Copy the revo project to revo mini

flight/Bootloaders/RevoMini/Makefile

@@ -0,0 +1,383 @@
+ #####
+ # Project: OpenPilot INS_BOOTLOADER
+ #    
+ #  
+ # Makefile for OpenPilot INS project
+ #
+ # The OpenPilot Team, http://www.openpilot.org, Copyright (C) 2009.
+ #    
+ # 
+ # 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
+ #####
+
+WHEREAMI := $(dir $(lastword $(MAKEFILE_LIST)))
+TOP      := $(realpath $(WHEREAMI)/../../../)
+include $(TOP)/make/firmware-defs.mk
+include $(TOP)/make/boards/$(BOARD_NAME)/board-info.mk
+
+# Target file name (without extension).
+TARGET := bl_$(BOARD_NAME)
+
+# Directory for output files (lst, obj, dep, elf, sym, map, hex, bin etc.)
+OUTDIR := $(TOP)/build/$(TARGET)
+
+# Set developer code and compile options
+# Set to YES for debugging
+DEBUG ?= NO
+
+# Set to YES when using Code Sourcery toolchain
+CODE_SOURCERY ?= NO
+
+ifeq ($(CODE_SOURCERY), YES)
+REMOVE_CMD = cs-rm
+else
+REMOVE_CMD = rm
+endif
+
+# Paths
+REVO_BL = $(WHEREAMI)
+REVO_BLINC = $(REVO_BL)/inc
+PIOS = ../../PiOS
+PIOSINC = $(PIOS)/inc
+FLIGHTLIB = ../../Libraries
+FLIGHTLIBINC = ../../Libraries/inc
+PIOSSTM32F4XX = $(PIOS)/STM32F4xx
+PIOSCOMMON = $(PIOS)/Common
+PIOSBOARDS = $(PIOS)/Boards
+PIOSCOMMONLIB = $(PIOSCOMMON)/Libraries
+APPLIBDIR = $(PIOSSTM32F4XX)/Libraries
+STMLIBDIR = $(APPLIBDIR)
+STMSPDDIR = $(STMLIBDIR)/STM32F4xx_StdPeriph_Driver
+STMSPDSRCDIR = $(STMSPDDIR)/src
+STMSPDINCDIR = $(STMSPDDIR)/inc
+HWDEFSINC = ../../board_hw_defs/$(BOARD_NAME)
+
+# List C source files here. (C dependencies are automatically generated.)
+# use file-extension c for "c-only"-files
+
+## BOOTLOADER:
+SRC += main.c
+SRC += pios_board.c
+SRC += pios_usb_board_data.c
+SRC += op_dfu.c
+
+## PIOS Hardware (STM32F4xx)
+include $(PIOS)/STM32F4xx/library.mk
+
+# PIOS Hardware (Common)
+SRC += $(PIOSCOMMON)/pios_board_info.c
+SRC += $(PIOSCOMMON)/pios_com_msg.c
+SRC += $(PIOSCOMMON)/printf-stdarg.c
+SRC += $(PIOSCOMMON)/pios_usb_desc_hid_only.c
+SRC += $(PIOSCOMMON)/pios_usb_util.c
+
+# List C source files here which must be compiled in ARM-Mode (no -mthumb).
+# use file-extension c for "c-only"-files
+## just for testing, timer.c could be compiled in thumb-mode too
+SRCARM = 
+
+# List C++ source files here.
+# use file-extension .cpp for C++-files (not .C)
+CPPSRC = 
+
+# List C++ source files here which must be compiled in ARM-Mode.
+# use file-extension .cpp for C++-files (not .C)
+#CPPSRCARM = $(TARGET).cpp
+CPPSRCARM = 
+
+# List any extra directories to look for include files here.
+#    Each directory must be seperated by a space.
+EXTRAINCDIRS  += $(PIOS)
+EXTRAINCDIRS  += $(PIOSINC)
+EXTRAINCDIRS  += $(FLIGHTLIBINC)
+EXTRAINCDIRS  += $(PIOSSTM34FXX)
+EXTRAINCDIRS  += $(PIOSCOMMON)
+EXTRAINCDIRS  += $(PIOSBOARDS)
+EXTRAINCDIRS  += $(STMSPDINCDIR)
+EXTRAINCDIRS  += $(CMSISDIR)
+EXTRAINCDIRS  += $(REVO_BLINC)
+EXTRAINCDIRS  += $(HWDEFSINC)
+
+# List any extra directories to look for library files here.
