Motor Board v4 Firmware
These instructions assume that you are using a version of Linux, but should also work on BSD-derived OSes (including OS X). Windows users may wish to try Cygwin, create a Linux VM (although flashing the board from a VM may require some thought), or consider their life choices.
gitcan be found in your distribution's repositories, or online.
A working C compiler, such as
clang, also from your distribution's repositories.
make, also from your distribution's repositories.
arm-none-eabitoolchain. This may be in your distribution's repositories, otherwise download it from Launchpad and follow the instructions in the README.
stm32flash, which can be found on Google Code. After downloading, build and install it:
$ make $ sudo make install
From a shell,
cdinto the directory where you cloned the repository and download the
$ git submodule update --init
arm-none-eabitoolchain prefix, unless it is in your
$PATH. If you downloaded it from the link above, it will be the path to the
bindirectory of the extracted folder, followed by
$ cd libopencm3 $ make PREFIX=
Change back to the project directory and build the firmware:
$ cd .. $ make PREFIX=
Connect the motor board to your machine via USB. The USB Power Light (green, next to the connector) should turn on.
Connect the motor board to a power source. The main power light (green, in the middle of the board) should turn on. If using the SR power board, you will have to run a program to turn on the motor rail.
Press the firmware button on the side of the motor board with a long thin object.
To test connectivity, run the following command, where X is found by running
$ stm32flash /dev/ttyUSB
Load the firmware onto the motor board:
$ stm32flash -w mcv4.bin -v /dev/ttyUSB