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Merge branch 'devel' into sam_versions

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This commit is contained in:
Oskar Weigl
2018-04-09 15:03:26 -07:00
parent c1d1b3a7f1 7f3fb2ba62
commit fed26a8d00
15 changed files with 143 additions and 97 deletions
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Firmware/.vscode/c_cpp_properties.json
Vendored
+74 -71
View File
@@ -5,17 +5,17 @@
"includePath": [
"${workspaceRoot}",
"${workspaceRoot}/MotorControl",
"${workspaceRoot}/Board/v3.3/Inc",
"${workspaceRoot}/Board/v3.3/Drivers/CMSIS/Include",
"${workspaceRoot}/Board/v3.3/Drivers/CMSIS/Device/ST/STM32F4xx/Include",
"${workspaceRoot}/Board/v3.3/Drivers/DRV8301",
"${workspaceRoot}/Board/v3.3/Drivers/STM32F4xx_HAL_Driver/Inc",
"${workspaceRoot}/Board/v3.3/Drivers/STM32F4xx_HAL_Driver/Inc/Legacy",
"${workspaceRoot}/Board/v3.3/Middlewares/ST/STM32_USB_Device_Library/Core/Inc",
"${workspaceRoot}/Board/v3.3/Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Inc",
"${workspaceRoot}/Board/v3.3/Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS",
"${workspaceRoot}/Board/v3.3/Middlewares/Third_Party/FreeRTOS/Source/include",
"${workspaceRoot}/Board/v3.3/Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F",
"${workspaceRoot}/Drivers/DRV8301",
"${workspaceRoot}/Board/v3/Inc",
"${workspaceRoot}/Board/v3/Drivers/CMSIS/Include",
"${workspaceRoot}/Board/v3/Drivers/CMSIS/Device/ST/STM32F4xx/Include",
"${workspaceRoot}/Board/v3/Drivers/STM32F4xx_HAL_Driver/Inc",
"${workspaceRoot}/Board/v3/Drivers/STM32F4xx_HAL_Driver/Inc/Legacy",
"${workspaceRoot}/Board/v3/Middlewares/ST/STM32_USB_Device_Library/Core/Inc",
"${workspaceRoot}/Board/v3/Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Inc",
"${workspaceRoot}/Board/v3/Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS",
"${workspaceRoot}/Board/v3/Middlewares/Third_Party/FreeRTOS/Source/include",
"${workspaceRoot}/Board/v3/Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F",
"c:/program files (x86)/gnu tools arm embedded/6 2017-q1-update/arm-none-eabi/include/c++/6.3.1",
"c:/program files (x86)/gnu tools arm embedded/6 2017-q1-update/arm-none-eabi/include/c++/6.3.1/arm-none-eabi",
"c:/program files (x86)/gnu tools arm embedded/6 2017-q1-update/arm-none-eabi/include/c++/6.3.1/backward",
@@ -39,79 +39,82 @@
"limitSymbolsToIncludedHeaders": true
}
},
{
"name": "Linux",
"includePath": [
"${workspaceRoot}",
"${workspaceRoot}/Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F",
"${workspaceRoot}/Middlewares/Third_Party/FreeRTOS/Source/include",
"${workspaceRoot}/Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS",
"${workspaceRoot}/Drivers/DRV8301",
"${workspaceRoot}/Middlewares/ST/STM32_USB_Device_Library/Core/Inc",
"${workspaceRoot}/Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Inc",
"${workspaceRoot}/Drivers/STM32F4xx_HAL_Driver/Inc",
"${workspaceRoot}/Drivers/STM32F4xx_HAL_Driver/Inc/Legacy",
"${workspaceRoot}/Drivers/CMSIS/Device/ST/STM32F4xx/Include",
"${workspaceRoot}/Drivers/CMSIS/Include",
"${workspaceRoot}/Inc",
"${workspaceRoot}/MotorControl",
"/usr/lib/gcc/arm-none-eabi/4.9.3/include",
"/usr/lib/arm-none-eabi/include"
],
"defines": [
{
"name": "Linux",
"includePath": [
"${workspaceRoot}",
"${workspaceRoot}/MotorControl",
