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NSH is a system console that can be used through different interfaces. In this tutorial, we will show how to use it over the UART peripheral. The UART (Universal Asynchronous Receiver-Transmitter) is a communication peripheral implemented on a micro-controller, which allows bidirectional serial communication.
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NSH is a system console that can be used through different interfaces.
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In this tutorial, we will show how to use it over the UART and USB peripherals.
For this tutorial we're going to execute the following configuration in the Micro-ROS build system:
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For this tutorial we are going to execute the following configuration in micro-ros-build:
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```bash
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ros2 run micro_ros_setup create_firmware_ws.sh nuttx olimex-stm32-e407
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# For UART
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ros2 run micro_ros_setup configure_firmware.sh nsh_uart
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# For USB
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ros2 run micro_ros_setup configure_firmware.sh nsh
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```
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Once the board is configured, we need to build it by typing the command:
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```bash
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ros2 run micro_ros_setup build_firmware.sh
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```
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If the compilation succeds, it should return this output:
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If the compilation succeeds, it should return this output:
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```bash
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CP: nuttx.hex
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CP: nuttx.bin
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```
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## Flash the firmware
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The firmware is ready, it is just necessary to upload it. Now you need to do the following connection:
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# Flash the firmware
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The firmware is ready, it is just necessary to upload it.
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Now you need to do the following connections:
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- Connect the JTAG flasher device.
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- Connect the USB TTL-232 with these pins out:
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-`USART3 TX` -> `TTL232 RX`
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-`USART3 RX` -> `TTL232 TX`
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-`GND Board` -> `TTL232 GND`
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- Connect the USB TTL-232 to the USART3 in case of UART communication:
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-`USART3 TX` -> `TTL232 RX`
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-`USART3 RX` -> `TTL232 TX`
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-`GND Board` -> `TTL232 GND`
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It should look like this:
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- Connect the mini USB to the OTG2 for USB communication.
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Note: You can find multiple USB-TTL232 devices available. But, even though the Olimex board is 5V tolerant, we recommend to use a 3V3 USB-TTL232 cable. The [Olimex Official cable](https://www.olimex.com/Products/Components/Cables/USB-Serial-Cable/USB-Serial-Cable-F/) is our recommendation but any is compatible.
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Now flash the board by typing the next command:
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```bash
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ros2 run micro_ros_setup flash_firmware.sh
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```
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This should return this output once the process is finished:
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```bash
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wrote 49152 bytes from file nuttx.bin in 6.279262s (7.644 KiB/s)
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Info : Listening on port 6666 for tcl connections
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Info : Listening on port 4444 for telnet connections
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```
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## Connect to the console
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Finally, connect the USB cable to the PC and open a terminal. Type the command ``dmesg`` to know the direction of the device. It should return something like this:
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Finally, to use the NSH console you need to follow the steps listed below:
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- Push the reset button. The green LED will turn on to say that it is working properly.
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- Look for the device by typing `dmesg` on the console, this should return something like this:
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```bash
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# For UART
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[17154.225244] usb 1-2: new full-speed USB device number 6 using xhci_hcd
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[17154.380060] usb 1-2: New USB device found, idVendor=0403, idProduct=6001, bcdDevice= 6.00
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[17154.380066] usb 1-2: New USB device strings: Mfr=1, Product=2, SerialNumber=3
@@ -75,16 +91,30 @@ Finally, connect the USB cable to the PC and open a terminal. Type the command `
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[17154.402762] usb 1-2: Detected FT232RL
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[17154.403058] usb 1-2: FTDI USB Serial Device converter now attached to ttyUSB0
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# For USB
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[20614.570781] usb 1-2: new full-speed USB device number 7 using xhci_hcd
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[20614.724366] usb 1-2: New USB device found, idVendor=0525, idProduct=a4a7, bcdDevice= 1.01
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[20614.724372] usb 1-2: New USB device strings: Mfr=1, Product=2, SerialNumber=3
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[20614.724375] usb 1-2: Product: CDC/ACM Serial
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[20614.724378] usb 1-2: Manufacturer: NuttX
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[20614.724381] usb 1-2: SerialNumber: 0
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[20614.745693] cdc_acm 1-2:1.0: ttyACM0: USB ACM device
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[20614.746274] usbcore: registered new interface driver cdc_acm
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[20614.746277] cdc_acm: USB Abstract Control Model driver for USB modems and ISDN adapters
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```
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In this specific situation, the device is assigned to ``dev/ttyUSB0`` but it could be a different number.
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In this specific situation, the device is assigned to `dev/ttyUSB0` and `dev/ttyACM0` for UART and USB communication respectively. Note that the last number could be different.
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Finally, execute the next command to open the NSH console:
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```
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# For UART
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sudo minicom -D /dev/ttyUSB0
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# For USB
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sudo minicom -D /dev/ttyACM0
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```
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Once the application is executed, push enter and it should return the next menu:
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Once the port is opened, **you need to push two times the Enter key** and it should show the next menu:
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```bash
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nsh>?
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help usage: help [-v] [<cmd>]
@@ -95,6 +125,4 @@ help usage: help [-v] [<cmd>]
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Builtin Apps:
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nsh>
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```
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Note: If you don't succeed with theses steps, check if you set a baud rate of 115200 bps and the configuration is set to 8N1 with no hardware and software flow control.
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