Daredevil-small

This repository constitutes the sources for the sensor array module of Daredevil (the light/small EVITA module), a S32K144EVB-Q100 MCU (microcontroller unit) that read ranges from ultrasonic sensors and propagate that data over CAN-FD to an external entity.

Documentation

All code in this repository is thoroughly documented, including examples. Run cargo doc [--no-deps] --document-private-items --open to build and open all relevant documentation in your web browser. Crate documentation presumes that this README has been read.

MCU documentation can be found in the documentation directory.

Dependencies & Prerequisites

Hardware

For every sensor array module, the following is needed:

• An NXP S32K144EVB-Q100 MCU;
• 4x MaxBotix LV-MaxSonar-EZ1;
• a female D-Sub to four-pin CAN adapter (or some Dupont wires), and
• a barrel power supply with 12V yield.

Software

This crate expects your MCU to be flashed with a certain debug application. Please refer to the flashing documentation before continuing. Additionally, the security component of the MCU must be initialized alike the csec_keyconfig_s32k144 demo from S32 Design Studio for ARM. An example for this repo should be written for convenience.

A recent stable Rust tool chain is required (v1.32.0 or later). Install rustup via your system's preferred channels or by executing curl https://sh.rustup.rs -sSf | sh in a shell instance. Then run

$ rustup default stable
$ rustup update stable
$ rustup target add thumbv7em-none-eabihf # required to compile to the ARM Cortex-M4
$ cargo install bobbin-cli # convenience tool for working with the S32K144EVB

Additionally, SEGGER's software debugger JLink is required to program your application onto the MCU. Some other Rust-external tools are required. Install them via:

Debian and derivatives (Ubuntu, et al.)

# curl -d accept_license_agreement=accepted -d confirm=yes https://www.segger.com/downloads/jlink/JLink_Linux_x86_64.deb | dpkg --install -
# apt install gdb-multiarch

Arch Linux

$ git clone https://aur.archlinux.org/jlink-software-and-documentation.git
$ cd jlink-software-and-documentation
$ makepkg -cs
$ pacman -U *.pkg.tar.xz

or use your AUR helper of choice.

And:

# pacman -Syu arm-none-eabi-gdb

Nix(OS)

$ nix-shell shell.nix

Deployment

1. Connect the MCU to your system via USB.
2. Connect the power source to the MCU (if CAN functionality is wanted).
3. Start a GDB server by executing ./gdbserver.sh in a separate shell instance.
4. Program your application via cargo run [--example <example-name>].

The target application will be flashed automatically (see ./gdbinit), and a breakpoint will be installed at the start of main.

If you wish to attach to the UART console, run bobbin-cli console.

For instructions on how to connect sensors and read CAN output, please refer to the overview documentation.

License

Licensed under either of

• Apache License, Version 2.0 (LICENSE-APACHE or http://www.apache.org/licenses/LICENSE-2.0)
• MIT license (LICENSE-MIT or http://opensource.org/licenses/MIT)

at your option.