Available UI - HiveBoard

The HiveBoard has multiple indicators to help the user debug its configuration or its application.

Purple dots/Test points

1. Load switch Output

2. Ground test point

3. 3.3V debugger

4. 3.3V channel

5. Synchronisation signal. This test point has a ground pad right beside it for convenience

6. 3.3V clock

7. USB line towards the debugger from the hub. This is a differential test point.

8. USB line towards the STM32H7 from the HUB. This is a differential test point.

9. USB line towards the hub from the connector. This is a differential test point.

A. 3.3V ESP32-WROOM

B. 3.3V ethernet

C. 5V entry

D. 3.3V

E. USB detection circuit

F. 5V connector (Jack and terminal)

G. 5V USB

Green stars:

1. RBG LED for ESP-32-WROOM
2. RBG LED for STM32H7

Orange triangles, from top to bottom of the image:

• Channel enable (green LED) x6
• Channel fault (red LED) x6
• HeartBeat LED (green)
• MCU0 LED (green), user LED
• MCU1 LED (green), user LED
• MCU2 LED (green), user LED
• 3.3V LED (green)
• 5V LED (green)

Red rectangles, from left to right:

• Buttons for FTDI, MCU and WROOM reset
• JTAG jumper, these jumpers shall stay in place if you want to use the on board debugger.
• Input/Output expander button
• Mezzanine connector, 100 mils
• 3.3V
• 5V
• GND
• GND
• SPI_CLK
• UART_Rx
• SPI_MISO
• UART_Tx
• SPI_MOSI
• GND
• GND
• ADC1_P
• I2C_SCL
• ADC1_N
• I2C_SDA
• GND

Dark blue rectangles are DIP switches and are explained here

Hardware

These are the UI elements that are worth mentioning on a physical HiveBoard:

Power Switch

The HiveBoard can be powered either via a 5V supply plugged into the black barrel connector or via the micro-USB plug. The power switch allows you to decide from where to take the power. The CON position instructs the boad to draw power from the barrel connector, while the USB position has the power drawn from the USB connector.

DIP Switches

Because the board can draw up to 4 A and a USB connection is limited to 500 mA, DIP switches are available to disable sub-circuits that are not needed in order to fit in the power requirements. The switches only take effect when powered by USB. If powered from CON, all circuits are always enabled.

Four different circuits are controlled from the switches:

• DEBUG: Controls the chip responsible for flashing/debugging the microcontrollers as well as create serial ports needed for logging
• WROOM: Controls the ESP32 responsible for Wi-Fi communication
• CHANNEL: Controls the channel hardware (this is very power hungry and probably should never be turned on while on USB)
• ETHERNET: Controls the Ethernet port and associated hardware

In a normal usage, when plugged into a phone, all DIP switches other than WROOM should be on the ON position. This way, only the STM32 and the ESP32 are powered.

Reset Buttons

Three reset buttons are provided on the left hand side of the board. Each one performs a hardware reset of the specified chip.

• FTDI: Chip responsible for flashing/debugging the microcontrollers as well as create serial ports needed for logging
• MCU: The main STM32 microcontroller
• WROOM: The ESP32 responsible for Wi-Fi communication

Channel EN / FLT LEDs

Every BeeBoard channel has two LEDs associated with it. A red FLT and a green EN. Only one of the LEDs is on at any given time. A red LED means no power is currently being delivered to the channel, while the green LED means power is being delivered.

Enablement of power to a given channel is done through the code depending on which channels have BeeBoards plugged in at bootup. If multiple BeeBoards are plugged in, when powering the board up, you should see each channel that has a BeeBoard plugged in turn from red to green. If one of the channels does not change, consider testing with a different BeeBoard or USB-C cable to find the culprit.

LED RGB - HiveMind Comm Interface

Displays the status of the comm interface. Note that this means the comm interface is opened, not that the two devices communicate. They need to do a handshake after opening the interface. Thus a connection is fully established when the RGB is of color teal or blue and LED MCU_1 is on. If you plug the Ethernet or USB cable and the LED is not changing, make sure the TCP ports for Ethernet or the COM ports for USB match the ones that are open on the host.

The RGB LED can take the following colours:

LED WROOM RGB - Networking Status LED (ESP-32)

This RGB LED informs on the status of the Wi-Fi network. Refer to the Wi-Fi Configuration instructions for the configuration procedure.

This RGB LED can take the following colours:

LED HB - HiveMind Heartbeat

The heartbeat of the HiveMind indicates that the firmware runs normally. In normal operation, this LED flashes at 1 Hz. If this LED is not flashing, HiveMind is probably in a hard fault state. This should not happen in theory, but things can always go wrong. Make sure everything is up to date and then you can consider raising an issue in the HiveMind repo if the issue wasn't already raised.

LED MCU_0 - HiveMind and HiveConnect Handshake

Shows if the HiveMind and the HiveConnect completed their handshake successfully. If the LED is not turned on after bootup, make sure everything is up to date (check versions of HiveMind and HiveConnect) and that the ESP power DIP switch is enabled.

LED MCU_1 - HiveMind and Host Handshake

Shows if the HiveMind and the host completed their handshake successfully. If the RGB LED is on, but not MCU_1, make sure everything is up to date. This may be caused by an incompatible version of Pheromones (or Propolis that used the wrong Pheromones version). These two libraries are used by various elements of the stack (HiveMind, HiveMindBridge, HiveAR), and they must imperatively have matching versions.

LED MCU_2 - User LED

LED that can be set in the Buzz script via ui.set_led(x). Use this to know the state of you application for easier debugging. You can get more information in the led blink user guide. The complete API documentation can be found here.

LED 3.3V

Is on if the 3.3V power supply is working properly. Check the power requirements if it's not on.

LED 5V

Is on if the 5V power supply is working properly. Check the power requirements if it's not on.

7 segment 1 - BBVM status

The status of the BBVM, in which your Buzz code is run.

If it's 0, the VM, is running fine. If it's a non zero value. The value represent the error code via an enumeration.

The values of the enumeration can be found here. If you want more information about the error code meaning, you can check the BittyBuzz repo.

7 segment 2 - User segment

A segment that can be set in the Buzz script via ui.set_hex(x). Use this to have information about the state of your swarm application. You can get more information in the led blink user guide. The complete API documentation can be found here.

ROS

When simulating the usage of a HiveBoard on a computer, HiveMind will simulate the lower-level hardware stack using ROS (see HiveMind's readme). This configuration replicates the interface of the HiveBoard via ROS logging system. Everytime something is written on the rosconsole, a string is prepended with the state of the HiveMind. The prepended string should be similar to:

[HM: Id] [UI: rgb: V led: 000 hex: 01]

• The rgb is expressed via the first letter of its color.

• The led represents the MCU 0, 1 and 2 (handshake HiveConnect, handshake Host, user LED).

• The hex represents the 7 segments (VM state at the left and user 7 segment at the right).

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