Robus configuration

Protocol configuration

Robus allows you to configure some aspects of the protocol to adapt it to your needs. To modify these options, you have to define them in your product_config.h file. Learn more about product_config.h on the code organization page.

Function	Description	Comments
ROBUS_NETWORK_BAUDRATE	Define the serial baudrate used by Robus	By default the baudrate is 1000000
NBR_RETRY	Define the maximum number of transmission attempt before excluding the node from the network	By default Robus will perform 10 retry maximum
NBR_PORT	The number of physical port (or PTP) you have on your setup	By default Robus consider that you have 2 of them

Compatible MCUs

Robus can manage any type of microcontrollers as long as they have a HAL. If your microcontroller is not supported yet, please contact us:

• on Discord
• on GitHub

Check the list of MCU families Robus cover:Hardware Abstraction Layers for MCU families,

Default Configurations

Robus is made to run on real-time microcontrollers and use the hardware peripherals to complete communication between nodes. In order to configure this low-level part, Robus provide, for many MCU families, a default configuration that can be followed to plug and play the Robus package with the chosen MCU family. The peripheral configuration is described in the robus_hal_config.h files, and can be redefined in the node_config.h file of your project to fit with your design.

Learn more about project organization

Robus's HAL configuration

To tailor the pinout and functionality according to your design requirements, you can either create or utilize the file node_config.h (refer to Luos examples). In the "ROBUS HAL LIBRARY DEFINITION" section of the node_config.h file, you can define pinout, USART settings, timers, and more, building upon the default configuration defined in robus_hal_config.h.

info

Each example provided by Luos has a node_config.h file and includes the file platformio.ini.

For example, you can redefine PTPA to fit with your design.

in robus_hal_config.h, this is defined as followed:

#ifndef PTPA_PIN
#define PTPA_PIN                    GPIO_PIN_8
#endif

in node_config.h this should be redefined as followed:

#define PTPA_PIN                    GPIO_PIN_11

There are many possible configurations that you can change, not all of them being necessary for your design:

Pinout

Function	Description	Comments
PORT_CLOCK_ENABLE	Activates clock for GPIO	Depends on port
RX_EN_PIN/TX_EN_PIN	Chooses pinout to activate Rx/Tx comms	Necessary for special comms
COM_TX_PIN/COM_RX_PIN	Chooses pinout for Rx/Tx comms	Adapts to the chosen serial bus
PTPX_PIN/PTPX_IRQ/PINOUT_IRQHANDLER	Chooses pinout, IRQ and callback for the PTP line	Necessary for topology detection

Communication

Function	Description	Comments
ROBUS_COM_CLOCK_ENABLE	Activates clock for serial	Depends on serial bus
ROBUS_COM/ROBUS_COM_IRQ/ROBUS_COM_IRQHANDLER	Chooses serial bus, IRQ and callback	Adapts to the serial bus chosen
ROBUS_DMA_CLOCK_ENABLE	Activates clock for DMA	Necessary for for Tx
ROBUS_DMA/ROBUS_DMA_CHANNEL/ROBUS_DMA_REQUEST	Chooses DMA Channel and peripheral	Message Tx on serial port

Timer

Function	Description	Comments
ROBUS_TIMER_CLOCK_ENABLE	Activates clock for Timeout	Necessary for Timeout
ROBUS_TIMER/ROBUS_TIMER_IRQ/ROBUS_TIMER_IRQHANDLER	Chooses Timer, IRQ and callback	Necessary for Timeout