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RDK X3 Robot📖
01. About RDK-X3-Robot
1. Instructions
  • 1. Introduction
  • 2. FAQ
  • 3. Battery and charger use precautions
  • 4.TF card expand capacity
2. Common problem analysis
02. Assembly video
  • Part1-Install Motor
  • Part2-Install Battert Fixing Column
  • Part3-Install Motor Coupling
  • Part4-Install Mecanum wheel
  • Part5-Install Expansion Board
  • Part6-Wiring Show
  • Part7-Install Main Control Board
  • Part8-Install Car Top Plate and Antenna
  • Part9-Install OLED Screen
  • Part10-Install Depth Camera(Optional)
  • Part11-Install OLED Screen
  • Part12-Install HD Camera
  • Part13-Install Top Plate
  • Part14-Install Right Side Plate
  • Part15-Motor Wiring Show
  • Part16-lnstall Car Body
  • Part17-Install Battery
  • Part18-Install Lidar
03. Remote control tutorial
  • 1. The phone APP remote tutorial
  • 2. USB wireless controller remote tutorial
04. ROS functional tutorial
  • 1. Introduction of extension board
  • 2. Set up STM32 development environment
  • 3. Key control buzzer sound
  • 4. FreeRTOS application
  • 5. Serial communication
  • 6. SBUS model remote control
  • 7. CAN bus communication
  • 8. RGB color light strip
  • 9. Timer interrupt control PWM servo
  • 10. Control serial steering gear
  • 11. Nine-axis attitude sensor to obtain data
  • 12. Control motor forward and reverse
  • 13. The timer captures encoder data
  • 14. Theory of robot kinematics analysis
  • 15. PID control robot motion
05. Basic control tutorial
  • 1. Update the firmware of the expansion module
  • 2. Install the Python driver library
  • 3. Set the type of bottom car
  • 4. Open and close the APP program control
  • 5. Turn hotspot mode on and off
  • 6. The buzzer blows
  • 7. Control the motor forward and reverse
  • 8. Control robot movement
  • 9. OLED display
  • 10. Control fan and lamp effect
06. Development environment setup
  • 1. Virtual Machine
  • 2. Linux Basics
  • 3. Remote connection
  • 4. Multi-computer communication configuration
  • 5. Bind the device ID
  • 6. Image installation and backup
07. ROS2 Basic Course
  • 1. Introduction to ROS2
  • 2. ROS2 install Humble
  • 3. ROS2 development environment
  • 4. ROS2 workspace
  • 5. ROS2 function package
  • 6. ROS2 node
  • 7. ROS2 topic communication
  • 8. ROS2 service communication
  • 9. ROS2 action communication
  • 10. ROS2 custom interface message
  • 11. ROS2 parameter service case
  • 12. ROS2 meta-function package
  • 13. ROS2 distributed communication
  • 14. ROS2 DDS
  • 15. ROS2 time related API
  • 16. ROS2 common command tools
  • 17. ROS2 rviz2 use
  • 18. ROS2 rqt toolbox
  • 19. ROS2 Launch startup file configuration
  • 20. ROS2 recording and playback tool
  • 21. ROS2 URDF model
  • 22. ROS2 Gazebo simulation platform
  • 23. ROS2 TF2 coordinate transformation
08. Robot chassis control
  • 1. PID algorithm theory
  • 2. Robot information release
  • 3. Robot control
  • 4. Robot state estimation
  • 5. Robot calibration
  • 6. Robot trajectory tracking
  • 7. URDF model
09. Lidar courses
  • 1. Introduction and use of lidar
  • 2. Lidar obstacle avoidance
  • 3. Lidar following
  • 4. Lidar guard
  • 5. Patrol
  • 6. gmapping algorithm
  • 7. cartographer algorithm
  • 8. Navigation and obstacle avoidance
  • 9. App mapping and navigation
10. OpenCV courses
  • 1. Introduction to OpenCV
  • 2. OpenCV geometric transformation
  • 3. OpenCV image processing
  • 4. OpenCV image beautification
  • 5. Qr code creation and identification
11. MIPI camera course
  • 1. Camera driver
  • 2. Adjust the color HSV value
  • 3. Color recognition
  • 4. Color tracking
  • 5. Color follow
  • 6. Qr code command
  • 7. Face detection
  • 8. Object detection
  • 9. Visual Inspection -OpenCV
  • 10. Visual inspection - Deep learning
  • 11. Human tracking
  • 12. Gesture control
12. Depth Camera courses
  • 1. Use depth camera
  • 2. Calibration of camera internal reference
  • 3. ROS+OpenCV Foundation
  • 4. AR vision
  • 5. Color tracking
  • 6. Object tracking
13. Multi vehicle control
  • 1. Multi-vehicle synchronous control
  • 2. Multi-vehicle navigation
Remote login control
  • 1. VNC and SSH remote login
  • 2. Jupyter lab login and case code running
Download
  • RemoteCtrl_APP(iOS/Android))
  • Mapping_APP(iOS_Android)
  • Code
  • System File
  • VM_File
  • Manual
  • Software_File
  • Hardware_File
  • ROS2_Basic_VM
Download ZIP

