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Re: [Paparazzi-devel] Autopilot not flashing

From: Joseph Wagster
Subject: Re: [Paparazzi-devel] Autopilot not flashing
Date: Sat, 5 Nov 2011 14:00:01 -0700
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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