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昨天很晚的时候才终于发现其实Unkown USB Device并不是错误，只是个警告而已，所以我们不关心就可以，让Makefile继续往下走就可以，于是我尝试mbs，s110，cload和firmware的下载，执行如下命令：
make flash
make flash_s110
make flash_mbs
make flash_cload
具体执行过程如下：
bitcraze@bitcraze-vm:~/projects/crazyflie2-nrf-firmware$ make flash_mbs
openocd -d2 -f interface/stlink-v2.cfg -f target/nrf51_stlink.tcl -c init -c targets -c "reset halt" -c "flash write_image erase bootloaders/nrf_mbs_v1.0.hex" -c "verify_image bootloaders/nrf_mbs_v1.0.hex" -c "reset halt" -c "mww 0x4001e504 0x01" -c "mww 0x10001014 0x3F000" -c "reset run" -c shutdown
Open On-Chip Debugger 0.8.0 (2014-05-10-23:21)
Licensed under GNU GPL v2
For bug reports, read
http://openocd.sourceforge.net/doc/doxygen/bugs.html
debug_level: 2
Info : This adapter doesn't support configurable speed
Info : STLINK v2 JTAG v16 API v2 SWIM v0 VID 0x0483 PID 0x3748
Info : using stlink api v2
Info : Target voltage: 2.556986
Info : nrf51.cpu: hardware has 4 breakpoints, 2 watchpoints
TargetName Type Endian TapName State
-- ------------------ ---------- ------ ------------------ ------------
0* nrf51.cpu hla_target little nrf51.cpu halted
target state: halted
target halted due to debug-request, current mode: Thread
xPSR: 0xc1000000 pc: 0x000006d0 msp: 0x000007c0
auto erase enabled
Warn : Unknown device (HWID 0x00000058)
^CMakefile:122: recipe for target 'flash_mbs' failed
make: *** [flash_mbs] Interrupt
bitcraze@bitcraze-vm:~/projects/crazyflie2-nrf-firmware$ make flash_mbs
openocd -d2 -f interface/stlink-v2.cfg -f target/nrf51_stlink.tcl -c init -c targets -c "reset halt" -c "flash write_image erase bootloaders/nrf_mbs_v1.0.hex" -c "verify_image bootloaders/nrf_mbs_v1.0.hex" -c "reset halt" -c "mww 0x4001e504 0x01" -c "mww 0x10001014 0x3F000" -c "reset run" -c shutdown
Open On-Chip Debugger 0.8.0 (2014-05-10-23:21)
Licensed under GNU GPL v2
For bug reports, read
http://openocd.sourceforge.net/doc/doxygen/bugs.html
debug_level: 2
Info : This adapter doesn't support configurable speed
Info : STLINK v2 JTAG v16 API v2 SWIM v0 VID 0x0483 PID 0x3748
Info : using stlink api v2
Info : Target voltage: 2.556986
Info : nrf51.cpu: hardware has 4 breakpoints, 2 watchpoints
TargetName Type Endian TapName State
-- ------------------ ---------- ------ ------------------ ------------
0* nrf51.cpu hla_target little nrf51.cpu halted
target state: halted
target halted due to debug-request, current mode: Thread
xPSR: 0xc1000000 pc: 0x000006d0 msp: 0x000007c0
auto erase enabled
Warn : Unknown device (HWID 0x00000058)
wrote 3072 bytes from file bootloaders/nrf_mbs_v1.0.hex in 19.481831s (0.154 KiB/s)
target state: halted
target halted due to breakpoint, current mode: Thread
xPSR: 0x61000000 pc: 0x2000002e msp: 0x000007c0
verified 2112 bytes in 0.288700s (7.144 KiB/s)
target state: halted
target halted due to debug-request, current mode: Thread
xPSR: 0xc1000000 pc: 0x000006d0 msp: 0x000007c0
shutdown command invoked
bitcraze@bitcraze-vm:~/projects/crazyflie2-nrf-firmware$ make flash_cload
openocd -d2 -f interface/stlink-v2.cfg -f target/nrf51_stlink.tcl -c init -c targets -c "reset halt" -c "flash write_image erase bootloaders/cload_nrf_v1.0.hex" -c "verify_image bootloaders/cload_nrf_v1.0.hex" -c "reset halt" -c "mww 0x4001e504 0x01" -c "mww 0x10001014 0x3F000" -c "mww 0x4001e504 0x01" -c "mww 0x10001080 0x3A000" -c "reset run" -c shutdown
Open On-Chip Debugger 0.8.0 (2014-05-10-23:21)
Licensed under GNU GPL v2
For bug reports, read
http://openocd.sourceforge.net/doc/doxygen/bugs.html
debug_level: 2
Info : This adapter doesn't support configurable speed
Info : STLINK v2 JTAG v16 API v2 SWIM v0 VID 0x0483 PID 0x3748
Info : using stlink api v2
Info : Target voltage: 2.556986
