README

OpenRE – The Open Source Robot Embedded Library

keywords: moblile robotics , STM32 , c++ , makefiles , ROS

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Description

This is a C++ embedded library for robotics base on STM32 and intended to provide GNU Makefiles.

Website:

• QQ Group: 521037187（Hands Free Community）
• HandsFree baiduyun
• HandsFree Website
• Introduction
• Robot Navigation Show
• HandsFree Highlight Show

Folder structure

• ├── * 0_Project * —- some demos base on this library
• │ ├── examples —- stm32fxx examples project of openre
• │ ├── firmware —- firmware projects of handsfree robots
• │ ├── etc..
• ├── * 1_Processor * — the board-level abstraction layer , support handsfree countrol_unit_v1 , countrol_unit_v2, countrol_unit_mini , stm32f407_discovery
• │ ├── BoardAbstract
• │ ├── board.mk
• │ ├── Interrupt
• │ ├── STM32F1
• │ └── STM32F4
• │ ├── etc..
• ├── * 2_Package * —- this dir include many tool packs . you can use it for moblile robotics, fly control etc..
• │ ├── common
• │ ├── hf_link
• │ ├── imu
• │ ├── motor
• │ ├── robot_abstract
• │ ├── robot_control
• │ ├── tf
• │ ├── etc..
• ├── * 3_OS * : OpenRE support RTOS(ucosII ucosIII nuttx), GUI(STEMWIN) , FATFS
• ├── * 4_Thirdparty *
• │ ├── Dobot
• │ ├── Eigen3
  -│ ├── libs_include.h
• │ ├── Matrix
• │ └── thirdparty.mk
• ├── * 5_Development_Toolchain *
• ├── * 6_Tools *
• │ ├── env_config.sh
• │ ├── swd_upload.sh
• │ ├── tarall.sh
• │ └── tar.sh
• ├── * 7_Documentation *
• ├── clean_build_linux.sh
• ├── clean_build_win.bat
• ├── HANDS_FREE_OpenRE_F1.pro
• ├── HANDS_FREE_OpenRE_F4.pro
• └── README.md

Installation

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Resources

• Download the latest code with:

      git clone https://github.com/HANDS-FREE/OpenRE      
      cd 6_Tools      
      sh env_config.sh       
  

OpenRE Toolchain

Method1: (recommended)

        sudo add-apt-repository ppa:terry.guo/gcc-arm-embedded  
        sudo apt-get update          
        sudo apt-get install openocd  gcc-arm-none-eabi 

Method2:

• get toolchain it in Development_Toolchain
• put these softwares in OpenRE/5_Development_Toolchain
• open a terminal and run: * sh install.sh *

Usage and Examples

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A Simple Demo

* Led toggle:     
        cd 0_Project/examples/handsfree_simple_app/linux    

check the makefile config matching your main control board

        make clean
        make    
        make burn   

Robot Firmware

        cd 0_Project/firmware/handsfree_wheel_robot/linux

* check the makefile config matching your main control board *

        make clean
        make
        make burn

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Lots of examples are provided in folder 0_Project and you can get some manuals in folder 7_Documentation.

License

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OpenRE is licensed generally under a permissive 3-clause BSD license. Contributions are required to be made under the same license.

Contact

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If you have any problem, or you have some suggestions for this code, please contact WenKe Ma by 315261982@qq.com, thank you very much!