e-puck2 firmware for the built-in programmer/debugger of the robot. It is used to manage the power, some low-level controls of the robot, battery checking, USB charging, to program the ESP32, to act as a USB to ASEBA or UART translator, and to run an embedded gdb server (based on Blackmagic firmware) to program and debug the STM32F407 microcontroller of the robot.

More details on the wiki of the robot : Wiki e-puck2

1. Code completely rewritten using ChibiOS
2. Now we can control the brigthness of the three leds
3. The status of GDB is showed using the leds (programming, running, idle)
4. Now, when the bluetooth is connected, the blue led is ON
5. The Aseba Can translor works better now
6. In general, everything works smoother and better, also the code has a better organization and is easier to modify
7. No more dependencies with LibOpencm3, therefore we can compile the whole project without the need to compile first libopencm3 (no more Python support needed)
8. The robot is automatically turned on if we try to program it when it is off.
9. To ensure good behavior of the blinking of the blue LED while communicating with one of the three modes for the Serial monitor, we need now to be connected with DTR high when using a serial terminal on a computer most programs do it automatically)

0. The RGB led is used to indicate if the robot is ON or OFF (no matter the color)

    -> Leds ON      = Robot is ON

    -> Leds OFF     = Robot is OFF

1. The Red and Green colors are used to indicate the battery level and the status of GDB

    a) Battery Voltage

        ->Green         = Battery between 4.2 and 3.5V

        ->Orange        = Battery between 3.5 and 3.4V

        ->Red           = Battery between 3.4 and 3.3V

        ->Red blinking  = Battery below 3.3V
	
    b) GDB status

        ->Blinks        = Programming with GDB (blinks more or less fast depending on the communication speed)

        ->Blinks        = Running the program with GDB (Blinks at regular speed)

        ->Solid         = Program paused or disconnected from GDB

2. The Blue color is used to indicate the status of the bluetooth and the status of the communication of the USB Serial

        -> Blinking       = A communication is active for one of the three mode of the Serial monitor (UART_407_PASSTHROUGH, UART_ESP_PASSTHROUGH or ASEBA_CAN_TRANSLATOR)

        -> ON             = The bluetooth is connected for the GDB or UART channel

        -> OFF            = The bluetooth is disconnected

To compile the firmware, you need to have arm-none-eabi toolchain installed.

The version tested for this firmware is the arm-none-eabi 7 2017 q4 major.

Once installed, simply cd into the folder e-puck2-programmer/src and run make PROBE_HOST=e-puck/2.0, this will compile the firmware and you will find the result in src/platforms/e-puck/2.0/build.