fullCURRENT Smarts

This is a project with code for the fullCURRENT motor controller.

It was based off a demo project of FreeRTOS running on a STM32F4 Discovery board located here: website

Initializing the submodule(s)

This project uses submodules for common libraries like D1K. When you first clone the repo, you have to initialize them:

git submodule update --init --recursive

Install the toolchain

The pre-built version of GNU Tools for ARM can be downloaded from its website.

The makefile assumes it is installed in /usr/local/lib/gcc-arm-none-eabi-4_9-2015q3

Also note, you might need to install a 32 bit library if you get weird errors when trying to run this version of GCC.

Making

This project is makefile driven. You can make the project by simply typing make.

Other commands include:

clean: make clean program with JLink: make jlink clean and build: make cb clean, build, and flash: make cbf build and flash: make bf

Programming

I have been using a Segger J-Link to program. To do this, you need to install their "software and documentation pack" from here.

Archive

ST Link Use

Clone this git, follow the instructions on that page and install st-util to your system.

Debug

Connect your STM32F4Discovery with a USB cable. You can flash the binary into the board with this:

$ st-flash write binary/FreeRTOS.bin 0x8000000

The code is wrote directly into internal flash of STM32 processor and it starts to run after reset. To debug it, first start the GDB server:

$ st-util &

And then GDB:

$ arm-none-eabi-gdb binary/FreeRTOS.elf
(gdb) tar ext :4242
(gdb) b main
(gdb) c

You'll get breakpoint triggered at main function, and enjoy!