Kauai Labs navX-MXP User Manual page 92

Advanced
Firmware Customization
You can either download this file via the ST Microelectronics DfuSe utility, or you can download
it via the ST-LINK/V2 adapter (see instructions on debugging below).
In-Circuit Debugging (optional, but highly recommended)
ST-LINK/V2
ST-LINK/V2 JTAG in-circuit debugger was used, this is very inexpensive and works very well.
The ST-LINK/V2 can be purchased at www.digikey.com (among others) for
approximately $40.
Additional utilities for the ST-LINK/V2 (for windows) are available on the STM website.
Connecting the ST-LINK/V2 to the navX-MXP Circuit Board
You will need to solder a 4-pin header to the navX-MXP board in order to connect debug
on the navX-MXP's STM32F411 microcontroller. Then, you will need to connect 4 wires
from the connector to the corresponding location on the ST-LINK/V2 connector.
Instructions on how to do this can be found at the following URL:
https://www.micromouseonline.com/2011/11/05/stlink-swd-for-stm32/
Install OpenOCD
In order to interface eclipse with the ST-LINK/V2 JTAG in-circuit debugger, the OpenOCD
Server is used.
OpenOCD, version 0.9.0 (windows version available at
https://www.freddiechopin.info/en/articles/34-news/92-openocd-w-wersji-080)
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