ros2car_stm32h7

This is a project designed for small vehicle with high performance SLAM requirements.

feature

peripherals

• Texas Instrument DRV8874 DC motor driver support.
• ICM-42688-P IMU support.
• WS18B20 serial RGB LED support.
• STM32 ethernet and LAN8720-A ethernet PHY support.
• STM32 USB2.0 FS support.
• TF card support.
• RX8900-CE:UA0 external RTC support.
• PWM servo driver x4 support.
• External 0.96/1.3inch 7P OLED support.
• External bluetooth module support.
• External SBUS receiver support.
• External GNSS module support.

system performance

• 4 x DC motor position, velocity, torque control with 6A peak current.
• ROS2 IMU and control message publish and subscribe via 100Mps Ethernet.
• multi-sensor(IMU, Lidar and camera) sync - trigger signals aligned to GMT+0800 second PPS.
• Camera STROBE signal detection and ROS2 message publishing of timestamp of CMOS exposure.
• GNSS time synchronization within 1000 nanoseconds offset.
• Hardware PTPv2 time synchronization within 100 nanoseconds offset.
• Log system with FATFS storage and visualization support.
• USB Mass storage + DFU + VCP.

electrical specification

• 8 - 24V input; 5V 8A power supply for small computer; 5V 8A power supply for servos.
• ±30kV ESD per IEC 61000-4-2(Air) protection for external function pins.
• ±25kV ESD per IEC 61000-4-2(Contact) protection for external function pins.

build

prerequisite

apt install cmake openocd gcc-arm-none-eabi

Install STM32CubeCLT and STM32CubeMX. Install STM32 VS Code Externsion on Visual Studio Code.

This program is tested with:

1. x86_64 #53~22.04.1-Ubuntu GNU/Linux 6.8.0-52-generic
2. cmake version 3.22.1
3. arm-none-eabi-gcc 13.2.1 20231009 (Arm GNU Toolchain 13.2.rel1 (Build arm-13.7))
4. Open On-Chip Debugger 0.12.0+dev-00893-gf5dd564a7

compile

cmake -B build -DCMAKE_BUILD_TYPE=Debug && cmake --build build

flash program

openocd -f interface/stlink.cfg -f target/stm32h7x_dual_bank.cfg -c "program build/ros2car_stm32h7.elf reset exit"

debug program

Use VSCode debug tool to debug stm32 program. You can find the debug icon at the left side (default position) navigation bar.

user guide

contribute

Feel free to give a pull request. I'll be very thankful if you can help me solve the following todo tasks.

Thanks to these contributors:

todo

• Fix DRV8874 current sensing ADC issue.
• Adjust motor controller parameters.
• Fix ICM-42688-P SPI operation fault.
• Configure ICM-42688-P to generate data-ready signal.
• Add ICM-42688-P data-ready GPIO interrupt detection and IMU data reading.
• Add DC motor encoder round pulses auto-detection.
• Add external sensor trigger and camera strobe signal detection.
• Use ethernet MAC PPS output signal to align trigger signals.
• Fix ethernet communication.
• Test OLED driver.
• Refactor and test RX8900 real-time chip driver.
• Add Micro-XRCE-DDS ROS2 node.
• Add Micro-XRCE-DDS IMU message publisher.
• Add Micro-XRCE-DDS car control message subscriber.
• Design a new logger for variable monitoring and logging with different loggers.
• Add IEEE1588v2 time synchronization support.
• Add GNSS module driver.
• Add GNSS time synchronization for ethernet MAC timestamp.
• Configure USB driver to VCP+MSC+DFU classes.
• Add SD card FATFS support.
• Add power drop detection and file system saver in emergency.
• Add SBUS remote controller support.
• Add bluetooth module support (AT instructions)