"${workspaceRoot}/Drivers/DRV8301",
"${workspaceRoot}/Board/v3/Inc",
"${workspaceRoot}/Board/v3/Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F",
"${workspaceRoot}/Board/v3/Middlewares/Third_Party/FreeRTOS/Source/include",
"${workspaceRoot}/Board/v3/Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS",
"${workspaceRoot}/Board/v3/Middlewares/ST/STM32_USB_Device_Library/Core/Inc",
"${workspaceRoot}/Board/v3/Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Inc",
"${workspaceRoot}/Board/v3/Drivers/STM32F4xx_HAL_Driver/Inc",
"${workspaceRoot}/Board/v3/Drivers/STM32F4xx_HAL_Driver/Inc/Legacy",
"${workspaceRoot}/Board/v3/Drivers/CMSIS/Device/ST/STM32F4xx/Include",
"${workspaceRoot}/Board/v3/Drivers/CMSIS/Include",
"/usr/lib/gcc/arm-none-eabi/4.9.3/include",
"/usr/lib/arm-none-eabi/include"
],
"defines": [
"STM32F405xx",
"USE_HAL_DRIVER",
"__weak=\"__attribute__((weak))\"",
"__packed=\"__attribute__((__packed__))\"",
"__GNUC__"
],
"intelliSenseMode": "clang-x64",
"browse": {
"path": [
],
"intelliSenseMode": "clang-x64",
"browse": {
"path": [
"${workspaceRoot}",
"/usr/lib/gcc/arm-none-eabi/4.9.3/include",
"/usr/lib/arm-none-eabi/include"
],
"limitSymbolsToIncludedHeaders": true,
"databaseFilename": ""
}
},
{
"name": "Mac",
"includePath": [
"${workspaceRoot}",
"${workspaceRoot}/Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F",
"${workspaceRoot}/Middlewares/Third_Party/FreeRTOS/Source/include",
"${workspaceRoot}/Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS",
"${workspaceRoot}/Drivers/DRV8301",
"${workspaceRoot}/Middlewares/ST/STM32_USB_Device_Library/Core/Inc",
"${workspaceRoot}/Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Inc",
"${workspaceRoot}/Drivers/STM32F4xx_HAL_Driver/Inc",
"${workspaceRoot}/Drivers/STM32F4xx_HAL_Driver/Inc/Legacy",
"${workspaceRoot}/Drivers/CMSIS/Device/ST/STM32F4xx/Include",
"${workspaceRoot}/Drivers/CMSIS/Include",
"${workspaceRoot}/Inc",
"${workspaceRoot}/MotorControl",
"/usr/local/Caskroom/gcc-arm-embedded/6-2017-q2-update/gcc-arm-none-eabi-6-2017-q2-update/arm-none-eabi/include",
"/usr/local/Caskroom/gcc-arm-embedded/6-2017-q2-update/gcc-arm-none-eabi-6-2017-q2-update/arm-none-eabi/include/c++/6.3.1",
"/usr/local/Caskroom/gcc-arm-embedded/6-2017-q2-update/gcc-arm-none-eabi-6-2017-q2-update/arm-none-eabi/include/c++/6.3.1/arm-none-eabi",
"/usr/local/Caskroom/gcc-arm-embedded/6-2017-q2-update/gcc-arm-none-eabi-6-2017-q2-update/lib/gcc/arm-none-eabi/6.3.1/include"
],
"defines": [
"/usr/lib/gcc/arm-none-eabi/4.9.3/include",
"/usr/lib/arm-none-eabi/include"
],
"limitSymbolsToIncludedHeaders": true,
"databaseFilename": ""
},
"compilerPath": "arm-none-eabi-gcc -mthumb -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -specs=nosys.specs -specs=nano.specs -u _printf_float -u _scanf_float",
"cStandard": "c11",
"cppStandard": "c++14"
},
{
"name": "Mac",
"includePath": [
"${workspaceRoot}",
"${workspaceRoot}/MotorControl",
"${workspaceRoot}/Drivers/DRV8301",
"${workspaceRoot}/Board/v3/Inc",
"${workspaceRoot}/Board/v3/Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F",
"${workspaceRoot}/Board/v3/Middlewares/Third_Party/FreeRTOS/Source/include",
"${workspaceRoot}/Board/v3/Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS",
"${workspaceRoot}/Board/v3/Middlewares/ST/STM32_USB_Device_Library/Core/Inc",
