Implement STSPIN motor controller and refactor motor service

docs/useful-robot-commands.md

@@ -12,7 +12,7 @@
   - [Robot Diagnostics](#robot-diagnostics)
     - [For Just Diagnostics](#for-just-diagnostics)
     - [For AI + Diagnostics](#for-ai--diagnostics)
-  - [Robot Auto Test](#robot-auto-test)
+  - [STSPIN Motor Controller Test](#stspin-motor-controller-test)
 - [On Robot Commands](#on-robot-commands)
   - [Systemd Services](#systemd-services)
   - [Debugging Uart](#debugging-uart)
@@ -76,9 +76,10 @@ This will stop the current Systemd services, replace and restart them. Binaries
 <b>This will trigger motor calibration meaning the wheels may spin. Please elevate the robot so the wheels are not touching the ground for proper calibration.</b>
 
 ```bash
-bazel run //software/embedded/ansible:run_ansible --platforms=//toolchains/cc:robot -- --playbook deploy_robot_software.yml --hosts <robot_ip> --ssh_pass <robot_password>
+bazel run //software/embedded/ansible:run_ansible --platforms=//toolchains/cc:robot --//software/embedded:motor_board=<motor_board> -- --playbook deploy_robot_software.yml --hosts <robot_ip> --ssh_pass <robot_password>
 ```
 
+* <motor_board> is the type of motor driver board on the robot (either `STSPIN` or `TRINAMIC`)
 * <robot_ip> is the IP address of the robot
 * <robot_password> is the password of the `robot` user account
 
@@ -140,13 +141,13 @@ From Software/src
 
 network_interface can be found with `ifconfig` commonly `wlp59s0` for wifi.
 
-## Robot Auto Test
-Runs the robot auto test fixture on a robot through Ansible, which tests the motor board and power board SPI and UART transfer respectively.
+## STSPIN Motor Controller Test
+Deploys the STSPIN Motor Controller Test binary onto a robot through Ansible.
 
 From Software/src:
 
 ```bash
-bazel run //software/embedded/ansible:run_ansible --platforms=//toolchains/cc:robot -- --playbook robot_auto_test_playbook.yml --hosts <robot_name> --ssh_pass <robot_password>
+bazel run //software/embedded/ansible:run_ansible --platforms=//toolchains/cc:robot --//software/embedded:motor_board=STSPIN -- --playbook deploy_stspin_motor_controller_test.yml --hosts <robot_name> --ssh_pass <robot_password>
 ```
 
 * replace the \<robot_ip\> with the actual ip address of the Raspberry Pi for the ssh connection.

src/MODULE.bazel

@@ -210,6 +210,13 @@ http_archive(
     url = "https://github.com/analogdevicesinc/TMC-API/archive/0cd695fab6d43ceb121af4b8608e5d92b14e1ce9.tar.gz",
 )
 
+http_archive(
+    name = "cppcrc",
+    build_file = "@//extlibs:cppcrc.BUILD",
+    strip_prefix = "cppcrc-6360eee1c8966d32b2552ce156b135ec6a3235f1",
+    url = "https://github.com/DarrenLevine/cppcrc/archive/6360eee1c8966d32b2552ce156b135ec6a3235f1.zip",
+)
+
 ##############################################
 # Register our Toolchains
 ##############################################

src/extlibs/cppcrc.BUILD

@@ -0,0 +1,9 @@
+# Description:
+#   A very small, fast, header-only, C++ library for generating CRCs
+#   https://github.com/DarrenLevine/cppcrc/tree/main
+
+cc_library(
+    name = "cppcrc",
+    hdrs = ["cppcrc.h"],
+    visibility = ["//visibility:public"],
+)

