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| .cargo | ||
| src | ||
| .gitignore | ||
| BSD.md | ||
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| Cargo.toml | ||
| LICENSE | ||
| README.md | ||
| build.rs | ||
| erase_flash_settings.bin | ||
| eth_cmd_test.py | ||
| flake.lock | ||
| flake.nix | ||
| memory.x | ||
| openocd.gdb | ||
| pid_autotune.py | ||
README.md
Testing Firmware for the Sinara 1550 Kirdy
- This repo is for testing only. Not intended for production use.
Building
Reproducible build with Nix
kirdy firmware is packaged using the Nix Flakes system. Install Nix 2.4+ and enable flakes by adding experimental-features = nix-command flakes to nix.conf (e.g. ~/.config/nix/nix.conf).
Once you have Flakes enabled, you can use nix build to build the firmware.
Development environment
Clone this repository and with Nix Flakes enabled, use the following commands:
nix develop
cargo build
The resulting ELF file will be located under target/thumbv7em-none-eabihf/release/kirdy.
Alternatively, you can install the Rust toolchain without Nix using rustup; see the Rust manifest file pulled in flake.nix to determine which Rust version to use.
For building on FreeBSD or OpenBSD, see BSD.md.
Debugging
Connect SWDIO/SWCLK/RST/GND to a programmer such as ST-Link v2.1. Run OpenOCD:
openocd -f interface/stlink.cfg -f target/stm32f4x.cfg
You may need to power up the programmer before powering the device. Leave OpenOCD running. Run the GNU debugger:
gdb target/thumbv7em-none-eabihf/release/kirdy
(gdb) source openocd.gdb
Flashing
There are several options for flashing kirdy. DFU requires only a USB-C cable or RJ45 cable, whereas OpenOCD needs a JTAG/SWD adapter.
dfu-util on Linux
- Install the DFU USB tool (dfu-util).
- Convert firmware from ELF to BIN:
arm-none-eabi-objcopy -O binary kirdy kirdy.bin(you can skip this step if using the BIN from Hydra) - Put STM32 into DFU Mode. You can either
- Connect to the USB Type C cable to kirdy next to the RJ45 Jack. After that, add BOOT0 jumper to kirdy near programming headers and then cycle board power to put it in DFU mode. OR
- Plug in RJ45 cable, which connect to a network that is accessible by your computer and send the corresponding dfu json command via TCP Socket to kirdy. Please see the python test script for the command.
- Push firmware to flash:
dfu-util -a 0 -s 0x08000000:leave -D kirdy.bin - If you plugged in the BOOT0 jumper, you will need to
- Remove BOOT0 jumper
- Cycle power to leave DFU update mode
- If you plugged in the RJ45 cable, the MCU would start its application code automatically. No power cycle is needed.
st.com DfuSe tool on Windows
On a Windows machine install st.com DfuSe USB device firmware upgrade (DFU) software. link.
- add jumper to kirdy across 2-pin jumper adjacent to JTAG connector
- cycle board power to put it in DFU update mode
- connect USB Type C to PC
- use st.com software to upload firmware
- remove jumper
- cycle power to leave DFU update mode
Erasing Flash Settings
The flash settings are stored in the last flash sector(ID: 11) of bank 0 of stm32f405. You can erase it with JTAG/SWD adapter or by putting the device in Dfu mode. You may find it useful if you have set network settings incorrectly.
With JTAG/SWD adapter connected, issue the following command:
openocd -f interface/stlink.cfg -f target/stm32f4x.cfg -c "flash init; init; halt; flash erase_sector 0 11 last; reset; exit"
With STM32 in DFU Mode, connect the USB Type C cable and then issue the following command:
dfu-util -a 0 -s 0x080E0000:leave -D erase_flash_settings.bin
OpenOCD
openocd -f interface/stlink.cfg -f target/stm32f4x.cfg -c "program target/thumbv7em-none-eabihf/debug/kirdy verify reset; exit"