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ardupilot/Tools/AP_Bootloader
History
Henry Wurzburg 6b2990813a Tools: reserve board ID 2023-03-17 16:14:27 +11:00
..
AP_Bootloader.cpp AP_HAL_ChibiOS: replace NO_FASTBOOT with AP_FASTBOOT_ENABLED 2023-03-01 18:16:31 +11:00
AP_Bootloader_config.h AP_Bootloader: add SD card support to bootloader 2023-02-28 11:26:04 +11:00
README.md AP_Bootloader: added board_types.txt 2020-06-17 14:16:47 +10:00
app_comms.h AP_Bootloader: use AP_CheckFirmware 2022-08-15 09:18:34 +10:00
bl_protocol.cpp AP_Bootloader: Add support for skipping the cleared flash check 2022-11-02 18:43:33 +11:00
bl_protocol.h Tools: add LED notification for bad firmware 2022-08-30 10:51:06 +10:00
board_types.txt Tools: reserve board ID 2023-03-17 16:14:27 +11:00
can.cpp AP_Bootloader: use dronecan_dsdlc generated code instead 2022-11-16 18:05:59 +11:00
can.h AP_Bootloader: use AP_CheckFirmware 2022-08-15 09:18:34 +10:00
flash_from_sd.cpp AP_Bootloader: add SD card support to bootloader 2023-02-28 11:26:04 +11:00
flash_from_sd.h AP_Bootloader: add SD card support to bootloader 2023-02-28 11:26:04 +11:00
mcu_f1.h AP_Bootloader: added CAN support for AP_Periph 2019-08-27 10:29:56 +10:00
mcu_f3.h AP_Bootloader: support STM32F303 MCU 2019-11-01 10:53:53 +11:00
mcu_f4.h AP_Bootloader: use new check_limit_flash_1M() 2022-10-06 10:58:46 +11:00
mcu_f7.h AP_Bootloader: added mcu files 2018-06-22 08:06:41 +10:00
mcu_g4.h AP_Bootloader: fixed G4 MCU descriptions 2021-07-30 10:20:52 +10:00
mcu_h7.h AP_Bootloader: use new check_limit_flash_1M() 2022-10-06 10:58:46 +11:00
mcu_l4.h AP_Bootloader: support L496 MCUs 2021-09-24 18:08:00 +10:00
md5.cpp AP_Bootloader: add SD card support to bootloader 2023-02-28 11:26:04 +11:00
md5.h AP_Bootloader: add SD card support to bootloader 2023-02-28 11:26:04 +11:00
support.cpp AP_Bootloader: save some space by using iterators rather than ARRAY_SIZE 2023-02-22 19:41:49 +11:00
support.h AP_Bootloader: Add support for skipping the cleared flash check 2022-11-02 18:43:33 +11:00
wscript waf: add dynamic source option to ap_stlib 2022-11-16 18:05:59 +11:00

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 in the board_types.txt file in this directory.

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 SERIAL_ORDER option in hwdef-bl.dat