Tools: updated bootloader docs

Tools/bootloaders/README.md

@@ -0,0 +1,67 @@
+# ArduPilot Bootloader
+
+The main ArduPilot for STM32 boards is based on ChibiOS, and the
+source code is in Tools/AP_Bootloader
+
+The old (now unusued) bootloader was based on libopencm3, and a copy
+of that is here:
+
+  https://github.com/ArduPilot/Bootloader
+
+## Bootloader images
+
+Binaries for the bootloader for all supported STM32 boards are in this
+directory. You can build one of these bootloaders using the
+Tools/scripts/build_bootloaders.py script. That script takes a
+wildcard pattern of which boards to build. For example, to build a
+bootloader for a Pixhawk1, use:
+
+ ./Tools/scripts/build_bootloaders.py Pixhawk1
+
+The config files for the builds of these bootloaders are in
+libraries/AP_HAL_ChibiOS/hwdef, in the files called hwdef-bl.dat
+
+## Old Bootloader details
+
+We also have copies of binaries for some of the older bootloaders in
+this directory. They are:
+
+px4fmu_bl.bin:
+   for F405 based fmuv1
+   boots at 0x08004000
+   board ID 5
+
+px4fmuv2_bl.bin:
+   for F427 based fmuv2 boards
+   boots at 0x08004000
+   board ID 9
+
+px4fmuv4_bl.bin:
+   for F427 based fmuv4 boards
+   boots at 0x08004000
+   board ID 11
+
+iomcu_bl.bin:
+   for IOMCU on fmuv2
+
+px4fmuv4pro_bl.bin:
+   for F427 based p4pro board from drotek
+
+skyviper_v2450_bl.bin:
+   for F427 based skyviper-v2450 boards (based on fmuv3)
+   reserves sectors 22 and 23 for ArduPilot storage
+   board ID 9
+
+skyviperf412_bl.bin:
+   For F412 processors, setup to load on USART2 on pins PA2/PA3
+   Setup for code start at 0x0800C000
+   2 sectors reserved for storage, plus bootloader
+
+# Bootloader in ROMFS
+
+When building a ChibiOS based build, if there is a corresponding
+bootloader in Tools/bootloaders for the board then that bootloader
+will be included as a compressed file in ROMFS. You can then ask
+ArduPilot to update the bootloader using the MAVLink command
+MAV_CMD_FLASH_BOOTLOADER command using a param5 magic value of 290876
+

Tools/bootloaders/README.txt

@@ -1,51 +0,0 @@
-These FMU and FMUv2 bootloader images are built from:
-
-  https://github.com/ArduPilot/Bootloader
-
-Bootloader details
-------------------
-
-px4fmu_bl.bin:
-   for F405 based fmuv1
-   boots at 0x08004000
-   board ID 5
-
-px4fmuv2_bl.bin:
-   for F427 based fmuv2 boards
-   boots at 0x08004000
-   board ID 9
-
-px4fmuv4_bl.bin:
-   for F427 based fmuv4 boards
-   boots at 0x08004000
-   board ID 11
-
-px4io_bl.bin:
-   for IOMCU on fmuv1
-
-px4fmuv4pro_bl.bin:
-   for F427 based p4pro board from drotek
-
-skyviper_v2450_bl.bin:
-   for F427 based skyviper-v2450 boards (based on fmuv3)
-   reserves sectors 22 and 23 for ArduPilot storage
-   board ID 9
-
-skyviperf412_bl.bin:
-   For F412 processors, setup to load on USART2 on pins PA2/PA3
-   Setup for code start at 0x0800C000
-   2 sectors reserved for storage, plus bootloader
-
-Bootloader update on px4 builds
--------------------------------
-
-For ArduPilot builds using HAL_PX4 the bootloaders are stored in ROMFS
-to make it easier for users to update their bootloaders using:
-
- bl_update /etc/bootloader/fmu_bl.bin
-
-from a nsh prompt. Users can get a nsh prompt either via the CLI in
-test -> shell, or by booting with no SD card installed
-
-to use NSH to do this, please see the Wiki
-http://dev.ardupilot.org/wiki/interfacing-with-pixhawk-using-the-nsh