+# Also add directories where the linker should search for
+# includes from linker-script to the list
+#     Each directory must be seperated by a space.
+EXTRA_LIBDIRS = 
+
+# Extra Libraries
+#    Each library-name must be seperated by a space.
+#    i.e. to link with libxyz.a, libabc.a and libefsl.a: 
+#    EXTRA_LIBS = xyz abc efsl
+# for newlib-lpc (file: libnewlibc-lpc.a):
+#    EXTRA_LIBS = newlib-lpc
+EXTRA_LIBS =
+
+# Path to Linker-Scripts
+LINKERSCRIPTPATH = $(PIOSSTM32FXX)
+
+# Optimization level, can be [0, 1, 2, 3, s]. 
+# 0 = turn off optimization. s = optimize for size.
+# (Note: 3 is not always the best optimization level. See avr-libc FAQ.)
+
+ifeq ($(DEBUG),YES)
+OPT = 0
+else
+OPT = s
+endif
+
+# Output format. (can be ihex or binary or both)
+#  binary to create a load-image in raw-binary format i.e. for SAM-BA, 
+#  ihex to create a load-image in Intel hex format
+#LOADFORMAT = ihex
+#LOADFORMAT = binary
+LOADFORMAT = both
+
+# Debugging format.
+DEBUGF = dwarf-2
+
+# Place project-specific -D (define) and/or 
+# -U options for C here.
+CDEFS = -DSTM32F4XX
+CDEFS += -DSYSCLK_FREQ=$(SYSCLK_FREQ)
+CDEFS += -DHSE_VALUE=$(OSCILLATOR_FREQ)
+CDEFS += -DUSE_STDPERIPH_DRIVER
+CDEFS += -DUSE_$(BOARD)
+
+# Provide (only) the bootloader with board-specific defines
+BLONLY_CDEFS += -DBOARD_TYPE=$(BOARD_TYPE)
+BLONLY_CDEFS += -DBOARD_REVISION=$(BOARD_REVISION)
+BLONLY_CDEFS += -DHW_TYPE=$(HW_TYPE)
+BLONLY_CDEFS += -DBOOTLOADER_VERSION=$(BOOTLOADER_VERSION)
+BLONLY_CDEFS += -DFW_BANK_BASE=$(FW_BANK_BASE)
+BLONLY_CDEFS += -DFW_BANK_SIZE=$(FW_BANK_SIZE)
+BLONLY_CDEFS += -DFW_DESC_SIZE=$(FW_DESC_SIZE)
+
+# Place project-specific -D and/or -U options for 
+# Assembler with preprocessor here.
+#ADEFS = -DUSE_IRQ_ASM_WRAPPER
+ADEFS = -D__ASSEMBLY__
+
+# Compiler flag to set the C Standard level.
+# c89   - "ANSI" C
+# gnu89 - c89 plus GCC extensions
+# c99   - ISO C99 standard (not yet fully implemented)
+# gnu99 - c99 plus GCC extensions
+CSTANDARD = -std=gnu99
+
+#-----
+
+# Compiler flags.
+
+#  -g*:          generate debugging information
+#  -O*:          optimization level
+#  -f...:        tuning, see GCC manual and avr-libc documentation
+#  -Wall...:     warning level
+#  -Wa,...:      tell GCC to pass this to the assembler.
+#    -adhlns...: create assembler listing
+#
+# Flags for C and C++ (arm-elf-gcc/arm-elf-g++)
+
+ifeq ($(DEBUG),YES)
+CFLAGS = 
+endif
+
+# This is not the best place for these.  Really should abstract out
+# to the board file or something
+CFLAGS += -DSTM32F4XX
+CFLAGS += -DMEM_SIZE=1024000000
+
+CFLAGS += -g$(DEBUGF)
+CFLAGS += -O$(OPT)
+ifeq ($(DEBUG),NO)
+CFLAGS += -fdata-sections -ffunction-sections
+endif
+CFLAGS += -mcpu=$(MCU)
+CFLAGS += $(CDEFS)
+CFLAGS += $(BLONLY_CDEFS)
+CFLAGS += $(patsubst %,-I%,$(EXTRAINCDIRS)) -I.
