epfl-mobots / stm32f4-discovery-bootloader

Aseba Bootloader

This bootloader allows flashing a new firmware over CAN using the aseba protocol.

Requirements

This project requires the following tools:

• A C / C++ compiler for the host (only required for unit tests)
• Packager, which is a tool to generate makefiles with dependencies. Once you installed Python 3, it can be installed by running pip3 install cvra-packager.
• A version of the application compiled for use by the bootloader. See the documentation of the Aseba port on Discovery board for details.

Building

To build you have to make sure that the libopencm3 submodule is correctly checked out. run:

git submodule update --init

Then you have to build libopencm3 using:

cd libopencm3
make
cd ..

And finally to build the bootlaoder:

packager
make

Flashing

To flash the bootloader simply run: make flash

Using the bootloader

To flash your application using the bootloader first run asebaswitch:

asebaswitch "ser:device=/dev/tty.yourserialport" &

Then you can flash your .hex binary using:

asebacmd whex 42 path/to/your/binary.hex

(replace 42 by the aseba node id you defined in the config.h earlier)

Note: make sure that the binary you want to flash is correctly linked to use the start address of the first flash page the bootloader uses for the application. By default this is 0x08020000.