Setup and Use Vrobotix IDE for Multipilot32 Development

vrobotix-ide-pro

Manual

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 Stato RELEASE

Manual Data 02/02/2012

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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SUMMARY
0 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:LavoroMultipilot32IDEvrobotix-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:LavoroMultipilot32IDEvrobotix-ide-proarmbin;

• C:LavoroMultipilot32IDEvrobotix-ide-procygwinbin;
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• C:LavoroMultipilot32IDEvrobotix-ide-proopenocdbin;

• C:LavoroMultipilot32IDEvrobotix-ide-proST-LINK_gdbserver

Replace the root of the path (C:LavoroMultipilot32IDEvrobotix-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 workspaceACopter32-x.x.xbuild 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 workspaceACopter32-
x.x.xbuild 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 workspaceACopter32-
x.x.xbuild 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:LavoroMultipilot32IDEvrobotix-ide-proarmbin;

• C:LavoroMultipilot32IDEvrobotix-ide-procygwinbin;

• C:LavoroMultipilot32IDEvrobotix-ide-proopenocdbin;

• C:LavoroMultipilot32IDEvrobotix-ide-proST-LINK_gdbserver

Replace the root of the path (C:LavoroMultipilot32IDEvrobotix-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 workspaceMP32F4xxFLASH_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

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