Getting Started with V2 - Revision history

Potter-91: /* Reflashing the Bootloader onto the STM32 */

2025-04-23T12:20:02Z

Reflashing the Bootloader onto the STM32

← Older revision		Revision as of 12:20, 23 April 2025
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	<br>		<br>

	<big>'''If you got one of the very first x-core boards, you will need to re-flash the bootloader ~~frm~~ the CM4 or by the SWD port.'''</big>		<big>'''If you got one of the very first x-core boards, you will need to re-flash the bootloader from the CM4''' ''(or by the SWD port).''</big>

	<big>'''Cause of a bug the ethernet ports are in a reset loop and there have been breaking changes in the protocol.'''</big>		<big>'''Cause of a bug the ethernet ports are in a reset loop and there have been breaking changes in the protocol.'''</big>
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	===Step 4: Use the bootloader host program to connect to the bootloader. ===		===Step 4: Use the bootloader host program to connect to the bootloader.===

	In this step we test that the host application can talk to the bootloader.		In this step we test that the host application can talk to the bootloader.

Potter-91 at 11:25, 23 April 2025

2025-04-23T11:25:47Z

← Older revision		Revision as of 11:25, 23 April 2025
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	== Reflashing the Bootloader onto the STM32 ==		== Reflashing the Bootloader onto the STM32 ==

			<br>

	<big>'''If you got one of the very first x-core boards, you will need to re-flash the bootloader frm the CM4 or by the SWD port.'''</big>		<big>'''If you got one of the very first x-core boards, you will need to re-flash the bootloader frm the CM4 or by the SWD port.'''</big>

Potter-91 at 11:24, 23 April 2025

2025-04-23T11:24:16Z

← Older revision		Revision as of 11:24, 23 April 2025
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	== Reflashing the Bootloader onto the STM32 ==		== Reflashing the Bootloader onto the STM32 ==

	~~If you got one of the very first x-core boards, you will need to re-flash the bootloader (there have been breaking changes in the protocol).~~

	'''~~Requirements:~~'''		<big>'''If you got one of the very first x-core boards, you will need to re-flash the bootloader frm the CM4 or by the SWD port.'''</big>

	* CM4 on the ~~core board~~		<big>'''Cause of a bug the ethernet ports are in a reset loop and there have been breaking changes in the protocol.'''</big>

	* DHCP server on the ethernet where the STM32 is connected (I recommend installing <code>isc-dhcp-server</code>. Its easy and works well for me)

	* OpenOCD installed on the CM4 (see here for how to do it: ~~https://core.x-tech.online/docs/tutorials/flashing-stm32-from-cm4/)~~		'''Requirements:'''

	* ~~Docker or Podman installed~~ on the ~~CM4. I am using podman here, you can replace `podman` for `docker` and it should work the same.~~		*CM4 on the core board

			*DHCP server on the ethernet where the STM32 is connected (I recommend installing <code>isc-dhcp-server</code>. Its easy and works well for me)

	=== Step 1: Get the latest firmware ===		*OpenOCD installed on the CM4 (see here for how to do it: https://core.x-tech.online/docs/tutorials/flashing-stm32-from-cm4/)

			*Docker or Podman installed on the CM4. I am using podman here, you can replace `podman` for `docker` and it should work the same.


			===Step 1: Get the latest firmware===

	SSH into your CM4 and execute the following commands:		SSH into your CM4 and execute the following commands:
Line 30:		Line 34:


	=== Step 2: Flash the bootloader to your STM32 ===		===Step 2: Flash the bootloader to your STM32===

	Run the following command to write the bootloader to your STM32.		Run the following command to write the bootloader to your STM32.
Line 40:		Line 44:


	=== Step 3: Check, if it worked ===		===Step 3: Check, if it worked===

	Whenever the bootloader is running, the Heartbeat LED (heart icon on the PCB) should be flashing BLUE. Check, if this is the case.		Whenever the bootloader is running, the Heartbeat LED (heart icon on the PCB) should be flashing BLUE. Check, if this is the case.
Line 49:		Line 53:


