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Software development

Both microcontrollers are programmed using PlatformIO in VSCode using C++ language.

RBCX development

STM32

The software for STM32 is located in fw directory. STM32 uses our bootloader, which is based on sboot_stm32.

The Czech manuals are in these presentations: - RBCX - RBCX firmware

Bootloader installation

RBCX might work without bootloader, but it is not recommended. Thanls to the bootloader, you can program STM32 without STLink programmer and program ESP32 directly trough USB-C in RBCX.

RBCX bootloader

  • you need STLink programmer
  • connect STLink programmer to the board→
    • C → SWCLK
    • -→ GND
    • D → SWDIO
    • R → RST
    • +→ 3.3V (optional, if you want to power the board from STLink)
  • !! If STLink is not connected to the computer, STM32 is in a reset state !!

  • STLink connection

  • clone https://github.com/RoboticsBrno/sboot_stm32

  • apt-get install stlink-tools make gcc-arm-none-eabi git
  • flash prebuilt bootloader st-flash --reset --format ihex write prebuilt/rbcx_v11/firmware.hex
  • compile and flash firmware make prerequisites && ./rbcx_build_v11.sh && make program

Firmware installation

Firmware for STM32 is located in fw/rbcx-coprocessor directory. RBCX might be programmed using STLink programmer or using USB-C connector.

In VSCode - PlatformIO, you have to change the environment to hw*_stlink. This setup supports debugging. Just press F5 or Debug button in VSCode.

USB C development

If you want to use USB-C connector for programming STM32, you need to press DOWN button (B2) on the board during the boot. In default mode, USB-C connector is used for communication with ESP32.

To enable Debug output from STM32, you have to press LEFT button (B3) on the board during the boot. This will add virtual debug serial port to the USB-C connector.

STM32 will create two virtual COM ports (one for STM32 and one for ESP32). In VSCode - PlatformIO, you have to change the environment to hw*_sboot. This setup does not support debugging (use STLink programmer for debugging).

ESP32

The library for ESP32 is in RB3204-RBCX-library repository. Examples for the Robotka, which is a robot based on RBCX, are in robotka-examples repository.

RBCX

Programming ESP32

STM32 behaves like "FTDI" on dev kit, so you can program ESP32 using USB-C connector.

  • Controls boot pins on ESP32 according to RTS/DTR.
  • It supports faster UART than ESP32 DevKit (faster programming)
  • ESP32 DevKit cannot be programmed via its own USB while plugged into RBCX

ESP32 and STM32 communication

ESP32 and STM32 communicate via UART (baud 921600)

Microcontrollers are communicating using Protocol Buffers (Protobuf). Protobuf messages are defined in RB3204-RBCX-coproc-comm repository.

Commands

"Run motor at 50%", "Battery voltage is 6802mV", "Reset the board"

Protocol: Protobuf + COBS + small header

  • 0x00, <length>, <data>

Keepalive - when ESP32 does not respond, it is reset, STM32 turns off peripherals

Installation and usage

  • clone https://github.com/RoboticsBrno/RB3204-RBCX-coproc-comm
  • install protobuf compiler apt-get install protobuf-compiler
  • install nanopb generator pip3 install nanopb==0.4.4
  • edit rbcx.proto file
  • compile protobuf messages using ./generate.sh
  • commit and push changes to GitHub
  • change GIT hash in FW and RBCX library to the latest commit hash

Schematic

RBCX