Embedded Pi User Manual
Rev. 1.0 Release: 2013-05-06
Website: www.coocox.org
Forum: forum.coocox.org
Techinal: master@coocox.com
Market: market@coocox.com
Catalog
Embedded Pi User Manual ................................................................................................................ 0
Catalog .............................................................................................................................................. 1
1 Introduction .............................................................................................................................. 3
2 Key Features .............................................................................................................................. 4
3 Hardware Layout and Configuration ......................................................................................... 5
3.1 Block Diagram ............................................................................................................... 5
3.2 ESD Precautions ............................................................................................................ 7
3.3 MCU .............................................................................................................................. 8
3.4 Power ............................................................................................................................ 8
3.4.1 Power Supply ..................................................................................................... 8
3.4.2 Power Pins ......................................................................................................... 9
3.5 ArduinoTM Form-factor Compatibility............................................................................ 9
3.5.1 Power section .................................................................................................. 10
3.5.2 Analog section ................................................................................................. 10
3.5.3 ICSP/ SPI .......................................................................................................... 10
3.5.4 Digital section .................................................................................................. 11
3.6 Embedded Pi Extended Interfaces .............................................................................. 12
3.6.1 Custom Section................................................................................................ 12
3.6.2 Analog Section ................................................................................................. 13
3.6.3 Digital Section .................................................................................................. 13
3.7 Raspberry Pi Connector ............................................................................................... 14
3.8 Program the Embedded Pi .......................................................................................... 15
3.8.1 ISP mode ......................................................................................................... 15
3.8.2 External Debugger Mode ................................................................................ 16
3.9 Button.......................................................................................................................... 17
3.10 LED .............................................................................................................................. 17
3.11 System Clock Source .................................................................................................... 18
3.12 Jumper......................................................................................................................... 18
4 Operation Modes .................................................................................................................... 19
4.1 STM32/Standalone Mode ........................................................................................... 19
1
4.1.1 Hardware connections .................................................................................... 19
4.1.2 Software Resources ......................................................................................... 20
4.2 ST-Adapter Mode ........................................................................................................ 22
4.2.1 Hardware Connections .................................................................................... 23
4.2.2 Software Resources ......................................................................................... 24
4.3 Raspberry Pi Mode ...................................................................................................... 24
4.3.1 Hardware Connections .................................................................................... 26
4.3.2 Software Resources ......................................................................................... 26
5 Getting Started ........................................................................................................................ 27
6 Schematics .............................................................................................................................. 41
7 References ............................................................................................................................... 45
7.1 Cortex-M3 ................................................................................................................... 45
7.2 STM32 ......................................................................................................................... 45
7.3 CooCox ........................................................................................................................ 45
7.4 Raspberry Pi ................................................................................................................ 46
7.5 ArduinoTM .................................................................................................................... 46
2
1 Introduction
Figure 1-1 Embedded Pi board
Embedded Pi is a triple-play platform for Raspberry Pi, ArduinoTM 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 ArduinoTM 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 ArduinoTM form-factor compatible mother board where the
STM32 controls the ArduinoTM shields directly without the use of Raspberry Pi. More…
ST-Adapter Mode
The STM32 controls the ArduinoTM 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
ArduinoTM shields, allowing the Raspberry Pi to interface directly with existing ArduinoTM
shields. More…
3
The figure below shows the hardware connections of different modes.
Figure 1-2 Hardware connections of 3 operation modes
2 Key Features
Provides Raspberry Pi with easy access to abundant Arduino
‒ Compatible with both 5V and 3.3V Arduino
‒ Hundreds of Arduino
TM
shields available on the market enhance the control capability
of Raspberry Pi, e.g. to control Motor, sensors, etc.
Brings 32-bit ARM MCU 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
TM
shields available on the market with extremely portable drivers
provided or to be shared by CooCox and CoFans
TM
shields, selectable with jumpers
TM
.
TM
shields.
‒ A complete set of FREE CooCox tools for ARM development
‒ A common footprint next to Arduino
TM
footprint for connection with expansion
daughter cards which will be developed by CooCox
Raspberry Pi and the STM32 MCU can work independently or in conjunction with each
other to control the ArduinoTM shields or other accessories.
