Arduino IDE: Tsim Cov Txheej Txheem Cai: 10 Cov Kauj Ruam

2024 Tus sau: John Day | [email protected]. Kawg hloov kho: 2024-01-30 09:27

Dhau rau rau lub hlis dhau los kuv tau siv sijhawm ntau nqa cov tsev qiv ntawv sib txawv mus rau Robo HAT MM1 pawg thawj coj tsim los ntawm Robotics Masters. Qhov no tau ua rau pom ntau txog cov tsev qiv ntawv no, yuav ua li cas lawv ua haujlwm nyob tom qab thiab qhov tseem ceeb tshaj plaws - yuav ua li cas ntxiv cov laug cam tshiab yav tom ntej.

Nov yog thawj zaug hauv kab ntawv sau uas kuv yuav ua los pab lwm tus uas xav kom xa cov tsev qiv ntawv rau lawv cov laug cam. Ntau qhov chaw ntawm cov ntaub ntawv tuaj yeem tsis meej lossis nyuaj rau cov neeg sab nrauv nkag siab. Kuv vam tias yuav 'demystify' thiab piav qhia yuav ua li cas thiaj ua tiav qhov chaw nres nkoj zoo rau txhua tus.

Hnub no, peb yuav saib Arduino Platform. Nws muaj ntau dua 700, 000 pawg tswj hwm sib txawv hauv ntiaj teb thiab yog ib qho ntawm cov khoom siv hluav taws xob nrov tshaj plaws rau kev kawm, kev lag luam thiab tsim khoom.

Kuv tsuas tuaj yeem pom cov ntaub ntawv txwv tsawg heev ntawm yuav ua li cas tom qab ntau qhov kev tshawb fawb Google. Yog li kuv xav tias kuv yuav sau txog qhov kuv tau ua kom ntxaws.

Ntawm no peb mus!

Kauj ruam 1: Ua ntej Koj Pib

Ua ntej koj pib nrog nqa lub tsev qiv ntawv software lossis software rau koj lub rooj tsavxwm, koj yuav tsum paub ob peb lub ntsiab lus tseem ceeb hais txog thev naus laus zis koj siv thiab tuaj yeem teb cov lus nug hauv qab no.

1. Koj siv tus processor twg?
2. Dab tsi architecture nws siv?
3. Kuv puas tau nkag mus rau cov ntawv teev npe rau lub microprocessor no?
4. Puas muaj lub rooj tsav xwm zoo sib xws ntawm kev ua lag luam uas siv tib lub microprocessor?

Cov no tseem ceeb heev. Nws yuav cuam tshuam rau ntau yam ntawm koj yuav ua li cas rau txoj kev txhim kho.

Cov laug cam Arduino feem ntau siv tsawg tus lej ntawm cov txheej txheem tsim thiab cov qauv tsim. Qhov feem ntau yog ATMEGA ntau yam siv AVR architecture (Arduino Uno). Muaj cov cim tshiab ntawm Arduinos dhau los ua ntau dua siv SAMD cov txheej txheem (ARM) thiab lwm cov txheej txheem muaj zog dua. Yog li nws yog qhov tseem ceeb los tshuaj xyuas qhov twg koj tab tom siv.

Cov ntawv teev npe rau microprocessor yog qhov tseem ceeb heev kom ntseeg tau tias pawg thawj coj teb raws li qhov xav tau thaum koj suav sau cov firmware. Yog tsis muaj nws, koj yuav tsis tuaj yeem teeb tsa tus lej pin kom raug lossis ua haujlwm teeb tsa cov chaw nres nkoj.

Thaum koj muaj tag nrho cov ntaub ntawv koj xav tau txog tus txheej txheem uas koj siv, koj tuaj yeem pib saib cov software thiab hloov kho nws kom ua haujlwm rau koj lub rooj tsav xwm kev cai.

Kauj ruam 2: Txheej txheem cej luam

Qhov nyuaj tshaj plaws ntawm ib qhov haujlwm yog nrhiav qhov pib zoo. Qhov no tsis txawv. Kuv tawm tsam kom pom cov lus qhia zoo nrog ntxaws txaus ntawm yuav ua li cas thiaj tsim cov laug cam rau Arduino. Feem ntau cov lus qhia qhia koj yuav ua li cas 'ntxiv ib lub rooj tsav xwm kev cai' tab sis tsis yog yuav ua li cas 'tsim lub rooj tsav xwm kev cai'. Nov yog cov ntsiab lus luv luv ntawm yam cuam tshuam nrog.

