Merge branch 'master' of git://git.openpilot.org/OpenPilot

flight/AHRS/Makefile

@@ -121,6 +121,7 @@ SRC += $(PIOSCOMMON)/pios_com.c
 SRC += $(PIOSCOMMON)/pios_hmc5843.c
 SRC += $(PIOSCOMMON)/printf-stdarg.c
 SRC += $(PIOSCOMMON)/pios_iap.c
+SRC += $(PIOSCOMMON)/pios_bl_helper.c
 
 ## CMSIS for STM32
 SRC += $(CMSISDIR)/core_cm3.c
@@ -304,39 +305,16 @@ LDFLAGS += -lc -lgcc
 # Set linker-script name depending on selected submodel name
 LDFLAGS +=-T$(LINKERSCRIPTPATH)/link_$(BOARD)_$(BOOT_MODEL).ld
 
-# ---------------------------------------------------------------------------
+OOCD_LOADFILE+=$(OUTDIR)/$(TARGET).elf  
-# Options for OpenOCD flash-programming
+# Program
-# 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
-OOCD_CL=-d0
-# interface and board/target settings (using the OOCD target-library here)
-UNAME := $(shell uname)
-ifeq ($(UNAME), Darwin)
-  OOCD_CL+=-f ../Project/OpenOCD/floss-jtag.ahrs.osx.cfg -f ../Project/OpenOCD/stm32.cfg
-else
-  OOCD_CL+=-f ../Project/OpenOCD/floss-jtag.ahrs.cfg -f ../Project/OpenOCD/stm32.cfg
-endif
-# initialize
-OOCD_CL+=-c init
-# show the targets
-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
 OOCD_CL+=-c "flash write_image $(OOCD_LOADFILE)"
 # Verify
 OOCD_CL+=-c "verify_image $(OOCD_LOADFILE)"
 # reset target
 OOCD_CL+=-c "reset run"
-# terminate OOCD after programming
+# # terminate OOCD after programming
 OOCD_CL+=-c shutdown
-# ---------------------------------------------------------------------------
+
 
 # Define programs and commands.
 REMOVE  = $(REMOVE_CMD) -f

flight/AHRS/ahrs.c

@@ -99,8 +99,6 @@ void affine_rotate(float scale[3][4], float rotation[3]);
 void calibration(float result[3], float scale[3][4], float arg[3]);
 
 /* Bootloader related functions and var*/
-static uint32_t	iap_calc_crc(void);
-static void read_description(uint8_t *);
 void firmwareiapobj_callback(AhrsObjHandle obj);
 volatile uint8_t reset_count=0;
 
@@ -1249,36 +1247,15 @@ void firmwareiapobj_callback(AhrsObjHandle obj)
 			}
 		}
 	}
-	else if(firmwareIAPObj.BoardType==BOARD_TYPE && firmwareIAPObj.crc!=iap_calc_crc())
+	else if(firmwareIAPObj.BoardType==BOARD_TYPE && firmwareIAPObj.crc!=PIOS_BL_HELPER_CRC_Memory_Calc())
 	{
-		read_description(firmwareIAPObj.Description);
+		PIOS_BL_HELPER_FLASH_Read_Description(firmwareIAPObj.Description,SIZE_OF_DESCRIPTION);
-		firmwareIAPObj.crc=iap_calc_crc();
+		firmwareIAPObj.crc=PIOS_BL_HELPER_CRC_Memory_Calc();
 		firmwareIAPObj.BoardRevision=BOARD_REVISION;
 		FirmwareIAPObjSet(&firmwareIAPObj);
 	}
 }
 
-static uint32_t iap_calc_crc(void)
-{
-	RCC_AHBPeriphClockCmd(RCC_AHBPeriph_CRC, ENABLE);
-	CRC_ResetDR();
-	CRC_CalcBlockCRC((uint32_t *) START_OF_USER_CODE, (SIZE_OF_CODE) >> 2);
-	return CRC_GetCRC();
-}
-static uint8_t *FLASH_If_Read(uint32_t SectorAddress)
-{
-	return (uint8_t *) (SectorAddress);
-}
-static void read_description(uint8_t * array)
-{
-	uint8_t x = 0;
-	for (uint32_t i = START_OF_USER_CODE + SIZE_OF_CODE; i < START_OF_USER_CODE + SIZE_OF_CODE + SIZE_OF_DESCRIPTION; ++i) {
-		array[x] = *FLASH_If_Read(i);
-		++x;
-	}
-}
-
-
 /**
  * @}
  */

flight/AHRS/inc/pios_config.h

@@ -40,5 +40,6 @@
 #define PIOS_INCLUDE_HMC5843
 #define PIOS_INCLUDE_GPIO
 #define PIOS_INCLUDE_EXTI
+#define PIOS_INCLUDE_BL_HELPER
 
 #endif /* PIOS_CONFIG_H */

flight/Bootloaders/AHRS/Makefile

@@ -291,31 +291,8 @@ LDFLAGS += -lc -lgcc
 # Set linker-script name depending on selected submodel name
 LDFLAGS +=-T$(LINKERSCRIPTPATH)/link_stm32f10x_$(MODEL).ld
 
-# ---------------------------------------------------------------------------
+OOCD_LOADFILE+=$(OUTDIR)/$(TARGET).elf  
-# Options for OpenOCD flash-programming
+# Program                                                                                                                                                                                                                            
-# 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
-OOCD_CL=-d0
-# interface and board/target settings (using the OOCD target-library here)
-UNAME := $(shell uname)
-ifeq ($(UNAME), Darwin)
-  OOCD_CL+=-f ../../Project/OpenOCD/floss-jtag.ahrs.osx.cfg -f ../../Project/OpenOCD/stm32.cfg
-else
-  OOCD_CL+=-f ../../Project/OpenOCD/floss-jtag.ahrs.cfg -f ../../Project/OpenOCD/stm32.cfg
-endif
-# initialize
-OOCD_CL+=-c init
-# show the targets
-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
 OOCD_CL+=-c "flash write_image $(OOCD_LOADFILE)" 
 # Verify
 OOCD_CL+=-c "verify_image $(OOCD_LOADFILE)"
@@ -323,8 +300,6 @@ OOCD_CL+=-c "verify_image $(OOCD_LOADFILE)"
 OOCD_CL+=-c "reset run"
 # terminate OOCD after programming
 OOCD_CL+=-c shutdown
-# ---------------------------------------------------------------------------
-
 
