Companion pcb

Based on https://github.com/knurling-rs/app-template

Run

To execute binary file: cargo xtask run -p {project_name} -b {bin_file_name}, for example: cargo xtask run -p experiments -b stepper_configurator. Or just cargo xtask run -b stepper_configurator, cause experiments is the default project for run task: XTASK_RUN_DEFAULT = "experiments" To execute main file: cargo xtask run -p {project_name}. To set logging level change env vat DEFMT_LOG at .cargo/config.toml

To stop microcontoller

Erase program: probe-rs erase --chip STM32F103RE

Size

To get info about sections size on microcontoller: cargo xtask size -p {project_name} -b {bin_file_name}, for example: cargo xtask size -p experiments -b stepper_configurator.

ReadObj

To get info about binary object: cargo xtask readobj -p {project_name} -b {bin_file_name}, for example: cargo xtask readobj -p experiments -b stepper_configurator.

Attach

To attach to running microcontroller, example:

1. probe-rs attach $CARGO_TARGET_DIR/thumbv7m-none-eabi/release/companion --chip STM32F103C8 --probe 0483:3748:C296C294070132124647524B4E --log-format "[{t}][{L}] {s}"
2. probe-rs attach $CARGO_TARGET_DIR/thumbv7m-none-eabi/release/motherboard --chip STM32F103RE --probe 0483:3748:15 --log-format "[{t}][{L}] {s}"

TMC2209

Good Vref calculator: https://wiki.fysetc.com/TMC2208/#motor-current-setting For my steppers (1.7A for phase) Vref should be 1.6970562748477143, but I set it to 1.9, cause my friend told me that active cooling required above Vref=1.4

PS3 controller bluetooth connection

To connect PS3 controller to HC-05 you need to set master address. To do that:

• install SixAxisPairTool (for mac get it from here)
• connect PS3 to PC
• set master address

Debugging

1. run openopcd in one terminal
2. run arm-none-eabi-gdb -x openocd.gdb -q {path_to_bin_file} or change runner at crate/{project}/.cargo/config.toml For example: arm-none-eabi-gdb -x openocd.gdb -q ~/rust/rust_build_artifacts/thumbv7m-none-eabi/release/minimal_x

Manual Flashing

1. Build ELF file (cargo build)
2. arm-none-eabi-objcopy -O binary $CARGO_TARGET_DIR/thumbv7m-none-eabi/release/{binary_name} {path_to_output}.bin
3. st-flash write {path_to_output}.bin 0x08000000

HC-05

Use arduino device to configure HC-05. Scetch and connection image is in folder ./hc05_arduino_configurator/. With pressed button reset connect HC-05 to arduino - diod whould blink once per 2 seconds.

Commands can be found in ./documentation/HC-05_AT_Command_Set.pdf

One device should be Master. Another one slave.

I set speed to 460800: AT+UART=460800,0,0

For slave:

• AT+NAME=DrawingRobot_slave
• AT+UART=460800,0,0
• AT+CMODE=1
• AT+ROLE=0
• get addr, we will need it for master: AT+ADDR?

For master:

• AT+NAME=DrawingRobot_master
• AT+UART=460800,0,0
• AT+CMODE=0
• AT+BIND={slave_addr} // replace : with , in addr string
• AT+ROLE=1

For AT+BIND={slave_addr} it may require adding zeroes in front each part. For example: AT+ADDR? return 21:13:12622. To bind that address send this command: AT+BIND=0021,13,012622

Images

Motherboard:

Companion: