Purdue Robomasters Control Base Template

This repository contains the shared control code between Purdue Robomasters robots.

Repository Initialization Guide

git clone https://github.com/RoboMaster-Club/Control_Base_Template.git
cd Control_Base_Template
git submodule update --init

VSCode MAKEFILE environment setup guide

Install tools

Download VSCode from here

Windows

Download MSYS2 from here
The default installation path is C:\msys64, run C:\msys64\msys2.exe.
Install OpenOCD, arm-none-eabi-gcc, and gdb-multiarch by running these commands in MSYS2 terminal.

pacman -S mingw-w64-x86_64-openocd
pacman -S mingw-w64-x86_64-arm-none-eabi-gcc
pacman -S mingw-w64-x86_64-gdb-multiarch

MacOS - Apple Silicon

Install Arm embedded toolchain and OpenOCD and arm-none-eabi-gdb using homebrew.

brew install gcc-arm-embedded  
brew install openocd

Make sure to add necessary tools to VSCode settings.json Alternatively, you can add them to PATH variable to allow them to be accessed globally.

Set up VSCode

Add the tool path for OpenOCD and make tools.
Install the VSCode extension Cortex-Debug to enable ARM microcontroller debugging.
Add GDB path by opening your VSCode settings.json in VSCode and add the following to the end of the file.
- Windows: "cortex-debug.gdbPath": "c:/msys64/mingw64/bin/gdb-multiarch.exe".
- MacOS: "cortex-debug.gdbPath": "/opt/homebrew/bin/arm-none-eabi-gdb".

How to use

Building the Project

Open the Command Palatte in VSCode: [Ctrl+Shift+P]. Then, select Tasks: Run Build Tasks and pick the appropriate build task.

Windows: build (Windows).
MacOS: build (Darwin).

You can use the shortcut [Ctrl+Shift+B] if you set it as the default build task.

Debugging the Project

Navigate to [Run and Debug] in VSCode or press [Ctrl+Shift+D]. Select the appropriate launch configuration

Windows: cmsis-dap-debug (Windows)
MacOS: cmsis-dap-debug (Darwin)

Click on the green play button or press [F5] to start debugging.

Common Issues

1. Windows fails to initializing cmsis-dap debugger.

Solution: Go to device manager and uninstall the usb device (probably having some error message in the list). Unplug and plug in the debugger again.

2. Tools (OpenOCD, make tools) not found

Failed to launch OpenOCD GDB Server:...

mingw32-make: The term 'mingw32-make' is not recognized as a name of a cmdlet, function, script file, or executable program.
Check the spelling of the name, or if a path was included, verify that the path is correct and try again.

Solution1: Add openocd.exe to system environmental variable. If you followed the installation instruction in this README file, then OpenOCD should be install at default location C:\msys64\mingw64\bin\openocd.exe, for windows user. Add C:\msys64\mingw64\bin to system executable path.

Solution2: If you don't want to mess with the system path, you could also add local openocd path in .vscode/launch.json. Add attribute serverpath by adding "serverpath": "C:\\msys64\\mingw64\\bin\\openocd.exe" in configuration.

Note restarting vscode might be needed for new environment variable to take effect.

Tips

VSCode IntelliSense Configuration

"C_Cpp.default.compilerPath": "C:/msys64/mingw64/bin/arm-none-eabi-gcc.exe"

adding this would link the standard library header files, such as stdint.h, stdlib.h, math.h.

Development Conventions

All names must use snake_case.

Variable names are all lowercase.

 float example_float = 1.5f;

Macros should be all UPPERCASE.

 #define EXAMPLE_MACRO 3.14f

Function names should capitalize the first letter of each word.

 float Example_Function() {}

Wrapper functions should capitalize the first word.

 float MOTOR_Example_Function() {}

Struct names should capitalize the first letter of each word and end in _t.

 struct Example_Struct_t {}

When using struct pointers, don't put a space between the arrow.

 struct Example_Struct_t {
    int example_struct_member;
 } example_struct;
 // access member
 example_struct->example_struct_member;

Enum names should capitalized the first letter of each word and end in _e.

 enum Example_Enum_e {};

In general, indent code blocks for functions and if statments as such, but for switches put cases in the same line.

void Example_Func()
{
   if (some_condition)
   {
      switch(some_num)
      {
      case 0:
         break;
      default:
         break;
      }
   }
}

For multiline macros, indent as such:

#define YOUR_MACRO        \
   {                      \
      FIRST_LINE = 0,     \
         SECOND_LINE = 1, \
         THIRD_LINE = 2,  \
   }

RoboMaster-Club/Swerve_Standard