PX4源码解析（一）：bootloader

最新推荐文章于 2024-10-10 08:19:54 发布

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最新推荐文章于 2024-10-10 08:19:54 发布

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本文链接：https://blog.csdn.net/lqysgdb/article/details/117434318

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1. 简介

阅读PX4的代码不能用裸机的思维去读，不能一开始就去找main函数，PX4的代码运用了自己的OS：Nuttx。

本文的环境：

硬件： Holybro Pixhawk 4 (FMUv5)
固件： px4_fmu-v5_default

2. fmu(主处理器STM32F765)的bootloader

fmu的bootloader放在下面路径中的main.c中

./PX4-Autopilot/platforms/nuttx/src/bootloader/stm/stm32_common

在这里插入图片描述
开头注释说明了这是f7的bootloader，最下面有一个bootloader_main函数
首先进行一些初始化、检查bootloader寄存器标志位、检查force-bootloader pins等，最主要的是下面两段代码：

尝试进入 app

	/* Try to boot the app if we think we should just go straight there */
	/* 尝试进入　app　，如果我们认为不需要进入　bootloader　 */
	if (try_boot) {

		/* set the boot-to-bootloader flag so that if boot fails on reset we will stop here */
#ifdef BOARD_BOOT_FAIL_DETECT
		board_set_rtc_signature(BOOT_RTC_SIGNATURE);
#endif

		/* try to boot immediately */
		/* 进入 app  */
		jump_to_app();

		// If it failed to boot, reset the boot signature and stay in bootloader
		board_set_rtc_signature(BOOT_RTC_SIGNATURE);

		/* booting failed, stay in the bootloader forever */
		timeout = 0;
	}

死循环运行 bootloader

	while (1) {
		/* run the bootloader, come back after an app is uploaded or we time out */
		/* 运行　bootloader  */
		bootloader(timeout);

		/* if the force-bootloader pins are strapped, just loop back */
		if (board_test_force_pin()) {
			continue;
		}

#if INTERFACE_USART

		/* if the USART port RX line is still receiving a break, just loop back */
		if (board_test_usart_receiving_break()) {
			continue;
		}

#endif

		/* set the boot-to-bootloader flag so that if boot fails on reset we will stop here */
#ifdef BOARD_BOOT_FAIL_DETECT
		board_set_rtc_signature(BOOT_RTC_SIGNATURE);
#endif

		/* look to see if we can boot the app */
		jump_to_app();

		/* launching the app failed - stay in the bootloader forever */
		timeout = 0;
	}