ODrive/Firmware/Tupfile.lua

tup.include('build.lua')

-- 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

python_command = find_python3()
print('Using python command "'..python_command..'"')

tup.frule{inputs={'fibre/cpp/interfaces_template.j2'}, 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'}, 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'}, command=python_command..' interface_generator_stub.py --definitions odrive-interface.yaml --generate-endpoints ODrive --template %f --output %o', outputs='autogen/endpoints.hpp'}
tup.frule{inputs={'fibre/cpp/type_info_template.j2'}, command=python_command..' interface_generator_stub.py --definitions odrive-interface.yaml --template %f --output %o', outputs='autogen/type_info.hpp'}

-- 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
-- TODO: use CI to verify that on PRs the enums.py file is consistent with the YAML.
--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'}
}

board_v3 = {
    dir = 'Board/v3',
    sources = {'Drivers/DRV8301/drv8301.cpp', 'Board/v3/board.cpp'},
    flags = {'-DSTM32F405xx', '-DARM_MATH_CM4', '-mcpu=cortex-m4', '-mfpu=fpv4-sp-d16', '-DFPU_FPV4'},
    ldflags = {'-TBoard/v3/STM32F405RGTx_FLASH.ld', '-LBoard/v3/Drivers/CMSIS/Lib', '-larm_cortexM4lf_math', '-mcpu=cortex-m4', '-mfpu=fpv4-sp-d16'}
}

-- Switch between board versions
boardversion = tup.getconfig("BOARD_VERSION")
if boardversion == "v3.1" then
    board = board_v3
    board.flags += "-DHW_VERSION_MAJOR=3 -DHW_VERSION_MINOR=1"
    board.flags += "-DHW_VERSION_VOLTAGE=24"
elseif boardversion == "v3.2" then
    board = board_v3
    board.flags += "-DHW_VERSION_MAJOR=3 -DHW_VERSION_MINOR=2"
    board.flags += "-DHW_VERSION_VOLTAGE=24"
elseif boardversion == "v3.3" then
    board = board_v3
    board.flags += "-DHW_VERSION_MAJOR=3 -DHW_VERSION_MINOR=3"
    board.flags += "-DHW_VERSION_VOLTAGE=24"
elseif boardversion == "v3.4-24V" then
    board = board_v3
    board.flags += "-DHW_VERSION_MAJOR=3 -DHW_VERSION_MINOR=4"
    board.flags += "-DHW_VERSION_VOLTAGE=24"
elseif boardversion == "v3.4-48V" then
    board = board_v3
    board.flags += "-DHW_VERSION_MAJOR=3 -DHW_VERSION_MINOR=4"
    board.flags += "-DHW_VERSION_VOLTAGE=48"
elseif boardversion == "v3.5-24V" then
    board = board_v3
    board.flags += "-DHW_VERSION_MAJOR=3 -DHW_VERSION_MINOR=5"
    board.flags += "-DHW_VERSION_VOLTAGE=24"
elseif boardversion == "v3.5-48V" then
    board = board_v3
    board.flags += "-DHW_VERSION_MAJOR=3 -DHW_VERSION_MINOR=5"
    board.flags += "-DHW_VERSION_VOLTAGE=48"
elseif boardversion == "v3.6-24V" then
    board = board_v3
    board.flags += "-DHW_VERSION_MAJOR=3 -DHW_VERSION_MINOR=6"
    board.flags += "-DHW_VERSION_VOLTAGE=24"
elseif boardversion == "v3.6-56V" then
    board = board_v3
    board.flags += "-DHW_VERSION_MAJOR=3 -DHW_VERSION_MINOR=6"
    board.flags += "-DHW_VERSION_VOLTAGE=56"
elseif boardversion == "" then
    error("board version not specified - take a look at tup.config.default")
else
    error("unknown board version "..boardversion)
end
buildsuffix = boardversion

-- USB I/O settings
if tup.getconfig("USB_PROTOCOL") == "native" or tup.getconfig("USB_PROTOCOL") == "" then
    FLAGS += "-DUSB_PROTOCOL_NATIVE"
elseif tup.getconfig("USB_PROTOCOL") == "native-stream" then
    FLAGS += "-DUSB_PROTOCOL_NATIVE_STREAM_BASED"
elseif tup.getconfig("USB_PROTOCOL") == "stdout" then
    FLAGS += "-DUSB_PROTOCOL_STDOUT"
elseif tup.getconfig("USB_PROTOCOL") == "none" then
    FLAGS += "-DUSB_PROTOCOL_NONE"
else
    error("unknown USB protocol")
end