 # Define programs and commands.
 REMOVE  = $(REMOVE_CMD) -f

flight/Bootloaders/AHRS/inc/pios_config.h

@@ -35,6 +35,7 @@
 #define PIOS_INCLUDE_SPI
 #define PIOS_INCLUDE_SYS
 #define PIOS_INCLUDE_BL_HELPER
+#define PIOS_INCLUDE_BL_HELPER_WRITE_SUPPORT
 #define PIOS_INCLUDE_GPIO
 
 #endif /* PIOS_CONFIG_H */

flight/Bootloaders/AHRS/main.c

@@ -96,7 +96,7 @@ int main() {
 	}
 	PIOS_Board_Init();
 	boot_status = idle;
-	Fw_crc = crc_memory_calc();
+	Fw_crc = PIOS_BL_HELPER_CRC_Memory_Calc();
 	PIOS_LED_On(LED1);
 	while (1) {
 		process_spi_request();
@@ -146,7 +146,7 @@ void process_spi_request(void) {
 
 	case OPAHRS_MSG_V0_REQ_FWUP_VERIFY:
 		opahrs_msg_v0_init_user_tx(&user_tx_v0, OPAHRS_MSG_V0_RSP_FWUP_STATUS);
-		Fw_crc = crc_memory_calc();
+		Fw_crc = PIOS_BL_HELPER_CRC_Memory_Calc();
 		lfsm_user_set_tx_v0(&user_tx_v0);
 		boot_status = idle;
 		PIOS_LED_Off(LED1);
@@ -216,7 +216,7 @@ void process_spi_request(void) {
 			uint32_t adr=user_rx_v0.payload.user.v.req.fwdn_data.adress;
 			for(uint8_t x=0;x<4;++x)
 			{
-				user_tx_v0.payload.user.v.rsp.fw_dn.data[x]=*FLASH_If_Read(adr+x);
+				user_tx_v0.payload.user.v.rsp.fw_dn.data[x]=*PIOS_BL_HELPER_FLASH_If_Read(adr+x);
 			}
 			lfsm_user_set_tx_v0(&user_tx_v0);
 		break;
@@ -226,7 +226,7 @@ void process_spi_request(void) {
 		user_tx_v0.payload.user.v.rsp.fwup_status.status = boot_status;
 		lfsm_user_set_tx_v0(&user_tx_v0);
 		PIOS_LED_On(LED1);
-		if (FLASH_Start() == TRUE) {
+		if (PIOS_BL_HELPER_FLASH_Start() == TRUE) {
 			boot_status = started;
 			PIOS_LED_Off(LED1);
 		} else {

flight/Bootloaders/BootloaderUpdater/Makefile

@@ -64,8 +64,8 @@ USE_THUMB_MODE = YES
 # - MODEL used for linker-script name (-T) and passed as define
 # - BOARD just passed as define (optional)
 MCU      = cortex-m3
-CHIP     = STM32F103CBT
+CHIP     = STM32F103CBT
-BOARD    ?= NULL
+BOARD    ?= NULL
 MODEL	 ?= NULL
 
 ifeq ($(USE_BOOTLOADER), YES)
@@ -330,41 +330,15 @@ else
 	quote = 
 endif
 
-# ---------------------------------------------------------------------------
+OOCD_LOADFILE+=$(OUTDIR)/$(TARGET).elf  
-# Options for OpenOCD flash-programming
+# Program                                                                                                                                                                                                                            
-# see openocd.pdf/openocd.texi for further information
+OOCD_CL+=-c "flash write_image $(OOCD_LOADFILE)"
-#
-OOCD_LOADFILE+=$(OUTDIR)/$(TARGET).elf
-# if OpenOCD is in the $PATH just set OOCD_EXE=openocd
-OOCD_EXE=openocd
-# debug level
-OOCD_CL=-d0
-# interface and board/target settings (using the OOCD target-library here)
-UNAME := $(shell uname)
-
-ifeq ($(UNAME), Darwin)
-  OOCD_CL+=-f ../../Project/OpenOCD/floss-jtag.openpilot.osx.cfg -f ../../Project/OpenOCD/stm32.cfg
-else
-  OOCD_CL+=-f ../../Project/OpenOCD/floss-jtag.openpilot.cfg -f ../../Project/OpenOCD/stm32.cfg
-endif
-# initialize
-OOCD_CL+=-c init
-# show the targets
-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
-OOCD_CL+=-c "flash write_image $(OOCD_LOADFILE)" 
 # Verify
 OOCD_CL+=-c "verify_image $(OOCD_LOADFILE)"
 # reset target
 OOCD_CL+=-c "reset run"
 # terminate OOCD after programming
 OOCD_CL+=-c shutdown
-# ---------------------------------------------------------------------------
-
 
 # Define programs and commands.
 CC      = $(TCHAIN_PREFIX)gcc

flight/Bootloaders/CopterControl/Makefile

@@ -370,40 +370,15 @@ LDFLAGS += -lc -lgcc
 # Set linker-script name depending on selected submodel name
 LDFLAGS +=-T$(LINKERSCRIPTPATH)/link_stm32f10x_$(MODEL).ld
 
-# ---------------------------------------------------------------------------
+OOCD_LOADFILE+=$(OUTDIR)/$(TARGET).elf  
-# Options for OpenOCD flash-programming
+# Program                                                                                                                                                                                                                            
-# see openocd.pdf/openocd.texi for further information
+OOCD_CL+=-c "flash write_image $(OOCD_LOADFILE)"
-#
-OOCD_LOADFILE+=$(OUTDIR)/$(TARGET).elf
-# if OpenOCD is in the $PATH just set OOCD_EXE=openocd
-OOCD_EXE=openocd
-# debug level
-OOCD_CL=-d0
-# interface and board/target settings (using the OOCD target-library here)
-UNAME := $(shell uname)
-ifeq ($(UNAME), Darwin)
-  OOCD_CL+=-f ../../Project/OpenOCD/floss-jtag.openpilot.osx.cfg -f ../../Project/OpenOCD/stm32.cfg
-else
-  OOCD_CL+=-f ../../Project/OpenOCD/floss-jtag.openpilot.cfg -f ../../Project/OpenOCD/stm32.cfg
-endif
-# initialize
-OOCD_CL+=-c init
-# show the targets
-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
-OOCD_CL+=-c "flash write_image $(OOCD_LOADFILE)" 
 # Verify
 OOCD_CL+=-c "verify_image $(OOCD_LOADFILE)"
 # reset target
 OOCD_CL+=-c "reset run"
 # terminate OOCD after programming
 OOCD_CL+=-c shutdown
-# ---------------------------------------------------------------------------
-
 
