Merge branch 'master' into bugfix-ground

.gitignore

@@ -59,3 +59,8 @@ ground/uavobjgenerator/uavobjgenerator.pro.user
 ground/uavobjects/uavobjects.pro.user
 ground/ground.pro.user
 
+# Ignore GNU global tags files
+GPATH
+GRTAGS
+GSYMS
+GTAGS

Makefile

@@ -1,9 +1,32 @@
+# Set up a default goal
+.DEFAULT_GOAL := help
+
 # Set up some macros for common directories within the tree
 ROOT_DIR=$(CURDIR)
 TOOLS_DIR=$(ROOT_DIR)/tools
 BUILD_DIR=$(ROOT_DIR)/build
 DL_DIR=$(ROOT_DIR)/downloads
 
+# Clean out undesirable variables from the environment and command-line
+# to remove the chance that they will cause problems with our build
+define SANITIZE_VAR
+$(if $(filter-out undefined,$(origin $(1))),
+  $(info *NOTE*      Sanitized $(2) variable '$(1)' from $(origin $(1)))
+  MAKEOVERRIDES = $(filter-out $(1)=%,$(MAKEOVERRIDES))
+  override $(1) :=
+  unexport $(1)
+)
+endef
+
+# These specific variables can influence gcc in unexpected (and undesirable) ways
+SANITIZE_GCC_VARS := TMPDIR GCC_EXEC_PREFIX COMPILER_PATH LIBRARY_PATH
+SANITIZE_GCC_VARS += CFLAGS CPATH C_INCLUDE_PATH CPLUS_INCLUDE_PATH OBJC_INCLUDE_PATH DEPENDENCIES_OUTPUT
+$(foreach var, $(SANITIZE_GCC_VARS), $(eval $(call SANITIZE_VAR,$(var),disallowed)))
+
+# These specific variables used to be valid but now they make no sense
+SANITIZE_DEPRECATED_VARS := USE_BOOTLOADER
+$(foreach var, $(SANITIZE_DEPRECATED_VARS), $(eval $(call SANITIZE_VAR,$(var),deprecated)))
+
 # We almost need to consider autoconf/automake instead of this
 # I don't know if windows supports uname :-(
 QT_SPEC=win32-g++
@@ -36,11 +59,13 @@ export V1    := $(AT)
 else ifeq ($(V), 1)
 endif
 
-.PHONY: areyousureyoushouldberunningthis
+.PHONY: help
-areyousureyoushouldberunningthis:
+help:
 	@echo
-	@echo "   This Makefile will probably only work on Linux and Mac right now."
+	@echo "   This Makefile is known to work on Linux and Mac in a standard shell environment."
-	@echo "   If you're sure you want to be using this, you may wish to try the following targets:"
+	@echo "   It also works on Windows by following the instructions in make/winx86/README.txt."
+	@echo
+	@echo "   Here is a summary of the available targets:"
 	@echo
 	@echo "   [Tool Installers]"
 	@echo "     qt_sdk_install       - Install the QT v4.6.2 tools"
@@ -49,20 +74,33 @@ areyousureyoushouldberunningthis:
 	@echo
 	@echo "   [Big Hammer]"
 	@echo "     all                  - Generate UAVObjects, build openpilot firmware and gcs"
+	@echo "     all_flight           - Build all firmware, bootloaders and bootloader updaters"
+	@echo "     all_fw               - Build only firmware for all boards"
+	@echo "     all_bl               - Build only bootloaders for all boards"
+	@echo "     all_blupd            - Build only bootloader updaters for all boards"
+	@echo
 	@echo "     all_clean            - Remove your build directory ($(BUILD_DIR))"
+	@echo "     all_flight_clean     - Remove all firmware, bootloaders and bootloader updaters"
+	@echo "     all_fw_clean         - Remove firmware for all boards"
+	@echo "     all_bl_clean         - Remove bootlaoders for all boards"
+	@echo "     all_blupd_clean      - Remove bootloader updaters for all boards"
 	@echo
 	@echo "   [Firmware]"
-	@echo "     openpilot         - Build firmware for the OpenPilot board"
+	@echo "     <board>              - Build firmware for <board>"
-	@echo "     openpilot_clean   - Delete all build output for the OpenPilot firmware"
+	@echo "                            supported boards are ($(FW_TARGETS))"
-	@echo "     openpilot_program - Program the firmware onto the OpenPilot board"
+	@echo "     <board>_clean        - Remove firmware for <board>"
-	@echo "     ahrs              - Build firmware for the AHRS board"
+	@echo "     <board>_program      - Use OpenOCD + JTAG to write firmware to <board>"
-	@echo "     ahrs_clean        - Delete all build output for the AHRS firmware"
-	@echo "     ahrs_program      - Program the firmware onto the AHRS board"
-	@echo "     coptercontrol     - Build firmware for the CopterControl board"
 	@echo
-	@echo "       NOTE: To build firmware to be chain loaded from a bootloader, use"
+	@echo "   [Bootloader]"
-	@echo "                 make openpilot USE_BOOTLOADER=YES"
+	@echo "     bl_<board>           - Build bootloader for <board>"
-	@echo "             Don't forget to do a clean between builds with/without bootloader"
+	@echo "                            supported boards are ($(BL_TARGETS))"
+	@echo "     bl_<board>_clean     - Remove bootloader for <board>"
+	@echo "     bl_<board>_program   - Use OpenOCD + JTAG to write bootloader to <board>"
+	@echo
+	@echo "   [Bootloader Updater]"
+	@echo "     blupd_<board>        - Build bootloader updater for <board>"
+	@echo "                            supported boards are ($(BLUPD_TARGETS))"
+	@echo "     blupd_<board>_clean  - Remove bootloader updater for <board>"
 	@echo
 	@echo "   [Simulation]"
 	@echo "     sim_posix            - Build OpenPilot simulation firmware for"
@@ -73,15 +111,14 @@ areyousureyoushouldberunningthis:
 	@echo "     sim_win32_clean      - Delete all build output for the win32 simulation"
 	@echo
 	@echo "   [GCS]"
-	@echo "     gcs               - Build the Ground Control System application"
+	@echo "     gcs                  - Build the Ground Control System (GCS) application"
+	@echo "     gcs_clean            - Remove the Ground Control System (GCS) application"
 	@echo
 	@echo "   [UAVObjects]"
 	@echo "     uavobjects           - Generate source files from the UAVObject definition XML files"
 	@echo "     uavobjects_test      - parse xml-files - check for valid, duplicate ObjId's, ... "
-	@echo "     uavobjects_flight - Generate flight source files from the UAVObject definition XML files"
+	@echo "     uavobjects_<group>   - Generate source files from a subset of the UAVObject definition XML files"
-	@echo "     uavobjects_gcs    - Generate groundstation source files from the UAVObject definition XML files"
+	@echo "                            supported groups are ($(UAVOBJ_TARGETS))"
-	@echo "     uavobjects_python - Generate python source files from the UAVObject definition XML files"
-	@echo "     uavobjects_matlab - Generate matlab source files from the UAVObject definition XML files"
 	@echo
 	@echo "   Note: All tools will be installed into $(TOOLS_DIR)"
 	@echo "         All build output will be placed in $(BUILD_DIR)"
@@ -221,8 +258,9 @@ endif
 all_ground: openpilotgcs
 
 # Convenience target for the GCS
-.PHONY: gcs
+.PHONY: gcs gcs_clean
 gcs: openpilotgcs
+gcs_clean: openpilotgcs_clean
 
 .PHONY: openpilotgcs
 openpilotgcs:  uavobjects_gcs
@@ -244,6 +282,11 @@ else
 	$(error $@ is currently only available on Windows)
 endif
 
+.PHONY: openpilotgcs_clean
+openpilotgcs_clean:
+	$(V0) @echo " CLEAN     $@"
+	$(V1) [ ! -d "$(BUILD_DIR)/ground/openpilotgcs" ] || $(RM) -r "$(BUILD_DIR)/ground/openpilotgcs"
+
 .PHONY: uavobjgenerator
 uavobjgenerator:
 	$(V1) mkdir -p $(BUILD_DIR)/ground/$@
@@ -252,8 +295,9 @@ uavobjgenerator:
 	  $(MAKE) --no-print-directory -w ; \
 	)
 
+UAVOBJ_TARGETS := gcs flight python matlab java
 .PHONY:uavobjects
-uavobjects:  uavobjects_gcs uavobjects_flight uavobjects_python uavobjects_matlab uavobjects_java
+uavobjects:  $(addprefix uavobjects_, $(UAVOBJ_TARGETS))
 
 UAVOBJ_XML_DIR := $(ROOT_DIR)/shared/uavobjectdefinition
 UAVOBJ_OUT_DIR := $(BUILD_DIR)/uavobject-synthetics
@@ -270,6 +314,7 @@ uavobjects_test: $(UAVOBJ_OUT_DIR) uavobjgenerator
 	$(V1) $(UAVOBJGENERATOR) -v -none $(UAVOBJ_XML_DIR) $(ROOT_DIR)
 
 uavobjects_clean:
+	$(V0) @echo " CLEAN     $@"
 	$(V1) [ ! -d "$(UAVOBJ_OUT_DIR)" ] || $(RM) -r "$(UAVOBJ_OUT_DIR)"
 
 ##############################
@@ -280,25 +325,38 @@ uavobjects_clean:
 
 FW_TARGETS    := openpilot ahrs coptercontrol pipxtreme ins
 BL_TARGETS    := $(addprefix bl_, $(FW_TARGETS))
+BLUPD_TARGETS := $(addprefix blupd_, $(FW_TARGETS))
+
+# FIXME: The INS build doesn't have a bootloader or bootloader
+#        updater yet so we need to filter them out to prevent errors.
+BL_TARGETS    := $(filter-out bl_ins, $(BL_TARGETS))
+BLUPD_TARGETS := $(filter-out blupd_ins, $(BLUPD_TARGETS))
 
 .PHONY: all_fw all_fw_clean
 all_fw:           $(addsuffix _bin,   $(FW_TARGETS))
 all_fw_clean:     $(addsuffix _clean, $(FW_TARGETS))
 
-.PHONY: all_bw all_bw_clean
+.PHONY: all_bl all_bl_clean
-all_bl:           $(addsuffix _elf,   $(BL_TARGETS))
+all_bl:           $(addsuffix _bin,   $(BL_TARGETS))
 all_bl_clean:     $(addsuffix _clean, $(BL_TARGETS))
 
+.PHONY: all_blupd all_blupd_clean
+all_blupd:        $(addsuffix _bin,   $(BLUPD_TARGETS))
+all_blupd_clean:  $(addsuffix _clean, $(BLUPD_TARGETS))
+
 .PHONY: all_flight all_flight_clean
-all_flight:       all_fw all_bl
+all_flight:       all_fw all_bl all_blupd
-all_flight_clean: all_fw_clean all_bl_clean
+all_flight_clean: all_fw_clean all_bl_clean all_blupd_clean
 
 .PHONY: openpilot
 openpilot: openpilot_bin
 
 openpilot_%: uavobjects_flight
 	$(V1) mkdir -p $(BUILD_DIR)/openpilot/dep
-	$(V1) cd $(ROOT_DIR)/flight/OpenPilot && $(MAKE) -r --no-print-directory OUTDIR="$(BUILD_DIR)/openpilot" TCHAIN_PREFIX="$(ARM_SDK_PREFIX)" REMOVE_CMD="$(RM)" OOCD_EXE="$(OPENOCD)" $*
+	$(V1) cd $(ROOT_DIR)/flight/OpenPilot && \
+		$(MAKE) -r --no-print-directory \
+		OUTDIR="$(BUILD_DIR)/openpilot" TCHAIN_PREFIX="$(ARM_SDK_PREFIX)" \
+		REMOVE_CMD="$(RM)" OOCD_EXE="$(OPENOCD)" $*
 
 .PHONY: openpilot_clean
 openpilot_clean:
@@ -306,23 +364,47 @@ openpilot_clean:
 	$(V1) $(RM) -fr $(BUILD_DIR)/openpilot
 
 .PHONY: bl_openpilot
-bl_openpilot: bl_openpilot_elf
+bl_openpilot: bl_openpilot_bin
+bl_openpilot_bino: bl_openpilot_bin
 
 bl_openpilot_%:
 	$(V1) mkdir -p $(BUILD_DIR)/bl_openpilot/dep
-	$(V1) cd $(ROOT_DIR)/flight/Bootloaders/OpenPilot && $(MAKE) -r --no-print-directory OUTDIR="$(BUILD_DIR)/bl_openpilot" TCHAIN_PREFIX="$(ARM_SDK_PREFIX)" REMOVE_CMD="$(RM)" OOCD_EXE="$(OPENOCD)" $*
+	$(V1) cd $(ROOT_DIR)/flight/Bootloaders/OpenPilot && \
+		$(MAKE) -r --no-print-directory \
+		OUTDIR="$(BUILD_DIR)/bl_openpilot" TCHAIN_PREFIX="$(ARM_SDK_PREFIX)" \
+		REMOVE_CMD="$(RM)" OOCD_EXE="$(OPENOCD)" $*
 
 .PHONY: bl_openpilot_clean
 bl_openpilot_clean:
 	$(V0) @echo " CLEAN     $@"
 	$(V1) $(RM) -fr $(BUILD_DIR)/bl_openpilot
 
+.PHONY: blupd_openpilot
+blupd_openpilot: blupd_openpilot_bin
+
+blupd_openpilot_%: bl_openpilot_bino
+	$(V1) mkdir -p $(BUILD_DIR)/blupd_openpilot/dep
+	$(V1) cd $(ROOT_DIR)/flight/Bootloaders/BootloaderUpdater && \
+		$(MAKE) -r --no-print-directory \
+		OUTDIR="$(BUILD_DIR)/blupd_openpilot" TCHAIN_PREFIX="$(ARM_SDK_PREFIX)" \
+		REMOVE_CMD="$(RM)" OOCD_EXE="$(OPENOCD)" \
+		BOARD=STM3210E_OP MODEL=HD MODEL_SUFFIX=_OP \
+		BLOBJ=$(BUILD_DIR)/bl_openpilot/OpenPilot_BL.bin.o $*
+
+.PHONY: blupd_openpilot_clean
+blupd_openpilot_clean:
+	$(V0) @echo " CLEAN     $@"
+	$(V1) $(RM) -fr $(BUILD_DIR)/blupd_openpilot
+
 .PHONY: ahrs
 ahrs: ahrs_bin
 
 ahrs_%: uavobjects_flight
 	$(V1) mkdir -p $(BUILD_DIR)/ahrs/dep
-	$(V1) cd $(ROOT_DIR)/flight/AHRS && $(MAKE) -r --no-print-directory OUTDIR="$(BUILD_DIR)/ahrs" TCHAIN_PREFIX="$(ARM_SDK_PREFIX)" REMOVE_CMD="$(RM)" OOCD_EXE="$(OPENOCD)" $*
+	$(V1) cd $(ROOT_DIR)/flight/AHRS && \
+		$(MAKE) -r --no-print-directory \
+		OUTDIR="$(BUILD_DIR)/ahrs" TCHAIN_PREFIX="$(ARM_SDK_PREFIX)" \
+		REMOVE_CMD="$(RM)" OOCD_EXE="$(OPENOCD)" $*
 
 .PHONY: ahrs_clean
 ahrs_clean:
@@ -330,23 +412,47 @@ ahrs_clean:
 	$(V1) $(RM) -fr $(BUILD_DIR)/ahrs
 
 .PHONY: bl_ahrs
-bl_ahrs: bl_ahrs_elf
+bl_ahrs: bl_ahrs_bin
+bl_ahrs_bino: bl_ahrs_bin
 
 bl_ahrs_%:
 	$(V1) mkdir -p $(BUILD_DIR)/bl_ahrs/dep
-	$(V1) cd $(ROOT_DIR)/flight/Bootloaders/AHRS && $(MAKE) -r --no-print-directory OUTDIR="$(BUILD_DIR)/bl_ahrs" TCHAIN_PREFIX="$(ARM_SDK_PREFIX)" REMOVE_CMD="$(RM)" OOCD_EXE="$(OPENOCD)" $*
+	$(V1) cd $(ROOT_DIR)/flight/Bootloaders/AHRS && \
+		$(MAKE) -r --no-print-directory \
+		OUTDIR="$(BUILD_DIR)/bl_ahrs" TCHAIN_PREFIX="$(ARM_SDK_PREFIX)" \
+		REMOVE_CMD="$(RM)" OOCD_EXE="$(OPENOCD)" $*
 
 .PHONY: bl_ahrs_clean
 bl_ahrs_clean:
 	$(V0) @echo " CLEAN     $@"
 	$(V1) $(RM) -fr $(BUILD_DIR)/bl_ahrs
 
