FishChassis System

深圳科创学院2024高中生机器人冬令营 底盘嵌入式系统
InnoXSZ 2024 Robotics Winter Camp for High School Students.

FishChassis is provided as a lower layer controller.

Author: qianwan.Jin@2024 [email protected]

Get this repository by:

git clone https://github.com/RM-camp-for-high-school-students/Shenzhen-innoX-2024wc-chassis.git --recursive --depth=1

Related Projects:

• LibFishChassis - ESP32 Mixly Arduino Package
• FishDistribution - ESP32 Board PCBA
• FishRefereeEmbedded - Embedded System of Refer System
• FishCom - Communication Protocol
• Innox2024-WC-WS - ROS Work Space

Table of Contents

• FishChassis System
  • Table of Contents
  • Environment
    • Hardware
    • Softwares
    • Packages
    • Additional Funciton
  • General Information
    • Orientation
    • Robot System Construction
    • Communication
    • ELF File Info
    • RTOS Trace Info

Environment

Hardware

• Development Board Type C
• EPS32-C3 Arduino

Softwares

• Code generator: STM32CubeMX-6.10.0
• Tools chains: arm-none-eabi-gcc
• Debugger: OpenOCD + GDB(Windows need mingw64)
• Code editor: Vscode/Clion
• Refer tutorial: Vscode/Clion

Author recommend Clion as IDE for more intelligent. And in this project, both Clion and Vscode are ready to go.

Recommended tutorial for initing invironments: Configuring CLion for STM32 Development-Zhihui Peng

Some present configurations may need to be adjust for your environment. Like: Use clangd need to edit .vscode/setting.json :
--query-driver = "your\arm\tool\chain\bin\arm-none-eabi-g*"

Packages

• STM32CubeF4 Firmware Package V1.28.0 - HAL Driver
• STM32CubeExpansion_AZRTOS-F4 V1.1.0 - RTOS
• FishCom - Communication Protocol
• OneMessage - Message System
• WHX EKF - AHRS

Additional Funciton

• How To Calibrate the IMU:

Presse the user key while resetting the MCU, and buzzer would sound, indicating the start of the calibration program. It may take some time to pre-heat the imu. Buzzer will alternatively sound as the imu is calibrating. Once calibratetion is finished, the board will sound a long beep and reset.

Calibration may take up to 4 minutes, so it's crucial to keep the board in releatively stable at all stages!!!

General Information

Orientation

From a top view:

RFU indicates that Right-Forward-Upward is the correct orientation for the chassis. Anticlockwise rotation direction is positive. ZYX rotation order is implemented on the robot. Right-Forward corresponds to the ID-0 wheel, with the IDs increasing counterclockwise.

Robot System Construction

FishChassis serves as the foundational layer in the entire robot system. It facilitates basic closed-loop control for actuators and offers a control API for the upper layers.

Here are the details:

• Hardware Layer
  • Supports the running environment for programs.
• Operating System Layer
  • Supports basic system resource management.
• Service Layer
  • Supports advanced system services for apps, such as publisher-subscriber modules, USB-ACM service, etc.
• Task APP Layer
  • Implements user tasks to execute functions.

Here shows how system startup:

Communication

• USB-ACM
  • Operates FishCom
  • Appears as tty-acm-x on Linux.
  • Simply plug in the micro-USB to the PC.
  • Well-suited for upper layers.
• SPI
  • Operates FishComLite.
  • Configured for ESP32-Arduino.
  • Not recommended for upper layers.

ELF File Info

[Release Optimize]
Memory region         Used Size  Region Size  %age Used
          CCMRAM:       24444 B        64 KB     37.30%
             RAM:       61464 B       128 KB     46.89%
           FLASH:      130388 B       896 KB     14.21%

RTOS Trace Info

CPU Usage
[CPU IDLE]      83.11%
[IMU]           15.46%
[Wheel]         0.62%
[MsgScheduler]  0.35%
[MsgSPI]        0.17%
[Interrupt]     0.15%
[Remoter]       0.1%
[cdc-acm-write] 0.05%
[Servo]         0.04%
[cdc-acm-write] 0.04%
[IMU_Temp]      <0.01%