HR OS1 Firmware

###Firmware Source & Download

Currently we are using a modified CM-730 firmware developed by Farrell Robotics and adapted for use with the Arbotix-Pro by Interbotix Labs.

The Github repo for the Arbotix-Pro firmware is found here:

https://github.com/Interbotix/ArbotixPro.git

###Programming the Arbotix-Pro

The Arbotix-Pro does not use the ROBOTIS CM-730 bootloader, which is proprietary and closed source. THe board's firmware is directly programmed via a compatible JTAG programmer, such as the the ST-LINK/V2 in-circuit debugger/programmer for STM8 and STM32

The Arbotix-Pro has a 10-pin Cortex Debug connector. It uses a standard 0.05" 10pin connection and the pins can be held in place if needed.

###Additional Reference & Documentation

• Cortex Debug Connector Spec
• ST-Link/V2 JTAG Debug/Programmer
• GCC ARM Toolchain Linux
• ST Link Tutorial