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doc:lighthouse:bootloader

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Lighthouse deck bootloader

Warning: This documentation is currently a work-in-progress working document. None of this is final.

The lighthouse deck is based on an iCE40UP5K FPGA. The FPGA boots from an SPI flash to the bootloader, it is then able to boot to another configuration image. The bootloader gives access to the SPI memory and to a boot command to boot the user image. This allows the deck to be updated easily from the Crazyflie or from the auxiliary serial port.

The bootloader protocol is inspired by the TinyFpga USB bootloader but implemented on serial port and I2C bus.

Physical protocols

Uart protocol

There is two UARTs on the deck, UART0 on te Crazyflie deck interface and UART1 on 2.54mm soldering pads available for external communication. The bootloader is available on both UART. The UARTs are setup at a baudrate of 115200.

I2C protocol

Bootloader protocol

SPI Exchange

Boot

doc/lighthouse/bootloader.1550644499.txt.gz · Last modified: 2019-02-20 07:34 by arnaud