4
3 Hardware Layout and Configuration
STM32
STM32
IO PWM PWM IO PWM IO TX RX
PWM- PWM+ PWM- PWM+ CTS2 RTS2 TX2 RX2
SCL SDA AREF GND SCK MISO MOSI SS PWM IO
SCL2 SDA2 IO IO SCK2 MISO2 MOSI2 SS2 CANTX CANRX
Embedded Pi Analog Input External InterfaceEmbedded Pi MCU ISP(Program Interface)
Arduino Power Interface
Arduino ADC Interface
RPI Connecter
USB Micro-B
DC-005
(7V – 16V)
STM32
Debug
Connecter
Bus Switch & 3V3/5V Voltage-level translate
IIC
SPI
UART
PWM
CAN
ADC
GPIO
IIC/SPI/UART/PWM/
ADC/GPIO/CAN
IIC/SPI/UART/
PWM/GPIO
Raspberry Pi
Connector
Embedded Pi On
Board MCU
Arduino-Compatible
Embedded Pi Board
3 Power Source
(auto Switch)
-----------------
External DC
USB
RPI_5V
Embedded Pi Extended Interfaces:
1 SPI, 1 I2C, 1 UART with Flow Ctrl,
2 Pairs PWM(+-),6 Analog Input,
1 CAN
Arduino Form-factor Compatible
Interfaces:
1SPI, 1I2C, 4PWM, 1 UART,
6 Analog Input
3.1 Block Diagram
Besides the ArduinoTM form-factor compatible 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 ArduinoTM shields via the
ArduinoTM form-factor compatible interfaces. The following sections give a detailed introduction
of the operation modes and interfaces of Embedded Pi: 4 Operation Modes, 3.5 ArduinoTM
Form-factor Compatibility, 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.
Figure 3-1 Hardware block diagram
5
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-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 STM32F103RBT6 are listed below:
32-bit with ARM Cortex-M3 core running at up to 72MHz.
128KB Flash for programming, 20KB 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 I2C, 3 USART
USB 2.0 Full Speed Interface, CAN 2.0B Active
2 12-bit 16-ch A/D Converter
Figure 3-2 Embedded Pi board layout
6
GND
AREF
P
O
W
E
R
A
N
A
L
O
G
D
I
G
I
T
A
L
D
I
G
I
T
A
L
SPI
ID
0
15
ID
16
21
12
14
8
7
ID
9
10
11
13
1
6
3
5
4
2
3V3
VIN
5V
GND
NC
IOREF
RESET
GND
ID
22
27
ID
28
39
45
40
ID
3V3
RX1
NC
GND
BOOT0
BOOT1
RESET
TX1
NOTE:
1
25
2
26
Embedded Pi Extended
Interface
Arduino form-factor
compatible Interface
Raspberry Pi Interface
Figure 3-3 Pin IDs of the connectors
3.2 ESD Precautions
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.
7
3.3 MCU
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-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 STM32F103RBT6 are listed below:
32-bit with ARM Cortex-M3 core running at up to 72MHz.
128KB Flash for programming, 20KB 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 I2C, 3 USART
USB 2.0 Full Speed Interface, CAN 2.0B Active
2 12-bit 16-ch A/D Converter
3.4 Power
3.4.1 Power Supply
Like the ArduinoTM 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
8
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 ArduinoTM
shields.
3.4.2 Power Pins
The power pins of Embedded Pi are fully compatible with those of ArduinoTM form-factor 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.
3.5 Arduino
Embedded Pi has ArduinoTM form-factor compatible interfaces onboard, which provide easy
access to controlling the ArduinoTM shields.
TM
Form-factor Compatibility
We have defined a digital ID for each signal as the name of the pin.
