robotrace-flash-debug

name	robotrace-flash-debug
description	STM32CubeCLT、STM32_Programmer_CLI、ST-Linkを使ってrobotrace_v2へ書き込みやデバッグを行うときに使う。実機接続条件、ビルド、書き込み、空転確認、緊急停止無効化条件を扱う。

Robotrace Flash Debug

Overview

Use this skill for firmware build, flash, and ST-Link debug workflows. Keep command definitions and safety policy in AGENTS.md as the source of truth.

Preconditions

• Build before flashing.
• Flash only when the robot and ST-Link are connected.
• Debugging with ST-Link is allowed.
• Real running is not allowed during wired ST-Link debugging.
• The robot may be lifted for no-load motor checks, but it will not move forward and can quickly hit emergency-stop conditions.
• Disable emergency-stop conditions only for no-load, stationary, or non-moving checks where the target observation is possible without real travel.

Build Commands

Run from robotrace_v2/:

cmake --preset Debug
cmake --build --preset Debug

For release:

cmake --preset Release
cmake --build --preset Release

If tools are missing, do not report build success. Report the missing tool or failed command.

Flash Workflow

1. Confirm ST-Link and robot connection.
2. Build the intended preset.
3. Run the configured VS Code task or equivalent STM32_Programmer_CLI SWD command.
4. Confirm the flash command exits successfully.
5. Report command, success/failure, and connection condition.

Debug Workflow

1. Confirm robot and ST-Link are wired.
2. Use the configured launch setting:
   • Build & Debug Microcontroller - ST-Link
   • Attach to Microcontroller - ST-Link
3. Do not perform real running while wired.
4. For lifted no-load checks, clearly state that encoder-stop or movement-related emergency stops may trigger.
5. If emergency-stop conditions are disabled for debug, state which condition, why, and what risk remains.

Post-Flash Checks

• Confirm the write command completed normally.
• Sensor checks happen through initSystem().
• Motor no-load check is not required by default.
• Before high-speed running, confirm sensors initialized normally.
• High-speed running requires at least 7.5 V battery voltage by operation policy.