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* 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>
113 lines
2.9 KiB
Markdown
113 lines
2.9 KiB
Markdown
# STM32 Bootloader
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The code for the PX4 bootloader is available from the Github [Bootloader](https://github.com/px4/bootloader) repository.
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## Supported Boards
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* FMUv2 (Pixhawk 1, STM32F4)
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* FMUv3 (Pixhawk 2, STM32F4)
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* FMUv4 (Pixracer 3 and Pixhawk 3 Pro, STM32F4)
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* FMUv5 (Pixhawk 4, STM32F7)
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* TAPv1 (TBA, STM32F4)
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* ASCv1 (TBA, STM32F4)
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## Building the Bootloader
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```sh
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git clone https://github.com/PX4/Bootloader.git
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cd Bootloader
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git submodule init
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git submodule update
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make
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```
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After this step a range of elf files for all supported boards are present in the Bootloader directory.
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## Flashing the Bootloader
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:::warning
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The right power sequence is critical for some boards to allow JTAG / SWD access. Follow these steps exactly as described.
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:::
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The instructions below are valid for a Blackmagic / Dronecode probe.
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Other JTAG probes will need different but similar steps.
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Developers attempting to flash the bootloader should have the required knowledge.
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If you do not know how to do this you probably should reconsider if you really need to change anything about the bootloader.
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The sequence is
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1. Disconnect the JTAG cable
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1. Connect the USB power cable
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1. Connect the JTAG cable
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### Black Magic / Dronecode Probe
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#### Using the right serial port
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* On LINUX: `/dev/serial/by-id/usb-Black_Sphere_XXX-if00`
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* On MAC OS: Make sure to use the cu.xxx port, not the tty.xxx port: `tar ext /dev/tty.usbmodemDDEasdf`
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```sh
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arm-none-eabi-gdb
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(gdb) tar ext /dev/serial/by-id/usb-Black_Sphere_XXX-if00
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(gdb) mon swdp_scan
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(gdb) attach 1
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(gdb) mon option erase
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(gdb) mon erase_mass
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(gdb) load tapv1_bl.elf
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...
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Transfer rate: 17 KB/sec, 828 bytes/write.
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(gdb) kill
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```
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### J-Link
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These instructions are for the [J-Link GDB server](https://www.segger.com/jlink-gdb-server.html).
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#### Prerequisites
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[Download the J-Link software](https://www.segger.com/downloads/jlink) from the Segger website and install it according to their instructions.
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#### Run the JLink GDB server
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The command below is used to run the server for flight controllers that use the STM32F427VI SoC:
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```sh
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JLinkGDBServer -select USB=0 -device STM32F427VI -if SWD-DP -speed 20000
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```
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The `--device`/SoC for common targets is:
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* **FMUv2, FMUv3, FMUv4, aerofc-v1, mindpx-v2:** STM32F427VI
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* **px4_fmu-v4pro:** STM32F469II
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* **px4_fmu-v5:** STM32F765II
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* **crazyflie:** STM32F405RG
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#### Connect GDB
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```sh
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arm-none-eabi-gdb
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(gdb) tar ext :2331
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(gdb) load aerofcv1_bl.elf
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```
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### Troubleshooting
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If any of the commands above are not found, you are either not using a Blackmagic probe or its software is outdated.
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Upgrade the on-probe software first.
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If this error message occurs:
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```
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Error erasing flash with vFlashErase packet
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```
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Disconnect the target (while leaving JTAG connected) and run
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```sh
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mon tpwr disable
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swdp_scan
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attach 1
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load tapv1_bl.elf
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```
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This will disable target powering and attempt another flash cycle.
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