Motor driver firmware integration

docs/useful-robot-commands.md

@@ -12,7 +12,7 @@
   - [Robot Diagnostics](#robot-diagnostics)
     - [For Just Diagnostics](#for-just-diagnostics)
     - [For AI + Diagnostics](#for-ai--diagnostics)
-  - [Robot Auto Test](#robot-auto-test)
+  - [STSPIN Motor Controller Test](#stspin-motor-controller-test)
 - [On Robot Commands](#on-robot-commands)
   - [Systemd Services](#systemd-services)
   - [Debugging Uart](#debugging-uart)
@@ -76,9 +76,10 @@ This will stop the current Systemd services, replace and restart them. Binaries
 <b>This will trigger motor calibration meaning the wheels may spin. Please elevate the robot so the wheels are not touching the ground for proper calibration.</b>
 
 ```bash
-bazel run //software/embedded/ansible:run_ansible --platforms=//toolchains/cc:robot -- --playbook deploy_robot_software.yml --hosts <robot_ip> --ssh_pass <robot_password>
+bazel run //software/embedded/ansible:run_ansible --platforms=//toolchains/cc:robot --//software/embedded:motor_board=<motor_board> -- --playbook deploy_robot_software.yml --hosts <robot_ip> --ssh_pass <robot_password>
 ```
 
+* <motor_board> is the type of motor driver board on the robot (either `STSPIN` or `TRINAMIC`)
 * <robot_ip> is the IP address of the robot
 * <robot_password> is the password of the `robot` user account
 
@@ -140,13 +141,13 @@ From Software/src
 
 network_interface can be found with `ifconfig` commonly `wlp59s0` for wifi.
 
-## Robot Auto Test
-Runs the robot auto test fixture on a robot through Ansible, which tests the motor board and power board SPI and UART transfer respectively.
+## STSPIN Motor Controller Test
+Deploys the STSPIN Motor Controller Test binary onto a robot through Ansible.
 
 From Software/src:
 
 ```bash
-bazel run //software/embedded/ansible:run_ansible --platforms=//toolchains/cc:robot -- --playbook robot_auto_test_playbook.yml --hosts <robot_name> --ssh_pass <robot_password>
+bazel run //software/embedded/ansible:run_ansible --platforms=//toolchains/cc:robot --//software/embedded:motor_board=STSPIN -- --playbook deploy_stspin_motor_controller_test.yml --hosts <robot_name> --ssh_pass <robot_password>
 ```
 
 * replace the \<robot_ip\> with the actual ip address of the Raspberry Pi for the ssh connection.

src/.bazelrc

@@ -75,6 +75,9 @@ build --cxxopt="-DG3_DYNAMIC_LOGGING"
 build --per_file_copt=.*\.pb\.(h|cc|cpp)$@-w
 build --per_file_copt=./external/.*,./bazel-out/.*@-w
 
+# Define Robot Versions
+build --copt="-DCURRENT_ROBOT_VERSION=2026"
+
 ############## External Deps Compatibility ##############
 build --noincompatible_disallow_ctx_resolve_tools
 build --check_direct_dependencies=off

src/MODULE.bazel

@@ -209,6 +209,13 @@ http_archive(
     url = "https://github.com/analogdevicesinc/TMC-API/archive/0cd695fab6d43ceb121af4b8608e5d92b14e1ce9.tar.gz",
 )
 
+http_archive(
+    name = "cppcrc",
+    build_file = "@//extlibs:cppcrc.BUILD",
+    strip_prefix = "cppcrc-6360eee1c8966d32b2552ce156b135ec6a3235f1",
+    url = "https://github.com/DarrenLevine/cppcrc/archive/6360eee1c8966d32b2552ce156b135ec6a3235f1.zip",
+)
+
 ##############################################
 # Register our Toolchains
 ##############################################

src/extlibs/cppcrc.BUILD

@@ -0,0 +1,9 @@
+# Description:
+#   A very small, fast, header-only, C++ library for generating CRCs
+#   https://github.com/DarrenLevine/cppcrc/tree/main
+
+cc_library(
+    name = "cppcrc",
+    hdrs = ["cppcrc.h"],
+    visibility = ["//visibility:public"],
+)

src/proto/message_translation/ssl_simulation_robot_control.cpp

@@ -52,7 +52,7 @@ std::unique_ptr<SSLSimulationProto::RobotMoveCommand> createRobotMoveCommand(
 std::unique_ptr<SSLSimulationProto::RobotCommand> getRobotCommandFromDirectControl(
     unsigned int robot_id,
     std::unique_ptr<TbotsProto::DirectControlPrimitive> direct_control,
-    RobotConstants_t& robot_constants)
+    robot_constants::RobotConstants& robot_constants)
 {
     auto move_command = createRobotMoveCommand(
         *direct_control, robot_constants.front_wheel_angle_deg,

src/proto/message_translation/ssl_simulation_robot_control.h

@@ -34,7 +34,7 @@ std::unique_ptr<SSLSimulationProto::RobotMoveCommand> createRobotMoveCommand(
 std::unique_ptr<SSLSimulationProto::RobotCommand> getRobotCommandFromDirectControl(
     unsigned int robot_id,
     std::unique_ptr<TbotsProto::DirectControlPrimitive> direct_control,
-    RobotConstants_t& robot_constants);
+    robot_constants::RobotConstants& robot_constants);
 
