Integrate MDV6 firmware into Bazel

.github/workflows/main.yml

@@ -31,7 +31,8 @@ jobs:
             -//software/ai/hl/...                   \
             -//software/field_tests/...             \
             -//software/embedded/...                \
-            -//toolchains/cc/...
+            -//toolchains/cc/...                    \
+            -//firmware/...
 
       - name: Jetson Nano Build Test
         run: |
@@ -43,6 +44,22 @@ jobs:
           cd src
           bazel build //software/embedded:thunderloop_main --copt=-O3 --//software/embedded:host_platform=PI --platforms=//toolchains/cc:robot
 
+      - name: Motor Firmware build Test
+        run: |
+          cd src
+          bazel build //firmware/motor:mdv6_firmware_main --platforms=//toolchains/cc:motor_board
+
+  motor-firmare:
+    name: Motor Firmware
+    runs-on: ubuntu-24.04
+    steps:
+      - uses: actions/checkout@v4
+      - uses: ./.github/actions/environment-setup
+
+      - name: Build Motor Firmware
+        run: |
+          cd src
+          bazel build //firmware/motor:mdv6_firmware_main --platforms=//toolchains/cc:motor_board
 
   software-tests:
     name: Software Tests
@@ -60,7 +77,8 @@ jobs:
             -//software/ai/hl/...            \
             -//software/field_tests/...      \
             -//software/ai/navigator/...     \
-            -//toolchains/cc/...
+            -//toolchains/cc/...             \
+            -//firmware/...
 
   robot-tests:
     name: Robot Software Tests

environment_setup/setup_software.sh

@@ -196,4 +196,8 @@ print_status_msg "Set up ansible-lint"
 /opt/tbotspython/bin/ansible-galaxy collection install ansible.posix
 print_status_msg "Finished setting up ansible-lint"
 
+print_status_msg "Setting up STM32 cross-compiler"
+install_stm32_cross_compiler $g_arch
+print_status_msg "Done setting up STM32 cross-compiler"
+
 print_status_msg "Done Software Setup, please reboot for changes to take place"

environment_setup/util.sh

@@ -90,6 +90,19 @@ install_python_dev_cross_compile_headers() {
     rm -rf /tmp/tbots_download_cache/python-3.12.0.tar.xz
 }
 
+install_stm32_cross_compiler() {
+    arch="aarch64"
+    if is_x86 $1; then
+        arch="x86_64"
+    fi
+    download_link=https://developer.arm.com/-/media/Files/downloads/gnu/14.3.rel1/binrel/arm-gnu-toolchain-14.3.rel1-${arch}-arm-none-eabi.tar.xz
+
+    wget -N $download_link -O /tmp/tbots_download_cache/arm-gnu-toolchain.tar.xz
+    tar -xf /tmp/tbots_download_cache/arm-gnu-toolchain.tar.xz -C /tmp/tbots_download_cache/
+    sudo mv /tmp/tbots_download_cache/arm-gnu-toolchain-14.3.rel1-${arch}-arm-none-eabi /opt/tbotspython/arm-none-eabi-gcc
+    rm /tmp/tbots_download_cache/arm-gnu-toolchain.tar.xz
+}
+
 is_x86() {
     if [[ $1 == "x86_64" ]]; then
         return 0

src/MODULE.bazel

@@ -202,6 +202,17 @@ http_archive(
     url = "https://github.com/saebyn/munkres-cpp/archive/61086fcf5b3a8ad4bda578cdc2d1dca57b548786.tar.gz",
 )
 
+# For flashing the motor driver board
+http_archive(
+    name = "bazel_embedded",
+    sha256 = "91a78efbb0f94479fe9ca2912aced712be9e7028325bada9a73e7d325427b404",
+    strip_prefix = "bazel-embedded-cf5b240d510313b3383e0cdb550eb9f32be7244e",
+    url = "https://github.com/bazelembedded/bazel-embedded/archive/cf5b240d510313b3383e0cdb550eb9f32be7244e.zip",
+)
+
+openocd = use_extension("//:defs.bzl", "openocd_extension")
+use_repo(openocd, "com_openocd")
+
 http_archive(
     name = "LTC4151",
     build_file = "@//extlibs:LTC4151.BUILD",
@@ -233,6 +244,7 @@ register_toolchains(
     "//toolchains/cc:cc_toolchain_for_k8_jetson_nano_cross_compile",
     "//toolchains/cc:cc_toolchain_for_k8",
     "//toolchains/cc:cc_toolchain_for_aarch64",
+    "//toolchains/cc:cc_toolchain_for_stm32",
 )
 
