https://github.com/skalldri/project-wobble
A small self-balancing robot. Built around the Zephyr RTOS.
https://github.com/skalldri/project-wobble
Last synced: about 2 months ago
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A small self-balancing robot. Built around the Zephyr RTOS.
- Host: GitHub
- URL: https://github.com/skalldri/project-wobble
- Owner: skalldri
- License: apache-2.0
- Created: 2018-06-03T22:09:23.000Z (almost 7 years ago)
- Default Branch: master
- Last Pushed: 2021-02-02T06:25:05.000Z (over 4 years ago)
- Last Synced: 2025-03-11T07:17:40.057Z (about 2 months ago)
- Language: C
- Size: 154 KB
- Stars: 10
- Watchers: 1
- Forks: 0
- Open Issues: 0
-
Metadata Files:
- Readme: README.md
- License: LICENSE
Awesome Lists containing this project
- awesome-zephyr-rtos - A small self balancing Robot
README
# project-wobble
This is a program designed to incorporate several hardware components to produce a self balancing robot.
Authors: Stuart Alldrit
Kara Vaillancourt
## HARDWARE
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
## DEPENDANCIES
Clone git submodules with `git submodule update --init`
### Windows
Install Chocolatey and then run `env.ps1 -init` in an admin prompt to install dependencies.
### MacOS
- 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)
## SETUP
Set Enviorment Variables:
You must do this EVERY new terminal session. The command is:
export =
*/Users/kvaillancourt
ZEPHYR_BASE=/project-wobble/zephyr
ZEPHYR_TOOLCHAIN_VARIANT=gccarmemb
GCCARMEMB_TOOLCHAIN_PATH=/gcc-arm-none-eabi-7-2018-q2-update
Configure Project:
> Cmake -GNinja -DBOARD=nrf52_pca10040 ../
Run Project:
> ninja
## DEBUG
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