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fixes for control board make recipe #129

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Merged
nickwitten merged 1 commit into from
Dec 10, 2025
Merged

fixes for control board make recipe #129

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134 changes: 82 additions & 52 deletions Makefile
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Original file line number Diff line number Diff line change
Expand Up @@ -18,16 +18,16 @@ endif
############################

software-communication--clean:
cd software-communication && \
cd software-communication/ && \
make clean

software-communication--build:
cd software-communication && \
cd software-communication/ && \
make all
all:: software-communication--build

software-communication--test:
cd software-communication && \
cd software-communication/ && \
make test
test:: software-communication--test

Expand All @@ -39,21 +39,27 @@ test:: software-communication--test
common_binaries := ${shell cd common/src/bin && ls -d * && cd ../../..}

define create-common-targets
$1--$2:
.PHONY: .$1-$2-cargo-build
.$1-$2-cargo-build:
cd $1/ && \
cargo build --release --bin $2
common--all:: $1--$2

$1--$2--run:
.PHONY: .$1-$2-cargo-build-debug
.$1-$2-cargo-build-debug:
cd $1/ && \
cargo run --release --bin $2
cargo build --bin $2

$1--$2: .$1-$2-cargo-build
$1--all:: $1--$2

$1--$2--debug:
$1--$2--run: $1--$2
cd $1/ && \
cargo build --bin $2
common--all:: $1--$2--debug
cargo run --release --bin $2

$1--$2--debug-run:
$1--$2--debug: .$1-$2-cargo-build-debug
$1--all:: $1--$2--debug

$1--$2--debug-run: $1--$2--debug
cd $1/ && \
cargo run --bin $2
endef
Expand All @@ -65,7 +71,7 @@ common--test:
test:: common--test

common--clean:
cd common && \
cd common/ && \
cargo clean

###############################
Expand All @@ -81,20 +87,20 @@ common--clean:
motor_controller_binaries := ${shell cd motor-controller/bin && ls -d * && cd ../..}

define create-motor-controller-targets
motor-controller--$1: .motor-controller-setup
cd motor-controller/build/ && \
make $1
motor-controller--all:: motor-controller--$1

motor-controller--$1--prog: motor-controller--$1
cd motor-controller/build/ && \
make $1-prog

motor-controller--$1--debug: motor-controller--$1
cd motor-controller/build/ && \
make $1-gdb
$1--$2: .motor-controller-setup
cd $1/build/ && \
make $2
$1--all:: $1--$2

$1--$2--prog: $1--$2
cd $1/build/ && \
make $2-prog

$1--$2--debug: $1--$2
cd $1/build/ && \
make $2-gdb
endef
$(foreach element,$(motor_controller_binaries),$(eval $(call create-motor-controller-targets,$(element))))
$(foreach element,$(motor_controller_binaries),$(eval $(call create-motor-controller-targets,motor-controller,$(element))))

motor-controller--clean:
rm -rf motor-controller/build
Expand All @@ -108,22 +114,36 @@ kicker_binaries := ${shell cd kicker-board/src/bin && ls -d * && cd ../../..}
kicker_openocd_cfg_file := board/st_nucleo_f0.cfg

define create-kicker-board-rust-targets
$1/target/thumbv7em-none-eabihf/release/$2: motor-controller--dribbler
cargo build --target thumbv7em-none-eabihf --manifest-path $1/Cargo.toml --release --bin $2

$1/target/thumbv7em-none-eabihf/release/$2.bin: $1/target/thumbv7em-none-eabihf/release/$2
arm-none-eabi-objcopy -Obinary $1/target/thumbv7em-none-eabihf/release/$2 $1/target/thumbv7em-none-eabihf/release/$2.bin
.PHONY: .$1-$2-cargo-build
.$1-$2-cargo-build: motor-controller--dribbler motor-controller--wheel
cd $1/ && \
cargo build --target thumbv7em-none-eabihf --release --bin $2

