mirror of https://github.com/ArduPilot/ardupilot
31 lines
1.1 KiB
Markdown
31 lines
1.1 KiB
Markdown
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# ArduPilot Bootloader
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This is the bootloader used for STM32 boards for ArduPilot. To build
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the bootloader do this:
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```bash
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./waf configure --board BOARDNAME --bootloader
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./waf bootloader
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```
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the bootloader will be in build/BOARDNAME/bin. If you have the
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intelhex module installed it will build in both bin format and hex
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format. Both are usually uploaded with DFU. The elf file will be in
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build/BOARDNAME/AP_Bootloader for loading with gdb.
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The --bootloader option tells waf to get the hardware config from
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the hwdef-bl.dat file for the board. It will look in
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libraries/AP_HAL_CHibiOS/hwdef/BOARDNAME/hwdef-bl.dat
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The bootloader protocol is compatible with that used by the PX4
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project for boards like the Pixhawk. For compatibility purposes we
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maintain a list of board IDs here:
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https://github.com/ArduPilot/Bootloader/blob/master/board_types.txt
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the board IDs in that file match the APJ_BOARD_ID in the hwdef.dat and
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hwdef-bl.dat files
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The bootloader can load from USB or UARTs. The list of devices to load
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from is given in the UART_ORDER option in hwdef-bl.dat
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