1. Rub tawm Cov Lus Txhais Tseem Ceeb ntawm Pawg Thawj Coj thiab Luam
2. Hloov kho Cov Lus Txhais (variant.h, varient.cpp)
3. Tsim Board nkag (board.txt)
4. Hloov Kho Pawg Thawj Coj (platform.txt)
5. Npaj rau Nruab (json)
6. Txhim Kho Pawg Thawj Coj hauv Arduino IDE

Txhua kauj ruam yuav piav qhia ntxaws hauv qab no. Tseem yuav muaj kev sib tham dav dav txog yuav ua li cas txhua cov ntaub ntawv cuam tshuam nrog txhua tus los pab qhia meej tias txhua yam ua haujlwm li cas tom qab Arduino IDE.

Txog qhov kev qhia no, Kuv yuav qhia koj yuav ua li cas thiaj tsim tau lub rooj tsav xwm kev cai rau SAMD cov txheej txheem. Tshwj xeeb tshaj yog, SAMD21G18A - uas yog microprocessor siv ntawm Robo HAT MM1 pawg thawj coj uas kuv tau xa mus.

Kuv kuj xav tias koj twb muaj Arduino IDE 1.8 lossis tom qab rub tawm. Kuv siv Arduino 1.8.9 thaum lub sijhawm sau ntawv.

Kauj Ruam 3: Rub Tawm Cov Rooj Sib Tham Uas Muaj

Thawj kauj ruam yog rub tawm qhov sib txawv ntawm Arduino pawg thawj coj uas phim koj lub rooj tsavxwm. Rau SAMD cov laug cam, qhov no yog Arduino Zero.

Txij li Arduino IDE 1.6, txoj hauv kev rub tawm cov laug cam tshiab rau hauv ib puag ncig tau los ntawm kev ntxiv JSON cov ntaub ntawv tshwj xeeb uas cov tsim tawm software muab thiab tom qab ntawd txhim kho cov laug cam uas siv "Tus Thawj Saib Xyuas". Cov ntawv dhau los ntawm Arduino IDE siv lwm txoj hauv kev uas peb yuav tsis tham txog niaj hnub no. Peb yuav tsim peb tus kheej JSON cov ntaub ntawv tom qab hauv qhov kev qhia no, txawm li cas los xij, peb yuav tsum ntxiv Arduino Zero board siv txoj hauv kev no ua ntej.

Hmoov zoo rau peb, pawg thawj coj uas peb xav rub tawm tsis xav tau JSON cov ntaub ntawv vim tias JSON cov ntaub ntawv tau npaj ua ntej nrog Arduino IDE - yog li peb tsuas yog yuav tsum teeb tsa lub rooj tsavxwm los ntawm "Tus Thawj Saib Xyuas".

Txhawm rau ua qhov no, mus rau "Cov Cuab Yeej" tom qab nthuav cov ntawv "Board". Nyob rau sab saum toj ntawm "Pawg Thawj Coj" ntawv qhia zaub mov yuav yog "Tus Thawj Saib Xyuas". Nyem rau ntawm cov ntawv qhia zaub mov no coj los rau Tus Thawj Saib Xyuas Haujlwm.

(Saib Duab)

Thaum Tus Thawj Saib Xyuas Haujlwm tau qhib, nws yuav saib tag nrho JSON cov ntaub ntawv uas nws tau khaws cia hauv Arduino IDE thiab tom qab ntawd rub tawm cov teeb tsa los ntawm cov ntawv. Koj yuav tsum pom cov npe ntev ntawm muaj cov laug cam Arduino uas koj tuaj yeem teeb tsa.

(Saib Duab)

Peb tsuas yog txaus siab rau "Arduino SAMD Boards (32-ntsis ARM Cortex-M0+)" pawg thawj coj rau qhov kev qhia no, tab sis koj tuaj yeem hloov pauv thiab teeb tsa lub rooj tsavxwm uas koj xav tau ntawm qhov no. Thov tshawb nrhiav thiab teeb tsa "Arduino SAMD Boards (32-ntsis ARM Cortex-M0+)" pawg thawj coj. Qhov no tuaj yeem ua tiav los ntawm kev nyem rau kab ntawv los ntawm cov npe ua raws los ntawm "Nruab" khawm ntawm sab xis uas yuav tshwm sim tom qab koj nyem rau ntawm kab ntawv. Nws yuav siv ob peb feeb los nruab.

Yog xav paub ntau ntxiv txhim kho cov laug cam tshiab: Adafruit muaj cov lus qhia zoo ntawm no uas piav qhia yuav ua li cas txhawm rau txhim kho lawv li M0 cov laug cam.

