| 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", |
| Brian Silverman | 4787a6e | 2018-10-06 16:00:54 -0700 | [diff] [blame] | 18 | "//motors/print:usb", |
| Brian Silverman | d956639 | 2018-06-10 15:02:03 -0700 | [diff] [blame] | 19 | ], |
| 20 | ) |
| 21 | |
| James Kuszmaul | 998d303 | 2018-09-08 15:41:41 -0700 | [diff] [blame] | 22 | cc_binary( |
| 23 | name = "fet12v2.elf", |
| 24 | srcs = [ |
| 25 | "current_equalization.h", |
| 26 | "fet12v2.cc", |
| 27 | ], |
| 28 | restricted_to = mcu_cpus, |
| 29 | deps = [ |
| 30 | ":motor_controls", |
| 31 | "//motors:motor", |
| 32 | "//motors:util", |
| 33 | "//motors/core", |
| 34 | "//motors/peripheral:adc", |
| James Kuszmaul | 7c8aad6 | 2018-09-08 18:16:18 -0700 | [diff] [blame] | 35 | "//motors/peripheral:adc_dma", |
| James Kuszmaul | 998d303 | 2018-09-08 15:41:41 -0700 | [diff] [blame] | 36 | "//motors/peripheral:can", |
| Brian Silverman | 37a95d6 | 2018-11-09 16:08:32 -0800 | [diff] [blame] | 37 | "//motors/print:itm", |
| James Kuszmaul | 998d303 | 2018-09-08 15:41:41 -0700 | [diff] [blame] | 38 | ], |
| 39 | ) |
| 40 | |
| Brian Silverman | d956639 | 2018-06-10 15:02:03 -0700 | [diff] [blame] | 41 | hex_from_elf( |
| 42 | name = "fet12", |
| 43 | restricted_to = mcu_cpus, |
| 44 | ) |
| 45 | |
| 46 | cc_binary( |
| Brian Silverman | d44258e | 2018-05-14 10:01:18 -0700 | [diff] [blame] | 47 | name = "power_wheels.elf", |
| 48 | srcs = [ |
| 49 | "power_wheels.cc", |
| 50 | ], |
| 51 | restricted_to = mcu_cpus, |
| 52 | deps = [ |
| 53 | "//motors:util", |
| 54 | "//motors/core", |
| 55 | "//motors/peripheral:adc", |
| 56 | "//motors/usb", |
| 57 | "//motors/usb:cdc", |
| 58 | ], |
| 59 | ) |
| 60 | |
| 61 | hex_from_elf( |
| 62 | name = "power_wheels", |
| 63 | restricted_to = mcu_cpus, |
| 64 | ) |
| Brian Silverman | d956639 | 2018-06-10 15:02:03 -0700 | [diff] [blame] | 65 | |
| 66 | cc_library( |
| 67 | name = "motor_controls", |
| 68 | srcs = [ |
| 69 | "motor_controls.cc", |
| 70 | ], |
| 71 | hdrs = [ |
| 72 | "motor_controls.h", |
| 73 | ], |
| 74 | restricted_to = mcu_cpus, |
| 75 | deps = [ |
| 76 | "//motors:math", |
| 77 | "//motors:motor", |
| 78 | "//motors/peripheral:configuration", |
| Alex Perry | cb7da4b | 2019-08-28 19:35:56 -0700 | [diff] [blame^] | 79 | "@org_tuxfamily_eigen//:eigen", |
| Brian Silverman | d956639 | 2018-06-10 15:02:03 -0700 | [diff] [blame] | 80 | ], |
| 81 | ) |
| James Kuszmaul | 998d303 | 2018-09-08 15:41:41 -0700 | [diff] [blame] | 82 | |
| James Kuszmaul | 7c8aad6 | 2018-09-08 18:16:18 -0700 | [diff] [blame] | 83 | py_library( |
| 84 | name = "calib_sensors", |
| Brian Silverman | b7fdb69 | 2018-09-09 15:50:45 -0700 | [diff] [blame] | 85 | srcs = [ |
| James Kuszmaul | 7c8aad6 | 2018-09-08 18:16:18 -0700 | [diff] [blame] | 86 | "calib_sensors.py", |
| Brian Silverman | b7fdb69 | 2018-09-09 15:50:45 -0700 | [diff] [blame] | 87 | ], |
| 88 | data = [ |
| 89 | "@python_repo//:scipy", |
| 90 | ], |
| 91 | ) |
| 92 | |
| James Kuszmaul | 7c8aad6 | 2018-09-08 18:16:18 -0700 | [diff] [blame] | 93 | py_binary( |
| 94 | name = "current_equalize", |
| 95 | srcs = [ |
| 96 | "current_equalize.py", |
| 97 | ], |
| 98 | data = [ |
| 99 | ":calib_sensors", |
| 100 | "@python_repo//:scipy", |
| 101 | ], |
| 102 | ) |
| 103 | |
| James Kuszmaul | 998d303 | 2018-09-08 15:41:41 -0700 | [diff] [blame] | 104 | genrule( |
| 105 | name = "gen_current_equalization", |
| James Kuszmaul | 7c8aad6 | 2018-09-08 18:16:18 -0700 | [diff] [blame] | 106 | srcs = [ |
| James Kuszmaul | 7c8aad6 | 2018-09-08 18:16:18 -0700 | [diff] [blame] | 107 | "calib_data_60a.csv", |
| 108 | "calib_data_60b.csv", |
| 109 | "calib_data_60c.csv", |
| Brian Silverman | 37a95d6 | 2018-11-09 16:08:32 -0800 | [diff] [blame] | 110 | "calib_data_6030a.csv", |
| 111 | "calib_data_6030b.csv", |
| 112 | "calib_data_6030c.csv", |
| James Kuszmaul | 7c8aad6 | 2018-09-08 18:16:18 -0700 | [diff] [blame] | 113 | ], |
| James Kuszmaul | 998d303 | 2018-09-08 15:41:41 -0700 | [diff] [blame] | 114 | outs = ["current_equalization.h"], |
| Brian Silverman | 37a95d6 | 2018-11-09 16:08:32 -0800 | [diff] [blame] | 115 | cmd = " ".join([ |
| 116 | "$(location current_equalize)", |
| 117 | "$(location calib_data_60a.csv)", |
| 118 | "$(location calib_data_60b.csv)", |
| 119 | "$(location calib_data_60c.csv)", |
| 120 | "$(location calib_data_6030a.csv)", |
| 121 | "$(location calib_data_6030b.csv)", |
| 122 | "$(location calib_data_6030c.csv)", |
| 123 | "> \"$@\"", |
| 124 | ]), |
| James Kuszmaul | 998d303 | 2018-09-08 15:41:41 -0700 | [diff] [blame] | 125 | restricted_to = mcu_cpus, |
| Brian Silverman | b7fdb69 | 2018-09-09 15:50:45 -0700 | [diff] [blame] | 126 | tools = ["current_equalize"], |
| James Kuszmaul | 998d303 | 2018-09-08 15:41:41 -0700 | [diff] [blame] | 127 | ) |