e-puck2 radio module development - Revision history

WikiSysop at 10:32, 19 February 2026

2026-02-19T10:32:13Z

← Older revision		Revision as of 10:32, 19 February 2026
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	The following figure shows the sensors packet received from the main microcontroller via UART. The packet size is 104 bytes. For more information about the values of each field refer to the [https://www.gctronic.com/doc/index.php?title=e-puck2_PC_side_development#WiFi_2 WiFi communication protocol section]:		The following figure shows the sensors packet received from the main microcontroller via UART. The packet size is 104 bytes. For more information about the values of each field refer to the [https://www.gctronic.com/doc/index.php?title=e-puck2_PC_side_development#WiFi_2 WiFi communication protocol section]:
	~~<span class="plain links">~~[~~https~~:~~//projects.gctronic.com/epuck2/wiki_images/~~packet-format-robot-to-pc.jpg ~~<img width=1150 src="https://projects.gctronic.com/epuck2/wiki_images/packet-format-robot-to-pc.jpg">~~]~~</span>~~<br/>		[[File:packet-format-robot-to-pc.jpg\|1150px]]<br/>

	The following figure shows the packet format to send to the main microcontroller via UART. For more information about the values of each field refer to the [https://www.gctronic.com/doc/index.php?title=e-puck2_PC_side_development#WiFi_2 WiFi communication protocol section]:		The following figure shows the packet format to send to the main microcontroller via UART. For more information about the values of each field refer to the [https://www.gctronic.com/doc/index.php?title=e-puck2_PC_side_development#WiFi_2 WiFi communication protocol section]:
	~~<span class="plain links">~~[~~https~~:~~//projects.gctronic.com/epuck2/wiki_images/~~packet-format-esp-to-f407.png ~~<img width=700 src="https://projects.gctronic.com/epuck2/wiki_images/packet-format-esp-to-f407.png">~~]~~</span>~~<br/>		[[File:packet-format-esp-to-f407.png\|700px]]<br/>

	==Implementation==		==Implementation==
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	We implemented a simplified version of the [https://github.com/DP-3T DP-3T protocol] (no actual code used from this repo).The following image shows a general overview of the architecture:		We implemented a simplified version of the [https://github.com/DP-3T DP-3T protocol] (no actual code used from this repo).The following image shows a general overview of the architecture:
	<br~~><span class="plain links"~~>[~~https~~:~~//projects.gctronic.com/epuck2/wiki_images/~~general-architecture.png ~~<img width=450 src="https://projects.gctronic.com/epuck2/wiki_images/general-architecture.png">~~]~~</span>~~<br/>		<br>[[File:general-architecture.png\|450px]]<br/>
	We use Bluetooth for both proximity tracing, as in reality, and infectivity, that is encoded in the advertisement packet together with the robot ID. The proximity of a robot is detected using the BLE signal strength. A computer is designed for acting as the DP-3T server, listening for incoming WiFi connections (TCP) from the robots and maintaining the list of infected robots. No privacy handling is involved.		We use Bluetooth for both proximity tracing, as in reality, and infectivity, that is encoded in the advertisement packet together with the robot ID. The proximity of a robot is detected using the BLE signal strength. A computer is designed for acting as the DP-3T server, listening for incoming WiFi connections (TCP) from the robots and maintaining the list of infected robots. No privacy handling is involved.

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	{{#ev:youtube\|Tj9S38ql-Wg}}		{{#ev:youtube\|Tj9S38ql-Wg}}
	The following state diagrams illustrate the details of the simulation; you can analyze them to deeply understand what is happening for each role.		The following state diagrams illustrate the details of the simulation; you can analyze them to deeply understand what is happening for each role.
	<br~~><span class="plain links"~~>[~~https~~:~~//projects.gctronic.com/epuck2/wiki_images/dp3t-simplified-general-schema.png <img width=650 src="https://projects.gctronic.com/epuck2/wiki_images/~~dp3t-simplified-general-schema.png">]<br/>		<br>[[File:dp3t-simplified-general-schema.png\|650px]]<br/>