src/proto/robot_status_msg.proto

@@ -81,6 +81,7 @@ enum ErrorCode
 
 enum MotorFault
 {
+    /*********** TMC Faults ************/
     // Refer to Trinamic 6100 datasheet for precise definitions of motor faults.
     // https://trinamic.com/fileadmin/assets/Products/ICs_Documents/TMC6100_datasheet_Rev1.00.pdf
     // (Section 5.1, p22-23)
@@ -99,6 +100,20 @@ enum MotorFault
     PHASE_W_SHORT_COUNTER_DETECTED = 12;
     PHASE_W_SHORT_TO_GND_DETECTED  = 13;
     PHASE_W_SHORT_TO_VS_DETECTED   = 14;
+
+    /*********** STSPIN Faults ************/
+    NO_FAULT     = 15;
+    DURATION     = 16;
+    OVER_VOLT    = 17;
+    UNDER_VOLT   = 18;
+    OVER_TEMP    = 19;
+    START_UP     = 20;
+    SPEED_FDBK   = 21;
+    OVER_CURR    = 22;
+    SW_ERROR     = 23;
+    SAMPLE_FAULT = 24;
+    OVERCURR_SW  = 25;
+    DP_FAULT     = 26;
 }
 
 message DriveUnit
@@ -113,13 +128,15 @@ message DriveUnit
 /* Data from all four drive units and the dribbler */
 message MotorStatus
 {
-    DriveUnit front_left             = 1;
-    DriveUnit front_right            = 2;
-    DriveUnit back_left              = 3;
-    DriveUnit back_right             = 4;
-    DribblerStatus dribbler          = 5;
-    Vector local_velocity            = 6;
-    AngularVelocity angular_velocity = 7;
+    DriveUnit front_left                    = 1;
+    DriveUnit front_right                   = 2;
+    DriveUnit back_left                     = 3;
+    DriveUnit back_right                    = 4;
+    DribblerStatus dribbler                 = 5;
+    Vector local_velocity                   = 6;
+    AngularVelocity angular_velocity        = 7;
+    Vector target_local_velocity            = 8;
+    AngularVelocity target_angular_velocity = 9;
 }
 
 /* Data about the network connection with the robots, including network-derived values */

src/software/constants.h

@@ -53,7 +53,7 @@ const std::string ROBOT_KICK_EXP_COEFF_CONFIG_KEY    = "kick_coeff";
 const std::string ROBOT_CHIP_PULSE_WIDTH_CONFIG_KEY  = "chip_pulse_width";
 
 const std::string SSL_VISION_ADDRESS          = "224.5.23.2";
-static constexpr unsigned int SSL_VISION_PORT = 10020;
+static constexpr unsigned int SSL_VISION_PORT = 10006;
 
 const std::string SSL_REFEREE_ADDRESS          = "224.5.23.1";
 static constexpr unsigned int SSL_REFEREE_PORT = 10003;

src/software/embedded/BUILD

@@ -2,6 +2,29 @@ load("@bazel_skylib//rules:common_settings.bzl", "string_flag")
 
 package(default_visibility = ["//visibility:public"])
 
+config_setting(
+    name = "build_trinamic",
+    flag_values = {
+        ":motor_board": "TRINAMIC",
+    },
+)
+
+config_setting(
+    name = "build_stspin",
+    flag_values = {
+        ":motor_board": "STSPIN",
+    },
+)
+
+string_flag(
+    name = "motor_board",
+    build_setting_default = "TRINAMIC",
+    values = [
+        "TRINAMIC",
+        "STSPIN",
+    ],
+)
+
 cc_library(
     name = "primitive_executor",
     srcs = ["primitive_executor.cpp"],
@@ -19,6 +42,15 @@ cc_library(
     ],
 )
 
+cc_library(
+    name = "spi_utils",
+    srcs = ["spi_utils.cpp"],
+    hdrs = ["spi_utils.h"],
+    deps = [
+        "//software/logger",
+    ],
+)
+
 cc_library(
     name = "thunderloop",
     srcs = ["thunderloop.cpp"],
@@ -37,24 +69,6 @@ cc_library(
     ],
 )
 