$1/target/thumbv7em-none-eabihf/release/$2.bin: .$1-$2-cargo-build
echo; \
echo "Updating $1--$2 flat binary output:"; \
elf_path="$1/target/thumbv7em-none-eabihf/release/$2"; \
bin_path="$1/target/thumbv7em-none-eabihf/release/$2.bin"; \
tmp_path="$1/target/thumbv7em-none-eabihf/release/$2.tmp.bin"; \
arm-none-eabi-objcopy -Obinary $$$${elf_path} $$$${tmp_path}; \
if ! cmp -s $$$${tmp_path} $$$${bin_path}; then \
echo "$2.bin has new changes!"; \
mv $$$${tmp_path} $$$${bin_path}; \
else \
echo "$2.bin unchanged!"; \
rm $$$${tmp_path}; \
fi; \
echo; \

$1--$2: $1/target/thumbv7em-none-eabihf/release/$2.bin
echo "Building $1--$2 flat bin."
kicker-board--all:: $1--$2
$1--all:: $1--$2

$1--$2--run: motor-controller--dribbler
$1--$2--run: $1--$2
cd $1/ && \
cargo run --release --bin $2

$1--$2--debug: $1--$2
cd $1 && \
cd $1/ && \
cargo build --release --bin $2 && \
../util/program.sh $3 $1/target/thumbv7em-none-eabihf/release/$2
endef
Expand All @@ -142,30 +162,40 @@ control_binaries := ${shell cd control-board/src/bin && ls -d * && cd ../../..}
control_openocd_cfg_file := board/st_nucleo_h743zi.cfg

define create-control-board-rust-targets
$1/target/thumbv7em-none-eabihf/release/$2: kicker-board--kicker kicker-board--hwtest-coms motor-controller--wheel
cargo build $(additional_control_cargo_flags) --target thumbv7em-none-eabihf --manifest-path $1/Cargo.toml --release --bin $2

$1/target/thumbv7em-none-eabihf/release/$2.bin: $1/target/thumbv7em-none-eabihf/release/$2
arm-none-eabi-objcopy -Obinary $1/target/thumbv7em-none-eabihf/release/$2 $1/target/thumbv7em-none-eabihf/release/$2.bin
.PHONY: .$1-$2-cargo-build
.$1-$2-cargo-build: kicker-board--kicker kicker-board--hwtest-coms motor-controller--wheel
cd $1/ && \
cargo build $(additional_control_cargo_flags) --target thumbv7em-none-eabihf --release --bin $2

.PHONY: .$1-$2-embed-hash
.$1-$2-embed-hash: .$1-$2-cargo-build
python util/embed_img_hash.py --bin $1/target/thumbv7em-none-eabihf/release/$2

$1/target/thumbv7em-none-eabihf/release/$2.bin: .$1-$2-embed-hash
echo; \
echo "Updating $1--$2 flat binary output:"; \
elf_path="$1/target/thumbv7em-none-eabihf/release/$2"; \
bin_path="$1/target/thumbv7em-none-eabihf/release/$2.bin"; \
tmp_path="$1/target/thumbv7em-none-eabihf/release/$2.tmp.bin"; \
arm-none-eabi-objcopy -Obinary $$$${elf_path} $$$${tmp_path}; \
if ! cmp -s $$$${tmp_path} $$$${bin_path}; then \
echo "$2.bin has new changes!"; \
mv $$$${tmp_path} $$$${bin_path}; \
else \
echo "$2.bin unchanged!"; \
rm $$$${tmp_path}; \
fi; \
echo; \

$1--$2: $1/target/thumbv7em-none-eabihf/release/$2.bin
$1--all:: $1--$2

$1--$2--run: $1--$2
cd $1/ && \
python ../util/embed_img_hash.py
kicker-board--all:: $1--$2

# $1--$2: kicker-board--kicker kicker-board--hwtest-coms motor-controller--wheel
# cd $1 && \
# cargo build $(additional_control_cargo_flags) --release --bin $2 && \
# arm-none-eabi-objcopy -O binary target/thumbv7em-none-eabihf/release/$2 target/thumbv7em-none-eabihf/release/$2.bin && \
# python ../util/embed_img_hash.py
# control-board--all:: $1--$2

$1--$2--run: kicker-board--kicker kicker-board--hwtest-coms motor-controller--wheel
cd $1 && \
cargo run $(additional_control_cargo_flags) --release --bin $2