 # Define programs and commands.
 REMOVE  = $(REMOVE_CMD) -f

flight/Bootloaders/CopterControl/inc/pios_config.h

@@ -31,6 +31,7 @@
 #ifndef PIOS_CONFIG_H
 #define PIOS_CONFIG_H
 #define PIOS_INCLUDE_BL_HELPER
+#define PIOS_INCLUDE_BL_HELPER_WRITE_SUPPORT
 #define USB_HID
 /* Enable/Disable PiOS Modules */
 #define PIOS_INCLUDE_DELAY
@@ -61,4 +62,4 @@
 /**
  * @}
  * @}
- */
+ */

flight/Bootloaders/CopterControl/op_dfu.c

@@ -116,10 +116,10 @@ void DataDownload(DownloadAction action) {
 				}
 				break;
 			case Self_flash:
-				SendBuffer[6 + (x * 4)] = *FLASH_If_Read(offset);
+				SendBuffer[6 + (x * 4)] = *PIOS_BL_HELPER_FLASH_If_Read(offset);
-				SendBuffer[7 + (x * 4)] = *FLASH_If_Read(offset + 1);
+				SendBuffer[7 + (x * 4)] = *PIOS_BL_HELPER_FLASH_If_Read(offset + 1);
-				SendBuffer[8 + (x * 4)] = *FLASH_If_Read(offset + 2);
+				SendBuffer[8 + (x * 4)] = *PIOS_BL_HELPER_FLASH_If_Read(offset + 2);
-				SendBuffer[9 + (x * 4)] = *FLASH_If_Read(offset + 3);
+				SendBuffer[9 + (x * 4)] = *PIOS_BL_HELPER_FLASH_If_Read(offset + 3);
 				break;
 			}
 */
@@ -178,7 +178,7 @@ void processComand(uint8_t *xReceive_Buffer) {
 			uint8_t result = 0;
 			switch (currentProgrammingDestination) {
 			case Self_flash:
-				result = FLASH_Ini();
+				result = PIOS_BL_HELPER_FLASH_Ini();
 				break;
 			case Remote_flash_via_spi:
 				result = TRUE;
@@ -214,7 +214,7 @@ void processComand(uint8_t *xReceive_Buffer) {
 					if (TransferType == FW) {
 						switch (currentProgrammingDestination) {
 						case Self_flash:
-							result = FLASH_Start();
+							result = PIOS_BL_HELPER_FLASH_Start();
 							break;
 						case Remote_flash_via_spi:
 							result = FALSE;
@@ -459,7 +459,7 @@ uint8_t isBiggerThanAvailable(DFUTransfer type, uint32_t size) {
 uint32_t CalcFirmCRC() {
 	switch (currentProgrammingDestination) {
 	case Self_flash:
-		return crc_memory_calc();
+		return PIOS_BL_HELPER_CRC_Memory_Calc();
 		break;
 	case Remote_flash_via_spi:
 		return 0;
@@ -484,7 +484,7 @@ bool flash_read(uint8_t * buffer, uint32_t adr, DFUProgType type) {
 		break;
 	case Self_flash:
 		for (uint8_t x = 0; x < 4; ++x) {
-			buffer[x] = *FLASH_If_Read(adr + x);
+			buffer[x] = *PIOS_BL_HELPER_FLASH_If_Read(adr + x);
 		}
 		return TRUE;
 		break;

flight/Bootloaders/OpenPilot/Makefile

@@ -371,40 +371,15 @@ LDFLAGS += -lc -lgcc
 # Set linker-script name depending on selected submodel name
 LDFLAGS +=-T$(LINKERSCRIPTPATH)/link_stm32f10x_$(MODEL).ld
 
-# ---------------------------------------------------------------------------
+OOCD_LOADFILE+=$(OUTDIR)/$(TARGET).elf  
-# Options for OpenOCD flash-programming
+# Program                                                                                                                                                                                                                            
-# see openocd.pdf/openocd.texi for further information
+OOCD_CL+=-c "flash write_image $(OOCD_LOADFILE)"
-#
-OOCD_LOADFILE+=$(OUTDIR)/$(TARGET).elf
-# if OpenOCD is in the $PATH just set OOCD_EXE=openocd
-OOCD_EXE=openocd
-# debug level
-OOCD_CL=-d0
-# interface and board/target settings (using the OOCD target-library here)
-UNAME := $(shell uname)
-ifeq ($(UNAME), Darwin)
-  OOCD_CL+=-f ../../Project/OpenOCD/floss-jtag.openpilot.osx.cfg -f ../../Project/OpenOCD/stm32.cfg
-else
-  OOCD_CL+=-f ../../Project/OpenOCD/floss-jtag.openpilot.cfg -f ../../Project/OpenOCD/stm32.cfg
-endif
-# initialize
-OOCD_CL+=-c init
-# show the targets
-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
-OOCD_CL+=-c "flash write_image $(OOCD_LOADFILE)" 
 # Verify
 OOCD_CL+=-c "verify_image $(OOCD_LOADFILE)"
 # reset target
 OOCD_CL+=-c "reset run"
 # terminate OOCD after programming
 OOCD_CL+=-c shutdown
-# ---------------------------------------------------------------------------
-
 
 # Define programs and commands.
 REMOVE  = $(REMOVE_CMD) -f

flight/Bootloaders/OpenPilot/inc/pios_config.h

@@ -31,6 +31,7 @@
 #ifndef PIOS_CONFIG_H
 #define PIOS_CONFIG_H
 #define PIOS_INCLUDE_BL_HELPER
+#define PIOS_INCLUDE_BL_HELPER_WRITE_SUPPORT
 #define USB_HID
 /* Enable/Disable PiOS Modules */
 #define PIOS_INCLUDE_DELAY
@@ -64,4 +65,4 @@
 /**
  * @}
  * @}
- */
+ */

flight/Bootloaders/OpenPilot/op_dfu.c

@@ -158,7 +158,7 @@ void processComand(uint8_t *xReceive_Buffer) {
 			uint8_t result = 0;
 			switch (currentProgrammingDestination) {
 			case Self_flash:
-				result = FLASH_Ini();
+				result = PIOS_BL_HELPER_FLASH_Ini();
 				break;
 			case Remote_flash_via_spi:
 				result = TRUE;
@@ -195,7 +195,7 @@ void processComand(uint8_t *xReceive_Buffer) {
 					if (TransferType == FW) {
 						switch (currentProgrammingDestination) {
 						case Self_flash:
-							result = FLASH_Start();
+							result = PIOS_BL_HELPER_FLASH_Start();
 							break;
 						case Remote_flash_via_spi:
 							PIOS_OPAHRS_bl_FwupStart(&rsp);
@@ -525,7 +525,7 @@ uint32_t CalcFirmCRC() {
 	struct opahrs_msg_v0 rsp;
 	switch (currentProgrammingDestination) {
 	case Self_flash:
-		return crc_memory_calc();
+		return PIOS_BL_HELPER_CRC_Memory_Calc();
 		break;
 	case Remote_flash_via_spi:
 		PIOS_OPAHRS_bl_FwupVerify(&rsp);
@@ -574,7 +574,7 @@ bool flash_read(uint8_t * buffer, uint32_t adr, DFUProgType type) {
 		break;
 	case Self_flash:
 		for (uint8_t x = 0; x < 4; ++x) {
-			buffer[x] = *FLASH_If_Read(adr + x);
+			buffer[x] = *PIOS_BL_HELPER_FLASH_If_Read(adr + x);
 		}
 		return TRUE;
 		break;

flight/Bootloaders/PipXtreme/Makefile

@@ -370,40 +370,15 @@ LDFLAGS += -lc -lgcc
 # Set linker-script name depending on selected submodel name
 LDFLAGS +=-T$(LINKERSCRIPTPATH)/link_stm32f10x_$(MODEL).ld
 
-# ---------------------------------------------------------------------------
+OOCD_LOADFILE+=$(OUTDIR)/$(TARGET).elf  
-# Options for OpenOCD flash-programming
+# Program                                                                                                                                                                                                                            
-# see openocd.pdf/openocd.texi for further information
+OOCD_CL+=-c "flash write_image $(OOCD_LOADFILE)"
-#
-OOCD_LOADFILE+=$(OUTDIR)/$(TARGET).elf
-# if OpenOCD is in the $PATH just set OOCD_EXE=openocd
-OOCD_EXE=openocd
-# debug level
-OOCD_CL=-d0
-# interface and board/target settings (using the OOCD target-library here)
-UNAME := $(shell uname)
-ifeq ($(UNAME), Darwin)
-  OOCD_CL+=-f ../../Project/OpenOCD/floss-jtag.openpilot.osx.cfg -f ../../Project/OpenOCD/stm32.cfg
-else
-  OOCD_CL+=-f ../../Project/OpenOCD/floss-jtag.openpilot.cfg -f ../../Project/OpenOCD/stm32.cfg
-endif
-# initialize
-OOCD_CL+=-c init
-# show the targets
-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
-OOCD_CL+=-c "flash write_image $(OOCD_LOADFILE)" 
 # Verify
 OOCD_CL+=-c "verify_image $(OOCD_LOADFILE)"
 # reset target
 OOCD_CL+=-c "reset run"
 # terminate OOCD after programming
 OOCD_CL+=-c shutdown
-# ---------------------------------------------------------------------------
-
 
 # Define programs and commands.
 REMOVE  = $(REMOVE_CMD) -f

flight/Bootloaders/PipXtreme/inc/pios_config.h

@@ -31,6 +31,7 @@
 #ifndef PIOS_CONFIG_H
 #define PIOS_CONFIG_H
 #define PIOS_INCLUDE_BL_HELPER
+#define PIOS_INCLUDE_BL_HELPER_WRITE_SUPPORT
 #define USB_HID
 /* Enable/Disable PiOS Modules */
 #define PIOS_INCLUDE_DELAY
@@ -61,4 +62,4 @@
 /**
  * @}
  * @}
- */
+ */

flight/Bootloaders/PipXtreme/op_dfu.c

@@ -116,10 +116,10 @@ void DataDownload(DownloadAction action) {
 				}
 				break;
 			case Self_flash:
-				SendBuffer[6 + (x * 4)] = *FLASH_If_Read(offset);
+				SendBuffer[6 + (x * 4)] = *PIOS_BL_HELPER_FLASH_If_Read(offset);
-				SendBuffer[7 + (x * 4)] = *FLASH_If_Read(offset + 1);
+				SendBuffer[7 + (x * 4)] = *PIOS_BL_HELPER_FLASH_If_Read(offset + 1);
-				SendBuffer[8 + (x * 4)] = *FLASH_If_Read(offset + 2);
+				SendBuffer[8 + (x * 4)] = *PIOS_BL_HELPER_FLASH_If_Read(offset + 2);
-				SendBuffer[9 + (x * 4)] = *FLASH_If_Read(offset + 3);
+				SendBuffer[9 + (x * 4)] = *PIOS_BL_HELPER_FLASH_If_Read(offset + 3);
 				break;
 			}
 */
@@ -178,7 +178,7 @@ void processComand(uint8_t *xReceive_Buffer) {
 			uint8_t result = 0;
 			switch (currentProgrammingDestination) {
 			case Self_flash:
-				result = FLASH_Ini();
+				result = PIOS_BL_HELPER_FLASH_Ini();
 				break;
 			case Remote_flash_via_spi:
 				result = TRUE;
@@ -214,7 +214,7 @@ void processComand(uint8_t *xReceive_Buffer) {
 					if (TransferType == FW) {
 						switch (currentProgrammingDestination) {
 						case Self_flash:
-							result = FLASH_Start();
+							result = PIOS_BL_HELPER_FLASH_Start();
 							break;
 						case Remote_flash_via_spi:
 							result = FALSE;
@@ -459,7 +459,7 @@ uint8_t isBiggerThanAvailable(DFUTransfer type, uint32_t size) {
 uint32_t CalcFirmCRC() {
 	switch (currentProgrammingDestination) {
 	case Self_flash:
-		return crc_memory_calc();
+		return PIOS_BL_HELPER_CRC_Memory_Calc();
 		break;
 	case Remote_flash_via_spi:
 		return 0;
@@ -484,7 +484,7 @@ bool flash_read(uint8_t * buffer, uint32_t adr, DFUProgType type) {
 		break;
 	case Self_flash:
 		for (uint8_t x = 0; x < 4; ++x) {
-			buffer[x] = *FLASH_If_Read(adr + x);
+			buffer[x] = *PIOS_BL_HELPER_FLASH_If_Read(adr + x);
 		}
 		return TRUE;
 		break;

flight/CopterControl/Makefile

@@ -216,6 +216,7 @@ SRC += $(PIOSCOMMON)/pios_adxl345.c
 SRC += $(PIOSCOMMON)/pios_com.c
 SRC += $(PIOSCOMMON)/pios_i2c_esc.c
 SRC += $(PIOSCOMMON)/pios_iap.c
+SRC += $(PIOSCOMMON)/pios_bl_helper.c
 SRC += $(PIOSCOMMON)/printf-stdarg.c
 ## Libraries for flight calculations
 SRC += $(FLIGHTLIB)/fifo_buffer.c
@@ -477,31 +478,8 @@ LDFLAGS += -lc -lgcc
 # Set linker-script name depending on selected submodel name
 LDFLAGS +=-T$(LINKERSCRIPTPATH)/link_$(BOARD)_$(BOOT_MODEL).ld
 
