| Brian Silverman | dabdf90 | 2017-10-21 15:34:40 -0400 | [diff] [blame] | 1 | load("//motors:macros.bzl", "hex_from_elf") |
| Brian Silverman | f91524f | 2017-09-23 13:15:55 -0400 | [diff] [blame] | 2 | load("//tools:environments.bzl", "mcu_cpus") |
| 3 | |
| 4 | cc_binary( |
| Brian Silverman | dabdf90 | 2017-10-21 15:34:40 -0400 | [diff] [blame] | 5 | name = "drivers_station.elf", |
| 6 | srcs = [ |
| 7 | "drivers_station.cc", |
| 8 | ], |
| 9 | restricted_to = mcu_cpus, |
| 10 | deps = [ |
| 11 | "//motors:util", |
| 12 | "//motors/core", |
| 13 | "//motors/peripheral:can", |
| Brian Silverman | 4787a6e | 2018-10-06 16:00:54 -0700 | [diff] [blame] | 14 | "//motors/print:usb", |
| Brian Silverman | dabdf90 | 2017-10-21 15:34:40 -0400 | [diff] [blame] | 15 | "//motors/usb", |
| 16 | "//motors/usb:cdc", |
| 17 | "//motors/usb:hid", |
| 18 | "//motors/usb:interrupt_out", |
| 19 | ], |
| Brian Silverman | f91524f | 2017-09-23 13:15:55 -0400 | [diff] [blame] | 20 | ) |
| 21 | |
| 22 | hex_from_elf( |
| Brian Silverman | dabdf90 | 2017-10-21 15:34:40 -0400 | [diff] [blame] | 23 | name = "drivers_station", |
| 24 | restricted_to = mcu_cpus, |
| Brian Silverman | f91524f | 2017-09-23 13:15:55 -0400 | [diff] [blame] | 25 | ) |
| Brian Silverman | 4aa8304 | 2018-01-05 12:47:31 -0800 | [diff] [blame] | 26 | |
| 27 | cc_binary( |
| Brian Silverman | dabdf90 | 2017-10-21 15:34:40 -0400 | [diff] [blame] | 28 | name = "controller.elf", |
| 29 | srcs = [ |
| 30 | "controller.cc", |
| Austin Schuh | b402fd4 | 2019-04-13 00:02:53 -0700 | [diff] [blame] | 31 | "controller_adc.cc", |
| 32 | "controller_adc.h", |
| Austin Schuh | 745e4ed | 2019-04-07 15:50:16 -0700 | [diff] [blame] | 33 | "vtable_trigger0.cc", |
| 34 | "vtable_trigger1.cc", |
| 35 | "vtable_wheel0.cc", |
| 36 | "vtable_wheel1.cc", |
| Brian Silverman | dabdf90 | 2017-10-21 15:34:40 -0400 | [diff] [blame] | 37 | ], |
| 38 | restricted_to = mcu_cpus, |
| 39 | deps = [ |
| 40 | ":motor_controls", |
| 41 | "//frc971/control_loops/drivetrain:haptic_input_uc", |
| 42 | "//motors:motor", |
| 43 | "//motors:util", |
| 44 | "//motors/core", |
| 45 | "//motors/peripheral:adc", |
| 46 | "//motors/peripheral:can", |
| Brian Silverman | 4787a6e | 2018-10-06 16:00:54 -0700 | [diff] [blame] | 47 | "//motors/print:usb", |
| Brian Silverman | dabdf90 | 2017-10-21 15:34:40 -0400 | [diff] [blame] | 48 | ], |
| Brian Silverman | 6260c09 | 2018-01-14 15:21:36 -0800 | [diff] [blame] | 49 | ) |
| 50 | |
| 51 | hex_from_elf( |
| Brian Silverman | dabdf90 | 2017-10-21 15:34:40 -0400 | [diff] [blame] | 52 | name = "controller", |
| 53 | restricted_to = mcu_cpus, |
| Brian Silverman | 6260c09 | 2018-01-14 15:21:36 -0800 | [diff] [blame] | 54 | ) |
| 55 | |
| 56 | cc_binary( |
| Brian Silverman | dabdf90 | 2017-10-21 15:34:40 -0400 | [diff] [blame] | 57 | name = "usb_forward_linux", |
| 58 | srcs = [ |
| 59 | "usb_forward.cc", |
| 60 | ], |
| 61 | restricted_to = ["//tools:k8"], |
| 62 | deps = [ |
| 63 | # Don't add anything else here. :usb_forward_windows still has to build it |
| 64 | # without any other dependencies. |
| Brian Silverman | 4f6ba44 | 2018-08-05 14:34:58 -0700 | [diff] [blame] | 65 | "@libusb//:libusb_1_0", |
| Brian Silverman | dabdf90 | 2017-10-21 15:34:40 -0400 | [diff] [blame] | 66 | ], |
| Brian Silverman | 4aa8304 | 2018-01-05 12:47:31 -0800 | [diff] [blame] | 67 | ) |
| 68 | |
| 69 | genrule( |
| Brian Silverman | dabdf90 | 2017-10-21 15:34:40 -0400 | [diff] [blame] | 70 | name = "usb_forward_windows", |
| 71 | srcs = [ |
| 72 | "usb_forward.cc", |
| 73 | "@libusb_1_0_windows//file", |
| 74 | ], |
| 75 | outs = [ |
| 76 | "usb_forward.exe", |
| 77 | ], |
| 78 | cmd = " ".join([ |
| 79 | "$(location usb_forward_windows_build.sh)", |
| 80 | "$(location usb_forward.cc)", |
| 81 | "$(location @libusb_1_0_windows//file)", |
| 82 | "$@", |
| 83 | ]), |
| 84 | output_to_bindir = True, |
| 85 | tools = [ |
| 86 | "usb_forward_windows_build.sh", |
| Brian Silverman | b80dc9f | 2018-08-05 14:59:24 -0700 | [diff] [blame] | 87 | "@mingw_compiler//:all_files", |
| Brian Silverman | dabdf90 | 2017-10-21 15:34:40 -0400 | [diff] [blame] | 88 | ], |
| Brian Silverman | 4aa8304 | 2018-01-05 12:47:31 -0800 | [diff] [blame] | 89 | ) |
| Brian Silverman | 6260c09 | 2018-01-14 15:21:36 -0800 | [diff] [blame] | 90 | |
| 91 | cc_library( |
| Brian Silverman | dabdf90 | 2017-10-21 15:34:40 -0400 | [diff] [blame] | 92 | name = "motor_controls", |
| 93 | srcs = [ |
| 94 | "motor_controls.cc", |
| 95 | ], |
| 96 | hdrs = [ |
| 97 | "motor_controls.h", |
| 98 | ], |
| 99 | restricted_to = mcu_cpus, |
| 100 | visibility = ["//visibility:public"], |
| 101 | deps = [ |
| 102 | "//motors:math", |
| 103 | "//motors:motor", |
| 104 | "//motors/peripheral:configuration", |
| Alex Perry | cb7da4b | 2019-08-28 19:35:56 -0700 | [diff] [blame^] | 105 | "@org_tuxfamily_eigen//:eigen", |
| Brian Silverman | dabdf90 | 2017-10-21 15:34:40 -0400 | [diff] [blame] | 106 | ], |
| Brian Silverman | 6260c09 | 2018-01-14 15:21:36 -0800 | [diff] [blame] | 107 | ) |