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Virtual Robotix IDE Pro Manual 1.0
 

Virtual Robotix IDE Pro Manual 1.0

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Manual of vrobotix-ide-pro version 1.0

Manual of vrobotix-ide-pro version 1.0

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    Virtual Robotix IDE Pro Manual 1.0 Virtual Robotix IDE Pro Manual 1.0 Document Transcript

    • vrobotix-ide-pro ManualNome File vrobotix-ide-pro_1_0.doc Versione 1.0Autore Micheletti Luca Angelo Data 02/02/2012Approvato da Navoni Roberto Data 02/02/2012 Stato RELEASE
    • vrobotix-ide-pro Stato RELEASE Manual Data 02/02/20120 Document management0.1 Document versionsVer. Author Date Description1.0 Micheletti Luca Angelo 02/02/2012 Description of procedure to compile and program the board Multipilot32 F1 and F40.2 References to other documentsNr. Name Description0.3 List of contributionsFunction Name FOXTEAM UAV CLAN Laser Navigation s.r.l. Versione 1.0 Via Matteotti, 34 - 24054 Calcio (BG) Italy Pagina 2 di 17 tel.: +39 0363.968520 - fax: +39 0363 969244 - web: www.radionav.it C.F. e P.IVA 02737760161 - R.I. 231/2000 - R.E.A. 319226 ISO 9001/2008 Rina N. 8360/03/S - IQNet N.IT-29287L
    • vrobotix-ide-pro Stato RELEASE Manual Data 02/02/20120.4 Acronyms and definitionsIn the current document uses terms and acronyms whose definition is given as follows:Name Description FOXTEAM UAV CLAN Laser Navigation s.r.l. Versione 1.0 Via Matteotti, 34 - 24054 Calcio (BG) Italy Pagina 3 di 17 tel.: +39 0363.968520 - fax: +39 0363 969244 - web: www.radionav.it C.F. e P.IVA 02737760161 - R.I. 231/2000 - R.E.A. 319226 ISO 9001/2008 Rina N. 8360/03/S - IQNet N.IT-29287L
    • vrobotix-ide-pro Stato RELEASE Manual Data 02/02/2012SUMMARY 0 DOCUMENT MANAGEMENT ................................................................................ 2 0.1 DOCUMENT VERSIONS ........................................................................................... 2 0.2 REFERENCES TO OTHER DOCUMENTS ..................................................................... 2 0.3 LIST OF CONTRIBUTIONS ........................................................................................ 2 0.4 ACRONYMS AND DEFINITIONS ................................................................................. 3 1 INTRODUCTION .................................................................................................... 7 2 INSTALLATION ..................................................................................................... 7 3 IDE ......................................................................................................................... 8 3.1 ACOPTER32-X.X.X (MULTIPILOT32F1).................................................................... 9 3.1.1 Configuration ................................................................................................ 9 3.1.2 Compiling.................................................................................................... 10 3.1.3 Compiling and programming ....................................................................... 10 3.1.4 Programming .............................................................................................. 11 3.1.4.1 DFU.....................................................................................................................................11 3.1.4.2 STM32 ST-LINK Utility with ST-LINK/V2 .............................................................................11 3.1.5 Debugging .................................................................................................. 12 3.1.5.1 ST-LINK/V2 .........................................................................................................................12 3.2 MP32F4XX (MULTIPILOT32F4) ............................................................................ 13 3.2.1 Configuration .............................................................................................. 13 3.2.2 Compiling.................................................................................................... 