Revision 4cce70a8 README.txt
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AMiRo-BLT is the bootloader and flashing toolchain for the base |
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version of the Autonomous Mini Robot (AMiRo) [1,2,3]. It is based on
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OpenBLT developed by Feaser (<http://feaser.com/en/openblt.php>).
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AMiRo-BLT is the bootloader and flashing toolchain for the base version of the
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Autonomous Mini Robot (AMiRo) [1,2]. It is based on OpenBLT developed by Feaser
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(see <http://feaser.com/en/openblt.php>).
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Copyright (C) 2016 Thomas Schöpping et al. |
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Copyright (C) 2016..2017 Thomas Schöpping et al.
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(a complete list of all authors is given below) |
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For details about the license of this software, please refer to the |
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provided file (./Doc/license.html). |
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This program is free software: you can redistribute it and/or modify |
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it under the terms of the GNU General Public License as published by |
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the Free Software Foundation, either version 3 of the License, or (at |
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your option) any later version. |
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This program is distributed in the hope that it will be useful, but |
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WITHOUT ANY WARRANTY; without even the implied warranty of |
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU |
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General Public License for more details. |
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You should have received a copy of the GNU General Public License |
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along with this program. If not, see <http://www.gnu.org/licenses/>. |
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This research/work was supported by the Cluster of Excellence |
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Cognitive Interaction Technology 'CITEC' (EXC 277) at Bielefeld |
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- Marvin Barther |
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References: |
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[1] Herbrechtsmeier S., Rückert U., & Sitte J. (2012). "AMiRo - |
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Autonomous Mini Robot for Research and Education". In Advances in |
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Autonomous Mini Robots (pp. 101-112). Springer Berlin Heidelberg. |
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[2] Schöpping T., Korthals T., Herbrechtsmeier S., & Rückert U. |
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(2015). "AMiRo: A Mini Robot for Scientific Applications" In |
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Advances in Computational Intelligence (pp. 199-205). Springer |
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International Publishing. |
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[1] Herbrechtsmeier S., Rückert U., & Sitte J. (2012). "AMiRo - Autonomous Mini |
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Robot for Research and Education". In Advances in Autonomous Mini Robots |
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(pp. 101-112). Springer Berlin Heidelberg. |
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[2] Schöpping T., Korthals T., Herbrechtsmeier S., & Rückert U. (2015). "AMiRo: |
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A Mini Robot for Scientific Applications" In Advances in Computational |
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Intelligence (pp. 199-205). Springer International Publishing. |
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##################################################################### |
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# # |
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# RRRRRRRR EEEEEEEE AAA DDDDDDDD MM MM EEEEEEEE #
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# RR RR EE AA AA DD DD MMM MMM EE #
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# RR RR EE AA AA DD DD MMMM MMMM EE #
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# RRRRRRRR EEEEEE AA AA DD DD MM MMM MM EEEEEE #
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# RR RR EE AAAAAAAAA DD DD MM MM EE #
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# RR RR EE AA AA DD DD MM MM EE #
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# RR RR EEEEEEEE AA AA DDDDDDDD MM MM EEEEEEEE #
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# # |
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##################################################################### |
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################################################################################
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# #
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# RRRRRRRR EEEEEEEE AAA DDDDDDDD MM MM EEEEEEEE #
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# RR RR EE AA AA DD DD MMM MMM EE #
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# RR RR EE AA AA DD DD MMMM MMMM EE #
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# RRRRRRRR EEEEEE AA AA DD DD MM MMM MM EEEEEE #
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# RR RR EE AAAAAAAAA DD DD MM MM EE #
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# RR RR EE AA AA DD DD MM MM EE #
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# RR RR EEEEEEEE AA AA DDDDDDDD MM MM EEEEEEEE #
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# #
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################################################################################
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This file will help you to setup all required software on your system, |
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compile the source code, and use the tools and flash the bootloader
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software to the AMiRo modules.
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This file will help you to setup all required software on your system, compile
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the source code, and use the tools and flash the bootloader software to the
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AMiRo base modules.