-# ---------------------------------------------------------------------------
+OOCD_LOADFILE+=$(OUTDIR)/$(TARGET).elf  
-# Options for OpenOCD flash-programming
+# Program                                                                                                                                                                                                                            
-# see openocd.pdf/openocd.texi for further information
-#
-OOCD_LOADFILE+=$(OUTDIR)/$(TARGET).elf
-# if OpenOCD is in the $PATH just set OOCD_EXE=openocd
-OOCD_EXE=openocd
-# debug level
-OOCD_CL=-d0
-# interface and board/target settings (using the OOCD target-library here)
-UNAME := $(shell uname)
-ifeq ($(UNAME), Darwin)
-  OOCD_CL+=-f ../Project/OpenOCD/floss-jtag.openpilot.osx.cfg -f ../Project/OpenOCD/stm32.cfg
-else
-  OOCD_CL+=-f ../Project/OpenOCD/floss-jtag.openpilot.cfg -f ../Project/OpenOCD/stm32.cfg
-endif
-# initialize
-OOCD_CL+=-c init
-# show the targets
-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
 OOCD_CL+=-c "flash write_image $(OOCD_LOADFILE)"
 # Verify
 OOCD_CL+=-c "verify_image $(OOCD_LOADFILE)"
@@ -509,7 +487,6 @@ OOCD_CL+=-c "verify_image $(OOCD_LOADFILE)"
 OOCD_CL+=-c "reset run"
 # terminate OOCD after programming
 OOCD_CL+=-c shutdown
-# ---------------------------------------------------------------------------
 
 # Define programs and commands.
 REMOVE  = $(REMOVE_CMD) -f

flight/CopterControl/System/alarms.c

@@ -77,7 +77,6 @@ int32_t AlarmsSet(SystemAlarmsAlarmElem alarm, SystemAlarmsAlarmOptions severity
     {
     	alarms.Alarm[alarm] = severity;
     	SystemAlarmsSet(&alarms);
-    	SystemAlarmsUpdated(); // force telemetry update since the alarm was changed
     }
 
     // Release lock

flight/CopterControl/System/inc/pios_config.h

@@ -65,6 +65,7 @@
 #define PIOS_INCLUDE_GPIO
 #define PIOS_INCLUDE_EXTI
 #define PIOS_INCLUDE_WDG
+#define PIOS_INCLUDE_BL_HELPER
 
 #define PIOS_INCLUDE_ADXL345
 #define PIOS_INCLUDE_FLASH

flight/INS/Makefile

@@ -313,39 +313,15 @@ LDFLAGS += -lc -lgcc
 # Set linker-script name depending on selected submodel name
 LDFLAGS +=-T$(LINKERSCRIPTPATH)/link_$(BOARD)_$(BOOT_MODEL).ld
 
-# ---------------------------------------------------------------------------
+OOCD_LOADFILE+=$(OUTDIR)/$(TARGET).elf  
-# Options for OpenOCD flash-programming
+# Program                                                                                                                                                                                                                            
-# 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
-OOCD_CL=-d0
-# interface and board/target settings (using the OOCD target-library here)
-UNAME := $(shell uname)
-ifeq ($(UNAME), Darwin)
-  OOCD_CL+=-f ../Project/OpenOCD/floss-jtag.openpilot.osx.cfg -f ../Project/OpenOCD/stm32.cfg
-else
-  OOCD_CL+=-f ../Project/OpenOCD/floss-jtag.openpilot.cfg -f ../Project/OpenOCD/stm32.cfg
-endif
-# initialize
-OOCD_CL+=-c init
-# show the targets
-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
 OOCD_CL+=-c "flash write_image $(OOCD_LOADFILE)"
 # Verify
 OOCD_CL+=-c "verify_image $(OOCD_LOADFILE)"
 # reset target
 OOCD_CL+=-c "reset run"
-# terminate OOCD after programming
+# # terminate OOCD after programming
 OOCD_CL+=-c shutdown
-# ---------------------------------------------------------------------------
 
 # Define programs and commands.
 REMOVE  = $(REMOVE_CMD) -f

flight/Modules/FirmwareIAP/firmwareiap.c

@@ -47,7 +47,6 @@
 
 #define RESET_DELAY         500 /* delay between sending reset ot INS */
 
-
 #define TICKS2MS(t)	((t)/portTICK_RATE_MS)
 #define MS2TICKS(m)	((m)*portTICK_RATE_MS)
 
@@ -59,18 +58,12 @@ const uint32_t    iap_time_3_high_end = 5000;
 // Private types
 
 // Private variables
-const static uint8_t 	version[] = { 0, 0, 1 };
-const static uint16_t	SVN = 12345;
 static uint8_t reset_count = 0;
 static portTickType lastResetSysTime;
 
 // Private functions
 static void FirmwareIAPCallback(UAVObjEvent* ev);
 
-static uint32_t	iap_calc_crc(void);
-
-static void read_description(uint8_t *);
-
 FirmwareIAPObjData 	data;
 
 static uint32_t	get_time(void);
@@ -97,7 +90,8 @@ static void resetTask(UAVObjEvent *);
 int32_t FirmwareIAPInitialize()
 {
 	data.BoardType= BOARD_TYPE;
-	read_description(data.Description);
+	PIOS_BL_HELPER_FLASH_Read_Description(data.Description,FIRMWAREIAPOBJ_DESCRIPTION_NUMELEM);
+	PIOS_SYS_SerialNumberGetBinary(data.CPUSerial);
 	data.BoardRevision= BOARD_REVISION;
 	data.ArmReset=0;
 	data.crc = 0;
@@ -130,11 +124,12 @@ static void FirmwareIAPCallback(UAVObjEvent* ev)
 		this_time = get_time();
 		delta = this_time - last_time;
 		last_time = this_time;
-		if((data.BoardType==BOARD_TYPE)&&(data.crc != iap_calc_crc()))
+		if((data.BoardType==BOARD_TYPE)&&(data.crc != PIOS_BL_HELPER_CRC_Memory_Calc()))
 		{
-			read_description(data.Description);
+			PIOS_BL_HELPER_FLASH_Read_Description(data.Description,FIRMWAREIAPOBJ_DESCRIPTION_NUMELEM);
+			PIOS_SYS_SerialNumberGetBinary(data.CPUSerial);
 			data.BoardRevision=BOARD_REVISION;
-			data.crc = iap_calc_crc();
+			data.crc = PIOS_BL_HELPER_CRC_Memory_Calc();
 			FirmwareIAPObjSet( &data );
 		}
 		if((data.ArmReset==1)&&(iap_state!=IAP_STATE_RESETTING))
@@ -213,41 +208,6 @@ static uint32_t get_time(void)
 	return TICKS2MS(ticks);
 }
 
