Cellulo V1 Firmware

Cellulo robot firmware

This repository contains the Cellulo robot firmware and tools. A new Cellulo robot must first have its Bluetooth module configured. Then, the firmware must be built and flashed to the microcontroller.

A short video on how to connect the Cellulos can be found in youtube

Building and flashing the PIC32MZ firmware

What you need (available at http://icchilisrv1.epfl.ch):

MPLAB X 2.35
- If you have a 64 bit machine, 32 bit libraries are needed to install MPLAB X to run. Run the following to install the libraries (https://microchipdeveloper.com/install:mplabx-lin64)
  
  sudo apt-get install libc6:i386 libx11-6:i386 libxext6:i386 libstdc++6:i386 libexpat1:i386
- Then, to install MPLAB X, go to .sh file location and run;
  
  chmod +x MPLABX-v2.35-linux-installer.sh
  
  sudo bash MPLABX-v2.35-linux-installer.sh
xc 1.34
- To install with .run file located at http://icchilisrv1.epfl.ch/files/cellulo/firmware-tools/linux/; file→ properties> permissions> tick the make file executable box
Harmony 1.03 (to install, go to Tools -> Plugins -> Downloaded -> Add Plugins and select harmony-install-path/v1_03/utilities/mhc/com-microchip-mplab-modules-mhc.nbm, then press Install)

Load the project into MPLAB X, connect the robot over ICSP and click the Make and Program Device button.

Note that the directory paths and file names are documented strictly in the configurations.xml file, which can be found inside the project folder (cellulo-firmware.X/nbproject). Place all the files and folders accordingly to prevent #include issues when loading the project into MPLAB.

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Configuring the RN42 Bluetooth module

Upon powering up the robot, within 60 seconds, run the rn42-autoconf.py script under scripts/ (pybluez should be installed). To do it manually, connect to it with a serial console over Bluetooth. Within 60 seconds of powerup, type