 /**
  * Creates a RobotCommand proto

src/proto/message_translation/ssl_simulation_robot_control_test.cpp

@@ -2,12 +2,12 @@
 
 #include <gtest/gtest.h>
 
-#include "shared/2021_robot_constants.h"
+#include "shared/robot_constants.h"
 
 class SSLSimulationProtoTest : public ::testing::Test
 {
    protected:
-    RobotConstants_t robot_constants = create2021RobotConstants();
+    robot_constants::RobotConstants robot_constants = robot_constants::createRobotConstants();
 };
 
 TEST_F(SSLSimulationProtoTest, test_create_robot_move_command_forward_from_primitive)

src/proto/message_translation/tbots_protobuf.cpp

@@ -426,7 +426,7 @@ std::unique_ptr<TbotsProto::CostVisualization> createCostVisualization(
 
 std::optional<TrajectoryPath> createTrajectoryPathFromParams(
     const TbotsProto::TrajectoryPathParams2D& params, const Vector& initial_velocity,
-    const RobotConstants& robot_constants)
+    const robot_constants::RobotConstants& robot_constants)
 {
     double max_speed = convertMaxAllowedSpeedModeToMaxAllowedSpeed(
         params.max_speed_mode(), robot_constants);
@@ -476,7 +476,7 @@ std::optional<TrajectoryPath> createTrajectoryPathFromParams(
 
 BangBangTrajectory1DAngular createAngularTrajectoryFromParams(
     const TbotsProto::TrajectoryParamsAngular1D& params,
-    const AngularVelocity& initial_velocity, const RobotConstants& robot_constants)
+    const AngularVelocity& initial_velocity, const robot_constants::RobotConstants& robot_constants)
 {
     return BangBangTrajectory1DAngular(
         createAngle(params.start_angle()), createAngle(params.final_angle()),
@@ -489,7 +489,7 @@ BangBangTrajectory1DAngular createAngularTrajectoryFromParams(
 }
 
 int convertDribblerModeToDribblerSpeed(TbotsProto::DribblerMode dribbler_mode,
-                                       RobotConstants_t robot_constants)
+                                       robot_constants::RobotConstants robot_constants)
 {
     switch (dribbler_mode)
     {
@@ -507,7 +507,7 @@ int convertDribblerModeToDribblerSpeed(TbotsProto::DribblerMode dribbler_mode,
 
 double convertMaxAllowedSpeedModeToMaxAllowedSpeed(
     TbotsProto::MaxAllowedSpeedMode max_allowed_speed_mode,
-    RobotConstants_t robot_constants)
+    robot_constants::RobotConstants robot_constants)
 {
     switch (max_allowed_speed_mode)
     {

src/proto/message_translation/tbots_protobuf.h

@@ -245,7 +245,7 @@ std::unique_ptr<TbotsProto::CostVisualization> createCostVisualization(
  */
 std::optional<TrajectoryPath> createTrajectoryPathFromParams(
     const TbotsProto::TrajectoryPathParams2D& params, const Vector& initial_velocity,
-    const RobotConstants& robot_constants);
+    const robot_constants::RobotConstants& robot_constants);
 
 /**
  * Generate an angular trajectory Path given angular trajectory proto parameters
@@ -257,7 +257,7 @@ std::optional<TrajectoryPath> createTrajectoryPathFromParams(
  */
 BangBangTrajectory1DAngular createAngularTrajectoryFromParams(
     const TbotsProto::TrajectoryParamsAngular1D& params,
-    const AngularVelocity& initial_velocity, const RobotConstants& robot_constants);
+    const AngularVelocity& initial_velocity, const robot_constants::RobotConstants& robot_constants);
 
 /**
  * Convert dribbler mode to dribbler speed
@@ -268,7 +268,7 @@ BangBangTrajectory1DAngular createAngularTrajectoryFromParams(
  * @return the dribbler speed in RPM
  */
 int convertDribblerModeToDribblerSpeed(TbotsProto::DribblerMode dribbler_mode,
-                                       RobotConstants_t robot_constants);
+                                       robot_constants::RobotConstants robot_constants);
 
