Embedded Pi User Manual
Contents
1. Embedded Pi Board LI 1 SPI 112 1 with Flow Ctrl 2 PWM 6 Analog Input 1 CAN DC 005 7V 16V Embedded Pi On Embedded Pi 1 Board MCU MCU stm32 5 IIC SPI UART PWM G DC GPIO CAN PIO Bus Switch amp 3V3 5V Voltage level translate C 2 22 G e SCL SDA AREF GND SCK MISO MOSI SS PWM 10 lO PWM PWM PWM lO TX RX RPI Connecter m e 5212 SDA2 10 10 SCK2 MISO2 512 552 CANTX CANRX PWM PWM PWM PWM 52 RTS2 2 RX2 3 Power Source auto Switch Arduino Standard Interfaces External DC 1SPI 112 APWM 1 UART B 5 USB 6 Analog Input 54 Arduino Compatible 2 O O O o Embedded Pi MCU ISP Program Interface Embedded Pi Analog Input External Interface2. S i STM32 Debug Connecter Arduino Power Interface Arduino ADC Interface Figure 3 1 Hardware block diagram Besides the Arduino standard interfaces onboard Embedded Pi has some additional SPI IIC UART interfaces and some other extended interfaces like USB and CAN Users can use the MCU onboard or a connected Raspberry Pi to control Arduino shields via the Arduino standard interfaces The following sections give a detailed introduction of the operation modes and interfaces of Embedded Pi 4 Operation Modes 3 5 Arduino Interfaces 3 6 Embedded Pi Extended Interfaces and 3 7 Raspberry Pi Connector Embedded Pi has 3 power sources from which the power supply is auto selected USB connection an external DC power supply or a Raspberry Pi For more information refer to 3 4 Power MCU O O C OX Embedded Pi User Manual WWW COOCOX Org Embedded Pi contains an ARM Cortex M3 MCU STM32F103RBT6 which belongs to STM32 F1 series of mainstream MCUs The STM32 F1 is a series of mainstream MCUs covering the needs of a large variety of applications in the industrial medical and consumer markets With this series of products ST has pioneered the world of ARM Cortex M microcontrollers and set a milestone in the history of embedded applications High performance with first class peripherals and low power low vol
3. 47 OX Embedded Pi User Manual WWW COOCOX Org 1 Introduction Figure 1 1 Embedded Pi board Embedded Pi is a triple play platform for Raspberry Pi Arduino and 32 bit embedded ARM Blending all three communities together Embedded Pi helps you to get the most out of each platform The Embedded Pi is based on the STMicroelectronics STM32F103 MCU and can operate as a bridge between Raspberry Pi and Arduino shields and in standalone mode as a Cortex M3 evaluation board Depending on the jumper placement on the Embedded Pi you can select each of the three modes of operation STM32 Standalone Mode The Embedded Pi works as an Arduino mother board where the STM32 controls the Arduino shields directly without the use of Raspberry Pi More ST Adapter Mode The STM32 controls the Arduino shields and the Raspberry Pi works as the GUI or command line console to send commands data to and receive data from the STM32 More Raspberry Pi Mode The Embedded Pi works as a hardware connection bridge between Raspberry Pi and Arduino shields allowing the Raspberry Pi to interface directly with existing Arduino shields More O OX Embedded Pi User Manual The figure below shows the hardware connections of different modes Embedded Pi Arduino Shield Raspberry Pi SWD JTAG Debugger e g ST Link CoLinkEx J Link CMSIS DAP
4. NOTE Arduino Interface Embedded Pi Extended Interface Raspberry Pi Interface Please note that the Embedded Pi board comes without any case box and all components are exposed Therefore extra attention must be paid to ESD electrostatic discharge precautions Please make sure there is no static interference when using the board Appropriate ESD protections must be taken and wearing electrostatic equipment is recommended such as wearing an anti static wristband ESD damage can range from subtle performance degradation to complete device failure Precision integrated circuits may be more susceptible to damage because very small parametric changes could cause the device not to meet its published specifications Embedded Pi User Manual Embedded Pi contains an ARM Cortex M3 MCU STM32F103RBT6 which belongs to STM32 F1 series of mainstream MCUs The STM32 1 is a series of mainstream MCUs covering the needs of a large variety of applications in the industrial medical and consumer markets With this series of products ST has pioneered the world of ARM Cortex M microcontrollers and set a milestone in the history of embedded applications High performance with first class peripherals and low power low voltage operation is paired with a high level of integration at accessible prices with a simple architecture and easy to use tools The features of STM3
5. CooCox CoIDE workspacesPif 1 7777 S O Peripheral Library v CoX Shield Lib Shield ardu b EB 365 GPS v DMShield DM163 Dot Matrix DM163 Dot DMShield move direction L CDShi eld DMShield Softeware Confic DMShied API Sensor_Shiel 32 O O Embedded Pi User Manual l a AS AS Ros o o 8 n the Peripherals tab select CoX Embedded Pl Config component to add the interface configuration files to the project CoIDE fCoolox ColDE workspace Pi Pi File Edit View Project Flash Debug Search Help Device STM32Fi03RB E Peripheral COX 0e Peripheral ST Peripheral ST 7 0 Peripheral ST _ T 31 11 1 5 s ao Project 25 Step 3 ES EE EST Cok Cok Cok Cok Cox Cok Cok Select Components Peripheral Peripheral Peripheral Peripheral Peripheral Peripheral Peripheral Peripheral Peripheral Peripheral 2 1 2 1 2 1 81 32 STM32F1xx STM32F1xx STM32F1xx STM32F1xx STM32F1xx 2 1 Embedded PI Config xDMA xGPIO xUART xSPI 2 xTimer xPHM xRTC xADC ST 5 32 103 STMS2Fixx DMA Driver STM32Fixx GPIO Driver 5 32 1 Driver STMS
