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Robot Firmware

This folder contains the firmware that runs on the robots themselves. The ./cpu folder contains the C code that runs on the ARM7TDMI microcontroller (Atmel AT91SAM7S256) and the ./fpga folder contains the Verilog code for the Xilinx Spartan-3E Series field-programmable gate array (FPGA).

Building and Installing

There are two main ways to load the firmware onto the robot: over USB and over the radio. If the robot already has working firmware and you'd like to load a new version, you can use the regular USB install. Otherwise, you'll have to program it using SAMBA.

Over-the-Air Install

Turn the robot on so that its radio can communicate with the radio base station connected to your computer. Then in the software directory, use make to begin the update:

$ make robot-ota

The computer will then rebuild the firmware if necessary, then load it onto all robots that are turned on and within radio range.

Regular USB Install

  1. Turn on the robot and plug it into your computer with a mini USB cord
  2. Run $ make robot-prog

USB SAMBA Install

  1. Turn on the robot and plug it into your computer with a mini USB cord
  2. Set DIP switch 3 on the robot to ON
  3. Wait 10 seconds
  4. Turn DIP switch 3 off
  5. Turn the robot off and then back on again (make sure all LEDs have time to turn off)
  6. Run $ make robot-prog-samba to load the firmware