9
3.5.1 Power section
Pin ID
ArduinoTM Function
STM32 IO MAP
MCU Peripheral Function
16
AIN
PC0
PC0/ADC10
17
AIN
PC1
PC1/ADC11
18
AIN
PC2
PC2/ADC12
19
AIN
PC3
PC3/ADC13
20
I2C.SDA
PB7
PB7/I2C1_SDA/TIM4_CH2/USART1_RX
21
I2C.SCL
PB6
PB6/I2C1_SCL/TIM4_CH1/USART1_TX
ArduinoTM Pin
ArduinoTM Function
STM32 IO MAP
MCU Peripheral Function
Figure 3-4 Pin-outs of ArduinoTM form-factor power interfaces (left side of the dotted line)
3.5.2 Analog section
ArduinoTM form-factor compatible interfaces include 6 analog inputs, 2 of which have a multiple
function for IIC 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 ArduinoTM form-factor analog interfaces
3.5.3 ICSP/ SPI
Among ArduinoTM form-factor compatible interfaces, several digital IO and ICSP pins can also be
used as SPI interface by multiplexing. Embedded Pi has full compliance with ArduinoTM on these
pins. The specific IO mapping of the ICSP pins are as below:
Table 3-2 IO mapping of ArduinoTM form-factor ICSP interface
10
ICSP.1
SPI.MISO
PB14
PB14/SPI2_MISO/USART3_RTS/TIM
1_CH2N
ICSP.2
NC
NC
ICSP.3
SPI.SCK
PB13
PB13/SPI2_SCK/USART3_CTS/TIM1
_CH1N
ICSP.4
SPI.MOSI
PB15
PB15/SPI2_MOSI/TIM1_CH3N
ICSP.5
NC
NC ICSP.6
GND
NC
Pin ID
ArduinoTM Function
STM32F103 IO MAP
MCU Peripheral Function
0
UART.RX
PC11
PC11/USART3_RX
1
UART.TX
PC10
PC10/USART3_TX
2
EXT.INT
PC12
PC12/USART3_CK
3
EXT.INT / PWM
PC6
PC6/TIM3_CH1
4 PC7
PC7/TIM3_CH2
5
PWM
PC8
PC8/TIM3_CH3
6
PWM
PC9
PC9/TIM3_CH4
7 PD2
PD2/TIM3_ETR
8 PA15
PA15/JTDI/TIM2_CH1_ETR/SPI1_NSS
9
PWM
PA8
PA8/USART1_CK/TIM1_CH1/MCO
10
SPI.CS
PB12
PB12/SPI2_NSS/I2C2_SMBAI/USART3_CK
/TIM1_BKIN
11
SPI.MOSI
PB15
PB15/SPI2_MOSI/TIM1_CH3N
12
SPI.MISO
PB14
PB14/SPI2_MISO/USART3_RTS/TIM1_CH
2N
13
SPI.CLK
PB13
PB13/SPI2_SCK/USART3_CTS/TIM1_CH1
N
3.5.4 Digital section
ArduinoTM form-factor compatible interfaces include 16 digital IOs, which can also access 1 UART,
1 SPI, and 6 PWM signals by multiplexing. Embedded Pi has full compliance with ArduinoTM on
these pins. The specific IO mapping of the digital pins are as below:
Table 3-3 IO mapping of ArduinoTM form-factor digital interfaces
11
AREF
NC
GND
GND
GND
14
I2C.SDA
PB7
PB7/I2C1_SDA/TIM4_CH2/USART1_RX
15
I2C.SCL
PB6
PB6/I2C1_SCL/TIM4_CH1/USART1_TX
Note: To use D8 (Pin ID 8), you need to connect SJ1 to D8 with electric iron and solders.
1
3
STM32-PA15
D8
JP2-TDI
2
SJ1
Pin ID
Embedded Pi Function
STM32F103 IO Map
MCU Peripheral Function
26
PWM.P
PA9
PA9/USART1_TX/TIM1_CH2
28
PWM.P
PA10
PA10/USART1_RX/TIM1_CH3
3.6 Embedded Pi Extended Interfaces
The Embedded Pi extended interfaces beyond the ArduinoTM form-factor compatible interfaces
provide stronger control ability on expansion modules. The expanded pins, from D22 to D45,
including 1 SPI, 1 I2C, 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 BOOT0 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 BOOT0 and BOOT1.
