Motor board firmware

Building

$ packager && make dsdlc && make

Flashing

Flashing with CAN bootloader requires the cvra-bootloader python package.

$ bootloader_flash -p TTY -b build/ch.bin -r -a 0x08003800 -c motor-board-v1 ID

Note:

• The tty of the CAN dongle is usually /dev/tty.usbmodem301 under macOS.
• Under Linux you can also specify a CAN interface using the option -i can0.
• You can specify multiple IDs to update multiple boards at once.

GDB Debugging (without bootloader)

Rebuild without bootloader, flash and lauch openocd:

$ make clean && make USE_BOOTLOADER=no
$ make flash
$ openocd -f openocd.cfg

Use GDB from another session:

$ arm-none-eabi-gdb
(gdb) break main
(gdb) continue
...

Note: The GDB arguments are .gdbinit file in the motor-control-firmware directory. If you want to launch GDB from another location, then you need to pass following arguments:

$ arm-none-eabi-gdb --eval-command='target remote localhost:3333' build/ch.elf

Run tests

$ packager
$ mkdir -p build
$ cd build
$ cmake ..
$ make check