Re: [Paparazzi-devel] Autopilot not flashing

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Re: [Paparazzi-devel] Autopilot not flashing

From:	Felix Ruess
Subject:	Re: [Paparazzi-devel] Autopilot not flashing
Date:	Sun, 6 Nov 2011 14:28:58 +0100
Hi Joey,

ok, didn't read which ap you have, Lisa/L already has JTAG onboard, so
you don't need an extra JTAG adapter (as you do with with Lisa/M). So
you are fine with the mini usb cable.

But I don't know what the problem is... maybe someone with more
practical experience with Lisa/L and/or JTAG knows...

Cheers, Felix

On Sat, Nov 5, 2011 at 10:00 PM, Joseph Wagster <address@hidden> wrote:
> Hi Felix,
>
>   I'm not exactly sure what the jtag cables are.  I am using a mini usb to
> connect my computer tot he lisa/L and a 3S lipo into the main power
> connection to power the board.  I noticed that the led's on the board that
> are usually green don't seem to light up anymore when I plug in the lipo.
> (I can't do the led test as I can't flash the autopilot).  I at first
> thought that I had fried my autopilot (which confused me because I have used
> deans plugs and cannot reverse polarity and always use the recommended
> voltage).  But I don't think its fried because it is still providing power
> to the speed controllers and satellite. (they beep when I plug in the lipo).
>
>   What do the jtag cables look like, where are they located, or how do I
> check to see if they have power. (Google and the wiki failed me for images)
>
>   As for getting the engines started.  I have changed the subsystem to "mkk"
> as we are using mikrokopter speed controllers.  We recently had to wait for
> another lisa/L board as we had an accident with the last one and were using
> another autopilot in the meantime.  We realized that we were using the I2C
> connection and that it wasn't working with the other autopilot.  We also
> realized that there is a PWM connection on the Mikrokopter controllers as
> well as the I2C.  We used these and the engines started up on the other
> autopilot so we thought we had solved our engine start up issue (the power
> behavior was different for I2C speed controller connections).
>
> Thank you again,
> Joey
>
> On Thu, Nov 3, 2011 at 6:41 AM, Felix Ruess <address@hidden> wrote:
>>
>> Hi Joseph,
>>
>> this is an openocd error when you try to flash and has nothing to do
>> with your flight plan or airframe file.
>>
>> Did you check your jtag cables, power, etc like openocd said:
>> Error: Check JTAG interface, timings, target power, etc.
>>
>> Regarding getting your engines started: if you can't start your motors
>> in manual, it won't work with a flight plan either....
>> What motor controllers are you using? Which subsystem did you add?
>>
>> If you are using I2c motor controllers, this might possibly be a
>> problem with the current I2C driver on the stm32,
>> see also https://github.com/paparazzi/paparazzi/issues/71
>>
>> Cheers, Felix
>>
>> On Wed, Nov 2, 2011 at 6:32 PM, Joseph Wagster <address@hidden>
>> wrote:
>> > Hello,
>> >
>> > I am working with the lisa/L autopilot and using ubuntu v 10.10 matty
>> > mavrick.  I am trying to make a quadrotor and have been able to receive
>> > telemetry before but have not been able to get the engines to start up.
>> > I
>> > have been using a modified version of the BOOZ2_A7 airframe to run all
>> > of
>> > this and tried to change my flight plan as an attempt to get my engines
>> > to
>> > start.  After I did this (and it didn't' work) I tried to flash my
>> > autopilot
>> > back to its original state.  However now my autopilot gives me this
>> > error
>> > that I do not understand...  Can someone please tell me what this error
>> > is
>> > or why I am having problems flashing my autopilot or getting my engines
>> > to
>> > start.