	=== Step 4: Use the bootloader host program to connect to the bootloader. ===		===Step 4: Use the bootloader host program to connect to the bootloader. ===

	In this step we test that the host application can talk to the bootloader.		In this step we test that the host application can talk to the bootloader.
Line 58:		Line 62:
	Information about the used flags:		Information about the used flags:

	* --rm: removes the temporary container after uploading the firmware		*--rm: removes the temporary container after uploading the firmware
	* -it: Allows terminal output to be instantly visible		*-it: Allows terminal output to be instantly visible
	* --network=host: Allows the container to access the hosts' network directly		*--network=host: Allows the container to access the hosts' network directly
	* --interface=eth0: Forces the bootloader software to use eth0, change to whatever your ethernet interface name is		*--interface=eth0: Forces the bootloader software to use eth0, change to whatever your ethernet interface name is
	* set_dev_mode --disable: Disables the bootloader's developer mode. Developer mode will just jump into the user space program without any verification. You won't need it when using the bootloader.		*set_dev_mode --disable: Disables the bootloader's developer mode. Developer mode will just jump into the user space program without any verification. You won't need it when using the bootloader.

	A successful run should look like this:		A successful run should look like this:
Line 90:		Line 94:
	</syntaxhighlight>		</syntaxhighlight>

	=== Step 5: Upload a user firmware ===		===Step 5: Upload a user firmware===

	We can now use the bootloader to upload a firmware to the STM32.		We can now use the bootloader to upload a firmware to the STM32.

Potter-91: /* Step 4: Use the bootloader host program to connect to the bootloader. */

2025-04-21T19:49:24Z

Step 4: Use the bootloader host program to connect to the bootloader.

← Older revision		Revision as of 19:49, 21 April 2025
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	<syntaxhighlight lang="bash">		<syntaxhighlight lang="bash">
	openmower@openmower:~/bootloader $ podman run --rm -it --network=host ghcr.io/xtech/fw-xcore-boot --interface=eth0 set_dev_mode --disable		openmower@openmower:~/bootloader $ podman run --rm -it --network=host ghcr.io/xtech/fw-xcore-boot --interface=eth0 set_dev_mode --disable

	Using interface eth0 with IP 172.16.78.1		Using interface eth0 with IP 172.16.78.1

	Received advertisement from 172.16.78.150: BOARD_ADVERTISEMENT:xcore-boot;application-mode		Received advertisement from 172.16.78.150: BOARD_ADVERTISEMENT:xcore-boot;application-mode

	Board in application mode, sending RESET to board		Board in application mode, sending RESET to board

	Timeout (1/25)		Timeout (1/25)

	Received advertisement from 172.16.78.150: BOARD_ADVERTISEMENT:xcore-boot		Received advertisement from 172.16.78.150: BOARD_ADVERTISEMENT:xcore-boot

	Found board at 172.16.78.150		Found board at 172.16.78.150

	Connected to 172.16.78.150:8007		Connected to 172.16.78.150:8007

	Variables received from board:		Variables received from board:

	BOOTLOADER VERSION: xcore-boot v1.1		BOOTLOADER VERSION: xcore-boot v1.1

	BOARD: xcore		BOARD: xcore

	HARDWARE VERSION: 1.1.7		HARDWARE VERSION: 1.1.7

	CARRIER BOARD: hw-openmower-yardforce		CARRIER BOARD: hw-openmower-yardforce

	CARRIER BOARD VERSION: 1.0.1		CARRIER BOARD VERSION: 1.0.1

	Sent SET_DEV_MODE to board		Sent SET_DEV_MODE to board

	> Got command: SET_DEV_MODE		> Got command: SET_DEV_MODE

	Received HASH OK		Received HASH OK

	Sent new value to board		Sent new value to board

	> Dev Mode: Disabled.		> Dev Mode: Disabled.

