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STM32 Firmware Development

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This repo is for firmware, OS, and application code for the STM32F4xx series of microcontrollers used on the PSAS AV3 avionics system.

To initialize the ChibiOS submodule run:

$ git submodule update --init

When ChibiOS updates you'll need to re-sync it as its origin has changed: The last time ChibiOS was updated: June 2014

$ git submodule sync
$ git submodule update


  • projects
    • projects go here.
    • projects used on the rocket are prefixed by flight-[a-zA-z]
      • flight-rnh: Handles power distribution, battery management, and networking.
      • flight-imu: Handles all sensors including accelerometer, gyro, magnetometer, and pressure, and sends samples over ethernet to the Flight Computer.
      • flight-gps: Manages both the COTS and Bespoke GPS, sending data over ethernet to the Flight Computer.
      • flight-servo: Receives commands over ethernet to set servo positions.
    • intro projects or tool chain test projects
      • e407-led: Simple blinking lights demo
      • enet-udp: Demonstration of how to do networking in ChibiOS.
  • common
    • code that tends to be reused in projects. At the top level it has makefiles and is further grouped into
    • boards
      • boardfiles for our own custom boards. Most off the shelf board boardfiles can be found in ChibiOS/boards
    • devices
      • for peripheral drivers
    • net
      • network ports and addresses (IPs)
      • this is common across the RocketNet
        • maintained outside of the stm32 repo
    • util
      • general programming utilities
      • other utilities
  • ChibiOS
    • git submodule pulled from our own fork of ChibiOS
  • toolchain
    • development directory for cross compilers and openocd
  • notes
    • general notes that don't have a more specific location


- As of Tue 04 March 2014 20:56:56 (PST)
- We are using a slightly modified version of Chibios Release 2.6.3
    - This is maintained in the PSAS Github Repository
- It is a submodule of the stm32 git project.


- PSAS is currently using two boards
    - Olimex e407
    - PSAS Rocketnet Hub



OpenOCD is the tool we use to communicate, flash, and debug the microcontroller via JTAG.

  • Version v0.8.0 as of February 2015
  • Instillation instructions:
    • The Debian and Ubuntu v0.7.0 packages now have the correct build flags so it's as simple as
      • sudo apt-get install openocd
    • For other systems, or if you are building it yourself, ensure that it's built with --enable-ft2232_libftdi --enable-stlink
  • udev rules
    • To use OpenOCD without sudo, move 99-psas-jtag.rules in common/ to /etc/udev/rules.d/ and the run sudo udevadm control --restart. Alternativly some versions of OpenOCD ship with a more complete udev rule set in /usr/share/openocd/contrib/


GNU Tools for ARM Embedded Processors

  • Version 4.8 as of March 2014

  • Instillation instructions:

    • The prefered way is to use the provided PPA
  • Ubuntu 14.04 and Debian testing recently (April 2014) introduced their own compiler package named gcc-arm-none-eabi, but it's not the same as ours and the packaging is broken anyway. If you've just upgraded to 14.04 run:

    sudo apt-get remove binutils-arm-none-eabi gcc-arm-none-eabi
    sudo apt-get autoremove
    sudo add-apt-repository ppa:terry.guo/gcc-arm-embedded
    sudo apt-get update
    sudo apt-get install gcc-arm-none-eabi=4-8-2014q1-0trusty8


  • Programmers used for JTAG
    • Olimex-arm-usb-ocd and STLinkV2 are what we currently use, but any supported by OpenOCD should work
  • Debugging flow with GDB
    • make gdb will start gdb and connect it to openocd. make gdb_stl if you're using the StlinkV2 debugger.
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