+.PHONY: blupd_ahrs
+blupd_ahrs: blupd_ahrs_bin
+
+blupd_ahrs_%: bl_ahrs_bino bl_ahrs
+	$(V1) mkdir -p $(BUILD_DIR)/blupd_ahrs/dep
+	$(V1) cd $(ROOT_DIR)/flight/Bootloaders/BootloaderUpdater && \
+		$(MAKE) -r --no-print-directory \
+		OUTDIR="$(BUILD_DIR)/blupd_ahrs" TCHAIN_PREFIX="$(ARM_SDK_PREFIX)" \
+		REMOVE_CMD="$(RM)" OOCD_EXE="$(OPENOCD)" \
+		BOARD=STM32103CB_AHRS MODEL=MD \
+		BLOBJ=$(BUILD_DIR)/bl_ahrs/AHRS_BL.bin.o $*
+
+.PHONY: blupd_ahrs_clean
+blupd_ahrs_clean:
+	$(V0) @echo " CLEAN     $@"
+	$(V1) $(RM) -fr $(BUILD_DIR)/blupd_ahrs
+
 .PHONY: coptercontrol
 coptercontrol: coptercontrol_bin
 
 coptercontrol_%: uavobjects_flight
 	$(V1) mkdir -p $(BUILD_DIR)/coptercontrol/dep
-	$(V1) cd $(ROOT_DIR)/flight/CopterControl && $(MAKE) -r --no-print-directory OUTDIR="$(BUILD_DIR)/coptercontrol" TCHAIN_PREFIX="$(ARM_SDK_PREFIX)" REMOVE_CMD="$(RM)" OOCD_EXE="$(OPENOCD)" $*
+	$(V1) cd $(ROOT_DIR)/flight/CopterControl && \
+		$(MAKE) -r --no-print-directory \
+		OUTDIR="$(BUILD_DIR)/coptercontrol" TCHAIN_PREFIX="$(ARM_SDK_PREFIX)" \
+		REMOVE_CMD="$(RM)" OOCD_EXE="$(OPENOCD)" $*
 
 .PHONY: coptercontrol_clean
 coptercontrol_clean:
@@ -354,23 +460,47 @@ coptercontrol_clean:
 	$(V1) $(RM) -fr $(BUILD_DIR)/coptercontrol
 
 .PHONY: bl_coptercontrol
-bl_coptercontrol: bl_coptercontrol_elf
+bl_coptercontrol: bl_coptercontrol_bin
+bl_coptercontrol_bino: bl_coptercontrol_bin
 
 bl_coptercontrol_%:
 	$(V1) mkdir -p $(BUILD_DIR)/bl_coptercontrol/dep
-	$(V1) cd $(ROOT_DIR)/flight/Bootloaders/CopterControl && $(MAKE) -r --no-print-directory OUTDIR="$(BUILD_DIR)/bl_coptercontrol" TCHAIN_PREFIX="$(ARM_SDK_PREFIX)" REMOVE_CMD="$(RM)" OOCD_EXE="$(OPENOCD)" $*
+	$(V1) cd $(ROOT_DIR)/flight/Bootloaders/CopterControl && \
+		$(MAKE) -r --no-print-directory \
+		OUTDIR="$(BUILD_DIR)/bl_coptercontrol" TCHAIN_PREFIX="$(ARM_SDK_PREFIX)" \
+		REMOVE_CMD="$(RM)" OOCD_EXE="$(OPENOCD)" $*
 
 .PHONY: bl_coptercontrol_clean
 bl_coptercontrol_clean:
 	$(V0) @echo " CLEAN     $@"
 	$(V1) $(RM) -fr $(BUILD_DIR)/bl_coptercontrol
 
+.PHONY: blupd_coptercontrol
+blupd_coptercontrol: blupd_coptercontrol_bin
+
+blupd_coptercontrol_%: bl_coptercontrol_bino
+	$(V1) mkdir -p $(BUILD_DIR)/blupd_coptercontrol/dep
+	$(V1) cd $(ROOT_DIR)/flight/Bootloaders/BootloaderUpdater && \
+		$(MAKE) -r --no-print-directory \
+		OUTDIR="$(BUILD_DIR)/blupd_coptercontrol" TCHAIN_PREFIX="$(ARM_SDK_PREFIX)" \
+		REMOVE_CMD="$(RM)" OOCD_EXE="$(OPENOCD)" \
+		BOARD=STM32103CB_CC_Rev1 MODEL=MD MODEL_SUFFIX=_CC \
+		BLOBJ=$(BUILD_DIR)/bl_coptercontrol/CopterControl_BL.bin.o $*
+
+.PHONY: blupd_coptercontrol_clean
+blupd_coptercontrol_clean:
+	$(V0) @echo " CLEAN     $@"
+	$(V1) $(RM) -fr $(BUILD_DIR)/blupd_coptercontrol
+
 .PHONY: pipxtreme
 pipxtreme: pipxtreme_bin
 
 pipxtreme_%: uavobjects_flight
 	$(V1) mkdir -p $(BUILD_DIR)/pipxtreme/dep
-	$(V1) cd $(ROOT_DIR)/flight/PipXtreme && $(MAKE) -r --no-print-directory OUTDIR="$(BUILD_DIR)/pipxtreme" TCHAIN_PREFIX="$(ARM_SDK_PREFIX)" REMOVE_CMD="$(RM)" OOCD_EXE="$(OPENOCD)" $*
+	$(V1) cd $(ROOT_DIR)/flight/PipXtreme && \
+		$(MAKE) -r --no-print-directory \
+		OUTDIR="$(BUILD_DIR)/pipxtreme" TCHAIN_PREFIX="$(ARM_SDK_PREFIX)" \
+		REMOVE_CMD="$(RM)" OOCD_EXE="$(OPENOCD)" $*
 
 .PHONY: pipxtreme_clean
 pipxtreme_clean:
@@ -378,23 +508,48 @@ pipxtreme_clean:
 	$(V1) $(RM) -fr $(BUILD_DIR)/pipxtreme
 
 .PHONY: bl_pipxtreme
-bl_pipxtreme: bl_pipxtreme_elf
+bl_pipxtreme: bl_pipxtreme_bin
+bl_pipxtreme_bino: bl_pipxtreme_bin
 
 bl_pipxtreme_%:
 	$(V1) mkdir -p $(BUILD_DIR)/bl_pipxtreme/dep
-	$(V1) cd $(ROOT_DIR)/flight/Bootloaders/PipXtreme && $(MAKE) -r --no-print-directory OUTDIR="$(BUILD_DIR)/bl_pipxtreme" TCHAIN_PREFIX="$(ARM_SDK_PREFIX)" REMOVE_CMD="$(RM)" OOCD_EXE="$(OPENOCD)" $*
+	$(V1) cd $(ROOT_DIR)/flight/Bootloaders/PipXtreme && \
+		$(MAKE) -r --no-print-directory \
+		OUTDIR="$(BUILD_DIR)/bl_pipxtreme" TCHAIN_PREFIX="$(ARM_SDK_PREFIX)" \
+		REMOVE_CMD="$(RM)" OOCD_EXE="$(OPENOCD)" $*
 
 .PHONY: bl_pipxtreme_clean
 bl_pipxtreme_clean:
 	$(V0) @echo " CLEAN     $@"
 	$(V1) $(RM) -fr $(BUILD_DIR)/bl_pipxtreme
 
+.PHONY: blupd_pipxtreme
+blupd_pipxtreme: blupd_pipxtreme_bin
+
+blupd_pipxtreme_%: bl_pipxtreme_bino
+	$(V1) mkdir -p $(BUILD_DIR)/blupd_pipxtreme/dep
+	$(V1) cd $(ROOT_DIR)/flight/Bootloaders/BootloaderUpdater && \
+		$(MAKE) -r --no-print-directory \
+		OUTDIR="$(BUILD_DIR)/blupd_pipxtreme" TCHAIN_PREFIX="$(ARM_SDK_PREFIX)" \
+		REMOVE_CMD="$(RM)" OOCD_EXE="$(OPENOCD)" \
+		BOARD=STM32103CB_PIPXTREME MODEL=MD MODEL_SUFFIX=_CC \
+		BLOBJ=$(BUILD_DIR)/bl_pipxtreme/PipXtreme_BL.bin.o $*
+
+.PHONY: blupd_pipxtreme_clean
+blupd_pipxtreme_clean:
+	$(V0) @echo " CLEAN     $@"
+	$(V1) $(RM) -fr $(BUILD_DIR)/blupd_pipxtreme
+
+
 .PHONY: ins
 ins: ins_bin
 
 ins_%: uavobjects_flight
 	$(V1) mkdir -p $(BUILD_DIR)/ins/dep
-	$(V1) cd $(ROOT_DIR)/flight/INS && $(MAKE) -r --no-print-directory OUTDIR="$(BUILD_DIR)/ins" TCHAIN_PREFIX="$(ARM_SDK_PREFIX)" REMOVE_CMD="$(RM)" OOCD_EXE="$(OPENOCD)" $*
+	$(V1) cd $(ROOT_DIR)/flight/INS && \
+		$(MAKE) -r --no-print-directory \
+		OUTDIR="$(BUILD_DIR)/ins" TCHAIN_PREFIX="$(ARM_SDK_PREFIX)" \
+		REMOVE_CMD="$(RM)" OOCD_EXE="$(OPENOCD)" $*
 
 .PHONY: ins_clean
 ins_clean:
@@ -406,7 +561,10 @@ bl_ins: bl_ins_elf
 
 bl_ins_%:
 	$(V1) mkdir -p $(BUILD_DIR)/bl_ins/dep
-	$(V1) cd $(ROOT_DIR)/flight/Bootloaders/INS && $(MAKE) -r --no-print-directory OUTDIR="$(BUILD_DIR)/bl_ins" TCHAIN_PREFIX="$(ARM_SDK_PREFIX)" REMOVE_CMD="$(RM)" OOCD_EXE="$(OPENOCD)" $*
+	$(V1) cd $(ROOT_DIR)/flight/Bootloaders/INS && \
+		$(MAKE) -r --no-print-directory \
+		OUTDIR="$(BUILD_DIR)/bl_ins" TCHAIN_PREFIX="$(ARM_SDK_PREFIX)" \
+		REMOVE_CMD="$(RM)" OOCD_EXE="$(OPENOCD)" $*
 
 .PHONY: bl_ins_clean
 bl_ins_clean:
@@ -419,11 +577,13 @@ sim_posix: sim_posix_elf
 
 sim_posix_%: uavobjects_flight
 	$(V1) mkdir -p $(BUILD_DIR)/sitl_posix
-	$(V1) $(MAKE) --no-print-directory -C $(ROOT_DIR)/flight/OpenPilot --file=$(ROOT_DIR)/flight/OpenPilot/Makefile.posix $*
+	$(V1) $(MAKE) --no-print-directory \
+		-C $(ROOT_DIR)/flight/OpenPilot --file=$(ROOT_DIR)/flight/OpenPilot/Makefile.posix $*
 
 .PHONY: sim_win32
 sim_win32: sim_win32_exe
 
 sim_win32_%: uavobjects_flight
 	$(V1) mkdir -p $(BUILD_DIR)/sitl_win32
-	$(V1) $(MAKE) --no-print-directory -C $(ROOT_DIR)/flight/OpenPilot --file=$(ROOT_DIR)/flight/OpenPilot/Makefile.win32 $*
+	$(V1) $(MAKE) --no-print-directory \
+		-C $(ROOT_DIR)/flight/OpenPilot --file=$(ROOT_DIR)/flight/OpenPilot/Makefile.win32 $*

flight/AHRS/Makefile

@@ -29,7 +29,6 @@ include $(TOP)/make/firmware-defs.mk
 # Set developer code and compile options
 # Set to YES for debugging
 DEBUG ?= NO
-USE_BOOTLOADER ?= YES
 
 # Set to YES when using Code Sourcery toolchain
 CODE_SOURCERY ?= YES
@@ -50,11 +49,6 @@ MCU      = cortex-m3
 CHIP     = STM32F103CBT
 BOARD    = STM32103CB_AHRS
 MODEL    = MD
-ifeq ($(USE_BOOTLOADER), YES)
-BOOT_MODEL    = $(MODEL)_BL
-else
-BOOT_MODEL    = $(MODEL)_NB
-endif
 
 # Directory for output files (lst, obj, dep, elf, sym, map, hex, bin etc.)
 OUTDIR = $(TOP)/build/ahrs
@@ -229,9 +223,8 @@ CDEFS = -DSTM32F10X_$(MODEL)
 CDEFS += -DUSE_STDPERIPH_DRIVER
 CDEFS += -DUSE_$(BOARD)
 CDEFS += -DIN_AHRS
-ifeq ($(USE_BOOTLOADER), YES)
 CDEFS += -DUSE_BOOTLOADER
-endif
+
 # Place project-specific -D and/or -U options for
 # Assembler with preprocessor here.
 #ADEFS = -DUSE_IRQ_ASM_WRAPPER
@@ -303,16 +296,17 @@ LDFLAGS += $(MATH_LIB)
 LDFLAGS += -lc -lgcc
 
 # Set linker-script name depending on selected submodel name
-LDFLAGS +=-T$(LINKERSCRIPTPATH)/link_$(BOARD)_$(BOOT_MODEL).ld
+LDFLAGS += -T$(LINKERSCRIPTPATH)/link_$(BOARD)_memory.ld
+LDFLAGS += -T$(LINKERSCRIPTPATH)/link_$(BOARD)_sections.ld
 
-OOCD_LOADFILE+=$(OUTDIR)/$(TARGET).elf  
+OOCD_LOADFILE+=$(OUTDIR)/$(TARGET).bin
 # Program
-OOCD_CL+=-c "flash write_image $(OOCD_LOADFILE)"
+OOCD_CL+=-c "flash write_image erase $(OOCD_LOADFILE) 0x08002000 bin"
 # Verify
-OOCD_CL+=-c "verify_image $(OOCD_LOADFILE)"
+OOCD_CL+=-c "verify_image $(OOCD_LOADFILE) 0x08002000 bin"
 # reset target
 OOCD_CL+=-c "reset run"
-# # terminate OOCD after programming
+# terminate OOCD after programming
 OOCD_CL+=-c shutdown
 
 
@@ -352,19 +346,12 @@ endif
 endif
 
 # Program the device.
-ifeq ($(USE_BOOTLOADER), YES)
-# Program the device with OP Upload Tool".
-program: $(OUTDIR)/$(TARGET).bin
-	@echo ${quote}Programming with OP Upload Tool${quote}
-	../../ground/src/experimental/upload-build-desktop/debug/OPUploadTool -d 1 -p $(OUTDIR)/$(TARGET).bin
-else
 ifeq ($(FLASH_TOOL),OPENOCD)
 # Program the device with Dominic Rath's OPENOCD in "batch-mode", needs cfg and "reset-script".
-program: $(OUTDIR)/$(TARGET).elf
+program: $(OUTDIR)/$(TARGET).bin
 	@echo ${quote}Programming with OPENOCD${quote}
 	$(OOCD_EXE) $(OOCD_CL)
 endif
-endif
 
 # Link: create ELF output file from object files.
 $(eval $(call LINK_TEMPLATE, $(OUTDIR)/$(TARGET).elf, $(ALLOBJ)))
@@ -393,12 +380,15 @@ $(eval $(call PARTIAL_COMPILE_TEMPLATE, SRC))
 # Compile: create assembler files from C source files. ARM only
 $(eval $(call PARTIAL_COMPILE_ARM_TEMPLATE, SRCARM))
 
-.PHONY: elf lss sym hex bin
+$(OUTDIR)/$(TARGET).bin.o: $(OUTDIR)/$(TARGET).bin
+
+.PHONY: elf lss sym hex bin bino
 elf: $(OUTDIR)/$(TARGET).elf
 lss: $(OUTDIR)/$(TARGET).lss
 sym: $(OUTDIR)/$(TARGET).sym
 hex: $(OUTDIR)/$(TARGET).hex
 bin: $(OUTDIR)/$(TARGET).bin
+bino: $(OUTDIR)/$(TARGET).bin.o
 
 # Display sizes of sections.
 $(eval $(call SIZE_TEMPLATE, $(OUTDIR)/$(TARGET).elf))
@@ -420,6 +410,7 @@ clean_list :
 	$(V1) $(REMOVE) $(OUTDIR)/$(TARGET).bin
 	$(V1) $(REMOVE) $(OUTDIR)/$(TARGET).sym
 	$(V1) $(REMOVE) $(OUTDIR)/$(TARGET).lss
+	$(V1) $(REMOVE) $(OUTDIR)/$(TARGET).bin.o
 	$(V1) $(REMOVE) $(ALLOBJ)
 	$(V1) $(REMOVE) $(LSTFILES)
 	$(V1) $(REMOVE) $(DEPFILES)

flight/Bootloaders/AHRS/Makefile

@@ -29,7 +29,6 @@ include $(TOP)/make/firmware-defs.mk
 # Set developer code and compile options
 # Set to YES for debugging
 DEBUG ?= NO
-override USE_BOOTLOADER = NO
 