14 3.2.3 Programming .............................................................................................. 14 3.2.3.1 STM32 ST-LINK Utility with ST-LINK/V2 .............................................................................14 3.2.3.2 DfuSe ..................................................................................................................................15 3.2.4 Debugging .................................................................................................. 17 3.2.4.1 ST-LINK/V2 .........................................................................................................................17 FOXTEAM UAV CLAN Laser Navigation s.r.l. Versione 1.0 Via Matteotti, 34 - 24054 Calcio (BG) Italy Pagina 4 di 17 tel.: +39 0363.968520 - fax: +39 0363 969244 - web: www.radionav.it C.F. e P.IVA 02737760161 - R.I. 231/2000 - R.E.A. 319226 ISO 9001/2008 Rina N. 8360/03/S - IQNet N.IT-29287L
    • vrobotix-ide-pro Stato RELEASE Manual Data 02/02/2012INDEX OF ILLUSTRATIONS FOXTEAM UAV CLAN Laser Navigation s.r.l.Versione 1.0 Via Matteotti, 34 - 24054 Calcio (BG) Italy Pagina 5 di 17 tel.: +39 0363.968520 - fax: +39 0363 969244 - web: www.radionav.it C.F. e P.IVA 02737760161 - R.I. 231/2000 - R.E.A. 319226 ISO 9001/2008 Rina N. 8360/03/S - IQNet N.IT-29287L
    • vrobotix-ide-pro Stato RELEASE Manual Data 02/02/2012INDEX OF TABLES FOXTEAM UAV CLAN Laser Navigation s.r.l.Versione 1.0 Via Matteotti, 34 - 24054 Calcio (BG) Italy Pagina 6 di 17 tel.: +39 0363.968520 - fax: +39 0363 969244 - web: www.radionav.it C.F. e P.IVA 02737760161 - R.I. 231/2000 - R.E.A. 319226 ISO 9001/2008 Rina N. 8360/03/S - IQNet N.IT-29287L
    • vrobotix-ide-pro Stato RELEASE Manual Data 02/02/20121 IntroductionThe environment provided contains the following folders: • arm: this folder contains the GNU compiler toolchain (CodeSourcery 4.5.2) • cygwin: this folder contains tools for compatibility with linux • eclipse: this folder contains the IDE Eclipse Indigo • openocd: this folder contains tools for debugging with OpenOCD (version 0.5.0) • ST-LINK_gdbserver: this folder contains tools for debugging with ST-LINK/V2 • workspace: this folder contains the source code2 InstallationThe environment is configured to be installed in C:LavoroMultipilot32IDEvrobotix-ide-pro.Where was installed in a different folder you need to do some configuration described below. FOXTEAM UAV CLAN Laser Navigation s.r.l. Versione 1.0 Via Matteotti, 34 - 24054 Calcio (BG) Italy Pagina 7 di 17 tel.: +39 0363.968520 - fax: +39 0363 969244 - web: www.radionav.it C.F. e P.IVA 02737760161 - R.I. 231/2000 - R.E.A. 319226 ISO 9001/2008 Rina N. 8360/03/S - IQNet N.IT-29287L
    • vrobotix-ide-pro Stato RELEASE Manual Data 02/02/20123 IDE • Start the program eclipse.exe from the folder eclipse • Select the folder of workspace (path of folder workspace of environment) Figure 1: vrobotix IDE Eclipse Indigo basedThe projects are: • ACopter32-x.x.x: source code for Multipilot32F1 (source code based on leaflabs’s libraries libmaple) • MP32F4xx: source code for Multipilot32F4 (source code based on STM’s standard libraries) FOXTEAM UAV CLAN Laser Navigation s.r.l. Versione 1.0 Via Matteotti, 34 - 24054 Calcio (BG) Italy Pagina 8 di 17 tel.: +39 0363.968520 - fax: +39 0363 969244 - web: www.radionav.it C.F. e P.IVA 02737760161 - R.I. 231/2000 - R.E.A. 319226 ISO 9001/2008 Rina N. 8360/03/S - IQNet N.IT-29287L