+
+CFLAGS += -mapcs-frame 
+CFLAGS += -fomit-frame-pointer
+ifeq ($(CODE_SOURCERY), YES)
+CFLAGS += -fpromote-loop-indices
+endif
+
+CFLAGS += -Wall
+#CFLAGS += -Werror
+CFLAGS += -Wa,-adhlns=$(addprefix $(OUTDIR)/, $(notdir $(addsuffix .lst, $(basename $<))))
+# Compiler flags to generate dependency files:
+CFLAGS += -MD -MP -MF $(OUTDIR)/dep/$(@F).d
+
+# flags only for C
+#CONLYFLAGS += -Wnested-externs 
+CONLYFLAGS += $(CSTANDARD)
+
+# Assembler flags.
+#  -Wa,...:    tell GCC to pass this to the assembler.
+#  -ahlns:     create listing
+ASFLAGS  = -mcpu=$(MCU) -I. -x assembler-with-cpp
+ASFLAGS += $(ADEFS)
+ASFLAGS += -Wa,-adhlns=$(addprefix $(OUTDIR)/, $(notdir $(addsuffix .lst, $(basename $<))))
+ASFLAGS += $(patsubst %,-I%,$(EXTRAINCDIRS))
+
+MATH_LIB = -lm
+
+# Linker flags.
+#  -Wl,...:     tell GCC to pass this to linker.
+#    -Map:      create map file
+#    --cref:    add cross reference to  map file
+LDFLAGS = -nostartfiles -Wl,-Map=$(OUTDIR)/$(TARGET).map,--cref,--gc-sections
+ifeq ($(DEBUG),NO)
+LDFLAGS += -Wl,-static
+endif
+LDFLAGS += $(patsubst %,-L%,$(EXTRA_LIBDIRS))
+LDFLAGS += -lc
+LDFLAGS += $(patsubst %,-l%,$(EXTRA_LIBS))
+LDFLAGS += $(MATH_LIB)
+LDFLAGS += -lc -lgcc 
+
+#Linker scripts                                                                                                                                                                                                              
+LDFLAGS += $(addprefix -T,$(LINKER_SCRIPTS_BL))
+
+# Define programs and commands.
+REMOVE  = $(REMOVE_CMD) -f
+
+# List of all source files.
+ALLSRC     = $(ASRCARM) $(ASRC) $(SRCARM) $(SRC) $(CPPSRCARM) $(CPPSRC)
+# List of all source files without directory and file-extension.
+ALLSRCBASE = $(notdir $(basename $(ALLSRC)))
+
+# Define all object files.
+ALLOBJ     = $(addprefix $(OUTDIR)/, $(addsuffix .o, $(ALLSRCBASE)))
+
+# Define all listing files (used for make clean).
+LSTFILES   = $(addprefix $(OUTDIR)/, $(addsuffix .lst, $(ALLSRCBASE)))
+# Define all depedency-files (used for make clean).
+DEPFILES   = $(addprefix $(OUTDIR)/dep/, $(addsuffix .o.d, $(ALLSRCBASE)))
+
+# Default target.
+all: build
+
+ifeq ($(LOADFORMAT),ihex)
+build: elf hex sym
+else 
+ifeq ($(LOADFORMAT),binary)
+build: elf bin sym
+else 
+ifeq ($(LOADFORMAT),both)
+build: elf hex bin sym
+else 
+$(error "$(MSG_FORMATERROR) $(FORMAT)")
+endif
+endif
+endif
+
+# Link: create ELF output file from object files.
+$(eval $(call LINK_TEMPLATE, $(OUTDIR)/$(TARGET).elf, $(ALLOBJ)))
+
+# Assemble: create object files from assembler source files.
+$(foreach src, $(ASRC), $(eval $(call ASSEMBLE_TEMPLATE, $(src)))) 
+
+# Assemble: create object files from assembler source files. ARM-only
+$(foreach src, $(ASRCARM), $(eval $(call ASSEMBLE_ARM_TEMPLATE, $(src)))) 
+
+# Compile: create object files from C source files.