 # Set to YES when using Code Sourcery toolchain
 CODE_SOURCERY ?= YES
@@ -208,9 +207,7 @@ DEBUGF = dwarf-2
 CDEFS = -DSTM32F10X_$(MODEL)
 CDEFS += -DUSE_STDPERIPH_DRIVER
 CDEFS += -DUSE_$(BOARD)
-ifeq ($(USE_BOOTLOADER), YES)
+
-CDEFS += -DUSE_BOOTLOADER
-endif
 # Place project-specific -D and/or -U options for 
 # Assembler with preprocessor here.
 #ADEFS = -DUSE_IRQ_ASM_WRAPPER
@@ -237,9 +234,10 @@ CSTANDARD = -std=gnu99
 # Flags for C and C++ (arm-elf-gcc/arm-elf-g++)
 
 ifeq ($(DEBUG),YES)
-CFLAGS = -g$(DEBUGF)
+CFLAGS = 
 endif
 
+CFLAGS += -g$(DEBUGF)
 CFLAGS += -O$(OPT)
 ifeq ($(DEBUG),NO)
 CFLAGS += -fdata-sections -ffunction-sections
@@ -280,7 +278,7 @@ MATH_LIB = -lm
 #    --cref:    add cross reference to  map file
 LDFLAGS = -nostartfiles -Wl,-Map=$(OUTDIR)/$(TARGET).map,--cref,--gc-sections
 ifeq ($(DEBUG),NO)
-LDFLAGS += -Wl,-static -Wl,-s
+LDFLAGS += -Wl,-static
 endif
 LDFLAGS += $(patsubst %,-L%,$(EXTRA_LIBDIRS))
 LDFLAGS += -lc
@@ -289,13 +287,14 @@ LDFLAGS += $(MATH_LIB)
 LDFLAGS += -lc -lgcc 
 
 # Set linker-script name depending on selected submodel name
-LDFLAGS +=-T$(LINKERSCRIPTPATH)/link_stm32f10x_$(MODEL).ld
+LDFLAGS += -T$(LINKERSCRIPTPATH)/link_$(BOARD)_memory.ld
+LDFLAGS += -T$(LINKERSCRIPTPATH)/link_$(BOARD)_BL_sections.ld
 
-OOCD_LOADFILE+=$(OUTDIR)/$(TARGET).elf  
+OOCD_LOADFILE+=$(OUTDIR)/$(TARGET).bin
 # Program                                                                                                                                                                                                                            
-OOCD_CL+=-c "flash write_image $(OOCD_LOADFILE)" 
+OOCD_CL+=-c "flash write_image erase $(OOCD_LOADFILE) 0x08000000 bin"
 # Verify
-OOCD_CL+=-c "verify_image $(OOCD_LOADFILE)"
+OOCD_CL+=-c "verify_image $(OOCD_LOADFILE) 0x08000000 bin"
 # reset target
 OOCD_CL+=-c "reset run"
 # terminate OOCD after programming
@@ -339,7 +338,7 @@ endif
 # Program the device.
 ifeq ($(FLASH_TOOL),OPENOCD)
 # Program the device with Dominic Rath's OPENOCD in "batch-mode", needs cfg and "reset-script".
-program: $(OUTDIR)/$(TARGET).elf
+program: $(OUTDIR)/$(TARGET).bin
 	@echo "Programming with OPENOCD"
 	$(OOCD_EXE) $(OOCD_CL)
 endif
@@ -371,12 +370,15 @@ $(eval $(call PARTIAL_COMPILE_TEMPLATE, SRC))
 # Compile: create assembler files from C source files. ARM only
 $(eval $(call PARTIAL_COMPILE_ARM_TEMPLATE, SRCARM))
 
-.PHONY: elf lss sym hex bin
+$(OUTDIR)/$(TARGET).bin.o: $(OUTDIR)/$(TARGET).bin
+
+.PHONY: elf lss sym hex bin bino
 elf: $(OUTDIR)/$(TARGET).elf
 lss: $(OUTDIR)/$(TARGET).lss 
 sym: $(OUTDIR)/$(TARGET).sym
 hex: $(OUTDIR)/$(TARGET).hex
 bin: $(OUTDIR)/$(TARGET).bin
+bino: $(OUTDIR)/$(TARGET).bin.o
 
 # Display sizes of sections.
 $(eval $(call SIZE_TEMPLATE, $(OUTDIR)/$(TARGET).elf))
@@ -398,6 +400,7 @@ clean_list :
 	$(V1) $(REMOVE) $(OUTDIR)/$(TARGET).bin
 	$(V1) $(REMOVE) $(OUTDIR)/$(TARGET).sym
 	$(V1) $(REMOVE) $(OUTDIR)/$(TARGET).lss
+	$(V1) $(REMOVE) $(OUTDIR)/$(TARGET).bin.o
 	$(V1) $(REMOVE) $(ALLOBJ)
 	$(V1) $(REMOVE) $(LSTFILES)
 	$(V1) $(REMOVE) $(DEPFILES)

flight/Bootloaders/BootloaderUpdater/Makefile

@@ -22,6 +22,9 @@
  # 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
  #####
 
+WHEREAMI := $(dir $(lastword $(MAKEFILE_LIST)))
+TOP      := $(realpath $(WHEREAMI)/../../../)
+include $(TOP)/make/firmware-defs.mk
 
 # Set developer code and compile options
 # Set to YES to compile for debugging
@@ -33,12 +36,6 @@ ENABLE_DEBUG_PINS ?= NO
 # Set to Yes to enable the AUX UART which is mapped on the S1 (Tx) and S2 (Rx) servo outputs  
 ENABLE_AUX_UART ?= NO
 
-#
-USE_BOOTLOADER ?= YES
-
-# Set to the source bootloader binary
-SOURCE_BL ?= NULL
-
 # Set to YES when using Code Sourcery toolchain
 CODE_SOURCERY ?= NO
 
@@ -54,11 +51,6 @@ endif
 
 FLASH_TOOL = OPENOCD
 
-# YES enables -mthumb option to flags for source-files listed 
-# in SRC and CPPSRC
-USE_THUMB_MODE = YES
-
-
 # MCU name, submodel and board
 # - MCU used for compiler-option (-mcpu)
 # - MODEL used for linker-script name (-T) and passed as define
@@ -68,12 +60,6 @@ CHIP     = STM32F103CBT
 BOARD    ?= NULL
 MODEL	 ?= NULL
 
-ifeq ($(USE_BOOTLOADER), YES)
-BOOT_MODEL    = $(MODEL)_BL
-else
-BOOT_MODEL    = $(MODEL)_NB
-endif
-
 # Directory for output files (lst, obj, dep, elf, sym, map, hex, bin etc.)
 OUTDIR = ../../../build/bootloaders/BootloaderUpdater
 
@@ -160,7 +146,7 @@ CPPSRCARM =
 # Even though the DOS/Win* filesystem matches both .s and .S the same,
 # it will preserve the spelling of the filenames, and gcc itself does
 # care about how the name is spelled on its command-line.
-ASRC = $(PIOSSTM32F10X)/startup_stm32f10x_$(MODEL).S
+ASRC = $(PIOSSTM32F10X)/startup_stm32f10x_$(MODEL)$(MODEL_SUFFIX).S
 
 # List Assembler source files here which must be assembled in ARM-Mode..
 ASRCARM = 
@@ -238,10 +224,7 @@ endif
 ifeq ($(ENABLE_AUX_UART), YES)
 CDEFS += -DPIOS_ENABLE_AUX_UART
 endif
-ifeq ($(USE_BOOTLOADER), YES)
 CDEFS += -DUSE_BOOTLOADER
-endif
-
 
 # Place project-specific -D and/or -U options for 
 # Assembler with preprocessor here.
@@ -269,9 +252,10 @@ CSTANDARD = -std=gnu99
 # Flags for C and C++ (arm-elf-gcc/arm-elf-g++)
 
 ifeq ($(DEBUG),YES)
-CFLAGS = -g$(DEBUGF) -DDEBUG
+CFLAGS = -DDEBUG
 endif
 
+CFLAGS += -g$(DEBUGF)
 CFLAGS += -O$(OPT)
 ifeq ($(DEBUG),NO)
 CFLAGS += -ffunction-sections
@@ -311,7 +295,7 @@ MATH_LIB = -lm
 #    --cref:    add cross reference to  map file
 LDFLAGS = -nostartfiles -Wl,-Map=$(OUTDIR)/$(TARGET).map,--cref,--gc-sections
 ifeq ($(DEBUG),NO)
-LDFLAGS += -Wl,-static -Wl,-s
+LDFLAGS += -Wl,-static
 endif
 LDFLAGS += $(patsubst %,-L%,$(EXTRA_LIBDIRS))
 LDFLAGS += -lc
@@ -320,63 +304,26 @@ LDFLAGS += $(MATH_LIB)
 LDFLAGS += -lc -lgcc 
 
 # Set linker-script name depending on selected submodel name
-LDFLAGS +=-T$(LINKERSCRIPTPATH)/link_$(BOARD)_$(BOOT_MODEL).ld
+LDFLAGS += -T$(LINKERSCRIPTPATH)/link_$(BOARD)_memory.ld
+LDFLAGS += -T$(LINKERSCRIPTPATH)/link_$(BOARD)_sections.ld
 
-# Test if quotes are needed for the echo-command
+OOCD_LOADFILE+=$(OUTDIR)/$(TARGET).bin
-result = ${shell echo "test"}
-ifeq (${result}, test)
-	quote = '
-else
-	quote = 
-endif
-
-OOCD_LOADFILE+=$(OUTDIR)/$(TARGET).elf  
 # Program                                                                                                                                                                                                                            
-OOCD_CL+=-c "flash write_image $(OOCD_LOADFILE)"
+OOCD_CL+=-c "flash write_image erase $(OOCD_LOADFILE) 0x08003000 bin"
 # Verify
-OOCD_CL+=-c "verify_image $(OOCD_LOADFILE)"
+OOCD_CL+=-c "verify_image $(OOCD_LOADFILE) 0x08003000 bin"
 # reset target
 OOCD_CL+=-c "reset run"
 # terminate OOCD after programming
 OOCD_CL+=-c shutdown
+# ---------------------------------------------------------------------------
+
 
 # Define programs and commands.
-CC      = $(TCHAIN_PREFIX)gcc
-CPP     = $(TCHAIN_PREFIX)g++
-AR      = $(TCHAIN_PREFIX)ar
-OBJCOPY = $(TCHAIN_PREFIX)objcopy
-OBJDUMP = $(TCHAIN_PREFIX)objdump
-SIZE    = $(TCHAIN_PREFIX)size
-NM      = $(TCHAIN_PREFIX)nm
 REMOVE  = $(REMOVE_CMD) -f
 ###SHELL   = sh
 ###COPY    = cp
 
-
-
-# Define Messages
-# English
-MSG_ERRORS_NONE = Errors: none
-MSG_BEGIN = ${quote}-------- begin (mode: $(RUN_MODE)) --------${quote}
-MSG_END = ${quote}--------  end  --------${quote}
-MSG_MODINIT = ${quote}**** Generating ModInit.c${quote}
-MSG_SIZE_BEFORE = ${quote}Size before:${quote} 
-MSG_SIZE_AFTER = ${quote}Size after build:${quote}
-MSG_LOAD_FILE = ${quote}Creating load file:${quote}
-MSG_EXTENDED_LISTING = ${quote}Creating Extended Listing/Disassembly:${quote}
-MSG_SYMBOL_TABLE = ${quote}Creating Symbol Table:${quote}
-MSG_LINKING = ${quote}**** Linking :${quote}
-MSG_COMPILING = ${quote}**** Compiling C :${quote}
-MSG_COMPILING_ARM = ${quote}**** Compiling C (ARM-only):${quote}
-MSG_COMPILINGCPP = ${quote}Compiling C++ :${quote}
-MSG_COMPILINGCPP_ARM = ${quote}Compiling C++ (ARM-only):${quote}
-MSG_ASSEMBLING = ${quote}**** Assembling:${quote}
-MSG_ASSEMBLING_ARM = ${quote}****Assembling (ARM-only):${quote}
-MSG_CLEANING = ${quote}Cleaning project:${quote}
-MSG_FORMATERROR = ${quote}Can not handle output-format${quote}
-MSG_ASMFROMC = ${quote}Creating asm-File from C-Source:${quote}
-MSG_ASMFROMC_ARM = ${quote}Creating asm-File from C-Source (ARM-only):${quote}
-
 # List of all source files.
 ALLSRC     = $(ASRCARM) $(ASRC) $(SRCARM) $(SRC) $(CPPSRCARM) $(CPPSRC)
 # List of all source files without directory and file-extension.
@@ -392,14 +339,7 @@ DEPFILES   = $(addprefix $(OUTDIR)/dep/, $(addsuffix .o.d, $(ALLSRCBASE)))
 
 
 # Default target.
-#all: begin gccversion sizebefore build sizeafter finished end
+all: build
-all: begin gccversion build sizeafter finished end
-
-elf: $(OUTDIR)/$(TARGET).elf 
-lss: $(OUTDIR)/$(TARGET).lss
-sym: $(OUTDIR)/$(TARGET).sym
-hex: $(OUTDIR)/$(TARGET).hex
-bin: $(OUTDIR)/$(TARGET).bin
 
 ifeq ($(LOADFORMAT),ihex)
 build: elf hex sym
@@ -415,161 +355,56 @@ endif
 endif
 endif
 
-# Eye candy.
-begin:
-##	@echo
-	@echo $(MSG_BEGIN)
-ifeq ($(SOURCE_BL), NULL)
-	@echo ${quote}Please specify the source bootloader binary with SOURCE_BL=source_name${quote}
-	@exit 2 
-endif
-ifeq ($(BOARD), NULL)
-	@echo ${quote}Please specify the board name with BOARD=board_name (STM3210E_OP,STM32103CB_AHRS,STM32103CB_PIPXTREME,STM32103CB_CC_Rev1)${quote}
-	@exit 2 
-endif
-ifeq ($(MODEL), NULL)
-	@echo ${quote}Please specify the chip model with MODEL=MD/HD${quote}
-	@exit 2 
-endif
-	python file_to_array.py $(SOURCE_BL) bl_array.h
-#UNAME := $(shell python file_to_array.py $(SOURCE_BL) bl_array.h)
-
-	
-###########################################################################################################
-
-finished:
-##	@echo $(MSG_ERRORS_NONE)
-
-end:
-	@echo $(MSG_END)
-##	@echo
-
-# Display sizes of sections.
-ELFSIZE = $(SIZE) -A  $(OUTDIR)/$(TARGET).elf
-
-sizebefore:
-#	@if [ -f  $(OUTDIR)/$(TARGET).elf ]; then echo; echo $(MSG_SIZE_BEFORE); $(ELFSIZE); echo; fi
-
-sizeafter:
-#	@if [ -f  $(OUTDIR)/$(TARGET).elf ]; then echo; echo $(MSG_SIZE_AFTER); $(ELFSIZE); echo; fi
-	@echo $(MSG_SIZE_AFTER)
-	$(ELFSIZE)
-	
-# Display compiler version information.
-gccversion : 
-	@$(CC) --version
-#	@echo $(ALLOBJ)
-
 # Program the device.
 ifeq ($(FLASH_TOOL),OPENOCD)
 # Program the device with Dominic Rath's OPENOCD in "batch-mode", needs cfg and "reset-script".
-program: $(OUTDIR)/$(TARGET).elf
+program: $(OUTDIR)/$(TARGET).bin
 	@echo ${quote}Programming with OPENOCD${quote}
 	$(OOCD_EXE) $(OOCD_CL)
 endif
 
-# Create final output file (.hex) from ELF output file.
-%.hex: %.elf
-##	@echo
-	@echo $(MSG_LOAD_FILE) $@
-	$(OBJCOPY) -O ihex $< $@
-	
-# Create final output file (.bin) from ELF output file.
-%.bin: %.elf
-##	@echo
-	@echo $(MSG_LOAD_FILE) $@
-	$(OBJCOPY) -O binary $< $@
-
-# Create extended listing file/disassambly from ELF output file.
-# using objdump testing: option -C
-%.lss: %.elf
-##	@echo
-	@echo $(MSG_EXTENDED_LISTING) $@
-	$(OBJDUMP) -h -S -C -r $< > $@
-#	$(OBJDUMP) -x -S $< > $@
-
-# Create a symbol table from ELF output file.
-%.sym: %.elf
-##	@echo
-	@echo $(MSG_SYMBOL_TABLE) $@
-	$(NM) -n $< > $@
-
 # Link: create ELF output file from object files.
-.SECONDARY : $(TARGET).elf
+$(eval $(call LINK_TEMPLATE, $(OUTDIR)/$(TARGET).elf, $(ALLOBJ) $(BLOBJ)))
-.PRECIOUS : $(ALLOBJ)
-%.elf:  $(ALLOBJ)
-	@echo $(MSG_LINKING) $@
-# use $(CC) for C-only projects or $(CPP) for C++-projects:
-	$(CC) $(THUMB) $(CFLAGS) $(ALLOBJ) --output $@ $(LDFLAGS)
-#	$(CPP) $(THUMB) $(CFLAGS) $(ALLOBJ) --output $@ $(LDFLAGS)
-
 
