STM AUV Controller

This app is used to control "Okoń" - an AUV built by KNR AUV Team from Warsaw University of Technology.

Table of contents

• General Info
• Used Libraries
• Target Device
• Functional Overview
  • Boat
  • Comunication
  • Pin Descriptions
• PID Controller
• Developer Manual
  • Compiling
  • Debuging
  • Flashing
• Setup

General Info

This app is used to control "Okoń" - an AUV built by KNR AUV Team from Warsaw University of Technology. App provides PID controler, and act as an interface between sensors and NVIDIA Jetson TX2 - AUV core.

Used Libraries

In order to keep app optimized we only used CMSIS and std peripheral libraries provided by STM. Drivers for each external peripheral were created on our own.

Target Device

Target device is STM32 F411RE, integrated in custom made PCB.

Functional Overview

Main purpose of our app is to provide interface between Jetson and peripheral devices: motors, grabber, sensors etc.

Boat Overwiev

TODO: Put some nice pic and write a few words about it.

Comunication

For comunication with Jetson we use serial protocol at 115200 baudrate.

TODO: Describe protocol

Pin Descriptions

TODO: put here nice img with pin description :D

PID Controller

TODO: Describe PID controller

Developer Manual

This project was developed in VSCode using CMake for Makefile generation. Project compiles with GNU Arm Embedded Toolchain, not tested with GCC. Repository conatains all necessary setup files to debug and compile it in VSCode under windows 10.

Compiling

To compile this project you need to download and install GNU Arm Embedded Toolchain. Repo contains arm.cmake toolchain file. In order to compile project make sure that line 5 of this file is pointing to valid compiler directory. After adjusting compiler path, VSCode should be able to compile your project. If you are not using VSCode please refer to your IDE manual about using Cmake.

Debuging

If you want to debug under VSCode follow these steps:

- Download and install OpenOCD
- Add OpenOCD to path variable

Now press F5 to build, flash and debug. If you are using diferent enviroment please refer to its manual.

Flashing

Cmake is generating custom target "program". If you have OpenOCD installed just go to build directory and type "make program".

Setup

• Get binary file
  • Download precompiled binary
  • Download GNU Arm Embedded Toolchain, CMake and compile project
• Get STM programmer STM32 Cube Programmer works fine
• Connect board and flash it.