6. File Edit View Project Flash Debug Search Help Hi Repository DotMatrix example c Configuration Device ST RB El Peripheral COX 0 9 Peripher Cok Peripher Cok Peripher a Device Compile Link Output User Debugger Download Debugger Hardware Adapter ST Link Port sun gt Clock Hz Startup Run td ARLinkEx CoiNel USB JTAG CoiNel CoLinkEx e Link32 Nu Link Olimex OpenOCD Stellaris ICDI TargetInjEKT Link Advance 1 CoX_Driver Matrix s Semihosting Enable v CacheRom En Reset Moc 0 1 Port Humber 2009 b d im H Sign in to montec JTAGkey J Link 15 Click the Download button to download code to flash CoIDE fCoolCox ColDE workspace Pi Pi File Edit View Project Flash Debug Search Help ee ORG irs Com 23 ae Devi gt ESL Step 3 Select Components ST STM32F103RB i ted AEN x CoX Peripheral STM32F1xx xUART CoX 5 2 UART Driver Peripheral STM32F1xx xSPI STM32Fixx SPI Driver Peripheral STM32F1xx xI2C 51 32 1 120 Driver Peripheral STM32F1xx xTimer 2 1 Timer Control Driver Cok Peripheral STM32F1xx xPWM 5 2 PHM Driver Console 53 Flash download infom
7. Embedded Pi is the 1 product to integrate Raspberry Pi mode Raspberry Pi group ST Adapter mode n connection Arduino group C STM32 mode amp Cortex M3 group connection Figure 1 2 Hardware connections of 3 operation modes Key Features Provides Raspberry Pi with easy access to abundant Arduino shields Compatible with both 5V and 3 3V Arduino shields selectable with jumpers Hundreds of Arduino shields available on the market enhance the control capability of Raspberry Pi e g to control Motor sensors etc Y Brings 32 bit ARM into the world of Arduino 32 bit ARM Cortex M3 STM32F103 MCU operating at 72MHz with 128KB Flash 20KB RAM motor control USB and CAN Hundreds of Arduino shields available on the market with extremely portable drivers provided or to be shared by CooCox and CoFans Acomplete set of FREE CooCox tools for ARM development Acommon footprint next to Arduino footprint for connection with expansion daughter cards which will be developed by CooCox Y Raspberry Pi and the STM32 MCU can work independently or in conjunction with each other to control the Arduino shields or other accessories Embedded Pi User Manual 3 Hardware Layout and Configuration Connect to RPI Board
8. C D2B TIM1 CH3 Figure 3 4 Pin outs of Arduino power interfaces left side of the dotted line 3 5 2 Analog section Arduino standard interfaces include 6 analog inputs 2 of which have a multiple function for communication However the 2 IIC pins have no analog input function on the Embedded Pi board The specific IO mapping of the pins are as below Table 3 1 IO mapping of Arduino analog interfaces PinID Arduino Function STM32 IO MAP MCU Peripheral Function 3 5 3 ICSP SPI Among Arduino standard interfaces several digital IO and ICSP pins can also be used as SPI interface by multiplexing Embedded Pi has full compliance with Arduino on these pins The specific IO mapping of the ICSP pins are as below Table 3 2 IO mapping of Arduino ICSP interface Arduino Pin Arduino Function STM32 10 MAP MCU Peripheral Function 11 O C OX Embedded Pi User Manual WWW COOCOX Org ICSP 1 SPI MISO PB14 PB14 SPI2 MISO USART3 RTS TIM 1 CH2N ICSP 3 SPI SCK PB13 PB13 SPI2 SCK USART3 CTS TIM1 _CH1N ICSP 4 SPI MOSI PB15 PB15 SPI2 MOSI TIM1 CH3N 3 5 4 Digital section Arduino standard interfaces include 16 digital 10 which can also access 1 UART 1 SPI and 6 PWM signals by multiplexing Embedded Pi has full compliance with Arduino on these pins The specific IO mapping of the digital pins are as below Table 3 3 IO mapping of Arduino digital interfaces PinID Arduino Function STM32F103 IO MAP MCU Peripheral Funct
9. However the DotMatrix_example c file has 2 unsolved inclusions xcore h and xsysctl h CoIDE f CooCox ColDE workspace Pi Pi_ File Edit View Project Flash Debug Search Help Device ST RB El Peripheral Peripher Device RB El Peripheral COX iw Peripher Peripher Cok Peripher ERA d Ee Driver OB Matrix 5 include Dot Matrix h include cookie h include xhw types h include xhw ints h include xhw nvic h include xhw memmap h include z h Unresolved inclusion xcore h include xhw sysctl h include xhw gpio h include xgpio h define delay Ox1fffff void DotMatrix example void long j Writable Smart Insert 9 19 0 Sign in to g 8 5 e Step 3 Select Components ST STH3ZF103RB Peripheral STM32F1xx xStartup Peripheral STM32F1xx xLowLayer Peripheral Peripheral 5 2 Peripheral STM32F1xx Peripheral STM32F1xx Peripheral STM32F1xx High level functions for NVIC anc STM32F10x Controller area network STM32Fixx Startup Code 2 1 LowLayer Driver 2 1 CORE STMS2Fixx DMA Driver STMS2Fixx GPIO Driver STM32Flxx UART Driver 2 1 SPI Driver H Sign