"${workspaceRoot}/Board/v3/Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Inc",
"${workspaceRoot}/Board/v3/Drivers/STM32F4xx_HAL_Driver/Inc",
"${workspaceRoot}/Board/v3/Drivers/STM32F4xx_HAL_Driver/Inc/Legacy",
"${workspaceRoot}/Board/v3/Drivers/CMSIS/Device/ST/STM32F4xx/Include",
"${workspaceRoot}/Board/v3/Drivers/CMSIS/Include",
"/usr/local/Caskroom/gcc-arm-embedded/6-2017-q2-update/gcc-arm-none-eabi-6-2017-q2-update/arm-none-eabi/include",
"/usr/local/Caskroom/gcc-arm-embedded/6-2017-q2-update/gcc-arm-none-eabi-6-2017-q2-update/arm-none-eabi/include/c++/6.3.1",
"/usr/local/Caskroom/gcc-arm-embedded/6-2017-q2-update/gcc-arm-none-eabi-6-2017-q2-update/arm-none-eabi/include/c++/6.3.1/arm-none-eabi",
"/usr/local/Caskroom/gcc-arm-embedded/6-2017-q2-update/gcc-arm-none-eabi-6-2017-q2-update/lib/gcc/arm-none-eabi/6.3.1/include"
],
"defines": [
"STM32F405xx",
"USE_HAL_DRIVER",
"__weak=\"__attribute__((weak))\"",
"__packed=\"__attribute__((__packed__))\"",
"__GNUC__"
],
"intelliSenseMode": "clang-x64",
"browse": {
"path": [
],
"intelliSenseMode": "clang-x64",
"browse": {
"path": [
"${workspaceRoot}",
"/usr/local/Caskroom/gcc-arm-embedded/"
],
"limitSymbolsToIncludedHeaders": true,
"databaseFilename": ""
],
"limitSymbolsToIncludedHeaders": true,
"databaseFilename": ""
}
}
],
Firmware/.vscode/launch.json
Vendored
+14
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@@ -17,5 +17,19 @@
],
"cwd": "${workspaceRoot}"
},
{
// For the Cortex-Debug extension
"type": "cortex-debug",
"servertype": "openocd",
"request": "launch",
"name": "Debug ODrive - FreeRTOS",
"executable": "${workspaceRoot}/build/ODriveFirmware.elf",
"rtos": "FreeRTOS",
"configFiles": [
"interface/stlink-v2.cfg",
"target/stm32f4x_stlink.cfg",
],
"cwd": "${workspaceRoot}"
},
]
}
Firmware/Board/v3/0001-display-correct-ODrive-version-in-USB-descriptor.patch
+1 -1
View File
@@ -14,7 +14,7 @@ index 94dc49b..37b4302 100644
@@ -96,7 +96,9 @@
#define USBD_LANGID_STRING 1033
#define USBD_MANUFACTURER_STRING "ODrive Robotics"
#define USBD_PID_FS 0x0D33
#define USBD_PID_FS 0x0D32
-#define USBD_PRODUCT_STRING_FS "ODrive v3.3"
+#define USBD_PRODUCT_XSTR(s) USBD_PRODUCT_STR(s)
+#define USBD_PRODUCT_STR(s) #s
Firmware/Board/v3/Odrive.ioc
+1 -1
View File
@@ -599,7 +599,7 @@ USB_DEVICE.APP_TX_DATA_SIZE-CDC_FS=64
USB_DEVICE.CLASS_NAME_FS=CDC
USB_DEVICE.IPParameters=VirtualMode-CDC_FS,VirtualModeFS,CLASS_NAME_FS,MANUFACTURER_STRING-CDC_FS,PRODUCT_STRING_CDC_FS,VID-CDC_FS,PID_CDC_FS,SERIALNUMBER_STRING_CDC_FS,APP_RX_DATA_SIZE-CDC_FS,APP_TX_DATA_SIZE-CDC_FS
USB_DEVICE.MANUFACTURER_STRING-CDC_FS=ODrive Robotics
USB_DEVICE.PID_CDC_FS=0x0D33
USB_DEVICE.PID_CDC_FS=0x0D32
USB_DEVICE.PRODUCT_STRING_CDC_FS=ODrive v3.3
USB_DEVICE.SERIALNUMBER_STRING_CDC_FS=000000000001
USB_DEVICE.VID-CDC_FS=0x1209
Firmware/Board/v3/Src/freertos.c
+1 -1
View File
@@ -166,7 +166,7 @@ void StartDefaultTask(void const * argument)
thread_cmd_parse = osThreadCreate(osThread(task_cmd_parse), NULL);
// Start USB interrupt handler thread
osThreadDef(task_usb_pump, usb_update_thread, osPriorityNormal, 0, 512);
osThreadDef(task_usb_pump, usb_update_thread, osPriorityAboveNormal, 0, 512);
thread_usb_pump = osThreadCreate(osThread(task_usb_pump), NULL);
//If we get to here, then the default task is done.