Tam sim no cov ntaub ntawv hauv pawg thawj coj tau teeb tsa, peb muaj peev xwm theej lawv kom lawv tuaj yeem hloov kho rau koj li kev cai tswj hwm.

Kauj Ruam 4: Nrhiav thiab Luam Cov Ntaub Ntawv Pawg Thawj Coj

Rau Windows Pawg Thawj Coj Cov Ntaub Ntawv nyob hauv (nco ntsoov hloov lub npe siv rau koj lub npe siv):

C: / Cov neeg siv username / AppData / Local / Arduino15 / pob khoom

Hauv daim nplaub tshev no, koj yuav tsum mus tob me ntsis kom tau txais cov ntaub ntawv uas koj xav tau theej los hloov kho. Txog qhov kev qhia no peb yuav mus thiab tau txais Arduino Zero board cov ntaub ntawv uas yuav raug teeb tsa rau (nco ntsoov hloov lub npe siv rau koj lub npe siv):

C: / Cov neeg siv username / AppData / Local / Arduino15 / pob khoom / arduino / hardware / samd

Luam daim nplaub tshev version-numbered nyob hauv phau ntawv no mus rau daim nplaub tshev tshiab hauv koj Cov Ntawv Teev Npe lossis daim nplaub tshev uas koj xaiv. Txog lub hom phiaj ntawm qhov kev qhia no, Kuv yuav muab lawv tso rau hauv daim nplaub tshev tshiab hu ua 'kev cai laug cam' sab hauv Cov Ntaub Ntawv.

Lub nplaub tshev muaj tus lej ntawm cov ntawv tais ceev tseg thiab cov npe. Cov uas peb yuav siv tau sau tseg hauv lub rooj hauv qhov screenshot.

Kauj ruam 5: Tsim Variant

Tam sim no peb tau npaj los pib tsim cov cai tswj hwm nkag. Txog qhov kev qhia no, Kuv yuav siv Robo HAT MM1 ua piv txwv. Raws li tau hais yav dhau los, nws yog SAMD pawg thawj coj saib uas ze tshaj plaws rau Arduino Zero tsim.

Peb yuav pib los ntawm kev nkag mus rau hauv cov ntawv sib txawv thiab luam cov ntawv arduino_zero nyob hauv ntawd. Peb yuav hloov pauv lub rooj tsav xwm tshiab hloov pauv 'robohatmm1'. Koj tuaj yeem hu koj li koj nyiam.

(Saib Duab)

Sab hauv daim ntawv robohatmm1 yuav yog ob tus pin uas peb xav tau pib kho: variant.cpp thiab variant.h. Qhib ob leeg.

Qhov no coj kuv ib pliag los ua haujlwm, yog li kuv yuav piav qhia nws ntawm no kom txuag koj qee lub sijhawm. Cov ntaub ntawv variant.cpp muaj cov kab loj heev ntawm cov pins uas tau hais txog thoob plaws variant.h. Txhua tus pin hais hauv variant.h yog siv rau tus pin teeb tsa ntawm ib qho haujlwm tshwj xeeb hauv variant.cpp array.

(Saib Screenshot nrog Ob Cov Ntaub Ntawv)

Yog li, feem ntau ntawm koj qhov kev hloov pauv yuav tshwm sim hauv ob qho ntawm cov ntaub ntawv no tab sis koj yuav tsum ua kom ntseeg tau tias yog tias koj hloov qhov kev txiav txim ntawm tus pin hauv variants.cpp - koj yuav tsum hloov pauv cov ntaub ntawv hauv cov ntaub ntawv header (variants.h). Txog Robo HAT MM1, Kuv tsuas xav tau hloov qee tus pin thiab ua haujlwm. Qhov no tau ua tiav hauv variants.h. Kuv ntxiv qee qhov PWM tshiab txij li SAMD21 tuaj yeem ua haujlwm 12 PWM raws. Kuv kuj ntxiv qee lub npe rau Servos, Teeb liab (tsis yog ADC/Digital) thiab kev teeb tsa kev cai rau txoj haujlwm raug - xws li SPI, UART thiab I2C.

Qhov tseem ceeb uas yuav tsum nco ntsoov yog txhawm rau txheeb xyuas ob zaug tias cov kab lus hais txog kab ke uas koj siv rau cov haujlwm uas tau hais tseg hauv kev hloov pauv.h sib xws ntawm tus pin hauv varaints.cpp - uas peb yuav tam sim no saib.

Variants.cpp yog cov ntaub ntawv muaj zog heev thiab tseem ceeb. Nws ua txhua txoj haujlwm nyuaj ntawm teeb tsa tus pin kom haum rau cov cuab yeej teeb tsa. Txoj hauv kev yooj yim tshaj plaws los piav qhia qhov no yog piv txwv thiab piav qhia ntawm txhua ntu.

