERSION_VOLTAGE=56"}},
["v4.1-58V"] = {include={board_v4}, cflags={"-DHW_VERSION_MINOR=1 -DHW_VERSION_VOLTAGE=58"}},
}
-- Toolchain setup -------------------------------------------------------------
CCPATH = tup.getconfig('ARM_COMPILER_PATH')
if CCPATH == "" then
CCPATH=''
else
CCPATH = CCPATH..'/'
end
CC=CCPATH..'arm-none-eabi-gcc -std=c99'
CXX=CCPATH..'arm-none-eabi-g++ -std=c++17 -Wno-register'
LINKER=CCPATH..'arm-none-eabi-g++'
-- C-specific flags
CFLAGS += '-D__weak="__attribute__((weak))"'
CFLAGS += '-D__packed="__attribute__((__packed__))"'
CFLAGS += '-DUSE_HAL_DRIVER'
CFLAGS += '-mthumb'
CFLAGS += '-mfloat-abi=hard'
CFLAGS += '-Wno-psabi' -- suppress unimportant note about ABI compatibility in GCC 10
CFLAGS += { '-Wall', '-Wdouble-promotion', '-Wfloat-conversion', '-fdata-sections', '-ffunction-sections'}
CFLAGS += '-g'
CFLAGS += '-DFIBRE_ENABLE_SERVER'
CFLAGS += '-Wno-nonnull'
-- linker flags
LDFLAGS += '-flto -lc -lm -lnosys' -- libs
-- LDFLAGS += '-mthumb -mfloat-abi=hard -specs=nosys.specs -specs=nano.specs -u _printf_float -u _scanf_float -Wl,--cref -Wl,--gc-sections'
LDFLAGS += '-mthumb -mfloat-abi=hard -specs=nosys.specs -u _printf_float -u _scanf_float -Wl,--cref -Wl,--gc-sections'
LDFLAGS += '-Wl,--undefined=uxTopUsedPriority'
-- Handle Configuration Options ------------------------------------------------
-- Switch between board versions
boardversion = tup.getconfig("BOARD_VERSION")
if boardversion == "" then
error("board version not specified - take a look at tup.config.default")
elseif boards[boardversion] == nil then
error("unknown board version "..boardversion)
end
board = boards[boardversion]
-- --not
-- TODO: remove this setting
if tup.getconfig("USB_PROTOCOL") ~= "native" and tup.getconfig("USB_PROTOCOL") ~= "" then
error("CONFIG_USB_PROTOCOL is deprecated")
end
-- UART I/O settings
if tup.getconfig("UART_PROTOCOL") ~= "ascii" and tup.getconfig("UART_PROTOCOL") ~= "" then
error("CONFIG_UART_PROTOCOL is deprecated")
end
-- Compiler settings
if tup.getconfig("STRICT") == "true" then
CFLAGS += '-Werror'
end
if tup.getconfig("NO_DRM") == "true" then
CFLAGS += '-DNO_DRM'
end
-- debug build
if tup.getconfig("DEBUG") == "true" then
CFLAGS += '-gdwarf-2 -Og'
else
CFLAGS += '-O2'
end
if tup.getconfig("USE_LTO") == "true" then
CFLAGS += '-flto'
end
-- Generate Tup Rules ----------------------------------------------------------
python_command = find_python3()
print('Using python command "'..python_command..'"')
-- TODO: use CI to verify that on PRs the enums.py file is consistent with the YAML.
-- Note: we currently check this file into source control for two reasons:
-- - Don't require tup to run in order to use odrivetool from the repo
-- - On Windows, tup is unhappy with writing outside of the tup directory
--tup.frule{command=python_command..' interface_generator_stub.py --definitions odrive-interface.yaml --template enums_template.j2 --output ../tools/odrive/enums.py'}
-- tup.frule{
-- command=python_command..' ../tools/odrive/version.py --output %o',
-- outputs={'autogen/version.c'}
-- }
-- Autogen files from YAML interface definitions
root_interface = board.include[1].root_interface
tup.frule{inputs={'fibre-cpp/interfaces_template.j2', extra_inputs='odrive-interface.yaml'}, command=python_command..' interface_generator_stub.py --definitions odrive-interface.yaml --template %f --output %o', outputs='autogen/interfaces.hpp'}
tup.frule{inputs={'fibre-cpp/function_stubs_template.j2', extra_inputs='odrive-interface.yaml'}, command=python_command..' interface_generator_stub.py --definitions odrive-interface.yaml --template %f --output %o', outputs='autogen/function_stubs.hpp'}
tup.frule{inputs={'fibre-cpp/endpoints_template.j2', extra_inputs='odrive-interface.yaml'}, command=python_command..' interface_generator_stub.py --definitions odrive-interface.yaml --generate-endpoints '..root_interface..' --template %f --output %o', outputs='autogen/endpoints.hpp'}
tup.frule{inputs={'fibre-cpp/type_info_template.j2', extra_inputs='odrive-interface.yaml'}, command=python_command..' interface_generator_stub.py --definitions odrive-interface.yaml --template %f --output %o', outputs='autogen/type_info.hpp'}
add_pkg(board)
add_pkg(freertos_pkg)
add_pkg(cmsis_pkg)
add_pkg(stm32_usb_device_library_pkg)
add_pkg(fibre_pkg)
add_pkg(odrive_firmware_pkg)
for _, src_file in pairs(code_files) do
obj_file = "build/obj/"..src_file:gsub("/","_"):gsub("%.","")..".o"
object_files += obj_file
compile(src_file, obj_file)
end
tup.frule{
inputs=object_files,
command='^o^ '..LINKER..' %f '..tostring(CFLAGS)..' '..tostring(LDFLAGS)..
' -Wl,-Map=%O.map -o %o',
outputs={'build/ODriveFirmware.elf', extra_outputs={'build/ODriveFirmware.map'}}
}
-- display the size
tup.frule{inputs={'build/ODriveFirmware.elf'}, command=CCPATH..'arm-none-eabi-size %f'}
-- create *.hex and *.bin output formats
tup.frule{inputs={'build/ODriveFirmware.elf'}, command=CCPATH..'arm-none-eabi-objcopy -O ihex %f %o', outputs={'build/ODriveFirmware.hex'}}
tup.frule{inputs={'build/ODriveFirmware.elf'}, command=CCPATH..'arm-none-eabi-objcopy -O binary -S %f %o', outputs={'build/ODriveFirmware.bin'}}
if tup.getconfig('ENABLE_DISASM') == 'true' then
tup.frule{inputs={'build/ODriveFirmware.elf'}, command=CCPATH..'arm-none-eabi-objdump %f -dSC > %o', outputs={'build/ODriveFirmware.asm'}}
end
if tup.getconfig('DOCTEST') == 'true' then
TEST_INCLUDES = '-I. -I./MotorControl -I./fibre-cpp/include -I./Drivers/DRV8301 -I./doctest'
tup.foreach_rule('Tests/*.cpp', 'g++ -O3 -std=c++17 '..TEST_INCLUDES..' -c %f -o %o', 'Tests/bin/%B.o')
tup.frule{inputs='Tests/bin/*.o', command='g++ %f -o %o', outputs='Tests/test_runner.exe'}
tup.frule{inputs='Tests/test_runner.exe', command='%f'}
end
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