Firmware/Board/v3/Src/usbd_desc.c
+1 -1
View File
@@ -95,7 +95,7 @@
#define USBD_VID 0x1209
#define USBD_LANGID_STRING 1033
#define USBD_MANUFACTURER_STRING "ODrive Robotics"
#define USBD_PID_FS 0x0D33
#define USBD_PID_FS 0x0D32
#define USBD_PRODUCT_XSTR(s) USBD_PRODUCT_STR(s)
#define USBD_PRODUCT_STR(s) #s
#define USBD_PRODUCT_STRING_FS ODrive version HW_VERSION_MAJOR.HW_VERSION_MINOR
Firmware/CHANGELOG.md
+5 -4
View File
@@ -2,13 +2,14 @@
Please add a note of your changes below this heading if you make a Pull Request.
### Added
* `make write_otp` command to burn the board version onto the ODrive's one-time programmable memory. If you have an ODrive v3.4 or older, you should run this once for a better firmware update user experience in the future. Run the command without any options for more details. Once set, the board version is exposed through the `board_version_[...]` properties.
* bake Git-derived firmware version into firmware binary. The firmware version is exposed through the `fw_version_[...]` properties.
* `make write_otp` command to burn the board version onto the ODrive's one-time programmable memory. If you have an ODrive v3.4 or older, you can run this once for a better firmware update user experience in the future. Run the command without any options for more details. Once set, the board version is exposed through the `board_version_[...]` properties.
* bake Git-derived firmware version into firmware binary. The firmware version is exposed through the `fw_version_[...]` properties.
### Changed
* The DFU script now verifies the flash after writing
* The DFU script now verifies the flash after writing
* Set thread priority of USB pump thread above protocol thread
### Fixed
* Enums now transported with correct underlying type on native protocol
# Releases
Firmware/FreeRTOS-openocd.c
+20
View File
@@ -0,0 +1,20 @@
/*
* Since at least FreeRTOS V7.5.3 uxTopUsedPriority is no longer
* present in the kernel, so it has to be supplied by other means for
* OpenOCD's threads awareness.
*
* Add this file to your project, and, if you're using --gc-sections,
* ``--undefined=uxTopUsedPriority'' (or
* ``-Wl,--undefined=uxTopUsedPriority'' when using gcc for final
* linking) to your LDFLAGS; same with all the other symbols you need.
*/
#include "FreeRTOS.h"
#ifdef __GNUC__
#define USED __attribute__((used))
#else
#define USED
#endif
const int USED uxTopUsedPriority = configMAX_PRIORITIES - 1;
Firmware/MotorControl/commands.cpp
+13 -10
View File
@@ -26,6 +26,8 @@
#include <usart.h>
#include <gpio.h>
#include <type_traits>
#define UART_TX_BUFFER_SIZE 64
/* Private defines -----------------------------------------------------------*/
@@ -152,6 +154,7 @@ const Endpoint endpoints[] = {
Endpoint::make_object("config"),
Endpoint::make_property("brake_resistance", &brake_resistance),
Endpoint::close_tree(),
Endpoint::make_property("user_config_loaded", const_cast<const bool *>(&user_config_loaded)),
Endpoint::make_object("axis0"),
Endpoint::make_object("config"),
Endpoint::make_property("enable_control_at_start", &axis_configs[0].enable_control_at_start),
@@ -160,7 +163,7 @@ const Endpoint endpoints[] = {
Endpoint::close_tree(),
Endpoint::make_object("motor0"),
Endpoint::make_object("config"),
Endpoint::make_property("control_mode", reinterpret_cast<int32_t*>(&motors[0].control_mode)),
Endpoint::make_property("control_mode", reinterpret_cast<std::underlying_type_t<decltype(motors[0].control_mode)>*>(&motors[0].control_mode)),
Endpoint::make_property("counts_per_step", &motors[0].counts_per_step),
Endpoint::make_property("pole_pairs", &motors[0].pole_pairs),
Endpoint::make_property("pos_gain", &motors[0].pos_gain),
@@ -171,10 +174,10 @@ const Endpoint endpoints[] = {