(Saib Cov Lus Hauv Screenshot)

Piv txwv (rho tawm los ntawm variants.cpp)

{PORTA, 22, PIO_SERCOM, PIN_ATTR_NONE, No_ADC_Channel, NOT_ON_PWM, NOT_ON_TIMER, EXTERNAL_INT_NONE}, // SDA

Nov yog thawj tus pin hauv qhov hloov pauv.cpp array rau Robo HAT MM1. Cov lus los ntawm cov ntawv teev npe tau muab los ua cov duab (rooj grey).

(Saib Duab)

Tus lej tshwj xeeb no yog siv rau I2C Cov Ntaub Ntawv Tus Pin. Ua tibzoo saib ntawm lub rooj, peb tuaj yeem pom tias tus pin no tuaj yeem siv ua I2C SDA tus pin (pib zoo!). Tus pin yog lub npe “PA22” uas luv rau PORTA ntawm tus pin 22. Tam sim ntawd peb tuaj yeem teeb tus PORT thiab tus lej tus lej rau tus pin no.

Qhov tom ntej peb yuav tsum tau ua yog teeb tus pin ua qhov chaw nres nkoj sib txuas lus. Tus pin muaj kev sib txuas lus txuas nrog los ntawm kev ua haujlwm C (PIO_SERCOM) siv SERCOM 3 thiab D siv SERCOM5 (PIO_SERCOM_ALT). Rau lub hom phiaj ntawm Robo HAT MM1, peb tab tom siv SERCOM3 rau I2C kev sib txuas lus. Qhov no nyob ntawm Function C; ua. PIO_SERCOM rau variants.cpp.

Txij li thaum peb npaj tsuas yog siv tus pin no ua I2C SDA, tsis tas yuav teeb tsa ib qho ntawm lwm cov haujlwm. Lawv txhua tus tuaj yeem teeb tsa raws li "Tsis" lossis "Tsis" xaiv los ntawm lub rooj dhau los. Txawm li cas los xij, yog tias peb xav siv lwm txoj haujlwm - peb tuaj yeem hla hla cov ntawv teev npe thiab muab lawv tso rau hauv qhov chaw raug. Nws yog txhua yam hauv daim ntawv teev npe.

Hloov kho cov ntaub ntawv sib txawv tuaj yeem siv sijhawm me ntsis. Ceev faj thiab ib txwm kuaj xyuas peb zaug.

Kauj Ruam 6: Tsim Pawg Txhais Lus

Thaum koj muaj koj cov ntaub ntawv hloov pauv npaj, nws yuav tsum ncaj nraim rau ntawm no. Feem ntau ntawm txoj haujlwm yuav yog theej thiab muab tshuaj lossis hloov kho thiab hloov kho cov ntaub ntawv.

Pib nrog boards.txt.

(Saib Duab)

Koj yuav xav theej thiab muab tshuaj txhuam lub ntsiab lus txhais uas twb muaj lawm. Kuv yuav pom zoo Arduino Zero dua.

Kom yooj yim, tsuas yog hloov lub rooj tsav xwm lub npe (thawj kab), usb_product, usb_manufacturer, thiab hloov pauv (robohat). Koj tuaj yeem hloov kho lwm qhov kev sib cav tom qab kom haum rau koj cov kev xav tau - xws li kev cai bootloader lossis sib txawv USB VID/PIDs txhawm rau txheeb xyuas koj lub rooj tsavxwm.

Kev hloov pauv ntawm pawg thawj coj yuav tsum phim lub npe muab rau daim nplaub tshev tsim thaum pib. Txog qhov kev qhia no kuv hu nws 'robohatmm1'.

Nws kuj tseem yuav pom zoo hloov thawj feem ntawm txhua kab kom phim koj lub npe pawg thawj coj. Hauv qhov screenshot nws tau hloov pauv mus rau 'robo_hat_mm1'. Koj yuav tsum xaiv lub npe rau koj pawg thawj coj nrog tib hom ntawv.

Qhov ntawd yog txhua yam rau boards.txt tshwj tsis yog koj xav hloov kho ntxiv hais los saum no tom qab.

Kauj Ruam 7: Hloov Kho Pawg Thawj Coj

Hauv platforms.txt hloov lub npe mus rau lub npe ntawm koj lub rooj tsav xwm kev cai. Kuj hloov tus lej lej. Nco ntsoov dab tsi koj teeb tsa no, peb yuav xav tau nws tom qab.

