e-puck2 programmer development: Difference between revisions
(Created page with "===Flashing the programmer=== First of all to update the programmer's firmware you need to enter DFU mode (device firmware upgrade). To do it refer to section [http://www.gctr...") |
|||
| (11 intermediate revisions by the same user not shown) | |||
| Line 1: | Line 1: | ||
[{{fullurl:e-puck2}} e-puck2 main wiki]<br/> | |||
= | =Get the source code= | ||
The programmer firmware source code can be downloaded with the command:<br/> | |||
<code>git clone --recursive https://github.com/e-puck2/e-puck2-programmer</code><br/> | |||
== | ==Building== | ||
In order to build the firmware you need the <code>arm-none-eabi</code> toolchain installed. Then you can issue the following commands from the <code>src</code> directory of the repo root:<br/> | |||
<code>make clean</code><br/> | |||
< | <code>make</code><br/> | ||
< | The result is a bin file named <code>e-puck2_programmer.bin</code> that you can find in the <code>src/build</code> directory.<br/> | ||
< | |||
< | =Configuring the Programmer's settings= | ||
< | The on-board programmer of the e-puck2 is based on the [https://github.com/blacksphere/blackmagic/wiki Blackmagic probe open source project] firmware. <br> | ||
Some functionalities has been added on top of the original project to be able to control some functions of the robot, for example the power on or power off. | |||
To access to the available commands of the programmer, it is needed to connect to the programmer with a GDB console. <br> | |||
To do so, you have to type the following command in a terminal window with the com port used by the '''e-puck2 GDB Server'' port of your e-puck2 : | |||
<pre> | |||
arm-none-eabi-gdb | |||
< | target extended-remote your_gdb_com_port | ||
< | </pre> | ||
< | |||
< | Once connected to the programmer with GDB, you can type | ||
<pre>monitor help</pre> or <pre>mon help</pre> to print the available commands of the programmer. | |||
One command in particular is useful, which is <code>mon select_mode</code>. It is used to select in which mode the '''e-puck2 Serial Monitor''' com port will work.<br> | |||
mode 1 = the serial monitor is connected to the UART port of the main processor<br> | |||
mode 2 = the serial monitor is connected to the UART of the ESP32<br> | |||
mode 3 = the serial monitor works as a Aseba CAN to USB translator<br> | |||
The choice made for the mode is the only setting that is stored in a flash zone of the programmer, which means the choice is remembered, even if the robot is completely turned off. | |||
Note : in mode 1 and 3, GDB can be used over the bluetooth connection of the e-puck2. But it is much slower than with USB and it doesn't work with Windows due to GDB limitations on this OS. | |||
By being connected with GDB, you can also use the standard GDB command to program and debug the main processor of the e-puck2. | |||
Latest revision as of 05:58, 17 June 2020
Get the source code
The programmer firmware source code can be downloaded with the command:
git clone --recursive https://github.com/e-puck2/e-puck2-programmer
Building
In order to build the firmware you need the arm-none-eabi toolchain installed. Then you can issue the following commands from the src directory of the repo root:
make clean
make
The result is a bin file named e-puck2_programmer.bin that you can find in the src/build directory.
Configuring the Programmer's settings
The on-board programmer of the e-puck2 is based on the Blackmagic probe open source project firmware.
Some functionalities has been added on top of the original project to be able to control some functions of the robot, for example the power on or power off.
To access to the available commands of the programmer, it is needed to connect to the programmer with a GDB console.
To do so, you have to type the following command in a terminal window with the com port used by the 'e-puck2 GDB Server port of your e-puck2 :
arm-none-eabi-gdb target extended-remote your_gdb_com_port
Once connected to the programmer with GDB, you can type
monitor help
or
mon help
to print the available commands of the programmer.
One command in particular is useful, which is mon select_mode. It is used to select in which mode the e-puck2 Serial Monitor com port will work.
mode 1 = the serial monitor is connected to the UART port of the main processor
mode 2 = the serial monitor is connected to the UART of the ESP32
mode 3 = the serial monitor works as a Aseba CAN to USB translator
The choice made for the mode is the only setting that is stored in a flash zone of the programmer, which means the choice is remembered, even if the robot is completely turned off.
Note : in mode 1 and 3, GDB can be used over the bluetooth connection of the e-puck2. But it is much slower than with USB and it doesn't work with Windows due to GDB limitations on this OS.
By being connected with GDB, you can also use the standard GDB command to program and debug the main processor of the e-puck2.