cdfr2020BaseRoulanteRework

Code for the robotronik club participation to the french robotics cup (WIP). This code will implement motor control and positioning awareness by odometry.

Reminder: To clone the submodule in the same time, use git clone --recurse-submodules, then don't forget to build libopencm3. You need to execute make install_udev one time to add the permission to flash. If you forgot to clone with submodule just run git submodule update --init --recursive

To compile and flash you need gcc-arm-none-eabi-bin, st-linkand openocd

To build: mainTest.elf To flash: mainTest.flash To clean: make clean

Software documentation

You can access the documentation generated from the code with doxygen (see the doxygen paragraph to generate it) in the doxygen/html or latex.

Hardware documentation

Microcontroller used: STM32F303K8 on a Nulceo-32 board, main doc:

• Reference Manual STM32F3 line, doc RM0316, 1141 pages
  • memory map, p57, table 4
• STM32F303x6/x8 Datasheet, 124 pages
  • alternate function, p41, table 14
• Reference STM Nuleo-32 Board, doc UM1956, 37 pages

Doxygen

Generating the documentation with doxygen: --> install doxygen on your system

--> run doxygen doxygenConf from the project directory

--> the documentation can then be read from doxygen/html/index.html in a browser

--> to generate the pdf for the github (or for yourself !) go into the latex directory cd doxygen/latex and run make.

Note: You must have a latex distribution on your computer that has pdflatex command.

Generate the database for your IDE

--> to update the compile_command.json you can use bear (available in the AUR) --> run make clean --> run bear /compilation command/

Debug with uart

--> install picocom --> find your card ls /dev . It should be /dev/ttyACM0 --> run picocom with picocom -b 9600 /dev/ttyACM0

Coding style

• Tabs are spaces = 4

• Column = 80

• Brackets :

  def peripheral_action_subjectofaction(params){
      code...
      some more code...
  }
  

• Function naming

  • _ is the separator
  • peripheral_action_subjectofaction
  • function starting with _ are private and should not be called in high level code

• Variables

  • my_var

• Documentation using doxygen

  • comment the function interface in the .h files (javadoc like)
  • detail the function in .c files

• We envision three levels for the code :

  • lowlevel fuctions that must be as general as possible to setup the hardware config (ex: timer fuctions)
  • lowlevel modules with the functions called by the user (ex: motor module, with setup and speed/dir fuctions)
  • rolling unit level (ex: control engineering)