This is a program designed to incorporate several hardware components to produce a self balancing robot. Authors: Stuart Alldrit Kara Vaillancourt
Nordic nrf52 - Microcontroller, bluetooth radio
http://infocenter.nordicsemi.com/pdf/nRF52_DK_User_Guide_v1.2.pdf
http://infocenter.nordicsemi.com/pdf/nRF52832_PS_v1.1.pdf
MPU-9250 - Inertial Measurement Unit
https://www.invensense.com/wp-content/uploads/2015/02/PS-MPU-9250A-01-v1.1.pdf
DRV8825 - Stepper Motor Driver
http://www.ti.com/lit/ds/symlink/drv8825.pdf
DIYmall OLED - screen, based on SSD1306 Driver
https://www.olimex.com/Products/Modules/LCD/MOD-OLED-128x64/resources/SSD1306.pdf
Clone git submodules with git submodule update --init
Install Chocolatey and then run env.ps1 -init in an admin prompt to install dependencies.
- Homebrew - used to install software packages
- git - code history
- ninja - dependancy for zephyr
- python - dependancy for ninja
- ZephyrOS - install all dependancies. Follow this guide: http://docs.zephyrproject.org/getting_started/getting_started.html
Ninja menu config:
go into build folder:
> ninja menuconfig
Device Drivers > Console Drivers > Use RTT Console * (output all the debug statements)
Device Drivers > SPI Hardware Bus Drivers > SPI port 2 * (port to talk to the mpu9250)
Device Drivers > SPI Hardware Bus Drivers > Port 2 interrupt priority (2)
Device Drivers > SPI Hardware Bus Drivers > nRF SPI nrfx drivers > SPI Port 2 Driver type > SCK pin number (15)
Device Drivers > SPI Hardware Bus Drivers > nRF SPI nrfx drivers > SPI Port 2 Driver type > MOSI pin number (14)
Device Drivers > SPI Hardware Bus Drivers > nRF SPI nrfx drivers > SPI Port 2 Driver type > MISO pin number (13)
Device Drivers > I2C Drivers > Enable I2C Port 0
Device Drivers > I2C Drivers > Enable I2C Port 1
Device Drivers > I2C Drivers > nrf TWI nrfx drivers > I2C Port 0 Driver type (nerf TWI 0) > nrf TWI 0 (x)
Device Drivers > I2C Drivers > nrf TWI nrfx drivers > I2C Port 1 Driver type (nerf TWI 1) > nrf TWI 1 (x)
Device Drivers > Sensor Drivers > nrf5 Temperature Sensor > (TEMP 0) Driver Name
Device Drivers > Sensor Drivers > nrf5 Temperature Sensor > (1) TEMP interrupt priority
o (select 'prj.conf' file inside project wobble folder) (loads all files in the file)
Set Enviorment Variables: You must do this EVERY new terminal session. The command is: export <VAR_NAME> = <path/to/variable>
*/Users/kvaillancourt
ZEPHYR_BASE=<project/folder>/project-wobble/zephyr ZEPHYR_TOOLCHAIN_VARIANT=gccarmemb GCCARMEMB_TOOLCHAIN_PATH=<gcc/folder>/gcc-arm-none-eabi-7-2018-q2-update
Configure Project:
Cmake -GNinja -DBOARD=nrf52_pca10040 ../
Run Project:
ninja
OS Print: Open telnet telnet> open localhost 19021
Download & Run Firmware: Open VSCode Debug symbol Play symbol (Debug breaks will ensue)
Alternate debug method via terminal:
JLinkGDBServer -if SWD -device NRF52832_XXAA