	>Successfully updated EEPROM		>Successfully updated EEPROM

	Error reading line: Connection closed by remote host		Error reading line: Connection closed by remote host

	Connection closed		Connection closed
	</syntaxhighlight>		</syntaxhighlight>


	=== Step 5: Upload a user firmware ===		=== Step 5: Upload a user firmware ===

Potter-91 at 19:46, 21 April 2025

2025-04-21T19:46:10Z

← Older revision		Revision as of 19:46, 21 April 2025
Line 1:		Line 1:
	This page gathers information on how to get started with the Open Mower v2 software. Although things are getting stable, expect some changes and issues at the moment. If you have any questions, reach out on Discord, we try to help.		This page gathers information on how to get started with the Open Mower v2 software. Although things are getting stable, expect some changes and issues at the moment.

			If you have any questions, reach out on Discord, we try to help.

	== Reflashing the Bootloader onto the STM32 ==		== Reflashing the Bootloader onto the STM32 ==

	If you got one of the very first x-core boards, you will need to re-flash the bootloader (there have been breaking changes in the protocol).		If you got one of the very first x-core boards, you will need to re-flash the bootloader (there have been breaking changes in the protocol).

			'''Requirements:'''

			* CM4 on the core board

	~~Requirements:~~		* DHCP server on the ethernet where the STM32 is connected (I recommend installing <code>isc-dhcp-server</code>. Its easy and works well for me)

	~~- CM4~~ on the core ~~board~~		* OpenOCD installed on the CM4 (see here for how to do it: https://core.x-tech.online/docs/tutorials/flashing-stm32-from-cm4/)

	~~- DHCP server~~ on the ~~ethernet where~~ the ~~STM32 is connected (I recommend installing isc-dhcp-server~~. ~~Its easy and works well for met)~~		* Docker or Podman installed on the CM4. I am using podman here, you can replace `podman` for `docker` and it should work the same.

	~~- OpenOCD installed on the CM4 (see here for how to do it: https://core.x-tech.online/docs/tutorials/flashing-stm32-from-cm4/)~~

	~~- Docker or Podman installed on~~ the ~~CM4. I am using podman here, you can replace `podman` for `docker` and it should work the same.~~		=== Step 1: Get the latest firmware ===

	~~=== Step1: Get the latest firmware ===~~		SSH into your CM4 and execute the following commands:
	SSH into your CM4 and execute the following commands:<syntaxhighlight lang="bash">		<syntaxhighlight lang="bash">
	mkdir ~/bootloader && cd ~/bootloader		mkdir ~/bootloader && cd ~/bootloader
			wget https://github.com/xtech/fw-xcore-boot/releases/download/v1.1.4/xcore-boot-v1.1.4.zip
	wget https://github.com/xtech/fw-xcore-boot/releases/download/v1.1.3/xcore-boot-v1.1.3.zip		unzip xcore-boot-v1.1.4.zip

	unzip xcore-boot-v1.1.3.zip
	</syntaxhighlight>		</syntaxhighlight>

			You should now have a folder `artifacts` in your working directory. It contains the bootloader binaries.

	~~You should now have a folder `artifacts` in your working directory. It contains the bootloader binaries.~~

			=== Step 2: Flash the bootloader to your STM32 ===

	~~=== Step2: Flash the bootloader to your STM32 ===~~		Run the following command to write the bootloader to your STM32.
	Run the following command to write the bootloader to your STM32.<syntaxhighlight lang="bash">		<syntaxhighlight lang="bash">
	openocd -f interface/xcore.cfg -f target/stm32h7x.cfg -c "program artifacts/bootloader/xcore-boot.elf verify reset exit"		openocd -f interface/xcore.cfg -f target/stm32h7x.cfg -c "program artifacts/bootloader/xcore-boot.elf verify reset exit"
	</syntaxhighlight>		</syntaxhighlight>

	When the command succeeded, the updated bootloader is stored in the STM32.		When the command succeeded, the updated bootloader is stored in the STM32.


