Microchip tools
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- Biomech Documentation links:
- AKCPU2z BLMD6c BLFT6c PSER1c Imu_2010 Emg_2009 Ric Upd_pcb
- Microchip Tools For Coding, Programming
Contents
PIC32 tools setup
Install software
- Install MPLAB IDE and other Microchip tools
- for dsPIC33 and PIC24 : C30 C compiler V2.05 and then license, then install the C compiler V3.23
- for PIC32, install C32 compiler
- Install python 2.6.4 and support modules Python2.6 32 bit version (Python 2.5.4 or 2.7.x may also work)
- Install development support tools (SVN client, win merge, grep, Baregrep, Visual Studio for IDE, editor, etc.) Dev support
- checkout source code and support scripts from SVN server
- user biomech, password:biomechXXX where XXX is the primary lab room number.
- Top level tools
- Install drivers for FTDI CHIP FT2232H [1]
config
mplab IDE config
- This IDE can be used to both edit and compile/build/program
To load a PF project, the default settings of the MPLAB IDE need to be changed:
- open "MPLAB IDE"
- Under Configure -> Settings select the "projects" tab
- Uncheck the "use one-to-one project-workspace model"
Some other suggested changes:
- From the "other" tab, select "automatically reload"
- From the "workspace" tab, select "no", "reload last workspace", and "always show full path"
Some programmer settings could also be changedLLLLL9
- Select Programmer -> settings and then "Program after successful build"
After this works, try to open and compile a workspace/project.
- From MPLAB IDE, select "File, Open Workspace"
- Navigate to "trunk/StateController" and open "sc_workspace_mit.mcw" (or similar)
- Ignore complaint about files having been relocated.
- after it opens, press "Ctrl F10" to do a "make clean" followed by "make all"
python config
A file that describes the directory structure of the project needs to be placed in c:\
- Edit the file "support_scripts\python_paths.py", so that variables point the root of your project tree.
- The root of your project tree the directory that contains the directories "support_scripts" and "pf_python"
- the string "c:\ceb\0svn" is replaced with your root.
- Afterward, copy it to c:\
The python interpreter needs to be added to the system path:
- Ctrl click "My Computer" and then select "Properties"
- From the new object, select the "Advanced" tab
- Select "Environment Variables"
- To the "PATH" variable, append "c:\python25;"
- The path variable may exist under "user variable" or "system variables"
- Verify that python is in the system path by starting a DOS prompt and running python
connect to the target (Pic32 or robot)
All the tools below live in the directory "support_scripts". Open a command shell and CD to that directory. Python is needed to run them and should be in your path.
wifi_fast.py
wifi_fast.py is the primary utility for receiving real-time telemetry from the target. It makes connection to the target via either a standard RS-232 serial port, or via a TCP connection. Once connected it reads telemetry, can log the data to a file, and can send the data via UDP for real-time plotting. It also sends keyboard characters to the target which can then be read via the C function 'getchar'.
- get help with wifi_fast.py -h
via a wired connection
via a wireless connection
- Make sure you make a coonection with the [access point http://bmech4.media.mit.edu]
- also ping bmech4.media.mit.edu
From the support scripts folder run :
do_command.py
do_command.py is used to send 'special' commands to the robot.
do_command.py -h
robo_config.py
robo_config.py is used to read / write the robot's EEPROM and to read some the data structures in RAM.
robo_config.py -h
other tools
dataport
- in the SC file "dataport.c" there is the statement : switch(sc_dp.dataport_select)
- for each case, there are a number of assignment of robot variables to variables of the form "pf[n]".
- the special command "157" is used to set the value of the variable "sc_dp.dataport_select"
- thus the command "do_command.py -i IP_ADDRESS -s 157 1" sets dataport select to 1.
