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RAPID electronics unit - Instructions for use ----------------------------------------------------------------------------------- Ports and connectors X1-4: Ultrasound probe connectors. They are equivalent, only different connector types. X5: 6V power input. X6: Power output for motor driver. Not used at the moment. X7: Communication port. Not used. X8, X9: USB ports for motor driver communication. They are equivalent. X10: Ethernet port for PC communication. ----------------------------------------------------------------------------------- Setup - Connect 6V power supply to port X5. - Connect motor driver board to port X9 via USB-C cable. - Connect PC to port X10 via Ethernet cable. - Connect A-mode and Doppler probes to any of X1-X4. Remember to select the correct port on the GUI before scanning. - Connect 12V power to the motor driver board. The firmware (and different processing scripts) of the Raspberry Pi are located at: home/rapid/projects/app 1. Open RealVNC viewer, locate rapidunit and connect. It might take a while for the Raspberry Pi to boot after being powered on. 2. Enter the IP address: rapidunit3.local 3. Enter username: rapid; password: 5353 4. Open Programming/Thonny to access the Python code for the web GUI. 5. Run the script to start the GUI. 6. Open the browser and search for rapidunit[number]:8080 to access the GUI. ----------------------------------------------------------------------------------- In case you want to modify the firmware that is responsible for the ultrasound scanning process and drives the motors: Open Programming/Geany to access the C code ----------------------------------------------------------------------------------- In case the motor driver unit needs to be reprogrammed, follow these steps: To program the uStepper board: 1. Press and hold "BOOT" 2. Press and release "RESET" 3. Release "BOOT" 4. Open STM32CubeProgrammer software 5. Select USB device, connect 6. Mass erase internal memory 7. Repeat 1.-3. 8. Upload firmware from Arduino IDE For further instructions on installing the libraries and STM32CubeProgrammer, see the official repository: https://github.com/uStepper/uStepperS32
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Control firmware for the RAPID ROVER prototype. Controlling steppers and reading uswitches.
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