Kauj Ruam 8: Tsim JSON Pob Ntawv

Txhawm rau teeb tsa koj lub rooj tsavxwm hauv Arduino IDE, koj yuav tsum tsim cov ntaub ntawv JSON uas koj yuav ntshuam. JSON cov ntaub ntawv qhia Arduino IDE qhov twg kom tau txais cov ntaub ntawv los teeb tsa lub rooj tsavxwm, xav tau pob ntxiv dab tsi thiab ob peb lwm yam khoom ntawm metadata.

Nws yog ib qho tseem ceeb heev uas koj khaws cov ntawv no sab nraum daim nplaub tshev uas peb nyuam qhuav tau ua haujlwm.

Feem ntau ntawm cov ntawv tuaj yeem theej thiab muab tso rau hauv koj ib qho. Koj tsuas yog yuav tsum tau hloov ntu "cov laug cam" thiab lwm cov metadata nyob rau sab saud ntawm cov ntawv. Saib screenshot rau yam uas yuav tsum tau hloov kho tshiab.

(Saib Duab)

• Tshooj Liab: Nov yog metadata uas cov neeg siv tuaj yeem siv los nrhiav kev pab. Nws muaj qhov cuam tshuam me ntsis ntawm cov txheej txheem.
• Ntu Xiav: Tag nrho cov no tseem ceeb. Lawv qhia hauv Arduino IDE. Lub Npe, Architecture thiab Version yuav qhia rau txhua tus uas tab tom sim teeb tsa pob. Nov yog qhov uas koj xav tau muab tus lej lej los ntawm platforms.txt. Ntu xiav thib ob yog cov npe ntawm cov laug cam uas suav nrog hauv pob. Koj tuaj yeem muaj ntau lub laug cam.
• Ntsuab Tshooj: Tshooj lus no xav tau kev piav qhia ntxiv.

(Saib Cov Lus hauv Cov Duab)

Thaum koj tau tsim cov ntawv zip, tau txais zip cov ntawv txheeb xyuas thiab cov ntaub ntawv loj, tam sim no koj tuaj yeem rub cov ntawv zip mus rau qhov chaw. Koj yuav tsum tso qhov URL ntawd rau hauv 'url' teb. Yog tias lub npe lossis ib qho ntawm cov ntsiab lus saum toj no tsis raug, koj lub rooj tsav xwm kev cai yuav tsis teeb tsa.

Nco ntsoov tseem xa koj cov ntawv package_boardname_index.json mus rau qhov chaw pej xeem hauv is taws nem. GitHub yog qhov kev xaiv zoo.

Robo HAT MM1 cov cai tswj hwm cov ntaub ntawv tuaj yeem pom ntawm no.

Kauj Ruam 9: Kauj Ruam Kawg - Txhim Kho Koj Li Pawg Thawj Coj

Txhua yam mus zoo, koj yuav tsum tam sim no tuaj yeem suav nrog koj cov ntaub ntawv JSON hauv Arduino IDE thiab teeb tsa koj lub rooj tsav xwm kev cai.

Nrog rau JSON cov ntaub ntawv yog yooj yim! Hauv Arduino IDE - tsuas yog mus rau "Cov Ntaub Ntawv"> "Nyiam" thiab luam thiab muab qhov chaw (URL) ntawm koj lub pob_boardname_index.json mus rau "Tus Thawj Saib Xyuas Ntxiv URLs" ntu hauv qab ntawm Cov Ntawv Nyiam Nyiam.

(Saib Duab)

Tom qab ntawv nyem OK.

Khiav los ntawm cov lus qhia los saum toj no rau txhim kho cov laug cam tshiab yog tias koj tsis nco qab lawm. Nco ntsoov nrhiav koj lub rooj tsav xwm kev cai lub sijhawm no!

(Saib Duab)

Yog xav paub ntau ntxiv txhim kho cov laug cam tshiab: Adafruit muaj cov lus qhia zoo ntawm no uas piav qhia yuav ua li cas txhawm rau txhim kho lawv li M0 cov laug cam.

Kauj ruam 10: Xaus

Qhov no tau lom zem tsim kev cai Arduino boards. Tseem muaj ntau yam rau kuv sim nrog yav tom ntej (ntxiv cov chaw nres nkoj ntxiv) tab sis nws tau dhau los ua kev kawm paub zoo!

Nco ntsoov xyuas Crowd Supply phiaj xwm thiab. Nws xaus rau lub Rau Hli 11 2019.

www.crowdsupply.com/robotics-masters/robo-…

Kuv vam tias qhov no tau pab koj lossis koj tau lom zem nyeem nrog!

Ua tsaug!