+$(foreach src, $(SRC), $(eval $(call COMPILE_C_TEMPLATE, $(src)))) 
+
+# Compile: create object files from C source files. ARM-only
+$(foreach src, $(SRCARM), $(eval $(call COMPILE_C_ARM_TEMPLATE, $(src)))) 
+
+# Compile: create object files from C++ source files.
+$(foreach src, $(CPPSRC), $(eval $(call COMPILE_CPP_TEMPLATE, $(src)))) 
+
+# Compile: create object files from C++ source files. ARM-only
+$(foreach src, $(CPPSRCARM), $(eval $(call COMPILE_CPP_ARM_TEMPLATE, $(src)))) 
+
+# Compile: create assembler files from C source files. ARM/Thumb
+$(eval $(call PARTIAL_COMPILE_TEMPLATE, SRC))
+
+# Compile: create assembler files from C source files. ARM only
+$(eval $(call PARTIAL_COMPILE_ARM_TEMPLATE, SRCARM))
+
+$(OUTDIR)/$(TARGET).bin.o: $(OUTDIR)/$(TARGET).bin
+
+$(eval $(call OPFW_TEMPLATE,$(OUTDIR)/$(TARGET).bin,$(BOARD_TYPE),$(BOARD_REVISION)))
+
+# Add jtag targets (program and wipe)
+$(eval $(call JTAG_TEMPLATE,$(OUTDIR)/$(TARGET).bin,$(BL_BANK_BASE),$(BL_BANK_SIZE),$(OPENOCD_JTAG_CONFIG),$(OPENOCD_CONFIG)))
+
+.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))
+
+# Generate Doxygen documents
+docs:
+	doxygen  $(DOXYGENDIR)/doxygen.cfg
+
+# Install: install binary file with prefix/suffix into install directory
+install: $(OUTDIR)/$(TARGET).bin
+ifneq ($(INSTALL_DIR),)
+	@echo $(MSG_INSTALLING) $(call toprel, $<)
+	$(V1) mkdir -p $(INSTALL_DIR)
+	$(V1) $(INSTALL) $< $(INSTALL_DIR)/$(INSTALL_PFX)$(TARGET)$(INSTALL_SFX).bin
+else
+	$(error INSTALL_DIR must be specified for $@)
+endif
+
+# Target: clean project.
+clean: clean_list
+
+clean_list :
+	@echo $(MSG_CLEANING)
+	$(V1) $(REMOVE) $(OUTDIR)/$(TARGET).map
+	$(V1) $(REMOVE) $(OUTDIR)/$(TARGET).elf
+	$(V1) $(REMOVE) $(OUTDIR)/$(TARGET).hex
+	$(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)
+	$(V1) $(REMOVE) $(SRC:.c=.s)
+	$(V1) $(REMOVE) $(SRCARM:.c=.s)
+	$(V1) $(REMOVE) $(CPPSRC:.cpp=.s)
+	$(V1) $(REMOVE) $(CPPSRCARM:.cpp=.s)
+
+
+# Create output files directory
+# all known MS Windows OS define the ComSpec environment variable
+ifdef ComSpec
+$(shell md $(subst /,\\,$(OUTDIR)) 2>NUL)
+else
+$(shell mkdir -p $(OUTDIR) 2>/dev/null)
+endif
+
+# Include the dependency files.
+ifdef ComSpec
+-include $(shell md $(subst /,\\,$(OUTDIR))\dep 2>NUL) $(wildcard $(OUTDIR)/dep/*)
+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 build clean clean_list install

flight/Bootloaders/RevoMini/inc/common.h

@@ -0,0 +1,115 @@
+/**
+ ******************************************************************************
+ * @addtogroup CopterControlBL CopterControl BootLoader
+ * @brief These files contain the code to the CopterControl Bootloader.
