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