| Brian Silverman | d44258e | 2018-05-14 10:01:18 -0700 | [diff] [blame] | 1 | load("//motors:macros.bzl", "hex_from_elf") |
| 2 | load("//tools:environments.bzl", "mcu_cpus") |
| 3 | |
| 4 | cc_binary( |
| Brian Silverman | d956639 | 2018-06-10 15:02:03 -0700 | [diff] [blame] | 5 | name = "fet12.elf", |
| 6 | srcs = [ |
| James Kuszmaul | 998d303 | 2018-09-08 15:41:41 -0700 | [diff] [blame] | 7 | "current_equalization.h", |
| Brian Silverman | d956639 | 2018-06-10 15:02:03 -0700 | [diff] [blame] | 8 | "fet12.cc", |
| 9 | ], |
| 10 | restricted_to = mcu_cpus, |
| 11 | deps = [ |
| 12 | ":motor_controls", |
| 13 | "//motors:motor", |
| 14 | "//motors:util", |
| 15 | "//motors/core", |
| 16 | "//motors/peripheral:adc", |
| 17 | "//motors/peripheral:can", |
| 18 | "//motors/usb", |
| 19 | "//motors/usb:cdc", |
| 20 | ], |
| 21 | ) |
| 22 | |
| James Kuszmaul | 998d303 | 2018-09-08 15:41:41 -0700 | [diff] [blame] | 23 | cc_binary( |
| 24 | name = "fet12v2.elf", |
| 25 | srcs = [ |
| 26 | "current_equalization.h", |
| 27 | "fet12v2.cc", |
| 28 | ], |
| 29 | restricted_to = mcu_cpus, |
| 30 | deps = [ |
| 31 | ":motor_controls", |
| 32 | "//motors:motor", |
| 33 | "//motors:util", |
| 34 | "//motors/core", |
| 35 | "//motors/peripheral:adc", |
| James Kuszmaul | 7c8aad6 | 2018-09-08 18:16:18 -0700 | [diff] [blame^] | 36 | "//motors/peripheral:adc_dma", |
| James Kuszmaul | 998d303 | 2018-09-08 15:41:41 -0700 | [diff] [blame] | 37 | "//motors/peripheral:can", |
| 38 | "//motors/peripheral:uart", |
| 39 | ], |
| 40 | ) |
| 41 | |
| Brian Silverman | d956639 | 2018-06-10 15:02:03 -0700 | [diff] [blame] | 42 | hex_from_elf( |
| 43 | name = "fet12", |
| 44 | restricted_to = mcu_cpus, |
| 45 | ) |
| 46 | |
| 47 | cc_binary( |
| Brian Silverman | d44258e | 2018-05-14 10:01:18 -0700 | [diff] [blame] | 48 | name = "power_wheels.elf", |
| 49 | srcs = [ |
| 50 | "power_wheels.cc", |
| 51 | ], |
| 52 | restricted_to = mcu_cpus, |
| 53 | deps = [ |
| 54 | "//motors:util", |
| 55 | "//motors/core", |
| 56 | "//motors/peripheral:adc", |
| 57 | "//motors/usb", |
| 58 | "//motors/usb:cdc", |
| 59 | ], |
| 60 | ) |
| 61 | |
| 62 | hex_from_elf( |
| 63 | name = "power_wheels", |
| 64 | restricted_to = mcu_cpus, |
| 65 | ) |
| Brian Silverman | d956639 | 2018-06-10 15:02:03 -0700 | [diff] [blame] | 66 | |
| 67 | cc_library( |
| 68 | name = "motor_controls", |
| 69 | srcs = [ |
| 70 | "motor_controls.cc", |
| 71 | ], |
| 72 | hdrs = [ |
| 73 | "motor_controls.h", |
| 74 | ], |
| 75 | restricted_to = mcu_cpus, |
| 76 | deps = [ |
| 77 | "//motors:math", |
| 78 | "//motors:motor", |
| 79 | "//motors/peripheral:configuration", |
| 80 | "//third_party/eigen", |
| 81 | ], |
| 82 | ) |
| James Kuszmaul | 998d303 | 2018-09-08 15:41:41 -0700 | [diff] [blame] | 83 | |
| James Kuszmaul | 7c8aad6 | 2018-09-08 18:16:18 -0700 | [diff] [blame^] | 84 | py_library( |
| 85 | name = "calib_sensors", |
| Brian Silverman | b7fdb69 | 2018-09-09 15:50:45 -0700 | [diff] [blame] | 86 | srcs = [ |
| James Kuszmaul | 7c8aad6 | 2018-09-08 18:16:18 -0700 | [diff] [blame^] | 87 | "calib_sensors.py", |
| Brian Silverman | b7fdb69 | 2018-09-09 15:50:45 -0700 | [diff] [blame] | 88 | ], |
| 89 | data = [ |
| 90 | "@python_repo//:scipy", |
| 91 | ], |
| 92 | ) |
| 93 | |
| James Kuszmaul | 7c8aad6 | 2018-09-08 18:16:18 -0700 | [diff] [blame^] | 94 | py_binary( |
| 95 | name = "current_equalize", |
| 96 | srcs = [ |
| 97 | "current_equalize.py", |
| 98 | ], |
| 99 | data = [ |
| 100 | ":calib_sensors", |
| 101 | "@python_repo//:scipy", |
| 102 | ], |
| 103 | ) |
| 104 | |
| James Kuszmaul | 998d303 | 2018-09-08 15:41:41 -0700 | [diff] [blame] | 105 | genrule( |
| 106 | name = "gen_current_equalization", |
| James Kuszmaul | 7c8aad6 | 2018-09-08 18:16:18 -0700 | [diff] [blame^] | 107 | srcs = [ |
| 108 | "calib_data_6030.csv", |
| 109 | "calib_data_60a.csv", |
| 110 | "calib_data_60b.csv", |
| 111 | "calib_data_60c.csv", |
| 112 | ], |
| James Kuszmaul | 998d303 | 2018-09-08 15:41:41 -0700 | [diff] [blame] | 113 | outs = ["current_equalization.h"], |
| James Kuszmaul | 7c8aad6 | 2018-09-08 18:16:18 -0700 | [diff] [blame^] | 114 | cmd = "./$(location current_equalize) $(location calib_data_60a.csv) $(location calib_data_60b.csv) $(location calib_data_60c.csv) $(location calib_data_6030.csv) > \"$@\"", |
| James Kuszmaul | 998d303 | 2018-09-08 15:41:41 -0700 | [diff] [blame] | 115 | restricted_to = mcu_cpus, |
| Brian Silverman | b7fdb69 | 2018-09-09 15:50:45 -0700 | [diff] [blame] | 116 | tools = ["current_equalize"], |
| James Kuszmaul | 998d303 | 2018-09-08 15:41:41 -0700 | [diff] [blame] | 117 | ) |