micro-ROS
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diff --git a/‎…dvanced/nuttx/6lowpan_nuttx_rpi/index.md‎ ‎…s/advanced/nuttx/6lowpan_config/index.md‎_docs/tutorials/advanced/nuttx/6lowpan_nuttx_rpi/index.md renamed to _docs/tutorials/advanced/nuttx/6lowpan_config/index.md
Lines changed: 60 additions & 53 deletions b/‎…dvanced/nuttx/6lowpan_nuttx_rpi/index.md‎ ‎…s/advanced/nuttx/6lowpan_config/index.md‎_docs/tutorials/advanced/nuttx/6lowpan_nuttx_rpi/index.md renamed to _docs/tutorials/advanced/nuttx/6lowpan_config/index.md
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@@ -56,10 +56,13 @@
 - title: Advanced Tutorials with Nuttx
   docs:
    - tutorials/advanced/nuttx/nuttx_getting_started
-   - tutorials/advanced/nuttx/add_a_microros_application
+   - tutorials/advanced/nuttx/nsh_usb
+   - tutorials/advanced/nuttx/nsh_uart
+   - tutorials/advanced/nuttx/udp_echo
+   - tutorials/advanced/nuttx/tcp_echo
+   - tutorials/advanced/nuttx/6lowpan_config
    - tutorials/advanced/nuttx/debugging_gdb_openocd
    - tutorials/advanced/nuttx/debugging_vscode
-   - tutorials/advanced/nuttx/6lowpan_nuttx_rpi
    - tutorials/advanced/nuttx/microros_nuttx_bsp
    - tutorials/advanced/nuttx/microros_6lowpan_tutorial
 
 
@@ -1,22 +1,29 @@
 ---
-title: 6LOWPAN communications between NuttX and a Raspberry Pi
-permalink: /docs/tutorials/advanced/nuttx/6lowpan_nuttx_rpi/
+title: Configure 6LoWPAN communications
+permalink: /docs/tutorials/advanced/nuttx/6lowpan_config/
 ---
 
+|  RTOS |  Board Compatible |
+|:-----:|:-----------------:|
+| NuttX | Olimex-STM32-E407 |
 
 This guide will show how to set-up a Raspberry Pi 3 (RPI) running Raspbian and an Olimex STM32 E407 board running NuttX to have 6lowpan communication between them.
 
-## What do we need?
+
+**Disclaimer**: This tutorial doesn't use micro-ROS, it is just a proof of concept of the 6LoWPAN communication.
+
+## Hardware requirements:
 
 - Raspberry Pi 3
 - micro-SD card (almost 16gb) with Raspbian lite already installed.
 - Olimex-STM32-E407 board.
-- Two PMODRF2 module which are base on the MRF24J40 module.
+- Two PMODRF2 modules which are based on the MRF24J40 module.
 - PC with Ubuntu (It works fine with Ubuntu 16.04)
 - NuttX source code, you can find a Docker file with all the tools [here](https://github.com/micro-ROS/docker/tree/pre_refactor/Embedded/NuttX/development/stm32-e407).
-## How to set-up 6lowpan RPI?
 
-First, we need to connect the PMODRF2 module to the RPI, so we need to set the next connections:
+## Set-up 6LoWPAN communications on the Raspberry PI
+
+First, we need to connect the PMODRF2 module to the RPI, so we need to set the following connections:
 
 |  | RPI | PMODRF2 |
 | -- | -- | -- |
@@ -34,10 +41,10 @@ In the next links you can see the pinout of each board:
 - [PMODRF2 pionut.](https://reference.digilentinc.com/reference/pmod/pmodrf2/start)
 
 Once you've set all the wires, power-on the RPI and download the next repository inside the RPI:
-- https://github.com/micro-ROS/micro-ROS-bridge_RPI
+- https://github.com/micro-ROS/micro-ROS-bridge_RPI/
 
-Execute the next command:
-```sudo ./micro-ROS-bridge_RPI/RPI_6lowpan/script.sh```
+Execute the command:
+```sudo ./micro-ROS-bridge_RPI/micro-ROS-HB.sh```
 