-
-
-/*!
- * \brief   Calculate the CRC value of the code in flash.
- * \param   None
- * \return  calculated CRC value using STM32's builtin CRC hardware
- *
- * \note
- *	I copied this function as the function crc calc function in pios_bl_helper.c
- *	is only included when the PIOS_BL_HELPER is defined, but this also includes
- *	the flash unlock and erase functions.  It is safer to only have the flash
- *	functions in the bootloader.
- *
- */
-
-static uint32_t iap_calc_crc(void)
-{
-	RCC_AHBPeriphClockCmd(RCC_AHBPeriph_CRC, ENABLE);
-	CRC_ResetDR();
-	CRC_CalcBlockCRC((uint32_t *) START_OF_USER_CODE, (SIZE_OF_CODE) >> 2);
-	return CRC_GetCRC();
-}
-static uint8_t *FLASH_If_Read(uint32_t SectorAddress)
-{
-	return (uint8_t *) (SectorAddress);
-}
-static void read_description(uint8_t * array)
-{
-	uint8_t x = 0;
-	for (uint32_t i = START_OF_USER_CODE + SIZE_OF_CODE; i < START_OF_USER_CODE + SIZE_OF_CODE + SIZE_OF_DESCRIPTION; ++i) {
-		array[x] = *FLASH_If_Read(i);
-		++x;
-	}
-}
-
 /**
  * Executed by event dispatcher callback to reset INS before resetting OP 
  */

flight/Modules/GPS/GPS.c

@@ -322,11 +322,12 @@ static void gpsTask(void *parameters)
 		else
 		{	// we appear to be receiving GPS sentences OK, we've had an update
 
+			GPSPositionGet(&GpsData);
+
 #ifdef PIOS_GPS_SETS_HOMELOCATION
 			HomeLocationData home;
 			HomeLocationGet(&home);
 
-			GPSPositionGet(&GpsData);
 			if ((GpsData.Status == GPSPOSITION_STATUS_FIX3D) && (home.Set == HOMELOCATION_SET_FALSE))
 				setHomeLocation(&GpsData);
 #endif

flight/OpenPilot/Makefile

@@ -208,6 +208,7 @@ SRC += $(PIOSCOMMON)/pios_bmp085.c
 SRC += $(PIOSCOMMON)/pios_hcsr04.c
 SRC += $(PIOSCOMMON)/pios_i2c_esc.c
 SRC += $(PIOSCOMMON)/pios_iap.c
+SRC += $(PIOSCOMMON)/pios_bl_helper.c
 SRC += $(PIOSCOMMON)/printf-stdarg.c
 SRC += $(FLIGHTLIB)/ahrs_spi_comm.c
 SRC += $(FLIGHTLIB)/ahrs_comm_objects.c
@@ -459,31 +460,8 @@ LDFLAGS += -lc -lgcc
 # Set linker-script name depending on selected submodel name
 LDFLAGS +=-T$(LINKERSCRIPTPATH)/link_$(BOARD)_$(BOOT_MODEL).ld
 
-# ---------------------------------------------------------------------------
+OOCD_LOADFILE+=$(OUTDIR)/$(TARGET).elf  
-# Options for OpenOCD flash-programming
+# Program                                                                                                                                                                                                                            
-# see openocd.pdf/openocd.texi for further information
-#
-OOCD_LOADFILE+=$(OUTDIR)/$(TARGET).elf
-# if OpenOCD is in the $PATH just set OOCD_EXE=openocd
-OOCD_EXE=openocd
-# debug level
-OOCD_CL=-d0
-# interface and board/target settings (using the OOCD target-library here)
-UNAME := $(shell uname)
-ifeq ($(UNAME), Darwin)
-  OOCD_CL+=-f ../Project/OpenOCD/floss-jtag.openpilot.osx.cfg -f ../Project/OpenOCD/stm32.cfg
-else
-  OOCD_CL+=-f ../Project/OpenOCD/floss-jtag.openpilot.cfg -f ../Project/OpenOCD/stm32.cfg
-endif
-# initialize
-OOCD_CL+=-c init
-# show the targets
-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
 OOCD_CL+=-c "flash write_image $(OOCD_LOADFILE)"
 # Verify
 OOCD_CL+=-c "verify_image $(OOCD_LOADFILE)"
@@ -491,7 +469,7 @@ OOCD_CL+=-c "verify_image $(OOCD_LOADFILE)"
 OOCD_CL+=-c "reset run"
 # terminate OOCD after programming
 OOCD_CL+=-c shutdown
-# ---------------------------------------------------------------------------
+
 
 # Define programs and commands.
 REMOVE  = $(REMOVE_CMD) -f

flight/OpenPilot/System/alarms.c

@@ -77,7 +77,6 @@ int32_t AlarmsSet(SystemAlarmsAlarmElem alarm, SystemAlarmsAlarmOptions severity
     {
     	alarms.Alarm[alarm] = severity;
     	SystemAlarmsSet(&alarms);
-    	SystemAlarmsUpdated(); // force telemetry update since the alarm was changed
     }
 
     // Release lock

flight/OpenPilot/System/inc/pios_config.h

@@ -66,6 +66,7 @@
 #define PIOS_INCLUDE_RTC
 #define PIOS_INCLUDE_WDG
 #define PIOS_INCLUDE_I2C_ESC
+#define PIOS_INCLUDE_BL_HELPER
 
 /* Defaults for Logging */
 #define LOG_FILENAME 			"PIOS.LOG"

flight/PiOS/Common/pios_bl_helper.c

@@ -33,18 +33,19 @@
 #if defined(PIOS_INCLUDE_BL_HELPER)
 #include "stm32f10x_flash.h"
 
-uint8_t *FLASH_If_Read(uint32_t SectorAddress)
+uint8_t *PIOS_BL_HELPER_FLASH_If_Read(uint32_t SectorAddress)
 {
 	return (uint8_t *) (SectorAddress);
 }
 
-uint8_t FLASH_Ini()
+#if defined(PIOS_INCLUDE_BL_HELPER_WRITE_SUPPORT)
+uint8_t PIOS_BL_HELPER_FLASH_Ini()
 {
 	FLASH_Unlock();
 	return 1;
 }
 
