comma body

This the firmware for the comma body robotics dev kit.

Learn more at commabody.com.

building

Compile: scons

Flash bootstub and app: board/recover.sh # STM flasher should be connected to debug port, needs openocd

Flash app through CAN bus with (standalone) panda:

board/flash_base.sh # base motherboard

board/flash_knee.sh # knee motherboard

Flash app through CAN bus with (comma device) panda:

1. compile body firmware on your computer and transfer it to the comma device
2. kill openpilot or just the panda processes
3. run board/flash_base.sh
4. restart openpilot via op start or restart device