amiro-blt / README.txt @ f3866909
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1 | 4cce70a8 | Thomas Schöpping | AMiRo-BLT is the bootloader and flashing toolchain for the base version of the |
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2 | 9c219069 | Thomas Schöpping | Autonomous Mini Robot (AMiRo) [1]. It is based on OpenBLT developed by Feaser |
3 | 4cce70a8 | Thomas Schöpping | (see <http://feaser.com/en/openblt.php>). |
4 | 69661903 | Thomas Schöpping | |
5 | 4f07e80a | Thomas Schöpping | Copyright (C) 2016..2018 Thomas Schöpping et al. |
6 | 69661903 | Thomas Schöpping | (a complete list of all authors is given below) |
7 | |||
8 | 4cce70a8 | Thomas Schöpping | This program is free software: you can redistribute it and/or modify |
9 | it under the terms of the GNU General Public License as published by |
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10 | the Free Software Foundation, either version 3 of the License, or (at |
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11 | your option) any later version. |
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12 | |||
13 | This program is distributed in the hope that it will be useful, but |
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14 | WITHOUT ANY WARRANTY; without even the implied warranty of |
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15 | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU |
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16 | General Public License for more details. |
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17 | |||
18 | You should have received a copy of the GNU General Public License |
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19 | along with this program. If not, see <http://www.gnu.org/licenses/>. |
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20 | 69661903 | Thomas Schöpping | |
21 | da350eab | Thomas Schöpping | This research/work was supported by the Cluster of Excellence |
22 | Cognitive Interaction Technology 'CITEC' (EXC 277) at Bielefeld |
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23 | University, which is funded by the German Research Foundation (DFG). |
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24 | 69661903 | Thomas Schöpping | |
25 | Authors: |
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26 | - Thomas Schöpping <tschoepp[at]cit-ec.uni-bielefeld.de> |
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27 | d91fca20 | Thomas Schöpping | - Stefan Herbrechtsmeier <sherbrec[at]cit-ec.uni-bielefeld.de> |
28 | 69661903 | Thomas Schöpping | - Marvin Barther |
29 | |||
30 | References: |
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31 | 9c219069 | Thomas Schöpping | [1] S. Herbrechtsmeier, T. Korthals, T. Schopping and U. Rückert, "AMiRo: A |
32 | modular & customizable open-source mini robot platform," 2016 20th |
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33 | International Conference on System Theory, Control and Computing (ICSTCC), |
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34 | Sinaia, 2016, pp. 687-692. |
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35 | |||
36 | 69661903 | Thomas Schöpping | |
37 | |||
38 | 4cce70a8 | Thomas Schöpping | ################################################################################ |
39 | # # |
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40 | # RRRRRRRR EEEEEEEE AAA DDDDDDDD MM MM EEEEEEEE # |
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41 | # RR RR EE AA AA DD DD MMM MMM EE # |
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42 | # RR RR EE AA AA DD DD MMMM MMMM EE # |
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43 | # RRRRRRRR EEEEEE AA AA DD DD MM MMM MM EEEEEE # |
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44 | # RR RR EE AAAAAAAAA DD DD MM MM EE # |
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45 | # RR RR EE AA AA DD DD MM MM EE # |
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46 | # RR RR EEEEEEEE AA AA DDDDDDDD MM MM EEEEEEEE # |
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47 | # # |
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48 | ################################################################################ |
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49 | 69661903 | Thomas Schöpping | |
50 | 4cce70a8 | Thomas Schöpping | This file will help you to setup all required software on your system, compile |
51 | the source code, and use the tools and flash the bootloader software to the |
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52 | AMiRo base modules. |
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53 | 69661903 | Thomas Schöpping | |
54 | 4cce70a8 | Thomas Schöpping | ================================================================================ |
55 | 69661903 | Thomas Schöpping | |
56 | CONTENTS: |
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57 | |||
58 | 4cce70a8 | Thomas Schöpping | 1 Required software |
59 | 3fbc2ae9 | Thomas Schöpping | 1.1 Git |
60 | 75f9dc42 | Thomas Schöpping | 1.2 GNU Make |
61 | 1.3 GCC |
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62 | 1.4 stm32flash |
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63 | 1.5 GCC ARM Embedded Toolchain |
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64 | 1.6 CMake |
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65 | 4cce70a8 | Thomas Schöpping | 2 Recommended Software |
66 | 3 Compiling the source code |
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67 | 75f9dc42 | Thomas Schöpping | 3.1 host software |
68 | 3.2 target software |
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69 | 4cce70a8 | Thomas Schöpping | |
70 | ================================================================================ |
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71 | |||
72 | |||
73 | 69661903 | Thomas Schöpping | |
74 | 1 - REQUIRED SOFTWARE |
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75 | --------------------- |
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76 | |||
77 | 4cce70a8 | Thomas Schöpping | The only third party software required are stm32flash and GCC for ARM embedded |
78 | devices. While the latter is a compiler to build binaries that are compatible |
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79 | with the microcontrollers (MCUs) of AMiRo, the former is used to write this data |