-cc_library(
-    name = "gpio",
-    srcs = [
-        "gpio_char_dev.cpp",
-        "gpio_sysfs.cpp",
-    ],
-    hdrs = [
-        "gpio.h",
-        "gpio_char_dev.h",
-        "gpio_sysfs.h",
-    ],
-    deps = [
-        "//software/logger",
-        "//software/logger:network_logger",
-        "//software/util/make_enum",
-    ],
-)
-
 cc_binary(
     name = "thunderloop_main",
     srcs = ["thunderloop_main.cpp"],

src/software/embedded/ansible/BUILD

@@ -23,8 +23,8 @@ py_binary(
         "//software/embedded:thunderloop_main",
         "//software/embedded/linux_configs/pi:pi_files",
         "//software/embedded/linux_configs/systemd:systemd_files",
+        "//software/embedded/motor_controller:stspin_motor_controller_test",
         "//software/embedded/robot_diagnostics_cli:robot_diagnostics_cli_tar",
-        "//software/embedded/services:robot_auto_test",
         "//software/power:powerloop_tar",
     ],
     deps = [

src/software/embedded/ansible/playbooks/deploy_stspin_motor_controller_test.yml

@@ -0,0 +1,42 @@
+---
+- name: Deploy stspin_motor_controller_test binary to robot
+  hosts: THUNDERBOTS_HOSTS
+
+  tasks:
+    - name: Log Robot ID
+      ansible.builtin.debug:
+        msg: "[Robot ID = {{ inventory_hostname }}]"
+      tags: always
+
+    - name: Deploy stspin_motor_controller_test binary
+      block:
+        - name: Stop Services
+          become: true
+          become_method: ansible.builtin.sudo
+          ansible.builtin.systemd:
+            name: "thunderloop.service"
+            masked: false
+            daemon_reload: true
+            state: stopped
+          tags: always
+
+        - name: Delete stspin_motor_controller_test binary under ~/thunderbots_binaries
+          ansible.builtin.file:
+            state: absent
+            path: ~/thunderbots_binaries/stspin_motor_controller_test
+          become_method: ansible.builtin.sudo
+          become: true
+          register: result
+
+        - name: Log where Ansible is searching
+          ansible.builtin.debug:
+            msg: "{{ ansible_search_path }}"
+          tags: always
+
+        - name: Sync Binary
+          ansible.posix.synchronize:
+            src: ../../motor_controller/stspin_motor_controller_test
+            dest: ~/thunderbots_binaries/
+            recursive: true
+            copy_links: true
+          tags: always

src/software/embedded/constants/BUILD

@@ -1,12 +1,5 @@
 package(default_visibility = ["//visibility:public"])
 
-cc_library(
-    name = "constants",
-    hdrs = [
-        "constants.h",
-    ],
-)
-
 py_library(
     name = "py_constants",
     srcs = [":py_constants.py"],

src/software/embedded/gpio/BUILD

@@ -0,0 +1,18 @@
+package(default_visibility = ["//visibility:public"])
+
+cc_library(
+    name = "gpio",
+    srcs = [
+        "gpio.cpp",
+        "gpio_char_dev.cpp",
+    ],
+    hdrs = [
+        "gpio.h",
+        "gpio_char_dev.h",
+    ],
+    deps = [
+        "//software/logger",
+        "//software/logger:network_logger",
+        "//software/util/make_enum",
+    ],
+)

src/software/embedded/gpio/gpio.cpp

@@ -0,0 +1,21 @@
+#include "software/embedded/gpio/gpio.h"
+
+#include <chrono>
+#include <thread>
+
+bool Gpio::pollValue(GpioState state, std::chrono::milliseconds timeout_ms)
+{
+    const auto start_time = std::chrono::system_clock::now();
+    while (getValue() != state)
+    {
+        std::this_thread::sleep_for(std::chrono::microseconds(100));
+
+        const auto current_time = std::chrono::system_clock::now();
+        const auto elapsed_time = current_time - start_time;
+        if (elapsed_time > timeout_ms)
+        {
+            return false;
+        }
+    }
+    return true;
+}