forked from Telos4/RoboRally
163 lines
5.1 KiB
Markdown
163 lines
5.1 KiB
Markdown
# Motor shield fix
|
|
|
|
### 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:
|
|
```
|
|
$ 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
|
|
```
|
|
-> This creates a file called 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.
|
|
|
|
- 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
|
|
```
|
|
|
|
- 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.
|
|
|
|
|
|
- Plug the Wemos D1 mini on top of the motor shield and then connect it to your PC using a micro USB cable
|
|
|
|
- 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() {
|
|
// just some dummy code
|
|
}
|
|
|
|
void loop() {
|
|
// just some dummy code
|
|
}
|
|
```
|
|
- Erase flash on the chip:
|
|
```
|
|
$ esptool.py --port /dev/ttyUSB0 erase_flash
|
|
```
|
|
- 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 |
|
|
|
|
|
|
|
|
|
|
### Flash the new firmware on the STM32:
|
|
- Connect the D1 mini to your PC using a micro USB cable.
|
|
|
|
- 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
|
|
```
|
|
|
|
- Unlock the shield for flashing:
|
|
```
|
|
$ 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.
|
|
```
|
|
|
|
- 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.
|
|
|
|
### Next steps
|
|
Continue with the instructions in the file [3_ROBOT_SETUP.md](https://imaginaerraum.de/git/Telos4/RoboRally/src/branch/master/docs/3_ROBOT_SETUP.md) to complete the setup of the robot.
|
|
|
|
|