Flight Controller

• Radio-commandable
• Autonomous

Using Telemetry Module

Go to flight telemetry git

Program / Debug Flight Controller

Debug using ST-LINK

Connexion :

STLINK	PCB
MCU VDD	3.3v
SWDIO	DIO
SWCLK	CLK
MCU_RST	RST
GND	GND

Debug using Raspberry-pi

Connexion :

Raspberry pi pin id	Raspberry pi pin name	PCB
17	3.3v	3.3v
18	GPIO24	DIO
22	GPIO25	CLK
16	GPIO23	RST
20	Ground	GND

UART4/5 console Connexion :

Raspberry pi pin id	Raspberry pi pin name	PCB
10	GPIO15	TX
8	GPIO14	RX
6	Ground	GND

Usefull Softwares

Name	link
Atollic	https://atollic.com/
Eclipse	https://www.eclipse.org/
STM Studio	https://www.st.com/en/development-tools/stm-studio-stm32.html
ST-Link Utility	https://www.st.com/en/development-tools/stsw-link004.html

Raspberry Shield Setup

Update yout raspberry :

$ sudo apt update
$ sudo apt upgrade

Install nessesary components

$ sudo apt-get install git autoconf libtool make pkg-config libusb-1.0-0 libusb-1.0-0-dev

Install openOCD from git

$ git clone http://openocd.zylin.com/openocd
$ cd openocd
$ ./bootstrap
$ ./configure --enable-sysfsgpio --enable-bcm2835gpio
$ make
$ sudo make install

Configure openOCD

$ cd flight-controller-workspace
$ nano openocd.cfg

Then write this :

bindto 0.0.0.0
source [find interface/raspberrypi-native.cfg]
transport select swd
set WORKAREASIZE 0x2000
source [find target/stm32f4x.cfg]
reset_config srst_only srst_nogate
adapter_nsrst_delay 100
adapter_nsrst_assert_width 100
bcm2835gpio_swd_nums 25 24
bcm2835gpio_trst_num 7
bcm2835gpio_srst_num 23
init
targets

Start openOCD

$ sudo openocd &

Go to section Debug using Raspberry-pi

Todos

• Finish new IMU driver
• Write Ultrasonic driver
• Add Shield task

License

MIT