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Interprocessor communication between Gumstix and STM32 F4 over UART using MAVLink


Jan Bernegger, Gino Brunner

Semester Group Project, FS12 (10204)

The ultimate goal of Project ORCA is autonomous racing, i.e. 1:43 RC cars racing against each other autonomously. In order to achieve this, the cars need to be controlled by micro controllers. Currently, the idea is to install two micro controllers directly in the cars: The STM32 F4[A2], featuring an ARM Cortex M4 CPU, (henceforth called MCU) and a much faster Gumstix OveroFire COM [A3] with a TI-OMAP3530 proces- sor (henceforth called Gumstix). The MCU communicates with the outside world via Bluetooth. It receives data from the IMU, infrared cameras and possibly other devices. These data/measurements are then sent to the Gumstix via UART, who then should solve an MPC-problem and send the results back to the MCU, which then performs the control of the car.


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(16)Semester Group Work

A. Domahidi

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