OpenFC

Open Flight Control based RTEMS

Build

export RTEMS_MAKEFILE_PATH=/path/to/your/rtems/
cd rtems_swo_driver
make
arm-rtems5-objcopy -Obinary ./o-optimize/timer.exe stm32_rtems_swo_timer.bin

Run

1. use your flash program tools to program the flash, if you choose openocd

> flash write_image erase ./rtems_swo_dirver/stm32_rtems_swo_timer.bin 0x8000000
> reset

Get Output / Use OpenOCD as SWV

in the openocd configure:

source [find interface/stlink-v2.cfg]
source [find target/stm32f4x.cfg]

transport select hla_swd
reset_config srst_only
itm port 0 on
tpiu config internal swo.log uart off 16000000 2000000

the 16000000 is the default clock freq(16MHz) set by rtems,200kHz is the freq of st-link on board

after launch openocd -f stm32_swo.cfg

tail -f swo.log and you will watch the output scroll

Design Decision

• Porting RTEMS
• Setup Debug functions
• Sensors Fusion (MPU9250)
• Camera Optical Flow (OpenMV) setup

HardWare

• STM32F4 mini/discovery board
• MPU9250 9DOF model

Software

• rtems multi task
• bsp driver

Algorithm

• complement filter
• extended kalman filter
• PID

Current progress

• RTEMS Bootup finished
• test swo & rtt driver
• PID & Kalman Filter Prototype with python