trygas / OpenRE

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OpenRE -- The Open Source Robot Embedded Library

keywords: moblile robotics , STM32 , c++ , makefiles , ROS

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Description

This is a C++ embedded library for robotics base on STM32 and intended to provide GNU Makefiles.

OpenRE Tutorial

Website:

• QQ Group: 521037187（Hands Free Community）
• HandsFree baiduyun
• HandsFree Website
• Introduction
• Robot Navigation Show
• HandsFree Highlight Show

Folder structure

• ├── ** 0_Project ** ---- some demos base on this library
• │ ├── examples ---- stm32fxx examples project of openre
• │ ├── firmware ---- firmware projects of handsfree robots
• │ ├── etc..
• ├── ** 1_Processor ** --- the board-level abstraction layer , support handsfree countrol_unit_v1 , countrol_unit_v2, countrol_unit_mini , stm32f407_discovery
• │ ├── BoardAbstract
• │ ├── board.mk
• │ ├── Interrupt
• │ ├── STM32F1
• │ └── STM32F4
• │ ├── etc..
• ├── ** 2_Package ** ---- this dir include many tool packs . you can use it for moblile robotics, fly control etc..
• │ ├── common
• │ ├── hf_link
• │ ├── imu
• │ ├── motor
• │ ├── robot_abstract
• │ ├── robot_control
• │ ├── tf
• │ ├── etc..
• ├── ** 3_OS ** : OpenRE support RTOS(ucosII ucosIII nuttx), GUI(STEMWIN) , FATFS
• ├── ** 4_Thirdparty **
• │ ├── Dobot
• │ ├── Eigen3 -│ ├── libs_include.h
• │ ├── Matrix
• │ └── thirdparty.mk
• ├── ** 5_Development_Toolchain **
• ├── ** 6_Tools **
• │ ├── env_config.sh
• │ ├── swd_upload.sh
• │ ├── tarall.sh
• │ └── tar.sh
• ├── ** 7_Documentation **
• ├── clean_build_linux.sh
• ├── clean_build_win.bat
• ├── HANDS_FREE_OpenRE_F1.pro
• ├── HANDS_FREE_OpenRE_F4.pro
• └── README.md

Installation

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Resources

• Download the latest code with:

git clone https://github.com/HANDS-FREE/OpenRE

OpenRE Toolchain

Method1: installation by deb

$ sudo add-apt-repository ppa:terry.guo/gcc-arm-embedded  
$ sudo apt-get update          
$ sudo apt-get install openocd  gcc-arm-none-eabi    
$ sudo usermod -a -G dialout $USER    
$ sudo apt-get install lib32ncurses5 libtool libusb-1.0 libftdi-dev python python-serial python-empy libpython2.7:i386    
$ sudo apt-get remove modemmanager    

Method2: source installation (recommended)

• get toolchain it in Development_Toolchain ，put these softwares in OpenRE/5_Development_Toolchain. or cd OpenRE & git clone [e-mail]:HANDS-FREE/5_Development_Toolchain.git

$ cd 5_Development_Toolchain 
$ tar -jxvf gcc-arm-none-eabi-5_4-2016q2.tar.bz2
$ tar -jxvf openocd.tar.bz2
$ tar -jxvf stlink.tar.bz2
$ cd openocd/
$ ./configure
$ make clean
$ make
$ cd ../stlink/
$ make clean
$ make
$ cd ../
$ sudo usermod -a -G dialout $USER      
$ sudo apt-get install lib32ncurses5 libtool libusb-1.0 libftdi-dev python python-serial python-empy libpython2.7:i386     
$ sudo apt-get remove modemmanager    

Usage and Examples

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A Simple Demo

* Led toggle:     
        cd 0_Project/examples/handsfree_simple_app/linux    

**check the makefile config matching your main control board **

        make clean
        make    
        make burn   

Robot Firmware

        cd 0_Project/firmware/handsfree_wheel_robot/linux

** check the makefile config matching your main control board **

        make clean
        make
        make burn

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Lots of examples are provided in folder 0_Project and you can get some manuals in folder 7_Documentation.

License

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OpenRE is licensed generally under a permissive 3-clause BSD license. Contributions are required to be made under the same license.

Contact

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If you have any problem, or you have some suggestions for this code, please contact WenKe Ma by [e-mail], thank you very much!