10. which are used as multiplex functions of the digital 10 The Embedded Pi can be powered with the connected Raspberry Pi 24 OX Embedded Pi User Manual WWW COOCOX Org Embedded Pi Arduino Shield TF 2221 3429 iii ij ts pi wi i 111111 J Lom 2 me 1 Raspberry Pi Figure 4 5 Hardware connections of ST Adapter Mode 4 2 2 Software Resources The C source code to send commands data to or receive data from the STM32 running in the Raspberry Pi 11 SoC 9700MHz Debian wheezy OS with 1080P resolution are provided in CooCox Blog bundling with the STM32 firmware and source code To develop applications in this mode using the Arduino shields supported by CoIDE users just need to develop replace the Protocol Decode Layer code and the C code to run in the Raspberry Pi Debian system following the instruction manuals which will be offered by CooCox team later Table 4 2 ST Adapter mode demos Shield Demo description Blog link A demo for ultrasonic distance measuring can detect Ultrasonic the geomagnetic field and measure the voltage of Demo sliding rheostat AD Demo Raspberry Pi can control motor LED or GPIO of STM32 with commands by invoking command parameters already defined TinkerKit Shield For more demos and divers please visit www coocox org epi html The ST Adapter mode s document can be get from St adapter_en pdf Th
11. 1 2 3 4 5 6 Disconnect Embedded Pi from power Install the debugger driver on PC You can ship this step if you have installed one To install the driver of CoLinkEx refer to http www coocox org Colinkex htm Install the integrated development environment on PC You can ship this step if you have installed one To install CoIDE refer to http www coocox org CooCox ColDE htm Connect Embedded Pi to the PC via the 10 Pin JTAG SWD interface JP2 10 Pin JITAG SWD Interface VC 1 Ll 2 SWDIO TMS GND 4 L B 4 SWDCLK TCLK Li 9 SWO TDO KEY 7 L g NC TD Detece C i aRFSFT Figure 3 6 Pin outs of the 10 Pin JTAG SWD interface Power on Embedded Pi the power indicator LED will be lighted Start download and debug your program 17 OX Embedded Pi User Manual WWW COOCOX Org Note SWD debuggers are supported by default To use a JTAG debugger you need to connect SJ1 with JTDI first with electronic iron and solders STM32 PA15 JP2 TDI gt D8 3 1 2 SJ1 Table 3 8 Function of buttons on Embedded Pi ButtonID Name Function Remark Reset the Embedded Pi or the Arduino shields in use Select Boot Mode Reference 1 STM32 Flash Programming Manual 0042 2 Chapter 3 8 1 Table 3 9 Function of LEDs on Embedded Pi Function User LED 1 LED Pin PB13 2 LED Control method PB13 Pin high gt LED ON Green PB13 Pi
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13. Org than 12V the voltage regulator may overheat and damage the board The recommended range is 7 to 12 volts Note Embedded Pi has 3 3V and 5V outputs for power supply selectable by JP1 You need to check and select which output to use every time when powering on the stacked Arduino Shields 3 4 2 Power Pins The power pins of Embedded Pi are fully compatible with those of Arduino and listed as below VIN VIN is a voltage input pin connected to the input of the voltage conversion chip onboard outputting 5V As VIN is connected to the power jack with a diode between them the voltage on the pin will be the same with the external power if any ranging from 7 to 12V as recommended above 5V This is a 5V output pin with 2 voltage sources 5V from USB connection or an onboard voltage conversion chip if using a 7 to 12V external DC power supply Note Please do not input any external power directly to the pin or your board can be damaged 3V3 This is a 3 3V output pin extended from an onboard voltage conversion chip GND Ground pins Embedded Pi has Arduino standard interfaces onboard which provide easy access to controlling the Arduino shields We have defined a digital ID for each signal as the name of the pin 10 Embedded Pi User Manual ASA 3 5 1 Power section 45 3V3 DVCC 3V3 BOOT BOOTO RESET C D26 TIM1 CH2
14. Program the Embedded 16 3 8 1 eT 16 3 8 2 External Debugger Mode 17 3 9 18 18 211 2 811010 disjotige 19 19 1 TT UT 20 4 1 STM32 Standalone Mode ccccccccsssccccsssccccssceccssceccessceccesececcesececcseseceseseeecesenens 20 4 1 1 Hardware CONMECTIONS 20 O O C OX Embedded Pi User Manual WWW COOCOX Org 4 1 2 ResSOU ANY EFE REVUE TEENIE UE ETN TARDE UE 21 4 2 ST Adapter Mode __ _____ ___ 23 4 2 1 Hardware Connections 24 4 2 2 Software RESOUICES ccccccsssssseseecccccceeessecccecessaeesseescceesseuasseeecesessauaaeeeseeeaeas 25 4 3 FASO ey 25 4 3 1 Hardware CONNECTtIONS ccccccccsssssseecccccceaeesseecccecesseeesseecceeeesauauseseeeeeeseeaaees 26 4 3 2 _____ _ 27 S GENE ba mm 27 15 20 7 20 7 7 779 7 42 7 _______________________ _ 46 7 1 COFLE INI seeders ea es co ec 46 7 2 211132 46 7 3 COOC OK eee 46 7 4 Raspberry Pi 47 7 5 ipe
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16. control 2 i Q 5 PWM 1 UART pairs of PWM 6 6 analog inputs i analog inputs 1 CAN S 572 e CooCox Shields Arduino Shields Figure 4 1 Block diagram of STM32 Mode 4 1 1 Hardware connections The Embedded Pi is compatible with both 5V and 3 3V Arduino shields selectable with jumpers 20 O OX Embedded Pi User Manual Arduino shields can plug pin to pin onto Embedded Pi via the Arduino footprint I O headers rev3 Arduino standard interfaces Next to the Arduino standard interfaces the Embedded Pi also has on board the extended interfaces as SPI UART 12C PWM and CAN making up another set of common footprint for connection with expansion daughter cards which will be developed by CooCox The Embedded Pi allows the SWD JTAG debugging via the SWD JTAG port and programming via the ISP interface as well It can be powered by auto selection via USB connection with an external DC power supply or with the connected Raspberry Pi Embedded Pi Arduino Shield LE MP gt 71571741 LH TI TI Power 21 44 S T PD 5 32333 SWD JTAG Debugger e g ST Link CoLinkEx J Link CMSIS DAP CooCox tools Figure 4 2 Hardware connections of STM32 Mode 4 1 2 Software Resources A quick amp easy embedded project can be