Figure 3-5 Embedded Pi extended custom interfaces (right side of the dotted line)
Table 3-4 IO mapping of Embedded Pi extended custom interfaces
12
3.6.2 Analog Section
Pin ID
Embedded Pi Function
STM32F103 IO Map
MCU Peripheral Function
40
Analog
PC0
PC0/ADC10
41
Analog
PC1
PC1/ADC11
42
Analog
PC2
PC2/ADC12
43
Analog
PC3
PC3/ADC13
44
Analog
PC4
PC4/ADC14
45
Analog
PC5
PC5/ADC15
Pin ID
Embedded Pi Function
STM32F103 IO Map
MCU Peripheral Function
22
UART.RX
PA3
PA3/USART2_RX/ADC3/TIM2_CH4
23
UART.TX
PA2
PA2/USART2_TX/ADC2/TIM2_CH3
24
UART.RTS
PA1
PA1/USART2_RTS/ADC1/TIM2_CH2
25
UART.CTS
PA0
PA0-WKUP/USART2_CTS/ADC0/TIM2
_CH1_ETR
26
PWM.P
PA9
PA9/USART1_TX/TIM1_CH2
27
PWM.N
PB0
PB0/ADC8/TIM3_CH3/TIM1_CH2N
28
PWM.P
PA10
PA10/USART1_RX/TIM1_CH3
29
PWM.N
PB1
PB1/ADC9/TIM3_CH4/TIM1_CH3N
30
CAN.RX
PB8
PB8/TIM4_CH3/I2C1_SCL/CANRX
31
CAN.TX
PB9
PB9/TIM4_CH4/I2C1_SDA/CANTX
Embedded Pi extended interfaces include 6 analog inputs, 4 of which shared the same MCU
interface with the ArduinoTM form-factor compatible 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
3.6.3 Digital Section
Embedded Pi extended interfaces include 16 digital IOs, which can also access 1 UART with flow
control, 2 pairs of differential PWM, 1 CAN, 1 SPI, and 1 IIC. The specific IO mapping of the digital
pins are as below:
Table 3-6 IO mapping of Embedded Pi extended digital interfaces
13
32
SPI.SS
PA4
PA4/SPI1_NSS/USART2_CK/ADC4
33
SPI.MOSI
PA7
PA7/SPI1_MOSI/ADC7/TIM3_CH2/TI
M1_CH1N
34
SPI.MISO
PA6
PA6/SPI1_MISO/ADC6/TIM3_CH1/TI
M1_BKIN
35
SPI.SCK
PA5
PA5/SPI1_SCK/ADC5
36 PC13
PC13/ANT1_TAMP
37 PB5
PB5/I2C1_SMBAI/TIM3_CH2/SPI1_M
OSI
38
I2C.SDA
PB11
PB11/I2C2_SDA/USART3_RX/TIM2_C
H4
39
I2C.SCL
PB10
PB10/I2C2_SCL/USART3_TX/TIM2_C
H3
Raspberry-Pi
Interface Pin ID
Raspberry-Pi Interface Function
Embedded Pi Pin remap
1
3.3V Power
3.3V Power
2
5V Power
5V Power
3
GPIO0/SDA
D14 4 5V Power
NC
5
GPIO1/SCL
D15 6 GND
GND
7
GPIO4/GPCLK0
D9
8
GPIO14/TXD
D1
9
GND
NC
3.7 Raspberry Pi Connector
Raspberry Pi Connector (JP5) includes 17 digital IOs, which also have the function of IIC, SPI, or
UART. As the ArduinoTM form-factor compatible interfaces include only 16 digital IOs, 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.
14
10
GPIO15/RXD
D0
11
GPIO17
D2
12
GPIO18/PCM_CLK
D3
13
GPIO21/PCM_DOUT
D4
14
GND
NC
15
GPIO22
D5
16
GPIO23
D6
17
3.3V Power
NC
18
GPIO24
D7
19
GPIO10/MOSI
D11
20
GND
NC
21
GPIO9/MISO
D12
22
GPIO25
D8
23
GPIO11/SCKL
D13
24
GPIO8/CE0
D10
25
GND
NC
26
GPIO7/CE1
NC
3.8 Program the Embedded Pi
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 BOOT0 to 1 (high level), and BOOT1 to 0 (low
level) – which has been done on hardware. In this case, you only need to press the BOOT0 button
to enter this mode when Embedded Pi is powered on.
