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MCU firmware

This repository contains firmware source code of Cogip robot for Eurobot, French robotic contest. Its firmware intends to run on stm32f4xx MCU family and rely on RIOT-OS.

As this firmware and RIOT-OS are both evolving, two git repositories lives next to each other, and both are required to generate the firwmare binaries.

Build status

Environment setup

Cloning repositories

$ git clone https://github.com/RIOT-OS/RIOT.git -b 2020.07
$ git clone https://github.com/cogip/mcu-firmware.git

Requirements

To install toolchain and development on ubuntu 20.04:

$ sudo apt install build-essential gcc-8 gcc-8-multilib gcc-multilib openocd python-serial

Minimal gcc version: 8.1

To manually install arm-none-eabi toolchain:

$ mkdir ~/toolchain/
$ cd ~/toolchain/
$ wget https://developer.arm.com/-/media/Files/downloads/gnu-rm/8-2018q4/gcc-arm-none-eabi-8-2018-q4-major-linux.tar.bz2
$ tar xf gcc-arm-none-eabi-8-2018-q4-major-linux.tar.bz2

Edit ~/.bashrc file and add $HOME/toolchain/gcc-arm-none-eabi-8-2018-q4-major/bin/ to $PATH variable:

PATH=${PATH}:$HOME/toolchain/gcc-arm-none-eabi-8-2018-q4-major/bin/

Simulation target (x86_64 architecture)

Assuming the platform is cogip2019-cortex-simulation

Build

Build one application with default board

$ make -j$(nproc) -C applications/<application_name>

Build one application with an other board

$ make -j$(nproc) BOARD=<board_name> -C applications/<application_name>

Build and launch in debugger (only for native cpu architecture)

$ make -j$(nproc) BOARD=<board_name> -C applications/<application_name> all-debug
$ ddd applications/<application_name>/bin/<board_name>/<binary>.elf

Build and flash (only for real board, not native based)

Make sure JTAG programmer is plugged on target board.

$ make -j$(nproc) BOARD=<board_name> -C applications/<application_name> flash

Start ddd on a gdbserver's target

$ make DBG=ddd DBG_FLAGS='--debugger "${GDB} ${DBG_DEFAULT_FLAGS}"' debug

Then, inside DDD application, in gdb prompt, type

target remote localhost:3333

To debug specific function, type

list <functionname>

General build targets

Build all applications on all boards

$ make

Clean all platforms

$ make clean

Distclean all platforms

$ make distclean

Generate doc in various formats

$ make doc docman doclatex

Clean doc

$ make docclean

jhaand / mcu-firmware