>> >
>> > Thank you very much,
>> > Joey
>> >
>> >
>> > address@hidden:~/paparazzi$ make AIRCRAFT=BOOZ2_A7 clean_ac ap.upload
>> > BOOZ2_A7
>> > rm -fr /home/joey/paparazzi/var/BOOZ2_A7
>> > BOOZ2_A7
>> > BUILD BOOZ2_A7, TARGET ap
>> > BUILD /home/joey/paparazzi/var/BOOZ2_A7/generated/airframe.h
>> > ##################################################
>> >
>> >  AIRFRAME MODEL: BOOZ2_A7
>> >
>> > ##################################################
>> > BUILD /home/joey/paparazzi/var/BOOZ2_A7/generated/modules.h
>> > BUILD /home/joey/paparazzi/var/BOOZ2_A7/generated/settings.h
>> > BUILD /home/joey/paparazzi/var/BOOZ2_A7/generated/tuning.h
>> > BUILD /home/joey/paparazzi/var/BOOZ2_A7/generated/periodic.h
>> > BUILD /home/joey/paparazzi/var/BOOZ2_A7/generated/radio.h
>> > ##################################################
>> >
>> >  RADIO MODEL: JR XP903
>> >
>> > ##################################################
>> > BUILD /home/joey/paparazzi/var/BOOZ2_A7/generated/flight_plan.h
>> > ##################################################
>> >
>> >  FLIGHT PLAN: Dummy
>> >
>> > ##################################################
>> > BUILD /home/joey/paparazzi/var/BOOZ2_A7/flight_plan.xml
>> > cd sw/airborne; make PAPARAZZI_SRC=/home/joey/paparazzi
>> > PAPARAZZI_HOME=/home/joey/paparazzi TARGET=ap all
>> > DEPEND /home/joey/paparazzi/var/BOOZ2_A7/ap/.depend
>> > Using CC   = /opt/paparazzi/stm32/bin/arm-none-eabi-gcc
>> > Using LD   = /opt/paparazzi/stm32/bin/arm-none-eabi-gcc
>> > Using CP   = /opt/paparazzi/stm32/bin/arm-none-eabi-objcopy
>> > Using DMP  = /opt/paparazzi/stm32/bin/arm-none-eabi-objdump
>> > Using NM   = /opt/paparazzi/stm32/bin/arm-none-eabi-nm
>> > Using SIZE = /opt/paparazzi/stm32/bin/arm-none-eabi-size
>> > Using OOCD = /opt/paparazzi/stm32/bin/openocd
>> > GCC version:
>> > arm-none-eabi-gcc (GCC) 4.4.3
>> > Copyright (C) 2010 Free Software Foundation, Inc.
>> > This is free software; see the source for copying conditions.  There is
>> > NO
>> > warranty; not even for MERCHANTABILITY or FITNESS FOR A PARTICULAR
>> > PURPOSE.
>> >
>> > OOCD version:
>> > Open On-Chip Debugger 0.5.0-dev-00789-g59a6380 (2011-03-15-11:50)
>> > Licensed under GNU GPL v2
>> > For bug reports, read
>> >     http://openocd.berlios.de/doc/doxygen/bugs.html
>> > *** NOT using multilib ***
>> > CC /home/joey/paparazzi/var/BOOZ2_A7/ap/mcu.o
>> > CC /home/joey/paparazzi/var/BOOZ2_A7/ap/sys_time.o
>> > CC /home/joey/paparazzi/var/BOOZ2_A7/ap/downlink.o
>> > CC /home/joey/paparazzi/var/BOOZ2_A7/ap/pprz_transport.o
>> > CC /home/joey/paparazzi/var/BOOZ2_A7/ap/firmwares/rotorcraft/main.o
>> > CC /home/joey/paparazzi/var/BOOZ2_A7/ap/arch/stm32/mcu_arch.o
>> > arch/stm32/mcu_arch.c:46:2: warning: #warning Info: Using external clock
>> > CC /home/joey/paparazzi/var/BOOZ2_A7/ap/math/pprz_geodetic_int.o
>> > CC /home/joey/paparazzi/var/BOOZ2_A7/ap/math/pprz_geodetic_float.o
>> > CC /home/joey/paparazzi/var/BOOZ2_A7/ap/math/pprz_geodetic_double.o
>> > CC /home/joey/paparazzi/var/BOOZ2_A7/ap/math/pprz_trig_int.o
>> > CC /home/joey/paparazzi/var/BOOZ2_A7/ap/lisa/plug_sys.o
>> > CC /home/joey/paparazzi/var/BOOZ2_A7/ap/arch/stm32/stm32_exceptions.o
>> > CC /home/joey/paparazzi/var/BOOZ2_A7/ap/arch/stm32/stm32_vector_table.o
>> > CC /home/joey/paparazzi/var/BOOZ2_A7/ap/arch/stm32/led_hw.o
