Introduction

This project will contain the SW of the Ratibroombroom micromouse. The micromouse is based in the STM32F405RGT6 microcontroller.

This is an open source project. That means you can build your own if you want. You can find the HW specification of this micromouse in this link (https://github.com/aindustriosa/Ratibroombroom)

Developing

Please read development

Programming

0. Flash the program

Type make in the root of the project

make

Black Magic

Quickstep

Using the pre-built gdb scripts

Execute the command:

make flash_black_magic_ttyACM0

If the blackmagic is in the tty/ACM0 device or

make flash_black_magic_ttyACM3

If the blackmagic is in the tty/ACM3 device

Step-by-step

Using the official docker image of the project

1. Run the following command

sudo docker run  --privileged -v $(pwd):/ratibroombroom:Z -w /ratibroombroom -u $(id -u):$(id -g) -ti pcounhago/mighty-sdk:9.2020q2 bash

NOTE: In some cases you must specify the user as root if the following steps throw privilege issues

2. Plug the blackmagic

TODO: Add images with the connections

https://black-magic.org/usage/gdb-commands.html

3. Search for the devices:

ls /dev/ttyACM*

4. Run the following command

arm-none-eabi-gdb

5. Insert the following command in gdb

Supposing the black magic is in /dev/ttyACM0

target extended-remote /dev/ttyACM0
monitor swdp_scan

The STM32F4 should appear in the output

Available Targets:
No. Att Driver
 1      STM32F40x M4

6. Attach to the device

attach 1

7. Finally flash the main.elf

(gdb) load src/main.elf
Loading section .text, size 0x6c4c lma 0x8000000
Loading section .ARM.exidx, size 0x8 lma 0x8006c4c
Loading section .data, size 0x690 lma 0x8006c54
Start address 0x8004a24, load size 29412
Transfer rate: 32 KB/sec, 919 bytes/write. 

8. Optional: Detach to the device and quit

detach
quit

References

This project uses a fork of the mmlib library from Bulebots (Original project here: https://github.com/Bulebots/mmlib). Mmlib implements functionality for maze search and resolution, abstracting this funcitionality from the HW actually used.

This project is also inspired by the following projects:

• Bule bule micromouse: https://bulebule.readthedocs.io/en/latest/ from Bulebots and its continuation, Meiga (https://github.com/Bulebots/meiga).

Proxecto patrocinado por Xunta de Galicia e Amtega Axencia para a Modernización Tecnolóxica