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update readme

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Samuel Sadok
2018-02-22 19:49:10 -08:00
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Firmware/README.md
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@@ -112,6 +112,9 @@ If you want a different mode, you can change `.control_mode`. To disable a motor
<br><br>
## Compiling and downloading firmware
### Getting a programmer
__Note:__ If you don't plan to make major firmware modifications you can use the built-in DFU feature.
In this case you don't need an SWD programmer and you can skip OpenOCD related instructions.
Get a programmer that supports SWD (Serial Wire Debugging) and is ST-link v2 compatible. You can get them really cheap on [eBay](http://www.ebay.co.uk/itm/ST-Link-V2-Emulator-Downloader-Programming-Mini-Unit-STM8-STM32-with-20CM-Line-/391173940927?hash=item5b13c8a6bf:g:3g8AAOSw~OdVf-Tu) or many other places.
### Installing prerequisites
@@ -151,13 +154,21 @@ After installing all of the above, open a Git Bash shell. Continue at section [B
### Building the firmware
* Make sure you have cloned the repository.
* Navigate your terminal (bash/cygwin) to the ODrive/Firmware dir.
* Run `make` in the root of this repository.
* Run `make` in the `Firmware` directory.
### Flashing the firmware
### Flashing the firmware (standalone device)
* Run `make dfu` in the `Firmware` directory.
__Warning:__ Currently it is advised that you only do this to flash
official unmodified firmware. Also make sure you don't switch off
the device during upgrade. If something goes wrong you need an external
programmer to recover the device. This will be fixed in the future.
### Flashing the firmware (external Programmer)
* **Make sure you have [configured the parameters first](#configuring-parameters)**
* Connect `GND`, `SWD`, and `SWC` on connector J2 to the programmer. Note: Always plug in `GND` first!
* You need to power the board by only **ONE** of the following: VCC(3.3v), 5V, or the main power connection (the DC bus). The USB port (J1) does not power the board.
* Run `make flash` in the root of this repository.
* Run `make flash` in the `Firmware` directory.
If the flashing worked, you can start sending commands. If you want to do that now, you can go to [Communicating over USB or UART](#communicating-over-usb-or-uart).