From 56c195fa9a5a7d2c9a32ce2a7a49d9ecd2ea6fc5 Mon Sep 17 00:00:00 2001
From: zedamota <zedamota>
Date: Thu, 17 Feb 2011 14:54:57 +0000
Subject: [PATCH] Flight/Bootloader - Bootloader updater, WORKING - tested with
 PipX only (should work for all boards though). Led(LED1 different color on
 each board) Sequence: 1-Power On 2-Led ON for 3 seconds (you can disconnect
 during this time - safety measure) 3-Led flashes very quickly while the board
 is being programed (because the program is stored in memory this is very fast
 and looks like a led glitch) 4-If all good - LED flashes 3 times with a 1sec
 period and turns off - you may now reboot. 4-If an error ocurred - LED will
 keep flashing with a 500ms period until power off

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2804 ebee16cc-31ac-478f-84a7-5cbb03baadba
---
 flight/Bootloaders/BootloaderUpdater/Makefile |  6 ++--
 flight/Bootloaders/BootloaderUpdater/main.c   | 34 ++++++++++++-------
 2 files changed, 25 insertions(+), 15 deletions(-)

diff --git a/flight/Bootloaders/BootloaderUpdater/Makefile b/flight/Bootloaders/BootloaderUpdater/Makefile
index f2288c9b2..7da9d58d7 100644
--- a/flight/Bootloaders/BootloaderUpdater/Makefile
+++ b/flight/Bootloaders/BootloaderUpdater/Makefile
@@ -34,7 +34,7 @@ ENABLE_DEBUG_PINS ?= NO
 ENABLE_AUX_UART ?= NO
 
 #
-USE_BOOTLOADER ?= NO
+USE_BOOTLOADER ?= YES
 
 # Set to the source bootloader binary
 SOURCE_BL ?= NULL
@@ -67,9 +67,9 @@ MCU      = cortex-m3
 CHIP     = STM32F103CBT
 BOARD    ?= NULL
 MODEL	 ?= NULL
+
 ifeq ($(USE_BOOTLOADER), YES)
 BOOT_MODEL    = $(MODEL)_BL
-
 else
 BOOT_MODEL    = $(MODEL)_NB
 endif
@@ -320,7 +320,7 @@ 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)_$(BOOT_MODEL).ld
 
 # Test if quotes are needed for the echo-command
 result = ${shell echo "test"}
diff --git a/flight/Bootloaders/BootloaderUpdater/main.c b/flight/Bootloaders/BootloaderUpdater/main.c
index 825d1c7b5..f2cd0495c 100644
--- a/flight/Bootloaders/BootloaderUpdater/main.c
+++ b/flight/Bootloaders/BootloaderUpdater/main.c
@@ -32,21 +32,22 @@
 /* Prototype of PIOS_Board_Init() function */
 extern void PIOS_Board_Init(void);
 extern void FLASH_Download();
-void error();
+void error(int);
 
 int main() {
 
 	PIOS_SYS_Init();
 	PIOS_Board_Init();
 	PIOS_LED_On(LED1);
-	PIOS_DELAY_WaitmS(5000);
+	PIOS_DELAY_WaitmS(3000);
 	PIOS_LED_Off(LED1);
 
 	/// Self overwrite check
 	uint32_t base_adress = SCB->VTOR;
-	if (0x08000000 + (sizeof(dataArray) * 4) > base_adress)
-		error();
+	if (0x08000000 + (sizeof(dataArray)) > base_adress)
+		error(LED1);
 	///
+	FLASH_Unlock();
 
 	/// Bootloader memory space erase
 	uint32_t pageAdress;
@@ -69,13 +70,15 @@ int main() {
 	}
 
 	if (fail == TRUE)
-		error();
+		error(LED1);
+
 
 	///
 
 	/// Bootloader programing
-	for (int x = 0; x < sizeof(dataArray); ++x) {
+	for (int x = 0; x < sizeof(dataArray)/sizeof(uint32_t); ++x) {
 		int result = 0;
+		PIOS_LED_Toggle(LED1);
 		for (int retry = 0; retry < MAX_WRI_RETRYS; ++retry) {
 			if (result == 0) {
 				result = (FLASH_ProgramWord(0x08000000 + (x * 4), dataArray[x])
@@ -83,18 +86,25 @@ int main() {
 			}
 		}
 		if (result == 0)
-			error();
+			error(LED1);
 	}
 	///
-	PIOS_LED_On(LED1);
-	for (;;) {}
+	for (int x=0;x<3;++x) {
+			PIOS_LED_On(led);
+			PIOS_DELAY_WaitmS(1000);
+			PIOS_LED_Off(led);
+			PIOS_DELAY_WaitmS(1000);
+		}
+	for (;;) {
+		PIOS_DELAY_WaitmS(1000);
+	}
 
 }
-void error() {
+void error(int led) {
 	for (;;) {
-		PIOS_LED_On(LED1);
+		PIOS_LED_On(led);
 		PIOS_DELAY_WaitmS(500);
-		PIOS_LED_Off(LED1);
+		PIOS_LED_Off(led);
 		PIOS_DELAY_WaitmS(500);
 	}
 }