mirror of https://github.com/ArduPilot/ardupilot
Tools: updated bootloader docs
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Andrew Tridgell
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# ArduPilot Bootloader
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The main ArduPilot for STM32 boards is based on ChibiOS, and the
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source code is in Tools/AP_Bootloader
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The old (now unusued) bootloader was based on libopencm3, and a copy
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of that is here:
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https://github.com/ArduPilot/Bootloader
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## Bootloader images
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Binaries for the bootloader for all supported STM32 boards are in this
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directory. You can build one of these bootloaders using the
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Tools/scripts/build_bootloaders.py script. That script takes a
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wildcard pattern of which boards to build. For example, to build a
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bootloader for a Pixhawk1, use:
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./Tools/scripts/build_bootloaders.py Pixhawk1
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The config files for the builds of these bootloaders are in
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libraries/AP_HAL_ChibiOS/hwdef, in the files called hwdef-bl.dat
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## Old Bootloader details
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We also have copies of binaries for some of the older bootloaders in
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this directory. They are:
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px4fmu_bl.bin:
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for F405 based fmuv1
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boots at 0x08004000
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board ID 5
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px4fmuv2_bl.bin:
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for F427 based fmuv2 boards
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boots at 0x08004000
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board ID 9
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px4fmuv4_bl.bin:
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for F427 based fmuv4 boards
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boots at 0x08004000
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board ID 11
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iomcu_bl.bin:
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for IOMCU on fmuv2
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px4fmuv4pro_bl.bin:
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for F427 based p4pro board from drotek
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skyviper_v2450_bl.bin:
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for F427 based skyviper-v2450 boards (based on fmuv3)
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reserves sectors 22 and 23 for ArduPilot storage
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board ID 9
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skyviperf412_bl.bin:
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For F412 processors, setup to load on USART2 on pins PA2/PA3
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Setup for code start at 0x0800C000
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2 sectors reserved for storage, plus bootloader
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# Bootloader in ROMFS
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When building a ChibiOS based build, if there is a corresponding
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bootloader in Tools/bootloaders for the board then that bootloader
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will be included as a compressed file in ROMFS. You can then ask
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ArduPilot to update the bootloader using the MAVLink command
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MAV_CMD_FLASH_BOOTLOADER command using a param5 magic value of 290876
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@ -1,51 +0,0 @@
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These FMU and FMUv2 bootloader images are built from:
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https://github.com/ArduPilot/Bootloader
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Bootloader details
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------------------
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px4fmu_bl.bin:
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for F405 based fmuv1
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boots at 0x08004000
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board ID 5
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px4fmuv2_bl.bin:
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for F427 based fmuv2 boards
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boots at 0x08004000
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board ID 9
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px4fmuv4_bl.bin:
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for F427 based fmuv4 boards
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boots at 0x08004000
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board ID 11
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px4io_bl.bin:
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for IOMCU on fmuv1
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px4fmuv4pro_bl.bin:
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for F427 based p4pro board from drotek
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skyviper_v2450_bl.bin:
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for F427 based skyviper-v2450 boards (based on fmuv3)
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reserves sectors 22 and 23 for ArduPilot storage
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board ID 9
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skyviperf412_bl.bin:
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For F412 processors, setup to load on USART2 on pins PA2/PA3
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Setup for code start at 0x0800C000
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2 sectors reserved for storage, plus bootloader
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Bootloader update on px4 builds
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-------------------------------
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For ArduPilot builds using HAL_PX4 the bootloaders are stored in ROMFS
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to make it easier for users to update their bootloaders using:
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bl_update /etc/bootloader/fmu_bl.bin
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from a nsh prompt. Users can get a nsh prompt either via the CLI in
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test -> shell, or by booting with no SD card installed
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to use NSH to do this, please see the Wiki
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http://dev.ardupilot.org/wiki/interfacing-with-pixhawk-using-the-nsh
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