The next steps are as below:
1) Install the ISP tool for Embedded 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.
15
3) Connect the ISP interface on Embedded Pi with your PC (or Raspberry Pi) according to the
instruction of the ISP tool. Figure 3-5 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.
4) Configure JP1 to select the bus voltage between 3.3V and 5V according to the Arduino
TM
shields in use. For configuration information of JP1, refer to 3.12 Jumper.
5) Power on Embedded Pi, the power indicator LED will be lighted. Press BOOT0 and hold it
there, and press RESET button for 1 second, then release BOOT0, the Embedded Pi will enter
the ISP mode.
6) 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:
1) Disconnect Embedded Pi from power.
2) 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.
3) 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_CoIDE.htm.
4) Connect Embedded Pi to the PC via the 10-Pin JTAG/SWD interface (JP2).
Figure 3-6 Pin-outs of the 10-Pin JTAG/SWD interface
5) Power on Embedded Pi, the power indicator LED will be lighted.
6) Start download and debug your program.
Note: SWD debuggers are supported by default. To use a JTAG debugger, you need to connect
16
SJ1 with JTDI first with electronic iron and solders.
1
3
STM32-PA15
D8
JP2-TDI
2
SJ1
Button ID
Name
Function
Remark
1
RESET
Reset the Embedded Pi or
the ArduinoTM shields in use
2
BOOT0
Select Boot Mode
Reference:
1) STM32 Flash Programming
Manual (PM0042)
2) Chapter 3.8.1
LED ID
Function
Note
1
User LED
1) LED Pin – PB13
2) LED Control method
PB13 Pin high LED ON (Green)
PB13 Pin low LED OFF
2
Indicate Power Status
Power ON LED ON (Green)
Power OFF LED OFF
3.9 Button
Table 3-8 Function of buttons on Embedded Pi
3.10 LED
Table 3-9 Function of LEDs on Embedded Pi
17
3.11 System Clock Source
Clock Source ID
Crystal Frequency
Function
1
8MHz
System main clock source
2
32.768KHz
RTC input clock source
Jumper ID
Function
Description
JP1
Bus Power Selection
1
Output 3V3
1
Output 5V
JP3
Raspberry Pi Bus
Enablement
To configure operation mode.
JP4
STM32 Bus Enablement
To configure operation mode.
Operation Mode
Jumpers Configuration
STM32/Standalone Mode
ST-Adapter Mode
Raspberry Pi Mode
Table 3-10 System Clock Source Function of Embedded Pi
3.12 Jumper
Table 3-11 Function of Embedded Pi Jumpers
Table 3-12 Operation mode configuration
18
4 Operation Modes
STM32
CoX STM32 Library (HAL)
Hardware Layer
Application Layer
Arduino
form
-
factor
compatible
interfaces
EPI extended interfaces
Arduino Shields
LCD Motor Sensor
Key Network ...
1 SPI, 1 I2C, 1
UART with flow
control, 2 pairs
of PWM (+-), 6
analog inputs, 1
CAN
1 SPI, 1 I2C, 4
PWM, 1 UART,
6 analog inputs
CooCox Shields
LCD Motor Sensor
Key Network ...
Shield Driver Layer
LCD
Driver
Motor
Driver
Sensor
Driver
Key
Driver
WiFi, ETH
Driver
...
The Embedded Pi has three operation modes, selectable by jumpers. Refer to 3.12 Jumper.
4.1 STM32/Standalone Mode
The Embedded Pi works as an ArduinoTM form-factor compatible mother board where the STM32
controls the ArduinoTM 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.
Figure 4-1 Block diagram of STM32 Mode
4.1.1 Hardware connections
The Embedded Pi is compatible with both 5V and 3.3V ArduinoTM shields, selectable with jumpers.