    • vrobotix-ide-pro Stato RELEASE Manual Data 02/02/20123.1 ACopter32-x.x.x (Multipilot32F1)3.1.1 ConfigurationRight click on ACopter32-x.x.x and select Properties. Into C/C++ Build tab (figure 2) there areproperties for compiling source code and programming the board with DFU.Select tab Behaviour: the option Build (Incremental build) contains the options for launchingmakefile: • sketch: compiles all the source code according to the settings in the Makefile • install: install the program on the board through the DFU. If the board is not connected the compilation will be performed while the program will generate an error Figure 2: Properties C/C++ Build of Project ACopter32-x.x.xRight click on ACopter32-x.x.x and select Properties. Into C/C++ Build/Environment tab(figure 3) there are settings for the environment’s paths.The paths configured are: • C:LavoroMultipilot32IDEvrobotix-ide-proarmbin; • C:LavoroMultipilot32IDEvrobotix-ide-procygwinbin; FOXTEAM UAV CLAN Laser Navigation s.r.l. Versione 1.0 Via Matteotti, 34 - 24054 Calcio (BG) Italy Pagina 9 di 17 tel.: +39 0363.968520 - fax: +39 0363 969244 - web: www.radionav.it C.F. e P.IVA 02737760161 - R.I. 231/2000 - R.E.A. 319226 ISO 9001/2008 Rina N. 8360/03/S - IQNet N.IT-29287L
    • vrobotix-ide-pro Stato RELEASE Manual Data 02/02/2012 • C:LavoroMultipilot32IDEvrobotix-ide-proopenocdbin; • C:LavoroMultipilot32IDEvrobotix-ide-proST-LINK_gdbserverReplace the root of the path (C:LavoroMultipilot32IDEvrobotix-ide-pro) with the path of thefolder (vrobotix-ide-pro) where you installed the IDE Figure 3: Properties Environment of Project ACopter32-x.x.x3.1.2 CompilingRight click on ACopter32-x.x.x project and select Build Project. Eclipse compiles the sourcecode and program the board (if you specify the install option as shown in figure 2 and the boardis connected). The compilation generate files board.bin, board.hex and board.elf fordebugging in the folder workspaceACopter32-x.x.xbuild where board is the name of boardspecified into Makefile (BOARD ?= laserlab_MP32V1F1 or BOARD ?= laserlab_MP32V3F1)3.1.3 Compiling and programming • Specify the option install as shown in figure 2 • Connect Multipilot32F1 with USB cable to PC • Right click on ACopter32-x.x.x project and select Build Project. Eclipse compiles the source code and program the board. The compilation generate files board.bin, FOXTEAM UAV CLAN Laser Navigation s.r.l. Versione 1.0 Via Matteotti, 34 - 24054 Calcio (BG) Italy Pagina 10 di 17 tel.: +39 0363.968520 - fax: +39 0363 969244 - web: www.radionav.it C.F. e P.IVA 02737760161 - R.I. 231/2000 - R.E.A. 319226 ISO 9001/2008 Rina N. 8360/03/S - IQNet N.IT-29287L
    • vrobotix-ide-pro Stato RELEASE Manual Data 02/02/2012 board.hex and board.elf for debugging in the folder workspaceACopter32- x.x.xbuild where board is the name of board specified into Makefile (BOARD ?= laserlab_MP32V1F1 or BOARD ?= laserlab_MP32V3F1)3.1.4 Programming3.1.4.1 DFU • Specify the option install as shown in figure 2 • Connect Multipilot32F1 with USB cable to PC • Right click on ACopter32-x.x.x project and select Build Project. Eclipse compiles the source code and program the board. The compilation generate files board.bin, board.hex and board.elf for debugging in the folder workspaceACopter32- x.x.xbuild where board is the name of board specified into Makefile (BOARD ?= laserlab_MP32V1F1 or BOARD ?= laserlab_MP32V3F1)3.1.4.2 STM32 ST-LINK Utility with ST-LINK/V2 • Download the STM32 ST-LINK Utility at linkhttp://www.st.com/internet/com/SOFTWARE_RESOURCES/TOOL/DEVICE_PROGRAMMER/stm32_st-link_utility.zip • Install the utility and start it • Connect Multipilot32F1 with USB cable to PC • From menu Target select Connect • From menu File select open file and search the file board.hex into the folder workspace/ACopter32-x.x.x/build and load it on board • From menu Target select Disconnect • Restart the board FOXTEAM UAV CLAN Laser Navigation s.r.l. Versione 1.0 Via Matteotti, 34 - 24054 Calcio (BG) Italy Pagina 11 di 17 tel.: +39 0363.968520 - fax: +39 0363 969244 - web: www.radionav.it C.F. e P.IVA 02737760161 - R.I. 231/2000 - R.E.A. 319226 ISO 9001/2008 Rina N. 8360/03/S - IQNet N.IT-29287L
    • vrobotix-ide-pro Stato RELEASE Manual Data 02/02/2012 Figure 4: STM32 ST-LINK Utility3.1.5 Debugging3.1.5.1 ST-LINK/V2 FOXTEAM UAV CLAN Laser Navigation s.r.l. Versione 1.0 Via Matteotti, 34 - 24054 Calcio (BG) Italy Pagina 12 di 17 tel.: +39 0363.968520 - fax: +39 0363 969244 - web: www.radionav.it C.F. e P.IVA 02737760161 - R.I. 231/2000 - R.E.A. 319226 ISO 9001/2008 Rina N. 8360/03/S - IQNet N.IT-29287L
