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RMdevBoard_ChibiOS

HKUST RoboMaster ENTERPRIZE team embedded development environment.

Branches

  • Master: For RM2017 board on gimbal only. Adopted from RMInfantry2018 to support the visual servo controller on ros_environment branch. Maintained by Beck Pang.
  • cv_chassis: To support the visual servo controller on ros_environment branch. Maintained by Beck Pang.
  • Sentry: Old code for RM2017 board, developed by Alex Wong and Alex Au
  • new_chassis: Old code for RM2018 board on the competition, developed by Kuang Zeng and TJ.

Dependency

  • compiler: arm-none-eabi-gcc
  • debugger: openocd for ST-Link / J-Link for Ozone
  • development OS: Ubuntu / MacOS / Windows

Software Architecture

  • os
  • hw
  • driver
  • dev
  • module
  • task
  • tools
  • docs

Architecture explained:Ma

  • os: chibiOS / RT, real time operating system;
  • hw: hardware, board related documentation;
  • dev: devices, drivers, and external libraries;
  • driver: register map and basic functions for external hardwares;
  • module: estimator, controller, system identification, and other math related algorithm;
  • task: application layers, defining the tasks independent to the hardware.

Dependency

MacOS use homebrew to install the embedded toolchain

brew tap PX4/px4
brew install px4-dev

Ubuntu

sudo apt-get install gcc-arm-none-eabi openocd -y