Maple Bootloader for Robotis boards

This is an adaptation of the maple bootloader in order to make it work with the Robotis CM900 and OpenCM9.04 boards:

• Robotis CM900
• Robotis OpenCM9.04

How to install it?

The easy way

OpenCM9.04

The easy way is to use a simple sketch with the robotis OpenCM Framework to do it. Simply run OpenCM IDE and open the opencm904_maple_loader sketch that is in the sketch/ directory of this repository.

If you load that sketch, it will rewrite your bootloader to the OpenCM9.04 bootloader; OpenCM IDE won't work anymore!

Wait until your board led blinks, and your bootloader should be changed. You can press the reset button and you should see the "bootloader blink".

The standard way

Step 1. Build or get the right bootloader

You can either build it or get it (from the snapshot directory). See below.

Step 2. Wire a serial line to your board

This step may require some soldering or electronic hacking, you'll have to wire up a serial 3.3V adapter. You can for instance use a 3.3V FTDI cable or a 3.3V FTDI Breakout. 5V logic should also work with this.

Then, wire your serial adapter to the Serial1 (TX1 and RX1) pins of your board.

Step 3. Put your board in hardware bootloader mode

Press the RESET button of your board, and then put the BOOT0 signal to 3.3V (this can be done with an extra wire), release the RESET button, and release the BOOT0.

Step 4. Flash the bootloader!

You can now flash the bootloader:

# You may have to adapt the serial port, this is an example:
python stm32loader.py -p /dev/ttyUSB -evw bootloader.bin

Tada! It should then be OK.

What's next?

Next, you can program your board using dfu-util. This is done by default in the libmaple Makefile.

You can now use cm900 and opencm904 variants in the LibMaple, or use the RobotsWar framework https://github.com/RobotsWar/RobotsWar

Boards

CM900

The master branch of this repository is supporting CM900 board, you can find a snapshot of the bootloader in snapshot/maple-boot-cm900.bin.

OpenCM9.04

Ths opencm904 branch of this repository is supporting the OpenCM9.04 board. You can find a snapshot of this bootloader in snapshot/maple-boot-opencm904.bin.