+ *
+ * @{
+ * @file       common.c
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @brief      This file contains various common defines for the BootLoader
+ * @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
+ */
+#ifndef COMMON_H_
+#define COMMON_H_
+
+//#include "board.h"
+
+typedef enum {
+	start, keepgoing,
+} DownloadAction;
+
+/**************************************************/
+/* OP_DFU states                       */
+/**************************************************/
+
+typedef enum {
+	DFUidle, //0
+	uploading, //1
+	wrong_packet_received, //2
+	too_many_packets, //3
+	too_few_packets, //4
+	Last_operation_Success, //5
+	downloading, //6
+	BLidle, //7
+	Last_operation_failed, //8
+	uploadingStarting, //9
+	outsideDevCapabilities, //10
+	CRC_Fail,//11
+	failed_jump,
+//12
+} DFUStates;
+/**************************************************/
+/* OP_DFU commands                       */
+/**************************************************/
+typedef enum {
+	Reserved, //0
+	Req_Capabilities, //1
+	Rep_Capabilities, //2
+	EnterDFU, //3
+	JumpFW, //4
+	Reset, //5
+	Abort_Operation, //6
+	Upload, //7
+	Op_END, //8
+	Download_Req, //9
+	Download, //10
+	Status_Request, //11
+	Status_Rep
+//12
+} DFUCommands;
+
+typedef enum {
+	High_Density, Medium_Density
+} DeviceType;
+/**************************************************/
+/* OP_DFU transfer types                       */
+/**************************************************/
+typedef enum {
+	FW, //0
+	Descript
+//2
+} DFUTransfer;
+/**************************************************/
+/* OP_DFU transfer port                           */
+/**************************************************/
+typedef enum {
+	Usb, //0
+	Serial
+//2
+} DFUPort;
+/**************************************************/
+/* OP_DFU programable programable HW types        */
+/**************************************************/
+typedef enum {
+	Self_flash, //0
+	Remote_flash_via_spi
+//1
+} DFUProgType;
+/**************************************************/
+/* OP_DFU programable sources			          */
+/**************************************************/
+#define USB	0
+#define SPI 1
+
+#define DownloadDelay					100000
+
+#define MAX_DEL_RETRYS					3
+#define MAX_WRI_RETRYS					3
+
+#endif /* COMMON_H_ */

flight/Bootloaders/RevoMini/inc/op_dfu.h

@@ -0,0 +1,60 @@
+/**
+ ******************************************************************************
+ *
+ * @file       op_dfu.h
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @brief
+ * @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
+ */
+
+/* Define to prevent recursive inclusion -------------------------------------*/
+#ifndef __OP_DFU_H
+#define __OP_DFU_H
+#include "common.h"
+/* Includes ------------------------------------------------------------------*/
+/* Exported types ------------------------------------------------------------*/
+typedef struct {
+	uint8_t programmingType;
+	uint8_t readWriteFlags;
+	uint32_t startOfUserCode;
+	uint32_t sizeOfCode;
+	uint8_t sizeOfDescription;
+	uint8_t BL_Version;
+	uint16_t devID;
+	DeviceType devType;
+	uint32_t FW_Crc;
+} Device;
+
+/* Exported constants --------------------------------------------------------*/
+/* Exported macro ------------------------------------------------------------*/
+/* Exported define -----------------------------------------------------------*/
+#define COMMAND	0
+#define COUNT	1
+#define DATA	5
+
+/* Exported functions ------------------------------------------------------- */
+void processComand(uint8_t *Receive_Buffer);
+uint32_t baseOfAdressType(uint8_t type);
+uint8_t isBiggerThanAvailable(uint8_t type, uint32_t size);
+void OPDfuIni(uint8_t discover);
+void DataDownload(DownloadAction);
+bool flash_read(uint8_t * buffer, uint32_t adr, DFUProgType type);
+#endif /* __OP_DFU_H */
+
+/******************* (C) COPYRIGHT 2010 STMicroelectronics *****END OF FILE****/

flight/Bootloaders/RevoMini/inc/pios_config.h

@@ -0,0 +1,43 @@
+/**
+ ******************************************************************************
+ *
+ * @file       pios_config.h  
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @brief      PiOS configuration header. 
+ *                 - Central compile time config for the project.
