LexxPluss Main Board Software

For Docker (Ubuntu)

Install dependencies

$ mkdir -p $HOME/zephyrproject/
$ cd $HOME/zephyrproject/
$ git clone https://github.com/LexxPluss/LexxHard-MainBoard-Firmware
$ docker pull zephyrprojectrtos/zephyr-build:v0.21.0
$ docker run -it -v $HOME/zephyrproject:/workdir docker.io/zephyrprojectrtos/zephyr-build:v0.21.0

Setup Zephyr

$ export ZEPHYR_BASE=/workdir/LexxHard-MainBoard-Firmware/zephyr
$ cd /workdir/LexxHard-MainBoard-Firmware
$ west init -l lexxpluss_apps
$ west update
$ west config --global zephyr.base-prefer configfile
$ west zephyr-export

Build

Build bootloader (MCUboot)

$ ZEPHYR_TOOLCHAIN_VARIANT=gnuarmemb west build -b lexxpluss_mb02 bootloader/mcuboot/boot/zephyr -d build-mcuboot

Build firmware

$ ZEPHYR_TOOLCHAIN_VARIANT=gnuarmemb west build -b lexxpluss_mb02 lexxpluss_apps

$ cp ./build/zephyr/zephyr.signed.confirmed.bin LexxHard-MainBoard-Firmware-Update-?.?.?.bin

$ dd if=/dev/zero bs=1k count=256 | tr "\000" "\377" > bl_with_ff.bin
$ dd if=build-mcuboot/zephyr/zephyr.bin of=bl_with_ff.bin conv=notrunc
$ cat bl_with_ff.bin build/zephyr/zephyr.signed.bin >  LexxHard-MainBoard-Firmware-Initial-?.?.?.bin

Build firmware ( enable interlock )

$ ZEPHYR_TOOLCHAIN_VARIANT=gnuarmemb west build -b lexxpluss_mb02 lexxpluss_apps -- -DENABLE_INTERLOCK=1

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For macOS

Install dependencies　

Prepare a development environment referring to https://docs.zephyrproject.org/2.7.0/getting_started/

Install Homebrew

$ /bin/bash -c "$(curl -fsSL https://raw.githubusercontent.com/Homebrew/install/HEAD/install.sh)"

Install Utils

$ brew install cmake ninja gperf python3 ccache qemu dtc
$ pip3 install -U west

Setup Zephyr

$ west init -l lexxpluss_apps
$ west update
$ west zephyr-export
$ pip3 install -r zephyr/scripts/requirements.txt

Install Toolchain

Install Toolchain and set environment variables referring to https://docs.zephyrproject.org/2.7.0/getting_started/toolchain_3rd_party_x_compilers.html

export ZEPHYR_TOOLCHAIN_VARIANT=gnuarmemb
export GNUARMEMB_TOOLCHAIN_PATH=/Applications/ARM

Build

Build bootloader (MCUboot)

$ west build -b lexxpluss_mb02 bootloader/mcuboot/boot/zephyr -d build-mcuboot

Build firmware

$ west build -p auto -b lexxpluss_mb02 lexxpluss_apps

Build firmware ( enable interlock )

$ west build -p auto -b lexxpluss_mb02 lexxpluss_apps -- -DENABLE_INTERLOCK=1

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Program of the built firmware

First time program

Program the bootloader and signed firmware after erasing the entire Flash ROM.

$ brew install stlink
$ st-flash --reset --connect-under-reset erase
$ st-flash --reset --connect-under-reset write build-mcuboot/zephyr/zephyr.bin 0x8000000
$ st-flash --reset --connect-under-reset write build/zephyr/zephyr.signed.bin 0x8040000

Update

Program the firmware for update to the update area.

$ st-flash --reset --connect-under-reset write build/zephyr/zephyr.signed.confirmed.bin 0x8080000

Program of the released firmware

$ st-flash --reset --connect-under-reset erase
$ st-flash --reset --connect-under-reset write LexxHard-MainBoard-Firmware-Initial-v?.?.? 0x8000000

Update via ROS

Use LexxPluss/LexxHard-MainBoard-Updator.

The firmware is automatically updated when the robot is turned on again after executing the following command.

$ rosrun mainboard_updator mainboard_updator LexxHard-MainBoard-Firmware-Update-v?.?.?.bin

License

Copyright (c) 2022, LexxPluss Inc. Released under the BSD License.