본 카테고리는 드론을 제작해본 경험이 있는 사람들이 직접 자신의 드론을 개발할 수 있도록 개발과정을 연재할 예정이다. 드론 제작이 아니라 FC(Flight Controller)에 본인이 직접 펌웨어를 개발하여 올리고 비행하는 과정까지를 연재할 것이다.
본인도 드론제작한 경험은 많이 있지만 모두 오픈소스를 사용하여 빌드하여 비행한 경험들이다.
하지만 드론 개발자로서 드론을 이해하고 싶다면 직접 자신을 드론을 개발해보는 것이 좋은 방법일 것이다. 본인은 하드웨어 및 펌웨어 개발자로 일하고 있지만 드론을 직접개발해 본 적은 없기 때문에 본인이 기존에 제작한 Racing Drone을 이용하여 나만의 드론을 개발해보고자 한다.
이 강좌는 본인이 직접 제작한 컨텐츠가 아니라 기존 드론 강좌를 진행하고 있는 ChrisP 의 강의를 듣고 나의 제작환경에 맞게 진행할 예정이다.
http://blog.naver.com/PostView.nhn?blogId=lbiith&logNo=221095368994
[ChrisP의 STM32F4를 이용한 자작드론 개발] 시작 - 첫 영상 올립니다
안녕하세요. ChrisP 입니다. "STM32F4 속성으로 따라하기" 동영상 강의가 모두 끝난 후 벌써 한달 남...
blog.naver.com
자작 드론 개발 제작환경
1. 드론: Revot FC가 탑재된 200 사이즈 Racing Drone
2. 개발툴: STM32CubeIDE
3. 디버거: J-Link(SWD)
4. 공구 등
아래 사진은 본인이 Revolt FC를 이용하여 제작한 Racing Drone이다. 펌웨어 개발을 위해 SWD 신호선을 J-Link 에뮬레이터와 연결하였다.
개발툴은 STM32CubeIDE를 사용
- STM32를 생성해주는 기존의 CubeMX와 이클립스 기반의 IDE 를 통합한 개발툴
- True studio나 Keil과 같은 IDE를 별도로 설치할 필요가 없음
- Standard Parepallel은 없어지고 유사한 형태의 LL과 HAL로 드라이버를 생성할 수 있음
- 생성된 드라이버는 STM32CubeIDE로 바로 연동되기 때문에 True Studio나 다른 IDE에서 사용하려면 CubeMX를 사용해야함
- STM32를 다루는 입장에서는 드라이버 생성, 디버거 제공, IDE로 자동 연동되기 때문에 개발툴 환경 설정이 엄청 간단해짐
개발툴 설치는 st.com에서 STM32CubeIDE를 검색해서 확인할 수 있다. 다운로드 받기 위해서는 계정이 있어야 한다. 계정이 없으신 분은 회원가입을 하고 다운받아 설치하면 된다.
STM32CubeIDE - STMicroelectronics
STM32CubeIDE - Integrated Development Environment for STM32, STM32CubeIDE-RPM, STM32CubeIDE-Lnx, STM32CubeIDE-Win, STM32CubeIDE-DEB, STM32CubeIDE-Mac, STMicroelectronics
www.st.com
설치는 다운받은 파일만 실행하면 되므로 간단하고 설치후 디버거 드라이버를 함께 설치해주어야 한다.
디버거는 시중에서 저렴하게 구할 수있는 것 중 ST-Link, J-link등 여러가지가 있다. 본인은 기존에 STM32 개발을 위해 사용했던 J-link를 사용한다.
디버거는 J-TAG과 SWD모드 두가지 다 사용할 수 있는데 기존 FC 제품에 SWD 인터페이스만 제공하므로 SWD를 사용할 예정이다.
구매는 아래 참고하면 된다.
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ko.aliexpress.com
다음장에서는 프로젝트를 환경을 설정하고 간단한 코드를 생성하여 다운로드까지 하는 것을 다룰 예정이다.
2023년 01월 25일 업데이트 ...
오랜만에 다시 자작드론 개발을 시작하기 위해 STM32CubeIDE를 다시 설치하였다.
이번에는 Linux환경에서 개발할 수 있는 버전이 있어서 Linux 버전으로 다운받아서 개발환경을 갖출 예정이다.
Linux에서 개발환경을 갖추기 원하는 것은 많은 오픈소스들을 쉽게 검색하고 다운받을 수 있고, 터미널을 이용하여 git과 같은 소스코드 관리 및 작업이 편리하기 때문이다. 개발자라면 Linux 환경에서 개발환경을 갖추고 문제를 해결할 수 있어야 한다고 생각한다.
Ubuntu는 Debian 타입의 설치파일을 선택하여 다운로드하면된다.
다운로드한 파일의 압축을 해제하면 shell script 파일이 나오는데 chmod +x로 속성을 변경해주고 실행하면 된다. 설치과정에서 라이센스 동의를 묻는 과정이 나타나고, J-link 드라이버 설치여부도 확인한다. 모두 동의하고 진행하면 실행 프로그램이 생성된다.
swift@swift-HP-Pavilion-dv6-Notebook-PC:~/Downloads/en.st-stm32cubeide_1.11.2_14494_20230119_0724.unsigned_amd64.deb_bundle.sh$ chmod +x st-stm32cubeide_1.11.2_14494_20230119_0724.unsigned_amd64.deb_bundle.sh
swift@swift-HP-Pavilion-dv6-Notebook-PC:~/Downloads/en.st-stm32cubeide_1.11.2_14494_20230119_0724.unsigned_amd64.deb_bundle.sh$ sudo ./st-stm32cubeide_1.11.2_14494_20230119_0724.unsigned_amd64.deb_bundle.sh
Creating directory makeself_dir_LIWINs
Verifying archive integrity... 100% All good.
