Hey, It’s been a long time since I posted news on Animabot 😉 I didn’t advanced much on the software but I can now talk to the servos which is a very good news 🙂 I still have to make all the functions to control them correctly (setPosition, getPosition, moveAll, setTorque, getTemp, etc.) but it will be more interesting !
I’m still waiting for my 3D printer… and it begins to annoy me…
Servos are alive !
Servos are alive !
STM32F4 under programming
A small update about the boards, as you can see on the photo below, the boards are connected together and the power is well-distributed in each of them.
I have also set up my software environment using Eclipse and ChibiOS RTOS. I can now working on the STM32 configuration and mid-level implementation for ADC, SPI, LTC2945, Sensors (Temp, IR, accelerometer) etc… The Serial Driver is already working so I can at least use printf for debugging 🙂
As I’m still waiting for my 3D printer, So I concentrate of the software and I will continue the mechanic later.
The Raspberry Pi is flashed with the Raspbian OS (quick start guide available here).
The STM32 is flashed with the RTOS ChibiOS. ChibiOS is compact, fast and open source OS : Perfect for me !
STM32F4 Discovery Board
I modified the power connector of the Pi in order to connect it with another connector. As you can see on the architecture document, I will use a small 3.7v Li-Po battery for the Pi and the STM32 with a special power supply (PTN04050C). So I soldered a JST connector with cables :
Brain Power Supply
The Raspberry Pi will will equipped with a “smart switch”. As you are running a Linux on it and a SD-Card, you can not unplug the Pi as you wish. If you shut off your Pi while it is writing on the SD-Card, you might corrupt this one… And you will have to flash it again… 😦
So to prevent this a found what I call a “smart switch” from Mausberry Circuits :
With this switch, you only have to install a small script on the Pi, and that’s it 😉 You can now power ON/OFF your Pi safely !
Concerning the STM32, I can directly use the 5v pin, so i don’t need do modify the board. The STM32 can be shut-down directly without special precaution, so no problem as for the Pi.