Info : nrf51.cpu: hardware has 4 breakpoints, 2 watchpoints
TargetName Type Endian TapName State
-- ------------------ ---------- ------ ------------------ ------------
0* nrf51.cpu hla_target little nrf51.cpu running
target state: halted
target halted due to debug-request, current mode: Thread
xPSR: 0xc1000000 pc: 0x000006d0 msp: 0x000007c0
auto erase enabled
Warn : Unknown device (HWID 0x00000058)
wrote 13312 bytes from file bootloaders/cload_nrf_v1.0.hex in 82.957291s (0.157 KiB/s)
target state: halted
target halted due to breakpoint, current mode: Thread
xPSR: 0x61000000 pc: 0x2000002e msp: 0x000007c0
verified 12368 bytes in 0.351360s (34.375 KiB/s)
target state: halted
target halted due to debug-request, current mode: Thread
xPSR: 0xc1000000 pc: 0x000006d0 msp: 0x000007c0
shutdown command invoked
bitcraze@bitcraze-vm:~/projects/crazyflie2-nrf-firmware$
bitcraze@bitcraze-vm:~/projects/crazyflie2-nrf-firmware$ make flash_s110
openocd -d2 -f interface/stlink-v2.cfg -f target/nrf51_stlink.tcl -c init -c targets -c "reset halt" -c "nrf51 mass_erase" -c "flash write_image erase s110/s110_nrf51822_7.0.0_softdevice.hex" -c "reset run" -c shutdown
Open On-Chip Debugger 0.8.0 (2014-05-10-23:21)
Licensed under GNU GPL v2
For bug reports, read
http://openocd.sourceforge.net/doc/doxygen/bugs.html
debug_level: 2
Info : This adapter doesn't support configurable speed
Info : STLINK v2 JTAG v16 API v2 SWIM v0 VID 0x0483 PID 0x3748
Info : using stlink api v2
Info : Target voltage: 2.558242
Info : nrf51.cpu: hardware has 4 breakpoints, 2 watchpoints
TargetName Type Endian TapName State
-- ------------------ ---------- ------ ------------------ ------------
0* nrf51.cpu hla_target little nrf51.cpu running
target state: halted
target halted due to debug-request, current mode: Thread
xPSR: 0xc1000000 pc: 0x000006d0 msp: 0x000007c0
Warn : Unknown device (HWID 0x00000058)
auto erase enabled
Info : Padding image section 0 with 2112 bytes
wrote 87040 bytes from file s110/s110_nrf51822_7.0.0_softdevice.hex in 543.104126s (0.157 KiB/s)
shutdown command invoked
bitcraze@bitcraze-vm:~/projects/crazyflie2-nrf-firmware$ make flash
openocd -d2 -f interface/stlink-v2.cfg -f target/nrf51_stlink.tcl -c init -c targets -c "reset halt" -c "flash write_image erase cf2_nrf.hex" -c "verify_image cf2_nrf.hex" -c "reset run" -c shutdown
Open On-Chip Debugger 0.8.0 (2014-05-10-23:21)
Licensed under GNU GPL v2
For bug reports, read
http://openocd.sourceforge.net/doc/doxygen/bugs.html
debug_level: 2
Info : This adapter doesn't support configurable speed
Info : STLINK v2 JTAG v16 API v2 SWIM v0 VID 0x0483 PID 0x3748
Info : using stlink api v2
Info : Target voltage: 2.558242
Info : nrf51.cpu: hardware has 4 breakpoints, 2 watchpoints
TargetName Type Endian TapName State
-- ------------------ ---------- ------ ------------------ ------------
0* nrf51.cpu hla_target little nrf51.cpu running
target state: halted
target halted due to debug-request, current mode: Thread
xPSR: 0xc1000000 pc: 0x000006d0 msp: 0x000007c0
auto erase enabled
Warn : Unknown device (HWID 0x00000058)
wrote 45056 bytes from file cf2_nrf.hex in 282.951080s (0.156 KiB/s)
target state: halted
target halted due to breakpoint, current mode: Thread
xPSR: 0x61000000 pc: 0x2000002e msp: 0x000007c0
verified 44944 bytes in 0.579762s (75.705 KiB/s)
shutdown command invoked
那其实，在Makefile的最后，我们可以看到：
factory_reset: make mass_erase ifeq ($(strip $(S110)),1) make flash_s110 make flash_mbs make flash_cload endif make flash所以看上去如果S110=1，那么只要执行make factory_reset就可以将s110，mbs，cload和firmware全部下载进去，不用分步进行，一键搞定，真爽！ 昨天的研究也没白费，终于搞懂了。
版权声明：本文为博主原创文章，未经博主允许不得转载。
xubuntu openocd nRF51822 download --- 2
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原文地址：http://blog.csdn.net/xingqingly/article/details/46836241