	=== Step 3: Check, if it worked ===		=== Step 3: Check, if it worked ===

	Whenever the bootloader is running, the Heartbeat LED (heart icon on the PCB) should be flashing BLUE. Check, if this is the case.		Whenever the bootloader is running, the Heartbeat LED (heart icon on the PCB) should be flashing BLUE. Check, if this is the case.

Line 41:		Line 47:

	After power cycling, you should see the blue LED flashing. If not, ask on Discord - something has gone wrong.		After power cycling, you should see the blue LED flashing. If not, ask on Discord - something has gone wrong.


	=== Step 4: Use the bootloader host program to connect to the bootloader. ===		=== Step 4: Use the bootloader host program to connect to the bootloader. ===

	In this step we test that the host application can talk to the bootloader.		In this step we test that the host application can talk to the bootloader.

	Run the following command to disable the developer mode on the bootloader:		Run the following command to disable the developer mode on the bootloader:
	podman run --rm -it --network=host ghcr.io/xtech/fw-xcore-boot --interface=eth0 set_dev_mode --disable		podman run --rm -it --network=host ghcr.io/xtech/fw-xcore-boot --interface=eth0 set_dev_mode --disable


	Information about the used flags:		Information about the used flags:
Line 57:		Line 64:
	* set_dev_mode --disable: Disables the bootloader's developer mode. Developer mode will just jump into the user space program without any verification. You won't need it when using the bootloader.		* set_dev_mode --disable: Disables the bootloader's developer mode. Developer mode will just jump into the user space program without any verification. You won't need it when using the bootloader.

			A successful run should look like this:
			<syntaxhighlight lang="bash">
	A successful run should look like this:<syntaxhighlight lang="bash">
	openmower@openmower:~/bootloader $ podman run --rm -it --network=host ghcr.io/xtech/fw-xcore-boot --interface=eth0 set_dev_mode --disable		openmower@openmower:~/bootloader $ podman run --rm -it --network=host ghcr.io/xtech/fw-xcore-boot --interface=eth0 set_dev_mode --disable

Line 104:		Line 110:
	Connection closed		Connection closed
	</syntaxhighlight>		</syntaxhighlight>


	=== Step 5: Upload a user firmware ===		=== Step 5: Upload a user firmware ===

	We can now use the bootloader to upload a firmware to the STM32.		We can now use the bootloader to upload a firmware to the STM32.

Line 120:		Line 128:
	# Upload the firmware		# Upload the firmware
	podman run --rm -it -v $(pwd):/workdir --network=host ghcr.io/xtech/fw-xcore-boot --interface=eth0 upload /workdir/openmower-yardforce.bin		podman run --rm -it -v $(pwd):/workdir --network=host ghcr.io/xtech/fw-xcore-boot --interface=eth0 upload /workdir/openmower-yardforce.bin
	</syntaxhighlight>A successful run should look like this:<syntaxhighlight lang="bash">		</syntaxhighlight>

			A successful run should look like this:
			<syntaxhighlight lang="bash">
	openmower@openmower:~/firmware $ podman run --rm -it -v $(pwd):/workdir --network=host ghcr.io/xtech/fw-xcore-boot --interface=eth0 upload /workdir/openmower-yardforce.bin		openmower@openmower:~/firmware $ podman run --rm -it -v $(pwd):/workdir --network=host ghcr.io/xtech/fw-xcore-boot --interface=eth0 upload /workdir/openmower-yardforce.bin
	Using interface eth0 with IP 172.16.78.1		Using interface eth0 with IP 172.16.78.1
Line 151:		Line 162:
	File content sent		File content sent
	Connection closed		Connection closed

