The Crazyflie can be bootloaded from the commandline using the cfloader script.
Note: To enter the bootloader for the Crazyflie 2.X power off the platform and start it again by pressing the power button for at least 1.5 seconds, but not more than 5.
Programming Crazyflie from firmware projects
When developing with the Crazyflie firmware projects, either crazyflie-firmware or crazyflie2-nrf-firmware you can flash your current build with:
make cload
If you want the Crazyflie to restart automatically in bootloader mode you can enable the warmboot mode. To do so, edit the file 'tool/make/config.mk' and add the address of your Crazyflie:
CLOAD_CMDS = -w radio://0/80/250K/E7E7E7E7E7
After this, 'make cload' will restart the Crazyflie in bootloader mode, flash it and restart it with the new firmware.
In warmboot mode the bootloader is launched using a random address. This means that multiple Crazyflie can be programmed at the same time without collision.
Warning: If the flashing operation fails or if the firmware has a bug, it may be impossible to warmboot. In that case start the bootloader manually and disable warmboot temporarily by programming with:
make cload CLOAD_CMDS=
cfloader
The script is located in the bin directory in the crazyflie-clients-python repository and client. Here's how to use the script:
crazyflie-clients-python$ bin/cfclient
==============================
CrazyLoader Flash Utility
==============================
Usage: bin/cfloader [CRTP options] <action> [parameters]
The CRTP options are described above
Crazyload option:
info : Print the info of the bootloader and quit.
Will let the target in bootloader mode
reset : Reset the device in firmware mode
flash <file> [targets] : flash the <img> binary file from the first
possible page in flash and reset to firmware
mode.
Crazyflie 2.X examples
Flashing new firmware for the nRF51 MCU:
crazyflie-clients-python$ bin/cfloader flash cf2_nrf.bin nrf51-fw
Restart the Crazyflie you want to bootload in the next 10 seconds ... done!
Connected to bootloader on Crazyflie 2.0 (version=0x10)
Target info: nrf51 (0xFE)
Flash pages: 232 | Page size: 1024 | Buffer pages: 1 | Start page: 88
144 KBytes of flash avaliable for firmware image.
Target info: stm32 (0xFF)
Flash pages: 1024 | Page size: 1024 | Buffer pages: 10 | Start page: 16
1008 KBytes of flash avaliable for firmware image.
Flashing 1 of 1 to nrf51 (fw): 25151 bytes (25 pages) .1.1.1.1.1.1.1.1.1.1.1.1.1.1.1.1.1.1.1.1.1.1.1.1.1
Reset in firmware mode ...
Flashing new firmware for the STM32 MCU:
crazyflie-clients-python$ bin/cfloader flash cflie.bin stm32-fw
Restart the Crazyflie you want to bootload in the next 10 seconds ... done!
Connected to bootloader on Crazyflie 2.0 (version=0x10)
Target info: nrf51 (0xFE)
Flash pages: 232 | Page size: 1024 | Buffer pages: 1 | Start page: 88
144 KBytes of flash avaliable for firmware image.
Target info: stm32 (0xFF)
Flash pages: 1024 | Page size: 1024 | Buffer pages: 10 | Start page: 16
1008 KBytes of flash avaliable for firmware image.
Flashing 1 of 1 to stm32 (fw): 76435 bytes (75 pages) ..........10..........10..........10..........10..........10..........10..........10.....5
Reset in firmware mode ...
Flash a new firmware package (containing both nRF51 and STM32 firmware):
crazyflie-clients-python$ bin/cfloader flash cf2_dev_update.zip
Restart the Crazyflie you want to bootload in the next 10 seconds ... done!
Connected to bootloader on Crazyflie 2.0 (version=0x10)
Target info: nrf51 (0xFE)
Flash pages: 232 | Page size: 1024 | Buffer pages: 1 | Start page: 88
144 KBytes of flash avaliable for firmware image.
Target info: stm32 (0xFF)
Flash pages: 1024 | Page size: 1024 | Buffer pages: 10 | Start page: 16
1008 KBytes of flash avaliable for firmware image.
Flashing 1 of 2 to stm32 (fw): 76435 bytes (75 pages) ..........10..........10..........10..........10..........10..........10..........10.....5
Flashing 2 of 2 to nrf51 (fw): 25151 bytes (25 pages) .1.1.1.1.1.1.1.1.1.1.1.1.1.1.1.1.1.1.1.1.1.1.1.1.1
Reset in firmware mode ...
Flash a new firmware to the GAP8 on the AI-deck:
crazyflie-clients-python$ bin/cfloader flash myApp.bin deck-bcAI:gap8-fw -w radio://0/30/2M
Reset to bootloader mode ...
Skipping bcAI:esp
| 4% Writing to bcAI:gap8 deck memory
/ 9% Writing to bcAI:gap8 deck memory
- 14% Writing to bcAI:gap8 deck memory
\ 19% Writing to bcAI:gap8 deck memory
...
Flash a new firmware to the ESP on the AI-deck:
crazyflie-clients-python$ bin/cfloader flash myApp.bin deck-bcAI:esp-fw -w radio://0/30/2M
Reset to bootloader mode ...
| 4% Writing to bcAI:esp deck memory
/ 9% Writing to bcAI:esp deck memory
- 14% Writing to bcAI:esp deck memory
\ 19% Writing to bcAI:esp deck memory