Endpoint::make_property("resistance_calib_max_voltage", &motors[0].resistance_calib_max_voltage),
Endpoint::make_property("phase_inductance", &motors[0].phase_inductance),
Endpoint::make_property("phase_resistance", &motors[0].phase_resistance),
Endpoint::make_property("motor_type", reinterpret_cast<int32_t*>(&motors[0].motor_type)),
Endpoint::make_property("rotor_mode", reinterpret_cast<int32_t*>(&motors[0].rotor_mode)),
Endpoint::make_property("motor_type", reinterpret_cast<std::underlying_type_t<decltype(motors[0].motor_type)>*>(&motors[0].motor_type)),
Endpoint::make_property("rotor_mode", reinterpret_cast<std::underlying_type_t<decltype(motors[0].rotor_mode)>*>(&motors[0].rotor_mode)),
Endpoint::close_tree(),
Endpoint::make_property("error", reinterpret_cast<int32_t*>(&motors[0].error)),
Endpoint::make_property("error", reinterpret_cast<std::underlying_type_t<decltype(motors[0].error)>*>(&motors[0].error)),
Endpoint::make_property("pos_setpoint", &motors[0].pos_setpoint),
Endpoint::make_property("vel_setpoint", &motors[0].vel_setpoint),
Endpoint::make_property("vel_integrator_current", &motors[0].vel_integrator_current),
@@ -202,7 +205,7 @@ const Endpoint endpoints[] = {
Endpoint::make_property("Ibus", const_cast<const float*>(&motors[0].current_control.Ibus)),
Endpoint::close_tree(),
Endpoint::make_object("gate_driver"),
Endpoint::make_property("drv_fault", reinterpret_cast<int32_t*>(&motors[0].drv_fault)),
Endpoint::make_property("drv_fault", reinterpret_cast<std::underlying_type_t<decltype(motors[0].drv_fault)>*>(&motors[0].drv_fault)),
Endpoint::make_property("status_reg_1", (&motors[0].gate_driver_regs.Stat_Reg_1_Value)),
Endpoint::make_property("status_reg_2", (&motors[0].gate_driver_regs.Stat_Reg_2_Value)),
Endpoint::make_property("ctrl_reg_1", (&motors[0].gate_driver_regs.Ctrl_Reg_1_Value)),
@@ -260,7 +263,7 @@ const Endpoint endpoints[] = {
Endpoint::close_tree(),
Endpoint::make_object("motor1"),
Endpoint::make_object("config"),
Endpoint::make_property("control_mode", reinterpret_cast<int32_t*>(&motors[1].control_mode)),
Endpoint::make_property("control_mode", reinterpret_cast<std::underlying_type_t<decltype(motors[1].control_mode)>*>(&motors[1].control_mode)),
Endpoint::make_property("counts_per_step", &motors[1].counts_per_step),
Endpoint::make_property("pole_pairs", &motors[1].pole_pairs),
Endpoint::make_property("pos_gain", &motors[1].pos_gain),
@@ -271,10 +274,10 @@ const Endpoint endpoints[] = {
Endpoint::make_property("resistance_calib_max_voltage", &motors[1].resistance_calib_max_voltage),
Endpoint::make_property("phase_inductance", &motors[1].phase_inductance),
Endpoint::make_property("phase_resistance", &motors[1].phase_resistance),
Endpoint::make_property("motor_type", reinterpret_cast<int32_t*>(&motors[1].motor_type)),
Endpoint::make_property("rotor_mode", reinterpret_cast<int32_t*>(&motors[1].rotor_mode)),
Endpoint::make_property("motor_type", reinterpret_cast<std::underlying_type_t<decltype(motors[1].motor_type)>*>(&motors[1].motor_type)),
Endpoint::make_property("rotor_mode", reinterpret_cast<std::underlying_type_t<decltype(motors[1].rotor_mode)>*>(&motors[1].rotor_mode)),
Endpoint::close_tree(),
Endpoint::make_property("error", reinterpret_cast<int32_t*>(&motors[1].error)),
Endpoint::make_property("error", reinterpret_cast<std::underlying_type_t<decltype(motors[1].error)>*>(&motors[1].error)),
Endpoint::make_property("pos_setpoint", &motors[1].pos_setpoint),
Endpoint::make_property("vel_setpoint", &motors[1].vel_setpoint),
Endpoint::make_property("vel_integrator_current", &motors[1].vel_integrator_current),
@@ -302,7 +305,7 @@ const Endpoint endpoints[] = {
Endpoint::make_property("Ibus", const_cast<const float*>(&motors[1].current_control.Ibus)),
