asctec_hl_firmware with ubuntu 16 kinetic
Opened this issue · 2 comments
Hi,
I am trying to make the mastermind connect to the firefly HL processor of the autopilot board to use ROS.
For this purpose, I have build the asctec_hl_firmware from the current asctec_mav_framework
master branch. AI had problems to get openocd running on my Ubuntu 16 system,
I have instead flashed the HL processor using FlashMagic.
Unfortunately, now I run the current hl ros interface on the mastermind,
I get communication errors:
checksum error for packet 4 ,resyncing
checksum error for packet 14 ,resyncing
checksum error for packet 14 ,resyncing
I have seen some people having the same problem here before, but no solution has been found.
- For this reason, I wanted to ask if anyone has succeeded / can provide the current build of the hex file for the HL processor?
- Alternatively, has anyone succeeded in adjusting the lpc2xxx_asctecusbjtag05.cfg accordingly,
by substituting the deprecated FT2232 description with the current FTDI interface?
Thanks and best regards,
Jan
Hi Jan,
I am having a very similar problem to yours. I am using a Pelican with a Mastermind trying to communicate with the HL processor of the autopilot using ROS. I have build the asctec_hl_firmware with no problem and I have flashed this new firmware with both Flashmagic and openocd successfully. I have attached the modified configuration file that I used for openocd. lpc2xxx_asctecusbjtag05-1.txt
Regarding the communication between the Mastermind and the HL, I believe that the HL firmware version is not working properly with newer LL firmware versions. When I connect the LL processor to a Windows machine and use the Research Upgrade Tool, I can see that there is an error with the firmware. Curiously, this error persists whether I flash the asctec_hl_firmware or the "official" firmware version 2.0.
This is fixed when I flash version 3.0, as you can see.
This has lead me to believe that both asctec_hl_firmware and the "official" 2.0 version are not compatible with the LL firmware in version 3.x.
Two potential solutions occur to me:
- Take "official" firmware version 3.x and modified it just as asctec_hl_firmware is a modification of version 2.0.
- Flash a lower firmware version into the LL controller. As stated in the Asctec Research Upgrade FAQ
For the moment I will try to see if I can flash a lower version into the LL controller and report back my findings. What do you think? Do you have any suggestion?
Update:
I tried with a different LL firmware, but the problem persists.
With LL firmware 2.x, HL firmware 3.x is recognized, but version 2.x and asctec_hl_firmware is not.
I guess I could try the other potential solution and modify firmware 3.x to be used with ROS, just as asctec_hl_firmware is a modification of 2.x. Any idea of any other potential solution?
Thank you.
Kind regards,
Saul