Servers by jDrones

Co-processor firmware

(Yashar Yasrobi) #1

Hi,

What is the firmware on the F103 co-processor? And where can I find a pre-built one?

Thanks.

(Mark Whitehorn) #2

The source code is here: https://github.com/ArduPilot/ardupilot/tree/master/libraries/AP_IOMCU

I don’t know how the binary is packaged or flashed to the F103.

(Khancyr) #3

The binary is embedded into the main firmware (only on target using iomcu)
On initialisation, there is a request of the iomcu version, if it doesn’t match, the main firmware update it.

On normal build, WAF will get the precompiled iomcu binary. You can manually build th iomcu binary by changing the target to board iomcu and than waf iofirmware or something like that (check on waf help). Then you need to copy the output into Tools/IO_Firmware.
There is a script to automate this task here https://github.com/ArduPilot/ardupilot/blob/master/Tools/scripts/build_iofirmware.py