amiro-blt / README.txt @ 69661903
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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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|
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Copyright (C) 2016 Thomas Schöpping et al. |
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(a complete list of all authors is given below) |
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|
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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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|
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The development of this software was supported by the Excellence |
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Cluster EXC 227 Cognitive Interaction Technology. The Excellence |
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Cluster EXC 227 is a grant of the Deutsche Forschungsgemeinschaft |
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(DFG) in the context of the German Excellence Initiative. |
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|
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Authors: |
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- Thomas Schöpping <tschoepp[at]cit-ec.uni-bielefeld.de> |
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- Stefan Herbechtsmeier <sherbrec[at]cit-ec.uni-bielefeld.de> |
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- Marvin Barther |
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|
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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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##################################################################### |
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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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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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|
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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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===================================================================== |
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|
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1 - REQUIRED SOFTWARE |
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--------------------- |
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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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|
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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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>$ 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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|
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1.2 - gcc-arm-none-eabi |
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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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|
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2 - COMPILING THE SOURCE CODE |
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----------------------------- |
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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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>$ 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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>$ 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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|
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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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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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|
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===================================================================== |
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|