Flash Crazyflie over USB
With multiple students flashing crazyflies near each other, will need a way to specify which crazyflie to flash. If using the radio can specify the crazyflie address to flash as explained here https://www.bitcraze.io/documentation/repository/crazyflie-firmware/master/building-and-flashing/build/#:~:text=Automatically%20enter%20bootloader%20mode
Wanting to move away from radio to wifi, will need to modify the flashing process to connect over wifi. Will also need to modify the boot loader to support wifi communication to be able to receive data.
Alternatively, we could purchase several debug adapters and debug kits to flash the crazy flies through that. https://www.bitcraze.io/documentation/repository/crazyflie-firmware/master/building-and-flashing/build/#:~:text=Using%20a%20debug%20adapter https://www.st.com/en/development-tools/stlink-v3set.html
Activity
assigned to @rhunt
Able to flash the firmware over USB after putting the Microcontroller on the crazyflie into DFU mode. Looking into how to streamline entering and exiting DFU mode to allow for updating over USB.
Messaged sAz and arnaud from the bitcraze forums who may have been working on this issue: https://forum.bitcraze.io/viewtopic.php?p=21644#p21644
Reply from arnaud, created issue ticket on official Crazyflie firmware to streamline the USB flashing process. https://github.com/bitcraze/crazyflie-firmware/issues/923
- Need to restart into DFU mode from main firmware, Can do this by sending an USB request packet which will then get handled in
usb.c/usbd_cf_Setup. Need to add handler for new request packet that will be sent. See https://github.com/bitcraze/lps-node-firmware/pull/19/files for an example of setting the crazyflie into DFU mode. - Need to be able to send a USB setup request packet to the crazyflie, see here for USB standard info https://www.beyondlogic.org/usbnutshell/usb6.shtml#SetupPacket, send to default endpoint 0?
- Need to restart into DFU mode from main firmware, Can do this by sending an USB request packet which will then get handled in
- See crazyflie-lib-python https://github.com/bitcraze/crazyflie-lib-python/blob/31f323af54771f68b40ff58567d71bf8318f541d/cflib/drivers/cfusb.py#L137-L141 for example of sending setup request from the host to the quad
Got python script to send usb setup request and crazyflie responds to it. But crazyflie reboots into a failed self test mode without going into DFU mode.
console after reboot:
--- SYS: Crazyflie 2.0 is up and running! SYS: Build 27:77654ece88e9 (2020-team-final-state +27) MODIFIED SYS: I am 0x313438353133470B001C0022 and I have 1024KB of flash! CFGBLK: v1, verification [OK] DECK_CORE: 0 deck(s) found MPU9250 I2C connection [OK]. AK8963 I2C connection [OK]. LPS25H I2C connection [OK]. ESTIMATOR: Using Complementary (1) estimator CONTROLLER: Using PID (1) controller MTR-DRV: Using brushed motor driver SYS: About to run tests in system.c. EEPROM: I2C connection [OK]. STORAGE: Storage check [OK]. AK8963: Self test [OK]. SYS: The system resumed after a failed assert [WARNING] SYS: Assert failed at .//src/drivers/src/uart_syslink.c:383 SYS: cfAssertNormalStart [FAIL]See commit 79174f2d and 11136a55 ,
Was able to jump to DFU mode from the firmware by using a section of the memory as a flag, indicating if we should jump to DFU mode at startup. When commanded, the firmware sets this flag then reboots the system. On every startup it firsts checks if the flag is set, if it is then it remaps the memory to system flash, sets the main stack pointer to the value in address 0x0, and jumps to address 0x4. This method simplifies the jump and makes it more reliable.
