AMiRo-OS

[submodule "Host/stm32flash"]

	path = Host/Source/stm32flash

	url = https://git.code.sf.net/p/stm32flash/code

  printf("Copyright (c) 2016..2018  Marvin Barther, Thomas Schoepping, and Stefan    \n");

Subproject commit 1f934ae86babdeea47afdfae1d856d5fd5da6c53

Autonomous Mini Robot (AMiRo) [1]. It is based on OpenBLT developed by Feaser

Copyright (C) 2016..2018  Thomas Schöpping et al.

 - Stefan Herbrechtsmeier  <sherbrec[at]cit-ec.uni-bielefeld.de>

 [1] S. Herbrechtsmeier, T. Korthals, T. Schopping and U. Rückert, "AMiRo: A

     modular & customizable open-source mini robot platform," 2016 20th

     International Conference on System Theory, Control and Computing (ICSTCC),

     Sinaia, 2016, pp. 687-692.

    1.1  Git

    1.2  GNU Make

    1.3  GCC

    1.4  stm32flash

    1.5  GCC ARM Embedded Toolchain

    1.6  CMake

    3.1  host software

    3.2  target software

1.1 - Git

---------

Since all main- and subprojects are available as Git repositories, installing a

recent version of the tool is mandatory.

1.2 - GNU Make

--------------

GNU Make usually comes as preinstalled tool on Ubuntu based operating systems.

If your system is missing GNU Make, it is recommended to install it from the

standard repositories since no special requirements (e.g. features of a very

recent version) are required.

1.3 - GCC

---------

In order to build some required tools from source, GCC is required. It usually

comes as preinstalled tool on Ubuntu based operating systems. If your system is

missing GCC, it is recommended to install it from the standard repositories

since no special requirements (e.g. features of a very recent version) are

required.

1.4 - stm32flash

This tool is required to flash the bootloader binaries to the microcontrollers.

Since it is included in this project as a submodule, you can just run the setup

script in the root directory:

  >$ ./setup.sh

Follow the instructions to download the source code and compile the tool. The

resulting binary path is ./Host/Source/stm32flash/stm32flash. Other scripts that

require stm32flash will search for the binary at this location by default.

The setup script does not install the tool to your system path, though, since

this usually requires root permissions. However, stm32flash provides a Makefile

with installation capabilities. Just Follow the instructions given in the file

./Host/Source/stm32flash/INSTALL.

1.5 - GCC ARM Embedded Toolchain

toolchain and managing of multiple versions, it is highly recommended to use the

provided setup script. Alternatively you can install the compiler manually by

following the instructions that can be found on the web page.

If you are running a 64-bit operating system, you may have to install several

32-bit libraries in order to make the compiler work. The required packages are

libc6, libstdc++6, and libncurses5. You can run the following shell commands to

install the according 32-bit versions of the packages:

  >$ sudo dpkg --add-architecture i386 && sudo apt-get update

  >$ sudo apt-get install libc6:i386 libstdc++6:i386 libncurses5:i386

1.6 - CMake

3.1 - host software

-------------------

The stm32flash tool is requried to flash bootloader binaries to the MCUs.

Instructions for builing the tool are given in chapter 1.4 of this file.

The SerialBoot tool can be built by using cmake. The according CMakeLists.txt

file can be found in the ./Host/Source/SerialBoot/ directory. To ensure

compatibility with other software (e.g. AMiRo-OS) it is higly recommended to use

the provided ./setup.sh script to build SerialBoot. In the end the binary path

should be ./Host/Source/SerialBoot/build/SerialBoot, which is the default for

any scripts and tools that use SerialBoot.

3.2 - target software

full read and write permissions to the USB ports of your system. To do so, first

create a new file by executing the following command:

  >$ sudo touch /etc/udev/rules.d/50-usb-serial.rules

Open the file in a text editor of your choice (sudo required) and add the

following lines:

  # Future Technology Devices International Ltd. - TTL-232RG

  SUBSYSTEMS=="usb", ACTION=="add", KERNEL=="ttyUSB[0-9]*",

  ATTRS{idVendor}=="0403", ATTRS{idProduct}=="6001", MODE="0666"

  # Future Technology Devices International Ltd. - FT231X

  SUBSYSTEMS=="usb", ACTION=="add", KERNEL=="ttyUSB[0-9]*",

  ATTRS{idVendor}=="0403", ATTRS{idProduct}=="6015", MODE="0666"

  - Did your system apply the new udev rules?

    Reboot and try again!

    Reinitialize the submodule and try again!

    Check the udev rules!

    Close any other applications using the serial connection!

    Use the programming cable to connect the module to your system.

    Keep a charger plugged in during flashing.

  .vBootloader = {BL_VERSION_ID_AMiRoBLT_Release, BL_VERSION_MAJOR, BL_VERSION_MINOR, 1},

  .vBootloader = {BL_VERSION_ID_AMiRoBLT_Release, BL_VERSION_MAJOR, BL_VERSION_MINOR, 1},

  .vBootloader = {BL_VERSION_ID_AMiRoBLT_Release, BL_VERSION_MAJOR, BL_VERSION_MINOR, 1},

STM32FLASH := $(dir $(abspath $(lastword $(MAKEFILE_LIST))))../../Host/Source/stm32flash/stm32flash

################################################################################

# AMiRo-BLT is the bootloader and flashing toolchain for the base version of   #

# the Autonomous Mini Robot (AMiRo). It is based on OpenBLT developed by       #

# Feaser (see <http://feaser.com/en/openblt.php>).                             #

# Copyright (C) 2016..2018  Thomas Schöpping et al.                            #

#                                                                              #

# This program is free software: you can redistribute it and/or modify         #

# it under the terms of the GNU General Public License as published by         #

# the Free Software Foundation, either version 3 of the License, or            #

# (at your option) any later version.                                          #

#                                                                              #

# This program is distributed in the hope that it will be useful,              #

# but WITHOUT ANY WARRANTY; without even the implied warranty of               #

# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the                 #

# GNU General Public License for more details.                                 #

#                                                                              #

# You should have received a copy of the GNU General Public License            #

# along with this program.  If not, see <http://www.gnu.org/licenses/>.        #

#                                                                              #

# This research/work was supported by the Cluster of Excellence Cognitive      #

# Interaction Technology 'CITEC' (EXC 277) at Bielefeld University, which is   #

# funded by the German Research Foundation (DFG).                              #

################################################################################

ROOT_PATH = ..

