added robot setup instructions
This commit is contained in:
parent
da2f2458f2
commit
3cfc256a0b
209
docs/2_ROBOT_SETUP.md
Normal file
209
docs/2_ROBOT_SETUP.md
Normal file
|
|
@ -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("<SSID>", "<PW>")
|
||||
>>> 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
|
||||
Loading…
Reference in New Issue
Block a user