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196 lines
8.3 KiB
Markdown
196 lines
8.3 KiB
Markdown
# Bootloader Update
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The _PX4 Bootloader_ is used to load firmware for [Pixhawk boards](../flight_controller/pixhawk_series.md) (PX4FMU, PX4IO).
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Pixhawk controllers usually comes with an appropriate bootloader version pre-installed.
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However in some cases it is not present, or an older version is present that needs to be updated, or the board has been bricked and needs to be erased and the bootloader reinstalled.
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This topic explains how to build the PX4 bootloader, and several methods for flashing it to a board.
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::: info
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- Most boards will need to use the [Debug Probe](#debug-probe-bootloader-update) to update the bootloader.
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- On [FMUv6X-RT](../flight_controller/pixhawk6x-rt.md) you can [install bootloader/unbrick boards via USB](bootloader_update_v6xrt.md).
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This is useful if you don't have a debug probe.
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- On FMUv2 and some custom firmware (only) you can use [QGC Bootloader Update](#qgc-bootloader-update).
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:::
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## Building the PX4 Bootloader
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### PX4 Bootloader FMUv6X and later
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Boards starting with FMUv6X (STM32H7) use the in-tree PX4 bootloader.
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This can be built from within the [PX4-Autopilot](https://github.com/PX4/PX4-Autopilot) directory using the `make` command and the board-specific target with a `_bootloader` suffix.
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For FMUv6X the command is:
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```sh
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make px4_fmu-v6x_bootloader
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```
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This will build the bootloader binary as `build/px4_fmu-v6x_bootloader/px4_fmu-v6x_bootloader.elf`, which can be flashed via SWD or DFU.
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If you are building the bootloader you should be familiar with one of these options already.
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If you need a HEX file instead of an ELF file, use objcopy:
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```sh
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arm-none-eabi-objcopy -O ihex build/px4_fmu-v6x_bootloader/px4_fmu-v6x_bootloader.elf px4_fmu-v6x_bootloader.hex
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```
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### PX4 Bootloader FMUv5X and earlier
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PX4 boards up to FMUv5X (before STM32H7) used the [PX4 bootloader](https://github.com/PX4/Bootloader) repository.
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The instructions in the repo README explain how to use it.
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## Debug Probe Bootloader Update
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The following steps explain how you can "manually" update the bootloader using a [compatible Debug Probe](../debug/swd_debug.md#debug-probes-for-px4-hardware):
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1. Get a binary containing the bootloader (either from dev team or [build it yourself](#building-the-px4-bootloader)).
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1. Get a [Debug Probe](../debug/swd_debug.md#debug-probes-for-px4-hardware).
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Connect the probe your PC via USB and setup the `gdbserver`.
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1. Go into the directory containing the binary and run the command for your target bootloader in the terminal:
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- FMUv6X
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```sh
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arm-none-eabi-gdb px4_fmu-v6x_bootloader.elf
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```
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- FMUv6X-RT
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```sh
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arm-none-eabi-gdb px4_fmu-v6xrt_bootloader.elf
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```
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- FMUv5
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```sh
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arm-none-eabi-gdb px4fmuv5_bl.elf
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```
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::: info
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H7 Bootloaders from [PX4/PX4-Autopilot](https://github.com/PX4/PX4-Autopilot) are named with pattern `*._bootloader.elf`.
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Bootloaders from [PX4/PX4-Bootloader](https://github.com/PX4/PX4-Bootloader) are named with the pattern `*_bl.elf`.
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:::
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1. The _gdb terminal_ appears and it should display the following output:
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```sh
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GNU gdb (GNU Tools for Arm Embedded Processors 7-2017-q4-major) 8.0.50.20171128-git
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Copyright (C) 2017 Free Software Foundation, Inc.
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License GPLv3+: GNU GPL version 3 or later <http://gnu.org/licenses/gpl.html>
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This is free software: you are free to change and redistribute it.
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There is NO WARRANTY, to the extent permitted by law.
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Type "show copying" and "show warranty" for details.
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This GDB was configured as "--host=x86_64-linux-gnu --target=arm-none-eabi".
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Type "show configuration" for configuration details.
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For bug reporting instructions, please see:
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<http://www.gnu.org/software/gdb/bugs/>.
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Find the GDB manual and other documentation resources online at:
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<http://www.gnu.org/software/gdb/documentation/>.
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For help, type "help".
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Type "apropos word" to search for commands related to "word"...
