The Crazyflie as well as decks that has a firmware can be bootloaded from the command line 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 the STM install instructions or the NRF install instructions
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/cfloader
==============================
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.
python3 -m cfloader flash cf2.bin stm32-fw -w radio://0/10/2M/E7E7E7E701
Supported targets
When flashing a .bin, the correct target needs to be specified. The followind targets are currently supported:
- stm32-fw: Stm32 firmware
- nrf51-fw: nRF51 firmware
- nrf51-bootloader+softdevice: nRF51 bootloader and softdevice bundle binary
- Various decks-fw: Some deck can be flashed over the air. See the deck documentation.
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 cf2.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 ...
Flashing new firmware for the STM32 MCU with warmbooting with a known uri:
crazyflie-clients-python$ bin/cfloader flash cf2.bin stm32-fw -w radio://0/10/2M/E7E7E7E701
Reset to bootloader mode ...
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, STM32 and deck firmwares):
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 ...
AI-deck examples
The AI-deck should be mounted on the Crazyflie when running the cfloader.
Flash a new firmware to the ESP on the AI-deck:
crazyflie-clients-python$ bin/cfloader flash myEspApp.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
...
Flash a new firmware to the GAP8 on the AI-deck:
crazyflie-clients-python$ bin/cfloader flash myGap8App.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 from a release zip.
crazyflie-clients-python$ bin/cfloader flash a-release.zip deck-bcAI:esp-fw -w radio://0/30/2M
Reset to bootloader mode ...
Deck bcAI:esp, reset to bootloader
| 0% Writing to bcAI:esp deck memory
/ 1% Writing to bcAI:esp deck memory
- 2% Writing to bcAI:esp deck memory
...