-- UART I/O settings
if tup.getconfig("UART_PROTOCOL") == "native" then
    FLAGS += "-DUART_PROTOCOL_NATIVE"
elseif tup.getconfig("UART_PROTOCOL") == "ascii" or tup.getconfig("UART_PROTOCOL") == "" then
    FLAGS += "-DUART_PROTOCOL_ASCII"
elseif tup.getconfig("UART_PROTOCOL") == "stdout" then
    FLAGS += "-DUART_PROTOCOL_STDOUT"
elseif tup.getconfig("UART_PROTOCOL") == "none" then
    FLAGS += "-DUART_PROTOCOL_NONE"
else
    error("unknown UART protocol "..tup.getconfig("UART_PROTOCOL"))
end

-- GPIO settings
if tup.getconfig("STEP_DIR") == "y" then
    if tup.getconfig("UART_PROTOCOL") == "none" then
        FLAGS += "-DUSE_GPIO_MODE_STEP_DIR"
    else
        error("Step/dir mode conflicts with UART. Set CONFIG_UART_PROTOCOL to none.")
    end
end

-- Compiler settings
if tup.getconfig("STRICT") == "true" then
    FLAGS += '-Werror'
end

-- C-specific flags
FLAGS += board.flags
FLAGS += '-D__weak="__attribute__((weak))"'
FLAGS += '-D__packed="__attribute__((__packed__))"'
FLAGS += '-DUSE_HAL_DRIVER'

FLAGS += '-mthumb'
FLAGS += '-mfloat-abi=hard'
FLAGS += '-Wno-psabi' -- suppress unimportant note about ABI compatibility in GCC 10
FLAGS += { '-Wall', '-Wdouble-promotion', '-Wfloat-conversion', '-fdata-sections', '-ffunction-sections'}
FLAGS += '-g'

-- linker flags
LDFLAGS += board.ldflags
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 += '-Wl,--undefined=uxTopUsedPriority'

-- debug build
if tup.getconfig("DEBUG") == "true" then
    FLAGS += '-gdwarf-2'
    OPT += '-Og'
else
    FLAGS += '-g'
    OPT += '-O2'
end

if tup.getconfig("USE_LTO") == "true" then
    OPT += '-flto'
    LDFLAGS += '-flto'
end

-- common flags for ASM, C and C++
OPT += '-ffast-math'
tup.append_table(FLAGS, OPT)
tup.append_table(LDFLAGS, OPT)

toolchain = GCCToolchain('arm-none-eabi-', 'build', FLAGS, LDFLAGS)


-- Load list of source files Makefile that was autogenerated by CubeMX
vars = parse_makefile_vars(board.dir..'/Makefile')

-- ASM sources must precede C sources due to LTO removing weak symbols which appear after strong symbols
-- in the call to the linker:  https://bugs.launchpad.net/gcc-arm-embedded/+bug/1747966
all_stm_sources = (vars['ASM_SOURCES'] or '')..' '..(vars['CPP_SOURCES'] or '')..' '..(vars['C_SOURCES'] or '')
for src in string.gmatch(all_stm_sources, "%S+") do
    stm_sources += board.dir..'/'..src
end
for src in string.gmatch(vars['C_INCLUDES'] or '', "%S+") do
    stm_includes += board.dir..'/'..string.sub(src, 3, -1) -- remove "-I" from each include path
end

-- TODO: cleaner separation of the platform code and the rest
stm_includes += '.'
--stm_includes += 'Drivers/DRV8301'
build{
    name='stm_platform',
    type='objects',
    toolchains={toolchain},
    packages={},
    sources=stm_sources,
    includes=stm_includes
}

sources = {
    '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/async_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_simple.cpp',
    'communication/communication.cpp',
    'communication/ascii_protocol.cpp',
    'communication/interface_uart.cpp',
    'communication/interface_usb.cpp',
    'communication/interface_can.cpp',
    'communication/interface_i2c.cpp',
    'fibre/cpp/protocol.cpp',
    'FreeRTOS-openocd.c',
    'autogen/version.c'
}
tup.append_table(sources, board.sources)

build{
    name='ODriveFirmware',
    toolchains={toolchain},
    --toolchains={LLVMToolchain('x86_64', {'-Ofast'}, {'-flto'})},
    packages={'stm_platform'},
    sources=sources,
    includes={
        'Drivers/DRV8301',
        'MotorControl',
        'fibre/cpp/include',
        '.',
        "doctest"
    }
}

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