 # Assemble: create object files from assembler source files.
-define ASSEMBLE_TEMPLATE
-$(OUTDIR)/$(notdir $(basename $(1))).o : $(1)
-##	@echo
-	@echo $(MSG_ASSEMBLING) $$<  to  $$@
-	$(CC) -c $(THUMB) $$(ASFLAGS) $$< -o $$@ 
-endef
 $(foreach src, $(ASRC), $(eval $(call ASSEMBLE_TEMPLATE, $(src)))) 
 
 # Assemble: create object files from assembler source files. ARM-only
-define ASSEMBLE_ARM_TEMPLATE
-$(OUTDIR)/$(notdir $(basename $(1))).o : $(1)
-##	@echo
-	@echo $(MSG_ASSEMBLING_ARM) $$<  to  $$@
-	$(CC) -c $$(ASFLAGS) $$< -o $$@ 
-endef
 $(foreach src, $(ASRCARM), $(eval $(call ASSEMBLE_ARM_TEMPLATE, $(src)))) 
 
-
 # Compile: create object files from C source files.
-define COMPILE_C_TEMPLATE
-$(OUTDIR)/$(notdir $(basename $(1))).o : $(1)
-##	@echo
-	@echo $(MSG_COMPILING) $$<  to  $$@
-	$(CC) -c $(THUMB) $$(CFLAGS) $$(CONLYFLAGS) $$< -o $$@ 
-endef
 $(foreach src, $(SRC), $(eval $(call COMPILE_C_TEMPLATE, $(src)))) 
 
 # Compile: create object files from C source files. ARM-only
-define COMPILE_C_ARM_TEMPLATE
-$(OUTDIR)/$(notdir $(basename $(1))).o : $(1)
-##	@echo
-	@echo $(MSG_COMPILING_ARM) $$<  to  $$@
-	$(CC) -c $$(CFLAGS) $$(CONLYFLAGS) $$< -o $$@ 
-endef
 $(foreach src, $(SRCARM), $(eval $(call COMPILE_C_ARM_TEMPLATE, $(src)))) 
 
-
 # Compile: create object files from C++ source files.
-define COMPILE_CPP_TEMPLATE
-$(OUTDIR)/$(notdir $(basename $(1))).o : $(1)
-##	@echo
-	@echo $(MSG_COMPILINGCPP) $$<  to  $$@
-	$(CC) -c $(THUMB) $$(CFLAGS) $$(CPPFLAGS) $$< -o $$@ 
-endef
 $(foreach src, $(CPPSRC), $(eval $(call COMPILE_CPP_TEMPLATE, $(src)))) 
 
 # Compile: create object files from C++ source files. ARM-only
-define COMPILE_CPP_ARM_TEMPLATE
-$(OUTDIR)/$(notdir $(basename $(1))).o : $(1)
-##	@echo
-	@echo $(MSG_COMPILINGCPP_ARM) $$<  to  $$@
-	$(CC) -c $$(CFLAGS) $$(CPPFLAGS) $$< -o $$@ 
-endef
 $(foreach src, $(CPPSRCARM), $(eval $(call COMPILE_CPP_ARM_TEMPLATE, $(src)))) 
 
-
 # Compile: create assembler files from C source files. ARM/Thumb
-$(SRC:.c=.s) : %.s : %.c
+$(eval $(call PARTIAL_COMPILE_TEMPLATE, SRC))
-	@echo $(MSG_ASMFROMC) $< to $@
-	$(CC) $(THUMB) -S $(CFLAGS) $(CONLYFLAGS) $< -o $@
 
 # Compile: create assembler files from C source files. ARM only
-$(SRCARM:.c=.s) : %.s : %.c
+$(eval $(call PARTIAL_COMPILE_ARM_TEMPLATE, SRCARM))
-	@echo $(MSG_ASMFROMC_ARM) $< to $@
+
-	$(CC) -S $(CFLAGS) $(CONLYFLAGS) $< -o $@
+$(OUTDIR)/$(TARGET).bin.o: $(OUTDIR)/$(TARGET).bin
+
+.PHONY: elf lss sym hex bin bino
+elf: $(OUTDIR)/$(TARGET).elf
+elf.stripped: $(OUTDIR)/$(TARGET).elf.stripped
+lss: $(OUTDIR)/$(TARGET).lss
+sym: $(OUTDIR)/$(TARGET).sym
+hex: $(OUTDIR)/$(TARGET).hex
+bin: $(OUTDIR)/$(TARGET).bin
+bino: $(OUTDIR)/$(TARGET).bin.o
+
+# Display sizes of sections.
+$(eval $(call SIZE_TEMPLATE, $(OUTDIR)/$(TARGET).elf))
+.PHONY: size
+size: $(OUTDIR)/$(TARGET).elf_size
 
 # Generate Doxygen documents
 docs:
@@ -579,21 +414,21 @@ docs:
 clean: begin clean_list finished end
 
 clean_list :
-##	@echo
 	@echo $(MSG_CLEANING)
-	$(REMOVE) $(OUTDIR)/$(TARGET).map
+	$(V1) $(REMOVE) $(OUTDIR)/$(TARGET).map
-	$(REMOVE) $(OUTDIR)/$(TARGET).elf
+	$(V1) $(REMOVE) $(OUTDIR)/$(TARGET).elf
-	$(REMOVE) $(OUTDIR)/$(TARGET).hex
+	$(V1) $(REMOVE) $(OUTDIR)/$(TARGET).hex
-	$(REMOVE) $(OUTDIR)/$(TARGET).bin
+	$(V1) $(REMOVE) $(OUTDIR)/$(TARGET).bin
-	$(REMOVE) $(OUTDIR)/$(TARGET).sym
+	$(V1) $(REMOVE) $(OUTDIR)/$(TARGET).sym
-	$(REMOVE) $(OUTDIR)/$(TARGET).lss
+	$(V1) $(REMOVE) $(OUTDIR)/$(TARGET).lss
-	$(REMOVE) $(ALLOBJ)
+	$(V1) $(REMOVE) $(OUTDIR)/$(TARGET).bin.o
-	$(REMOVE) $(LSTFILES)
+	$(V1) $(REMOVE) $(ALLOBJ)
-	$(REMOVE) $(DEPFILES)
+	$(V1) $(REMOVE) $(LSTFILES)
-	$(REMOVE) $(SRC:.c=.s)
+	$(V1) $(REMOVE) $(DEPFILES)
-	$(REMOVE) $(SRCARM:.c=.s)
+	$(V1) $(REMOVE) $(SRC:.c=.s)
-	$(REMOVE) $(CPPSRC:.cpp=.s)
+	$(V1) $(REMOVE) $(SRCARM:.c=.s)
-	$(REMOVE) $(CPPSRCARM:.cpp=.s)
+	$(V1) $(REMOVE) $(CPPSRC:.cpp=.s)
+	$(V1) $(REMOVE) $(CPPSRCARM:.cpp=.s)
 
 
 # Create output files directory
@@ -611,9 +446,5 @@ else
 -include $(shell mkdir -p $(OUTDIR) 2>/dev/null) $(shell mkdir $(OUTDIR)/dep 2>/dev/null) $(wildcard $(OUTDIR)/dep/*)
 endif
 
-
-
 # Listing of phony targets.
-.PHONY : all begin finish end sizebefore sizeafter gccversion \
+.PHONY : all build clean clean_list program
-build elf hex bin lss sym clean clean_list program
-

flight/Bootloaders/BootloaderUpdater/file_to_array.py

@@ -1,105 +0,0 @@
-# Convert binary file to a hex encoded array for inclusion in C projects
- 
-import os
-import struct
-import sys
-import logging
- 
-class BinToArray:
-    def __init__(self):
-        pass
- 
-    def ConvertFileToArray(self, strInFile, strOutFile, integerSize, ignoreBytes, endianNess):
-        """ Reads binary file at location strInFile and writes out a C array of hex values
-            Parameters - 
-                strInFile - Path and filename of binary file to convert
-                strOutFile - Path and filename of output. Suggested extension is .c or .cpp
-                integerSize - Size in bytes of output array elements. Array generated is always
-                    of type uint8, uint16, uint32. These types would need to be defined using
-                    typedef if they don't exist, or the user can replace the type name with the
-                    appropriate keyword valid for the compiler size conventions
-                ignoreBytes - Number of bytes to ignore at the beginning of binary file. Helps
-                    strip out file headers and only encode the payload/data.
-                endianNess - Only used for integerSize of 2 or 4. 'l' for Little Endian, 'b' for
-                    Big Endian
-        """
-        # Check integerSize value
-        if integerSize not in (1, 2, 4):
-            logging.debug("Integer Size parameter must be 1, 2 or 4")
-            return
-        # endif
-        # Open input file
-        try:
-            fileIn = open(strInFile, 'rb')
-        except IOError, err:
-            logging.debug("Could not open input file %s" % (strInFile))
-            return
-        # end try
-        # Open input file
-        try:
-            fileOut = open(strOutFile, 'w')
-        except IOError, err:
-            logging.debug("Could not open output file %s" % (strOutFile))
-            return
-        # end try
-        # Start array definition preamble
-        inFileName = os.path.basename(strInFile)
-        strVarType = "uint%d_t" % (integerSize * 8)
-        fileOut.write("// Array representation of binary file %s\n\n\n" % (inFileName))
-        fileOut.write("static %s dataArray[] = {\n" % strVarType)
-        # Convert and write array into C file
-        fileIn.seek(ignoreBytes)
-        if integerSize == 1:
-            bufChunk = fileIn.read(20)
-            while bufChunk != '':
-                fileOut.write("        ")
-                for byteVal in bufChunk:
-                    fileOut.write("0x%02x, " % ord(byteVal))
-                # end for
-                fileOut.write("\n")
-                bufChunk = fileIn.read(20)
-            # end while
-        else:
-            if   endianNess == 'l' and integerSize == 2:
-                endianFormatter = '<H'
-                maxWordsPerLine = 10
-            elif endianNess == 'l' and integerSize == 4:
-                endianFormatter = '<L'
-                maxWordsPerLine = 6
-            elif endianNess == 'b' and integerSize == 2:
-                endianFormatter = '>H'
-                maxWordsPerLine = 10
-            elif endianNess == 'b' and integerSize == 4:
-                endianFormatter = '>L'
-                maxWordsPerLine = 6
-            # endif
-            bufChunk = fileIn.read(integerSize)
-            i = 0
-            fileOut.write("        ")
-            while bufChunk != '':
-                wordVal = struct.unpack(endianFormatter, bufChunk)
-                if integerSize == 2:
-                    fileOut.write("0x%04x, " % wordVal)
-                else:
-                    fileOut.write("0x%08x, " % wordVal)
-                # endif
-                i += 1
-                if i == maxWordsPerLine:
-                    fileOut.write("\n        ")
-                    i = 0
-                # endif
-                bufChunk = fileIn.read(integerSize)
-            # end while
-        # end if
-        # Close array definition
-        fileOut.write("\n    };\n")
-        fileIn.close()
-        fileOut.close()
-	
-if __name__ == "__main__":
-    print(sys.argv[0])
-    logging.basicConfig(level=logging.DEBUG)
-    converter = BinToArray()
-    converter.ConvertFileToArray(
-        sys.argv[1], sys.argv[2], 4, 0, 'l')
-	

flight/Bootloaders/BootloaderUpdater/main.c

@@ -27,13 +27,25 @@
  */
 /* Bootloader Includes */
 #include <pios.h>
-#include <bl_array.h>
+#include <stdbool.h>
+
 #define MAX_WRI_RETRYS 3
 /* Prototype of PIOS_Board_Init() function */
 extern void PIOS_Board_Init(void);
 extern void FLASH_Download();
 void error(int);
 
+/* The ADDRESSES of the _binary_* symbols are the important
+ * data.  This is non-intuitive for _binary_size where you
+ * might expect its value to hold the size but you'd be wrong.
+ */
+extern void _binary_start;
+extern void _binary_end;
+extern void _binary_size;
+const uint32_t * embedded_image_start = (uint32_t *) &(_binary_start);
+const uint32_t * embedded_image_end   = (uint32_t *) &(_binary_end);
+const uint32_t   embedded_image_size  = (uint32_t)   &(_binary_size);
+
 int main() {
 
 	PIOS_SYS_Init();
@@ -43,63 +55,70 @@ int main() {
 	PIOS_LED_Off(LED1);
 
 	/// Self overwrite check
-	uint32_t base_adress = SCB->VTOR;
+	uint32_t base_address = SCB->VTOR;
-	if (0x08000000 + (sizeof(dataArray)) > base_adress)
+	if ((0x08000000 + embedded_image_size) > base_address)
 		error(LED1);
 	///
 	FLASH_Unlock();
 
 	/// Bootloader memory space erase
-	uint32_t pageAdress;
+	uint32_t pageAddress;
-	pageAdress = 0x08000000;
+	pageAddress = 0x08000000;
-	uint8_t fail = FALSE;
+	bool fail = false;
-	while ((pageAdress < base_adress) || (fail == TRUE)) {
+	while ((pageAddress < base_address) && (fail == false)) {
 		for (int retry = 0; retry < MAX_DEL_RETRYS; ++retry) {
-			if (FLASH_ErasePage(pageAdress) == FLASH_COMPLETE) {
+			if (FLASH_ErasePage(pageAddress) == FLASH_COMPLETE) {
-				fail = FALSE;
+				fail = false;
 				break;
 			} else {
-				fail = TRUE;
+				fail = true;
 			}
 		}
 #ifdef STM32F10X_HD
-		pageAdress += 2048;
+		pageAddress += 2048;
 #elif defined (STM32F10X_MD)
-		pageAdress += 1024;
+		pageAddress += 1024;
 #endif
 	}
 
-	if (fail == TRUE)
+	if (fail == true)
 		error(LED1);
 
 
 	///
 
 	/// Bootloader programing
-	for (int x = 0; x < sizeof(dataArray)/sizeof(uint32_t); ++x) {
+	for (uint32_t offset = 0; offset < embedded_image_size/sizeof(uint32_t); ++offset) {
-		int result = 0;
+		bool result = false;
 		PIOS_LED_Toggle(LED1);
-		for (int retry = 0; retry < MAX_WRI_RETRYS; ++retry) {
+		for (uint8_t retry = 0; retry < MAX_WRI_RETRYS; ++retry) {
-			if (result == 0) {
+			if (result == false) {
-				result = (FLASH_ProgramWord(0x08000000 + (x * 4), dataArray[x])
+				result = (FLASH_ProgramWord(0x08000000 + (offset * 4), embedded_image_start[offset])
-						== FLASH_COMPLETE) ? 1 : 0;
+						== FLASH_COMPLETE) ? true : false;
 			}
 		}
-		if (result == 0)
+		if (result == false)
 			error(LED1);
 	}
 	///
-	for (int x=0;x<3;++x) {
+	for (uint8_t x = 0; x < 3; ++x) {
 			PIOS_LED_On(LED1);
 			PIOS_DELAY_WaitmS(1000);
 			PIOS_LED_Off(LED1);
 			PIOS_DELAY_WaitmS(1000);
 	}
+
+	/// Invalidate the bootloader updater so we won't run
+	/// the update again on the next power cycle.
+	FLASH_ProgramWord(base_address, 0);
+	FLASH_Lock();
+
 	for (;;) {
 		PIOS_DELAY_WaitmS(1000);
 	}
 
 }
+
 void error(int led) {
 	for (;;) {
 		PIOS_LED_On(led);

flight/Bootloaders/CopterControl/Makefile

@@ -36,10 +36,6 @@ ENABLE_DEBUG_PINS ?= NO
 # Set to Yes to enable the AUX UART which is mapped on the S1 (Tx) and S2 (Rx) servo outputs  
 ENABLE_AUX_UART ?= NO
 
-#
-override USE_BOOTLOADER = NO
-
-
 # Set to YES when using Code Sourcery toolchain
 CODE_SOURCERY ?= NO
 
@@ -60,12 +56,6 @@ MCU      = cortex-m3
 CHIP     = STM32F103CBT
 BOARD    = STM32103CB_CC_Rev1
 MODEL	 = MD
-ifeq ($(USE_BOOTLOADER), YES)
-BOOT_MODEL    = $(MODEL)_BL
-
-else
-BOOT_MODEL    = $(MODEL)_NB
-endif
 