19
ArduinoTM shields can plug pin-to-pin onto Embedded Pi via the ArduinoTM footprint (I/O headers
rev3) / ArduinoTM form-factor compatible interfaces. Next to the ArduinoTM form-factor
compatible interfaces, the Embedded Pi also has on board the extended interfaces as SPI, UART,
I2C, 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.
Figure 4-2 Hardware connections of STM32 Mode
4.1.2 Software Resources
A quick & easy embedded project can be 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 & 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: http://www.coocox.org/blog/?p=172
The table below shows the currently available ArduinoTM 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.
20
Table 4-1 ArduinoTM shield drivers based on CoX
ArduinoTM shield
Driver link
State
Product page
DFRobot LCD
Shield
Done
http://shieldlist.org/dfrobot/lcd
Adafruit Motor
Shield
Done
http://shieldlist.org/adafruit/motor
Sensor_Shield
Done
http://store.arduino.cc/ww/index.php?
main_page=product_info&cPath=16&pr
oducts_id=89
LCD4884 Shield
Done
http://shieldlist.org/dfrobot/lcd4884
DM163 Matrix
Shield
Done
http://shieldlist.org/itead-studio/colors
EB-365 GPS
Shield
Done
http://store.iteadstudio.com/index.php?
main_page=product_info&cPath=18&pr
oducts_id=500
ArduinoTM
GPRS Shield
Under
Development
http://shieldlist.org/seeedstudio/gprs
ArduinoTM WiFi
Shield
Done
http://uk.farnell.com/arduino/a000058/
board-wifi-shield-w-intg-antenna/dp/22
12785
ArduinoTM
Motor Shield
Done
http://uk.farnell.com/arduino/a000079/l
298-motor-control-arduino-shield/dp/20
75346
For latest shared ArduinoTM 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 ArduinoTM shield drivers with others by
just 4 steps.
21
Figure 4-3 ArduinoTM shield drivers list & “Refresh” button
4.2 ST-Adapter Mode
Preparation: A firmware to control the ArduinoTM shields and communicate with the Raspberry Pi
should be programmed to the STM32 before hand; it can be generated from the project built in
CoIDE, and be programmed with CoIDE, CoFlash, or ISP tool. The source code to control the
ArduinoTM shields are the same with those in the STM32/Standalone Mode, while the Protocol
Decode Layer code components (as shown in Figure 4-4) for communication with the Raspberry
Pi will be provided in CoIDE and this page.
The STM32 controls the ArduinoTM 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 NVIC (Nested Vectored Interrupt Controller), GPIOs, and
more peripherals like ADC and PWM.
22
Raspberry Pi
(GUI or command line console)
RPI connector
(I2C/SPI/UART)
STM32
Shield Driver Layer
LCD
Driver
Motor
Driver
Sensor
Driver
Key
Driver
WiFi, ETH
Driver
...
CoX STM32 Library (HAL)
Hardware Layer
Protocol Decode Layer
Arduino
form
-
factor
compatible
interfaces
CMD DATA
EPI extended interfaces
Arduino Shields
LCD Motor Sensor
Key Network ...
1 SPI, 1 I2C, 1
UART with flow
control, 2 pairs
of PWM (+-), 6
analog inputs, 1
CAN
1 SPI, 1 I2C, 4
PWM, 1 UART,
6 analog inputs
CooCox Shields
LCD Motor Sensor
Key Network ...
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, which are used as multiplex functions of the digital IOs. The Embedded Pi can be
powered with the connected Raspberry Pi.
23
Figure 4-5 Hardware connections of ST-Adapter Mode
Shield
Demo description
Blog link
ArduinoTM Motor
Shield
A demo for ultrasonic distance measuring, can detect
the geomagnetic field and measure the voltage of
sliding rheostat
Ultrasonic
Demo
AD Demo
TinkerKit Shield
Raspberry Pi can control motor, LED, or GPIO of STM32
with commands by invoking command parameters
already defined
For more demos and divers, please visit www.coocox.org/epi.html.