>> > CC /home/joey/paparazzi/var/BOOZ2_A7/ap/arch/stm32/sys_time_hw.o
>> > CC /home/joey/paparazzi/var/BOOZ2_A7/ap/subsystems/settings.o
>> > CC
>> >
>> > /home/joey/paparazzi/var/BOOZ2_A7/ap/arch/stm32/subsystems/settings_arch.o
>> > CC
>> > /home/joey/paparazzi/var/BOOZ2_A7/ap/arch/stm32/mcu_periph/uart_arch.o
>> > CC /home/joey/paparazzi/var/BOOZ2_A7/ap/mcu_periph/i2c.o
>> > CC /home/joey/paparazzi/var/BOOZ2_A7/ap/arch/stm32/mcu_periph/i2c_arch.o
>> > CC /home/joey/paparazzi/var/BOOZ2_A7/ap/firmwares/rotorcraft/commands.o
>> > CC /home/joey/paparazzi/var/BOOZ2_A7/ap/boards/lisa_l/baro_board.o
>> > CC /home/joey/paparazzi/var/BOOZ2_A7/ap/arch/stm32/mcu_periph/adc_arch.o
>> > CC /home/joey/paparazzi/var/BOOZ2_A7/ap/subsystems/electrical.o
>> > CC /home/joey/paparazzi/var/BOOZ2_A7/ap/firmwares/rotorcraft/autopilot.o
>> > CC
>> > /home/joey/paparazzi/var/BOOZ2_A7/ap/firmwares/rotorcraft/stabilization.o
>> > CC
>> >
>> > /home/joey/paparazzi/var/BOOZ2_A7/ap/firmwares/rotorcraft/stabilization/stabilization_rate.o
>> > CC
>> >
>> > /home/joey/paparazzi/var/BOOZ2_A7/ap/firmwares/rotorcraft/guidance/guidance_h.o
>> > CC
>> >
>> > /home/joey/paparazzi/var/BOOZ2_A7/ap/firmwares/rotorcraft/guidance/guidance_v.o
>> > CC /home/joey/paparazzi/var/BOOZ2_A7/ap/subsystems/ins.o
>> > CC /home/joey/paparazzi/var/BOOZ2_A7/ap/subsystems/ins/vf_float.o
>> > CC
>> > /home/joey/paparazzi/var/BOOZ2_A7/ap/firmwares/rotorcraft/navigation.o
>> > CC
>> >
>> > /home/joey/paparazzi/var/BOOZ2_A7/ap/subsystems/navigation/common_flight_plan.o
>> > CC /home/joey/paparazzi/var/BOOZ2_A7/ap/subsystems/radio_control.o
>> > CC
>> > /home/joey/paparazzi/var/BOOZ2_A7/ap/subsystems/radio_control/spektrum.o
>> > CC
>> >
>> > /home/joey/paparazzi/var/BOOZ2_A7/ap/arch/stm32/subsystems/radio_control/spektrum_arch.o
>> > arch/stm32/subsystems/radio_control/spektrum_arch.c:93:2: warning:
>> > #warning
>> > "NOT using secondary spektrum receiver."
>> > CC
>> >
>> > /home/joey/paparazzi/var/BOOZ2_A7/ap/firmwares/rotorcraft/actuators/supervision.o
>> > CC
>> >
>> > /home/joey/paparazzi/var/BOOZ2_A7/ap/firmwares/rotorcraft/actuators/actuators_mkk.o
>> > CC /home/joey/paparazzi/var/BOOZ2_A7/ap/firmwares/rotorcraft/datalink.o
>> > CC /home/joey/paparazzi/var/BOOZ2_A7/ap/firmwares/rotorcraft/telemetry.o
>> > CC /home/joey/paparazzi/var/BOOZ2_A7/ap/subsystems/imu.o
>> > CC /home/joey/paparazzi/var/BOOZ2_A7/ap/subsystems/imu/imu_b2.o
>> > CC
>> >
>> > /home/joey/paparazzi/var/BOOZ2_A7/ap/arch/stm32/subsystems/imu/imu_b2_arch.o
>> > CC /home/joey/paparazzi/var/BOOZ2_A7/ap/peripherals/max1168.o
>> > CC
>> >
>> > /home/joey/paparazzi/var/BOOZ2_A7/ap/arch/stm32/peripherals/max1168_arch.o
>> > CC /home/joey/paparazzi/var/BOOZ2_A7/ap/peripherals/ms2100.o
>> > CC
>> > /home/joey/paparazzi/var/BOOZ2_A7/ap/arch/stm32/peripherals/ms2100_arch.o
>> > CC /home/joey/paparazzi/var/BOOZ2_A7/ap/subsystems/gps.o
>> > CC /home/joey/paparazzi/var/BOOZ2_A7/ap/subsystems/gps/gps_ubx.o
>> > CC
>> >
>> > /home/joey/paparazzi/var/BOOZ2_A7/ap/firmwares/rotorcraft/stabilization/stabilization_attitude_ref_euler_int.o
>> > CC
>> >
>> > /home/joey/paparazzi/var/BOOZ2_A7/ap/firmwares/rotorcraft/stabilization/stabilization_attitude_euler_int.o
>> > CC /home/joey/paparazzi/var/BOOZ2_A7/ap/subsystems/ahrs.o