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Reading symbols from px4fmuv5_bl.elf...done.
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```
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1. Find your `<dronecode-probe-id>` by running an `ls` command in the **/dev/serial/by-id** directory.
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1. Now connect to the debug probe with the following command:
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```sh
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tar ext /dev/serial/by-id/<dronecode-probe-id>
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```
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1. Power on the Pixhawk with another USB cable and connect the probe to the `FMU-DEBUG` port.
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::: info
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If using a Dronecode probe you may need to remove the case in order to connect to the `FMU-DEBUG` port (e.g. on Pixhawk 4 you would do this using a T6 Torx screwdriver).
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:::
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1. Use the following command to scan for the Pixhawk`s SWD and connect to it:
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```sh
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(gdb) mon swdp_scan
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(gdb) attach 1
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```
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1. Load the binary into the Pixhawk:
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```sh
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(gdb) load
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```
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After the bootloader has updated you can [Load PX4 Firmware](../config/firmware.md) using _QGroundControl_.
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## QGC Bootloader Update
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The easiest approach is to first use _QGroundControl_ to install firmware that contains the desired/latest bootloader.
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You can then initiate bootloader update on next restart by setting the parameter: [SYS_BL_UPDATE](../advanced_config/parameter_reference.md#SYS_BL_UPDATE).
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This approach can only be used if [SYS_BL_UPDATE](../advanced_config/parameter_reference.md#SYS_BL_UPDATE) is present in firmware.
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:::warning
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Currently only FMUv2 and some custom firmware includes the desired bootloader.
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:::
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The steps are:
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1. Insert an SD card (enables boot logging to debug any problems).
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1. [Update the Firmware](../config/firmware.md#custom) with an image containing the new/desired bootloader.
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::: info
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The updated bootloader might be supplied in custom firmware (i.e. from the dev team), or it or may be included in the latest main branch.
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:::
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1. Wait for the vehicle to reboot.
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1. [Find and enable](../advanced_config/parameters.md) the parameter [SYS_BL_UPDATE](../advanced_config/parameter_reference.md#SYS_BL_UPDATE).
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1. Reboot (disconnect/reconnect the board).
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The bootloader update will only take a few seconds.
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Generally at this point you may then want to [update the firmware](../config/firmware.md) again using the correct/newly installed bootloader.
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An specific example of this process for updating the FMUv2 bootloader is given below.
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### FMUv2 Bootloader Update
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If _QGroundControl_ installs the FMUv2 target (see console during installation), and you have a newer board, you may need to update the bootloader in order to access all the memory on your flight controller.
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::: info
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Early FMUv2 [Pixhawk-series](../flight_controller/pixhawk_series.md#fmu_versions) flight controllers had a [hardware issue](../flight_controller/silicon_errata.md#fmuv2-pixhawk-silicon-errata) that restricted them to using 1MB of flash memory.
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The problem is fixed on newer boards, but you may need to update the factory-provided bootloader in order to install FMUv3 Firmware and access all 2MB available memory.
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:::
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To update the bootloader:
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1. Insert an SD card (enables boot logging to debug any problems).
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1. [Update the Firmware](../config/firmware.md) to PX4 _master_ version (when updating the firmware, check **Advanced settings** and then select **Developer Build (master)** from the dropdown list).
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_QGroundControl_ will automatically detect that the hardware supports FMUv2 and install the appropriate Firmware.
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Wait for the vehicle to reboot.
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1. [Find and enable](../advanced_config/parameters.md) the parameter [SYS_BL_UPDATE](../advanced_config/parameter_reference.md#SYS_BL_UPDATE).
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1. Reboot (disconnect/reconnect the board).
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The bootloader update will only take a few seconds.
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1. Then [Update the Firmware](../config/firmware.md) again.
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This time _QGroundControl_ should autodetect the hardware as FMUv3 and update the Firmware appropriately.
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::: info
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If the hardware has the [Silicon Errata](../flight_controller/silicon_errata.md#fmuv2-pixhawk-silicon-errata) it will still be detected as FMUv2 and you will see that FMUv2 was re-installed (in console).
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In this case you will not be able to install FMUv3 hardware.
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:::
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## Other Boards (Non-Pixhawk)
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Boards that are not part of the [Pixhawk Series](../flight_controller/pixhawk_series.md) will have their own mechanisms for bootloader update.
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For boards that are preflashed with Betaflight, see [Bootloader Flashing onto Betaflight Systems](bootloader_update_from_betaflight.md).
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