Illini RoboMaster Embedded Control 2018

This repository hosted codes for low level hardware protocol & control algrithms implemented on the DJI RoboMaster 2018 Type A Control Board with a STM32F427 chip as its main MCU.

Note: since this repository contains git submodules, you will have to clone this repo with --recursive tag to obtain all source codes:

git clone --recursive https://github.com/illini-robomaster/iRM_Embedded_2018.git

Important File Structure

• Applications - User Level Generic Libraries (as a git submodule)

• Configs - Board Specific / Robot Specific configuration headers

• Tasks - High level customized control logics built on top of our Generic Libraries

• STM32F427xx.cmake - CMake Toolchain File

• iRM_Embedded_2018.ioc - Hardware Pin Definitions for STM32CubeMX to generate driver level source codes

• HAL / Driver Level Libs - Should NOT Be Modified By Hand

  • Inc / Src - Header & source files for HAL libraries
  • Middlewares - FreeRTOS, FatFS, and other 3rd party libraries
  • Drivers - Low Level Drivers

IDE Choices

• CLion - recommanded for under experienced programmers

  • CMake Integration
  • Auto Completion

• vim - recommended by Alvin. Mouse free editing experience helps achieve maximum productivity

  • CMake Integration
  • Auto Completion

• atom / sublime text / VSCode / etc - suit yourself

  • CMake Integration
  • Auto Completion

Dependency

• Unix Based Environment - MacOS / Linux

• Build Essentials

  • Cmake 3.11.0 or higher
  • ARM Toolchain

• stlink - optional for single command flashing

• OpenOCD - optional for debug purposes

• ST-Link-V2 / ST-Link-V2.1 Program Uploader

Tutorials

• How to install ARM Toolchain
• How to compile the code
• How to flash binary files onto the micro controller
• How to use gdb with on chip debugger
• How to generate documentations
  1. run the following commands in your terminal

   cd <path to iRM_Embedded_2018> && doxygen Doxyfile
  

  2. open iRM_Embedded_2018/html/index.html in a browser
  3. under Modules you should see BSP Library and User Library