17. in to 36 E O O C OX Embedded Pi User Manual 12 Click Build button or press F7 to compile and link the program CooCox CoIDE 0 CoolCox ColDE workspace Pi Pi_ File Edit View Project Flash Debug Search Help com 5 Device ST RB Peripheral COX tt Repository include xsysctl h include xhw sysctl h include xhw gpio h include xgpio h define delay xlfffff void DotMatrix_example void Ek amp 3 9 Program Size text data bss dec hex filename 15300 1916 1572 18788 4964 Pielf BUILD SUCCESSFUL Total time 40 seconds Device ST RB Confi El Peripheral COX 4 r Periphe Cok Peripher Device Compile Link Output User Debugger Download Cok Peri phere Compile 4 FPU iot use FPU Optimization None 00 x Includepaths Defined Symbols Target STN32F 103RB STM32F 10X_MD 3 8 B T CoX Driver Matrix 5 H Sign in to 37 Co Embedded Pi User Manual 14 Select the debug adapter you use in the Debugger tab and close the Configuration window to save your configurations CoIDE f CooCox ColDE workspace Pi Pi
18. including most drivers of Arduino shield peripherals like GPIO I2C SPI etc Download arduPi for Raspberry Pi Modified arduPi library compatible with the Embedded Pi Table 4 3 Raspberry Pi mode demos Shield Demo description Blog link Raspberry Pi controls the rotation of the motors Raspberry Pi controls the rotation of the motors Ras Pi Demo and the rotation direction and speed can be Arduino Motor Control Shield configured via GUI Raspberry Pi controls the LEDs Raspberry Pi controls the LCD via I2C TinkerKit Shield For more demos and divers please visit www coocox org epi html The Raspberry Pi mode s document can be get from raspberry en pdf 5 Getting Started To get started with the Embedded Pi in ST Adapter mode and Raspberry Pi mode refer to 4 2 2 and 4 3 2 To get started with Embedded Pi in STM32 mode an Arduino shield and CoIDE you can follow the steps below 27 1 Launch CoIDE and select Create a New Project from the Welcome window ColDE Quick Start Create Project Start the _Azard that will guide you through the step necessary for creating a new project Open a Project pen an existing CoIDE project Guide ColDE User Guide PDF version provides details about to use CoIDE 2 Specify project name and path and click Next Project Name M Use default path Project Path
19. startup coide c 2 Console 527 X5 Debug Pi configuration Cortex M Application D CooCox GHU Tools ARM Embedded 4 6 2012g4 bin arm none eabi zdb Writable Smart Insert 3x H Sign in to 40 CoIDE CooCox CoIDE vorkspace Fi Pi Jeet long 35 xSysCtlClockSet 72000000 5 5 OSC MAIN DM163PinInit DotMatrixSetGamma 6 xsysetl c DotMatrixOpenLine 9 6 xtimer c DotMatrixScanTimerInit 72000000 100000 B CoX Driver B Matrix shield Dot Matrix c 18 Dot Matrix h xSysCtlDelay delay while 1 II akpoint EIE ay DotMatrixShowChar C 0 0 255 0 vSvs Ctlnelav delavi _ 41 WW W COOCOX OFr E O O C OX Embedded Pi User Manual 6 Schematics c OSOANNSW SW 2 asn 5 851 ex LH lt 0568 f WN 174 V 9974 asn 88N lt asyl 2510 951 eet 2519 851 7h NO StLOSLSZL bn asn 2 42 ATTA C O O C OX Embedded Pi User Manual 8 oya 2102 90 184 95 Jaze 4824 290 290 JequinN 812 Lo 91 SLO 709 Id Peppequi3
20. 2F103RBT6 are listed below 32 bit with ARM Cortex M3 core running at up to 72MHz 128KB Flash for programming 20 SRAM Embedded Internal RC 8MHz and 32 kHz Real Time Clock 16 bit Timers with Input Capture Output Compare and PWM 16 bit 6 ch Advanced Timer 2 16 bit Watchdog Timers SysTick Timer Rich communication interfaces 2 SPI 2 12C 3 USART USB 2 0 Full Speed Interface CAN 2 0B Active Vv 2 12 bit 16 ch A D Converter 3 4 1 Power Supply Like the other Arduino mother boards Embedded Pi can be powered via USB connection or with an external DC power supply Besides a connected Raspberry Pi can also supply power to it The power supply is auto selected from these 3 sources External non USB power can come either from an AC to DC adapter wall wart or battery The adapter can be connected by plugging a 2 1mm center positive plug into the board s power jack Leads from a battery or other DC power supply can be inserted in the GND and VIN pin headers of the POWER connector Raspberry Pi can supply power to Embedded Pi by connecting P1 on Raspberry Pi with the Raspberry Pi connector J5 on the Embedded Pi board via the 26 pin IDC cable in the package Embedded Pi can operate on an external supply of 6 to 20 volts If supplied with less than 7V however the 5V pin may supply less than five volts and the board may be unstable If using more 9 Embedded Pi User Manual WWW COOCOX
