Move PX4 Guide source into /docs (#24490)

* Add vitepress tree * Update existing workflows so they dont trigger on changes in the docs path * Add nojekyll, package.json, LICENCE etc * Add crowdin docs upload/download scripts * Add docs flaw checker workflows * Used docs prefix for docs workflows * Crowdin obvious fixes * ci: docs move to self hosted runner runs on a beefy server for faster builds Signed-off-by: Ramon Roche <mrpollo@gmail.com> * ci: don't run build action for docs or ci changes Signed-off-by: Ramon Roche <mrpollo@gmail.com> * ci: update runners Signed-off-by: Ramon Roche <mrpollo@gmail.com> * Add docs/en * Add docs assets and scripts * Fix up editlinks to point to PX4 sources * Download just the translations that are supported * Add translation sources for zh, uk, ko * Update latest tranlsation and uorb graphs * update vitepress to latest --------- Signed-off-by: Ramon Roche <mrpollo@gmail.com> Co-authored-by: Ramon Roche <mrpollo@gmail.com>
2026-10-18 00:43:35 +08:00 · 2025-03-13 16:08:27 +11:00
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+# STM32 Bootloader
+
+The code for the PX4 bootloader is available from the Github [Bootloader](https://github.com/px4/bootloader) repository.
+
+## Supported Boards
+
+* FMUv2 (Pixhawk 1, STM32F4)
+* FMUv3 (Pixhawk 2, STM32F4)
+* FMUv4 (Pixracer 3 and Pixhawk 3 Pro, STM32F4)
+* FMUv5 (Pixhawk 4, STM32F7)
+* TAPv1 (TBA, STM32F4)
+* ASCv1 (TBA, STM32F4)
+
+## Building the Bootloader
+
+```sh
+git clone https://github.com/PX4/Bootloader.git
+cd Bootloader
+git submodule init
+git submodule update
+make
+```
+
+After this step a range of elf files for all supported boards are present in the Bootloader directory.
+
+## Flashing the Bootloader
+
+:::warning
+The right power sequence is critical for some boards to allow JTAG / SWD access. Follow these steps exactly as described. 
+:::
+
+The instructions below are valid for a Blackmagic / Dronecode probe.
+Other JTAG probes will need different but similar steps.
+Developers attempting to flash the bootloader should have the required knowledge.
+If you do not know how to do this you probably should reconsider if you really need to change anything about the bootloader.
+
+The sequence is
+1. Disconnect the JTAG cable
+1. Connect the USB power cable
+1. Connect the JTAG cable
+
+### Black Magic / Dronecode Probe
+
+#### Using the right serial port
+
+* On LINUX: `/dev/serial/by-id/usb-Black_Sphere_XXX-if00`
+* On MAC OS: Make sure to use the cu.xxx port, not the tty.xxx port: `tar ext /dev/tty.usbmodemDDEasdf`
+
+```sh
+arm-none-eabi-gdb
+  (gdb) tar ext /dev/serial/by-id/usb-Black_Sphere_XXX-if00
+  (gdb) mon swdp_scan
+  (gdb) attach 1
+  (gdb) mon option erase
+  (gdb) mon erase_mass
+  (gdb) load tapv1_bl.elf
+        ...
+        Transfer rate: 17 KB/sec, 828 bytes/write.
+  (gdb) kill
+```
+
+### J-Link
+
+These instructions are for the [J-Link GDB server](https://www.segger.com/jlink-gdb-server.html).
+
+#### Prerequisites
+
+[Download the J-Link software](https://www.segger.com/downloads/jlink) from the Segger website and install it according to their instructions.
+
+#### Run the JLink GDB server
+
+The command below is used to run the server for flight controllers that use the STM32F427VI SoC:
+
+```sh
+JLinkGDBServer -select USB=0 -device STM32F427VI -if SWD-DP -speed 20000
+```
+
+The `--device`/SoC for common targets is:
+
+* **FMUv2, FMUv3, FMUv4, aerofc-v1, mindpx-v2:** STM32F427VI
+* **px4_fmu-v4pro:** STM32F469II
+* **px4_fmu-v5:** STM32F765II
+* **crazyflie:** STM32F405RG
+
+
+#### Connect GDB
+
+```sh
+arm-none-eabi-gdb
+  (gdb) tar ext :2331
+  (gdb) load aerofcv1_bl.elf
+```
+
+### Troubleshooting
+
+If any of the commands above are not found, you are either not using a Blackmagic probe or its software is outdated. 
+Upgrade the on-probe software first.
+
+If this error message occurs:
+```
+Error erasing flash with vFlashErase packet
+```
+
+Disconnect the target (while leaving JTAG connected) and run 
+
+```sh
+mon tpwr disable
+swdp_scan
+attach 1
+load tapv1_bl.elf
+```
+This will disable target powering and attempt another flash cycle.