$1--$2--debug: $1--$2
cd $1 && \
cd $1/ && \
../util/program.sh $3 target/thumbv7em-none-eabihf/release/$2
endef
$(foreach element,$(control_binaries),$(eval $(call create-control-board-rust-targets,control-board,$(element),$(control_openocd_cfg_file))))
Expand Down
46 changes: 33 additions & 13 deletions util/embed_img_hash.py
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Original file line number Diff line number Diff line change
Expand Up @@ -15,12 +15,11 @@
import os
import subprocess
import binascii
import traceback
from pathlib import Path
from argparse import ArgumentParser


firmware_dir_path = (Path(__file__) / ".." / "..").absolute().resolve()
control_bin_path = firmware_dir_path / "control-board" / "target" / "thumbv7em-none-eabihf" / "release" / "control.bin"
firmware_dir_path = (Path(__file__) / ".." / "..").resolve()
kicker_bin_path = firmware_dir_path / "kicker-board" / "target" / "thumbv7em-none-eabihf" / "release" / "kicker.bin"
wheel_bin_path = firmware_dir_path / "motor-controller" / "build" / "bin" / "wheel.bin"
dribbler_bin_path = firmware_dir_path / "motor-controller" / "build" / "bin" / "dribbler.bin"
Expand Down Expand Up @@ -75,16 +74,37 @@ def try_embed_img_hash(embed_img_path, img_path, img_hash_magic):
raise Exception(f"img_path - path not found '{img_path}'")
img_hash = get_img_hash(img_path)
embed_img_hash(embed_img_path, img_hash_magic, img_hash)
print(f"embed_git_status.py - SUCCESS - Embedded hash of '{img_path}' into '{embed_img_path}'")
except:
print(f"embed_git_status.py - WARNING - Unable to embed hash of '{img_path}' into '{embed_img_path}'")
print(traceback.format_exc())
except Exception:
return False
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@joe-spall joe-spall Dec 10, 2025

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Useful to print the exception contents?

return True


if __name__ == "__main__":
try_embed_img_hash(control_bin_path, wheel_bin_path, wheel_img_hash_magic_ctrl)
try_embed_img_hash(control_bin_path, wheel_bin_path, wheel_img_hash_magic_weel)
try_embed_img_hash(control_bin_path, kicker_bin_path, kicker_img_hash_magic_ctrl)
try_embed_img_hash(control_bin_path, kicker_bin_path, kicker_img_hash_magic_kick)
try_embed_img_hash(control_bin_path, dribbler_bin_path, dribbler_img_hash_magic_kick)
try_embed_img_hash(control_bin_path, dribbler_bin_path, dribbler_img_hash_magic_drbl)
parser = ArgumentParser()
parser.add_argument("--bin", required=True, help="Path to the target binary to embed image hashes in")
args = parser.parse_args()
target_bin = Path(args.bin)
if not target_bin.exists():
print(f"embed_git_status.py - ERROR - Could not find target binary at path '{target_bin}'")
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@joe-spall joe-spall Dec 10, 2025

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Nit space below and newline after exit(1)

exit(1)
success_files = set()
failure_files = set()
for source_bin, magic_bytes in [
(wheel_bin_path, wheel_img_hash_magic_ctrl),
(wheel_bin_path, wheel_img_hash_magic_weel),
(kicker_bin_path, kicker_img_hash_magic_ctrl),
(kicker_bin_path, kicker_img_hash_magic_kick),
(dribbler_bin_path, dribbler_img_hash_magic_kick),
(dribbler_bin_path, dribbler_img_hash_magic_drbl),
]:
result = try_embed_img_hash(target_bin, source_bin, magic_bytes)
if result:
success_files.add(source_bin)
else:
failure_files.add(source_bin)
if source_bin in success_files:
success_files.remove(source_bin)
if len(success_files) > 0:
print(f"embed_git_status.py - SUCCESS - Embedded hash of binary files {', '.join("'" + file.name + "'" for file in success_files)} in binary file '{target_bin.name}'")
if len(failure_files) > 0:
print(f"embed_git_status.py - WARNING - Unable to embed hash of binary files {', '.join("'" + file.name + "'" for file in failure_files)} in binary file '{target_bin.name}'. This is expected if the sub-firmware image isn't include in the target binary.")