Virtual Robotix IDE Pro Manual 1.0

Nome File vrobotix-ide-pro_1_0.doc Versione 1.0

Autore Micheletti Luca Angelo Data 02/02/2012

Approvato da Navoni Roberto Data 02/02/2012

Stato RELEASE

vrobotix-ide-pro

Manual

vrobotix-ide-pro Stato RELEASE

Manual Data 02/02/2012

Versione 1.0

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Laser Navigation s.r.l. Via Matteotti, 34 - 24054 Calcio (BG) Italy

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

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0 Document management

0.1 Document versions

Ver. Author Date Description

1.0 Micheletti Luca Angelo 02/02/2012 Description of procedure to compile and program the board Multipilot32 F1 and F4

0.2 References to other documents

Nr. Name Description

0.3 List of contributions

Function Name



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0.4 Acronyms and definitions

In the current document uses terms and acronyms whose definition is given as follows:

Name Description



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SUMMARY0 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



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INDEX OF ILLUSTRATIONS



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INDEX OF TABLES



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1 Introduction

The 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 code

2 Installation

The environment is configured to be installed in C:\Lavoro\Multipilot32\IDE\vrobotix-ide-pro .

Where was installed in a different folder you need to do some configuration described below.



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3 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 based

The 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)



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3.1 ACopter32-x.x.x (Multipilot32F1)

3.1.1 Configuration

Right click on ACopter32-x.x.x and select Properties. Into C/C++ Build tab (figure 2) there are

properties for compiling source code and programming the board with DFU.

Select tab Behaviour : the option Build (Incremental build) contains the options for launching

makefile:

• 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.x

Right 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:\Lavoro\Multipilot32\IDE\vrobotix-ide-pro\arm\bin ;

• C:\Lavoro\Multipilot32\IDE\vrobotix-ide-pro\cygwin\ bin ;



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• C:\Lavoro\Multipilot32\IDE\vrobotix-ide-pro\openocd \bin ;

• C:\Lavoro\Multipilot32\IDE\vrobotix-ide-pro\ST-LINK _gdbserver

Replace the root of the path (C:\Lavoro\Multipilot32\IDE\vrobotix-ide-pro) with the path of the

folder (vrobotix-ide-pro) where you installed the IDE

Figure 3: Properties Environment of Project ACopter32-x.x.x

3.1.2 Compiling

Right click on ACopter32-x.x.x project and select Build Project . Eclipse compiles the source

code and program the board (if you specify the install option as shown in figure 2 and the board

is connected). The compilation generate files board.bin , board.hex and board.elf for

debugging in the folder workspace\ACopter32-x.x.x\build where board is the name of board

specified 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 ,



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board.hex and board.elf for debugging in the folder workspace\ACopter32-

x.x.x\build where board is the name of board specified into Makefile (BOARD ?=

laserlab_MP32V1F1 or BOARD ?= laserlab_MP32V3F1 )

3.1.4 Programming

3.1.4.1 DFU

• Specify the option install as shown in figure 2


• 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 workspace\ACopter32-

x.x.x\build 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 link

http://www.st.com/internet/com/SOFTWARE_RESOURCES/TOOL/DEVICE_PROGRAMMER/s

tm32_st-link_utility.zip

• Install the utility and start it


• 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



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Figure 4: STM32 ST-LINK Utility

3.1.5 Debugging

3.1.5.1 ST-LINK/V2



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3.2 MP32F4xx (Multipilot32F4)

3.2.1 Configuration

Right 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:\Lavoro\Multipilot32\IDE\vrobotix-ide-pro \arm\bin;

• C:\Lavoro\Multipilot32\IDE\vrobotix-ide-pro \cygwin\bin;

• C:\Lavoro\Multipilot32\IDE\vrobotix-ide-pro \openocd\bin;

• C:\Lavoro\Multipilot32\IDE\vrobotix-ide-pro \ST-LINK_gdbserver

Replace the root of the path (C:\Lavoro\Multipilot32\IDE\vrobotix-ide-pro) with the path of the

folder (vrobotix-ide-pro) where you installed the IDE

Figure 5: Properties Environment of Project MP32F4xx



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3.2.2 Compiling

Right 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 the

folder workspace\MP32F4xx\FLASH_RUN

3.2.3 Programming

3.2.3.1 STM32 ST-LINK Utility with ST-LINK/V2

• Download the STM32 ST-LINK Utility at link

http://www.st.com/internet/com/SOFTWARE_RESOURCES/TOOL/DEVICE_PROGRAMMER/s

tm32_st-link_utility.zip

• Install the utility and start it


• 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



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Figure 6: STM32 ST-LINK Utility

3.2.3.2 DfuSe

• Download the DfuSe Utility at link

http://www.st.com/internet/com/SOFTWARE_RESOURCES/SW_COMPONENT/SW_DEMO/u

m0412.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



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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


• Run DfuSe Demonstration from Programs/STMicroelectronics/DfuSe.



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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-IMU

3.2.4 Debugging

3.2.4.1 ST-LINK/V2

Virtual Robotix IDE Pro Manual 1.0

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