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Flashing bootloaders
The bootloader is what allows you to upgrade your firmware at any time. Before we can install the firmware, we first have to flash the bootloader.
These steps assume you have already gotten a compiled firmware and GCS for your target board. If you have not, please go to www.taulabs.org and request help, as these wiki instructions will need to be updated.
- Install the ST-Link Utility from here stm32_st-link_utility.zip
- Connect the STM32F3Discovery board using the mini-usb connector marked
USB ST-LINK - Start STM32 ST-LINK Utility
- Select Target->Connect from the menu
- Select Target-> Erase Chip from the menu
- Select File -> Open File... from the menu
- Choose the appropriate bootloader. Tau Labs bootloaders are prefaced by
bl_. For instance, if you are flashing the FlyingF3, this will be in builds/bl_flyingf3/bl_flyingf3.bin - Confirm the dialog box which asks to write the data to the target
- Close the software
cd into <TauLabs> directory and run
make openocd_git_install
That will create a local copy of openocd in your <TauLabs>/tools/ directory. You can then flash the bootloader using following command:
make bl_flyingf3_program
and you're done :)
You can check that the bootloader was successfully written by unplugging and replugging the USB cable. The blue LED should begin slowly pulsing. This means that the bootloader is running, but that there is no valid autopilot firmware. Advance to the next step to rescue the firmware.