From 3cfc256a0b952745e4ba4f5a82f66c6bccb1c199 Mon Sep 17 00:00:00 2001 From: spirkelmann Date: Tue, 30 Jul 2019 15:08:52 +0200 Subject: [PATCH] added robot setup instructions --- docs/2_ROBOT_SETUP.md | 209 ++++++++++++++++++++++++++++++++++++++++++ 1 file changed, 209 insertions(+) create mode 100644 docs/2_ROBOT_SETUP.md diff --git a/docs/2_ROBOT_SETUP.md b/docs/2_ROBOT_SETUP.md new file mode 100644 index 0000000..07b8da9 --- /dev/null +++ b/docs/2_ROBOT_SETUP.md @@ -0,0 +1,209 @@ +# Robot setup + +This file explains how to setup the software for the robots. It assumes that you already assembled your robot according to the instructions in 1_ASSEMBLY.md + +1 Install esptool +----------------- +The chip on the Wemos D1 mini is a Esp8266. In order to flash programs on this chip we will use esptool by Espressif. +You can install it using pip: +``` +$ pip install esptool +``` + +2 Update Motor shield firmware +---------------------------- +The Wemos motor shield comes with a buggy firmware which has problems with the I2C communication ([see here]([buggy firmware](https://hackaday.io/project/18439-motor-shield-reprogramming))). +Luckily, some guys figured out how to update the firmware of the STM32 on the motor shield with a custom one that fixes these issues. + +These are the necessary steps: +#### Install arm compiler: +``` +$ sudo add-apt-repository ppa:team-gcc-arm-embedded/ppa +$ sudo apt-get update +$ sudo apt-get install gcc-arm-embedded +``` + +#### Build the firmware: + +Get the firmware from: [https://github.com/pbugalski/wemos_motor_shield](https://github.com/pbugalski/wemos_motor_shield) +``` +$ make +``` +-> motor_shield.bin + +#### Upload empty firmware to Wemos D1 mini +We will program the STM32 on the motor shield using the serial USB connection from the Wemos D1 mini. The D1 mini should +just pass through the serial communication to the STM32. For this we need to upload a dummy firmware to the D1 mini. + +1. Make sure the RTS and 3V port of the Wemos motor shield are connected by a wire (you should already have done this in the assembly instructions). +Also make sure that the I2C bridge connection on the motor shield is set. + +2. Plug the Wemos D1 mini on top of the motor shield and then connect it to your PC using a micro USB cable + +3. Compile the sketch below into a .bin file using the Arduino IDE -> `dummy_sketch.ino.d1_mini.bin` or use the one from `bin/dummy_sketch.ino.d1_min.bin` + +Note: If you you compile it yourself make sure you choose the Wemos D1 mini board as target for the build. + +``` +void setup() { + // just some dummy code +} + +void loop() { + // just some dummy code +} +``` +4. Erase flash on the chip: +``` +$ esptool.py --port /dev/ttyUSB0 erase_flash +``` +5. Flash the dummy sketch: +``` +$ esptool.py --port /dev/ttyUSB0 --baud 460800 write_flash --flash_size=detect 0 dummy_sketch.ino.d1_mini.bin/dummy_sketch.ino.d1_mini.bin.ino.d1_mini.bin +``` + +#### Install stm32flash utility: +To upload a new firmware to the STM32 that is running on the motor shield we need the STM32 flash utility. +You can download from: [https://sourceforge.net/projects/stm32flash/files/](https://sourceforge.net/projects/stm32flash/files/) +You should then build and install it using the usual: +``` +$ make +$ make install +``` + +#### Connect the motor shield to D1 mini: +Use some jumper cables to connect the motor shield and the D1 mini in the following way. + +|Wemos D1 mini | Motor shield| +|--------------|---------------| +|TX | D1| +|RX | D2| +|3V | 3V| +|GND | GND | + +In addition on the motor shield connect 3V to RTS +Also make sure that the I2C bridge connection on the motor shield is set. + +Then, connect the D1 mini to your PC using a micro USB cable. + +#### Flash the new firmware on the STM32: +1. Check if you can communicate with the STM32: +``` +$ stm32flash /dev/ttyUSB0 +``` + +Output should be: +``` +Interface serial_posix: 57600 8E1 +Version : 0x31 +Option 1 : 0x00 +Option 2 : 0x00 +Device ID : 0x0444 (STM32F03xx4/6) +- RAM : 4KiB (2048b reserved by bootloader) +- Flash : 32KiB (size first sector: 4x1024) +- Option RAM : 16b +- System RAM : 3KiB +``` + +2. Unlock shield: +``` +$ stm32flash -k /dev/ttyUSB0 +``` + +Output should be: +``` +stm32flash 0.5 + +http://stm32flash.sourceforge.net/ + +Interface serial_posix: 57600 8E1 +Version : 0x31 +Option 1 : 0x00 +Option 2 : 0x00 +Device ID : 0x0444 (STM32F03xx4/6) +- RAM : 4KiB (2048b reserved by bootloader) +- Flash : 32KiB (size first sector: 4x1024) +- Option RAM : 16b +- System RAM : 3KiB +Read-UnProtecting flash +Done. +``` + +3. Flash new motor driver: +``` +$ stm32flash -f -v -w motor_shield.bin /dev/ttyUSB0 +``` + +Output should be: +``` +stm32flash 0.5 + +http://stm32flash.sourceforge.net/ + +Using Parser : Raw BINARY +Interface serial_posix: 57600 8E1 +Version : 0x31 +Option 1 : 0x00 +Option 2 : 0x00 +Device ID : 0x0444 (STM32F03xx4/6) +- RAM : 4KiB (2048b reserved by bootloader) +- Flash : 32KiB (size first sector: 4x1024) +- Option RAM : 16b +- System RAM : 3KiB +Write to memory +Erasing memory +Wrote and verified address 0x08000be8 (100.00%) Done. +``` + +#### Cleaning up +Finally, you can remove the wire between RTS and 3V. +At this point, please make sure that the I2C bridge on the Wemos Motor shield is connected. This is necessary for I2C to work correctly. + + +Flash Micropython to the Wemos D1 mini +-------------------------------------- +The next step is to flash the micropython firmware to +``` +$ esptool.py --port /dev/ttyUSB0 erase_flash +$ esptool.py --port /dev/ttyUSB0 --baud 460800 write_flash --flash_size=detect 0 esp8266-20190125-v1.10.bin +``` +Setting up webrepl: + Connect using picocom: +``` + $ picocom /dev/ttyUSB0 -b115200 +``` +3. Connect via picocom and enable Webrepl +``` +>>> import webrepl_setup +``` + -> enable, set password and reboot + + Connect to local wifi: +``` + >>> import network + >>> sta_if = network.WLAN(network.STA_IF) + >>> sta_if.active(True) + >>> sta_if.connect("", "") + >>> sta_if.ifconfig() # this prints the IP +``` + Use access point to connect: +``` + >>> import network + >>> ap_if = network.WLAN(network.AP_IF) + >>> ap_if.active(True) + >>> ap_if.ifconfig() # this prints the IP +``` + Default password for the access point: `micropythoN` + +Connect via [online WebREPL](http://micropython.org/webrepl): + - Enter IP from above and click connect. Login with password. + - Upload boot.py via Webrepl to automatically connect to wifi and start webrepl after reboot + - You can also upload a file called main.py or just work in the webrepl terminal. + + +4. Connect via webpage and upload boot.py, main.py, etc. +Modify boot.py before uploading! + +5. Connect to the robot and test the connection + +The next step is to setup the position detection using ROS. For this see the ROS_SETUP.txt