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ST STSW-ROBKIT1 User Manual
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ST STSW-ROBKIT1 User Manual

ST STSW-ROBKIT1 User Manual

Robotics evaluation kit
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Introduction
The
STEVAL-ROBKIT1
is a comprehensive Robotics Evaluation Kit designed as a platform for the development of robotic
technology and its applications. The kit features a modular design consisting of three boards: the Main board, the Motor control
board, and the Imaging board. The Main board is powered by an STM32H725 MCU, which integrates various functionalities and
controls both the motor board and the imaging board. The Motor board is based on an STM32G071 microcontroller, dedicated
to motor control and actuation using motor drivers to regulate the speed and direction of the robot's movements and the Imaging
board is equipped with a Time-of-Flight (ToF) sensor and a camera module, enabling the robot to perceive and interact with its
surroundings intelligently. Additionally, an Inertial Measurement Unit (IMU) and a magnetometer enhance the board's
capabilities by providing precise orientation and motion sensing, crucial for navigation and stability in dynamic environments.
The Bluetooth Low Energy (BLE) module on the main board facilitates seamless wireless communication, enabling control via a
mobile application interface.
The
STSW-ROBKIT1
is a comprehensive software package for the
performance robotic application development.
Key features:
•
Ready examples for robotics application development
•
Independent firmware for Main board and Motor board
•
Customized protocol for seamless board communication
•
Odometry for precise navigation
•
DCMI interface for versatile camera integration
•
8x8 multizone Time of Flight sensor data
•
External Flash and PSRAM for efficient data management
•
Monitor and control via STRobotics mobile app for android and iOS platforms
•
BLE Remote Control and real-time sensor data plotting
•
LEDs and Buzzer for error alerts
UM3456 - Rev 1 - December 2024
For further information contact your local STMicroelectronics sales office.
Getting started with STSW-ROBKIT1 for STEVAL-ROBKIT1
Robotics evaluation kit
STEVAL-ROBKIT1
Robotics Evaluation Kit, enabling high-
UM3456
User manual
www.st.com

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Summary of Contents for ST STSW-ROBKIT1

  • Page 1 UM3456 User manual Getting started with STSW-ROBKIT1 for STEVAL-ROBKIT1 Robotics evaluation kit Introduction STEVAL-ROBKIT1 is a comprehensive Robotics Evaluation Kit designed as a platform for the development of robotic technology and its applications. The kit features a modular design consisting of three boards: the Main board, the Motor control board, and the Imaging board.

  • Page 2: Figure 1. Steval-Robkit1 Robotic Application Evaluation Kit

    UM3456 Figure 1. STEVAL-ROBKIT1 Robotic application evaluation kit UM3456 - Rev 1 page 2/29...

  • Page 3: Acronyms And Abbreviations

    UM3456 Acronyms and abbreviations Acronyms and abbreviations Table 1. List of acronyms Acronym Description STEVAL-ROBKIT1-1 Main board STEVAL-ROBKIT1-2 Motor board STEVAL-ROBKIT1-3 Imaging Board Bluetooth low energy Mega Hertz Microcontroller unit Inter integrated circuit Time-of-Flight Application programming interface Hardware abstraction layer Integrated development environment Proportional-integral-derivative controller UM3456 - Rev 1...

  • Page 4: Getting Started

    In addition to the above applications, the user can make use of the on-board devices and sensors to add and evaluate their own firmware applications. There are several ST products used including BLE module and Sensors on STEVAL-ROBKIT1: • BlueNRG-M2SA •...

  • Page 5: Figure 4. Block Diagram Of Steval Robkit 1-1

    UM3456 Getting started The block diagram of the main board is as follows: Figure 4. Block diagram of STEVAL ROBKIT 1-1 The block diagram of the motor board is as follows: Figure 5. Block diagram of STEVAL ROBKIT 1-2 The block diagram of the imaging board is as follows: UM3456 - Rev 1 page 5/29...