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 ARM11 SoC @700MHz, 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 ArduinoTM 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
4.3 Raspberry Pi Mode
The Embedded Pi works as a hardware connection bridge between Raspberry Pi and ArduinoTM
24
shields, allowing the Raspberry Pi to interface directly with existing ArduinoTM shields, having a
Raspberry Pi
(GUI or command line console)
RPI connector
(I2C/SPI/UART)
CMD DATA
Embedded Pi
Arduino form-factor
compatible interfaces
Arduino Shields
LCD Motor Sensor
Key Network ...
number of sensors & control to interact with external environment. It offers all the possibilities of
connecting digital and analog sensors using the common footprint of ArduinoTM but with the
power and capabilities of Raspberry Pi.
Figure 4-6 Block diagram of Raspberry Pi Mode
25
4.3.1 Hardware Connections
Shield
Demo description
Blog link
ArduinoTM Motor-Control
Shield
Raspberry Pi controls the rotation of the motors
Raspberry Pi controls the rotation of the motors,
and the rotation direction and speed can be
configured via GUI.
Ras-Pi Demo
TinkerKit Shield
Raspberry Pi controls the LEDs
Raspberry Pi controls the LCD via I2C
For more demos and divers, please visit www.coocox.org/epi.html.
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
ArduinoTM community has provided a great many drivers and application examples of the existing
ArduinoTM shields for Linux, as well as corresponding document. The open source library called
“arduPi” enables the drivers and application examples to run in the Raspberry Pi Debian system,
including most drivers of ArduinoTM 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
26
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 ArduinoTM shield, and CoIDE, you can follow
the steps below:
1. Launch CoIDE, and select “Create a New Project” from the Welcome window.
27
2. Specify project name and path, and click “Next”.
3. Stay the cursor on “Chip” to create the project based on the target chip, and click “Next”.
28
4. Select target chip “STM32F103RB” from the chip list.
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.
29
6. Select the driver component of your Arduino
TM
shield from the “Drivers” tab, e.g. select
Shield -> 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.
30
7. Select View -> Help to open the Help window and view the related information of a selected
component.
31
8. In the “Peripherals” tab, select CoX.Embedded_PI.Config component to add the interface
configuration files to the project.
32
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.
33
10. Click “add” to add the example file to your project, and click “Yes” to confirm adding.
CoIDE will add the DotMatrix_example.c file to the project, and the DotMatrix_example function
to the main function.
34
However, the DotMatrix_example.c file has 2 unsolved inclusions – xcore.h and xsysctl.h.
11. Select components xCORE and xSysCtl from the “Peripherals” tab.
35
12. Click the “Build” button or press F7 to compile and link the program.
13. Click the “Configuration” button to open the Configuration window.
36
14. Select the debug adapter you use in the “Debugger” tab, and close the Configuration
window to save your configurations.
15. Click the “Download” button to download code to flash.
37
16. To start debugging, click on the Debug icon or press Ctrl+F5.
17. If debugging is launched successfully, CoIDE will enter the debug mode.
38
18. Other debug windows can be added by simply selecting them from the View menu.
19. Use the debug functions like single stepping via the tool bar or debug menu.
39
20. Set breakpoints in the C code window or the Disassembly window.
40
6 Schematics
41
42
43
44
7 References
7.1 Cortex-M3
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.ddi0403c/index.html
7.2 STM32
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. STM32F10xxx/20xxx/21xxx/L1xxxx Cortex-M3 programming manual
http://www.st.com/internet/com/TECHNICAL_RESOURCES/TECHNICAL_LITERATURE/PROGRAM
MING_MANUAL/CD00228163.pdf
4. RM0008: STM32F10xx 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.jsp
7.3 CooCox
1. CooCox Embedded Pi Page
http://www.coocox.org/epi.html
2. CooCox Forum
http://www.coocox.org/Forum/index.php
3. CooCox CoX
http://www.coocox.org/COX.html
45
4. CooCox CoIDE
http://www.coocox.org/CooCox_CoIDE.htm
7.4 Raspberry Pi
1. Raspberry Pi HomePage
http://www.raspberrypi.org/
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
7.5 Arduino
1. Arduino
http://www.arduino.cc/
2. Arduino
http://arduino.org/
3. Arduino
http://www.shieldlist.org/
TM
HomePage
TM
Community
TM
Shields
TM
46
Loading...