 # Directory for output files (lst, obj, dep, elf, sym, map, hex, bin etc.)
 OUTDIR = $(TOP)/build/bl_coptercontrol
@@ -268,10 +258,6 @@ endif
 ifeq ($(ENABLE_AUX_UART), YES)
 CDEFS += -DPIOS_ENABLE_AUX_UART
 endif
-ifeq ($(USE_BOOTLOADER), YES)
-CDEFS += -DUSE_BOOTLOADER
-endif
-
 
 # Place project-specific -D and/or -U options for 
 # Assembler with preprocessor here.
@@ -299,9 +285,10 @@ CSTANDARD = -std=gnu99
 # Flags for C and C++ (arm-elf-gcc/arm-elf-g++)
 
 ifeq ($(DEBUG),YES)
-CFLAGS = -g$(DEBUGF) -DDEBUG
+CFLAGS += -DDEBUG
 endif
 
+CFLAGS += -g$(DEBUGF)
 CFLAGS += -O$(OPT)
 ifeq ($(DEBUG),NO)
 CFLAGS += -ffunction-sections
@@ -341,7 +328,7 @@ MATH_LIB = -lm
 #    --cref:    add cross reference to  map file
 LDFLAGS = -nostartfiles -Wl,-Map=$(OUTDIR)/$(TARGET).map,--cref,--gc-sections
 ifeq ($(DEBUG),NO)
-LDFLAGS += -Wl,-static -Wl,-s
+LDFLAGS += -Wl,-static
 endif
 LDFLAGS += $(patsubst %,-L%,$(EXTRA_LIBDIRS))
 LDFLAGS += -lc
@@ -350,13 +337,14 @@ LDFLAGS += $(MATH_LIB)
 LDFLAGS += -lc -lgcc 
 
 # Set linker-script name depending on selected submodel name
-LDFLAGS +=-T$(LINKERSCRIPTPATH)/link_stm32f10x_$(MODEL).ld
+LDFLAGS += -T$(LINKERSCRIPTPATH)/link_$(BOARD)_memory.ld
+LDFLAGS += -T$(LINKERSCRIPTPATH)/link_$(BOARD)_BL_sections.ld
 
-OOCD_LOADFILE+=$(OUTDIR)/$(TARGET).elf  
+OOCD_LOADFILE+=$(OUTDIR)/$(TARGET).bin
 # Program
-OOCD_CL+=-c "flash write_image $(OOCD_LOADFILE)"
+OOCD_CL+=-c "flash write_image erase $(OOCD_LOADFILE) 0x08000000 bin"
 # Verify
-OOCD_CL+=-c "verify_image $(OOCD_LOADFILE)"
+OOCD_CL+=-c "verify_image $(OOCD_LOADFILE) 0x08000000 bin"
 # reset target
 OOCD_CL+=-c "reset run"
 # terminate OOCD after programming
@@ -408,7 +396,7 @@ ${OUTDIR}/InitMods.c: Makefile
 # Program the device.
 ifeq ($(FLASH_TOOL),OPENOCD)
 # Program the device with Dominic Rath's OPENOCD in "batch-mode", needs cfg and "reset-script".
-program: $(OUTDIR)/$(TARGET).elf
+program: $(OUTDIR)/$(TARGET).bin
 	@echo ${quote}Programming with OPENOCD${quote}
 	$(OOCD_EXE) $(OOCD_CL)
 endif
@@ -444,12 +432,15 @@ $(eval $(call PARTIAL_COMPILE_ARM_TEMPLATE, SRCARM))
 docs:
 	doxygen  $(DOXYGENDIR)/doxygen.cfg
 
-.PHONY: elf lss sym hex bin
+$(OUTDIR)/$(TARGET).bin.o: $(OUTDIR)/$(TARGET).bin
+
+.PHONY: elf lss sym hex bin bino
 elf: $(OUTDIR)/$(TARGET).elf
 lss: $(OUTDIR)/$(TARGET).lss 
 sym: $(OUTDIR)/$(TARGET).sym
 hex: $(OUTDIR)/$(TARGET).hex
 bin: $(OUTDIR)/$(TARGET).bin
+bino: $(OUTDIR)/$(TARGET).bin.o
 
 # Display sizes of sections.
 $(eval $(call SIZE_TEMPLATE, $(OUTDIR)/$(TARGET).elf))
@@ -467,6 +458,7 @@ clean_list :
 	$(V1) $(REMOVE) $(OUTDIR)/$(TARGET).bin
 	$(V1) $(REMOVE) $(OUTDIR)/$(TARGET).sym
 	$(V1) $(REMOVE) $(OUTDIR)/$(TARGET).lss
+	$(V1) $(REMOVE) $(OUTDIR)/$(TARGET).bin.o
 	$(V1) $(REMOVE) $(ALLOBJ)
 	$(V1) $(REMOVE) $(LSTFILES)
 	$(V1) $(REMOVE) $(DEPFILES)

flight/Bootloaders/OpenPilot/Makefile

@@ -36,10 +36,6 @@ ENABLE_DEBUG_PINS ?= NO
 # Set to Yes to enable the AUX UART which is mapped on the S1 (Tx) and S2 (Rx) servo outputs  
 ENABLE_AUX_UART ?= NO
 
-#
-override USE_BOOTLOADER = NO
-
-
 # Set to YES when using Code Sourcery toolchain
 CODE_SOURCERY ?= NO
 
@@ -60,12 +56,6 @@ MCU      = cortex-m3
 CHIP     = STM32F103RET
 BOARD    = STM3210E_OP
 MODEL	 = HD
-ifeq ($(USE_BOOTLOADER), YES)
-BOOT_MODEL    = $(MODEL)_BL
-
-else
-BOOT_MODEL    = $(MODEL)_NB
-endif
 
 # Directory for output files (lst, obj, dep, elf, sym, map, hex, bin etc.)
 OUTDIR = $(TOP)/build/bl_openpilot
@@ -193,7 +183,7 @@ CPPSRCARM =
 # Even though the DOS/Win* filesystem matches both .s and .S the same,
 # it will preserve the spelling of the filenames, and gcc itself does
 # care about how the name is spelled on its command-line.
-ASRC = $(PIOSSTM32F10X)/startup_stm32f10x_$(MODEL).S
+ASRC = $(PIOSSTM32F10X)/startup_stm32f10x_$(MODEL)_OP.S
 
 # List Assembler source files here which must be assembled in ARM-Mode..
 ASRCARM = 
@@ -271,10 +261,6 @@ endif
 ifeq ($(ENABLE_AUX_UART), YES)
 CDEFS += -DPIOS_ENABLE_AUX_UART
 endif
-ifeq ($(USE_BOOTLOADER), YES)
-CDEFS += -DUSE_BOOTLOADER
-endif
-
 
 # Place project-specific -D and/or -U options for 
 # Assembler with preprocessor here.
@@ -302,9 +288,10 @@ CSTANDARD = -std=gnu99
 # Flags for C and C++ (arm-elf-gcc/arm-elf-g++)
 
 ifeq ($(DEBUG),YES)
-CFLAGS = -g$(DEBUGF) -DDEBUG
+CFLAGS = -DDEBUG
 endif
 
+CFLAGS += -g$(DEBUGF)
 CFLAGS += -O$(OPT)
 ifeq ($(DEBUG),NO)
 CFLAGS += -ffunction-sections
@@ -344,7 +331,7 @@ MATH_LIB = -lm
 #    --cref:    add cross reference to  map file
 LDFLAGS = -nostartfiles -Wl,-Map=$(OUTDIR)/$(TARGET).map,--cref,--gc-sections
 ifeq ($(DEBUG),NO)
-LDFLAGS += -Wl,-static -Wl,-s
+LDFLAGS += -Wl,-static
 endif
 LDFLAGS += $(patsubst %,-L%,$(EXTRA_LIBDIRS))
 LDFLAGS += -lc
@@ -353,13 +340,14 @@ LDFLAGS += $(MATH_LIB)
 LDFLAGS += -lc -lgcc 
 
 # Set linker-script name depending on selected submodel name
-LDFLAGS +=-T$(LINKERSCRIPTPATH)/link_stm32f10x_$(MODEL).ld
+LDFLAGS += -T$(LINKERSCRIPTPATH)/link_$(BOARD)_memory.ld
+LDFLAGS += -T$(LINKERSCRIPTPATH)/link_$(BOARD)_BL_sections.ld
 
-OOCD_LOADFILE+=$(OUTDIR)/$(TARGET).elf  
+OOCD_LOADFILE+=$(OUTDIR)/$(TARGET).bin
 # Program                                                                                                                                                                                                                            
-OOCD_CL+=-c "flash write_image $(OOCD_LOADFILE)"
+OOCD_CL+=-c "flash write_image erase $(OOCD_LOADFILE) 0x08000000 bin"
 # Verify
-OOCD_CL+=-c "verify_image $(OOCD_LOADFILE)"
+OOCD_CL+=-c "verify_image $(OOCD_LOADFILE) 0x08000000 bin"
 # reset target
 OOCD_CL+=-c "reset run"
 # terminate OOCD after programming
@@ -411,7 +399,7 @@ ${OUTDIR}/InitMods.c: Makefile
 # Program the device.
 ifeq ($(FLASH_TOOL),OPENOCD)
 # Program the device with Dominic Rath's OPENOCD in "batch-mode", needs cfg and "reset-script".
-program: $(OUTDIR)/$(TARGET).elf
+program: $(OUTDIR)/$(TARGET).bin
 	@echo ${quote}Programming with OPENOCD${quote}
 	$(OOCD_EXE) $(OOCD_CL)
 endif
@@ -443,12 +431,15 @@ $(eval $(call PARTIAL_COMPILE_TEMPLATE, SRC))
 # Compile: create assembler files from C source files. ARM only
 $(eval $(call PARTIAL_COMPILE_ARM_TEMPLATE, SRCARM))
 
-.PHONY: elf lss sym hex bin
+$(OUTDIR)/$(TARGET).bin.o: $(OUTDIR)/$(TARGET).bin
+
+.PHONY: elf lss sym hex bin bino
 elf: $(OUTDIR)/$(TARGET).elf
 lss: $(OUTDIR)/$(TARGET).lss 
 sym: $(OUTDIR)/$(TARGET).sym
 hex: $(OUTDIR)/$(TARGET).hex
 bin: $(OUTDIR)/$(TARGET).bin
+bino: $(OUTDIR)/$(TARGET).bin.o
 
 # Display sizes of sections.
 $(eval $(call SIZE_TEMPLATE, $(OUTDIR)/$(TARGET).elf))
@@ -470,6 +461,7 @@ clean_list :
 	$(V1) $(REMOVE) $(OUTDIR)/$(TARGET).bin
 	$(V1) $(REMOVE) $(OUTDIR)/$(TARGET).sym
 	$(V1) $(REMOVE) $(OUTDIR)/$(TARGET).lss
+	$(V1) $(REMOVE) $(OUTDIR)/$(TARGET).bin.o
 	$(V1) $(REMOVE) $(ALLOBJ)
 	$(V1) $(REMOVE) $(LSTFILES)
 	$(V1) $(REMOVE) $(DEPFILES)

flight/Bootloaders/PipXtreme/Makefile

@@ -36,10 +36,6 @@ ENABLE_DEBUG_PINS ?= NO
 # Set to Yes to enable the AUX UART which is mapped on the S1 (Tx) and S2 (Rx) servo outputs  
 ENABLE_AUX_UART ?= NO
 
-#
-override USE_BOOTLOADER = NO
-
-
 # Set to YES when using Code Sourcery toolchain
 CODE_SOURCERY ?= NO
 
@@ -60,12 +56,6 @@ MCU      = cortex-m3
 CHIP     = STM32F103CBT
 BOARD    = STM32103CB_PIPXTREME
 MODEL	 = MD
-ifeq ($(USE_BOOTLOADER), YES)
-BOOT_MODEL    = $(MODEL)_BL
-
-else
-BOOT_MODEL    = $(MODEL)_NB
-endif
 
 # Directory for output files (lst, obj, dep, elf, sym, map, hex, bin etc.)
 OUTDIR = $(TOP)/build/bl_pipxtreme
@@ -267,10 +257,6 @@ endif
 ifeq ($(ENABLE_AUX_UART), YES)
 CDEFS += -DPIOS_ENABLE_AUX_UART
 endif
-ifeq ($(USE_BOOTLOADER), YES)
-CDEFS += -DUSE_BOOTLOADER
-endif
-
 
 # Place project-specific -D and/or -U options for 
 # Assembler with preprocessor here.
@@ -298,9 +284,10 @@ CSTANDARD = -std=gnu99
 # Flags for C and C++ (arm-elf-gcc/arm-elf-g++)
 
 ifeq ($(DEBUG),YES)
-CFLAGS = -g$(DEBUGF) -DDEBUG
+CFLAGS = -DDEBUG
 endif
 
+CFLAGS += -g$(DEBUGF)
 CFLAGS += -O$(OPT)
 ifeq ($(DEBUG),NO)
 CFLAGS += -ffunction-sections
@@ -340,7 +327,7 @@ MATH_LIB = -lm
 #    --cref:    add cross reference to  map file
 LDFLAGS = -nostartfiles -Wl,-Map=$(OUTDIR)/$(TARGET).map,--cref,--gc-sections
 ifeq ($(DEBUG),NO)
-LDFLAGS += -Wl,-static -Wl,-s
+LDFLAGS += -Wl,-static
 endif
 LDFLAGS += $(patsubst %,-L%,$(EXTRA_LIBDIRS))
 LDFLAGS += -lc
@@ -349,13 +336,14 @@ LDFLAGS += $(MATH_LIB)
 LDFLAGS += -lc -lgcc 
 
 # Set linker-script name depending on selected submodel name
-LDFLAGS +=-T$(LINKERSCRIPTPATH)/link_stm32f10x_$(MODEL).ld
+LDFLAGS += -T$(LINKERSCRIPTPATH)/link_$(BOARD)_memory.ld
+LDFLAGS += -T$(LINKERSCRIPTPATH)/link_$(BOARD)_BL_sections.ld
 
-OOCD_LOADFILE+=$(OUTDIR)/$(TARGET).elf  
+OOCD_LOADFILE+=$(OUTDIR)/$(TARGET).bin
 # Program                                                                                                                                                                                                                            
-OOCD_CL+=-c "flash write_image $(OOCD_LOADFILE)"
+OOCD_CL+=-c "flash write_image erase $(OOCD_LOADFILE) 0x08000000 bin"
 # Verify
-OOCD_CL+=-c "verify_image $(OOCD_LOADFILE)"
+OOCD_CL+=-c "verify_image $(OOCD_LOADFILE) 0x08000000 bin"
 # reset target
 OOCD_CL+=-c "reset run"
 # terminate OOCD after programming
@@ -407,7 +395,7 @@ ${OUTDIR}/InitMods.c: Makefile
 # Program the device.
 ifeq ($(FLASH_TOOL),OPENOCD)
 # Program the device with Dominic Rath's OPENOCD in "batch-mode", needs cfg and "reset-script".
-program: $(OUTDIR)/$(TARGET).elf
+program: $(OUTDIR)/$(TARGET).bin
 	@echo ${quote}Programming with OPENOCD${quote}
 	$(OOCD_EXE) $(OOCD_CL)
 endif
@@ -439,12 +427,15 @@ $(eval $(call PARTIAL_COMPILE_TEMPLATE, SRC))
 # Compile: create assembler files from C source files. ARM only
 $(eval $(call PARTIAL_COMPILE_ARM_TEMPLATE, SRCARM))
 
-.PHONY: elf lss sym hex bin
+$(OUTDIR)/$(TARGET).bin.o: $(OUTDIR)/$(TARGET).bin
+
+.PHONY: elf lss sym hex bin bino
 elf: $(OUTDIR)/$(TARGET).elf
 lss: $(OUTDIR)/$(TARGET).lss 
 sym: $(OUTDIR)/$(TARGET).sym
 hex: $(OUTDIR)/$(TARGET).hex
 bin: $(OUTDIR)/$(TARGET).bin
+bino: $(OUTDIR)/$(TARGET).bin.o
 
 # Display sizes of sections.
 $(eval $(call SIZE_TEMPLATE, $(OUTDIR)/$(TARGET).elf))
@@ -466,6 +457,7 @@ clean_list :
 	$(V1) $(REMOVE) $(OUTDIR)/$(TARGET).bin
 	$(V1) $(REMOVE) $(OUTDIR)/$(TARGET).sym
 	$(V1) $(REMOVE) $(OUTDIR)/$(TARGET).lss
+	$(V1) $(REMOVE) $(OUTDIR)/$(TARGET).bin.o
 	$(V1) $(REMOVE) $(ALLOBJ)
 	$(V1) $(REMOVE) $(LSTFILES)
 	$(V1) $(REMOVE) $(DEPFILES)

flight/CopterControl/Makefile

@@ -38,9 +38,6 @@ ENABLE_DEBUG_PINS ?= NO
 # Set to Yes to enable the AUX UART which is mapped on the S1 (Tx) and S2 (Rx) servo outputs
 ENABLE_AUX_UART ?= NO
 
