Two Wheel Tracking Drone

This Project is to control a two wheel drone use:

Board: STM32FXCXT6 Board V5.02 and
Chip: STM32f103C8T6 datasheet
Debug Probes: J-Link product page

Wire Connection

FC-35 tracking sensor board	STM32FXCXT6 Board	HL-1 Car Board
DO1	PB05	-
DO2	PB06	-
DO3	PB07
GND	GND	GND
VCC	+5V	VCC

	PB10	IN1
	PB11	IN2
	PB12	IN3
	PB13	IN4
	3.3V	EN1
	3.3V	EN2

Download Dependencies

Because of some Driver problem this tutor is only on MacOS

All the tools can be install using Homebrew:

# Arm GCC toolchain
$ brew tap ArmMbed/homebrew-formulae
$ brew install arm-none-eabi-gcc

# OpenOCD
$ brew install openocd

Rustc & Cargo

# check you rust toolchain is up to date
$ rustc -V
rustc 1.47.0 (18bf6b4f0 2020-10-07)

# cargo-binutils
$ rustup target add thumbv7m-none-eabi # for the Cortex-M3 processors which stm32f103 use
$ rustup component add llvm-tools-preview
$ cargo install cargo-binutils --vers 0.3.2
$ cargo size -- -version
LLVM (http://llvm.org/):
  LLVM version 11.0.0-rust-1.47.0-stable
  Optimized build.
  Default target: x86_64-apple-darwin19.6.0
  Host CPU: icelake-client

OpenOCD connection:

$ openocd -f interface/jlink.cfg -f target/stm32f1x.cfg
# should get output below
Open On-Chip Debugger 0.10.0
Licensed under GNU GPL v2
For bug reports, read
	http://openocd.org/doc/doxygen/bugs.html
Info : auto-selecting first available session transport "jtag". To override use 'transport select <transport>'.
adapter speed: 1000 kHz
adapter_nsrst_delay: 100
jtag_ntrst_delay: 100
none separate
cortex_m reset_config sysresetreq
Info : No device selected, using first device.
Info : J-Link V9 compiled Dec 13 2019 11:14:50
Info : Hardware version: 9.60
Info : VTarget = 3.193 V
Info : clock speed 1000 kHz
Info : JTAG tap: stm32f1x.cpu tap/device found: 0x3ba00477 (mfg: 0x23b (ARM Ltd.), part: 0xba00, ver: 0x3)
Info : JTAG tap: stm32f1x.bs tap/device found: 0x16410041 (mfg: 0x020 (STMicroelectronics), part: 0x6410, ver: 0x1)
Info : stm32f1x.cpu: hardware has 6 breakpoints, 4 watchpoints

openocd will block the terminal. That's fine. now you can kill it

Build the program:

# make sure you are in the project dir.
tracking_drone $ cargo build
   Compiling semver-parser v0.7.0
   Compiling typenum v1.12.0
   Compiling version_check v0.9.2
   Compiling proc-macro2 v1.0.24
   Compiling unicode-xid v0.2.1
   Compiling stable_deref_trait v1.2.0
   Compiling syn v1.0.48
   Compiling cortex-m v0.6.4
   Compiling cortex-m-rt v0.6.13
   Compiling vcell v0.1.2
   Compiling r0 v0.2.2
   Compiling nb v1.0.0
   Compiling stm32f1 v0.11.0
   Compiling bitfield v0.13.2
   Compiling void v1.0.2
   Compiling panic-halt v0.2.0
   Compiling embedded-dma v0.1.2
   Compiling volatile-register v0.2.0
   Compiling semver v0.9.0
   Compiling nb v0.1.3
   Compiling embedded-hal v0.2.4
   Compiling generic-array v0.14.4
   Compiling rustc_version v0.2.3
   Compiling bare-metal v0.2.5
   Compiling cast v0.2.3
   Compiling quote v1.0.7
   Compiling generic-array v0.12.3
   Compiling generic-array v0.13.2
   Compiling as-slice v0.1.4
   Compiling aligned v0.3.4
   Compiling cortex-m-rt-macros v0.1.8
   Compiling stm32f1xx-hal v0.7.0
   Compiling drone v0.1.0 ($PROJECT_PATH/tracking_drone)
    Finished dev [unoptimized + debuginfo] target(s) in 31.08s
# Verify that the produced executable is actually an ARM binary
tracking_drone $ cargo readobj --target thumbv7m-none-eabi --bin drone -- -file-headers
    Finished dev [unoptimized + debuginfo] target(s) in 0.02s
ELF Header:
  Magic:   7f 45 4c 46 01 01 01 00 00 00 00 00 00 00 00 00
  Class:                             ELF32
  Data:                              2's complement, little endian
  Version:                           1 (current)
  OS/ABI:                            UNIX - System V
  ABI Version:                       0
  Type:                              EXEC (Executable file)
  Machine:                           ARM
  Version:                           0x1
  Entry point address:               0x8000131
  Start of program headers:          52 (bytes into file)
  Start of section headers:          2742324 (bytes into file)
  Flags:                             0x5000200
  Size of this header:               52 (bytes)
  Size of program headers:           32 (bytes)
  Number of program headers:         5
  Size of section headers:           40 (bytes)
  Number of section headers:         22
  Section header string table index: 20