	===Building===		===Building===

WikiSysop: /* Micropython */

2025-11-18T10:36:26Z

Micropython

← Older revision		Revision as of 10:36, 18 November 2025
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	==Micropython==		==Micropython==
	The module Micropython firmware source code can be download from the repo [https://github.com/e-puck2/e-puck2_esp32/tree/micropython https://github.com/e-puck2/e-puck2_esp32/tree/micropython]		The module Micropython firmware source code can be download from the repo [https://github.com/e-puck2/e-puck2_esp32/tree/micropython https://github.com/e-puck2/e-puck2_esp32/tree/micropython]<br/>
			Build instructions are available in the repository readme.

	=Communication with main microcontroller=		=Communication with main microcontroller=

WikiSysop: /* Get the source code */

2025-11-18T10:35:24Z

Get the source code

← Older revision		Revision as of 10:35, 18 November 2025
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	The module BLE firmware source code can be downloaded with the command:<br/>		The module BLE firmware source code can be downloaded with the command:<br/>
	<code>git clone -b ble_spp_asercom --recursive https://github.com/e-puck2/esp-idf.git</code><br/>		<code>git clone -b ble_spp_asercom --recursive https://github.com/e-puck2/esp-idf.git</code><br/>

			==Micropython==
			The module Micropython firmware source code can be download from the repo [https://github.com/e-puck2/e-puck2_esp32/tree/micropython https://github.com/e-puck2/e-puck2_esp32/tree/micropython]

	=Communication with main microcontroller=		=Communication with main microcontroller=

WikiSysop: /* Get the source code */

2025-10-20T11:04:11Z

Get the source code

← Older revision		Revision as of 11:04, 20 October 2025
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	The radio module wifi firmware source code can be downloaded with the command:<br/>		The radio module wifi firmware source code can be downloaded with the command:<br/>
	<code>git clone -b wifi --recursive https://github.com/e-puck2/esp-idf.git</code><br/>		<code>git clone -b wifi --recursive https://github.com/e-puck2/esp-idf.git</code><br/>

			==BLE==
			The module BLE firmware source code can be downloaded with the command:<br/>
			<code>git clone -b ble_spp_asercom --recursive https://github.com/e-puck2/esp-idf.git</code><br/>

	=Communication with main microcontroller=		=Communication with main microcontroller=

WikiSysop: /* Preparation */

2025-03-26T07:24:17Z

Preparation

← Older revision		Revision as of 07:24, 26 March 2025
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	For running the demo you need to:		For running the demo you need to:
	* program the main microcontroller with the [https://www.gctronic.com/doc/index.php?title=e-puck2#Firmware_update factory firmware] and place the selector in position 15(F)		* program the main microcontroller with the [https://www.gctronic.com/doc/index.php?title=e-puck2#Firmware_update factory firmware] and place the selector in position 15(F)
	* program the radio module with the following firmware [https://projects.gctronic.com/epuck2/~~esp32_robot_control_17~~.02.~~21_aa84b65~~.zip esp32_robot_control.zip (17.02.21)], refer to section [https://www.gctronic.com/doc/index.php?title=e-puck2#Firmware_update_2 Radio module - Firmware update] for more information on how to flash the radio module		* program the radio module with the following firmware [https://projects.gctronic.com/epuck2/esp32_robot_control_26.03.25_47d23a0.zip esp32_robot_control.zip (26.03.25)], refer to section [https://www.gctronic.com/doc/index.php?title=e-puck2#Firmware_update_2 Radio module - Firmware update] for more information on how to flash the radio module

	===Building===		===Building===

WikiSysop: /* Building */

2025-03-26T07:18:13Z

Building

← Older revision		Revision as of 07:18, 26 March 2025
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	## Alternatively you can issue <code>idf.py -p /dev/ttyACM1 flash -b 115200</code>		## Alternatively you can issue <code>idf.py -p /dev/ttyACM1 flash -b 115200</code>

