A Real Time Embedded STM32 Discovery robot. Stayin' Alive.
##Requirements ###Hardware
- STM32-F4 ARM Cortex-M4 MCU (such as the STM32-F4 Discovery Board)
- 2 Xbee Radios
- L293 Motor Driver
- A Differential drive robot
WIRING CONNECTIONS:
For PC controlled xbee:
| FTDI PIN | XBEE PIN |
|---|---|
| GND | GND |
| 5V | 5V |
| RX | TX |
| TX | RX |
| PD0 | EOC |
For robot Xbee:
| STM32F4 PIN | XBEE PIN |
|---|---|
| GND | GND |
| 3V | 3V |
| PB7 | TX |
| PB6 | RX |
For the motor driver:
| STM32F4 PIN | MOTOR PIN |
|---|---|
| PA1 | LEFT MOTOR |
| PA2 | LEFT MOTOR |
| PA3 | RIGHT MOTOR |
| PA4 | RIGHT MOTOR |
###Software
-The ARM Standard Peripheral Library must be included to properly use this driver. Specifically make sure you have included these S.P.L. files in your project's working directory:
(update this list)
"stm32f4xx.h"
"stm32f4xx_rcc.h"
"stm32f4xx_gpio.h"
"stm32f4xx_usart.h"
"misc.h"
-Java Interface:
##Documentation: This project is Doxygen compatible. A doxyfile has been included for easily generating documentation. Input and output paths may need to be edited to the path of your download directory.
##Basic Usage: (see: main.c for a working example)
Open a terminal in the project directory and run the gnu make command:
make clean && make
Open a new terminal and run openocd: openocd -f board/stm32f4discovery.cfg
To flash the binary onto the STM32 board: st-flash write STM32_example.bin 0x8000000