	</syntaxhighlight>		</syntaxhighlight>

Clemens Elflein: /* Step2: Flash the bootloader to your STM32 */

2025-03-03T13:43:18Z

Step2: Flash the bootloader to your STM32

← Older revision		Revision as of 13:43, 3 March 2025
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	=== Step2: Flash the bootloader to your STM32 ===		=== Step2: Flash the bootloader to your STM32 ===
	Run the following command to write the bootloader to your STM32.		Run the following command to write the bootloader to your STM32.<syntaxhighlight lang="bash">
			openocd -f interface/xcore.cfg -f target/stm32h7x.cfg -c "program artifacts/bootloader/xcore-boot.elf verify reset exit"
	`openocd -f interface/xcore.cfg -f target/stm32h7x.cfg -c "program artifacts/bootloader/xcore-boot.elf verify reset exit"`		</syntaxhighlight>


	When the command succeeded, the updated bootloader is stored in the STM32.		When the command succeeded, the updated bootloader is stored in the STM32.

Clemens Elflein: Created page with "This page gathers information on how to get started with the Open Mower v2 software. Although things are getting stable, expect some changes and issues at the moment. If you have any questions, reach out on Discord, we try to help. == Reflashing the Bootloader onto the STM32 == If you got one of the very first x-core boards, you will need to re-flash the bootloader (there have been breaking changes in the protocol). Requirements: - CM4 on the core board - DHCP serve..."

2025-03-03T13:37:38Z

Created page with "This page gathers information on how to get started with the Open Mower v2 software. Although things are getting stable, expect some changes and issues at the moment. If you have any questions, reach out on Discord, we try to help. == Reflashing the Bootloader onto the STM32 == If you got one of the very first x-core boards, you will need to re-flash the bootloader (there have been breaking changes in the protocol). Requirements: - CM4 on the core board - DHCP serve..."

New page

This page gathers information on how to get started with the Open Mower v2 software. Although things are getting stable, expect some changes and issues at the moment. If you have any questions, reach out on Discord, we try to help.

== Reflashing the Bootloader onto the STM32 ==
If you got one of the very first x-core boards, you will need to re-flash the bootloader (there have been breaking changes in the protocol).

Requirements:

- CM4 on the core board

- DHCP server on the ethernet where the STM32 is connected (I recommend installing isc-dhcp-server. Its easy and works well for met)

- OpenOCD installed on the CM4 (see here for how to do it: https://core.x-tech.online/docs/tutorials/flashing-stm32-from-cm4/)

- Docker or Podman installed on the CM4. I am using podman here, you can replace `podman` for `docker` and it should work the same.

=== Step1: Get the latest firmware ===
SSH into your CM4 and execute the following commands:<syntaxhighlight lang="bash">
mkdir ~/bootloader && cd ~/bootloader

wget https://github.com/xtech/fw-xcore-boot/releases/download/v1.1.3/xcore-boot-v1.1.3.zip

unzip xcore-boot-v1.1.3.zip
</syntaxhighlight>

You should now have a folder `artifacts` in your working directory. It contains the bootloader binaries.

=== Step2: Flash the bootloader to your STM32 ===
Run the following command to write the bootloader to your STM32.

`openocd -f interface/xcore.cfg -f target/stm32h7x.cfg -c "program artifacts/bootloader/xcore-boot.elf verify reset exit"`

When the command succeeded, the updated bootloader is stored in the STM32.

=== Step 3: Check, if it worked ===
Whenever the bootloader is running, the Heartbeat LED (heart icon on the PCB) should be flashing *BLUE*. Check, if this is the case.

If this is not the case, the STM32 is in user-program mode and not in the bootloader. In order to force the STM32 into the bootloader, you need to power cycle the STM32 (RESET button is not enough).

After power cycling, you should see the blue LED flashing. If not, ask on Discord - something has gone wrong.

=== Step 4: Use the bootloader host program to connect to the bootloader. ===
In this step we test that the host application can talk to the bootloader.

