(bitcraze#578) added flashing info to build docs

Williamwenda · Mar 23, 2021 · c813359 · c813359
1 parent c94ce25
commit c813359
Show file tree

Hide file tree

Showing 4 changed files with 48 additions and 51 deletions.
diff --git a/README.md b/README.md
@@ -8,7 +8,7 @@ The 2017.06 release was the last release with Crazyflie 1.0 support. If you want
 to play with the Crazyflie 1.0 and modify the code, please clone this repo and
 branch off from the 2017.06 tag.
 
-## Building and Flashing instructions
+## Building and Flashing
 See the [building and flashing instructions](docs/building-and-flashing/build.md) in the github docs folder.
 
 

diff --git a/docs/_data/menu.yml b/docs/_data/menu.yml
@@ -2,7 +2,6 @@
 - title: Building and Flashing
   subs:
     - {page_id: build}
-    - {page_id: flashing}
 - title: Userguides
   subs:
     - {page_id: deck}

diff --git a/docs/building-and-flashing/build.md b/docs/building-and-flashing/build.md
@@ -143,6 +143,53 @@ reset      : Reset the target using OpenOCD
 openocd    : Launch OpenOCD
 ```
 
+# Flashing
+Writing a new binary to the Crazyflie is called flashing (writing it to the flash memory). This page describes how to flash from the command line and there are a few different ways to do it.
+
+## Using Crazyradio
+
+The most common way to flash is probably to use the Crazyradio.
+
+### Prerequisites
+* A Crazyradio with drivers installed
+* [crazyflie-clients-python](https://github.com/bitcraze/crazyflie-clients-python) placed on the same directory level in the file tree
+* The firmware has been built
+* The current working directory is the root of the frazyflie-firmware project
+
+### Manually entering bootloader mode
+
+* Turn the Crazyflie off
+* Start the Crazyflie in bootloader mode by pressing the power button for 3 seconds. Both the blue LEDs will blink.
+* In your terminal, run `make cload`
+
+It will try to find a Crazyflie in bootloader mode and flash the binary to it.
+
+Warning: if multiple Crazyflies within range are in bootloader mode the result is unpredictable. This method is not suitable in classroom situation where it is likely that several students are flashing at the same time. Also remember that the Crazyradio PA often reaches into the next room.
+
+### Automatically enter bootloader mode
+
+* Add the address of the crazyflie to the [`config.mk`](/docs/building-and-flashing/configure_build.md) file, for instance `CLOAD_CMDS = -w radio://0/80/2M`
+* Make sure the Crazyflie is on
+* In your terminal, run `make cload`
+
+It will connect to the Crazyflie with the specified address, put it in bootloader mode and flash the binary. This method is suitable for classroom situations.
+
+Note: this method does not work if the Crazyflie does not start, for instance if the current flashed binary is corrupt. You will have to fall back to manually entering bootloader mode.
+
+## Using a debug adapter
+
+You need:
+
+* An ST Link V2 Debugger
+* open ocd installed ([installation intructions](/docs/development/openocd_gdb_debugging.md))
+* The firmware has been built
+* The current working directory is the root of the frazyflie-firmware project
+
+In your terminal, run
+
+`make flash`
+
+
 # Unit testing
 
 ## Running all unit tests

diff --git a/docs/building-and-flashing/flashing.md b/docs/building-and-flashing/flashing.md