>> > CC /home/joey/paparazzi/var/BOOZ2_A7/ap/subsystems/ahrs/ahrs_int_cmpl.o
>> > CC /home/joey/paparazzi/var/BOOZ2_A7/ap/subsystems/ahrs/ahrs_aligner.o
>> > CC /home/joey/paparazzi/var/BOOZ2_A7/ap/subsystems/ins/hf_float.o
>> > LD /home/joey/paparazzi/var/BOOZ2_A7/ap/ap.elf
>> > OBJCB /home/joey/paparazzi/var/BOOZ2_A7/ap/ap.bin
>> > OBJCH /home/joey/paparazzi/var/BOOZ2_A7/ap/ap.hex
>> >
>> > /home/joey/paparazzi/var/BOOZ2_A7/ap/ap.elf  :
>> > section             size        addr
>> > .isr_vector          304   134217728
>> > .text             117660   134218032
>> > .ARM.extab            12   536870912
>> > .data              13244   536870924
>> > .bss                6796   536884168
>> > ._usrstack          2048   536890964
>> > .ARM.exidx           296   536893012
>> > .comment            2682           0
>> > .debug_aranges      8624           0
>> > .debug_pubnames    20785           0
>> > .debug_info       249558           0
>> > .debug_abbrev      44461           0
>> > .debug_line        69806           0
>> > .debug_frame       19036           0
>> > .debug_str         38559           0
>> > .debug_loc         93479           0
>> > .debug_ranges      14840           0
>> > .ARM.attributes       49           0
>> > Total             702239
>> >
>> >
>> >
>> > cd sw/airborne; make PAPARAZZI_SRC=/home/joey/paparazzi
>> > PAPARAZZI_HOME=/home/joey/paparazzi TARGET=ap upload
>> >   OOCD    /home/joey/paparazzi/var/BOOZ2_A7/ap/ap.elf
>> > Open On-Chip Debugger 0.5.0-dev-00789-g59a6380 (2011-03-15-11:50)
>> > Licensed under GNU GPL v2
>> > For bug reports, read
>> >     http://openocd.berlios.de/doc/doxygen/bugs.html
>> > Info : only one transport option; autoselect 'jtag'
>> > 1000 kHz
>> > adapter_nsrst_delay: 100
>> > jtag_ntrst_delay: 100
>> > cortex_m3 reset_config sysresetreq
>> > Info : max TCK change to: 30000 kHz
>> > Info : clock speed 1000 kHz
>> > Error: JTAG scan chain interrogation failed: all zeroes
>> > Error: Check JTAG interface, timings, target power, etc.
>> > Error: Trying to use configured scan chain anyway...
>> > Error: stm32.cpu: IR capture error; saw 0x00 not 0x01
>> > Warn : Bypassing JTAG setup events due to errors
>> > Warn : Invalid ACK 0 in JTAG-DP transaction
>> > Polling target failed, GDB will be halted. Polling again in 100ms
>> > Polling target failed, GDB will be halted. Polling again in 300ms
>> > Error: JTAG scan chain interrogation failed: all zeroes
>> > Error: Check JTAG interface, timings, target power, etc.
>> > Error: Trying to use configured scan chain anyway...
>> > Error: stm32.cpu: IR capture error; saw 0x00 not 0x01
>> > Warn : Bypassing JTAG setup events due to errors
>> > Warn : Invalid ACK 0 in JTAG-DP transaction
>> >
>> >
>> > in procedure 'reset'
>> > make[1]: *** [upload] Error 1
>> > make: *** [ap.upload] Error 2
>> >
>> >
>> > _______________________________________________
>> > Paparazzi-devel mailing list
>> > address@hidden
>> > https://lists.nongnu.org/mailman/listinfo/paparazzi-devel
>> >
>> >
>>
>> _______________________________________________
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[Paparazzi-devel] Autopilot not flashing, Joseph Wagster, 2011/11/02
- Re: [Paparazzi-devel] Autopilot not flashing, Felix Ruess, 2011/11/03
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