-#
-USE_BOOTLOADER ?= YES
-
 USE_SPEKTRUM ?= NO
 
 USE_I2C ?= NO
@@ -68,12 +65,6 @@ MCU      = cortex-m3
 CHIP     = STM32F103CBT
 BOARD    = STM32103CB_CC_Rev1
 MODEL	 = MD
-ifeq ($(USE_BOOTLOADER), YES)
-BOOT_MODEL    = $(MODEL)_BL
-
-else
-BOOT_MODEL    = $(MODEL)_NB
-endif
 
 # Directory for output files (lst, obj, dep, elf, sym, map, hex, bin etc.)
 OUTDIR = $(TOP)/build/coptercontrol
@@ -208,7 +199,6 @@ SRC += $(PIOSSTM32F10X)/pios_wdg.c
 
 # PIOS USB related files (seperated to make code maintenance more easy)
 SRC += $(PIOSSTM32F10X)/pios_usb_hid.c
-#SRC += $(PIOSSTM32F10X)/pios_usb_hid_desc.c
 SRC += $(PIOSSTM32F10X)/pios_usb_hid_istr.c
 SRC += $(PIOSSTM32F10X)/pios_usb_hid_prop.c
 SRC += $(PIOSSTM32F10X)/pios_usb_hid_pwr.c
@@ -389,9 +379,7 @@ endif
 ifeq ($(ENABLE_AUX_UART), YES)
 CDEFS += -DPIOS_ENABLE_AUX_UART
 endif
-ifeq ($(USE_BOOTLOADER), YES)
 CDEFS += -DUSE_BOOTLOADER
-endif
 ifeq ($(ERASE_FLASH), YES)
 CDEFS += -DERASE_FLASH
 endif
@@ -481,13 +469,14 @@ LDFLAGS += $(MATH_LIB)
 LDFLAGS += -lc -lgcc
 
 # Set linker-script name depending on selected submodel name
-LDFLAGS +=-T$(LINKERSCRIPTPATH)/link_$(BOARD)_$(BOOT_MODEL).ld
+LDFLAGS += -T$(LINKERSCRIPTPATH)/link_$(BOARD)_memory.ld
+LDFLAGS += -T$(LINKERSCRIPTPATH)/link_$(BOARD)_sections.ld
 
-OOCD_LOADFILE+=$(OUTDIR)/$(TARGET).elf  
+OOCD_LOADFILE+=$(OUTDIR)/$(TARGET).bin
 # Program
-OOCD_CL+=-c "flash write_image $(OOCD_LOADFILE)"
+OOCD_CL+=-c "flash write_image erase $(OOCD_LOADFILE) 0x08003000 bin"
 # Verify
-OOCD_CL+=-c "verify_image $(OOCD_LOADFILE)"
+OOCD_CL+=-c "verify_image $(OOCD_LOADFILE) 0x08003000 bin"
 # reset target
 OOCD_CL+=-c "reset run"
 # terminate OOCD after programming
@@ -548,20 +537,12 @@ ${OUTDIR}/InitMods.c: Makefile
 #	@$(PYTHON) $(PYMITETOOLS)/pmGenPmFeatures.py $(PYMITEPLAT)/pmfeatures.py > $(OUTDIR)/pmfeatures.h
 #	@$(PYTHON) $(PYMITETOOLS)/pmImgCreator.py -f $(PYMITEPLAT)/pmfeatures.py -c -u -o $(OUTDIR)/pmlibusr_img.c --native-file=$(OUTDIR)/pmlibusr_nat.c $(FLIGHTPLANS)/test.py
 
-# Program the device.
-ifeq ($(USE_BOOTLOADER), YES)
-# Program the device with OP Upload Tool".
-program: $(OUTDIR)/$(TARGET).bin
-	@echo ${quote}Programming with OP Upload Tool${quote}
-	../../ground/src/experimental/upload-build-desktop/debug/OPUploadTool -d 0 -p $(OUTDIR)/$(TARGET).bin
-else
 ifeq ($(FLASH_TOOL),OPENOCD)
 # Program the device with Dominic Rath's OPENOCD in "batch-mode", needs cfg and "reset-script".
-program: $(OUTDIR)/$(TARGET).elf
+program: $(OUTDIR)/$(TARGET).bin
 	@echo ${quote}Programming with OPENOCD${quote}
 	$(OOCD_EXE) $(OOCD_CL)
 endif
-endif
 
 # Link: create ELF output file from object files.
 $(eval $(call LINK_TEMPLATE, $(OUTDIR)/$(TARGET).elf, $(ALLOBJ)))
@@ -590,12 +571,15 @@ $(eval $(call PARTIAL_COMPILE_TEMPLATE, SRC))
 # Compile: create assembler files from C source files. ARM only
 $(eval $(call PARTIAL_COMPILE_ARM_TEMPLATE, SRCARM))
 
-.PHONY: elf lss sym hex bin
+$(OUTDIR)/$(TARGET).bin.o: $(OUTDIR)/$(TARGET).bin
+
+.PHONY: elf lss sym hex bin bino
 elf: $(OUTDIR)/$(TARGET).elf
 lss: $(OUTDIR)/$(TARGET).lss
 sym: $(OUTDIR)/$(TARGET).sym
 hex: $(OUTDIR)/$(TARGET).hex
 bin: $(OUTDIR)/$(TARGET).bin
+bino: $(OUTDIR)/$(TARGET).bin.o
 
 # Display sizes of sections.
 $(eval $(call SIZE_TEMPLATE, $(OUTDIR)/$(TARGET).elf))
@@ -617,6 +601,7 @@ clean_list :
 	$(V1) $(REMOVE) $(OUTDIR)/$(TARGET).bin
 	$(V1) $(REMOVE) $(OUTDIR)/$(TARGET).sym
 	$(V1) $(REMOVE) $(OUTDIR)/$(TARGET).lss
+	$(V1) $(REMOVE) $(OUTDIR)/$(TARGET).bin.o
 	$(V1) $(REMOVE) $(wildcard $(OUTDIR)/*.c)
 	$(V1) $(REMOVE) $(wildcard $(OUTDIR)/*.h)
 	$(V1) $(REMOVE) $(ALLOBJ)

flight/Libraries/stopwatch.c

@@ -50,8 +50,21 @@ uint32_t STOPWATCH_Init(u32 resolution, TIM_TypeDef* TIM) {
 	case (uint32_t)TIM4:
 		STOPWATCH_TIMER_RCC = RCC_APB1Periph_TIM4;
 		break;
+	case (uint32_t)TIM5:
+		STOPWATCH_TIMER_RCC = RCC_APB1Periph_TIM5;
+		break;
+	case (uint32_t)TIM6:
+		STOPWATCH_TIMER_RCC = RCC_APB1Periph_TIM6;
+		break;
+	case (uint32_t)TIM7:
+		STOPWATCH_TIMER_RCC = RCC_APB1Periph_TIM7;
+		break;
+	case (uint32_t)TIM8:
+		STOPWATCH_TIMER_RCC = RCC_APB2Periph_TIM8;
+		break;
 	default:
-		STOPWATCH_TIMER_RCC = RCC_APB2Periph_TIM1;
+		/* Unsupported timer */
+		while(1);
 	}
 
 	// enable timer clock

flight/OpenPilot/Makefile

@@ -36,9 +36,6 @@ ENABLE_DEBUG_PINS ?= NO
 # Set to Yes to enable the AUX UART which is mapped on the S1 (Tx) and S2 (Rx) servo outputs
 ENABLE_AUX_UART ?= NO
 
-#
-USE_BOOTLOADER ?= YES
-
 USE_SPEKTRUM ?= NO
 
 
@@ -71,12 +68,6 @@ MCU      = cortex-m3
 CHIP     = STM32F103RET
 BOARD    = STM3210E_OP
 MODEL	 = HD
-ifeq ($(USE_BOOTLOADER), YES)
-BOOT_MODEL    = $(MODEL)_BL
-
-else
-BOOT_MODEL    = $(MODEL)_NB
-endif
 
 # Directory for output files (lst, obj, dep, elf, sym, map, hex, bin etc.)
 OUTDIR = $(TOP)/build/openpilot
@@ -377,9 +368,7 @@ endif
 ifeq ($(ENABLE_AUX_UART), YES)
 CDEFS += -DPIOS_ENABLE_AUX_UART
 endif
-ifeq ($(USE_BOOTLOADER), YES)
 CDEFS += -DUSE_BOOTLOADER
-endif
 
 ifeq ($(USE_SPEKTRUM), YES)
 CDEFS += -DUSE_SPEKTRUM
@@ -458,13 +447,14 @@ LDFLAGS += $(MATH_LIB)
 LDFLAGS += -lc -lgcc
 
 # Set linker-script name depending on selected submodel name
-LDFLAGS +=-T$(LINKERSCRIPTPATH)/link_$(BOARD)_$(BOOT_MODEL).ld
+LDFLAGS += -T$(LINKERSCRIPTPATH)/link_$(BOARD)_memory.ld
+LDFLAGS += -T$(LINKERSCRIPTPATH)/link_$(BOARD)_sections.ld
 
-OOCD_LOADFILE+=$(OUTDIR)/$(TARGET).elf  
+OOCD_LOADFILE+=$(OUTDIR)/$(TARGET).bin
 # Program
-OOCD_CL+=-c "flash write_image $(OOCD_LOADFILE)"
+OOCD_CL+=-c "flash write_image erase $(OOCD_LOADFILE) 0x08005000 bin"
 # Verify
-OOCD_CL+=-c "verify_image $(OOCD_LOADFILE)"
+OOCD_CL+=-c "verify_image $(OOCD_LOADFILE) 0x08005000 bin"
 # reset target
 OOCD_CL+=-c "reset run"
 # terminate OOCD after programming
@@ -527,19 +517,12 @@ ${OUTDIR}/pmlib_img.c ${OUTDIR}/pmlib_nat.c ${OUTDIR}/pmlibusr_img.c ${OUTDIR}/p
 	@$(PYTHON) $(PYMITETOOLS)/pmImgCreator.py -f $(PYMITEPLAT)/pmfeatures.py -c -u -o $(OUTDIR)/pmlibusr_img.c --native-file=$(OUTDIR)/pmlibusr_nat.c $(FLIGHTPLANS)/test.py
 
 # Program the device.
-ifeq ($(USE_BOOTLOADER), YES)
-# Program the device with OP Upload Tool".
-program: $(OUTDIR)/$(TARGET).bin
-	@echo ${quote}Programming with OP Upload Tool${quote}
-	../../ground/src/experimental/upload-build-desktop/debug/OPUploadTool -d 0 -p $(OUTDIR)/$(TARGET).bin
-else
 ifeq ($(FLASH_TOOL),OPENOCD)
 # Program the device with Dominic Rath's OPENOCD in "batch-mode", needs cfg and "reset-script".
-program: $(OUTDIR)/$(TARGET).elf
+program: $(OUTDIR)/$(TARGET).bin
 	@echo ${quote}Programming with OPENOCD${quote}
 	$(OOCD_EXE) $(OOCD_CL)
 endif
-endif
 
 # Link: create ELF output file from object files.
 $(eval $(call LINK_TEMPLATE, $(OUTDIR)/$(TARGET).elf, $(ALLOBJ)))
@@ -568,12 +551,15 @@ $(eval $(call PARTIAL_COMPILE_TEMPLATE, SRC))
 # Compile: create assembler files from C source files. ARM only
 $(eval $(call PARTIAL_COMPILE_ARM_TEMPLATE, SRCARM))
 
-.PHONY: elf lss sym hex bin
+$(OUTDIR)/$(TARGET).bin.o: $(OUTDIR)/$(TARGET).bin
+
+.PHONY: elf lss sym hex bin bino
 elf:  $(OUTDIR)/$(TARGET).elf
 lss:  $(OUTDIR)/$(TARGET).lss
 sym:  $(OUTDIR)/$(TARGET).sym
 hex:  $(OUTDIR)/$(TARGET).hex
 bin:  $(OUTDIR)/$(TARGET).bin
+bino: $(OUTDIR)/$(TARGET).bin.o
 
 # Display sizes of sections.
 $(eval $(call SIZE_TEMPLATE, $(OUTDIR)/$(TARGET).elf))
@@ -595,6 +581,7 @@ clean_list :
 	$(V1) $(REMOVE) $(OUTDIR)/$(TARGET).bin
 	$(V1) $(REMOVE) $(OUTDIR)/$(TARGET).sym
 	$(V1) $(REMOVE) $(OUTDIR)/$(TARGET).lss
+	$(V1) $(REMOVE) $(OUTDIR)/$(TARGET).bin.o
 	$(V1) $(REMOVE) $(wildcard $(OUTDIR)/*.c)
 	$(V1) $(REMOVE) $(wildcard $(OUTDIR)/*.h)
 	$(V1) $(REMOVE) $(ALLOBJ)

flight/PiOS/Boards/pios_board.h

@@ -11,6 +11,8 @@
 #include "STM32103CB_CC_Rev1.h"
 #elif USE_STM3210E_INS
 #include "STM3210E_INS.h"
+#else
+#error Board definition has not been provided.
 #endif
 
 #endif /* PIOS_BOARD_H_ */

flight/PiOS/STM32F10x/link_STM32103CB_AHRS_BL_sections.ld

@@ -1,9 +1,3 @@
-MEMORY
-{
-    FLASH (rx) : ORIGIN = 0x08002000, LENGTH = 116K
-    SRAM (rwx) : ORIGIN = 0x20000000, LENGTH = 0x00005000
-}
-
 _estack = 0x20004FF0;
 
 /* Section Definitions */
@@ -15,17 +9,17 @@ SECTIONS
         *(.text .text.* .gnu.linkonce.t.*)
         *(.glue_7t) *(.glue_7)
         *(.rodata .rodata* .gnu.linkonce.r.*)
-    } > FLASH
+    } > BL_FLASH
 
     .ARM.extab :
     {
         *(.ARM.extab* .gnu.linkonce.armextab.*)
-    } > FLASH
+    } > BL_FLASH
 
     .ARM.exidx :
     {
         *(.ARM.exidx* .gnu.linkonce.armexidx.*)
-    } > FLASH
+    } > BL_FLASH
 
     . = ALIGN(4);
     _etext = .;

flight/PiOS/STM32F10x/link_STM32103CB_AHRS_memory.ld

@@ -0,0 +1,6 @@
+MEMORY
+{
+    BL_FLASH (rx) : ORIGIN = 0x08000000,      LENGTH =   8K
+    FLASH (rx)    : ORIGIN = 0x08000000 + 8K, LENGTH = 128K - 8K
+    SRAM (rwx)    : ORIGIN = 0x20000000,      LENGTH =  20K
+}

flight/PiOS/STM32F10x/link_STM32103CB_AHRS_sections.ld

@@ -1,9 +1,3 @@
-MEMORY
-{
-    FLASH (rx) : ORIGIN = 0x08003000, LENGTH = 116K
-    SRAM (rwx) : ORIGIN = 0x20000000, LENGTH = 0x00005000
-}
-
 _estack = 0x20004FF0;
 