21. 2Fixx SPI Driver SIMS2Fixx 120 Driver STM32Fixx Timer Control Dri STM32Flxx Driver STMS2Fixx RIC Driver STM3S2Fixx Driver STM32Fixx ADC Driver Config files of embedded M Drivers Others 3 Sign in to 33 9 The Components view shows all selected components and the number of examples for each component Click DM163 Dot Matrix component and its Example window will popup Click view to view the content of the example file A ES DT 212 7 j T DotMatrix_examy view 77 More Examples for STM32F103RB gt gt title DotMatrix_example c author CooCox date 26 Jan 2013 brief DotMatrix example The above comment is automatically generated by include cookie h 34 Co Embedded Pi User Manual 10 Click add to add the example file to your project and click Yes to confirm adding I Coolox ColBE vorkspace Pi fi File Edit View Project Flash Debug Search Help gt Y DM163 Dot Matrix LED Controller Dr
22. 3 CH2 TI M1 34 SPI MISO PAG PA6 SPI1 MISO ADC6 TIM3 CH1 TI M1 BKIN 37 PB5 PB5 I2C1 SMBAI TIM3 CH2 SPI1 M OSI 38 I2C SDA PB11 PB11 I2C2 SDA USART3 RX TIM2 C H4 I2C SCL PB10 10 12 2 SCL USART3 2 C H3 Raspberry Pi Connector JP5 includes 17 digital 105 which also have the function of SPI or UART As the Arduino standard interfaces include only 16 digital lOs pin 26 of the Raspberry Pi is ignored on Embedded Pi Below is the IO remapping of Raspberry Pi interfaces on Embedded Pi board Table 3 7 IO remapping of Raspberry Pi interfaces Note Dn n 1 2 3 stands for Digital Pin x Raspberry Pi m Raspberry Pi Interface Function Embedded Pi Pin remap Interface Pin ID OO __ mo 15 Co Embedded Pi User Manual Waa LEN LN LEN DN LN LEN LN LN LN mo eme mo LN oo LN LEN LN GPIOS CEO D1 GPIO7 CE1 N 3 8 1 ISP mode In ISP mode a PC programs the MCU onboard via the serial port JP7 TX1 and JP7 RX1 refer to section 3 6 1 To use this mode you need to set BOOTO to 1 high level and BOOT1 to O low level which has been done on hardware In this case you only need to press the BOOTO button to enter this mode when Embedded Pi is powered on The next steps are as below 1 Install the ISP tool for Embe
23. CooCox CoIDE workspace Pi 28 Embedded Pi User Manual 3 Stay the cursor on Chip to create the project based on the target chip and click Next Hew Project File Edi Model mi Create a new project based on your target chip Come Device Proje Target 1 Chloe 4 Select target chip STM32F103RP from the chip list File Edi Chip ri 7 Select the chip for your target project ym Come Device type filter text Manufacturer ST Series STM32F103x Device STM32F103RB Toolset ARM m B STM32F103C8 B STM32F103CB Ls B STM32F103R4 BB 1 BB lt 1 per SIM3ZF103RPB STM32F103RB Descriptions ST s STM3S2F103R8 operates at a maximum speed of T2MHz and features 128 Kbytes of Flash and 20 Kbytes of SRAM Key Parameters Embedded Internal RC SMHz and 32kHz Real Time Clock 16 bit Timers with Input Capture 1444 mm ana Next gt Cancel 29 5 After clicking Finish CoIDE will create a project containing a main c file for you and show the Repository window which contains all code components of STM32F103RB CoIDE 0 fCoolox ColDE workspace Pi Pi em 2 B 1
24. Embedded Pi User Manual Rev 1 0 Release 2013 04 25 CooCox Website www coocox org Forum forum coocox org Techinal master coocox com Market market coocox com O O C OX Embedded Pi User Manual WWW COOCOX Org Catalog Embedded Pi User Manual ccccccssssssssecccccccaeesscecccccsseeeseeeccceeseueseeecceesssuuaseeesecessueugaeseseeessaaegess 0 T 8 0 I UNUM OU NUMINE IM 3 ______ __ _____________ 8 4 3 Hardware Layout and Configuration cccccccssssecccccesseccccceesseccesceeseceeeceeeecessueaeeceeseegeseeseeaes 5 3 1 Block SUE UNT 5 3 2 ESD Iles M T 8 3 3 je 9 3 4 9 3 4 1 POW 9 3 4 2 POW Cl PIGS 10 315 BS 10 3 5 1 POW CSO CU OMA M CC 11 3 5 2 Analog SOC 11 3 5 3 NOS PSP 11 3 5 4 Digital 12 3 6 Embedded Pi Extended Interfaces esses eene eene 13 3 6 1 CUSTOM SOC EO 13 3 6 2 Analoge 14 3 6 3 Detal Se CLIO isa 14 3 7 Raspberry FRC OMIM TU UT 15 3 8
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27. TM32F10xx Reference Manual http www st com internet com TECHNICAL RESOURCES TECHNICAL LITERATURE REFERENCE MANUAL CD00171190 pdf 5 More resources http www st com internet mcu product 164487 is 1 Embedded Pi Page http www coocox org epi html 2 CooCox Forum http www coocox org Forum index ph 3 CooCox Cox http www coocox org COX html 46 Ox Embedded Pi User Manual WWW COOCOX Org 4 CooCox CoIDE http www coocox org CooCox CoIDE htm 1 Raspberry Pi HomePage http www raspberrypi or 2 Raspberry Pi order links http downloads element14 com raspberryPi1 html 3 FAQs http www raspberrypi org faqs 4 Element14 Raspberry Pi community http www element14 com community groups raspberry pi 1 Arduino HomePage http www arduino cc 2 Arduino Community http arduino or 3 Arduino Shields http www shieldlist or 47
28. a 21 EL citro X z Dif ms f 2 amp Step 3 Select Components ST STM32F103RB 1 2 An CN e nies Implement the minimal functional Retarget printf Implementation of printf spri Mm Semihosting Implementation of Semihosting Ge CMSIS core CMSIS core for Cortex M3 1 30 hips Peripherals 30 6 Select the driver component of your Arduino shield from the Drivers tab e g select Shield gt DM163 Dot Matrix associated components xGPIO in this case will be automatically selected and CoIDE will add the source code of the selected components to your project re Ge 1 E B8 6 rite j gt Matrix shield Dot_Matrix Dot Matrix font h CoIDE 0 f Coolox ColDE workspace Pi Pi m 2 oo 8 d amp Z 8 7 Shield ardu DM163 Dot 1714984 LODShield Sensor_Shield Motor Shield ardunio pDMi53 COM 1214884 5 HDTT480 sensor shie 0 T4HC595 0 3 0 m GPS_Shield EB 365 Gli 31 7 Select View gt Help to open the Help window and view the related information of a selected component ooCox CoIDE
