ChibiOS Free Embedded RTOS

Hello,
I'm a research fellow at Second University of Naples and I have written a ChibiOS based software to control several types of UAV (drones).
Until now, I have used the Stm32F3 Discovery with onboard sensors and the results are very good.
Now, I want to try the sensors on another famous board, called Aeroquad32. This is a STM32F407 based board that I have to flash by using DFU and the maple bootloader. Is it possible with ChibiOS?
I have written a small sample application with only ChibiOS initialization and a thread to turn a led on and off with a delay. As read on other posts, I have added the definition in chconf.h and I changed the beginning of the linker script (stm32f407xG.ld) with

I think that the address 0x08010000 is correct because to flash the board with the original software I have to use dfu-util with and also the original aeroquad linker script has the same definition.
The aeroquad bootloader is flashed at 0x08000000 and at start (when I connect the board) it goes into an infinite loop without starting my code.
What is wrong? I checked my code, by flashing an stm32f4 discovery, changing only the flash (and vector) address to 0x08000000 and it works.

I hope I have been able to explain the problem.

Thank you in advance,
Egidio

Hi,

Probably you have to subtract 0xC00 to the total RAM size, I assume that area is used by the bootloader, right?

Also try to understand where it stops, look at the map file if in doubt.

Giovanni

Hello,
Thank you Giovanni for your answer!
I tried to do some tests to understand the problem.
Now the linker file starts with:

I looked at the map file, but the memory address seems to be ok. I must say that it was the first time I saw a map file, but I looked for the memory address of irq vectors and it's 0x8010000.

I tried to run a code without ChibiOS, starting from a sample code for the stm32f4discovery and it runs correctly, changing only the linker script (in the same way as the above code).
Now, I think that there is something in the starting phase of chibios that generates the loop with the bootloader, but I don't understand where.

Are there other tests that can I do, before reflash the board with another bootloader?
Thank you,
Egidio

Aren't you able to debug? it loops where exactly?

Giovanni

When I start the debug, the first line is the function late_init in crt0. When I go a step over, it goes to 0xffffffff and gdb fails.
I don't know...

Ok, I tried to modify the linker adding a line with

During the debug, it runs well (Wow), but when I close the debug, reset the board, it goes in loop again!
In debug does it use the bootloader?

Sorry for so many questions, but I am not very skilled and it is difficult to explain what I do step by step.

Thank you

I think it skips the bootloader. Apparently it interferes with the startup in some way.

Giovanni

It skips the bootloader.

It will load the user app directly in flash and run it from here.
GDB knows the app address from the .elf file.

I had some issues as well as my bootloader starts the watchdog timer

Make sure your user app does not rely on the bootloader for testing.