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Cellulo V1 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.
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
$$$
to enter command mode. The module should respond with CMD<cr><lf>. Then, type
SU,921K<cr>
The module should respond with AOK<cr><lf>. Then, type
ST,255<cr>
The module should respond with AOK<cr><lf>. Then, type
SW,0140<cr>
The module should respond with AOK<cr><lf>. Then, type
SJ,0600<cr>
The module should respond with AOK<cr><lf>. Then, type
SA,2<cr>
The module should respond with AOK<cr><lf>. Finally, reboot the module with
R,1<cr>
Now build and flash the firmware to the microcontroller.
What you need (available at http://icchilisrv1.epfl.ch):
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MPLAB X 2.35
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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
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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
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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
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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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If it is your first time working with Cellulo, you might need to install extra libraries libdots and qml-plugin. Follow the guide in: https://github.com/chili-epfl/cellulo/wiki/Cellulo-V1---Installation-%5BLinux-&-Android%5D
Cellulo V1