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===================================================================== |
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================================================================================
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CONTENTS: |
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1 Required software |
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1.1 stm32flash |
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1.2 gcc-arm-none-eabi |
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2 Compiling the source code |
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1.1 target software |
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1.2 host software |
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===================================================================== |
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1 Required software |
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1.1 stm32flash |
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1.2 GCC ARM Embedded Toolchain |
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1.3 GNU Make |
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1.4 CMake |
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2 Recommended Software |
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3 Compiling the source code |
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3.1 target software |
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3.2 host software |
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================================================================================ |
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1 - REQUIRED SOFTWARE |
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--------------------- |
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The only third party software required are stm32flash and GCC for ARM |
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embedded devices. |
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The only third party software required are stm32flash and GCC for ARM embedded |
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devices. While the latter is a compiler to build binaries that are compatible |
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with the microcontrollers (MCUs) of AMiRo, the former is used to write this data |
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to the hardware. |
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1.1 - stm32flash |
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---------------- |
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To build the tool from source, clone the GIT repository to a local |
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folder on your machine:
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To build the tool from source, clone the GIT repository to a local folder on
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your machine: |
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>$ git clone git://git.code.sf.net/p/stm32flash/code |
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Please make sure that you have version 0.4 or later of the tool. It is |
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recommend to checkout the following commit: |
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>$ git checkout fb52b4d80613b19b28ab82ba9fa415378d00fb9a |
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You can now build the tool by executing 'make'. |
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Finally, you must make the resulting binary (stm32flash) globally |
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available on your system. You can do so by either copying the file to |
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an appropriate location (e.g. /usr/local/bin/) or creating an |
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according link. |
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Make sure that you have selected version 0.4 or later of the tool. You can now |
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build the tool simply by executing 'make'. Finally, you must make the resulting |
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binary (stm32flash) globally available in your environment. You can do so by |
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either copying the file to an appropriate location (e.g. /usr/local/bin/) or |
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creating an according link. The tool must be available as 'stm32flash' in every |
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new shell. |
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1.2 - gcc-arm-none-eabi |
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1.2 - GCC ARM Embedded Toolchain |
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-------------------------------- |
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Various versions of the GCC for ARM embedded devices can be found at |
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<https://launchpad.net/gcc-arm-embedded>. It is highly recommended to |
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use the version 4.8 with update 2014-q1 since some others will cause |
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issues. For installation of the compiler toolchain, please follow the |
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instructions that can be found on the web page. |
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<https://launchpad.net/gcc-arm-embedded>. For installation of the compiler |
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toolchain, please follow the instructions that can be found on the web page. |
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If you have access to the AMiRo-OS project as well, it is highly recommended |
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to use the setup application provided there. |
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1.3 - GNU Make |
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-------------- |
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GNU Make usually comes as preinstalled tool on Ubuntu based operating systems. |
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If your system is missing GNU Make, it is recommended to install it from the |
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standard repositories since no special requirements (e.g. features of a very |
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recent version) are required. |
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1.4 - CMake |
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----------- |
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2 - COMPILING THE SOURCE CODE |
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In order to build the SerialBoot host application, CMake version 2.8 or later is |
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required. If possible, it is recommended to instal it from the standard |
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repositories of your operating system. |
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2 - RECOMMENDED SOFTWARE |
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------------------------ |
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AMiRo-BLT provides support for the QtCreator IDE. In order to setup according |
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projects, use the ./setup.sh script and follow the instructions. It will |
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automatically generate the required files and you can import the projects by |
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opening the .creator files with Qtcreator IDE. |
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3 - COMPILING THE SOURCE CODE |
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----------------------------- |
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The AMiRo-BLT project is separated into two major parts: target and |
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host related software. The former comprises the bootloaders for the |
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three base modules of the AMiRo. The latter is the SerialBoot tool, |
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which can be used to flash further binaries (e.g. a complex operating |
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system) to the microcontrollers without the need to connect to the |
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module directly. Since the programming connector of the lowermost |
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AMiRo module is the only one accessible when the robot is fully set |
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up, this enables to update the firmware even for other modules. |
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2.1 - target software |
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In the ./Target/Demo/ directory there are three subfolders, one for |
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each AMiRo base module. Within each of these is an additional Boot/ |
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folder (./Target/Demo/<device>/Boot/), which contains a makefile. |
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Each bootloader can be compiled by executing 'make' in these |
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directories. |
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In order to flash the bootloader to the microcontroller, you first |
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have to set full read and write permissions to the USB ports of your |
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system. You can do so by executing the following command: |
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The AMiRo-BLT project is separated into two major parts: target- and host- |
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related software. The former comprises the bootloaders for the three base |
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modules of the AMiRo. The latter is the SerialBoot tool, which can be used to |
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flash further binaries (e.g. a complex operating system) to the microcontrollers |
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without connecting to the module directly (data is passed through via CAN bus). |
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Since the programming connector of the lowermost AMiRo module is the only one |
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accessible when the robot is fully set up, this enables to update the firmware |
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even for other modules. |
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3.1 - target software |
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--------------------- |
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In the ./Target/Demo/ directory there are three subfolders, one for each AMiRo |
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base module. Within each of these is an additional Boot/ folder |
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(./Target/Demo/<device>/Boot/), which contains a makefile. Each bootloader can |
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be compiled by executing 'make' in these directories. |
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In order to flash the bootloader to a microcontroller, you first have to set |
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full read and write permissions to the USB ports of your system. You can do so |
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by executing the following command: |
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>$ sudo echo 'KERNEL=="ttyUSB[0-9]*",NAME="tts/USB%n",SYMLINK+="%k",MODE="0666"' > /etc/udev/rules.d/50-ttyusb.rules |
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Now connect the module you want to flash directly to your system (note |
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that indirect flashing is not possible for the bootloader itself) and |
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run the command |
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Now connect the module you want to flash directly to your system (note that |
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indirect flashing is not possible for the bootloader itself) and run the command |
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>$ make flash |
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If the procedure was not successful, the following hints might help: |
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1) Could the makefile execute the stm32flash tool? |
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2) Are the permissions for USB ports set correctly? |
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3) Is the AMiRo module connected to your system? |
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- Could the makefile execute the stm32flash tool? |
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- Are the permissions for USB ports set correctly? |
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- Are there any other applications using the serial connection? |
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- Is the AMiRo module connected to your system? |
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- Is the AMiRo module powered up? |
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ATTENTION: |
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Never flash a bootloader to the wrong module! Doing so might cause severe errors |
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and damage the robot. |
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WARNING: |
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never flash a bootloader to another module! Doing so might cause |
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severe errors and damage the robot. |
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2.2 - host software |
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3.2 - host software |
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------------------- |
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The SerialBoot tool can be built by using cmake. The according |
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CMakeLists.txt file can be found in the ./Host/Source/SerialBoot/ |
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directory. You can just run the command |
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>$ cmake . && make |
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to generate the binary, though it is recommended to built the tool |
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out-of-source. |
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The SerialBoot tool can be built by using cmake. The according CMakeLists.txt |
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file can be found in the ./Host/Source/SerialBoot/ directory. To ensure |
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compatibility with other software (e.g. AMiRo-OS) it is higly recommended to use |
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the provided ./setup.sh script to build SerialBoot. In the end the binary path |
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should be ./Host/Sotware/SerialBoot/build/SerialBoot. |
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===================================================================== |
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================================================================================
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