Endpoint::close_tree(),
Endpoint::make_object("gate_driver"),
Endpoint::make_property("drv_fault", reinterpret_cast<int32_t*>(&motors[1].drv_fault)),
Endpoint::make_property("drv_fault", reinterpret_cast<std::underlying_type_t<decltype(motors[1].drv_fault)>*>(&motors[1].drv_fault)),
Endpoint::make_property("status_reg_1", (&motors[1].gate_driver_regs.Stat_Reg_1_Value)),
Endpoint::make_property("status_reg_2", (&motors[1].gate_driver_regs.Stat_Reg_2_Value)),
Endpoint::make_property("ctrl_reg_1", (&motors[1].gate_driver_regs.Ctrl_Reg_1_Value)),
Firmware/MotorControl/config.cpp
+4 -3
View File
@@ -212,6 +212,7 @@ void get_motor_config(const Motor_t* motor, MotorConfig_t* config) {
config->encoder_motor_dir = motor->encoder.motor_dir;
}
bool user_config_loaded = false;
void init_configuration(void) {
MotorConfig_t motor_config[2];
@@ -230,11 +231,11 @@ void init_configuration(void) {
// Default config coming from flashed Motor_t
return;
} else {
user_config_loaded = true;
//printf("load config successful\r\n"); osDelay(5);
set_motor_config(&motor_config[0], &motors[0]);
set_motor_config(&motor_config[1], &motors[1]);
}
set_motor_config(&motor_config[0], &motors[0]);
set_motor_config(&motor_config[1], &motors[1]);
}
void save_configuration(void) {
Firmware/MotorControl/config.h
+1
View File
@@ -5,6 +5,7 @@
extern "C" {
#endif
extern bool user_config_loaded;
void init_configuration(void);
void save_configuration(void);
void erase_configuration(void);
Firmware/README.md
+2 -1
View File
@@ -110,6 +110,7 @@ If you have multiple ODrives connected, you should specify which one to upgrade.
iSerial 3 306A396A3235
```
* The last column is the serial number you're looking for. You can unplug selected devices to track down the one you want to update.
* If you only get `iSerial 3`, then you can try to substitute `sudo lsusb` in place of `lsusb`.
* Run `make dfu SERIAL_NUMBER=385F324D3037`, where `385F324D3037` is the targeted serial number.
__Warning:__ Currently it is advised that you only do this to flash
@@ -118,7 +119,7 @@ the device during upgrade. Otherwise, if something goes wrong, you need an exter
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)**
* **Make sure you have [configured the build first](#configuring-the-build)**
* 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 `Firmware` directory.
Firmware/Tupfile.lua
+3 -1
View File
@@ -85,6 +85,7 @@ LDFLAGS += '-T'..boarddir..'/STM32F405RGTx_FLASH.ld'
LDFLAGS += '-L'..boarddir..'/Drivers/CMSIS/Lib' -- lib dir
LDFLAGS += '-lc -lm -lnosys -larm_cortexM4lf_math' -- libs
LDFLAGS += '-mthumb -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -specs=nosys.specs -specs=nano.specs -u _printf_float -u _scanf_float -Wl,--cref -Wl,--gc-sections'
LDFLAGS += '-Wl,--undefined=uxTopUsedPriority'
-- common flags for ASM, C and C++
@@ -138,7 +139,8 @@ build{
'MotorControl/axis.cpp',
'MotorControl/commands.cpp',
'MotorControl/protocol.cpp',
'MotorControl/config.cpp'
'MotorControl/config.cpp',
'FreeRTOS-openocd.c'
},
includes={
'Drivers/DRV8301',
Firmware/build.sh
+2 -2
View File
@@ -18,6 +18,6 @@ bash -xe ./tup_build.sh
# Deploy
if ! [ -z ${DEPLOY+x} ]; then
mkdir -p deploy
cp build/ODriveFirmware.elf deploy/ODriveFirmware-"$DEPLOY".elf
cp build/ODriveFirmware.hex deploy/ODriveFirmware-"$DEPLOY".hex
cp build/ODriveFirmware.elf deploy/ODriveFirmware_"$DEPLOY".elf
cp build/ODriveFirmware.hex deploy/ODriveFirmware_"$DEPLOY".hex
fi
Firmware/tup.config.default
+1 -1
View File
@@ -1,6 +1,6 @@
# Copy this file to tup.config and adapt it to your needs
# make sure this fits your board
#CONFIG_BOARD_VERSION=v3.3
#CONFIG_BOARD_VERSION=v3.4-24V
CONFIG_USB_PROTOCOL=native
CONFIG_UART_PROTOCOL=ascii
CONFIG_STEP_DIR=n