+ * @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
+ */
+
+#ifndef PIOS_CONFIG_H
+#define PIOS_CONFIG_H
+
+/* Enable/Disable PiOS Modules */
+#define PIOS_INCLUDE_DELAY
+#define PIOS_INCLUDE_IRQ
+#define PIOS_INCLUDE_LED
+#define PIOS_INCLUDE_SPI
+#define PIOS_INCLUDE_SYS
+#define PIOS_INCLUDE_IAP
+#define PIOS_INCLUDE_USB
+#define PIOS_INCLUDE_USB_HID
+#define PIOS_INCLUDE_COM_MSG
+#define PIOS_INCLUDE_BL_HELPER
+#define PIOS_INCLUDE_BL_HELPER_WRITE_SUPPORT
+
+#endif /* PIOS_CONFIG_H */

flight/Bootloaders/RevoMini/inc/pios_usb_board_data.h

@@ -0,0 +1,52 @@
+/**
+ ******************************************************************************
+ * @addtogroup PIOS PIOS Core hardware abstraction layer
+ * @{
+ * @addtogroup PIOS_USB_BOARD Board specific USB definitions
+ * @brief Board specific USB definitions
+ * @{
+ *
+ * @file       pios_usb_board_data.h
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @brief      Board specific USB definitions
+ * @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
+ */
+
+#ifndef PIOS_USB_BOARD_DATA_H
+#define PIOS_USB_BOARD_DATA_H
+
+#define PIOS_USB_BOARD_HID_DATA_LENGTH 64
+
+#define PIOS_USB_BOARD_EP_NUM 2
+
+#include "pios_usb_defs.h" 	/* struct usb_* */
+
+#define PIOS_USB_BOARD_PRODUCT_ID USB_PRODUCT_ID_REVOLUTION
+#define PIOS_USB_BOARD_DEVICE_VER USB_OP_DEVICE_VER(USB_OP_BOARD_ID_REVOLUTION, USB_OP_BOARD_MODE_BL)
+#define PIOS_USB_BOARD_SN_SUFFIX "+BL"
+
+/*
+ * The bootloader uses a simplified report structure
+ *   BL: <REPORT_ID><DATA>...<DATA>
+ *   FW: <REPORT_ID><LENGTH><DATA>...<DATA>
+ * This define changes the behaviour in pios_usb_hid.c
+ */
+#define PIOS_USB_BOARD_BL_HID_HAS_NO_LENGTH_BYTE
+
+#endif	/* PIOS_USB_BOARD_DATA_H */

flight/Bootloaders/RevoMini/main.c

@@ -0,0 +1,230 @@
+/**
+ ******************************************************************************
+ * @addtogroup RevolutionBL Revolution BootLoader
+ * @brief These files contain the code to the Revolution Bootloader.
+ *
+ * @{
+ * @file       main.c
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @brief      This is the file with the main function of the Revolution BootLoader
+ * @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
+ */
+/* Bootloader Includes */
+#include <pios.h>
+#include <pios_board_info.h>
+#include <stdbool.h>
+#include "op_dfu.h"
+#include "pios_iap.h"
+#include "fifo_buffer.h"
+#include "pios_com_msg.h"
+#include "pios_usbhook.h"	/* PIOS_USBHOOK_* */
+/* Prototype of PIOS_Board_Init() function */
+extern void PIOS_Board_Init(void);
+extern void FLASH_Download();
+void check_bor();
+#define BSL_HOLD_STATE ((PIOS_USB_DETECT_GPIO_PORT->IDR & PIOS_USB_DETECT_GPIO_PIN) ? 0 : 1)
+
+/* Private typedef -----------------------------------------------------------*/
+typedef void (*pFunction)(void);
+/* Private define ------------------------------------------------------------*/
+/* Private macro -------------------------------------------------------------*/
+/* Private variables ---------------------------------------------------------*/
+pFunction Jump_To_Application;
+uint32_t JumpAddress;
+
+/// LEDs PWM