 /* Section Definitions */

flight/PiOS/STM32F10x/link_STM32103CB_CC_Rev1_BL_sections.ld

@@ -0,0 +1,97 @@
+/* Stub out these functions since we don't use them anyway */
+PROVIDE (   vPortSVCHandler = 0 ) ;
+PROVIDE (   xPortPendSVHandler = 0 ) ;
+PROVIDE (   xPortSysTickHandler = 0 ) ;
+
+_estack = 0x20004FF0;
+
+/* Section Definitions */
+SECTIONS
+{
+    .text :
+    {
+        KEEP(*(.isr_vector .isr_vector.*))
+        *(.text .text.* .gnu.linkonce.t.*)
+        *(.glue_7t) *(.glue_7)
+        *(.rodata .rodata* .gnu.linkonce.r.*)
+    } > BL_FLASH
+
+    /* init sections */
+    .initcalluavobj.init :
+    {
+        . = ALIGN(4);
+	__uavobj_initcall_start = .;
+        KEEP(*(.initcalluavobj.init))
+	. = ALIGN(4);
+	__uavobj_initcall_end   = .;
+    } > BL_FLASH
+
+    .ARM.extab :
+    {
+        *(.ARM.extab* .gnu.linkonce.armextab.*)
+    } > BL_FLASH
+
+    .ARM.exidx :
+    {
+        *(.ARM.exidx* .gnu.linkonce.armexidx.*)
+    } > BL_FLASH
+
+    . = ALIGN(4);
+    _etext = .;
+    _sidata = .;
+
+    .data : AT (_etext)
+    {
+        _sdata = .;
+        *(.data .data.*)
+        . = ALIGN(4);
+        _edata = . ;
+    } > SRAM
+
+    /* .bss section which is used for uninitialized data */
+    .bss (NOLOAD) :
+    {
+        _sbss = . ;
+        *(.bss .bss.*)
+        *(COMMON)
+        . = ALIGN(4);
+        _ebss = . ;
+    } > SRAM
+
+    . = ALIGN(4);
+    _end = . ;
+
+    /* Stabs debugging sections.  */
+    .stab          0 : { *(.stab) }
+    .stabstr       0 : { *(.stabstr) }
+    .stab.excl     0 : { *(.stab.excl) }
+    .stab.exclstr  0 : { *(.stab.exclstr) }
+    .stab.index    0 : { *(.stab.index) }
+    .stab.indexstr 0 : { *(.stab.indexstr) }
+    .comment       0 : { *(.comment) }
+    /* DWARF debug sections.
+       Symbols in the DWARF debugging sections are relative to the beginning
+       of the section so we begin them at 0.  */
+    /* DWARF 1 */
+    .debug          0 : { *(.debug) }
+    .line           0 : { *(.line) }
+    /* GNU DWARF 1 extensions */
+    .debug_srcinfo  0 : { *(.debug_srcinfo) }
+    .debug_sfnames  0 : { *(.debug_sfnames) }
+    /* DWARF 1.1 and DWARF 2 */
+    .debug_aranges  0 : { *(.debug_aranges) }
+    .debug_pubnames 0 : { *(.debug_pubnames) }
+    /* DWARF 2 */
+    .debug_info     0 : { *(.debug_info .gnu.linkonce.wi.*) }
+    .debug_abbrev   0 : { *(.debug_abbrev) }
+    .debug_line     0 : { *(.debug_line) }
+    .debug_frame    0 : { *(.debug_frame) }
+    .debug_str      0 : { *(.debug_str) }
+    .debug_loc      0 : { *(.debug_loc) }
+    .debug_macinfo  0 : { *(.debug_macinfo) }
+    /* SGI/MIPS DWARF 2 extensions */
+    .debug_weaknames 0 : { *(.debug_weaknames) }
+    .debug_funcnames 0 : { *(.debug_funcnames) }
+    .debug_typenames 0 : { *(.debug_typenames) }
+    .debug_varnames  0 : { *(.debug_varnames) }
+}

flight/PiOS/STM32F10x/link_STM32103CB_CC_Rev1_MD_BL.ld

@@ -1,64 +0,0 @@
-MEMORY
-{
-    FLASH (rx) : ORIGIN = 0x08003000, LENGTH = 116K
-    SRAM (rwx) : ORIGIN = 0x20000000, LENGTH = 0x00005000
-}
-
-_estack = 0x20004FF0;
-
-/* Section Definitions */
-SECTIONS
-{
-    .text :
-    {
-        KEEP(*(.isr_vector .isr_vector.*))
-        *(.text .text.* .gnu.linkonce.t.*)
-        *(.glue_7t) *(.glue_7)
-        *(.rodata .rodata* .gnu.linkonce.r.*)
-    } > FLASH
-
-    /* init sections */
-    .initcalluavobj.init :
-    {
-        . = ALIGN(4);
-	__uavobj_initcall_start = .;
-        KEEP(*(.initcalluavobj.init))
-	. = ALIGN(4);
-	__uavobj_initcall_end   = .;
-    } >FLASH
-
-    .ARM.extab :
-    {
-        *(.ARM.extab* .gnu.linkonce.armextab.*)
-    } > FLASH
-
-    .ARM.exidx :
-    {
-        *(.ARM.exidx* .gnu.linkonce.armexidx.*)
-    } > FLASH
-
-    . = ALIGN(4);
-    _etext = .;
-    _sidata = .;
-
-    .data : AT (_etext)
-    {
-        _sdata = .;
-        *(.data .data.*)
-        . = ALIGN(4);
-        _edata = . ;
-    } > SRAM
-
-    /* .bss section which is used for uninitialized data */
-    .bss (NOLOAD) :
-    {
-        _sbss = . ;
-        *(.bss .bss.*)
-        *(COMMON)
-        . = ALIGN(4);
-        _ebss = . ;
-    } > SRAM
-
-    . = ALIGN(4);
-    _end = . ;
-}

flight/PiOS/STM32F10x/link_STM32103CB_CC_Rev1_MD_NB.ld

@@ -1,64 +0,0 @@
-MEMORY
-{
-    FLASH (rx) : ORIGIN = 0x08000000, LENGTH = 0x00020000
-    SRAM (rwx) : ORIGIN = 0x20000000, LENGTH = 0x00005000
-}
-
-_estack = 0x20004FF0;
-
-/* Section Definitions */
-SECTIONS
-{
-    .text :
-    {
-        KEEP(*(.isr_vector .isr_vector.*))
-        *(.text .text.* .gnu.linkonce.t.*)
-        *(.glue_7t) *(.glue_7)
-        *(.rodata .rodata* .gnu.linkonce.r.*)
-    } > FLASH
-
-    /* init sections */
-    .initcalluavobj.init :
-    {
-        . = ALIGN(4);
-	__uavobj_initcall_start = .;
-        KEEP(*(.initcalluavobj.init))
-	. = ALIGN(4);
-	__uavobj_initcall_end   = .;
-    } >FLASH
-
-    .ARM.extab :
-    {
-        *(.ARM.extab* .gnu.linkonce.armextab.*)
-    } > FLASH
-
-    .ARM.exidx :
-    {
-        *(.ARM.exidx* .gnu.linkonce.armexidx.*)
-    } > FLASH
-
-    . = ALIGN(4);
-    _etext = .;
-    _sidata = .;
-
-    .data : AT (_etext)
-    {
-        _sdata = .;
-        *(.data .data.*)
-        . = ALIGN(4);
-        _edata = . ;
-    } > SRAM
-
-    /* .bss section which is used for uninitialized data */
-    .bss (NOLOAD) :
-    {
-        _sbss = . ;
-        *(.bss .bss.*)
-        *(COMMON)
-        . = ALIGN(4);
-        _ebss = . ;
-    } > SRAM
-
-    . = ALIGN(4);
-    _end = . ;
-}

flight/PiOS/STM32F10x/link_STM32103CB_CC_Rev1_memory.ld

@@ -0,0 +1,6 @@
+MEMORY
+{
+    BL_FLASH (rx) : ORIGIN = 0x08000000,       LENGTH =  12K
+    FLASH (rx)    : ORIGIN = 0x08000000 + 12K, LENGTH = 128K - 12K
+    SRAM (rwx)    : ORIGIN = 0x20000000,       LENGTH =  20K
+}

flight/PiOS/STM32F10x/link_STM32103CB_CC_Rev1_sections.ld

@@ -0,0 +1,97 @@
+/* Stub out these functions since we don't use them anyway */
+PROVIDE (   vPortSVCHandler = 0 ) ;
+PROVIDE (   xPortPendSVHandler = 0 ) ;
+PROVIDE (   xPortSysTickHandler = 0 ) ;
+
+_estack = 0x20004FF0;
+
+/* Section Definitions */
+SECTIONS
+{
+    .text :
+    {
+        KEEP(*(.isr_vector .isr_vector.*))
+        *(.text .text.* .gnu.linkonce.t.*)
+        *(.glue_7t) *(.glue_7)
+        *(.rodata .rodata* .gnu.linkonce.r.*)
+    } > FLASH
+
+    /* init sections */
+    .initcalluavobj.init :
+    {
+        . = ALIGN(4);
+	__uavobj_initcall_start = .;
+        KEEP(*(.initcalluavobj.init))
+	. = ALIGN(4);
+	__uavobj_initcall_end   = .;
+    } >FLASH
+
+    .ARM.extab :
+    {
+        *(.ARM.extab* .gnu.linkonce.armextab.*)
+    } > FLASH
+
+    .ARM.exidx :
+    {
+        *(.ARM.exidx* .gnu.linkonce.armexidx.*)
+    } > FLASH
+
+    . = ALIGN(4);
+    _etext = .;
+    _sidata = .;
+
+    .data : AT (_etext)
+    {
+        _sdata = .;
+        *(.data .data.*)
+        . = ALIGN(4);
+        _edata = . ;
+    } > SRAM
+
+    /* .bss section which is used for uninitialized data */
+    .bss (NOLOAD) :
+    {
+        _sbss = . ;
+        *(.bss .bss.*)
+        *(COMMON)
+        . = ALIGN(4);
+        _ebss = . ;
+    } > SRAM
+
+    . = ALIGN(4);
+    _end = . ;
+
+    /* Stabs debugging sections.  */
+    .stab          0 : { *(.stab) }
+    .stabstr       0 : { *(.stabstr) }
+    .stab.excl     0 : { *(.stab.excl) }
+    .stab.exclstr  0 : { *(.stab.exclstr) }
+    .stab.index    0 : { *(.stab.index) }
+    .stab.indexstr 0 : { *(.stab.indexstr) }
+    .comment       0 : { *(.comment) }
+    /* DWARF debug sections.
+       Symbols in the DWARF debugging sections are relative to the beginning
+       of the section so we begin them at 0.  */
+    /* DWARF 1 */
+    .debug          0 : { *(.debug) }
+    .line           0 : { *(.line) }
+    /* GNU DWARF 1 extensions */
+    .debug_srcinfo  0 : { *(.debug_srcinfo) }
+    .debug_sfnames  0 : { *(.debug_sfnames) }
+    /* DWARF 1.1 and DWARF 2 */
+    .debug_aranges  0 : { *(.debug_aranges) }
+    .debug_pubnames 0 : { *(.debug_pubnames) }
+    /* DWARF 2 */
+    .debug_info     0 : { *(.debug_info .gnu.linkonce.wi.*) }
+    .debug_abbrev   0 : { *(.debug_abbrev) }
+    .debug_line     0 : { *(.debug_line) }
+    .debug_frame    0 : { *(.debug_frame) }
+    .debug_str      0 : { *(.debug_str) }
+    .debug_loc      0 : { *(.debug_loc) }
+    .debug_macinfo  0 : { *(.debug_macinfo) }
+    /* SGI/MIPS DWARF 2 extensions */
+    .debug_weaknames 0 : { *(.debug_weaknames) }
+    .debug_funcnames 0 : { *(.debug_funcnames) }
+    .debug_typenames 0 : { *(.debug_typenames) }
+    .debug_varnames  0 : { *(.debug_varnames) }
+}

flight/PiOS/STM32F10x/link_STM32103CB_PIPXTREME_BL_sections.ld

@@ -1,8 +1,7 @@
-MEMORY
+/* Stub out these functions since we don't use them anyway */
-{
+PROVIDE (   vPortSVCHandler = 0 ) ;
-    FLASH (rx) : ORIGIN = 0x08000000, LENGTH = 0x00020000
+PROVIDE (   xPortPendSVHandler = 0 ) ;
-    SRAM (rwx) : ORIGIN = 0x20000000, LENGTH = 0x00005000
+PROVIDE (   xPortSysTickHandler = 0 ) ;
-}
 
 _estack = 0x20004FF0;
 
@@ -15,17 +14,17 @@ SECTIONS
         *(.text .text.* .gnu.linkonce.t.*)
         *(.glue_7t) *(.glue_7)
         *(.rodata .rodata* .gnu.linkonce.r.*)
-    } > FLASH
+    } > BL_FLASH
 
     .ARM.extab :
     {
         *(.ARM.extab* .gnu.linkonce.armextab.*)
-    } > FLASH
+    } > BL_FLASH
 
     .ARM.exidx :
     {
         *(.ARM.exidx* .gnu.linkonce.armexidx.*)
-    } > FLASH
+    } > BL_FLASH
 
     . = ALIGN(4);
     _etext = .;

flight/PiOS/STM32F10x/link_STM32103CB_PIPXTREME_memory.ld

@@ -0,0 +1,6 @@
+MEMORY
+{
+    BL_FLASH (rx) : ORIGIN = 0x08000000,       LENGTH =  12K
+    FLASH (rx)    : ORIGIN = 0x08000000 + 12K, LENGTH = 128K - 12K
+    SRAM (rwx)    : ORIGIN = 0x20000000,       LENGTH =  20K
+}

flight/PiOS/STM32F10x/link_STM32103CB_PIPXTREME_sections.ld

@@ -1,8 +1,7 @@
-MEMORY
+/* Stub out these functions since we don't use them anyway */
-{
+PROVIDE (   vPortSVCHandler = 0 ) ;
-    FLASH (rx) : ORIGIN = 0x08000000, LENGTH = 0x00020000
+PROVIDE (   xPortPendSVHandler = 0 ) ;
-    SRAM (rwx) : ORIGIN = 0x20000000, LENGTH = 0x00005000
+PROVIDE (   xPortSysTickHandler = 0 ) ;
-}
 
 _estack = 0x20004FF0;
 

flight/PiOS/STM32F10x/link_STM3210E_OP_BL_sections.ld

@@ -1,41 +1,3 @@
-/**
- ******************************************************************************
- *
- * @file       link_stm32f10x_HD_NB.ld   
- * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2009.   
- * @brief      PiOS linker for the OpenPilot board
- * @see        The GNU Public License (GPL) Version 3
- *
- *****************************************************************************/
-/* 
- * This program is free software; you can redistribute it and/or modify 
- * it under the terms of the GNU General Public License as published by 
- * the Free Software Foundation; either version 3 of the License, or 
- * (at your option) any later version.
- * 
- * This program is distributed in the hope that it will be useful, but 
- * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY 
- * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License 
- * for more details.
- * 
- * You should have received a copy of the GNU General Public License along 
- * with this program; if not, write to the Free Software Foundation, Inc., 
- * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
- */
-
-
-/* Memory Spaces Definitions */
-MEMORY
-{
-  RAM (xrw) :     ORIGIN = 0x20000000, LENGTH = 64K
-  FLASH (rx) :    ORIGIN = 0x08000000, LENGTH = 512K
-  FLASHB1 (rx) :  ORIGIN = 0x00000000, LENGTH = 0
-  EXTMEMB0 (rx) : ORIGIN = 0x00000000, LENGTH = 0
-  EXTMEMB1 (rx) : ORIGIN = 0x00000000, LENGTH = 0
-  EXTMEMB2 (rx) : ORIGIN = 0x00000000, LENGTH = 0
-  EXTMEMB3 (rx) : ORIGIN = 0x00000000, LENGTH = 0
-}
-
 /* This is the size of the stack for early init and for all FreeRTOS IRQs */
 _irq_stack_size = 0x400;
 
@@ -59,10 +21,10 @@ PROVIDE (   HardFault_Handler = 0 ) ;
 PROVIDE (   MemManage_Handler = 0 ) ;
 PROVIDE (   BusFault_Handler = 0 ) ;
 PROVIDE (   UsageFault_Handler = 0 ) ;
-PROVIDE (   SVC_Handler = 0 ) ;
+PROVIDE (   vPortSVCHandler = 0 ) ;
 PROVIDE (   DebugMon_Handler = 0 ) ;
-PROVIDE (   PendSV_Handler = 0 ) ;
+PROVIDE (   xPortPendSVHandler = 0 ) ;
-PROVIDE (   SysTick_Handler = 0 ) ;
+PROVIDE (   xPortSysTickHandler = 0 ) ;
 
 PROVIDE (   WWDG_IRQHandler = 0 ) ;
 PROVIDE (   PVD_IRQHandler = 0 ) ;
@@ -207,7 +169,7 @@ SECTIONS
     {
         KEEP(*(.isr_vector))            /* Startup code */
         . = ALIGN(4);
-    } >FLASH
+    } > BL_FLASH
 
     /* for some STRx devices, the beginning of the startup code is stored in the .flashtext section, which goes to FLASH */
     .flashtext :
@@ -215,7 +177,7 @@ SECTIONS
         . = ALIGN(4);
         *(.flashtext)            /* Startup code */
         . = ALIGN(4);
-    } >FLASH
+    } > BL_FLASH
  
     
     /* init sections */
@@ -226,7 +188,7 @@ SECTIONS
         KEEP(*(.initcalluavobj.init))
 	. = ALIGN(4);
 	__uavobj_initcall_end   = .;
-    } >FLASH
+    } > BL_FLASH
 
     /* the program code is stored in the .text section, which goes to Flash */
     .text :
@@ -244,7 +206,7 @@ SECTIONS
          _etext = .;
             /* This is used by the startup in order to initialize the .data secion */
          _sidata = _etext;
-    } >FLASH
+    } > BL_FLASH
     