 /**
  * Convert max allowed speed mode to max allowed speed
@@ -280,4 +280,4 @@ int convertDribblerModeToDribblerSpeed(TbotsProto::DribblerMode dribbler_mode,
  */
 double convertMaxAllowedSpeedModeToMaxAllowedSpeed(
     TbotsProto::MaxAllowedSpeedMode max_allowed_speed_mode,
-    RobotConstants_t robot_constants);
+    robot_constants::RobotConstants robot_constants);

src/proto/message_translation/tbots_protobuf_test.cpp

@@ -152,8 +152,7 @@ TEST_P(TrajectoryParamConversionTest, trajectory_params_msg_test)
     // Generate a trajectory, and then generate a TbotsProto::TrajectoryPathParams2D
     // with the same parameters as the trajectory, finally, generate a second trajectory
     // from the parameters and make sure the two trajectories are equal.
-    RobotConstants robot_constants = create2021RobotConstants();
-    Point start_position(0.0, 0.0);
+    robot_constants::RobotConstants robot_constants = robot_constants::createRobotConstants();    Point start_position(0.0, 0.0);
     Point destination(0.0, 0.0);
 
     std::vector<Point> sub_destinations                  = std::get<0>(GetParam());

src/proto/primitive/primitive_msg_factory_test.cpp

@@ -2,15 +2,14 @@
 
 #include <gtest/gtest.h>
 
-#include "shared/2021_robot_constants.h"
 #include "shared/constants.h"
+#include "shared/robot_constants.h"
 #include "software/test_util/test_util.h"
 
 class PrimitiveFactoryTest : public testing::Test
 {
    protected:
-    RobotConstants_t robot_constants = create2021RobotConstants();
-};
+    robot_constants::RobotConstants robot_constants = robot_constants::createRobotConstants();};
 
 TEST_F(PrimitiveFactoryTest, test_auto_chip_or_kick_equality)
 {

src/proto/robot_status_msg.proto

@@ -81,6 +81,7 @@ enum ErrorCode
 
 enum MotorFault
 {
+    /*********** TMC Faults ************/
     // Refer to Trinamic 6100 datasheet for precise definitions of motor faults.
     // https://trinamic.com/fileadmin/assets/Products/ICs_Documents/TMC6100_datasheet_Rev1.00.pdf
     // (Section 5.1, p22-23)
@@ -99,6 +100,20 @@ enum MotorFault
     PHASE_W_SHORT_COUNTER_DETECTED = 12;
     PHASE_W_SHORT_TO_GND_DETECTED  = 13;
     PHASE_W_SHORT_TO_VS_DETECTED   = 14;
+
+    /*********** STSPIN Faults ************/
+    NO_FAULT     = 15;
+    DURATION     = 16;
+    OVER_VOLT    = 17;
+    UNDER_VOLT   = 18;
+    OVER_TEMP    = 19;
+    START_UP     = 20;
+    SPEED_FDBK   = 21;
+    OVER_CURR    = 22;
+    SW_ERROR     = 23;
+    SAMPLE_FAULT = 24;
+    OVERCURR_SW  = 25;
+    DP_FAULT     = 26;
 }
 
 message DriveUnit

src/shared/BUILD

@@ -22,12 +22,7 @@ cc_library(
 
 cc_library(
     name = "robot_constants",
-    srcs = [
-        "2021_robot_constants.cpp",
-    ],
-    hdrs = [
-        "2021_robot_constants.h",
-        "robot_constants.h",
-    ],
+    srcs = [],
+    hdrs = [":robot_constants.h"],
     deps = [":constants"],
 )

src/shared/constants.h

@@ -7,6 +7,8 @@
 #include <string>
 #include <unordered_map>
 
+#define CHECK_VERSION(v) (CURRENT_ROBOT_VERSION == v)
+
 // Networking
 // the IPv6 multicast address, only ff02 is important, the rest is random
 // see https://en.wikipedia.org/wiki/Solicited-node_multicast_address for why ff02 matters
@@ -21,9 +23,7 @@ static const std::unordered_map<int, std::string> ROBOT_MULTICAST_CHANNELS = {
     {14, "ff02::c3d0:42d2:bb14"}, {15, "ff02::c3d0:42d2:bb15"}};
 
 // PlotJuggler's default host and port
-// Should be updated to your local machine's IP address if
-// you want to plot from the robot
-static const std::string PLOTJUGGLER_GUI_DEFAULT_HOST        = "127.0.0.1";
+static const std::string PLOTJUGGLER_GUI_DEFAULT_HOST        = "ff02::c3d0:42d2:aaaa";
 static const short unsigned int PLOTJUGGLER_GUI_DEFAULT_PORT = 9870;
 
 // ProtoLogger constants for replay files
@@ -70,7 +70,7 @@ static const double BALL_IN_PLAY_DISTANCE_THRESHOLD_METERS = 0.05;
 // The max allowed height of the robots, in metres
 static const double ROBOT_MAX_HEIGHT_METERS = 0.15;
 // The max allowed radius of the robots, in metres
-static const double ROBOT_MAX_RADIUS_METERS = 0.09;
+constexpr double ROBOT_MAX_RADIUS_METERS = 0.09;
 // The distance from the center of the robot to the front face (the flat part), in meters
 static const double DIST_TO_FRONT_OF_ROBOT_METERS = 0.078;
 // The approximate radius of the ball according to the SSL rulebook