From 1b6b87e6dcf16d0829b05f3a340fa6c34391224e Mon Sep 17 00:00:00 2001
From: Michael Ferguson <mfergs7@gmail.com>
Date: Thu, 2 Jan 2025 14:42:48 -0500
Subject: [PATCH] update compiler toolchain for 24.04 (#17)

---
 .github/workflows/ci.yaml                 |  6 +++---
 README.md                                 | 13 +++++++++++++
 projects/etherbotix/bootloader/lwipopts.h |  2 +-
 3 files changed, 17 insertions(+), 4 deletions(-)

diff --git a/.github/workflows/ci.yaml b/.github/workflows/ci.yaml
index 7ae3ac1..aa76fe4 100644
--- a/.github/workflows/ci.yaml
+++ b/.github/workflows/ci.yaml
@@ -11,11 +11,11 @@ jobs:
 
     - name: Get ARM toolchain
       run: |
-        wget https://developer.arm.com/-/media/Files/downloads/gnu-rm/10-2020q4/gcc-arm-none-eabi-10-2020-q4-major-x86_64-linux.tar.bz2
-        tar xvfj gcc-arm-none-eabi-10-2020-q4-major-x86_64-linux.tar.bz2 -C "$HOME"
+        wget https://developer.arm.com/-/media/Files/downloads/gnu/14.2.rel1/binrel/arm-gnu-toolchain-14.2.rel1-x86_64-arm-none-eabi.tar.xz
+        tar xf arm-gnu-toolchain-14.2.rel1-x86_64-arm-none-eabi.tar.xz -C "$HOME"
 
     - name: Setup path
-      run: echo "$HOME/gcc-arm-none-eabi-10-2020-q4-major/bin" >> $GITHUB_PATH
+      run: echo "$HOME/arm-gnu-toolchain-14.2.rel1-x86_64-arm-none-eabi/bin" >> $GITHUB_PATH
 
     - name: Build Dyno
       run: cd projects && cd dyno && make
diff --git a/README.md b/README.md
index b6d2a4a..06f44bc 100644
--- a/README.md
+++ b/README.md
@@ -10,6 +10,19 @@ Things to keep in mind if adapting to STM32F1, F2, or F3:
  * Much of libcpp has been tested with F1 series. Notably, the gpio.h will not
    work with F2 or F3 processors right now.
 
+# Setup of development environment (24.04)
+
+The toolchain had to be updated for 24.04 since the older gdb links against
+libncurses5:i386, which is no longer available:
+
+```
+cd ~/bin
+wget https://developer.arm.com/-/media/Files/downloads/gnu/14.2.rel1/binrel/arm-gnu-toolchain-14.2.rel1-x86_64-arm-none-eabi.tar.xz
+tar xf arm-gnu-toolchain-14.2.rel1-x86_64-arm-none-eabi.tar.xz
+rm arm-gnu-toolchain-14.2.rel1-x86_64-arm-none-eabi.tar.xz
+echo 'export PATH=$PATH:~/bin/arm-gnu-toolchain-14.2.rel1-x86_64-arm-none-eabi/bin:$PATH' >> ~/.bashrc
+```
+
 # Setup of development environment (22.04)
 
 I'm using the 2020-q4-major revision from the official GCC ARM launchpad
diff --git a/projects/etherbotix/bootloader/lwipopts.h b/projects/etherbotix/bootloader/lwipopts.h
index 175f265..eefad80 100644
--- a/projects/etherbotix/bootloader/lwipopts.h
+++ b/projects/etherbotix/bootloader/lwipopts.h
@@ -77,7 +77,7 @@ a lot of data that needs to be copied, this should be set high. */
 
 
 /* ---------- TCP options ---------- */
-#define LWIP_TCP                0
+#define LWIP_TCP                1
 #define TCP_TTL                 255
 
 /* Controls if TCP should queue segments that arrive out of