updated docu for motor shield fix

docs/2_MOTOR_SHIELD_FIX.md

@@ -1,47 +1,47 @@
 # Motor shield fix
 
-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
+
-----------------------------
+### Get 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:
+
+- 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:
+- 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
+-> This creates a file called motor_shield.bin
 
-#### Upload empty firmware to Wemos D1 mini
+### 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.
+- Install esptool
-![D1 mini](https://imaginaerraum.de/git/Telos4/RoboRally/raw/branch/master/docs/images/motor_firmware_update_bb.jpg)
+The chip on the Wemos D1 mini is a Esp8266. In order to flash programs on this chip we will use esptool by Espressif.
-Also make sure that the I2C bridge connection on the motor shield is set.
+You can install it using pip:
+```
+$ pip install esptool
+```
 
-2. Plug the Wemos D1 mini on top of the motor shield and then connect it to your PC using a micro USB cable
+- Make sure the RTS and 3V port of the Wemos motor shield are connected by a wire. Also make sure that the I2C bridge connection on the motor shield is set.
+![Motor shield jumper](https://imaginaerraum.de/git/Telos4/RoboRally/raw/branch/master/docs/images/motor_shield_jumper.jpeg)
 
-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`
+- Plug the Wemos D1 mini on top of the motor shield and then connect it to your PC using a micro USB cable
 
-Note: If you you compile it yourself make sure you choose the Wemos D1 mini board as target for the build.
+- 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 compile it yourself make sure you choose the Wemos D1 mini board as target for the build.
 
 ```
 void setup() {
@@ -52,16 +52,16 @@ void loop() {
   // just some dummy code
 }
 ```
-4. Erase flash on the chip:
+- Erase flash on the chip:
 ```
 $ esptool.py --port /dev/ttyUSB0 erase_flash
 ```
-5. Flash the dummy sketch:
+- 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:
+### 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:
@@ -70,7 +70,7 @@ $ make
 $ make install
 ```
 
-#### Connect the motor shield to D1 mini:
+### 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|
@@ -80,13 +80,11 @@ Use some jumper cables to connect the motor shield and the D1 mini in the follow
 |3V            |  3V|
 |GND           |  GND |
 
-In addition on the motor shield connect 3V to RTS
+![D1 mini](https://imaginaerraum.de/git/Telos4/RoboRally/raw/branch/master/docs/images/motor_firmware_update_bb.jpg)
-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:
-
+- Connect the D1 mini to your PC using a micro USB cable.
-#### Flash the new firmware on the STM32:
+- Check if you can communicate with the STM32:
-1. Check if you can communicate with the STM32:
 ```
 $ stm32flash /dev/ttyUSB0
 ```
@@ -104,7 +102,7 @@ Device ID    : 0x0444 (STM32F03xx4/6)
 - System RAM : 3KiB
 ```
 
-2. Unlock shield:
+- Unlock the shield for flashing:
 ```
 $ stm32flash -k /dev/ttyUSB0
 ```
@@ -128,7 +126,7 @@ Read-UnProtecting flash
 Done.
 ```
 
-3. Flash new motor driver:
+- Flash new motor driver:
 ```
 $ stm32flash -f -v -w motor_shield.bin /dev/ttyUSB0
 ```