 
     /* 

flight/PiOS/STM32F10x/link_STM3210E_OP_memory.ld

@@ -0,0 +1,11 @@
+MEMORY
+{
+  RAM (xrw)     : ORIGIN = 0x20000000,       LENGTH =  64K
+  BL_FLASH (rx) : ORIGIN = 0x08000000,       LENGTH =  20K
+  FLASH (rx)    : ORIGIN = 0x08000000 + 20K, LENGTH = 512K - 20K
+  FLASHB1 (rx)  : ORIGIN = 0x00000000,       LENGTH = 0
+  EXTMEMB0 (rx) : ORIGIN = 0x00000000,       LENGTH = 0
+  EXTMEMB1 (rx) : ORIGIN = 0x00000000,       LENGTH = 0
+  EXTMEMB2 (rx) : ORIGIN = 0x00000000,       LENGTH = 0
+  EXTMEMB3 (rx) : ORIGIN = 0x00000000,       LENGTH = 0
+}

flight/PiOS/STM32F10x/link_STM3210E_OP_sections.ld

@@ -1,41 +1,3 @@
-/**
- ******************************************************************************
- *
- * @file       link_stm32f10x_HD_BL.ld   
- * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2009.   
- * @brief      PiOS linker for the OpenPilot board
- * @see        The GNU Public License (GPL) Version 3
- *
- *****************************************************************************/
-/* 
- * This program is free software; you can redistribute it and/or modify 
- * it under the terms of the GNU General Public License as published by 
- * the Free Software Foundation; either version 3 of the License, or 
- * (at your option) any later version.
- * 
- * This program is distributed in the hope that it will be useful, but 
- * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY 
- * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License 
- * for more details.
- * 
- * You should have received a copy of the GNU General Public License along 
- * with this program; if not, write to the Free Software Foundation, Inc., 
- * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
- */
-
-
-/* Memory Spaces Definitions */
-MEMORY
-{
-  RAM (xrw) :     ORIGIN = 0x20000000, LENGTH = 64K
-  FLASH (rx) :    ORIGIN = 0x08005000, LENGTH = 492K
-  FLASHB1 (rx) :  ORIGIN = 0x00000000, LENGTH = 0
-  EXTMEMB0 (rx) : ORIGIN = 0x00000000, LENGTH = 0
-  EXTMEMB1 (rx) : ORIGIN = 0x00000000, LENGTH = 0
-  EXTMEMB2 (rx) : ORIGIN = 0x00000000, LENGTH = 0
-  EXTMEMB3 (rx) : ORIGIN = 0x00000000, LENGTH = 0
-}
-
 /* This is the size of the stack for early init and for all FreeRTOS IRQs */
 _irq_stack_size = 0x400;
 
@@ -59,10 +21,10 @@ PROVIDE (   HardFault_Handler = 0 ) ;
 PROVIDE (   MemManage_Handler = 0 ) ;
 PROVIDE (   BusFault_Handler = 0 ) ;
 PROVIDE (   UsageFault_Handler = 0 ) ;
-PROVIDE (   SVC_Handler = 0 ) ;
+PROVIDE (   vPortSVCHandler = 0 ) ;
 PROVIDE (   DebugMon_Handler = 0 ) ;
-PROVIDE (   PendSV_Handler = 0 ) ;
+PROVIDE (   xPortPendSVHandler = 0 ) ;
-PROVIDE (   SysTick_Handler = 0 ) ;
+PROVIDE (   xPortSysTickHandler = 0 ) ;
 
 PROVIDE (   WWDG_IRQHandler = 0 ) ;
 PROVIDE (   PVD_IRQHandler = 0 ) ;

flight/PiOS/STM32F10x/link_stm32f10x_MD.ld

@@ -51,4 +51,38 @@ SECTIONS
 
     . = ALIGN(4);
     _end = . ;
+
+    /* Stabs debugging sections.  */
+    .stab          0 : { *(.stab) }
+    .stabstr       0 : { *(.stabstr) }
+    .stab.excl     0 : { *(.stab.excl) }
+    .stab.exclstr  0 : { *(.stab.exclstr) }
+    .stab.index    0 : { *(.stab.index) }
+    .stab.indexstr 0 : { *(.stab.indexstr) }
+    .comment       0 : { *(.comment) }
+    /* DWARF debug sections.
+       Symbols in the DWARF debugging sections are relative to the beginning
+       of the section so we begin them at 0.  */
+    /* DWARF 1 */
+    .debug          0 : { *(.debug) }
+    .line           0 : { *(.line) }
+    /* GNU DWARF 1 extensions */
+    .debug_srcinfo  0 : { *(.debug_srcinfo) }
+    .debug_sfnames  0 : { *(.debug_sfnames) }
+    /* DWARF 1.1 and DWARF 2 */
+    .debug_aranges  0 : { *(.debug_aranges) }
+    .debug_pubnames 0 : { *(.debug_pubnames) }
+    /* DWARF 2 */
+    .debug_info     0 : { *(.debug_info .gnu.linkonce.wi.*) }
+    .debug_abbrev   0 : { *(.debug_abbrev) }
+    .debug_line     0 : { *(.debug_line) }
+    .debug_frame    0 : { *(.debug_frame) }
+    .debug_str      0 : { *(.debug_str) }
+    .debug_loc      0 : { *(.debug_loc) }
+    .debug_macinfo  0 : { *(.debug_macinfo) }
+    /* SGI/MIPS DWARF 2 extensions */
+    .debug_weaknames 0 : { *(.debug_weaknames) }
+    .debug_funcnames 0 : { *(.debug_funcnames) }
+    .debug_typenames 0 : { *(.debug_typenames) }
+    .debug_varnames  0 : { *(.debug_varnames) }
 }

flight/PiOS/inc/pios_led.h

@@ -31,7 +31,6 @@
 #define PIOS_LED_H
 
 /* Type Definitions */
-
 #if (PIOS_LED_NUM == 1)
 typedef enum { LED1 = 0 } LedTypeDef;
 #elif (PIOS_LED_NUM == 2)
@@ -40,6 +39,8 @@ typedef enum { LED1 = 0, LED2 = 1 } LedTypeDef;
 typedef enum { LED1 = 0, LED2 = 1, LED3 = 2 } LedTypeDef;
 #elif (PIOS_LED_NUM == 4)
 typedef enum { LED1 = 0, LED2 = 1, LED3 = 2, LED4 = 3 } LedTypeDef;
+#else
+#error PIOS_LED_NUM not defined
 #endif
 
 /* Public Functions */

flight/PipXtreme/Makefile

@@ -29,9 +29,6 @@ include $(TOP)/make/firmware-defs.mk
 # Debugging (YES/NO) ?
 DEBUG ?= NO
 
-# Is this code a bootloader (YES/NO) ?
-USE_BOOTLOADER ?= NO
-
 # Use Code Sourcery toolchain (YES/NO) ?
 CODE_SOURCERY ?= YES
 
@@ -56,11 +53,6 @@ BOARD    = STM32103CB_PIPXTREME
 #CHIP     = STM32F103C8T
 #BOARD    = STM32103C8_PIPXTREME
 MODEL    = MD
-ifeq ($(USE_BOOTLOADER), YES)
-BOOT_MODEL    = $(MODEL)_BL
-else
-BOOT_MODEL    = $(MODEL)_NB
-endif
 
 # Directory for output files (lst, obj, dep, elf, sym, map, hex, bin etc.)
 OUTDIR = $(TOP)/build/pipxtreme
@@ -265,9 +257,7 @@ DEBUGF = dwarf-2
 CDEFS = -DSTM32F10X_$(MODEL)
 CDEFS += -DUSE_STDPERIPH_DRIVER
 CDEFS += -DUSE_$(BOARD)
-ifeq ($(USE_BOOTLOADER), YES)
 CDEFS += -DUSE_BOOTLOADER
-endif
 
 # Place project-specific -D and/or -U options for 
 # Assembler with preprocessor here.
@@ -347,13 +337,14 @@ LDFLAGS += $(MATH_LIB)
 LDFLAGS += -lc -lgcc 
 
 # Set linker-script name depending on selected submodel name
-LDFLAGS +=-T$(LINKERSCRIPTPATH)/link_$(BOARD)_$(BOOT_MODEL).ld
+LDFLAGS += -T$(LINKERSCRIPTPATH)/link_$(BOARD)_memory.ld
+LDFLAGS += -T$(LINKERSCRIPTPATH)/link_$(BOARD)_sections.ld
 
-OOCD_LOADFILE+=$(OUTDIR)/$(TARGET).elf  
+OOCD_LOADFILE+=$(OUTDIR)/$(TARGET).bin
 # Program                                                                                                                                                                                                                            
-OOCD_CL+=-c "flash write_image $(OOCD_LOADFILE)"
+OOCD_CL+=-c "flash write_image erase $(OOCD_LOADFILE) 0x08003000 bin"
 # Verify
-OOCD_CL+=-c "verify_image $(OOCD_LOADFILE)"
+OOCD_CL+=-c "verify_image $(OOCD_LOADFILE) 0x08003000 bin"
 # reset target
 OOCD_CL+=-c "reset run"
 # terminate OOCD after programming
@@ -395,19 +386,12 @@ endif
 endif
 
 # Program the device.
-ifeq ($(USE_BOOTLOADER), YES)
-# Program the device with OP Upload Tool".
-program: $(OUTDIR)/$(TARGET).bin
-	@echo ${quote}Programming with OP Upload Tool${quote}
-	../../ground/src/experimental/upload-build-desktop/debug/OPUploadTool -d 1 -p $(OUTDIR)/$(TARGET).bin
-else
 ifeq ($(FLASH_TOOL),OPENOCD)
 # Program the device with Dominic Rath's OPENOCD in "batch-mode", needs cfg and "reset-script".
-program: $(OUTDIR)/$(TARGET).elf
+program: $(OUTDIR)/$(TARGET).bin
 	@echo ${quote}Programming with OPENOCD${quote}
 	$(OOCD_EXE) $(OOCD_CL)
 endif
-endif
 
 # Link: create ELF output file from object files.
 $(eval $(call LINK_TEMPLATE, $(OUTDIR)/$(TARGET).elf, $(ALLOBJ)))
@@ -436,12 +420,15 @@ $(eval $(call PARTIAL_COMPILE_TEMPLATE, SRC))
 # Compile: create assembler files from C source files. ARM only
 $(eval $(call PARTIAL_COMPILE_ARM_TEMPLATE, SRCARM))
 
-.PHONY: elf lss sym hex bin
+$(OUTDIR)/$(TARGET).bin.o: $(OUTDIR)/$(TARGET).bin
+
+.PHONY: elf lss sym hex bin bino
 elf: $(OUTDIR)/$(TARGET).elf
 lss: $(OUTDIR)/$(TARGET).lss 
 sym: $(OUTDIR)/$(TARGET).sym
 hex: $(OUTDIR)/$(TARGET).hex
 bin: $(OUTDIR)/$(TARGET).bin
+bino: $(OUTDIR)/$(TARGET).bin.o
 
 # Display sizes of sections.
 $(eval $(call SIZE_TEMPLATE, $(OUTDIR)/$(TARGET).elf))
@@ -463,6 +450,7 @@ clean_list :
 	$(V1) $(REMOVE) $(OUTDIR)/$(TARGET).bin
 	$(V1) $(REMOVE) $(OUTDIR)/$(TARGET).sym
 	$(V1) $(REMOVE) $(OUTDIR)/$(TARGET).lss
+	$(V1) $(REMOVE) $(OUTDIR)/$(TARGET).bin.o
 	$(V1) $(REMOVE) $(ALLOBJ)
 	$(V1) $(REMOVE) $(LSTFILES)
 	$(V1) $(REMOVE) $(DEPFILES)

flight/Project/gdb/bl_coptercontrol

@@ -0,0 +1,38 @@
+define connect
+	target remote localhost:3333
+	monitor cortex_m3 vector_catch all
+	file ./build/bl_coptercontrol/CopterControl_BL.elf
+end
+#monitor reset halt
+
+define hook-step
+	monitor cortex_m3 maskisr on
+end
+define hookpost-step
+	monitor cortex_m3 maskisr off
+end
+
+define hook-stepi
+	monitor cortex_m3 maskisr on
+end
+
+define hookpost-stepi
+	monitor cortex_m3 maskisr off
+end
+
+define hook-next
+	monitor cortex_m3 maskisr on
+end
+
+define hookpost-next
+	monitor cortex_m3 maskisr off
+end
+
+define hook-finish
+	monitor cortex_m3 maskisr on
+end
+
+define hookpost-finish
+	monitor cortex_m3 maskisr off
+end
+

ground/openpilotgcs/src/plugins/config/input.ui

@@ -919,9 +919,9 @@ Neutral should be put at the bottom of the slider for the throttle.</string>
       <widget class="QLabel" name="RCInputConnected">
        <property name="geometry">
         <rect>
-         <x>270</x>
+         <x>260</x>
          <y>0</y>
-         <width>251</width>
+         <width>291</width>
          <height>41</height>
         </rect>
        </property>
@@ -968,7 +968,7 @@ Neutral should be put at the bottom of the slider for the throttle.</string>
         </rect>
        </property>
        <property name="text">
-        <string>RC Receiver Type:</string>
+        <string>Receiver Type:</string>
        </property>
        <property name="alignment">
         <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>

make/firmware-defs.mk

@@ -9,6 +9,7 @@ OBJCOPY = $(TCHAIN_PREFIX)objcopy
 OBJDUMP = $(TCHAIN_PREFIX)objdump
 SIZE    = $(TCHAIN_PREFIX)size
 NM      = $(TCHAIN_PREFIX)nm
+STRIP   = $(TCHAIN_PREFIX)strip
 
 THUMB   = -mthumb
 
@@ -27,6 +28,8 @@ MSG_FORMATERROR      := ${quote} Can not handle output-format${quote}
 MSG_MODINIT          := ${quote} MODINIT   ${quote}
 MSG_SIZE             := ${quote} SIZE      ${quote}
 MSG_LOAD_FILE        := ${quote} BIN/HEX   ${quote}
+MSG_BIN_OBJ          := ${quote} BINO      ${quote}
+MSG_STRIP_FILE       := ${quote} STRIP     ${quote}
 MSG_EXTENDED_LISTING := ${quote} LIS       ${quote}
 MSG_SYMBOL_TABLE     := ${quote} NM        ${quote}
 MSG_LINKING          := ${quote} LD        ${quote}
@@ -53,11 +56,26 @@ gccversion :
 	@echo $(MSG_LOAD_FILE) $(call toprel, $@)
 	$(V1) $(OBJCOPY) -O ihex $< $@
 
+# Create stripped output file (.elf.stripped) from ELF output file.
+%.elf.stripped: %.elf
+	@echo $(MSG_STRIP_FILE) $(call toprel, $@)
+	$(V1) $(STRIP) --strip-unneeded $< -o $@
+
 # Create final output file (.bin) from ELF output file.
 %.bin: %.elf
 	@echo $(MSG_LOAD_FILE) $(call toprel, $@)
 	$(V1) $(OBJCOPY) -O binary $< $@
 
+%.bin.o: %.bin
+	@echo $(MSG_BIN_OBJ) $(call toprel, $@)
+	$(V1) $(OBJCOPY) -I binary -O elf32-littlearm --binary-architecture arm \
+		--rename-section .data=.rodata,alloc,load,readonly,data,contents \
+		--wildcard \
+		--redefine-sym _binary_$(subst :,_,$(subst -,_,$(subst .,_,$(subst /,_,$<))))_start=_binary_start \
+		--redefine-sym _binary_$(subst :,_,$(subst -,_,$(subst .,_,$(subst /,_,$<))))_end=_binary_end \
+		--redefine-sym _binary_$(subst :,_,$(subst -,_,$(subst .,_,$(subst /,_,$<))))_size=_binary_size \
+		$< $@
+
 # Create extended listing file/disassambly from ELF output file.
 # using objdump testing: option -C
 %.lss: %.elf
@@ -144,10 +162,9 @@ $($(1):.c=.s) : %.s : %.c
 endef
 
 # ---------------------------------------------------------------------------
-#  # Options for OpenOCD flash-programming
+# Options for OpenOCD flash-programming
 # see openocd.pdf/openocd.texi for further information
-# #
+
-# OOCD_LOADFILE+=$(OUTDIR)/$(TARGET).elf                                                                                                                                                                                               
 # if OpenOCD is in the $PATH just set OPENOCDEXE=openocd
 OOCD_EXE=openocd
 # debug level
@@ -162,6 +179,3 @@ OOCD_CL+=-c init
 OOCD_CL+=-c targets
 # commands to prepare flash-write
 OOCD_CL+= -c "reset halt"
-# flash erase
-OOCD_CL+=-c "stm32x mass_erase 0"
-# flash-write