Mikoto Bot

MTE 380 Wall Robot Embedded Software

game-day-demo.mp4

Hardware

Board: Nucleo-F401RE

Board properties

• User led on PA5
• User button on PC13
• Serial port through ST-LINK on USART2, Tx: PA2 and Rx: PA3

External Sensors and Actuators

• MPU-6050 3-axis gyroscope and a 3-axis accelerometer
• VL53L1X time-of-flight sensor
• FS5103R Continuous Rotation Servos (x3)

Usage: Local Environment

IMPORTANT: If you want to use WSL, you will need to do some additional setup.

Prerequisites

1. Install rust.

2. Install probe-run.

3. Install cargo-flash.

4. Add the cross compilation target: rustup target add thumbv7em-none-eabihf

   If you're using a different board then your required target may be different. List of ARM Cortex targets.

Run the main binary

Flash the program:

cargo flash --chip stm32f401re

Run with defmt debug outputs:

DEFMT_LOG=debug cargo run

Run an example

Flash the program:

cargo flash --chip stm32f401re --example button-rtic

Run with defmt debug outputs:

DEFMT_LOG=debug cargo run --example button-interrupt

If probe fails to flash your board you probably need to update the firmware on the onboard programmer. The updater can be found at: https://www.st.com/en/development-tools/stsw-link007.html

Usage: Docker (Linux/WSL)

This method only works in WSL if you have done the additional setup for it.

Find the path to your board's USB device

On Ubuntu (WSL):

export DEVICE_PATH=$(lsusb | grep ST-LINK | awk '{ print "/dev/bus/usb/" $2 "/" substr($4, 1, length($2))}')

$ echo $DEVICE_PATH
/dev/bus/usb/001/002

Run the main binary

Flash the program:

./mikoto-cargo $DEVICE_PATH flash --chip stm32f401re

Run with defmt debug outputs:

./mikoto-cargo $DEVICE_PATH run

Run an example

Flash the program:

./mikoto-cargo $DEVICE_PATH flash --chip stm32f401re --example button-rtic

Run with defmt debug outputs:

./mikoto-cargo $DEVICE_PATH run --example button-interrupt

Debugging

• Use st_nucleo_f4.cfg if using OpenOCD.

This repository is based on https://github.com/jkristell/nucleo-f401re