-uint8_t FLASH_Start()
+uint8_t PIOS_BL_HELPER_FLASH_Start()
 {
 	uint32_t pageAdress;
 	pageAdress = START_OF_USER_CODE;
@@ -70,24 +71,27 @@ uint8_t FLASH_Start()
 
 	return (fail == TRUE) ? 0 : 1;
 }
+#endif
 
-uint32_t crc_memory_calc()
+uint32_t PIOS_BL_HELPER_CRC_Memory_Calc()
 {
+	PIOS_BL_HELPER_CRC_Ini();
 	CRC_ResetDR();
 	CRC_CalcBlockCRC((uint32_t *) START_OF_USER_CODE, (SIZE_OF_CODE) >> 2);
 	return CRC_GetCRC();
 }
 
-void read_description(uint8_t * array)
+void PIOS_BL_HELPER_FLASH_Read_Description(uint8_t * array, uint8_t size)
 {
 	uint8_t x = 0;
-	for (uint32_t i = START_OF_USER_CODE + SIZE_OF_CODE; i < START_OF_USER_CODE + SIZE_OF_CODE + SIZE_OF_DESCRIPTION; ++i) {
+	if (size>SIZE_OF_DESCRIPTION) size = SIZE_OF_DESCRIPTION;
-		array[x] = *FLASH_If_Read(i);
+	for (uint32_t i = START_OF_USER_CODE + SIZE_OF_CODE; i < START_OF_USER_CODE + SIZE_OF_CODE + size; ++i) {
+		array[x] = *PIOS_BL_HELPER_FLASH_If_Read(i);
 		++x;
 	}
 }
 
-void CRC_Ini()
+void PIOS_BL_HELPER_CRC_Ini()
 {
 	RCC_AHBPeriphClockCmd(RCC_AHBPeriph_CRC, ENABLE);
 }

flight/PiOS/STM32F10x/pios_sys.c

@@ -134,6 +134,27 @@ uint32_t PIOS_SYS_getCPUFlashSize(void)
 	return ((uint32_t) MEM16(0x1FFFF7E0) * 1000);
 }
 
+/**
+* Returns the serial number as a string
+* param[out] str pointer to a string which can store at least 32 digits + zero terminator!
+* (24 digits returned for STM32)
+* return < 0 if feature not supported
+*/
+int32_t PIOS_SYS_SerialNumberGetBinary(uint8_t *array)
+{
+	int i;
+
+	/* Stored in the so called "electronic signature" */
+	for (i = 0; i < 12; ++i) {
+		uint8_t b = MEM8(0x1ffff7e8 + i);
+
+		array[i] = b;
+	}
+
+	/* No error */
+	return 0;
+}
+
 /**
 * Returns the serial number as a string
 * param[out] str pointer to a string which can store at least 32 digits + zero terminator!

flight/PiOS/inc/pios_bl_helper.h

@@ -31,16 +31,16 @@
 #ifndef PIOS_BL_HELPER_H_
 #define PIOS_BL_HELPER_H_
 
-extern uint8_t *FLASH_If_Read(uint32_t SectorAddress);
+extern uint8_t *PIOS_BL_HELPER_FLASH_If_Read(uint32_t SectorAddress);
 
-extern uint8_t FLASH_Ini();
+extern uint8_t PIOS_BL_HELPER_FLASH_Ini();
 
-extern uint32_t crc_memory_calc();
+extern uint32_t PIOS_BL_HELPER_CRC_Memory_Calc();
 
-extern void read_description(uint8_t * array);
+extern void PIOS_BL_HELPER_FLASH_Read_Description(uint8_t * array, uint8_t size);
 
-extern uint8_t FLASH_Start();
+extern uint8_t PIOS_BL_HELPER_FLASH_Start();
 
-extern void CRC_Ini();
+extern void PIOS_BL_HELPER_CRC_Ini();
 
 #endif /* PIOS_BL_HELPER_H_ */

flight/PiOS/inc/pios_sys.h

@@ -36,6 +36,7 @@
 extern void PIOS_SYS_Init(void);
 extern int32_t PIOS_SYS_Reset(void);
 extern uint32_t PIOS_SYS_getCPUFlashSize(void);
+extern int32_t PIOS_SYS_SerialNumberGetBinary(uint8_t *array);
 extern int32_t PIOS_SYS_SerialNumberGet(char *str);
 
 #endif /* PIOS_SYS_H */

flight/PipXtreme/Makefile

@@ -349,40 +349,15 @@ LDFLAGS += -lc -lgcc
 # Set linker-script name depending on selected submodel name
 LDFLAGS +=-T$(LINKERSCRIPTPATH)/link_$(BOARD)_$(BOOT_MODEL).ld
 
-# ---------------------------------------------------------------------------
+OOCD_LOADFILE+=$(OUTDIR)/$(TARGET).elf  
-# Options for OpenOCD flash-programming
+# Program                                                                                                                                                                                                                            
-# see openocd.pdf/openocd.texi for further information
+OOCD_CL+=-c "flash write_image $(OOCD_LOADFILE)"
-#
-OOCD_LOADFILE+=$(OUTDIR)/$(TARGET).elf
-# if OpenOCD is in the $PATH just set OPENOCDEXE=openocd
-OOCD_EXE=openocd
-# debug level
-OOCD_CL=-d0
-# interface and board/target settings (using the OOCD target-library here)
-UNAME := $(shell uname)
-ifeq ($(UNAME), Darwin)
-  OOCD_CL+=-f ../Project/OpenOCD/floss-jtag.pipxtreme.osx.cfg -f ../Project/OpenOCD/stm32.cfg
-else
-  OOCD_CL+=-f ../Project/OpenOCD/floss-jtag.pipxtreme.cfg -f ../Project/OpenOCD/stm32.cfg
-endif
-# initialize
-OOCD_CL+=-c init
-# show the targets
-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
-OOCD_CL+=-c "flash write_image $(OOCD_LOADFILE)" 
 # Verify
 OOCD_CL+=-c "verify_image $(OOCD_LOADFILE)"
 # reset target
 OOCD_CL+=-c "reset run"
 # terminate OOCD after programming
 OOCD_CL+=-c shutdown
-# ---------------------------------------------------------------------------
-
 