  • Page 6: Architecture

    Folder structure STSW-ROBKIT1 is organized in two main folders, one containing the firmware for STEVAL-ROBKIT1-1 (Main Board): STSW-ROBKIT1-1 and the other one containing the firmware for STEVAL-ROBKIT1-2 (Motor Board): STSW-ROBKIT1-2. These are described in next two sections. UM3456 - Rev 1...

  • Page 7: Stsw-Robkit1-1: Firmware For Main Board

    UM3456 Getting started 2.3.1 STSW-ROBKIT1-1: firmware for Main Board The firmware folder consists of the projects for IAR, Keil and STM32CubeIDE with the application source and header files. • User: is the firmware project core. This folder contains the following files –...
  • Page 8 UM3456 Getting started • Middleware: – Bluetooth® Low Energy: Bluetooth® Low Energy stack binary library and all the definitions of stack APIs, stack, and events callbacks. Bluetooth® Low Energy stack v3.x configuration header and source files – STM32_BLE_Manager: Middleware for BLE management and hardware sensor features: ◦...

  • Page 9: Figure 8. The Folder Structure Of The Steval-Robkit1-1

    UM3456 Getting started Figure 8. The folder structure of the STEVAL-ROBKIT1-1 UM3456 - Rev 1 page 9/29...

  • Page 10: Stsw-Robkit1-2: Firmware For Motor Board

    UM3456 Getting started 2.3.2 STSW-ROBKIT1-2: firmware for Motor Board • Firmware: The firmware folder consists of the projects for IAR, Keil and STM32CubeIDE with the application source and header files. • Drivers: – BSP: SDK drivers providing an API interface to the STM32G071, hardware resources (LEDs, buttons, sensors, I/O channel) –...

  • Page 11: Hardware Requirements

    UM3456 Getting started Hardware requirements To use the STSW-ROBKIT1 package you need following: • STEVAL-ROBKIT1 (Robotics Evaluation Kit) - (1 Qty) • STLINK-V3PWR Programmer and 14 pin Cable - (1 Qty) • PC Windows 10 or higher • Mobile (Android/iOS) •...

  • Page 12: Software Requirements

    UM3456 Getting started Software requirements To use the STSW-ROBKIT1 package you need following: • STSW-ROBKIT1 software package. • IAR ARM v9.60.3 / MDK-ARM v5.41 / STM32Cube IDE v1.16.1 • RF-Flasher Utility GUI • STM32CubePROGRAMMER GUI • STRobotics Mobile App for Android/iOS •...

  • Page 13: Figure 11. Steps To Install Rf- Flasher Utility Software

    Steps to install RF- Flasher Utility software – Download the stack: BlueNRG-M2 - Very low power application processor module for Bluetooth® low energy v5.2 - STMicroelectronics https://www.st.com/resource/en/utilities/bluenrg_m2sa_m2sp_dtm_stack_v2_1e.zip – Follow the path: BlueNRG-M2SA_M2SP_DTM_Stack_v2.1e\BLUENRG- M2SA_32MHz_XO_SMPS_on\SPI\ BLUENRG-M2SA_DTM_SPI.hex Step 4. Open the RF-Flasher Utility Software and follow the steps highlighted in the...

  • Page 14: Setup For Steval-Robkit1-1

    UM3456 Getting started Step 5. If the DTM flash is successful then “Device Flash Programming -> SUCCESS” will be printed in the “Show log” Section 2.6.2 Setup for STEVAL-ROBKIT1-1 Setting up the STEVAL-ROBKIT1-1 involves the following steps: Step 1. Plug the 14-pin cable to MCU_PROG connector (J1) on STEVAL-ROBKIT1-1 and connect it to the STLINK debugger as shown in Figure 13 Figure 13.

  • Page 15: Figure 14. Steps To Download Stm32Cube Programmer Software

    UM3456 Getting started Step 3. Flash the provided testing firmware (STEVAL-ROBKIT1-1.hex) provided in the industrialization package. Follow the steps for flashing below: Step 3a. Install the software with the given link STM32CubeProg - STM32CubeProgrammer software for all STM32 - STMicroelectronics by following the below Figure 14 for reference...

