# STM32 Bootloader

PX4 引导加载程序的代码可从 Github Bootloader (opens new window)存储库获得。

# 支持的飞控板

  • 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)

# 构建 Bootloader

git clone https://github.com/PX4/Bootloader.git
cd Bootloader
git submodule init
git submodule update

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。

# 刷写 Bootloader

以下说明适用于 Blackmagic/Dronecode probe。 其他 JTAG 仿真器需要不同但相似的步骤。 试图刷新引导加载程序的开发人员应具备所需的知识。

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.

这些指令适用于 J-Link GDB server (opens new window)

  1. 断开 JTAG 电缆的连接
  2. 连接 USB 电源线
  3. 连接 JTAG 电缆

# 黑魔法/无人机探测器

# 使用正确的串行端口

  • 在 Linux 上: /dev/serial/by-id/usb-Black_Sphere_XXX-if00
  • 在 MAC OS 上:确保使用 cu.xxx 端口,而不是 tty.xxx 端口: tar ext /dev/tty.usbmodemDDEasdf
  (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
        Transfer rate: 17 KB/sec, 828 bytes/write.
  (gdb) kill

Download the J-Link software (opens new window)并按照 Segger 网站的说明进行安装。

# 系统必备组件

以下命令用于为使用 STM32F427VI SoC 的飞行控制器运行服务器:

常见目标的 --device/SoC是:

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

# 连接 GDB

  (gdb) tar ext :2331
  (gdb) load aerofcv1_bl.elf

# 故障处理

If any of the commands above are not found, you are either not using a Blackmagic probe or its software is outdated.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.

断开目标连接(同时保持 JTAG 连接)并运行

Error erasing flash with vFlashErase packet


mon tpwr disable
attach 1
load tapv1_bl.elf

This will disable target powering and attempt another flash cycle.