 If everything goes fine, at the end of the script, the board should restart. After the start-up, type the next command to see if the configuration and the connections are fine:
 ```dmesg | grep mrf24j40```
@@ -51,7 +58,6 @@ The last point is to set-up the network.
 
 - Set the PAN ID: ``sudo iwpan dev wpan0 set pan_id 0xabcd``
 - Set the page and channel: ``sudo iwpan phy phy0 set channel 0 26``
-- Set the short address: ``sudo iwpan dev wpan0 set short_addr 0x4204`` (Each board must a different one)
 - Attach the phy layer to the lowpan: ``sudo ip link add link wpan0 name lowpan0 type lowpan``
 - Bring up the WPAN0 interface: ``sudo ip link set wpan0 up``
 - Bring up the RPI lowpan: ``sudo ip link set lowpan0 up``
@@ -60,7 +66,7 @@ The last point is to set-up the network.
 Now the RPI is ready to send and receive messages from a NuttX board or another RPI.
 
 
-## How to set-up 6lowpan in NuttX?
+## Set-Up 6LoWPAN communications on NuttX
 
 First, we need to do the connections between the [Olimex board](/docs/overview/hardware) and the PMODRF2 module.
 
@@ -70,39 +76,46 @@ First, we need to do the connections between the [Olimex board](/docs/overview/h
 - `Board D10` -> `MRF24J40 CS`
 - `Board D8` -> `MRF24J40 INT`
 
-Once the wiring is finished, we need to compile and upload the firmware. Type the next commands:
-
-Go to the main folder of NuttX and type the command to configure the board:
-`./scripts/configure.sh olimex-stm32-e407 mrf24j40-6lowpan`
-
-Compile:
-`make`
+### Create firmware
 
-Upload:
-`./scripts/flash.sh olimex-stm32-e407`
-
-It should return somenthing like this:
-
-- Configuration:
-```
-Copy files
-Refreshing...
+For this tutorial we're going to execute the configuration below in the Micro-ROS build system:
+```bash
+ros2 run micro_ros_setup create_firmware_ws.sh nuttx olimex-stm32-e407
+ros2 run micro_ros_setup configure_firmware.sh mrf24j40-6lowpan
 ```
-- Compilation:
+
+Once the board is configured, we need to build it by typing the command:
+```bash
+ros2 run micro_ros_setup build_firmware.sh
 ```
+
+If the compilation succeds, it should return the following output:
+```bash
 CP: nuttx.hex
 CP: nuttx.bin
 ```
-- Upload the firmware
+
+### Flash the firmware
+Once the firmware is ready, you need to do the following connections:
+- Connect the JTAG flasher device to the JTAG port.
+- Connect the mini-USB port to the USB-OTG2 port.
+- Check if the radio connections are fine.
+
+Now flash the board by typing the command:
+```bash
+ros2 run micro_ros_setup flash_firmware.sh
 ```
-wrote 131072 bytes from file nuttx.bin in 3.763846s (34.008 KiB/s)
+
+This should return this output once the process is finished:
+```bash
+wrote 49152 bytes from file nuttx.bin in 6.279262s (7.644 KiB/s)
 Info : Listening on port 6666 for tcl connections
 Info : Listening on port 4444 for telnet connections
 ```
-(The number of written bytes could be different in each board)
 
+## NuttX network configuration
 
-Finally, connect the mini USB cable to the USB OTG2, and the console should return the next:
+Push the reset button and type Enter two times. Now the NSH console should be output through the terminal. Type ``?`` to check if every application is flashed. The following output should appear.
 
 ```bash
 nsh> ?
@@ -161,10 +174,6 @@ Available commands
 
 ```
 
-**At this point the network is ready to work!**
-
-Finally type ``quit`` two times to close the app and come back to the main menu.
-
 ## Sending a message from NuttX to Raspbian:
 