 # Define programs and commands.
 REMOVE  = $(REMOVE_CMD) -f

flight/Project/OpenOCD/floss-jtag.ahrs.cfg

@@ -1,15 +0,0 @@
-#
-# Floss JTAG for AHRS
-#
-
-interface ft2232
-ft2232_vid_pid 0x0403 0x6010
-ft2232_device_desc "Dual RS232-HS"
-#ft2232_bus_addr "002:103"
-#ft2232_serial "1234567890"
-ft2232_layout "usbjtag"
-ft2232_latency 2
-
-gdb_port 3334
-tcl_port 6667
-telnet_port 4445

flight/Project/OpenOCD/floss-jtag.openpilot.cfg

@@ -1,15 +0,0 @@
-#
-# Floss JTAG OpenPilot
-#
-
-interface ft2232
-ft2232_vid_pid 0x0403 0x6010
-ft2232_device_desc "Dual RS232-HS"
-#ft2232_bus_addr "002:088"
-#ft2232_serial "1234567890"
-ft2232_layout "usbjtag"
-ft2232_latency 2
-
-gdb_port 3333
-tcl_port 6666
-telnet_port 4444

flight/Project/OpenOCD/floss-jtag.openpilot.osx.cfg

@@ -1,15 +0,0 @@
-#
-# Floss JTAG OpenPilot
-#
-
-interface ft2232
-ft2232_vid_pid 0x0403 0x6010
-#ft2232_device_desc "Dual RS232-HS"
-#ft2232_bus_addr "002:088"
-#ft2232_serial "1234567890"
-ft2232_layout "usbjtag"
-ft2232_latency 2
-
-gdb_port 3333
-tcl_port 6666
-telnet_port 4444

flight/Project/OpenOCD/floss-jtag.pipxtreme.cfg

@@ -1,15 +0,0 @@
-#
-# Floss JTAG for AHRS
-#
-
-interface ft2232
-ft2232_vid_pid 0x0403 0x6010
-ft2232_device_desc "Dual RS232-HS"
-#ft2232_bus_addr "002:103"
-#ft2232_serial "1234567890"
-ft2232_layout "usbjtag"
-ft2232_latency 2
-
-gdb_port 3334
-tcl_port 6667
-telnet_port 4445

flight/Project/OpenOCD/floss-jtag.pipxtreme.osx.cfg

@@ -1,15 +0,0 @@
-#
-# Floss JTAG OpenPilot
-#
-
-interface ft2232
-ft2232_vid_pid 0x0403 0x6010
-#ft2232_device_desc "Dual RS232-HS"
-#ft2232_bus_addr "002:088"
-#ft2232_serial "1234567890"
-ft2232_layout "usbjtag"
-ft2232_latency 2
-
-gdb_port 3334
-tcl_port 6666
-telnet_port 4444

flight/Project/gdb/pipx

@@ -1,5 +1,5 @@
 define connect
-	target remote localhost:3334
+	target remote localhost:3333
 	monitor cortex_m3 vector_catch all
 	file ./Build/PipXtreme.elf
 end

flight/UAVObjects/inc/uavobjectmanager.h

@@ -63,10 +63,10 @@ typedef struct {
 	uint8_t gcsAccess; /** Defines the access level for the local GCS transactions (readonly and readwrite), not used in the flight s/w */
 	uint8_t telemetryAcked; /** Defines if an ack is required for the transactions of this object (1:acked, 0:not acked) */
 	uint8_t telemetryUpdateMode; /** Update mode used by the telemetry module (UAVObjUpdateMode) */
-	int32_t telemetryUpdatePeriod; /** Update period used by the telemetry module (only if telemetry mode is PERIODIC) */
+	uint32_t telemetryUpdatePeriod; /** Update period used by the telemetry module (only if telemetry mode is PERIODIC) */
 	uint8_t gcsTelemetryAcked; /** Defines if an ack is required for the transactions of this object (1:acked, 0:not acked) */
 	uint8_t gcsTelemetryUpdateMode; /** Update mode used by the GCS (UAVObjUpdateMode) */
-	int32_t gcsTelemetryUpdatePeriod; /** Update period used by the GCS (only if telemetry mode is PERIODIC) */
+	uint32_t gcsTelemetryUpdatePeriod; /** Update period used by the GCS (only if telemetry mode is PERIODIC) */
 	uint8_t loggingUpdateMode; /** Update mode used by the logging module (UAVObjUpdateMode) */
 	uint32_t loggingUpdatePeriod; /** Update period used by the logging module (only if logging mode is PERIODIC) */
 } __attribute__((packed)) UAVObjMetadata;

ground/openpilotgcs/src/plugins/uavtalk/uavtalk.cpp

@@ -408,7 +408,7 @@ bool UAVTalk::receiveObject(quint8 type, quint32 objId, quint16 instId, quint8*
 
     UAVObject* obj = NULL;
     bool error = false;
-    bool allInstances = (instId == ALL_INSTANCES? true : false);
+    bool allInstances =  (instId == ALL_INSTANCES);
 
     // Process message type
     switch (type) {

make/firmware-defs.mk

@@ -143,3 +143,25 @@ $($(1):.c=.s) : %.s : %.c
 	$(V1) $(CC) -S $$(CFLAGS) $$(CONLYFLAGS) $$< -o $$@
 endef
 
+# ---------------------------------------------------------------------------
+#  # 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
+OOCD_CL=-d0
+# interface and board/target settings (using the OOCD target-library here)
+OOCD_CL+=-s $(TOP)/flight/Project/OpenOCD
+OOCD_CL+=-f foss-jtag.revb.cfg -f stm32.cfg
+
+# initialize
+OOCD_CL+=-c init
+# show the targets
+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

shared/uavobjectdefinition/firmwareiapobj.xml

@@ -1,8 +1,9 @@
 <xml> 
     <object name="FirmwareIAPObj" singleinstance="true" settings="false"> 
-        <description>Firmware IAP</description> 
+        <description>Queries board for SN, model, revision, and sends reset command</description> 
         <field name="Command" units="" type="uint16" elements="1"/> 
-        <field name="Description" units="" type="uint8" elements="100"/> 
+        <field name="Description" units="" type="uint8" elements="40"/> 
+        <field name="CPUSerial" units="" type="uint8" elements="12" /> 
         <field name="BoardRevision" units="" type="uint16" elements="1"/> 
         <field name="BoardType" units="" type="uint8" elements="1"/> 
         <field name="ArmReset" units="" type="uint8" elements="1"/> 

shared/uavobjectdefinition/systemalarms.xml

@@ -5,7 +5,7 @@
         elementnames="OutOfMemory,StackOverflow,CPUOverload,EventSystem,SDCard,Telemetry,ManualControl,Actuator,Attitude,Stabilization,Guidance,AHRSComms,Battery,FlightTime,I2C,GPS" defaultvalue="Uninitialised"/>
         <access gcs="readwrite" flight="readwrite"/>
         <telemetrygcs acked="true" updatemode="onchange" period="0"/>
-        <telemetryflight acked="true" updatemode="periodic" period="4000"/>
+        <telemetryflight acked="true" updatemode="onchange" period="0"/>
         <logging updatemode="periodic" period="1000"/>
     </object>
 </xml>