DFU
DFU (Device Firmware Upgrade) is the standard method to upload paparazzi code to a stm32 MCU via usb.
There are two different dfu bootloader which require different software:
- custom Luftboot/KroozSD bootloader which uses stm32_mem.py script
- native (embedded in ROM) dfu bootloader which uses external dfu-util
custom bootloader (e.g.Luftboot)
This bootloader must be upload first, so paparazzi center can use stm32_mem.py to upload code to the MCU.
This bootloader is available for LisaM/Lia (Luftboot) and Krooz/kroozSD (KroozSD) boards.
airframe configuration
This will be set as default at the appropriate makefile of the board.
Set Flash_Mode=DFU
stm32_mem.py
stm32_mem.py will be used to upload the code.
To get a list of possible options, run:
sw/tools/dfu/stm32_mem.py --help
native dfu bootloader (embedded in ROM)
This bootloader is already embedded in the ROM of the MCU.
The MCU will not go automatically in dfu mode. To trigger dfu mode, connect pin BOOT0 with 3V(connect BOOT1 with GND ?), Reset MCU, disconnect BOOT0.
airframe configuration
This will be set as default at the appropriate makefile of the board.
Set Flash_Mode=DFU
Set DFU_UTIL=y
needed software
dfu-util packet is needed for this bootloader.
sudo apt-get install dfu-util
More information about dfu-util can be found at their Homepage http://dfu-util.gnumonks.org