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How to flash the Master Board

Install esp-idf

The master board is based on a ESP32 module programmed in C++ using the expressif idf SDK https://github.com/espressif/esp-idf

To install the SDK follow the instruction form https://docs.espressif.com/projects/esp-idf/en/stable/get-started/.

Note : Using Python2, you need to install packages at specific versions before running the installation: pip install python-socketio==1.5.0 Flask-SocketIO==2.9

Please checkout the github issue about the esp-idf version: open-dynamic-robot-initiative#3. i.e. checkout this commit:

git checkout 8d1a9c0 # Need to checkout this old version for now
git submodule update --init --recursive

Firmware of the ESP32 can be found here https://github.com/open-dynamic-robot-initiative/master-board.

You will also need to install the esptool from here https://github.com/espressif/esptool.

To flash the firmware without admin rights, make sure your local user is part of the dialout group. You can check the groups of your current user using the groups command and add the user to the dialout group using the command usermod -a -G dialout $USER

Flashing the firmware

The Master Board need to be connected to a host computer via the PROG connector, and to be powered from a DC source from 5V to 60V. The programmer is a simple USB to SERIAL adapter with line RTS and DTR accessible.

To put the ESP32 in a flash mode, a special circuit is needed to lower the G0 pin from the RTS and DTR lines and generate a reset. To avoid using a dedicated hardware, we can use an ESP dev board containing this circuit and the USB to SERIAL adapter, where the orginal ESP module have been removed:

Wiring of the esp32

Wiring esp32 to master-board

On a freshly assembled board, we first need to burn a configuration fuse because of a conflict with a boot pin. To do so, use the espefuse.py script: (the fuse burning process is irreversible, be sure to only execute the following command)

python espefuse.py set_flash_voltage 3.3V

To flash the board, the esp environment variables must be sourced:

  • Either you installed esp_idf in the standard path and you can simply do: 
    cd master-board/firmware
source setup_esp_idf.bash
  • Or a special branch must be checked out. Assuming the esp-idf installation is under ~/esp/esp-idf: 
    cd ~/esp/esp-idf
git checkout v4.0 # The export.sh is only available at newer versions.
git submodule update --init --recursive
source export.sh
git checkout 8d1a9c0 # Need to checkout this old version for now
git submodule update --init --recursive

Then, from the master-board/firmware folder, you can run:

  • Flash the board: make flash
  • Change configurations: make menuconfig
  • Debug the board: make monitor