c1ef2e29d7
if the app has not been running for at least 30s then stay in bootloader to allow used to load new fw |
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|---|---|---|
| .. | ||
| AP_Bootloader.cpp | ||
| app_comms.h | ||
| bl_protocol.cpp | ||
| bl_protocol.h | ||
| can.cpp | ||
| can.h | ||
| mcu_f1.h | ||
| mcu_f4.h | ||
| mcu_f7.h | ||
| mcu_h7.h | ||
| README.md | ||
| support.cpp | ||
| support.h | ||
| wscript | ||
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