AppCodeTemp

Template to create FreeRTOS tasks using the team's middleware

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How to use this repo:

1. Clone it git clone git@github.com:RobomasterOwltech/AppCodeTemp.git
2. Go into the newly generated directory cd AppCodeTemp
3. Download the submodules git submodule init && git submodule update
4. In case any of the dependencies needs to be updated, simply do: git submodule update --remote

Having problems with git?:

• Make sure that postStartCommand value is set at the .devcontainer/devcontainer.json.
• Make sure to have created and register ssh keys for Github, as done in DeployTools

How to change DevBoard

1. At the moment you clone the repo, modify the branch for the robotConfig repo. 1. This will Change the defines on the Makefile
2. Change the OwlDefines variables at .vscode/c_cpp_properties.json

Create the container

1. Download docker:
   - For Linux: https://docs.docker.com/engine/install/
   - For Windows: https://docs.docker.com/desktop/setup/install/windows-install/
   - For MacOS: https://docs.docker.com/desktop/setup/install/mac-install/
2. From the project root folder (AppCodeTemp) go to ".devcontainer": cd .devcontainer
3. Build the image: docker build .
4. List the images: docker images - Identify the ID of the image just built
5. Go to the project root folder (AppCodeTemp): cd ..
6. Run the container in detach mode: docker run -d --mount type=bind,source=$(realpath ./),target=/home/myProjects <YOUR_IMAGE_ID> # Source is the absoluthe path to AppCodeTemp

All compilation steps need to be done form inside the container. To enter it:

1. List containers: docker ps - Identify the ID of the container
2. Enter the container: docker exec -it <CONTAINER_ID> bash

Compile:

1. From the project root folder (AppCodeTemp) call make

    make all
   

   1. You might need to specify the compiler path, in which case use:

       make GCC_PATH=/path/2/compiler
      

   2. Alternatively, you can add it to your path, or set it as an environment variable.

2. If your build failed, then you can clean the build folder

    make clean
   

3. If you are encountering problems, and would like to know what is being configured by the makefiles from other projects, try:

    make showRobotConfig showRtosConfig
   

Add a file to be compiled

1. Save your changes to the file.
2. Copy it's relative path.
3. If it is a C, add it in the C_SOURCES variable from the Makefile
4. In case your file is referencing any library, make sure it is present in the C_INCLUDES

arm-none-eabi-gcc -c -mcpu=cortex-m4 -mthumb -mfpu=fpv4-sp-d16 -mfloat-abi=hard -DUSE_HAL_DRIVER -DSTM32F407xx -IrobotConfig/inc -Ieigen/Eigen -IDrivers/STM32F4xx_HAL_Driver/Inc -IDrivers/STM32F4xx_HAL_Driver/Inc/Legacy -IDrivers/CMSIS/Device/ST/STM32F4xx/Include -IDrivers/CMSIS/Include -IMiddlewares/Third_Party/FreeRTOS/Source/include -IMiddlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS -IMiddlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F -IMiddlewares/ST/stm32_mw_usb_device/Class/CDC/Inc -IMiddlewares/ST/stm32_mw_usb_device/Core/Inc -IowltechMiddleware/inc -Og -Wall -fdata-sections -ffunction-sections -g -gdwarf-2 -MMD -MP -MF"build/main.d" -Wa,-a,-ad,-alms=build/main.lst robotConfig/src/main.cpp -o build/main.o

NOTES:

C/C++ standard

If you were to change the C/C++ standard used, remember to change it in the IntelliSense, makefile, and c_cpp_properties.json

For more formatting options see the link.

Resources

If you would like to learn more about the used tools and information, then check:

• Quick intro to Makefiles (Video)
• GNU Make manual
• The GNU Make Book. John Graham-Cumming. No Starch Press
• Example on using Eigen