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"Classic" navX-MXP Firmware Customization
The output of the build will be placed in the stm32/Debug directory. The extension of the file will be .hex
(Intel HEX Binary format).
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
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