1. The “Ecosystem” Code for Everyone
Matthew Piccoli
Jimmy Paulos
Kartik Mohta
Yash Mulgaonkar

2. What is it?
Mechanical engineers making software/electronics easily/quickly
Libraries libraries and more libraries
For the microcontroller
python
matlab
c(++)
EAGLE
ROS?
And some tools too
Enforced organization

3. The Ecosystem Common Tools Projects c EAGLE Matlab Python STM32f37x
doxygen
dfu
brushless
quad
base
Template
Demos
Vector Ctrl
USB
Zigbee
dsp
Timebase
…etc
stm32f37x
projPerph.h
main.c
eagle
…etc

4. Design Process: Quadrotor
Microcontroller
IMU
4 Motors
Radio

5. main.c Must include stm32f37x.h, mGeneral.h, common_peripherals.h
Must call InitPeripherals();
That’s it! (Plus your code)
All of this is included in the template’s main.c

6. project_peripherals.h/*
#define LED_YELLOW_PORT ? // Letter, ex: A, B, ...
#define LED_YELLOW_PIN ? // Number, ex: 0, 1, 2, ...
#define LED_YELLOW_SET_ON // define iff on-when-set */
/// IMU I2C Setup
/// Used with: Sensor_IMU_MPU-6050_I2C
#define IMU_I2C 1 //Number, 1 or 2
#define IMU_SCL_PORT A //Letter, ex: A
#define IMU_SCL_PIN 15 //Number, ex: 1
#define IMU_SDA_PORT A //Letter, ex: A
#define IMU_SDA_PIN 14 //Number, ex: 1
Interface between software and hardware
#define important values
port/pin assignments
peripheral assignments/parameters
libraries to include
activate macro shortcuts

7. The Future? #define ZIGBEE_SPI 3 //Number, ex: 1
#define ZIGBEE_SCK_PORT A //Letter, ex: A
#define ZIGBEE_SCK_PIN 1 //Number, ex: 1
#define ZIGBEE_SCK_AF 6 //Number, ex: 1
#define ZIGBEE_MISO_PORT A //Letter, ex: A
#define ZIGBEE_MISO_PIN 2 //Number, ex: 1
#define ZIGBEE_MISO_AF 6 //Number, ex: 1
#define ZIGBEE_MOSI_PORT A //Letter, ex: A
#define ZIGBEE_MOSI_PIN 3 //Number, ex: 1
#define ZIGBEE_MOSI_AF 6 //Number, ex: 1
#define ZIGBEE_SS_PORT A //Letter, ex: A
#define ZIGBEE_SS_PIN 4 //Number, ex: 1
#define IMU_I2C 1 //Number, 1 or 2
#define IMU_SCL_PORT A //Letter, ex: A
#define IMU_SCL_PIN 15 //Number, ex: 1
#define IMU_SDA_PORT A //Letter, ex: A
#define IMU_SDA_PIN 14 //Number, ex: 1
#define USING_USB // define if using USB

8. ROSLab LL-SW HW ROS NODE (e.g., Quad_joy) TRPY CONTROLLER TRPY
16/22
TRPY
LL-SW
CONTROLLER
TRPY
POSE ESTIMATE
PWM
PWM
PWM
PWM
Accel/Ang Vel M1 M2 M3 M4
RADIO μC
Slide from Nicola Bezzo and Insup Lee
IMU HW