DFU
DFU (Device Firmware Upgrade) is the standard method to upload new 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 requires dfu-util
Custom bootloader (e.g.Luftboot,KroozSD)
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
To use custom DFU bootloader via USB as default:
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)
STM32F4 MCUs have a bootloader already embedded in the ROM.
The MCU will not go automatically in DFU mode.
To trigger DFU mode, connect pin BOOT0 with 3V (if it dowsn't work also connect BOOT1 with GND), Reset MCU, disconnect BOOT0 (and BOOT1).
For further information, look at the STM's Application note AN2606
Airframe configuration
To use ROM based DFU via USB as default:
Set FLASH_MODE=DFU-UTIL
Needed software
dfu-util packet is needed for this bootloader.
Present in the current Ubuntu and Debian repo:
sudo apt-get install dfu-util
More information about dfu-util can be found at their Homepage http://dfu-util.gnumonks.org
Troubleshooting
You e.g. get the message can't find STM32 (autopilot) device.
- Check if your device is recognized by the kernel:
- e.g. for STM32 boards: should print something like
lsusb -v -d 1d50:600f
- e.g. for STM32 boards:
Bus 003 Device 005: ID 1d50:600f OpenMoko, Inc.
Device Descriptor:
bLength 18
bDescriptorType 1
bcdUSB 2.00
bDeviceClass 0 (Defined at Interface level)
bDeviceSubClass 0
bDeviceProtocol 0
bMaxPacketSize0 64
idVendor 0x1d50 OpenMoko, Inc.
idProduct 0x600f
bcdDevice 1.00
iManufacturer 1 1 BIT SQUARED
iProduct 2 Lisa/M V2.1 (Upgrade) V1.1
iSerial 3 LM21031 36311743414D303731FFD305
bNumConfigurations 1
Configuration Descriptor:
bLength 9
bDescriptorType 2
wTotalLength 27
bNumInterfaces 1
bConfigurationValue 1
iConfiguration 0
bmAttributes 0xc0
Self Powered
MaxPower 100mA
Interface Descriptor:
bLength 9
bDescriptorType 4
bInterfaceNumber 0
bAlternateSetting 0
bNumEndpoints 0
bInterfaceClass 254 Application Specific Interface
bInterfaceSubClass 1 Device Firmware Update
bInterfaceProtocol 2
iInterface 4 @Internal Flash /0x08000000/4*002Ka,124*002Kg
Device Firmware Upgrade Interface Descriptor:
bLength 9
bDescriptorType 33
bmAttributes 9
Will Detach
Manifestation Intolerant
Upload Unsupported
Download Supported
wDetachTimeout 255 milliseconds
wTransferSize 2048 bytes
bcdDFUVersion 1.1a
Device Status: 0x0000
(Bus Powered)