Motor Board v4 Firmware

Prerequisites

These instructions assume that you are using a version of Linux, but should also work on BSD-derived OSes (including OS X). Windows users may wish to try Cygwin, create a Linux VM (although flashing the board from a VM may require some thought), or consider their life choices.

• git can be found in your distribution's repositories, or online.

• A working C compiler, such as gcc or clang, also from your distribution's repositories.

• make, also from your distribution's repositories.

• The arm-none-eabi toolchain. This may be in your distribution's repositories, otherwise download it from Launchpad and follow the instructions in the README.

• stm32flash, which can be found on Google Code. After downloading, build and install it:

  $ make $ sudo make install

Instructions

1. From a shell, cd into the directory where you cloned the repository and download the libopencm3 submodule:

   $ git submodule update --init

2. Determine your arm-none-eabi toolchain prefix, unless it is in your $PATH. If you downloaded it from the link above, it will be the path to the bin directory of the extracted folder, followed by arm-none-eabi.

3. Build libopencm3:

   $ cd libopencm3 $ make PREFIX=

4. Change back to the project directory and build the firmware:

   $ cd .. $ make PREFIX=

5. Connect the motor board to your machine via USB. The USB Power Light (green, next to the connector) should turn on.

6. Connect the motor board to a power source. The main power light (green, in the middle of the board) should turn on. If using the SR power board, you will have to run a program to turn on the motor rail.

7. Press the firmware button on the side of the motor board with a long thin object.

8. To test connectivity, run the following command, where X is found by running ls /dev/ttyUSB*:

   $ stm32flash /dev/ttyUSB

9. Load the firmware onto the motor board:

   $ stm32flash -w mcv4.bin -v /dev/ttyUSB