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initial setup
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‎.gitmodules

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[submodule "ardupilot"]
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path = ardupilot
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url = https://github.com/ardupilot/ardupilot

‎AP_Bootloader/AP_Bootloader.cpp

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/*
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This program is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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/*
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ArduPilot bootloader. This implements the same protocol originally
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developed for PX4, but builds on top of the ChibiOS HAL
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It does not use the full AP_HAL API in order to keep the firmware
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size below the maximum of 16kByte required for F4 based
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boards. Instead it uses the ChibiOS APIs directly
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*/
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#include <AP_HAL/AP_HAL.h>
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#include "ch.h"
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#include "hal.h"
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#include "hwdef.h"
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#include <AP_HAL_ChibiOS/hwdef/common/usbcfg.h>
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#include <AP_HAL_ChibiOS/hwdef/common/stm32_util.h>
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#include <AP_HAL_ChibiOS/hwdef/common/watchdog.h>
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#include "support.h"
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#include "bl_protocol.h"
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#include "can.h"
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#include <stdio.h>
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#if EXTERNAL_PROG_FLASH_MB
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#include <AP_FlashIface/AP_FlashIface_JEDEC.h>
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#endif
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extern "C" {
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int main(void);
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}
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struct boardinfo board_info = {
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.board_type = APJ_BOARD_ID,
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.board_rev = 0,
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.fw_size = (BOARD_FLASH_SIZE - (FLASH_BOOTLOADER_LOAD_KB + FLASH_RESERVE_END_KB + APP_START_OFFSET_KB))*1024,
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.extf_size = (EXTERNAL_PROG_FLASH_MB * 1024 * 1024)
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};
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#ifndef HAL_BOOTLOADER_TIMEOUT
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#define HAL_BOOTLOADER_TIMEOUT 5000
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#endif
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#ifndef HAL_STAY_IN_BOOTLOADER_VALUE
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#define HAL_STAY_IN_BOOTLOADER_VALUE 0
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#endif
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#if EXTERNAL_PROG_FLASH_MB
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AP_FlashIface_JEDEC ext_flash;
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#endif
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int main(void)
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{
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if (BOARD_FLASH_SIZE > 1024 && check_limit_flash_1M()) {
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board_info.fw_size = (1024 - (FLASH_BOOTLOADER_LOAD_KB + APP_START_OFFSET_KB))*1024;
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}
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bool try_boot = false;
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uint32_t timeout = HAL_BOOTLOADER_TIMEOUT;
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#ifdef HAL_BOARD_AP_PERIPH_ZUBAXGNSS
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// setup remapping register for ZubaxGNSS
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uint32_t mapr = AFIO->MAPR;
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mapr &= ~AFIO_MAPR_SWJ_CFG;
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mapr |= AFIO_MAPR_SWJ_CFG_JTAGDISABLE;
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AFIO->MAPR = mapr | AFIO_MAPR_CAN_REMAP_REMAP2 | AFIO_MAPR_SPI3_REMAP;
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#endif
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#ifndef NO_FASTBOOT
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enum rtc_boot_magic m = check_fast_reboot();
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bool was_watchdog = stm32_was_watchdog_reset();
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if (was_watchdog) {
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try_boot = true;
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timeout = 0;
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} else if (m == RTC_BOOT_HOLD) {
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timeout = 0;
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} else if (m == RTC_BOOT_FAST) {
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try_boot = true;
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timeout = 0;
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}
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#if HAL_USE_CAN == TRUE || HAL_NUM_CAN_IFACES
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else if ((m & 0xFFFFFF00) == RTC_BOOT_CANBL) {
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try_boot = false;
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timeout = 10000;
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can_set_node_id(m & 0xFF);
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}
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can_check_update();
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if (!can_check_firmware()) {
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// bad firmware CRC, don't try and boot
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timeout = 0;
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try_boot = false;
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}
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#ifndef BOOTLOADER_DEV_LIST
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else if (timeout != 0) {
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// fast boot for good firmware
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try_boot = true;
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timeout = 1000;
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}
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#endif
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if (was_watchdog && m != RTC_BOOT_FWOK) {
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// we've had a watchdog within 30s of booting main CAN
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// firmware. We will stay in bootloader to allow the user to
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// load a fixed firmware
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stm32_watchdog_clear_reason();
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try_boot = false;
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timeout = 0;
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}
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#endif
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#if defined(HAL_GPIO_PIN_VBUS) && defined(HAL_ENABLE_VBUS_CHECK)
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#if HAL_USE_SERIAL_USB == TRUE
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else if (palReadLine(HAL_GPIO_PIN_VBUS) == 0) {
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try_boot = true;
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timeout = 0;
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}
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#endif
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#endif
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// if we fail to boot properly we want to pause in bootloader to give
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// a chance to load new app code
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set_fast_reboot(RTC_BOOT_OFF);
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#endif
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#ifdef HAL_GPIO_PIN_STAY_IN_BOOTLOADER
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// optional "stay in bootloader" pin
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if (palReadLine(HAL_GPIO_PIN_STAY_IN_BOOTLOADER) == HAL_STAY_IN_BOOTLOADER_VALUE) {
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try_boot = false;
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timeout = 0;
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}
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#endif
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if (try_boot) {
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jump_to_app();
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}
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#if defined(BOOTLOADER_DEV_LIST)
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init_uarts();
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#endif
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#if HAL_USE_CAN == TRUE || HAL_NUM_CAN_IFACES
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can_start();
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#endif
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flash_init();
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#if EXTERNAL_PROG_FLASH_MB
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while (!ext_flash.init()) {
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// keep trying until we get it working
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// there's no future without it
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chThdSleep(1000);
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}
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#endif
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#if defined(BOOTLOADER_DEV_LIST)
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while (true) {
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bootloader(timeout);
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jump_to_app();
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}
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#else
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// CAN only
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while (true) {
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uint32_t t0 = AP_HAL::millis();
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while (timeout == 0 || AP_HAL::millis() - t0 <= timeout) {
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can_update();
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chThdSleep(chTimeMS2I(1));
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}
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jump_to_app();
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}
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#endif
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}
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‎AP_Bootloader/README.md

