Flash AM32

AM32 Firmware

Original project : https://github.com/AlkaMotors/AM32-MultiRotor-ESC-firmware

Gipsa Fork :

https://github.com/gipsa-lab-uav/AM32-MultiRotor-ESC-firmware

https://github.com/gipsa-lab-uav/AM32_Arterytek

Tested hardware

Flash Artery MCU with OpenOCD

1. OpenOCD Artery fork in:

https://github.com/ArteryTek/openocd/releases

Take following file : “tool-openocd-at32-0.1100.220911.tar.gz”

1. download AT32 IDE at following link : https://www.arterychip.com/file/download/1740
2. install (for example) in ~/apps/AT32IDE/OpenOCD by following this link https://www.arterychip.com/en/news/220930_eng.jsp
3. As root create and edit the file /etc/udev/rules.d/90_stlink.rules with

SUBSYSTEMS==“usb”, ATTRS{idVendor}==“0483”, MODE:=“0666”

3. Change location to the installation folder of the OpenOCD (~/apps/AT32IDE/OpenOCD in previous example at line 2)

4. add this script at32_utils.tcl to the “scripts” directory of the downloaded software

5. Connect the esc to the stlink programmer and the power supply to the esc as follows :

   PHOTOOOOOO

6. Run openocd :

   ./bin/openocd -s scripts -f ./interface/stlink.cfg -f ./target/at32f4**xx.cfg -f ./at32_utils.tcl

   with ** adjusted to the MCU you are using (15 or 21)

7. in another terminal run telnet :

telnet localhost 4444

You can install it with

sudo apt install telnet

8. in telnet : first disable write protection (if necessary) :

   reset halt

   at32f4**_disable_write_protection

   with ** adjusted to the MCU you are using (15 or 21)

   You may have to do it 2 times (the first time it is displaying an issue, but it is fake)

9. download in ~/AM32_ESC/bootloaders the following “bootloader” file : https://am32.ca/downloads

   F4**_PB4_BOOTLOADER_V2.hex

   with ** adjusted to the MCU you are using (15 or 21) 9. flash the bootloader in the telnet console:

   flash write_image erase unlock /path_to_AT32F421_AM32_Bootloader/Objects/AM32_F415_BOOTLOADER_PB4_V4.hex

   reset halt

Flash Custom AM32 into the ESC with esc-unlocker

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Download the bin from release :

https://github.com/am32-firmware/AM32-unlocker

https://github.com/am32-firmware/AM32-unlocker/releases

cd ~/src/esc-unlocker

./esc_unlicker_linux>

ST Link and ESC Tekko32 Mini Holybro :

Select file F415_PB4_BOOTLOADER_V4.hex

Flash Custom AM32 into the ESC

1. Download following custom am32 firmware from here : AM32_TEKKO32_F415.hex
2. Go to following link : https://am32.ca/configurator IN CHROME
3. Plug in the kakute with BETA-FLIGHT, with the usb-c cable to the computer and the battery to the ESC
4. click port select and select your device
5. push the connect button
6. push read button
7. push flash firmware button
8. tick “ignore current mcu layout”, select all 4 ESC and push the Flash local file button. Select “AM32_TEKKO32_F4**.hex

with ** adjusted to the MCU you are using (15 or 21)

Configure custom AM32

1. Clone the following git repo : https://github.com/gipsa-lab-uav/esc-configurator

2. Open a terminal

3. Change location to the uncompressed file

4. install yarn following this tutorial : https://github.com/gipsa-lab-uav/esc-configurator

5. Enter following command into the terminal

   yarn start

6. Chrome should open, click the connect button

7. read settings, you should see 4 ESC

8. Push “restore the default settings” button

9. Tune the gains as you wish