	The example was tested to be working with esp-idf 5.4:		The example was tested to be working with esp-idf 5.2:
	# <code>git clone -b v5.4 --recursive https://github.com/espressif/esp-idf.git esp-idf_5.4</code>		# <code>git clone -b v5.2 --recursive https://github.com/espressif/esp-idf.git esp-idf_5.2</code>
	# <code>cd ~/esp/esp-idf_5.4</code>		# <code>cd ~/esp/esp-idf_5.2</code>
	# <code>./install.sh esp32</code>		# <code>./install.sh esp32</code>
	# <code>. $HOME/esp/esp-idf_5.4/export.sh</code>		# <code>. $HOME/esp/esp-idf_5.2/export.sh</code>
	# move to your desired directory and issue <code>git clone https://github.com/e-puck2/esp32_robot_control</code>		# move to your desired directory and issue <code>git clone https://github.com/e-puck2/esp32_robot_control</code>
	# <code>cd esp32_robot_control/</code>		# <code>cd esp32_robot_control/</code>
	# <code>idf.py build</code>		# <code>idf.py build</code>
	# connect the robot, turn it on and then issue <code>idf.py -p /dev/ttyACM1 flash -b 115200</code>		# connect the robot, turn it on and then issue <code>idf.py -p /dev/ttyACM1 flash -b 115200</code>

WikiSysop: /* Building */

2025-03-26T07:11:38Z

Building

← Older revision		Revision as of 07:11, 26 March 2025
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	# once the project is built, take the files <code>build/esp32_robot_control.bin</code>, <code>build/bootloader/bootloader.bin</code> and <code>build/partition-table/partition-table.bin</code> and follow the instructions in the following link [https://www.gctronic.com/doc/index.php?title=e-puck2#Firmware_update_2 Radio module firmware update] to flash the radio module; beware that you need to change the programming script in order to reflect the correct file names		# once the project is built, take the files <code>build/esp32_robot_control.bin</code>, <code>build/bootloader/bootloader.bin</code> and <code>build/partition-table/partition-table.bin</code> and follow the instructions in the following link [https://www.gctronic.com/doc/index.php?title=e-puck2#Firmware_update_2 Radio module firmware update] to flash the radio module; beware that you need to change the programming script in order to reflect the correct file names
	## Alternatively you can issue <code>idf.py -p /dev/ttyACM1 flash -b 115200</code>		## Alternatively you can issue <code>idf.py -p /dev/ttyACM1 flash -b 115200</code>

			The example was tested to be working with esp-idf 5.4:
			# <code>git clone -b v5.4 --recursive https://github.com/espressif/esp-idf.git esp-idf_5.4</code>
			# <code>cd ~/esp/esp-idf_5.4</code>
			# <code>./install.sh esp32</code>
			# <code>. $HOME/esp/esp-idf_5.4/export.sh</code>
			# move to your desired directory and issue <code>git clone https://github.com/e-puck2/esp32_robot_control</code>
			# <code>cd esp32_robot_control/</code>
			# <code>idf.py build</code>
			# connect the robot, turn it on and then issue <code>idf.py -p /dev/ttyACM1 flash -b 115200</code>

WikiSysop: /* Building */

2025-03-26T07:08:20Z

Building

← Older revision		Revision as of 07:08, 26 March 2025
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	# move to the project directory <code>esp32_robot_control</code> and issue the command <code>idf.py build</code> to build the project		# move to the project directory <code>esp32_robot_control</code> and issue the command <code>idf.py build</code> to build the project
	# once the project is built, take the files <code>build/esp32_robot_control.bin</code>, <code>build/bootloader/bootloader.bin</code> and <code>build/partition-table/partition-table.bin</code> and follow the instructions in the following link [https://www.gctronic.com/doc/index.php?title=e-puck2#Firmware_update_2 Radio module firmware update] to flash the radio module; beware that you need to change the programming script in order to reflect the correct file names		# once the project is built, take the files <code>build/esp32_robot_control.bin</code>, <code>build/bootloader/bootloader.bin</code> and <code>build/partition-table/partition-table.bin</code> and follow the instructions in the following link [https://www.gctronic.com/doc/index.php?title=e-puck2#Firmware_update_2 Radio module firmware update] to flash the radio module; beware that you need to change the programming script in order to reflect the correct file names
	** Alternatively you can issue <code>idf.py -p /dev/ttyACM1 flash -b 115200</code>		## Alternatively you can issue <code>idf.py -p /dev/ttyACM1 flash -b 115200</code>

