OpenGrab EPM v3 is an electropermanent magnet, combining the advantages of electro and permanent magnets. It has been developed by NicaDrone in collaboration with Zubax Robotics.
Useful links:
- Python 2.7+ or Python 3.2+
- ARM GCC Embedded 4.9+
After cloning this repository, execute the following:
git submodule update --init --recursive
cd firmware
make -j8The build outputs will be available in the directory build/.
- If you do not cycle the EPM you cannot get zapped.
- Don't zap your computer it will not survive.
- HV section to avoid touching during debug, see fig. 1.
- Solder Jumper settings see fig. 1 and 2.
FTDI cable is the recommended USB-UART adapter. 5 V and 3.3 V FTDI cables work fine, 3.3 V is recommended. Use the following pinout when connecting:
| Wire | Signal |
|---|---|
| Orange | RXD |
| Yellow | TXD |
| Black | GND |
Get the flashing tool from http://www.flashmagictool.com/. Start the tool, then configure it as follows:
| Parameter | Value |
|---|---|
| Select Device | LPC11C24/301 |
| Baud rate | 115200 |
| Interface | ISP |
| Oscilator | 12 MHz |
| File | Prebuilt .hex available here ** |
- Connect the USB-UART adapter.
- Close J3 to select serial bootloader.
- Close J4 to force the LPC to start the bootloader.
- Power up the board.
- Run the flashing tool.
** .hex is also created in the build output directory firmware/build or a .hex file can be created from .bin:
arm-none-eabi-objcopy -I binary -O ihex firmware.bin out.hexDroneCode Probe is a generic JTAG / SWD + UART console adapter compatible with most ARM Cortex based designs and in particular with hardware maintained by the DroneCode project.
In order to flash the board using this tool, simply connect the debugger and execute the script
blackmagic_flash.sh.
Via 8devices USB2CAN and embedded CAN bootloader
Note to Windows users: In order to use USB2CAN in a VM the drivers have to be installed on the host and driver signature enforcement has to be disabled in some versions of Windows.
Register the CAN interface with SocketCAN:
sudo ip link set can0 up type can bitrate 100000 sample-point 0.875Uploading binary using LPC11 embedded CAN bootloader:
tools/drwatson/lpc11c00_can_bootloader.py can0 firmware/build/firmware.binCopyright (C) 2015 Zubax Robotics [email protected]
This program is free software: you can redistribute it and/or modify it under the terms of the GNU General Public License as published by the Free Software Foundation, either version 3 of the License, or (at your option) any later version.
This program is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details.
You should have received a copy of the GNU General Public License along with this program. If not, see http://www.gnu.org/licenses/.
The hardware sources are distributed under the terms of CC BY-SA 4.0.