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# ArduPilot Bootloader
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This is the bootloader used for STM32 boards for ArduPilot. To build
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the bootloader do this:
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```bash
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./waf configure --board BOARDNAME --bootloader
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./waf bootloader
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```
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the bootloader will be in build/BOARDNAME/bin. If you have the
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intelhex module installed it will build in both bin format and hex
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format. Both are usually uploaded with DFU. The elf file will be in
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build/BOARDNAME/AP_Bootloader for loading with gdb.
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The --bootloader option tells waf to get the hardware config from
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the hwdef-bl.dat file for the board. It will look in
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libraries/AP_HAL_CHibiOS/hwdef/BOARDNAME/hwdef-bl.dat
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The bootloader protocol is compatible with that used by the PX4
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project for boards like the Pixhawk. For compatibility purposes we
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maintain a list of board IDs in the board_types.txt file in this
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directory.
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the board IDs in that file match the APJ_BOARD_ID in the hwdef.dat and
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hwdef-bl.dat files
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The bootloader can load from USB or UARTs. The list of devices to load
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from is given in the SERIAL_ORDER option in hwdef-bl.dat

‎AP_Bootloader/app_comms.h

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/*
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application -> bootloader communication structure This is put into
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the start of RAM by AP_Periph to facilitate firmware upload with
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UAVCAN
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*/
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#pragma once
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#define APP_BOOTLOADER_COMMS_MAGIC 0xc544ad9a
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struct app_bootloader_comms {
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uint32_t magic;
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uint32_t reserved[4];
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uint8_t server_node_id;
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uint8_t my_node_id;
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uint8_t path[201];
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};
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#ifndef FW_MAJOR
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#define FW_MAJOR 0
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#define FW_MINOR 0
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#endif
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/*
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the app_descriptor stored in flash in the main firmware and is used
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by the bootloader to confirm that the firmware is not corrupt and is
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suitable for this board. The build dependent values in this structure
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are filled in by set_app_descriptor() in the waf build
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*/
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struct app_descriptor {
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uint8_t sig[8] = { 0x40, 0xa2, 0xe4, 0xf1, 0x64, 0x68, 0x91, 0x06 };
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// crc1 is the crc32 from firmware start to start of image_crc1
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uint32_t image_crc1 = 0;
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// crc2 is the crc32 from the start of version_major to the end of the firmware
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uint32_t image_crc2 = 0;
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// total size of firmware image in bytes
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uint32_t image_size = 0;
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uint32_t git_hash = 0;
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// software version number
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uint8_t version_major = FW_MAJOR;
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uint8_t version_minor = FW_MINOR;
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// APJ_BOARD_ID (hardware version). This is also used in CAN NodeInfo
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// with high byte in HardwareVersion.major and low byte in HardwareVersion.minor
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uint16_t board_id = APJ_BOARD_ID;
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uint8_t reserved[8] = { 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff };
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};
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#define APP_DESCRIPTOR_TOTAL_LENGTH 36
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static_assert(sizeof(app_descriptor) == APP_DESCRIPTOR_TOTAL_LENGTH, "app_descriptor incorrect length");

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