 ### Raspberry Part:
@@ -228,18 +237,18 @@ lowpan0: flags=4163<UP,BROADCAST,RUNNING,MULTICAST>  mtu 1280
         TX errors 0  dropped 0 overruns 0  carrier 0  collisions 0
 ```
 
-As you can see there is two IP in this network interface. But you need to remember the second one. We will use later with NuttX.
+As you can see, there are two IPs in this network interface, but we are interested only in the second one. Save it because we will use it later with NuttX.
 `fe80::9c6e:87a5:eb60:84d0``
 
-Go to the place where lives the repo that you downloaded previously. Go to ``micro-ROS-bridge_RPI/RPI_6lowpan/Examples/6lowpan_recv``
-Finally, execute `recv_demo` telling to open the `61616` port. Type this command: ``./recv_demo 61616``
+Go to the place where you previously downloaded the repo. From there, go to ``micro-ROS-bridge_RPI/6LowPAN_Tests/6lowpan_recv``
+Finally, execute `recv_demo`, specifying to open the `61616` port. To do so, type this command: ``./recv_demo 61616``
 
 At this point, the RPI is ready to receive incoming packages.
 
-### NuttX part:
+### NuttX side
 
 Execute ``udp_6lowpan`` application.
-This will ask you if you want to configure the network. Type N, because is already configured.
+This will ask you if you want to configure the network. Type N, because it is already configured.
 Now you're in the main menu of the App. Type ``write`` to start the sending mode and will ask for the next data:
 - The destination IP: This is the IP of the RPI which we saved previously.
 - The destination port: For this specific example is 61617.
@@ -282,24 +291,22 @@ The Linux 6lowpan utility needs to have a ping response before sending a data pa
 
 If this does not work, do as follow:
 
-Check if the Nuttx address is part within the Linux/Raspbian neighborhood table.
+Check if the Nuttx address is part of the Linux/Raspbian neighborhood table.
 If it is saved there, remove it:
 ```bash
- $ ip neigh  # a bunch of address shall appear including yours (if you send a
-	message already)
+ $ ip neigh 
    fe80::2be:adde:de:fa00 dev lowpan0  FAILED
  $ sudo ip neigh delete fe80::2be:adde:de:fa00 dev lowpan0 # Remove it.
 ```
 
-Then, once deleted, add the Nuttx device it permanently (until reboot):
+Then, once deleted, add the Nuttx device permanently (until reboot):
 
 ```bash
- $ sudo ip neigh add fe80::2be:adde:de:fa00 dev lowpan0 00:be:ad:de:00:de:fa:00 # Add it with the
-corret  Hardware address.
+ $ sudo ip neigh add fe80::2be:adde:de:fa00 dev lowpan0 00:be:ad:de:00:de:fa:00
 ```
 
-### NuttX part:
-First, we need the ip of the board, so type ``ifconfig`` in the main menu. This should return somenthing like this:
+### NuttX side
+First, we need the IP of the board, so type ``ifconfig`` in the main menu. This should return something like this:
 ```bash
 wpan0   Link encap:6LoWPAN HWaddr 00:be:ad:de:00:de:fa:00 at UP                 
         inet6 addr: fe80::2be:adde:de:fa00/64                                   
@@ -339,12 +346,12 @@ Introduce the reception port
 Listening on 61616 for input packets   
 ```
 
-### Raspbian Part:
+### Raspbian side
 
-Go to the places that lives the previous download repo. Then go to this folder: ``/micro-ROS-bridge_RPI/RPI_6lowpan/Examples/6lowpan_send``
+Go to the place where you previously downloaded the repo. Then go to this folder: ``/micro-ROS-bridge_RPI/6LowPAN_Tests/6lowpan_send``.
 
-And execute with root privileges the next app: ``send_demo``.
-These demos have two arguments: The first is the port to open in the destination and the second is the destination IP. An example of this specific demo could be:
+Now execute with root privileges the next app: ``send_demo``.
+These demos have two arguments: The first is the port to open in the destination and the second is the destination IP. A specific example for this demo could be:
 ``sudo send_demo 61616 fe80::2be:adde:de:fa00``
 
 This app returns any data.