RoboMaster Refiller 2018

The flow diagram for the refiller has been implemented in the main.c function to improve redability. Most of the supporting hardware libraries can be found in the rangefinder.h,servo.h and canBusProcess.h header files

Toolchain usage instructions

Get Chibi up and running in Windows

(Written by Alex Wong, tell me if I got sth wrong)

1. Downloading ChibiStudio

• Go to ChibiStudio download site and download the latest version of ChibiStudio. At the time of writing, latest version available was ChibiStudio_Preview19.7z

2. Installing ChibiStudio

• Extract and place the ChibiStudio folder into:

C:\

• Such that your Chibistudio installation path is

C:\ChibiStudio

3. Copy launch shortcut elsewhere

• Inside 'C:\ChibiStudio', you will see two shortcuts, "Chibi Studio GCC 4.7" and "Chibi Studio GCC 6.3", we will be using the one ending with 6.3, so copy and paste that shortcut to somewhere convenient for you.

4. Launch Eclipse for the first time

• Eclipse will prompt you to choose a location as your workspace, enter:

C:\ChibiStudio\workspace_user

• Eclipse will launch and show a welcoming 'readme.txt'

5. Importing this project

• Git clone this repo into

C:\ChibiStudio\workspace_user\RMdevBoard_ChibiOS

• Launch Eclipse and select 'File>Import'
• In the 'Import' window, choose 'Existig Projects into Workspace' and press 'Next'
• Choose 'Select root directory', have

C:\ChibiStudio\workspace_user\RMdevBoard_ChibiOS
as your root directory

• You only need to import "3300Proj", don't import "STM32F4xx-CAN"
• leave the three options un-checked
• Press 'Finish'

6. Testing Everything

• Press 'Ctrl-B' on your keyboard
• If everything is correct, the console should display a bunch of source files being compiled, follwed by 'Done' at the end, ignore the warnings

7. Update Eclipse Version (optional)
   ChibiStudio comes with Eclipse LUNA, which you can only theme the text editor dark, not the rest of the UI like Project explorer, console etc. If you are OCD like me, you can consider updating Eclipse to a newer release, at the time of writing, latest version available was Eclipse OXYGEN

• Go into 'C:\ChibiStudio' and either rename or delete your eclipse folder
• Goto the Eclipse download site and download Eclipse IDE for C/C++ Developers for your windows installation
• Extract and place your new eclipse folder into 'C:\ChibiStudio'
• You can theme your eclipse dark by going to 'Help>Eclipse Marketplace', then search and install 'Darkest Dark Theme 2017', it is quite nice

8. Flashing compiled code into the RM board's MCU (using J-Link)

• Download and install Ozone if you haven't already
• Launch Ozone
• In the 'New Project Wizard', choose 'STM32F427II' as 'Device', press 'Next >'
• 'Target Interface' = 'SWD'; 'Target Interface Speed' = '50MHz'; 'Host Interface' = 'USB', press 'Next >'
• For 'ELF, Motorola S-record .....' field, browse and choose

C:/ChibiStudio/workspace_user/RMdevBoard_ChibiOS/dev/build/ch.elf

• After project creation, at the top-left corner, press the 'Download and reset program' button, which is shaped like a green power button
• After flashing the program, press the triangle-shaped 'Resume program excution' button
• The green LED on the RM board should flash on and off every 500ms if everything is correct

Get ChibiOS up and running in Mac (CLion automatic upload)

This installation makes use of terminal, if you are not familiar with the use of the command line tool you can follow this tutorial to get started with it:

1. Open terminal and create a directory inside your user folder and name it GitHub with the following command

    mkdir GitHub
   

2. cd into the directory with

    cd GitHub
   

3. Clone this repository:

    git clone https://github.com/robomasterhkust/RMRefiller
   

4. Import the project in CLion:

   • Open CLion (if you do not have CLion installed follow these steps to obtain a free student license) and import RMdevBoard_ChibiOS as a project.
   • Select "open project" and DO NOT overwrite "CMakeList.txt"

5. Create the upload configurations:

   • On the right top corner click the configurations menu (default "Build all") and select "Edit Configurations"

   • Modify configuration "STLink"

     • "Target" should be "STLink"
     • Under "Executable" click "select other"
     • Browse into the source folder and select the "STlink.sh" executable (note: this is actually only a dummy file used to avoid CLion from giving an error response, the "make upload" command is actually directly exectuted inside the editor)
     • if the STlink.sh file can't be added to the exectable it means that your mac is not recognizing this as a exectable file, to solve this simply open terminal, navigate to the source folder and type:

     chmod a+x STlink.sh

     this will make the script exectable, then you should be able to add it.

   • Modify configuration "Ozone"

     • "Target" should be "Ozone"
     • Under "Executable" click "select other"
     • Browse into your application folder
     • double click on "Ozone", "Contents", "MacOS"
     • Select the "Ozone" executable
     • Under "Program arguments" type run.jdebug
     • Under "Working directory" select "..." and browse to the "RMdevBoard_ChibiOs" folder
     • Lastly, check the "Signle instance only" box on the top right in order to avoid having multiple instances of ozone running at the same time.

6. Modify the code:

   • You can now modify all the code, however in order for new .c and .h files to be compiled you will need to add them to the make file. Under the section '# C sources'. For example in order to add a test.c file after creating it and adding it into the 'dev' folder (with relative header test.h in the 'inc' folder) the following section:

   CSRC = $(STARTUPSRC) \
          $(KERNSRC) \
          $(PORTSRC) \
          $(OSALSRC) \
          $(HALSRC) \
          $(PLATFORMSRC) \
          $(BOARDSRC) \
          $(TESTSRC) \
   			 $(CHIBIOS)/os/various/shell.c \
          $(CHIBIOS)/os/various/evtimer.c \
          $(CHIBIOS)/os/various/syscalls.c \
   			 $(CHIBIOS)/os/hal/lib/streams/memstreams.c \
          $(CHIBIOS)/os/hal/lib/streams/chprintf.c \
          main.c shellcfg.c flash.c tft_display.c mpu6500.c math_misc.c \
   			 canBusProcess.c dbus.c gimbal.c params.c
   

   Will become:

   CSRC = $(STARTUPSRC) \
          $(KERNSRC) \
          $(PORTSRC) \
          $(OSALSRC) \
          $(HALSRC) \
          $(PLATFORMSRC) \
          $(BOARDSRC) \
          $(TESTSRC) \
   			 $(CHIBIOS)/os/various/shell.c \
          $(CHIBIOS)/os/various/evtimer.c \
          $(CHIBIOS)/os/various/syscalls.c \
   			 $(CHIBIOS)/os/hal/lib/streams/memstreams.c \
          $(CHIBIOS)/os/hal/lib/streams/chprintf.c \
          main.c shellcfg.c flash.c tft_display.c mpu6500.c math_misc.c \
   			 canBusProcess.c dbus.c gimbal.c params.c test.c
   

7. Flash compiled code into the board (two methods):

• CLion: STLink

  • Select "STLink" configuration, click the green arrow on the top right corner and watch the code get flashed
  • When the upload completes you should be able to see Process finished with exit code 0 in the console
  • The green LED on the RM board should flash on and off every 500ms if everything is correct

• Clion: Ozone using JLINK (same used for internals)

  • Select "Ozone" configuration, click the green arrow on the top right corner
  • Ozone should open, you can now upload the code with the top left green button and use the debugger
  • The green LED on the RM board should flash on and off every 500ms if everything is correct

Install CLion with a free student license

1. Go to JetBrains website and dowload CLion
2. Obtain a student license using this procedure and your connect.ust.hk email address