controller-firmware

Hey! welcome to this repo.

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Usage

Building

Windows

1. Download ARM GCC toolchain 9-2019-q4-major. 10.3-2021.10 You should get gcc-arm-none-eabi-9-2019-q4-major-win32.zip file or equivalent.
2. Create a folder on C drive called TOOLCHAIN -> "C:/TOOLCHAIN/". After the folder is created, extract toolchain here. Toolchain path should look like C:/TOOLCHAIN/9-2019-q4-mayor same as makefile shown on line 7.
3. Download and Install Cygwin.
4. Add C:/cygwin64/bin folder to the PATH. To test this step works, open a CMD console and type "grep" or "mv".
5. Install GIT on windows computer. Download the installer from here.
6. Open a new CMD terminal and configure git with your user name and password. For example: git config --global user.name "Your Name" and also git congig --user.mail "your_email@something.com"
7. Download GNU MCU Eclipse Windows Build Tools from here. In the case you didn't get the installer file, copy the folder "GNU MCU Eclipse" into C driver, and put it into the program folder.
8. Add GNU MCU Eclipse Windows Build Tools folder to PATH: Example: "C:\Program Files\GNU ARM Eclipse\Build Tools\2.6-201507152002\bin". To test this step works, open a CMD console and type "make".
9. Congratulation!!! You should be able to clone and compile this project by typing make -j8 or make all and clean by typing make clean from the project root folder.

Linux

Ubuntu / apt

1. $ sudo apt-get update && apt-get upgrade
2. $ sudo apt-get install build-essential && apt-get install git

Fedora / dnf

1. $ sudo dnf check-update
2. $ sudo dnf install make automake gcc gcc-c++ kernel-devel && sudo dnf install git

Linux

3. Download ARM GCC toolchain from here. You should have this file or equivalent in the system ready to be installed or extracted gcc-arm-none-eabi-9-2019-q4-major-x86_64-linux.tar.bz2.
   $ wget https://developer.arm.com/-/media/Files/downloads/gnu-rm/9-2019q4/gcc-arm-none-eabi-9-2019-q4-major-x86_64-linux.tar.bz2
4. Uncompressed file.
   $ tar -xvjf gcc-arm-none-eabi-9-2019-q4-major-x86_64-linux.tar.bz2
5. Make new dir where toolchain will live.
   $ sudo mkdir /opt/arm-toolchain/
6. Copy toolchain to default project folder.
   $ sudo mv ./gcc-arm-none-eabi-9-2019-q4-major /opt/arm-toolchain/gcc-arm-none-eabi-9-2019-q4-major
7. Congratulation!!! You should be able to clone and compile this project by typing $ make -j8 or $ make all and clean by typing $ make clean on project root folder.

Flashing

Windows

1. ...

Linux with STLink

1. Install STLink package here.

2. Verify connection with:
   $ st-info --probe

3. Flash firmware with:
   $ st-flash write <example>.bin 0x8000000

Hardware Manager

Usage

Example task for blinking LEDs.

#include <hardware/hardware-manager.hpp>

static HardwareManager s_manager;
static Led *s_led;

static bool s_led_on = false;

void task_blink_thread(void*)
{
    s_led = s_manager.get_led();
    s_manager.init();

    for ( ;; )
    {
        s_led->set_led_1(s_led_on);
        s_led->set_led_2(!s_led_on);
        s_led->set_led_3(s_led_on);

        s_led_on = !s_led_on;
        s_manager.update();

        vTaskDelay(250);
    }
}

Hardware Manager Config.

struct Hardware_Config
{
    uint16_t neoled_update_interval;
    uint16_t led_update_interval;
    uint16_t imu_update_interval;
};

Hardware_Config example_config
{
    .neoled_update_interval = 40,
    .led_update_interval = 250,
    .imu_update_interval = 5,
}

Actuators

Actuator interface.

class Actuator
{
    public:

        virtual void init() = 0;

        virtual void update() = 0;
};

Lego Motor interface.

class LegoMotor
{
    public:

        virtual void forward(int32_t rotation) = 0;

        virtual void backward(int32_t rotation) = 0;

        virtual void stop() = 0;

        virtual void start_sync(LegoMotor *motor) = 0;

        virtual void end_sync() = 0;

        virtual bool is_stalled() = 0;

        virtual int32_t get_tacho_count() = 0;

        virtual void set_motor_pwm(uint8_t motor_pwm) = 0;

        virtual uint8_t get_motor_pwm() = 0;

        virtual void set_motor_encoder(uint8_t motor_encoder) = 0;

        virtual uint8_t get_motor_encoder() = 0;

        virtual void set_motor_speed(uint32_t motor_speed) = 0;

        virtual uint32_t get_motor_speed() = 0;

    private:

        virtual void drive_motor(float speed, int32_t rotation) = 0;
};

Current Actuators

• NeoLED
• LEDs

Devices

Device interface.

class Device
{
    public:

        virtual void init() = 0;

        virtual void update() = 0;
};

Lego Device interface.

class LegoDevice
{
    public:

        virtual void init() = 0;

        virtual void update() = 0;
};

unknown if needed.

Sensors

Sensor interface.

class Sensor
{
    public:

        virtual void init() = 0;

        virtual void update() = 0;
};

Lego Sensor interface.

class LegoSensor
{
    public:

        virtual void init() = 0;

        virtual void update() = 0;

        virtual void set_mode(uint8_t mode) = 0;

        virtual uint8_t get_mode() = 0;
};

Current Sensors:

• IMU
• Buttons