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EUROBOT 2016 - The Beach Bots

TODO

HW description:

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Board : https://www.olimex.com/Products/ARM/ST/STM32-E407/open-source-hardware
Motor Driver : https://www.olimex.com/Products/RobotParts/MotorDrivers/BB-VNH3SP30/open-source-hardware
WiFi IoT module : https://www.olimex.com/Products/IoT/MOD-WIFI-ESP8266/open-source-hardware
=> Github : https://github.com/espressif/esp8266_at

SW description:

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Need to test those two RTOS:

  • Freertos : https://github.com/frtos-wpan/freertos-201309/tree/master/FreeRTOS/Demo/E407
  • ChibiOS : http://chibios.org/dokuwiki/doku.php?id=chibios:documentation:start

    • Chibios seems to be a better alternative than FreeRtos for severals reasons:

  • maintaining our own hal eats a lot of development time - ChibiOS comes with a hal
  • pios hal is not being widely used and tested - ChibiOS is
  • FreeRTOS relies 100% on dynamic memory allocation (heap) - ChibiOS can do static as well as dynamic memory (even mixed)
  • FreeRTOS api is not type safe (mutex / semaphore / queue) - ChibiOS api is type safe
  • i have a feeling that ChibiOS is more efficient than FreeRTOS
  • using ChibiOS hal will make us stop relying on the buggy ST libraries in the longer term
    • How to setup the env:
  • Install arm gcc:
      • brew tap PX4/homebrew-px4
      brew update
      brew install gcc-arm-none-eabi
  • Install dfu-util:
      • brew install dfu-util
  • Make the projet:
      • Just run make in the project folder
  • Program the target:
      • Put the device in dfu mode (set the jumper like explain in the manual
      Run the command: dfu-util -v -d 0483:df11 -a 0 -s 0x08000000 -D prog.hex

    Usefull links:

    ----
  • https://www.alexwhittemore.com/using-the-stm32f4discovery-on-the-mac-os-x-10-8-4-command-line/
  • http://www.telecom-robotics.org/2013/08/robotics-101-quick-start/
    •

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