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- 2. ?? ¡ñ OpenCR ? ¡ñ ???? ¡ñ ???? ?? ¡ð ???? ¡ð ???? ¡ð ???? ?? ?? ¡ð ??? ?? 2
- 3. OpenCR (Open-source Control Module for ROS) ¡ñ STM32F746ZGT6 216Mhz, 1MB Flash, 320KB SRAM ¡ñ ???? ?? ? ?? ¡ñ ???? IDE ???? ?? ¡ñ ?????/??/UART/CAN ????? ¡ñ ??? ?? ? ?? ??(12V/5V/3.3V) 3
- 4. ???? ¡ñ ???? IDE ??? ?? ?? ?? ? ? ? ? ? ? ?? OS - Windows - Linux - Mac ???? - Windows/Linux/Mac : gcc arm 5.4 2016q2 Cortex M7 ??? ?? GCC Arduino IDE - 1.6.9 ?? https://www.arduino.cc/ ???? - ?????? ?? ??? ?? arduino.org? IDE? ????? ???? 4
- 5. ???? ? ?? ¡ñ ???? ?? ??? ?? ¡ñ I/O ??? 3.3V 5
- 6. ???? upload ?? ???? IDE OpenCR ?? ???? (2) ???? (3) ???? (4) ?? ?? (1) ??? ?? ?? ????? ?? ?? ?? 6 ??? ??? ?
- 7. ?? ?? ?? ?? ??? ?? - ?? ?? ?? - CubeMX ?? ?? Study ???? ?? ???? ?? - ??? ? ?? - ???? ???? ?? - ??? ??? ?? ???? ?? ?? ?? - ???? API ??? ?? - ?? ?? ??? ?? ?? - github? ?? ??? ?? 7
- 8. ???? ¡ñ ??? ? ¡ñ ???? ?? 8
- 9. ???? ¡ñ stm32ld ¡ð stm32? ?? ????? ??? ???? ??? ???? ? ? ?? ???? ¡ð ???/???/??? ?? ?? ?? ¡ð https://github.com/jsnyder/stm32ld ¡ñ opencr_ld ¡ð stm32ld? ?? ??? ???? opencr? ???? ????? ??? ¡ð ???/???/??? ?? ?? ¡ö ???? QT? ?????? ??? 9
- 10. ???? ?? ?? ¡ñ ?? ?? ? ? ? ? bootloaders ??? ???? ??? ?? ?? cores ???? API ??? ?? libraries ???? ???? ?? ????? ?? variants cores? ???? ?? ?? ?? ?? boards.txt ??? ?? platform.txt ??? ?? ??? ??, ???? ? ??? programmers.txt ???? ??? ?? 10 ¡ñ ???? IDE 1.5.3 ?? ????? ?? ??? ?? ????? ??? ¡ð https://github.com/arduino/Arduino/wiki/Arduino-IDE-1.5-3rd-party-Hardware-specificatio n
- 11. ???? ?? ?? ¡ñ ?? ?? ??? ?? ¡ð ?? ??? hardware ?? ?? ??? ??? ???? ???? IDE?? ??? ??? 11
- 12. ???? ?? ¡ñ HALMX ???? ¡ð http://www.stm32duino.com/ ?? STM32CubeMX? ???? ???? ??? ?? ¡ð https://github.com/rogerclarkmelbourne/Arduino_STM32 ¡ð ???? F1/F3/F4? ??? ¡ñ ?? ?? ¡ð HALMX ????? F7 ???? ???? ??? ?? cores? variants? ??? ???? STM32CubeF7 ?????? ???? ??? 12
- 13. ?? Layer ?? ???? API Class (cores) STM32CubeF7 OpenCR (variants) bsp hal driver Hardware 13
- 14. ??? ?? ¡ñ github? json??? ??? ?? ???? ??? ¡ð ???? IDE 1.6.4 ?? ?? ?? ???? ?? ????? ?? ???? ¡ð https://github.com/arduino/Arduino/wiki/Arduino-IDE-1.6.x-package_index.json-format-sp ecification ¡ñ OpenCR json ?? ¡ð https://github.com/ROBOTIS-GIT/OpenCR/blob/master/arduino/opencr_release/package_ opencr_index.json 14
- 15. json ?? ¡ñ platforms 15 ???? ?? ?? gcc ???? ????
- 16. json ?? ¡ñ opencr_gcc 16 ¡ñ opencr_tools
- 17. github ??? ¡ñ ??????? ???? ??? gcc ????? ???? ??? ??? ¡ñ ?????? tools??? ???? github? release? ???? 17
- 18. ?? ??? ¡ñ ???? IDE? ???? ????? URL? json ??? ???? ??? 18
- 19. ????? 19
- 20. ???? ?? ?? ?? 20
- 21. ?? ¡ñ TFT LCD ¡ð https://youtu.be/y4if5J_upyY 21
- 22. ?? ¡ñ ???? ?? ??? ??? ?? ?? ??? ???? ?? ??? ?? ? ?? ¡ñ OpenCR??? ?? ?? ???? ??? ?? ????? ???? IDE? ?? ?? ?? ??? ?? ??? ¡ñ ???? ?? ??? ???? ??? OS? ?? ?? ?? ¡ñ github? ?? ??? ?? ?? ¡ñ ARM? ???? ??? ?? ?? ?????? ?? ??? ??? 22
- 23. ?? ?? ¡ñ OpenCR ???? ¡ð ???? ¡ö https://github.com/ROBOTIS-GIT/OpenCR/tree/master/arduino/opencr_bootloader ¡ð ???? ¡ö https://github.com/ROBOTIS-GIT/OpenCR/tree/master/arduino/opencr_ld ¡ð ???? ?? ?? ¡ö https://github.com/ROBOTIS-GIT/OpenCR/tree/master/arduino/opencr_arduino/opencr ¡ð ??? ?? ?? ¡ö https://github.com/ROBOTIS-GIT/OpenCR/tree/master/arduino/opencr_release ¡ñ ???? ¡ð https://github.com/arduino/Arduino/wiki/Arduino-IDE-1.5-3rd-party-Hardware-specification ¡ð https://github.com/arduino/Arduino/wiki/Arduino-IDE-1.6.x-package_index.json-format-specification 23