WikiSysop: /* Building */

2025-03-26T07:08:03Z

Building

← Older revision		Revision as of 07:08, 26 March 2025
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	# move to the project directory <code>esp32_robot_control</code> and issue the command <code>idf.py build</code> to build the project		# move to the project directory <code>esp32_robot_control</code> and issue the command <code>idf.py build</code> to build the project
	# once the project is built, take the files <code>build/esp32_robot_control.bin</code>, <code>build/bootloader/bootloader.bin</code> and <code>build/partition-table/partition-table.bin</code> and follow the instructions in the following link [https://www.gctronic.com/doc/index.php?title=e-puck2#Firmware_update_2 Radio module firmware update] to flash the radio module; beware that you need to change the programming script in order to reflect the correct file names		# once the project is built, take the files <code>build/esp32_robot_control.bin</code>, <code>build/bootloader/bootloader.bin</code> and <code>build/partition-table/partition-table.bin</code> and follow the instructions in the following link [https://www.gctronic.com/doc/index.php?title=e-puck2#Firmware_update_2 Radio module firmware update] to flash the radio module; beware that you need to change the programming script in order to reflect the correct file names
			** Alternatively you can issue <code>idf.py -p /dev/ttyACM1 flash -b 115200</code>

WikiSysop: /* Building */

2025-03-26T07:05:34Z

Building

← Older revision		Revision as of 07:05, 26 March 2025
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	## clone the <code>ESP-IDF</code> (ESP32 framework) repository by issueing the command <code>git clone --recursive https://github.com/espressif/esp-idf.git</code>		## clone the <code>ESP-IDF</code> (ESP32 framework) repository by issueing the command <code>git clone --recursive https://github.com/espressif/esp-idf.git</code>
	## set up the tools: <code>cd ~/esp/esp-idf</code>		## set up the tools: <code>cd ~/esp/esp-idf</code>
			## set up the environment variables (refer to [https://docs.espressif.com/projects/esp-idf/en/latest/esp32/get-started/linux-macos-setup.html#get-started-set-up-env step-4-set-up-the-environment-variables])
	# clone the <code>esp32_robot_control</code> example repository by issueing the command <code>git clone https://github.com/e-puck2/esp32_robot_control.git</code>		# clone the <code>esp32_robot_control</code> example repository by issueing the command <code>git clone https://github.com/e-puck2/esp32_robot_control.git</code>
	# move to the directory <code>~~esp-idf/examples/~~esp32_robot_control</code> and issue the command <code>idf.py build</code> to build the project, beware that you need to set up the environment variables (refer to [https://docs.espressif.com/projects/esp-idf/en/latest/esp32/get-started/#step-4-set-up-the-environment-variables step-4-set-up-the-environment-variables])		# move to the project directory <code>esp32_robot_control</code> and issue the command <code>idf.py build</code> to build the project
	# once the project is built, take the files <code>build/esp32_robot_control.bin</code>, <code>build/bootloader/bootloader.bin</code> and <code>build/partition-table/partition-table.bin</code> and follow the instructions in the following link [https://www.gctronic.com/doc/index.php?title=e-puck2#Firmware_update_2 Radio module firmware update] to flash the radio module; beware that you need to change the programming script in order to reflect the correct file names		# once the project is built, take the files <code>build/esp32_robot_control.bin</code>, <code>build/bootloader/bootloader.bin</code> and <code>build/partition-table/partition-table.bin</code> and follow the instructions in the following link [https://www.gctronic.com/doc/index.php?title=e-puck2#Firmware_update_2 Radio module firmware update] to flash the radio module; beware that you need to change the programming script in order to reflect the correct file names