SEA_Firmware

Firmware for series elastic actuator, this board contains a stm32f103 microcontroller

Installation(Upload using arduino IDE)

• Download arduino IDE
• Download zip file containing the STM32 files from here
• Unzip in arduino hardware folder (arduino-1.6.xx/hardware/) and rename to Arduino_STM32
• Run the arduino IDE, and on the Tools menu, select the Boards manager (Tools > Boards > Boards Manager), and install the Arduino Zero(Arduino SAMD boards 32 bits cortex M3) from the list of available boards. You must do this step, it installs the arm-none-eabi-g++ toolchain!
• Copy AS5048A and DynamixelProtocol from lib folder to (arduino-1.6.xx/libraries/)
• Change the line #define BOARD_HAVE_SERIALUSB 0 in the file arduino-1.6.xx/hardware/STM32F1/cores/maple/boards.h

Setup Arduino IDE and board upload pins

• Board:STM32F103C Generic
• Variant:STM32F103C8
• Upload method: Stlink
• Open src/src.ino
• Pins for SWD(stlink v.2) setup:

NOTE: top-side of board.

Board settings

#define SEA_ID 105 //define the board id in rs485 network
#define INVERTED
...
#define SEA_RECT //Type of the board, coment if is the rounded board
...

Testing(linux)

Plug usb2Dinamyxel, power on the board.

cd test_board
make
./dynamixel_test ID_board