Initial port of sw

Author: jpieper

.bazelrc

@@ -0,0 +1,25 @@
+build --compiler=compiler
+test --compiler=compiler
+
+build --cpu=stm32g4
+test --cpu=stm32g4
+
+build --crosstool_top=@com_github_mjbots_rules_mbed//tools/cc_toolchain:toolchain
+test --crosstool_top=@com_github_mjbots_rules_mbed//tools/cc_toolchain:toolchain
+
+build --nostart_end_lib
+test --nostart_end_lib
+
+build -c opt
+test -c opt
+
+build:host --compiler=compiler
+build:host --cpu=k8
+
+build --workspace_status_command=tools/workspace_status.sh
+test --workspace_status_command=tools/workspace_status.sh
+
+build --stamp
+test --stamp
+
+test --test_output=errors

.gitignore

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+*~
+*.fcstd?
+*.b#?
+*.l#?
+*.s#?
+*.pyc
+*.FCStd?
+fw/BUILD/
+fw/.mbedignore
+
+/bazel-*
+
+/node_modules/
+/yarn.lock

WORKSPACE

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+# -*- python -*-
+
+# Copyright 2018-2020 Josh Pieper, [email protected].
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+workspace(name = "com_github_mjbots_power_dist")
+
+BAZEL_VERSION = "3.4.1"
+BAZEL_VERSION_SHA = "1a64c807716e10c872f1618852d95f4893d81667fe6e691ef696489103c9b460"
+
+load("//tools/workspace:default.bzl", "add_default_repositories")
+
+add_default_repositories()
+
+load("@com_github_mjbots_rules_mbed//:rules.bzl", mbed_register = "mbed_register")
+
+mbed_register(
+    config = {
+        "mbed_target": "targets/TARGET_STM/TARGET_STM32G4/TARGET_STM32G474xE/TARGET_NUCLEO_G474RE",
+        "mbed_config": {
+            "MBED_CONF_RTOS_PRESENT": "0",
+            "MBED_CONF_TARGET_LSE_AVAILABLE": "0",
+            "DEVICE_STDIO_MESSAGES": "0",
+            "NDEBUG": "1",
+        },
+    },
+)
+
+load("@com_github_mjbots_bazel_deps//tools/workspace:default.bzl",
+     bazel_deps_add = "add_default_repositories")
+bazel_deps_add()
+
+load("@com_github_mjbots_mjlib//tools/workspace:default.bzl",
+     mjlib_add = "add_default_repositories")
+mjlib_add()

fw/BUILD

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+# -*- python -*-
+
+# Copyright 2018-2020 Josh Pieper, [email protected].
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+package(default_visibility = ["//visibility:public"])
+load("@com_github_ARMmbed_mbed-os//:rules.bzl", "mbed_binary")
+
+COPTS = [
+    "-Werror",
+    "-Wdouble-promotion",
+]
+
+cc_library(
+    name = "git_info",
+    hdrs = ["git_info.h"],
+    srcs = ["git_info.cc"],
+    linkstamp = "git_info_linkstamp.cc",
+    deps = [
+        "@com_github_mjbots_mjlib//mjlib/base:visitor",
+    ],
+    copts = COPTS,
+)
+
+mbed_binary(
+    name = "power_dist",
+    srcs = [
+        "fdcan.cc",
+        "fdcan.h",
+        "millisecond_timer.h",
+        "power_dist.cc",
+        "power_dist_hw.h",
+    ],
+    deps = [
+        ":git_info",
+        "@com_github_mjbots_mjlib//mjlib/base:string_span",
+    ],
+    copts = COPTS,
+)
+
+OCD = (
+    "openocd " +
+    "-f interface/stlink.cfg " +
+    "-f target/stm32g4x.cfg "
+)
+
+genrule(
+    name = "power_dist_flash",
+    tags = ["manual"],
+    srcs = ["power_dist.bin"],
+    outs = ["power_dist.stamp"],
+    cmd = (OCD + "-c init -c \"reset_config none separate; program $(location power_dist.bin) verify 0x8000000 reset exit 0x8000000\" && touch $@"),
+)

fw/BUILD~

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+# -*- python -*-
+
+# Copyright 2018-2020 Josh Pieper, [email protected].
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+package(default_visibility = ["//visibility:public"])
+load("@com_github_ARMmbed_mbed-g4//:rules.bzl", g4_mbed_binary = "mbed_binary")
+load("@com_github_ARMmbed_mbed-g4-bootloader//:rules.bzl", g4_bootloader_mbed_binary = "mbed_binary")
+
+COPTS = [
+    "-Werror",
+    "-Wdouble-promotion",
+]
+
+cc_library(
+    name = "git_info",
+    hdrs = ["git_info.h"],
+    srcs = ["git_info.cc"],
+    linkstamp = "git_info_linkstamp.cc",
+    deps = [
+        "@com_github_mjbots_mjlib//mjlib/base:visitor",
+    ],
+    copts = COPTS,
+)
+
+g4_bootloader_mbed_binary(
+    name = "power_dist",
+    srcs = [
+        "fdcan.cc",
+        "fdcan.h",
+        "millisecond_timer.h",
+        "power_dist.cc",
+        "power_dist_hw.h",
+    ],
+    deps = [
+        ":git_info",
+        "@com_github_mjbots_mjlib//mjlib/base:string_span",
+    ],
+    copts = COPTS,
+)
+
+
+genrule(
+    name = "power_dist_flash",
+    tags = ["manual"],
+    srcs = ["power_dist.bin"],
+    outs = ["power_dist.stamp"],
+    cmd = (OCD_G4 + "-c init -c \"reset_config none separate; program $(location power_dist.bin) verify 0x8000000 reset exit 0x8000000\" && touch $@"),
+)