 ##############################################
@@ -265,6 +277,12 @@ new_local_repository(
     path = "/opt/tbotspython/aarch64-tbots-linux-gnu/",
 )
 
+new_local_repository(
+    name = "motor_board_gcc",
+    build_file = "@//extlibs:motor_board_gcc.BUILD",
+    path = "/opt/tbotspython/arm-none-eabi-gcc/",
+)
+
 new_local_repository(
     name = "py_cc_toolchain_host",
     build_file = "@//extlibs:py_cc_toolchain.BUILD",

src/extlibs/motor_board_gcc.BUILD

@@ -0,0 +1,9 @@
+package(default_visibility = ["//visibility:public"])
+
+filegroup(
+    name = "includes",
+    srcs = glob([
+        "arm-none-eabi/include",
+        "lib/gcc/arm-none-eabi/14.3.1/include",
+    ]),
+)

src/firmware/motor/BUILD

@@ -0,0 +1,60 @@
+load("@bazel_embedded//tools/openocd:defs.bzl", "openocd_flash")
+
+package(default_visibility = ["//visibility:public"])
+
+filegroup(
+    name = "mdv6_firmware_srcs",
+    srcs = glob(["**/*.c"]),
+)
+
+filegroup(
+    name = "mdv6_firmware_hdrs",
+    srcs = glob(["**/*.h"]),
+)
+
+cc_binary(
+    name = "mdv6_firmware_main",
+    # Linker file informs the toolchain how much RAM and flash you have as well as its locations on the chip
+    additional_linker_inputs = [
+        "mdv6_firmware.ld",
+    ],
+    linkopts = ["-T $(location mdv6_firmware.ld)"],
+    target_compatible_with = [
+        "@platforms//cpu:armv6-m",
+        "@platforms//os:none",
+    ],
+    deps = [
+        ":mdv6_firmware",
+    ],
+)
+
+cc_library(
+    name = "mdv6_firmware",
+    srcs = glob(["**/*.c"]),
+    hdrs = glob(["**/*.h"]),
+    defines = [
+        # Our MCU is the STM32F0251: https://www.st.com/resource/en/datasheet/stspin32f0251.pdf
+        "STM32F031x6",
+        # Use the Low-Layer APIs because it gives us more control over the hardware (as opposed to the HAL).
+        # https://www.st.com/content/ccc/resource/technical/document/user_manual/56/32/53/cb/69/86/49/0e/DM00223149.pdf/files/DM00223149.pdf/jcr:content/translations/en.DM00223149.pdf
+        "USE_FULL_LL_DRIVER",
+    ],
+)
+
+openocd_flash(
+    name = "mdv6_firmware_flash",
+    device_configs = [
+        # Part of the STM32F0 family
+        # https://www.st.com/resource/en/reference_manual/rm0091-stm32f0x1stm32f0x2stm32f0x8-advanced-armbased-32bit-mcus-stmicroelectronics.pdf
+        "target/stm32f0x.cfg",
+    ],
+    # WARNING! `flash_offset` attribute is broken in the Bazel rule. The .elf file (mdv6_firmware_main.stripped)
+    # contains the memory mappings already, so this attribute is necessary.
+    flash_offset = "",
+    # .stripped strips debug symbols to reduce the size of the binary.
+    # see: https://bazel.build/reference/be/c-cpp#cc_binary
+    image = ":mdv6_firmware_main.stripped",
+    interface_configs = [
+        "interface/stlink.cfg",  # The ST-Link V2 programmer is used to flash the firmware.
+    ],
+)