oct19 / s-bot-stm32

s-bot-stm32

Cai Dingkun [email protected]

Github

Hardware

• Nucleo-F446RE (STM32F446RET6)
• OLED Display SSD1306 (width 128, height 32)
• ...

Bug

• After system freeze, normal upload will not reset the board correctly, need to press the RESET button
• Sometimes OLED screen fail to initiate, seems to be hardware issue. Hard stop added to help detect this issue early on
• xTimerStart does not work, need to use xTimerChangePeriodFromISR() even from task
• Force sensor box stuck in 485 auto upload readings mode. Reset the box wont help; box is not responding to any commands
• If multipule UART_Tansmit_DMA functions were called, the later ones are sometimes not working

TODO

• Stepper control
• Motion
• Migrate command execution from UART callback to dedicated Command task
• Limit switch
• Command execution
• Robot state
• Update connection diagram
• Capture return error from ssdWriteString
• Use FreeRTOS queue, Semaphore, Event, etc
• EEPROM
• Add logic 2 catpure
• https://blog.csdn.net/weixin_47407066/article/details/124657473

Fixed Issue

• During debug session, system goes to Hard Fault after osDelay : task stack size too small
• Sometimes PlatformIO need to build twice to build successfully, or after Clean All
• sprintf print use big flash size. Switch to customized printf, see printf.c and printf.h
• Linux RS485 to USB device cannot connect
• Some serial port monitor software is inconsistent at higher baudrate. Enable USB_ECHO to check communication
• OLED task delays timer callback, fixed by switching to driver with DMA mode
• Force sensor: Rx DMA read to idle should restart in UART callback, but failed after running for 10mins at 20Hz. Cannot find the bug. Solution:move Rx DMA restart inside Tx timer callback
• Stepper_GetSpeedLeveltofree: when spped is negative and levels >3, freeze (memory size bug: malloc (size * sizeof(float)));)

References

• STM32 project template
• STM32 Driver for OLED Display SSD1306
• Userful algorithms
• STM32 timer interrupt
• Coordinated stepper motor control (arduino)
• STM32 timer
• Stepper motor configuration
• GRBL stm32
• Stepper S-Curve
• UART with DMA and FreeRTOS
• [野火]FreeRTOS 内核实现与应用开发实战—基于RT1052
• Split string