Flash the Program into microcontroller

First connect the board:

$ openocd -f interface/jlink.cfg -f target/stm32f1x.cfg
# should get output below
Open On-Chip Debugger 0.10.0
Licensed under GNU GPL v2
For bug reports, read
	http://openocd.org/doc/doxygen/bugs.html
Info : auto-selecting first available session transport "jtag". To override use 'transport select <transport>'.
adapter speed: 1000 kHz
adapter_nsrst_delay: 100
jtag_ntrst_delay: 100
none separate
cortex_m reset_config sysresetreq
Info : No device selected, using first device.
Info : J-Link V9 compiled Dec 13 2019 11:14:50
Info : Hardware version: 9.60
Info : VTarget = 3.193 V
Info : clock speed 1000 kHz
Info : JTAG tap: stm32f1x.cpu tap/device found: 0x3ba00477 (mfg: 0x23b (ARM Ltd.), part: 0xba00, ver: 0x3)
Info : JTAG tap: stm32f1x.bs tap/device found: 0x16410041 (mfg: 0x020 (STMicroelectronics), part: 0x6410, ver: 0x1)
Info : stm32f1x.cpu: hardware has 6 breakpoints, 4 watchpoints

The "6 breakpoints, 4 watchpoints" part indicates the debugging features the processor has available.

Leave openocd process running, and open a new terminal.

Make sure that you are inside the project directory.

the OpenOCD provides a GDB server. Connect to that:

tracking_drone $ arm-none-eabi-gdb -q target/thumbv7m-none-eabi/debug/drone

This only opens a GDB shell. To actually connect to the OpenOCD GDB server, use the following command within the GDB shell:

(gdb) target remote :3333
Remote debugging using :3333
0x00000000 in ?? ()

if you are getting errors like undefined debug reason 7 - target needs reset in openocd you can try running monitor reset halt in GDB shell

After entering this command, you'll see new output in the OpenOCD terminal:

Info : accepting 'gdb' connection on tcp/3333
Info : device id = 0x20036410
Info : flash size = 64kbytes

To flash the device, we'll use the load command inside the GDB shell:

(gdb) load

You'll see new output in the OpenOCD terminal:

Info : JTAG tap: stm32f1x.cpu tap/device found: 0x3ba00477 (mfg: 0x23b (ARM Ltd.), part: 0xba00, ver: 0x3)
Info : JTAG tap: stm32f1x.bs tap/device found: 0x16410041 (mfg: 0x020 (STMicroelectronics), part: 0x6410, ver: 0x1)
target halted due to debug-request, current mode: Thread
xPSR: 0x01000000 pc: 0x08000130 msp: 0x20005000

now the program is flash to the chip

azumia-azu/tracking_drone

Two Wheel Tracking Drone

Wire Connection

Download Dependencies

Build the program:

Flash the Program into microcontroller