Welcome to RDK X3 Robot repository

5. Serial communication

5. Serial communication

5. Serial communication5.1. Experimental purpose5.2. Configure pin information5.3. Analysis of experimental flow chart5.4. Core code interpretation5.5. Hardware connection5.6. Experimental effect

5.1. Experimental purpose

Using STM32 serial communication, receive the data of the serial assistant, and return the received data to the serial port, redefine the printf function.

5.2. Configure pin information

Since each new project needs configuration information, it is troublesome. Fortunately, STM32CubeIDE provides the function of importing.IOC file, which can help us save time.

  1. Import ioc file from BEEP project and name it Serial.

The mode of serial port 1 is modified to Asynchronous synchronous communication, baud rate is 115200, data width: 8 bits, check: None, stop bit: 1 bit.

image-20220309173020409

  1. Add a DMA send channel

image-20220309174341557

  1. Open the serial port 1 Interrupt Settings.

image-20220309174427994

5.3. Analysis of experimental flow chart

image-20220309180411861

5.4. Core code interpretation

  1. Create the buzzer driver library bsp_uart.h and bsp_uart.c files in the BSP. Add the following to bsp_uart.h:

image-20220309181653775

  1. Add the following content to bsp_uart.c:

USART1_Init(): initializes content related to the serial port and enables the serial port to receive one data.

image-20220309183608315

USART1_Send_U8(ch): serial port 1 sends one byte.

image-20220309183632327

USART1_Send_ArrayU8(BufferPtr,Length): Serial port 1 sends a string of data. BufferPtr is the first address of the data, and Length is the length of the data.ENABLE_UART_DMA is a switch for serial 1 DMA.

image-20220309183656718

  1. Since the serial port 1 receive interrupt is performed only once, it needs to call receive data again after receiving data. In this case, to facilitate the test, the serial port is interrupted to send data. In actual applications, data should not be sent in the interrupt. Sending data through the serial port takes time, which may cause packet loss or even an error in the serial port.

image-20220309183851258

  1. Redefine printf to send data using serial port 1.

image-20220309184205569

  1. In BSP initialization, call USART1_Init() and request to receive data.

image-20220310092311388

  1. After the key is pressed, add the printf() function to print information through serial port 1.

image-20220310092529061

5.5. Hardware connection

The expansion board needs to be connected to the USB port of the computer using a micro-USB cable. The connection diagram is as follows:

image-20220326173300390

5.6. Experimental effect

After the program is burned, the LED light flashes every 200 milliseconds, connect the expansion board to the computer through the micro-USB data cable, and open the serial assistant (specific parameters are shown in the figure below). Every time you press the button, the buzzer will ring for 50 milliseconds, you can see that the serial assistant will display press:xx, and every time you press the button xx will automatically add 1. The serial assistant sends character a, and the expansion board automatically returns character a. Since the above is used to send data in an interrupt, you cannot send too many characters at once, otherwise you will lose characters or even serial port errors.

image-20220310094043392

FreeRTOS application
SBUS model remote control

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