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80 | to the hardware. |
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81 | |||
82 | |||
83 | 3fbc2ae9 | Thomas Schöpping | 1.1 - Git |
84 | --------- |
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85 | |||
86 | Since all main- and subprojects are available as Git repositories, installing a |
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87 | recent version of the tool is mandatory. |
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88 | |||
89 | |||
90 | 75f9dc42 | Thomas Schöpping | 1.2 - GNU Make |
91 | -------------- |
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92 | |||
93 | GNU Make usually comes as preinstalled tool on Ubuntu based operating systems. |
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94 | If your system is missing GNU Make, it is recommended to install it from the |
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95 | standard repositories since no special requirements (e.g. features of a very |
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96 | recent version) are required. |
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97 | |||
98 | |||
99 | 1.3 - GCC |
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100 | --------- |
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101 | |||
102 | In order to build some required tools from source, GCC is required. It usually |
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103 | comes as preinstalled tool on Ubuntu based operating systems. If your system is |
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104 | missing GCC, it is recommended to install it from the standard repositories |
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105 | since no special requirements (e.g. features of a very recent version) are |
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106 | required. |
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107 | |||
108 | |||
109 | 1.4 - stm32flash |
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110 | 4cce70a8 | Thomas Schöpping | ---------------- |
111 | 69661903 | Thomas Schöpping | |
112 | 6feb961b | Thomas Schöpping | This tool is required to flash the bootloader binaries to the microcontrollers. |
113 | Since it is included in this project as a submodule, you can just run the setup |
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114 | script in the root directory: |
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115 | >$ ./setup.sh |
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116 | Follow the instructions to download the source code and compile the tool. The |
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117 | 75f9dc42 | Thomas Schöpping | resulting binary path is ./Host/Source/stm32flash/stm32flash. Other scripts that |
118 | require stm32flash will search for the binary at this location by default. |
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119 | 6feb961b | Thomas Schöpping | |
120 | The setup script does not install the tool to your system path, though, since |
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121 | this usually requires root permissions. However, stm32flash provides a Makefile |
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122 | with installation capabilities. Just Follow the instructions given in the file |
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123 | 8446a3a1 | Thomas Schöpping | ./Host/Source/stm32flash/INSTALL. |
124 | 69661903 | Thomas Schöpping | |
125 | 4cce70a8 | Thomas Schöpping | |
126 | 75f9dc42 | Thomas Schöpping | 1.5 - GCC ARM Embedded Toolchain |
127 | 4cce70a8 | Thomas Schöpping | -------------------------------- |
128 | 69661903 | Thomas Schöpping | |
129 | Various versions of the GCC for ARM embedded devices can be found at |
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130 | 4cce70a8 | Thomas Schöpping | <https://launchpad.net/gcc-arm-embedded>. For installation of the compiler |
131 | 75f9dc42 | Thomas Schöpping | toolchain and managing of multiple versions, it is highly recommended to use the |
132 | provided setup script. Alternatively you can install the compiler manually by |
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133 | following the instructions that can be found on the web page. |
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134 | 4cce70a8 | Thomas Schöpping | |
135 | 75f9dc42 | Thomas Schöpping | If you are running a 64-bit operating system, you may have to install several |
136 | 3fbc2ae9 | Thomas Schöpping | 32-bit libraries in order to make the compiler work. The required packages are |
137 | libc6, libstdc++6, and libncurses5. You can run the following shell commands to |
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138 | install the according 32-bit versions of the packages: |
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139 | >$ sudo dpkg --add-architecture i386 && sudo apt-get update |
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140 | >$ sudo apt-get install libc6:i386 libstdc++6:i386 libncurses5:i386 |
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141 | |||
142 | 4cce70a8 | Thomas Schöpping | |
143 | 75f9dc42 | Thomas Schöpping | 1.6 - CMake |
144 | 4cce70a8 | Thomas Schöpping | ----------- |
145 | 69661903 | Thomas Schöpping | |
146 | 4cce70a8 | Thomas Schöpping | In order to build the SerialBoot host application, CMake version 2.8 or later is |
147 | required. If possible, it is recommended to instal it from the standard |
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148 | repositories of your operating system. |
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149 | |||
150 | |||
151 | |||
152 | 2 - RECOMMENDED SOFTWARE |
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153 | ------------------------ |
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154 | |||
155 | AMiRo-BLT provides support for the QtCreator IDE. In order to setup according |
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156 | projects, use the ./setup.sh script and follow the instructions. It will |
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157 | automatically generate the required files and you can import the projects by |
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158 | opening the .creator files with Qtcreator IDE. |
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159 | |||
160 | |||
161 | |||
162 | 3 - COMPILING THE SOURCE CODE |
