LexxPluss Sensor Control Board Software

For Docker

Install dependencies

$ git clone https://github.com/LexxPluss/LexxHard-SensorControlBoard-Firmware
$ cd LexxHard-SensorControlBoard-Firmware
$ make build

Setup Zephyr

$ make setup
$ make update

Build

Build bootloader (MCUboot)

$ make bootloader

Build firmware

$ make firmware

$ cp ./build/zephyr/zephyr.signed.confirmed.bin LexxHard-SensorControlBoard-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-SensorControlBoard-Firmware-Initial-?.?.?.bin

Build firmware ( enable interlock )

$ make firmware_interlock

---

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-SensorControlBoard-Firmware-Initial-v?.?.? 0x8000000

Update via ROS

(There is no updater for SensorControlBoard yet)

License

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