/robot-software

CVRA monorepo - All software running on our bots lives here

Primary LanguageCMIT LicenseMIT

Robot software stack

Unit tests

STM32 builds

Raspberry Pi build

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.