| Brian Silverman | f91524f | 2017-09-23 13:15:55 -0400 | [diff] [blame] | 1 | load('//motors:macros.bzl', 'hex_from_elf') |
| 2 | load("//tools:environments.bzl", "mcu_cpus") |
| 3 | |
| Brian Silverman | 8b63869 | 2017-06-26 23:10:26 -0700 | [diff] [blame] | 4 | cc_binary( |
| 5 | name = 'medium_salsa.elf', |
| 6 | srcs = [ |
| 7 | 'medium_salsa.cc', |
| 8 | ], |
| 9 | deps = [ |
| 10 | ':util', |
| Brian Silverman | 8d3816a | 2017-07-03 18:52:15 -0700 | [diff] [blame^] | 11 | ':motor', |
| 12 | ':motor_controls', |
| Brian Silverman | 8b63869 | 2017-06-26 23:10:26 -0700 | [diff] [blame] | 13 | '//motors/core', |
| Brian Silverman | 8d3816a | 2017-07-03 18:52:15 -0700 | [diff] [blame^] | 14 | '//motors/peripheral:can', |
| 15 | '//motors/peripheral:adc', |
| 16 | '//motors/usb:legacy', |
| 17 | ], |
| 18 | restricted_to = mcu_cpus, |
| 19 | ) |
| 20 | |
| 21 | cc_library( |
| 22 | name = 'motor', |
| 23 | hdrs = [ |
| 24 | 'motor.h', |
| 25 | ], |
| 26 | srcs = [ |
| 27 | 'motor.cc', |
| 28 | ], |
| 29 | deps = [ |
| 30 | ':algorithms', |
| 31 | ':util', |
| 32 | '//motors/core', |
| 33 | '//motors/peripheral:configuration', |
| 34 | |
| 35 | '//motors/peripheral:adc', |
| 36 | '//motors/peripheral:can', |
| Brian Silverman | f91524f | 2017-09-23 13:15:55 -0400 | [diff] [blame] | 37 | '//motors/usb:legacy', |
| Brian Silverman | 8b63869 | 2017-06-26 23:10:26 -0700 | [diff] [blame] | 38 | ], |
| Brian Silverman | f91524f | 2017-09-23 13:15:55 -0400 | [diff] [blame] | 39 | restricted_to = mcu_cpus, |
| Brian Silverman | 8b63869 | 2017-06-26 23:10:26 -0700 | [diff] [blame] | 40 | ) |
| 41 | |
| Brian Silverman | f91524f | 2017-09-23 13:15:55 -0400 | [diff] [blame] | 42 | hex_from_elf( |
| Brian Silverman | 8b63869 | 2017-06-26 23:10:26 -0700 | [diff] [blame] | 43 | name = 'medium_salsa', |
| Brian Silverman | f91524f | 2017-09-23 13:15:55 -0400 | [diff] [blame] | 44 | restricted_to = mcu_cpus, |
| Brian Silverman | 8b63869 | 2017-06-26 23:10:26 -0700 | [diff] [blame] | 45 | ) |
| 46 | |
| 47 | cc_library( |
| 48 | name = 'util', |
| Brian Silverman | f91524f | 2017-09-23 13:15:55 -0400 | [diff] [blame] | 49 | visibility = ['//visibility:public'], |
| Brian Silverman | 8b63869 | 2017-06-26 23:10:26 -0700 | [diff] [blame] | 50 | hdrs = [ |
| 51 | 'util.h', |
| 52 | ], |
| Brian Silverman | 8d3816a | 2017-07-03 18:52:15 -0700 | [diff] [blame^] | 53 | deps = [ |
| 54 | '//motors/core', |
| 55 | ], |
| 56 | restricted_to = mcu_cpus, |
| 57 | ) |
| 58 | |
| 59 | genrule( |
| 60 | name = 'doc', |
| 61 | srcs = [ |
| 62 | 'NOTES.md', |
| 63 | ], |
| 64 | outs = [ |
| 65 | 'NOTES.html', |
| 66 | ], |
| 67 | cmd = ' '.join([ |
| 68 | 'pandoc', |
| 69 | '-f', 'markdown_github-hard_line_breaks', |
| 70 | '-t', 'html5', |
| 71 | '-o', '$@', '$<', |
| 72 | ]), |
| 73 | ) |
| 74 | |
| 75 | cc_library( |
| 76 | name = 'algorithms', |
| 77 | hdrs = [ |
| 78 | 'algorithms.h', |
| 79 | ], |
| 80 | srcs = [ |
| 81 | 'algorithms.cc', |
| 82 | ], |
| 83 | compatible_with = mcu_cpus, |
| 84 | ) |
| 85 | |
| 86 | cc_test( |
| 87 | name = 'algorithms_test', |
| 88 | srcs = [ |
| 89 | 'algorithms_test.cc', |
| 90 | ], |
| 91 | deps = [ |
| 92 | ':algorithms', |
| 93 | '//aos/testing:googletest', |
| 94 | ], |
| 95 | ) |
| 96 | |
| 97 | cc_library( |
| 98 | name = 'math', |
| 99 | hdrs = [ |
| 100 | 'math.h', |
| 101 | ], |
| 102 | srcs = [ |
| 103 | 'math.cc', |
| 104 | ], |
| 105 | compatible_with = mcu_cpus, |
| 106 | ) |
| 107 | |
| 108 | cc_test( |
| 109 | name = 'math_test', |
| 110 | srcs = [ |
| 111 | 'math_test.cc', |
| 112 | ], |
| 113 | deps = [ |
| 114 | ':math', |
| 115 | '//aos/testing:googletest', |
| 116 | '//third_party/googletest:googlemock', |
| 117 | ], |
| 118 | ) |
| 119 | |
| 120 | cc_library( |
| 121 | name = 'motor_controls', |
| 122 | hdrs = [ |
| 123 | 'motor_controls.h', |
| 124 | ], |
| 125 | srcs = [ |
| 126 | 'motor_controls.cc', |
| 127 | ], |
| 128 | deps = [ |
| 129 | ':math', |
| 130 | ':motor', |
| 131 | '//motors/peripheral:configuration', |
| 132 | '//third_party/eigen', |
| 133 | ], |
| Brian Silverman | f91524f | 2017-09-23 13:15:55 -0400 | [diff] [blame] | 134 | restricted_to = mcu_cpus, |
| Brian Silverman | 8b63869 | 2017-06-26 23:10:26 -0700 | [diff] [blame] | 135 | ) |