Uncompressing STM32CubeIDE installer 100%
SLA0078 Rev2/February 2019
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END OF TERMS AND CONDITIONS
How to Apply These Terms to Your New Libraries
If you develop a new library, and you want it to be of the greatest
possible use to the public, we recommend making it free software that
everyone can redistribute and change. You can do so by permitting
redistribution under these terms (or, alternatively, under the terms of the
ordinary General Public License).
To apply these terms, attach the following notices to the library. It is
safest to attach them to the start of each source file to most effectively
convey the exclusion of warranty; and each file should have at least the
"copyright" line and a pointer to where the full notice is found.
<one line to give the library's name and a brief idea of what it does.>
Copyright (C) <year> <name of author>
This library is free software; you can redistribute it and/or
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This library is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
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Also add information on how to contact you by electronic and paper mail.
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Yoyodyne, Inc., hereby disclaims all copyright interest in the
library 'Frob' (a library for tweaking knobs) written by James Random Hacker.
<signature of Ty Coon>, 1 April 1990
Ty Coon, President of Vice
That's all there is to it!
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As an additional permission to the GNU Lesser General Public License version
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(iii) you comply with the terms of Section 6 of the GNU Lesser General
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Moreover, you may apply this exception to a modified version of the Library,
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I ACCEPT (y) / I DO NOT ACCEPT (N) [N/y] y
License accepted.
Reading package lists... Done
Building dependency tree
Reading state information... Done
Note, selecting 'st-stlink-server' instead of './st-stlink-server-2.1.0-1-linux-amd64.deb'
Note, selecting 'st-stlink-udev-rules' instead of './st-stlink-udev-rules-1.0.3-2-linux-all.deb'
Note, selecting 'st-stm32cubeide-1.11.2' instead of './st-stm32cubeide-1.11.2-14494-20230119-0724.unsigned_amd64.deb'
Note, selecting 'segger-jlink-udev-rules' instead of './segger-jlink-udev-rules-7.82b-linux-all.deb'
The following packages were automatically installed and are no longer required:
libgdbm5 linux-generic linux-headers-generic
Use 'sudo apt autoremove' to remove them.
The following NEW packages will be installed:
segger-jlink-udev-rules st-stlink-server st-stlink-udev-rules st-stm32cubeide-1.11.2
0 upgraded, 4 newly installed, 0 to remove and 37 not upgraded.
Need to get 0 B/880 MB of archives.
After this operation, 0 B of additional disk space will be used.
Get:1 /home/swift/Downloads/en.st-stm32cubeide_1.11.2_14494_20230119_0724.unsigned_amd64.deb_bundle.sh/makeself_dir_LIWINs/segger-jlink-udev-rules-7.82b-linux-all.deb segger-jlink-udev-rules all 7.82b [18.1 kB]
Get:2 /home/swift/Downloads/en.st-stm32cubeide_1.11.2_14494_20230119_0724.unsigned_amd64.deb_bundle.sh/makeself_dir_LIWINs/st-stlink-server-2.1.0-1-linux-amd64.deb st-stlink-server amd64 2.1.0-1 [49.1 kB]
Get:3 /home/swift/Downloads/en.st-stm32cubeide_1.11.2_14494_20230119_0724.unsigned_amd64.deb_bundle.sh/makeself_dir_LIWINs/st-stlink-udev-rules-1.0.3-2-linux-all.deb st-stlink-udev-rules all 1.0.3-2 [4,880 B]
Get:4 /home/swift/Downloads/en.st-stm32cubeide_1.11.2_14494_20230119_0724.unsigned_amd64.deb_bundle.sh/makeself_dir_LIWINs/st-stm32cubeide-1.11.2-14494-20230119-0724.unsigned_amd64.deb st-stm32cubeide-1.11.2 amd64 1.11.2-14494-20230119-0724.unsigned-1 [880 MB]
Selecting previously unselected package segger-jlink-udev-rules.
(Reading database ... 247400 files and directories currently installed.)
Preparing to unpack .../segger-jlink-udev-rules-7.82b-linux-all.deb ...
Unpacking segger-jlink-udev-rules (7.82b) ...
Selecting previously unselected package st-stlink-server.
Preparing to unpack .../st-stlink-server-2.1.0-1-linux-amd64.deb ...
Stopping stlink-server (if any)...
Unpacking st-stlink-server (2.1.0-1) ...
Selecting previously unselected package st-stlink-udev-rules.
Preparing to unpack .../st-stlink-udev-rules-1.0.3-2-linux-all.deb ...
Unpacking st-stlink-udev-rules (1.0.3-2) ...
Selecting previously unselected package st-stm32cubeide-1.11.2.
Preparing to unpack .../st-stm32cubeide-1.11.2-14494-20230119-0724.unsigned_amd64.deb ...
Unpacking st-stm32cubeide-1.11.2 (1.11.2-14494-20230119-0724.unsigned-1) ...
Setting up segger-jlink-udev-rules (7.82b) ...
Setting up st-stlink-udev-rules (1.0.3-2) ...
Setting up st-stlink-server (2.1.0-1) ...
Setting up st-stm32cubeide-1.11.2 (1.11.2-14494-20230119-0724.unsigned-1) ...
Processing triggers for desktop-file-utils (0.24-1ubuntu3) ...
Processing triggers for mime-support (3.64ubuntu1) ...
Processing triggers for gnome-menus (3.36.0-1ubuntu1) ...
Processing triggers for bamfdaemon (0.5.3+18.04.20180207.2-0ubuntu2) ...
Rebuilding /usr/share/applications/bamf-2.index...
STM32CubeIDE installed successfully
설치가 모두 끝나고 응용프로그램에 STM32CubeIDE가 설치되어 있다.
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