    • vrobotix-ide-pro Stato RELEASE Manual Data 02/02/20123.2 MP32F4xx (Multipilot32F4)3.2.1 ConfigurationRight click on ACopter32-x.x.x and select Properties. Into C/C++ Build/Environment tab(figure 3) there are settings for the environment’s paths.The paths configured are: • C:LavoroMultipilot32IDEvrobotix-ide-proarmbin; • C:LavoroMultipilot32IDEvrobotix-ide-procygwinbin; • C:LavoroMultipilot32IDEvrobotix-ide-proopenocdbin; • C:LavoroMultipilot32IDEvrobotix-ide-proST-LINK_gdbserverReplace the root of the path (C:LavoroMultipilot32IDEvrobotix-ide-pro) with the path of thefolder (vrobotix-ide-pro) where you installed the IDE Figure 5: Properties Environment of Project MP32F4xx FOXTEAM UAV CLAN Laser Navigation s.r.l. Versione 1.0 Via Matteotti, 34 - 24054 Calcio (BG) Italy Pagina 13 di 17 tel.: +39 0363.968520 - fax: +39 0363 969244 - web: www.radionav.it C.F. e P.IVA 02737760161 - R.I. 231/2000 - R.E.A. 319226 ISO 9001/2008 Rina N. 8360/03/S - IQNet N.IT-29287L
    • vrobotix-ide-pro Stato RELEASE Manual Data 02/02/20123.2.2 CompilingRight click on MP32F4xx project and select Build Project. Eclipse compiles the source code.The compilation generate files mp32f4.bin, mp32f4.hex and mp32f4.elf for debugging in thefolder workspaceMP32F4xxFLASH_RUN3.2.3 Programming3.2.3.1 STM32 ST-LINK Utility with ST-LINK/V2 • Download the STM32 ST-LINK Utility at linkhttp://www.st.com/internet/com/SOFTWARE_RESOURCES/TOOL/DEVICE_PROGRAMMER/stm32_st-link_utility.zip • Install the utility and start it • Connect Multipilot32F4 with USB cable to PC • From menu Target select Connect • From menu File select open file and search the file mp32f4.bin into the folder workspace/MP32F4xx/FLASH_RUN and load it on board • From menu Target select Disconnect • Restart the board FOXTEAM UAV CLAN Laser Navigation s.r.l. Versione 1.0 Via Matteotti, 34 - 24054 Calcio (BG) Italy Pagina 14 di 17 tel.: +39 0363.968520 - fax: +39 0363 969244 - web: www.radionav.it C.F. e P.IVA 02737760161 - R.I. 231/2000 - R.E.A. 319226 ISO 9001/2008 Rina N. 8360/03/S - IQNet N.IT-29287L
    • vrobotix-ide-pro Stato RELEASE Manual Data 02/02/2012 Figure 6: STM32 ST-LINK Utility3.2.3.2 DfuSe • Download the DfuSe Utility at linkhttp://www.st.com/internet/com/SOFTWARE_RESOURCES/SW_COMPONENT/SW_DEMO/um0412.zip • Install the utility • Run DFU File Manager from Programs/STMicroelectronics/DfuSe. This tool is used to generate the file dfu from file hex generated during compilation to be loaded on board FOXTEAM UAV CLAN Laser Navigation s.r.l. Versione 1.0 Via Matteotti, 34 - 24054 Calcio (BG) Italy Pagina 15 di 17 tel.: +39 0363.968520 - fax: +39 0363 969244 - web: www.radionav.it C.F. e P.IVA 02737760161 - R.I. 231/2000 - R.E.A. 319226 ISO 9001/2008 Rina N. 8360/03/S - IQNet N.IT-29287L
    • vrobotix-ide-pro Stato RELEASE Manual Data 02/02/2012 Figure 7: DFU File Manger - Want to do Figure 8: DFU File Manager - Generation • Select option I want GENERATE a DFU file from S19, HEX or BIN files and select OK • Search file mp32f4.bin or mp32f4.hex into workspace/MP32F4xx/FLASH_RUN and specify the path and name of file dfu to be created • Remove the jumper JP6 from VR-IMU • Connect Multipilot32F4 with USB cable to PC • Run DfuSe Demonstration from Programs/STMicroelectronics/DfuSe. FOXTEAM UAV CLAN Laser Navigation s.r.l.Versione 1.0 Via Matteotti, 34 - 24054 Calcio (BG) Italy Pagina 16 di 17 tel.: +39 0363.968520 - fax: +39 0363 969244 - web: www.radionav.it C.F. e P.IVA 02737760161 - R.I. 231/2000 - R.E.A. 319226 ISO 9001/2008 Rina N. 8360/03/S - IQNet N.IT-29287L
    • vrobotix-ide-pro Stato RELEASE Manual Data 02/02/2012 Figure 9: DfuSe Demo • Select button Choose… and search the file dfu previously created • Select button Upgrade to transfer the file to the board • Disconnect the board • Put the jumper JP6 on VR-IMU3.2.4 Debugging3.2.4.1 ST-LINK/V2 FOXTEAM UAV CLAN Laser Navigation s.r.l. Versione 1.0 Via Matteotti, 34 - 24054 Calcio (BG) Italy Pagina 17 di 17 tel.: +39 0363.968520 - fax: +39 0363 969244 - web: www.radionav.it C.F. e P.IVA 02737760161 - R.I. 231/2000 - R.E.A. 319226 ISO 9001/2008 Rina N. 8360/03/S - IQNet N.IT-29287L