FroboMind

Open source software for autonomous unmanned systems

Flashing the M4 using dfu-util

First the drone is connected with a USB-cable in boot mode. Boot mode is achieved by holding the boot button while the power is connected via the USB-cable. After the power is connected the boot button can be released.

To flash the M4 the following command is run from a terminal: 

dfu-util -a 0 -d 0483:df11 -s 0x08000000 -D FILE

Where FILE is replace with the path and filename of the bin firmware file.

Flashing the M4 using Crossworks

First the M4 is connected to the computer with a ST-Link. In Crossworks to Open a connection to the M4 go to Target → Connect → ST-LINK/V2. In the bottom of the screen it could say something like Cortex-M4 r0p1 on ST-LINK/V2.

Open the AutoQuad project and go to Build → Build and run. It will flash the M4 with the current build.

Remember to change the following in the aq.h file: 

# ifndef BOARD_VERSION
# define BOARD_VERSION 1
# endif
# ifndef BOARD_REVISION
# define BOARD_REVISION 0
# endif

to: 

# ifndef BOARD_VERSION
# define BOARD_VERSION 8
# endif
# ifndef BOARD_REVISION
# define BOARD_REVISION 6
# endif

Build a bin file

By selecting the AutoQuad project in the Project explore and the go to the Properties window. Then under Linker options → Additional Output format, a bin file can be chosen.

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