29. ation D CooCox CoIDE gt D CooCox CoIDE bin coflash exe program STM32F 103RB D CooCox CoIDE workspace Pi Pi Debug bin Erase Done Program Done Verify Done w Pi i Siga in to 38 E O O C OX Embedded Pi User Manual 16 start debugging click on the Debug icon or press Ctrl F5 CoIDE 3 Coolox ColDE workspace Pi Pi_ File Edit View Flash E Search Help O Device ST RB eriam Dot Matrix h Peripheral COX include cookie Co Peripher include xhw types h include xhw ints h include xhw nvic h include xhw memmap h include xdebug h include xcore h include xsysctl h include xhw sysctl h include xhw gpio h include xgpio h B Gn CoX Driver define delay xifffff amp Matrix s void DotMatrix example void i long j Writable Smart Insert 8 19 H Sign in to 17 If debugging is launched successfully CoIDE will enter the debug mode CoIDE 3 CoolCox ColDE workspace Pi Pi_ File Edit View Debug Search Help i void DotMatrix example void int main void B tn Driver Matrix shield Dot Matrix c A Dot Matrix h lel font h automatically added by CoIDE DotMatrix example Pi configuration Corte
30. built in C using CooCox development tools from Embest a FREE and easy to use ARM development tool environment working in Windows XP SP3 Windows Vista Windows 7 system for Cortex M MCU with flash programming amp debugging capability CoIDE CoFlash CoLinkEx etc along with the integrated abundant reusable code shared by CooCox team and CoFans Click here to get started with the Embedded Pi and CoIDE You can also view the demo video on htto www coocox org blog p 172 The table below shows the currently available Arduino shield drivers based on CoX which are fully compatible with the Embedded Pi and can be directly selected and added to user s project within CoIDE Application examples are provided along with the drivers for direct use or reference Table 4 1 Arduino shield drivers based on CoX 21 O OX Embedded Pi User Manual WWW COOCOX Org Arduino shield Driver link Product page DFRobot LCD Shield http shieldlist org dfrobot Icd Adafruit Motor Shield http shieldlist org adafruit motor http store arduino cc ww index php Sensor Shield main page product info amp cPath 16 amp pr oducts id 89 LCD4884 Shield http shieldlist org dfrobot 1lcd4884 DM163 Matrix Shield http shieldlist org itead studio colors http store iteadstudio com index php EB 365 GPS Shield main page product info amp cPath 18 amp pr oducts id 500 Arduino GPRS Shield Developm http shieldlist org seeedstudio gprs http
31. d_d m _ v 2 12534 13534 lt ws v uaa v wosised 2 1 9 2 01008 f m i 2 E 13506107 213615800 DOAG AGH NIA 104 p i j 2003 21 2 i d 5 141 5 318ILVdWOO ONN O C O O C OX Embedded Pi User Manual 45 CooC Ox Embedded Pi User Manual References 1 ARM documentation set for the ARM Cortex M3 CPU processor cores http infocenter arm com help index jsp topic com arm doc subset cortexm m3 index html 2 ARMv7 M Architecture Reference Manual http infocenter arm com help topic com arm doc ddiOA403c index html 1 STM32F103RBT6 Datasheet http www st com internet com TECHNICAL RESOURCES TECHNICAL LITERATURE DATASHEET CD00161566 pdf 2 STM32F10xxx Flash memory microcontrollers http www st com internet com TECHNICAL RESOURCES TECHNICAL LITERATURE PROGRAM MING MANUAL CD00283419 pdf 3 STM32F10 xxx 20xxx 21xxx L1xxxx Cortex M3 programming manual http www st com internet com TECHNICAL RESOURCES TECHNICAL LITERATURE PROGRAM MING MANUAL CD00228163 pdf 4 RM0008 S
32. dded Pi on your PC or Raspberry Pi There are many ISP tools for PC and ST has provided a version for Windows system only For details please refer to http www st com internet com TECHNICAL RESOURCES TECHNICAL LITERATURE USER MANUAL CD00171488 pdf Raspberry Pi uses the Linux system where no ISP tools are available yet and need to be developed 2 Disconnect Embedded Pi from power 3 4 5 6 O O C OX Embedded Pi User Manual WWW COOCOX Org Connect the ISP interface on Embedded Pi with your PC or Raspberry Pi according to the instruction of the ISP tool Figure 3 14 below shows the pins of the ISP interface on Embedded Pi When using a PC to program Embedded Pi an RS232 voltage conversion chip is needed between to convert the TTL voltage level of Embedded Pi to the RS232 voltage level of PC Configure JP1 to select the bus voltage between 3 3V and 5V according to the Arduino shields in use For configuration information of JP1 refer to 3 12 Jumper Power on Embedded Pi the power indicator LED will be lighted Press BOOTO and hold it there and press RESET button for 1 second then release BOOTO the Embedded Pi will enter the ISP mode Launch the ISP tool to program Embedded Pi 3 8 2 External Debugger Mode Since Embedded Pi has no debugger onboard an external JTAG SWD debugger is needed to program Embedded Pi in the External Debugger Mode like J Link and CoLinkEx The configuration steps are as below
