History

Lucas De Marchi 668c941717 Global: use new version of ARRAY_SIZE		2018-08-04 15:31:55 +10:00
..
AP_Bootloader.cpp	AP_Bootloader: for fast boot don't init USB	2018-06-28 11:35:13 +10:00
README.md	Tools: added bootloader docs	2018-07-04 19:11:10 +10:00
bl_protocol.cpp	AP_Bootloader: updates for new ChibiOS version	2018-08-03 13:44:59 +10:00
bl_protocol.h	AP_Bootloader: initial version of ChibiOS bootloader	2018-06-22 08:00:31 +10:00
mcu_f4.h	AP_Bootloader: added flash size limiting on old CPUs	2018-06-25 21:22:31 +10:00
mcu_f7.h	AP_Bootloader: added mcu files	2018-06-22 08:06:41 +10:00
support.cpp	Global: use new version of ARRAY_SIZE	2018-08-04 15:31:55 +10:00
support.h	AP_Bootloader: use RTC sig for fast boot	2018-06-28 11:35:13 +10:00
wscript	AP_Bootloader: only build bootloader when --bootloader configured	2018-06-22 08:00:31 +10:00

README.md

ArduPilot Bootloader

This is the bootloader used for STM32 boards for ArduPilot. To build the bootloader do this:

 ./waf configure --board BOARDNAME --bootloader
 ./waf bootloader

the bootloader will be in build/BOARDNAME/bin. If you have the intelhex module installed it will build in both bin format and hex format. Both are usually uploaded with DFU. The elf file will be in build/BOARDNAME/AP_Bootloader for loading with gdb.

The --bootloader option tells waf to get the hardware config from the hwdef-bl.dat file for the board. It will look in libraries/AP_HAL_CHibiOS/hwdef/BOARDNAME/hwdef-bl.dat

The bootloader protocol is compatible with that used by the PX4 project for boards like the Pixhawk. For compatibility purposes we maintain a list of board IDs here:

https://github.com/ArduPilot/Bootloader/blob/master/board_types.txt

the board IDs in that file match the APJ_BOARD_ID in the hwdef.dat and hwdef-bl.dat files

The bootloader can load from USB or UARTs. The list of devices to load from is given in the UART_ORDER option in hwdef-bl.dat