# Firmware Update

## SANPO Official Firmware Update
### Preparation
1. Prepare an STLINK (SWD) programmer and connect the board STLINK interface to your PC.
2. The board has two STLINK interfaces for the two STM32F407 chips. Update each chip separately.
3. When updating, disconnect the board external power supply.

<img src="_static/stlink_wire.png">

### Update Steps
1. **Install tools**  
   Download and install the official ST flashing tool: [STM32CubeProgrammer](https://gitcode.com/sanpo/robot/tree/v4/firmware/tools/STM32CubeProgrammer_win64.zip)

2. **Get firmware**  
   Download the latest official firmware: [sanpo_robot_spine_board_firmware-v4-latest.bin](https://gitcode.com/sanpo/robot/tree/v4/firmware/sanpo_spine/Release/sanpo_robot_spine_board_firmware-v4-latest.bin)

3. **Flash firmware**  
   Disconnect the board external power supply and use STM32CubeProgrammer to flash the firmware to the board (flash the two chips separately).
   <img src="_static/update_firmware_stm32.png">



## MIT Cheetah SPINE Firmware Update
**Recommended approach:** mbed studio project (download `mbed-os.zip` and extract it to the project folder).
> Tip: Avoid nesting multiple `mbed-os` directories or you may not find `targets`. Recommended structure: `mit_spine_mbed_studio/mbed-os/targets`.

**Update Steps**
1. Install [mbed studio](https://os.mbed.com/studio/).
2. Open the MIT firmware source workspace.
3. Connect STLINK and select the target chip: STM32F407VETx.
4. Click Build program to compile and flash.

> Also, if you use a Keil project, you still need to extract `mbed-os.zip` into the project folder and avoid nesting multiple `mbed-os` directories.

**Operation Images**
- Step 1: <img src="_static/mbed_studio_step1.png">  
- Step 2: <img src="_static/mbed_studio_step1.1.png"> 
- Step 3: <img src="_static/mbed_studio_step2.png">  
- Step 4: <img src="_static/mbed_studio_step3.png"> 
 
---

## <span id="p3">STM32 Pin Definitions</span>

### Chip 1: STM32F407(1)

|     Interface    | Pin | STM32 Pin |  
| :---------- | :----------: | :---------: |
| ADC Interface 1    | AD1   | PB0
| ADC Interface 1    | AD2   | PB1
| UART 1       | TX    | PD8 
| UART 1       | RX    | PD9
| SPI Interface     | CS1   | PA15
| SPI Interface     | SCK  | PC10
| SPI Interface     | MISO  | PC11
| SPI Interface     | MOSI  | PC12
| Reserved Interface    | ESTOP/RSDV   | PD0
| IIC Interface 1    | SCL   | PB10
| IIC Interface 1    | SDA   | PB11
| SWD Debug 1  | SWDIO   | PA13
| SWD Debug 1  | SWCLK   | PA14
| RS485-2  | RX   | PC6
| RS485-2  | TX   | PC7
| RS485-1  | RX   | PB6
| RS485-1  | TX   | PB7
| CAN2   | RX   | PB12
| CAN2   | TX   | PB13
| CAN1   | RX   | PB8
| CAN1   | TX   | PB9


### Chip 2: STM32F407(2)
|     Interface    | Pin | STM32 Pin |
| :---------- | :----------: | :---------: |
| ADC Interface 2    | AD1   | PB0
| ADC Interface 2    | AD2   | PB1
| UART 2       | TX    | PD8 
| UART 2       | RX    | PD9
| SPI Interface     | CS2   | PA15
| SPI Interface     | SCK  | PC10
| SPI Interface     | MISO  | PC11
| SPI Interface     | MOSI  | PC12
| Reserved Interface    | ESTOP/RSDV   | PD0
| IIC Interface 2    | SCL   | PB10
| IIC Interface 2    | SDA   | PB11
| SWD Debug 2  | SWDIO   | PA13
| SWD Debug 2  | SWCLK   | PA14
| RS485-3  | RX   | PB6
| RS485-3  | TX   | PB7
| RS485-4  | RX   | PC6
| RS485-4  | TX   | PC7
| CAN3   | RX   | PB8
| CAN3   | TX   | PB9
| CAN4   | RX   | PB12
| CAN4   | TX   | PB13

## <span id="p4">Hardware Architecture</span>
<img src="_static/taobao-github-architect-1.1.png">

## <span id="p5">Circuit Schematic</span>
<img src="_static/sanpo_spine_sch.png">