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Cellulo V2 Firmware
The firmware of version 2 uses a very similar firmware to version 1, with slight modifications. This is due to the use of PIC32, and the same camera.
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This repository contains the Cellulo robot firmware and tools. A new Cellulo robot must first have its Bluetooth module configured. Then, the firmware must be built and flashed to the microcontroller.
What you need (available at http://icchilisrv1.epfl.ch):
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MPLAB X 2.35
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If you have a 64 bit machine, 32 bit libraries are needed to install MPLAB X to run. Run the following to install the libraries (https://microchipdeveloper.com/install:mplabx-lin64)
sudo apt-get install libc6:i386 libx11-6:i386 libxext6:i386 libstdc++6:i386 libexpat1:i386
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Then, to install MPLAB X, go to .sh file location and run;
chmod +x MPLABX-v2.35-linux-installer.sh
sudo bash MPLABX-v2.35-linux-installer.sh
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xc 1.34
- To install with .run file located at http://icchilisrv1.epfl.ch/files/cellulo/firmware-tools/linux/; file→ properties> permissions> tick the make file executable box
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Harmony 1.03 (to install, go to Tools -> Plugins -> Downloaded -> Add Plugins and select
harmony-install-path/v1_03/utilities/mhc/com-microchip-mplab-modules-mhc.nbm, then press Install)
Load the project into MPLAB X, connect the robot over ICSP and click the Make and Program Device button.
Note that the directory paths and file names are documented strictly in the configurations.xml file, which can be found inside the project folder (cellulo-firmware.X/nbproject). Place all the files and folders accordingly to prevent #include issues when loading the project into MPLAB. In this version, the firmware to be used is in git
===================================== To configure the ESP32 module it is needed to connect to the ESP32 through the RX and TX connectors.
Once it is connected, it is possible to run the "BTConfiguration.ino" file provided in the github repository.
To change the name of the cellulo modify the following line with the desired name:
SerialBT.begin("cellulo-4126"); //Bluetooth device name
If it is your first time working with Cellulo, you might need to install extra libraries libdots and qml-plugin. Follow the guide in: https://c4science.ch/w/chili-epfl/cellulo/cellulo-software/cellulo-installation-linux-android/
The firmware used in this version is based on the Cellulo V1, this is due to the use of PIC32. It is encouraged to redesign the electronics based in the lessons learned, and hence the firmware will need a complete upgrade.
Cellulo V1