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Merge branch 'master' into devel

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This commit is contained in:
Oskar Weigl
2018-09-25 23:26:09 -07:00
parent a0e4bf4324 3e6a1af48f
commit 63d8ecffe1
2 changed files with 8 additions and 29 deletions
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CHANGELOG.md
+1
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@@ -25,6 +25,7 @@ Please add a note of your changes below this heading if you make a Pull Request.
* Hardcoded maximum inductance now 2500 uH.
### Fixed
* Incorrect shifting of offset during index callback
* Once you got an axis error `ERROR_INVALID_STATE` you could never clear it
* Char to int conversion to read motornum on arduino example
* GPIO above #5 would not be used correctly in some cases
docs/odrivetool.md
+7 -29
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@@ -143,36 +143,14 @@ This procedure is only necessary for ODrive v3.4 or earlier. You will need an ST
Power up the ODrive.
4. Open up a terminal and navigate to the directory where the firmware is.
5. Run the following command (replace `ODriveFirmware_v3.4-24V.elf` with the name of your firmware file):
```
~/Downloads $ openocd -f interface/stlink-v2.cfg -f target/stm32f4x.cfg -c init -c reset\ halt -c flash\ write_image\ erase\ ODriveFirmware_v3.4-24V.elf -c reset\ run -c exit
Open On-Chip Debugger 0.10.0
Licensed under GNU GPL v2
For bug reports, read
http://openocd.org/doc/doxygen/bugs.html
Info : auto-selecting first available session transport "hla_swd". To override use 'transport select <transport>'.
Info : The selected transport took over low-level target control. The results might differ compared to plain JTAG/SWD
adapter speed: 2000 kHz
adapter_nsrst_delay: 100
none separate
Info : Unable to match requested speed 2000 kHz, using 1800 kHz
Info : Unable to match requested speed 2000 kHz, using 1800 kHz
Info : clock speed 1800 kHz
Info : STLINK v2 JTAG v17 API v2 SWIM v4 VID 0x0483 PID 0x3748
Info : using stlink api v2
Info : Target voltage: 3.236027
Info : stm32f4x.cpu: hardware has 6 breakpoints, 4 watchpoints
adapter speed: 2000 kHz
target halted due to debug-request, current mode: Thread
xPSR: 0x01000000 pc: 0x08009224 msp: 0x20020000
auto erase enabled
Info : device id = 0x10076413
Info : flash size = 1024kbytes
target halted due to breakpoint, current mode: Thread
xPSR: 0x61000000 pc: 0x20000046 msp: 0x20020000
Warn : no flash bank found for address 10000000
```
openocd -f interface/stlink-v2.cfg -f target/stm32f4x.cfg -c init -c "reset halt" -c "flash write_image erase ODriveFirmware_v3.4-24V.elf" -c "reset run" -c exit
```
If everything worked correctly, you should see something similar to this towards the end of the printout:
```
wrote 262144 bytes from file ODriveFirmware_v3.4-24V.elf in 10.194110s (25.113 KiB/s)
adapter speed: 2000 kHz
```
```
If something doesn't work, make sure `openocd` is in your `PATH` variable, check that the wires are connected properly and try with elevated privileges.