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Illini RoboMaster Embedded Control 2018

This repository hosted codes for low level hardware protocol & control algrithms implemented on the DJI RoboMaster 2018 Type A Control Board with a STM32F427 chip as its main MCU.

Note: since this repository contains git submodules, you will have to clone this repo with --recursive tag to obtain all source codes:

git clone --recursive https://github.com/illini-robomaster/iRM_Embedded_2018.git

Important File Structure

  • Applications - User Level Generic Libraries (as a git submodule)

  • Configs - Board Specific / Robot Specific configuration headers

  • Tasks - High level customized control logics built on top of our Generic Libraries

  • STM32F427xx.cmake - CMake Toolchain File

  • iRM_Embedded_2018.ioc - Hardware Pin Definitions for STM32CubeMX to generate driver level source codes

  • HAL / Driver Level Libs - Should NOT Be Modified By Hand

    • Inc / Src - Header & source files for HAL libraries
    • Middlewares - FreeRTOS, FatFS, and other 3rd party libraries
    • Drivers - Low Level Drivers

IDE Choices

  • CLion - recommanded for under experienced programmers

    • CMake Integration
    • Auto Completion

  • vim - recommended by Alvin. Mouse free editing experience helps achieve maximum productivity

    • CMake Integration
    • Auto Completion

  • atom / sublime text / VSCode / etc - suit yourself

    • CMake Integration
    • Auto Completion

Dependency

  • Unix Based Environment - MacOS / Linux

  • Build Essentials

    • Cmake 3.11.0 or higher
    • ARM Toolchain

  • stlink - optional for single command flashing

  • OpenOCD - optional for debug purposes

  • ST-Link-V2 / ST-Link-V2.1 Program Uploader

Tutorials