  • Page 16: Figure 16. Steps To Flash The Binary In Steval-Robkit1-1 Using Stm32Cubeprogrammer

    UM3456 Getting started Step 5. Once the connection is established the “Connected” icon can be seen as highlighted in Figure 17. Click on Start Programming to flash STEVAL-ROBKIT1-1 board. If the flash is successful, then “File Download Complete” will be seen in the log section as highlighted in the Figure 16 below.

  • Page 17: Setup For Steval Robkit1-2

    UM3456 Getting started Step 7. Press the OK button. From the Tera Term menu -> Setup -> Serial Port Select the COM port (noted from the previous step) Set speed to 115200 and click “New Open” This step will connect the user to the STEVAL_ROBKIT1-1.

  • Page 18: Figure 20. Steval-Robkit1-1 Connected With The Power Supply

    UM3456 Getting started Step 2. Connect the STEVAL-ROBKIT1-1 with the power source using J4 connector on the board as shown in Figure 20. STEVAL-ROBKIT1-1 connected with the power supply Figure 20. STEVAL-ROBKIT1-1 connected with the power supply Step 3. Plug the 14-pin cable to MCU_PROG connector (J2) on STEVAL-ROBKIT1-2 and connect it to the STLINK debugger as shown in Figure 21 Figure 21.
  • Page 19 UM3456 Getting started Step 5. Flash the provided testing firmware (STEVAL-ROBKIT1-2.hex) provided in the industrialization package. Follow the steps for flashing below: Step 5a. Install the software with the given link STM32CubeProg - STM32CubeProgrammer software for all STM32 - STMicroelectronics Step 5b.

  • Page 20: Applications

    Turn on the Robotics Kit: STEVAL-ROBKIT1. The app starts scanning for the peripheral device. A device called “ROBKIT1” appears on the screen. Step 3. Select the “STEVAL-ROBKIT1” name and connect to the selected platform. The ST BLE Sensor app enables notifications on the motion characteristic (Accelerometer, Gyroscope, Magnetometer). Step 4.

  • Page 21: Free Navigation Feature

    UM3456 Applications Step 2. Select the “ROBKIT1” name and connect to the selected platform. The STRobotics app enables notifications on the Robot Movement characteristic. Step 3. On the home page select the “Controller” option and select “drive” on the screen to operate the Robot using the joysticks as indicated in the Figure Figure 23.

  • Page 22: State Machine For Steval-Robkit1-2: Motor Board

    UM3456 Applications Figure 25. The high-level overview of the free navigation feature State machine for STEVAL-ROBKIT1-2: motor board The flowchart below represents a state machine for STEVAL-ROBKIT1-2. It begins in the INIT state where all the peripheral initialization happens and then transitions to an IDLE state from where, it can execute various commands or checks.

  • Page 23: Figure 26. State Machine For Steval-Robkit1-2

    UM3456 Applications Figure 26. State Machine for STEVAL-ROBKIT1-2 UM3456 - Rev 1 page 23/29...
  • Page 24 UM3456 Applications States and Transitions: 1. INIT (Initial State) – The system starts in the INIT state all the peripheral initialization happens in this state. – It transitions to the IDLE state. 2. IDLE (Idle State) – This is the central state from which various commands can be initiated. –...

  • Page 25: Revision History

    UM3456 Revision history Table 2. Document revision history Date Revision Changes 18-Dec-2024 Initial release. UM3456 - Rev 1 page 25/29...

  • Page 26: Table Of Contents

    STSW-ROBKIT1-2: firmware for Motor Board ........10...

  • Page 27: List Of Tables

    UM3456 List of tables List of tables Table 1. List of acronyms ..............3 Table 2.

  • Page 28: List Of Figures

    UM3456 List of figures List of figures Figure 1. STEVAL-ROBKIT1 Robotic application evaluation kit ......... 2 Figure 2.
  • Page 29 ST’s terms and conditions of sale in place at the time of order acknowledgment. Purchasers are solely responsible for the choice, selection, and use of ST products and ST assumes no liability for application assistance or the design of purchasers’...

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