Lab4

18-449 Project

Firmware for the STM32 Nucleo-F401RE (Zephyr) and the Raspberry Pi cockpit.

• lab3/: Lab 3 apps (stm32-front, stm32-rear, pi/proxy_receiver); pins in lab3/pins.md
• lab2/stm32/: Lab 2 Zephyr app
• setup449: shell setup script

Lab 3

STM32 nodes

In every new shell, from 449Project/:

source ./setup449

Then, from any folder:

west build-front     # N2, steering
west flash-front
west build-rear      # N3, drivetrain
west flash-rear

Add -p for a clean rebuild (west build-front -p). With both boards plugged in, add the board's serial number: west flash-front --dev-id <serial> (find it with STM32_Programmer_CLI -l st-link), or plug in one board at a time.

Raspberry Pi

cd lab3/pi/proxy_receiver
sudo ./run.sh

It sets up both buses, builds and starts. Enter sends one out-of-range CTRL (bad-input test). Ctrl+C stops it. Watch the buses with candump -c -t d any.

Lab 2

From 449Project/:

west build -p always -b nucleo_f401re lab2/stm32   # full rebuild
west flash
west debugserver                                   # terminal 1
west debug                                         # terminal 2

For debugging, build with optimizations off:

west build -p always -b nucleo_f401re lab2/stm32 -- -DCONFIG_DEBUG_OPTIMIZATIONS=y -DCONFIG_DEBUG_THREAD_INFO=y

Zephyr setup (one time)

This repo sits inside a west workspace:

zephyrproject/     ← west workspace (not tracked): .venv/ .west/ zephyr/ modules/
└── 449Project/           ← this repo

1. Follow the Zephyr getting-started guide to install the host dependencies and the Zephyr SDK.
2. Install STM32CubeProgrammer (for west flash) and OpenOCD (for west debug; on macOS run brew install openocd).
3. Create the workspace and clone this repo into it:

   mkdir zephyrproject && cd zephyrproject
   python3 -m venv .venv
   source .venv/bin/activate
   pip install west
   west init -m https://github.com/zephyrproject-rtos/zephyr .
   west update
   west packages pip --install
   git clone <this-repo-url> 449Project

4. Check it works: the green LED (LD2) should blink.

   source ./setup449
   west build -p always -b nucleo_f401re ../zephyr/samples/basic/blinky
   west flash

setup449 must be sourced, not executed. It activates the west venv and the Zephyr environment, and adds the Lab 3 shortcuts.