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ardupilot/Tools/AP_Bootloader
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Andrew Tridgell 2059c7bf20 Tools: fixed build with --out directory for build_binaries 2020-02-05 10:51:28 +11:00
..
AP_Bootloader.cpp AP_Bootloader: speed up CAN fw load 2020-02-05 10:43:36 +11:00
README.md Tools: added bootloader docs 2018-07-04 19:11:10 +10:00
app_comms.h AP_Bootloader: support app comms area for CAN fw update 2020-02-05 10:43:36 +11:00
bl_protocol.cpp AP_Bootloader: added more protection against line noisy triggering bootloader 2019-12-09 12:58:21 +11:00
bl_protocol.h AP_Bootloader: initial version of ChibiOS bootloader 2018-06-22 08:00:31 +10:00
can.cpp AP_Bootloader: use APJ_BOARD_ID in hw major/minor 2020-02-05 10:51:28 +11:00
can.h AP_Bootloader: speed up CAN fw load 2020-02-05 10:43:36 +11:00
mcu_f1.h AP_Bootloader: added CAN support for AP_Periph 2019-08-27 10:29:56 +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
mcu_h7.h AP_Bootloader: added STM32H7xx chip revisions 2019-12-09 12:58:10 +11:00
support.cpp AP_Bootloader: fixed uprintf() build 2020-02-05 10:43:36 +11:00
support.h AP_Bootloader: fully working on H7 2019-02-26 16:18:26 +11:00
wscript Tools: fixed build with --out directory for build_binaries 2020-02-05 10:51:28 +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 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