opengrab_epm_v3
所属分类：人工智能/神经网络/深度学习
开发工具：C
文件大小：683KB
下载次数：0
上传日期：2023-04-10 16:20:05
上 传 者：
sh-1993
说明： opengrab_epm_v3，opengrab电动永磁体
(opengrab_epm_v3,OpenGrab Electropermanent Magnet)
文件列表:
LICENSE (35141, 2023-04-11)
annotation.jpg (58485, 2023-04-11)
annotationR5C.jpg (263660, 2023-04-11)
firmware (0, 2023-04-11)
firmware\Makefile (3453, 2023-04-11)
firmware\blackmagic.gdbinit (315, 2023-04-11)
firmware\blackmagic_flash.sh (530, 2023-04-11)
firmware\libuavcan (0, 2023-04-11)
firmware\lpc11c24.ld (1963, 2023-04-11)
firmware\lpc_chip_11cxx_lib (0, 2023-04-11)
firmware\lpc_chip_11cxx_lib\inc (0, 2023-04-11)
firmware\lpc_chip_11cxx_lib\inc\adc_11xx.h (12019, 2023-04-11)
firmware\lpc_chip_11cxx_lib\inc\ccand_11xx.h (7239, 2023-04-11)
firmware\lpc_chip_11cxx_lib\inc\chip.h (12985, 2023-04-11)
firmware\lpc_chip_11cxx_lib\inc\clock_11xx.h (17915, 2023-04-11)
firmware\lpc_chip_11cxx_lib\inc\cmsis.h (2501, 2023-04-11)
firmware\lpc_chip_11cxx_lib\inc\cmsis_11cxx.h (7122, 2023-04-11)
firmware\lpc_chip_11cxx_lib\inc\core_cm0.h (32039, 2023-04-11)
firmware\lpc_chip_11cxx_lib\inc\core_cmFunc.h (15828, 2023-04-11)
firmware\lpc_chip_11cxx_lib\inc\core_cmInstr.h (17205, 2023-04-11)
firmware\lpc_chip_11cxx_lib\inc\error.h (6310, 2023-04-11)
firmware\lpc_chip_11cxx_lib\inc\fmc_11xx.h (3317, 2023-04-11)
firmware\lpc_chip_11cxx_lib\inc\gpio_11xx_2.h (23858, 2023-04-11)
firmware\lpc_chip_11cxx_lib\inc\gpiogroup_11xx.h (7477, 2023-04-11)
firmware\lpc_chip_11cxx_lib\inc\i2c_11xx.h (27042, 2023-04-11)
firmware\lpc_chip_11cxx_lib\inc\iocon_11xx.h (11675, 2023-04-11)
firmware\lpc_chip_11cxx_lib\inc\lpc_types.h (5858, 2023-04-11)
firmware\lpc_chip_11cxx_lib\inc\pinint_11xx.h (8935, 2023-04-11)
firmware\lpc_chip_11cxx_lib\inc\pmu_11xx.h (7279, 2023-04-11)
firmware\lpc_chip_11cxx_lib\inc\ring_buffer.h (6065, 2023-04-11)
firmware\lpc_chip_11cxx_lib\inc\romapi_11xx.h (2727, 2023-04-11)
firmware\lpc_chip_11cxx_lib\inc\ssp_11xx.h (19810, 2023-04-11)
firmware\lpc_chip_11cxx_lib\inc\sys_config.h (1579, 2023-04-11)
firmware\lpc_chip_11cxx_lib\inc\sysctl_11xx.h (24778, 2023-04-11)
firmware\lpc_chip_11cxx_lib\inc\timer_11xx.h (17029, 2023-04-11)
firmware\lpc_chip_11cxx_lib\inc\uart_11xx.h (33964, 2023-04-11)
... ...
OpenGrab EPM v3
===============
**OpenGrab EPM v3 is no longer in production. Please use [Zubax EPM](https://zubax.com/products/epm) as a replacement.**
-----
OpenGrab EPM v3 is an electropermanent magnet, combining the advantages of electro and permanent magnets.
It has been developed by [NicaDrone](http://nicadrone.com) in collaboration with [Zubax Robotics](http://zubax.com).
Useful links:
* [**PRODUCT DOCUMENTATION**](https://kb.zubax.com/x/eoAh)
* [HARDWARE SOURCES](https://tools.upverter.com/eda/#designId=1dada3422c772add)
* [SUPPORT FORUM](http://forum.zubax.com)
## Building the firmware
### Prerequisites
* Python 2.7+ or Python 3.2+
* ARM GCC Embedded 4.9+
### Building
After cloning this repository, execute the following:
```bash
git submodule update --init --recursive
cd firmware
make -j8
```
The build outputs will be available in the directory `build/`.
## Flashing the firmware
### Useful info
* If you do not cycle the EPM you cannot get zapped.
* Don't zap your computer it will not survive.
* HV section to avoid touching during debug, see fig. 1.
* Solder Jumper settings see fig. 1 and 2.
#### V3 Rev 4B and earlier
#### V3 Rev 5C
### Via UART
#### Connecting USB-UART adapter
FTDI cable is the recommended USB-UART adapter.
5 V and 3.3 V FTDI cables work fine, 3.3 V is recommended.
Use the following pinout when connecting:
Wire | Signal
--------|--------
Orange | RXD
Yellow | TXD
Black | GND
#### Flashing with NXP Flash Magic (simplest method)
Get the flashing tool from .
Start the tool, then configure it as follows:
Parameter | Value
----------------|------------------------------------
Select Device | LPC11C24/301
Baud rate | 115200
Interface | ISP
Oscilator | 12 MHz
File | Prebuilt `.hex` available [here](https://files.zubax.com/products/com.zubax.opengrab_epm_v3/) **
1. Connect the USB-UART adapter.
2. Close J3 to select serial bootloader.
3. Close J4 to force the LPC to start the bootloader.
4. Power up the board.
5. Run the flashing tool.
** `.hex` is also created in the build output directory `firmware/build` or a `.hex` file can be created from `.bin`:
```bash
arm-none-eabi-objcopy -I binary -O ihex firmware.bin out.hex
```
### Via DroneCode Probe
[DroneCode Probe](https://kb.zubax.com/x/iIAh) is a generic JTAG / SWD + UART console adapter
compatible with most ARM Cortex based designs and in particular with hardware maintained by the
[DroneCode project](http://dronecode.org).
In order to flash the board using this tool, simply connect the debugger and execute the script
`blackmagic_flash.sh`.
### Via [8devices USB2CAN](http://www.8devices.com/usb2can) and embedded CAN bootloader
Note to Windows users: In order to use USB2CAN in a VM the drivers have to be installed on the host and driver
signature enforcement has to be disabled in some versions of Windows.
Register the CAN interface with SocketCAN:
```bash
sudo ip link set can0 up type can bitrate 100000 sample-point 0.875
```
Uploading binary using LPC11 embedded CAN bootloader:
```bash
tools/drwatson/lpc11c00_can_bootloader.py can0 firmware/build/firmware.bin
```
## Licenses
### Firmware
Copyright (C) 2015 Zubax Robotics
This program is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program. If not, see .
### Hardware
The hardware sources are distributed under the terms of
[CC BY-SA 4.0](https://creativecommons.org/licenses/by-sa/4.0/).
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