Firmware: Shield

This is software for microprocessor on electronics-shield

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Data frames in HEX

Prefix	Body	Postfix	Description
00	00 00 00 00	0d0a	Returns name of the robot
01	00 00 00 00	0d0a	Returns version of firmware
10	⬆️00 00 00 00 : 7f 7f 7f 7f ⬇️80 80 80 80 : ff ff ff ff	0d0a	Motors speed set simultaneously for all wheels. The first range is for moving forward, the second - backward, accordingly.
30	00 00 00 00	0d0a	deprecated Returns battery voltage, used in format for TCS
30	00 00 00 00	0d0a	Returns battery voltage in float, 4 bytes little endian
41	slave_addres << 1 data_1 data_2 data_3	0d0a	Send data to I2C connector.
42	slave_addres << 1 size_of_data 00 00	0d0a	Recieve data from I2C connector.
43	slave_addres << 1 memory_addres size_of_memory data	0d0a	Write to register.
44	slave_addres << 1 memory_addres size_of_memory 00	0d0a	Read from register.
81	(duty >> 8) & 0xff duty & 0xff 00 00	0d0a	Set servo 1 duty
82	(duty >> 8) & 0xff duty & 0xff 00 00	0d0a	Set servo 2 duty
83	(duty >> 8) & 0xff duty & 0xff 00 00	0d0a	Set servo 3 duty (redundant with 94)
84	(axis_1 >> 8) & 0xff axis_1 & 0xff (axis_2 >> 8) & 0xFF axis_2 & 0xff	0d0a	deprecated Set manipulator orientation (only axis without gripper) - 2 bytes MSB first.
94	(gripperPosition >> 8) & 0xFF gripperPosition & 0xFF	0d0a	deprecated Set gripper value.
FF	01 or 00 00 00 00	0d0a	Enable / disable watchdog. 0x01 is default setting

Notice: All messages from microcontroller ends with \r\n character

Example frame

Prefix	Data	Data	Data	Data	Postfix	Postfix
0x10	0x50	0x50	0x50	0x50	0x0d	0x0a

Servo duty range

Manipulator

Duty can be set in range from 500 to 6000

Gripper

Duty can be set in range from 1000 to 5000

Install toolchain

Below steps for Unix systems:

sudo add-apt-repository ppa:team-gcc-arm-embedded/ppa
sudo apt-get update 
sudo apt-get install gcc-arm-embedded

Code editing

Install System Workbench for STM32.

Import project to workspace.

Check your linker flags (project properties > C/C++ Build > Setings > Tool Settings (TAB) > MCU GCC Linker > Miscellaneous > Linker flags), if you are using nanolib “-specs=nano.specs” you need to add “-u _printf_float” to enable float printf.