Data Sheet

4/27/2018 OpenCR1.0

http://emanual.robotis.com/docs/en/parts/controller/opencr10/ 8/50

4. 3. 5. Folder Structure

Item Contents

bin Save obj and bin files generated after build

common->bsp Includes board-specific functions (LED / BUTTON / USB, etc.)

common->hal Hardware independent function folders on the board

common->lib Libraries used externally or publicly

msg->mavlink Communication protocol source generated by Xml

msg->xml The xml file folder where you defined the command

src Function folder required for boot loader function

4. 4. Update Bootloader(Linux)

You can update the bootloader using the MCU’s DFU mode on the OpenCR board.

To update using DFU mode, you need to install dfu-util.

4. 4. 1. Enter DFU Mode

To run OpenCR in DFU mode, please follow the instruction below.

mav_ack.data[4] = boot_revision;

mav_ack.data[5] = boot_revision>>8;

mav_ack.data[6] = boot_revision>>16;

mav_ack.data[7] = boot_revision>>24;

mav_ack.length = 8;

resp_ack(p_msg->ch, &mav_ack);

}

$ sudo apt-get install dfu-util

OpenCR1.0