33. e Embedded Pi works as a hardware connection bridge between Raspberry Pi and Arduino 25 OX Embedded Pi User Manual shields allowing the Raspberry Pi to interface directly with existing Arduino shields having a number of sensors amp control to interact with external environment It offers all the possibilities of connecting digital and analog sensors using the common footprint of Arduino but with the power and capabilities of Raspberry Pi RPI GUI or command line console RPI connector I2C SPI UART rm Arduino standard interfaces Arduino Shields Netwo rk Figure 4 6 Block diagram of Raspberry Pi Mode 4 3 1 Hardware Connections Embedded Pi Arduino Shield 19 1 2 tog Raspberry Pi 26 OX Embedded Pi User Manual Figure 4 7 Hardware connections of Raspberry Pi Mode Note The Embedded Pi Extended Interfaces are not connected with the pins of the Raspberry Pi Connector 4 3 2 Software Resources Arduino community has provided a great many drivers and application examples of the existing Arduino shields for Linux as well as corresponding document The open source library called arduPi enables the drivers and application examples to run the Raspberry Pi Debian system
34. ght side of the dotted line Table 3 4 IO mapping of Embedded Pi extended custom interfaces PinID Embedded Pi Function STM32F103 IO MCU Peripheral Function PWM P PA9 USART1 TX TIM1 CH2 PWM P PA10 PA10 USART1 1 CH3 13 O O C OX Embedded Pi User Manual WWW COOCOX Org 3 6 2 Analog Section Embedded Pi extended interfaces include 6 analog inputs 4 of which shared the same MCU interface with the Arduino interfaces due to the limited analog inputs of STM32F103RBT6 The specific IO mapping of the analog pins are as below Table 3 5 IO mapping of Embedded Pi extended analog interfaces PinID Embedded Pi Function STM32F103 IO Map MCU Peripheral Function Ire 3 6 3 Digital Section Embedded Pi extended interfaces include 16 digital 105 which can also access 1 UART with flow control 2 pairs of differential PWM 1 CAN 1 SPI and 1 The specific 10 mapping of the digital pins are as below Table 3 6 IO mapping of Embedded Pi extended digital interfaces PinID Embedded Pi Function STM32F103 IO MCU Peripheral Function UART RX PA3 USART2 RX ADC3 TIM2 23 2 PA2 USART2 TX ADC2 TIM2 CH3 24 UART RTS PA1 1 96 2 RTS ADC1 TIM2 CH2 25 UART CTS PAO PAO WKUP USART2 CTS ADCO TIM2 _CH1_ETR 14 Embedded Pi User Manual SPI SS PAA SPI1 NSS USART2 CK ADCA 33 SPI MOSI PA7 7 5 1 MOSI ADC7 TIM
35. ion DELL 7 15 PA15 ITDI TIM2 CH1 ETR SPI1 55 10 SPI CS PB12 PB12 SPI2 NSS I2C2 SMBAI USART3 CK TIM1 BKIN SPI MOSI PB15 15 2 MOSI TIM1 CH3N SPI MISO PB14 PB14 SPI2 MISO USART3 RTS TIM1 CH2 N SPI CLK PB13 PB13 SPI2 SCK USART3 5 1 CH1N 12 C O O C OX Embedded Pi User Manual WWW COOCOX Org I2C SDA PB7 I2C1 SDA TIMA CH2 USART1 I2C SCL PB6 I2C1 SCL TIMA 1 1 TX Note To use D8 Pin ID 8 you need to connect SJ1 to D8 with electric iron and solders STM32 PA15 JP2 TDI 4 lt gt 08 321 S The Embedded Pi extended interfaces beyond the Arduino standard interfaces provide stronger control ability on expansion modules The expanded pins from 022 to D45 including 1 SPI 1 12 1 UART with flow control 2 pairs of PWM 6 analog inputs and 1 CAN are introduced by 3 sections below 3 6 1 Custom Section This section is customized according to the features of MCU It includes BOOTO and BOOT1 the special pins of STM32F103RBT6 and 2 pins with multiple functions including PWM and UART The UART function is for ISP download which works together with BOOTO and BOOT1 VIN 454 3V3 DVCC 33 E 200022 RESET 2 3 8 RESET x 10 14 w C_D28 TIM1_CH3 Figure 3 5 Embedded Pi extended custom interfaces ri
36. iver Examples 3 CO DotMatrix_examy view add 12 Are you sure you want to add the example to project The example file DotMatrix example c will be located in example folder under the project Proje Target TU Yep l xtimer El p Driver Ae Matrix shield c Dot Matrix gt xhw memmap include xdebug h include xcore h include xsysctl h include xhw sysctl h include xhw gpio h include xgpio h 4 Dot_Matrix Dh Lr a b w Pi 3 Sign in to CoIDE will add the DotMatrix_example c file to the project and the DotMatrix_example function to the main function f CoIDE 3 Coolox ColDE workspace Pi Pi_ File Edit View Project Flash Debug Search Help gt Hi Repository chap 3 Device STM32F103RB void DotMatrix example void Cok Peripheral STM32F1xx x Embedded PI Config Driver A DMIB3 Dot Matrix with 1 2c int main void automatically added by CoIDE I DotMatrix example while 1 1 85 Matrix shield e Dot Matrix c c Dot Matrix h E Gpn example DotMatrix example c Writable Smart Insert Bs 35 8 Sign in to 35 LE O O C Embedded Pi User Manual
