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115 lines
3.0 KiB
Markdown
115 lines
3.0 KiB
Markdown
# STM32 Bootloader
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The code for the PX4 bootloader is available from the Github [Bootloader](https://github.com/PX4/PX4-Bootloader) repository.
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## 支持的飞控板
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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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## 构建 Bootloader
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```sh
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git clone https://github.com/PX4/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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在此步骤之后，所有支持的主板的 elf 文件范围都出现在引导 Bootloader 目录中。
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## 刷写 Bootloader
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:::warning
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The right power sequence is critical for some boards to allow JTAG / SWD access. 其他 JTAG 仿真器需要不同但相似的步骤。
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:::
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The instructions below are valid for a Blackmagic / Zubax BugFace BF1 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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这些指令适用于<a href="https://www.segger.com/jlink-gdb-server.html"> J-Link GDB server</a>。
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1. 断开 JTAG 电缆的连接
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2. 连接 USB 电源线
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3. 连接 JTAG 电缆
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### Black Magic / Zubax BugFace BF1 Probe
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#### 使用正确的串行端口
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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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#### 系统必备组件
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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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#### 运行 JLink GDB 服务器
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常见目标的 <code>--device</code>/SoC是：
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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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#### 连接 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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### 故障处理
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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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断开目标连接（同时保持 JTAG 连接）并运行
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```
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Error erasing flash with vFlashErase packet
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```
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这将禁用目标供电并尝试另一个闪光周期。
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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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