DWD_PATH = $(ROOT_PATH)/Target/Demo/ARMCM3_STM32F103_DiWheelDrive_GCC/Boot

PM_PATH = $(ROOT_PATH)/Target/Demo/ARMCM4_STM32F405_Power_Management_GCC/Boot

LR_PATH = $(ROOT_PATH)/Target/Demo/ARMCM3_STM32F103_LightRing_GCC/Boot

all:

	$(MAKE) -C $(DWD_PATH)

	$(MAKE) -C $(PM_PATH)

	$(MAKE) -C $(LR_PATH)

clean:

	$(MAKE) -C $(DWD_PATH) clean

	$(MAKE) -C $(PM_PATH) clean

	$(MAKE) -C $(LR_PATH) clean

DiWheelDrive:

	$(MAKE) -C $(DWD_PATH)

PowerManagement:

	$(MAKE) -C $(PM_PATH)

LightRing:

	$(MAKE) -C $(LR_PATH)

flash_DiWheelDrive:

	$(MAKE) -C $(DWD_PATH) flash

flash_PowerManagement:

	$(MAKE) -C $(PM_PATH) flash

flash_LightRing:

	$(MAKE) -C $(LR_PATH) flash

################################################################################

# AMiRo-BLT is an bootloader and toolchain designed for the Autonomous Mini    #

# Robot (AMiRo) platform.                                                      #

# Copyright (C) 2016..2018  Thomas Schöpping et al.                            #

#                                                                              #

# This program is free software: you can redistribute it and/or modify         #

# it under the terms of the GNU General Public License as published by         #

# the Free Software Foundation, either version 3 of the License, or            #

# (at your option) any later version.                                          #

#                                                                              #

# This program is distributed in the hope that it will be useful,              #

# but WITHOUT ANY WARRANTY; without even the implied warranty of               #

# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the                #

# GNU General Public License for more details.                                 #

#                                                                              #

# You should have received a copy of the GNU General Public License            #

# along with this program.  If not, see <http://www.gnu.org/licenses/>.        #

#                                                                              #

# This research/work was supported by the Cluster of Excellence Cognitive      #

# Interaction Technology 'CITEC' (EXC 277) at Bielefeld University, which is   #

# funded by the German Research Foundation (DFG).                              #

################################################################################

#!/bin/bash

################################################################################

# GENERIC FUNCTIONS                                                            #

################################################################################

### print an error message #####################################################

# Prints a error <message> to standard output.

#If variable 'LOG_FILE' is specified, the message is also appended to the given file.

#

# usage:      printError <message>

# arguments:  <message>

#                 Message string to print.

# return:     n/a

#

function printError {

  local string="ERROR:   $1"

  # if a log file is specified

  if [ -n "$LOG_FILE" ]; then

    printf "[$(date '+%Y-%m-%d %H:%M:%S')] $string" >> $LOG_FILE

  fi

  printf "$(tput setaf 1)>>> $string$(tput sgr 0)" 1>&2

}

### print a warning message ####################################################

# Prints a warning <message> to standard output.

#If variable 'LOG_FILE' is specified, the message is also appended to the given file.

#

# usage:      printMessage <message>

# arguments:  <message>

#                 Message string to print.

# return:     n/a

#

function printWarning {

  local string="WARNING: $1"

  # if a log file is specified

  if [ -n "$LOG_FILE" ]; then

    printf "[$(date '+%Y-%m-%d %H:%M:%S')] $string" >> $LOG_FILE

  fi

  printf "$(tput setaf 3)>>> $string$(tput sgr 0)"

}

### print an information message ###############################################

# Prints an information <message> to standard output.

#If variable 'LOG_FILE' is specified, the message is also appended to the given file.

#

# usage:      printInfo <message>

# arguments:  <message>

#                 Message string to print.

# return:     n/a

#

function printInfo {

  local string="INFO:    $1"

  # if a log file is specified

  if [ -n "$LOG_FILE" ]; then

    printf "[$(date '+%Y-%m-%d %H:%M:%S')] $string" >> $LOG_FILE

  fi

  printf "$(tput setaf 2)>>> $string$(tput sgr 0)"

}

### print a message to file ####################################################

# Appends a <message> to a log file, specified by the variable 'LOG_FILE'.

#

# usage       printLog <message>

# arguments:  <message>

#                 Message string to print.

# return:     n/a

#

function printLog {

  local string="LOG:     $1"

  # if a log file is specified

  if [ -n "$LOG_FILE" ]; then

    printf "[$(date '+%Y-%m-%d %H:%M:%S')] $string" >> $LOG_FILE

  fi

}

### exit the script normally ###################################################

# Prints a delimiter and exits the script normally (returns 0).

#

# usage:      quitScript

# arguments:  n/a

# return:     0

#                 No error or warning occurred.

#