37. n CoIDE and be programmed with CoIDE CoFlash or ISP tool The source code to control the Arduino shields are the same with those in the STM32 Standalone Mode while the Protocol Decode Layer code components as shown in Figure 6 for communication with the Raspberry Pi will be provided in CoIDE and this page The STM32 controls the Arduino shields and the Raspberry Pi works as the GUI or command line console to send commands data to and receive data from the STM32 This is an advanced mode which extends and strengthens the automation control capability of the Raspberry Pi taking the advantage of STM32F103 Nested Vectored Interrupt Controller GPIOs and more peripherals like ADC and PWM 23 C O O C OX Embedded Pi User Manual RPI GUI or command line console RPI connector I2C SPI UART LCD Motor Sensor Driver Driver Driver Shield Driver layer Key WiFi Eth STM32 Driver Driver SS Protocol Decode layer CoX STM32 library HAL Hardware layer 1 SPI 1 I2C 1 UART with flow control 2 pairs of PWM 6 analog inputs 1 CAN 1 SPI 1 12 4 PWM 1 UART 6 analog inputs CooCox Shields Figure 4 4 Block diagram of ST Adapter Mode 4 2 1 Hardware Connections The Raspberry Pi communicates with STM32 via the SPI I2C UART channels of the Raspberry Pi connector
38. n low gt LED OFF Indicate Power Status Power gt LED ON Green Power OFF LED OFF 18 Embedded Pi User Manual Table 3 10 System Clock Source Function of Embedded Pi Clock Source ID Crystal Frequency Function 8MHz System main clock source 32 768KHz RTC input clock source Table 3 11 Function of Embedded Pi Jumpers Jumper ID Function Description Output 3V3 JP1 Bus Power Selection 1 Output 5V Raspberry Pi Bus To configure operation mode Enablement STM32 Bus Enablement To configure operation mode Table 3 12 Operation mode configuration Operation Mode Jumpers Configuration R irrs 19 OX Embedded Pi User Manual WWW COOCOX Org 4 Operation Modes The Embedded Pi has three operation modes selectable by jumpers Refer to 3 12 Jumper The Embedded Pi works as an Arduino mother board where the STM32 controls the Arduino shields directly without the use of Raspberry Pi It can sense the environment by receiving input from a variety of sensors and can affect its surroundings by controlling lights motors and other actuators __ layer Motor Sensor NSS Driver Driver Shield Driver layer Key WiFi Eth Driver Driver CoX STM32 library HAL Hardware layer STM32 1 SPI 1 12C 1 UART t 1 SPI 1 12C 4 with flow
39. tage operation is paired with a high level of integration at accessible prices with a simple architecture and easy to use tools The features of STM32F103RBT6 are listed below 32 bit with ARM Cortex M3 core running at up to 72MHz 128 Flash for programming 20KB SRAM Embedded Internal RC 8MHz and 32 kHz Real Time Clock 16 bit Timers with Input Capture Output Compare PWM 16 bit 6 ch Advanced Timer 2 16 bit Watchdog Timers SysTick Timer v Rich communication interfaces 2 SPI 2 12C USART v USB 2 0 Full Speed Interface CAN 2 0B Active 2 12 bit 16 ch A D Converter Embedded Pi User Manual WWW COOCOX Org Arduino Bus Power Switch Cito 68 Raspberry Pi Bus Raspberry Pi wom 74 Enable vee Interface 1 155222 U4 rei EX e 2 reto STM32 Bus Enable vimm TN m Embedded Pi ke DIGITAL 5 479 Debug Interface see 55 15 Extended A E et Interface WWW COOCOX ORS secw Embedded Pi 10 Arduino Interface 3 Id Peppequi Figure 3 2 Embedded Pi board layout CooCox NC IOREF RESET 3V3 5V GND GND VIN 16 21 BOOTO BOOT1 RESET 3V3 NC GND TX1 RX1 Embedded Pi User Manual 39 15 14 AREF GND 28 27 Figure 3 3 Pin IDs of the connectors WWWw Coocox org
40. uk farnell com arduino a000058 Arduino WiFi Shield board wifi shield w intg antenna dp 22 12785 http uk farnell com arduino a000079 l Arduino Motor Shield 298 motor control arduino shield dp 20 75346 For latest shared Arduino shield drivers visit http www coocox org driver shield mc9 html or click Refresh button on the top right corner of the Repository view in CoIDE as shown in the figure below Click the Upload button next to Refresh to share your Arduino shield drivers with others by just 4 steps 22 C O O C OX Embedded Pi User Manual WWW COOCOX Org Step 3 Select Components ST STM32F103RB Shield Drivers gt Shield Components CharMenu HD77480 HITAC GPIO Download lvshuxun WiFi_Shield WiFi Shield STML GPIO SPLU Download CooCox BH Shield ardunio Motor shil GPIO Available CooCox S DM163 Dot DM163 COMPUL GPIO Available LCD4884 LCD4884 STMICR GPIO SPI Available 236030037 LCDShield HD77480 HITAC SPI Available CooCox BH Sensor Shield shield GPIO I2C Se Available CooCox 4 Manufacturers Chips Peripherals Drivers Others Figure 4 3 Arduino shield drivers list amp Refresh button Preparation A firmware to control the Arduino shields and communicate with the Raspberry Pi should be programmed to the STM32 before hand it can be generated from the project built i
41. x M Application B GDB Hardware Debugger 13 2 27 2 01 Su Thread 1 Suspended 1 main main 0 08000 Tools ARM Embedded 4 6 201244 1 WooCox CoIDE workspace Pi Debug bin Pi Smart Insert Eo 4 H Sign in to Yritable 39 Co Embedded Pi User Manual 18 Other debug windows can be added by simply selecting them from the View menu CoIDE 1 fCoolCox ColDE workspace Pi Pi E xj File Edit View Debug Search Help i gt e Project PS Project Components Breakpoints Target void DotMatri 4 E9 2 Console x 89 bxCANI int main void CRC YS Debug 89 DMAIL lo Disassembly E9 EXTI P GPIOA GPIOA CRL while 1 0 GPIOA CRH GPIOA GPIOA_ODR automat Expressions M es Semihosting 1 Memory Outline Project Explorer 1010 0101 oq Registers Peripherals Variables Default Layout void DotMatrix int main void a e xtimer c automatically added by CoIDE B en CoX Driver DotMatrix example Matrix shield while 1 Le Dot Matrix c 88 18 Dot Matrix h im B e example 8 DotMatrix_example ar
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