OpenNaze Naze32

#OpenNaze/Naze32 Tau Labs now offers basic support for the OpenNaze rev. 4 (Naze32 compatible). More features will be implemented in future. ##Supported Features

• PWM and PPM receivers
• PWM outputs on motor pins and receiver pins
• GCS telemetry on USB/UART1
• SyncPWM and FastPWM (Oneshot)
• Autotune

##Currently Unsupported

• ADC
• UART on receiver pins
• Serial receivers
• Barometer
• Magnetometer

##GCS Connection GCS can be connected using the USB port. The Naze uses an SILabs CP2102 USB->UART chip to connect the USB port to UART1, which presents as a virtual serial port on the host OS. For Windows users this will require a driver. Linux users will need to be in the dialout group, acomplished using this command (change user to your username):

usermod -a -G dialout user

##Flashing ###Entering Bootloader Mode The GCS is not yet capable of flashing Naze boards. A python script is provided to put the board into bootloader mode (ST Microelectronics bootloader, not Tau Labs bootloader) if it already has Tau Labs loaded. The python script can be used with Tau Labs firmware:

> python ./python/doiap.py -s -b 57600 /dev/ttyUSB0
3
1122
2233
3344

To flash Tau Labs initially you will need to put it into bootloader mode by another method, either by shorting the "Boot" pads on startup, or sending the character "R" via serial if Baseflight is loaded. ###Flashing Firmware To build the firmware from source:

> make fw_naze32

To flash firmware and erase settings on board:

> ./tools/stm32flash/stm32flash -w ./build/fw_naze32/fw_naze32.tlfw -b 115200 -v -g 0x0 /dev/ttyUSB0
stm32flash - http://stm32flash.googlecode.com/

Using Parser : Raw BINARY
Serial Config: 115200 8E1
Version      : 0x22
Option 1     : 0x00
Option 2     : 0x00
Device ID    : 0x0410 (Medium-density)
RAM          : 20KiB  (512b reserved by bootloader)
Flash        : 128KiB (sector size: 4x1024)
Option RAM   : 15b
System RAM   : 2KiB

Wrote and verified address 0x0801d000 (100.00%) Done.

Starting execution at address 0x08000000... done.

To flash firmware and retain previous settings:

> ./tools/stm32flash/stm32flash -w ./build/fw_naze32/fw_naze32.tlfw -b 115200 -v -g 0x0 -e 116 /dev/ttyUSB0
stm32flash - http://stm32flash.googlecode.com/

Using Parser : Raw BINARY
Serial Config: 115200 8E1
Version      : 0x22
Option 1     : 0x00
Option 2     : 0x00
Device ID    : 0x0410 (Medium-density)
RAM          : 20KiB  (512b reserved by bootloader)
Flash        : 128KiB (sector size: 4x1024)
Option RAM   : 15b
System RAM   : 2KiB

Wrote and verified address 0x0801d000 (100.00%) Done.

Starting execution at address 0x08000000... done.

Note:

• You will need stm32flash in your tools directory, this can be done using the command make stm32flash_install.
• Replace /dev/ttyUSB0 with the appropriate port, on Windows this will be COMn where n is a number.