Run the following command to disable the developer mode on the bootloader:
podman run --rm -it --network=host ghcr.io/xtech/fw-xcore-boot --interface=eth0 set_dev_mode --disable

Information about the used flags:

* --rm: removes the temporary container after uploading the firmware
* -it: Allows terminal output to be instantly visible
* --network=host: Allows the container to access the hosts' network directly
* --interface=eth0: Forces the bootloader software to use eth0, change to whatever your ethernet interface name is
* set_dev_mode --disable: Disables the bootloader's developer mode. Developer mode will just jump into the user space program without any verification. You won't need it when using the bootloader.

A successful run should look like this:<syntaxhighlight lang="bash">
openmower@openmower:~/bootloader $ podman run --rm -it --network=host ghcr.io/xtech/fw-xcore-boot --interface=eth0 set_dev_mode --disable

Using interface eth0 with IP 172.16.78.1

Received advertisement from 172.16.78.150: BOARD_ADVERTISEMENT:xcore-boot;application-mode

Board in application mode, sending RESET to board

Timeout (1/25)

Received advertisement from 172.16.78.150: BOARD_ADVERTISEMENT:xcore-boot

Found board at 172.16.78.150

Connected to 172.16.78.150:8007

Variables received from board:

BOOTLOADER VERSION: xcore-boot v1.1

BOARD: xcore

HARDWARE VERSION: 1.1.7

CARRIER BOARD: hw-openmower-yardforce

CARRIER BOARD VERSION: 1.0.1

Sent SET_DEV_MODE to board

> Got command: SET_DEV_MODE

Received HASH OK

Sent new value to board

> Dev Mode: Disabled.

>Successfully updated EEPROM

Error reading line: Connection closed by remote host

Connection closed
</syntaxhighlight>

=== Step 5: Upload a user firmware ===
We can now use the bootloader to upload a firmware to the STM32.

In this example we flash the OpenMower v2 firmware for a YardForce robot.

<syntaxhighlight lang="bash">
# Download the firmware you want to upload (.bin file)
# Get it here: https://github.com/xtech/fw-openmower-v2/actions
# Select the latest successful run, login and download the artifact

# Extract the zip:
unzip openmower.zip

# Upload the firmware
podman run --rm -it -v $(pwd):/workdir --network=host ghcr.io/xtech/fw-xcore-boot --interface=eth0 upload /workdir/openmower-yardforce.bin
</syntaxhighlight>A successful run should look like this:<syntaxhighlight lang="bash">
openmower@openmower:~/firmware $ podman run --rm -it -v $(pwd):/workdir --network=host ghcr.io/xtech/fw-xcore-boot --interface=eth0 upload /workdir/openmower-yardforce.bin
Using interface eth0 with IP 172.16.78.1
Received advertisement from 172.16.78.150: BOARD_ADVERTISEMENT:xcore-boot;application-mode
Board in application mode, sending RESET to board
Timeout (1/25)
Received advertisement from 172.16.78.150: BOARD_ADVERTISEMENT:xcore-boot
Found board at 172.16.78.150
File SHA256: 92d8213153e4a757edaff8070c3c51b7de48da1383bb2c9ef1042c3469b89130
File Length: 191208
Connected to 172.16.78.150:8007
Variables received from board:
BOOTLOADER VERSION: xcore-boot v1.1
BOARD: xcore
HARDWARE VERSION: 1.1.7
CARRIER BOARD: hw-openmower-yardforce
CARRIER BOARD VERSION: 1.0.1
Sending UPLOAD command
> Got command: UPLOAD
Received SEND HASH
Sent SHA256 to board
Received HASH OK
Sent file length to board
>Image size: 191208
>Erasing 2 Flash Pages.
>Erasing Chip...
>Erasing Done
Uploading file...
100%|███████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████| 191k/191k [00:01<00:00, 182kB/s]
File content sent
Connection closed

</syntaxhighlight>