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163 | 69661903 | Thomas Schöpping | ----------------------------- |
164 | |||
165 | 4cce70a8 | Thomas Schöpping | The AMiRo-BLT project is separated into two major parts: target- and host- |
166 | related software. The former comprises the bootloaders for the three base |
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167 | modules of the AMiRo. The latter is the SerialBoot tool, which can be used to |
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168 | flash further binaries (e.g. a complex operating system) to the microcontrollers |
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169 | without connecting to the module directly (data is passed through via CAN bus). |
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170 | Since the programming connector of the lowermost AMiRo module is the only one |
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171 | accessible when the robot is fully set up, this enables to update the firmware |
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172 | even for other modules. |
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173 | |||
174 | |||
175 | 75f9dc42 | Thomas Schöpping | 3.1 - host software |
176 | ------------------- |
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177 | |||
178 | The stm32flash tool is requried to flash bootloader binaries to the MCUs. |
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179 | Instructions for builing the tool are given in chapter 1.4 of this file. |
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180 | |||
181 | The SerialBoot tool can be built by using cmake. The according CMakeLists.txt |
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182 | file can be found in the ./Host/Source/SerialBoot/ directory. To ensure |
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183 | compatibility with other software (e.g. AMiRo-OS) it is higly recommended to use |
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184 | the provided ./setup.sh script to build SerialBoot. In the end the binary path |
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185 | should be ./Host/Source/SerialBoot/build/SerialBoot, which is the default for |
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186 | any scripts and tools that use SerialBoot. |
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187 | |||
188 | |||
189 | 3.2 - target software |
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190 | 4cce70a8 | Thomas Schöpping | --------------------- |
191 | |||
192 | In the ./Target/Demo/ directory there are three subfolders, one for each AMiRo |
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193 | base module. Within each of these is an additional Boot/ folder |
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194 | (./Target/Demo/<device>/Boot/), which contains a makefile. Each bootloader can |
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195 | be compiled by executing 'make' in these directories. |
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196 | |||
197 | In order to flash the bootloader to a microcontroller, you first have to set |
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198 | 332fd270 | Thomas Schöpping | full read and write permissions to the USB ports of your system. To do so, first |
199 | create a new file by executing the following command: |
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200 | >$ sudo touch /etc/udev/rules.d/50-usb-serial.rules |
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201 | 75f9dc42 | Thomas Schöpping | Open the file in a text editor of your choice (sudo required) and add the |
202 | following lines: |
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203 | 332fd270 | Thomas Schöpping | |
204 | # Future Technology Devices International Ltd. - TTL-232RG |
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205 | SUBSYSTEMS=="usb", ACTION=="add", KERNEL=="ttyUSB[0-9]*", |
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206 | ATTRS{idVendor}=="0403", ATTRS{idProduct}=="6001", MODE="0666" |
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207 | |||
208 | # Future Technology Devices International Ltd. - FT231X |
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209 | SUBSYSTEMS=="usb", ACTION=="add", KERNEL=="ttyUSB[0-9]*", |
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210 | ATTRS{idVendor}=="0403", ATTRS{idProduct}=="6015", MODE="0666" |
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211 | |||
212 | 4cce70a8 | Thomas Schöpping | Now connect the module you want to flash directly to your system (note that |
213 | indirect flashing is not possible for the bootloader itself) and run the command |
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214 | 69661903 | Thomas Schöpping | >$ make flash |
215 | If the procedure was not successful, the following hints might help: |
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216 | 75f9dc42 | Thomas Schöpping | - Did your system apply the new udev rules? |
217 | 332fd270 | Thomas Schöpping | Reboot and try again! |
218 | 4cce70a8 | Thomas Schöpping | - Could the makefile execute the stm32flash tool? |
219 | 332fd270 | Thomas Schöpping | Reinitialize the submodule and try again! |
220 | 4cce70a8 | Thomas Schöpping | - Are the permissions for USB ports set correctly? |
221 | 332fd270 | Thomas Schöpping | Check the udev rules! |
222 | 4cce70a8 | Thomas Schöpping | - Are there any other applications using the serial connection? |
223 | 332fd270 | Thomas Schöpping | Close any other applications using the serial connection! |
224 | 4cce70a8 | Thomas Schöpping | - Is the AMiRo module connected to your system? |
225 | 332fd270 | Thomas Schöpping | Use the programming cable to connect the module to your system. |
226 | 4cce70a8 | Thomas Schöpping | - Is the AMiRo module powered up? |
227 | 332fd270 | Thomas Schöpping | Keep a charger plugged in during flashing. |
228 | 4cce70a8 | Thomas Schöpping | |
229 | ATTENTION: |
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230 | Never flash a bootloader to the wrong module! Doing so might cause severe errors |
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231 | and damage the robot. |
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232 | 69661903 | Thomas Schöpping | |
233 | 4cce70a8 | Thomas Schöpping | ================================================================================ |