+uint32_t period1 = 5000; // 5 mS
+uint32_t sweep_steps1 = 100; // * 5 mS -> 500 mS
+uint32_t period2 = 5000; // 5 mS
+uint32_t sweep_steps2 = 100; // * 5 mS -> 500 mS
+
+
+////////////////////////////////////////
+uint8_t tempcount = 0;
+
+/* Extern variables ----------------------------------------------------------*/
+DFUStates DeviceState;
+int16_t status = 0;
+bool JumpToApp = false;
+bool GO_dfu = false;
+bool USB_connected = false;
+bool User_DFU_request = false;
+static uint8_t mReceive_Buffer[63];
+/* Private function prototypes -----------------------------------------------*/
+uint32_t LedPWM(uint32_t pwm_period, uint32_t pwm_sweep_steps, uint32_t count);
+uint8_t processRX();
+void jump_to_app();
+
+int main() {
+	PIOS_SYS_Init();	
+	PIOS_Board_Init();
+	PIOS_IAP_Init();
+
+	// Make sure the brown out reset value for this chip
+	// is 2.7 volts
+	check_bor();
+
+	USB_connected = PIOS_USB_CheckAvailable(0);
+
+	if (PIOS_IAP_CheckRequest() == true) {
+		PIOS_DELAY_WaitmS(1000);
+		User_DFU_request = true;
+		PIOS_IAP_ClearRequest();
+	}
+
+	GO_dfu = (USB_connected == true) || (User_DFU_request == true);
+
+	if (GO_dfu == true) {
+		if (User_DFU_request == true)
+			DeviceState = DFUidle;
+		else
+			DeviceState = BLidle;
+	} else
+		JumpToApp = true;
+
+	uint32_t stopwatch = 0;
+	uint32_t prev_ticks = PIOS_DELAY_GetuS();
+	while (true) {
+		/* Update the stopwatch */
+		uint32_t elapsed_ticks = PIOS_DELAY_GetuSSince(prev_ticks);
+		prev_ticks += elapsed_ticks;
+		stopwatch += elapsed_ticks;
+
+		if (JumpToApp == true)
+			jump_to_app();
+
+		switch (DeviceState) {
+		case Last_operation_Success:
+		case uploadingStarting:
+		case DFUidle:
+			period1 = 5000;
+			sweep_steps1 = 100;
+			PIOS_LED_Off(PIOS_LED_HEARTBEAT);
+			period2 = 0;
+			break;
+		case uploading:
+			period1 = 5000;
+			sweep_steps1 = 100;
+			period2 = 2500;
+			sweep_steps2 = 50;
+			break;
+		case downloading:
+			period1 = 2500;
+			sweep_steps1 = 50;
+			PIOS_LED_Off(PIOS_LED_HEARTBEAT);
+			period2 = 0;
+			break;
+		case BLidle:
+			period1 = 0;
+			PIOS_LED_On(PIOS_LED_HEARTBEAT);
+			period2 = 0;
+			break;
+		default://error
+			period1 = 5000;
+			sweep_steps1 = 100;
+			period2 = 5000;
+			sweep_steps2 = 100;
+		}
+
+		if (period1 != 0) {
+			if (LedPWM(period1, sweep_steps1, stopwatch))
+				PIOS_LED_On(PIOS_LED_HEARTBEAT);
+			else
+				PIOS_LED_Off(PIOS_LED_HEARTBEAT);
+		} else
+			PIOS_LED_On(PIOS_LED_HEARTBEAT);
+
+		if (period2 != 0) {
+			if (LedPWM(period2, sweep_steps2, stopwatch))
+				PIOS_LED_On(PIOS_LED_HEARTBEAT);
+			else
+				PIOS_LED_Off(PIOS_LED_HEARTBEAT);
+		} else
+			PIOS_LED_Off(PIOS_LED_HEARTBEAT);
+
+		if (stopwatch > 50 * 1000 * 1000)
+			stopwatch = 0;
+		if ((stopwatch > 6 * 1000 * 1000) && (DeviceState
+				== BLidle))
+			JumpToApp = true;
+
+		processRX();
+		DataDownload(start);
+	}
+}
+
+void jump_to_app() {
+	const struct pios_board_info * bdinfo = &pios_board_info_blob;
+
+	PIOS_LED_On(PIOS_LED_HEARTBEAT);
+	if (((*(__IO uint32_t*) bdinfo->fw_base) & 0x2FFE0000) == 0x20000000) { /* Jump to user application */
+		FLASH_Lock();
+		RCC_APB2PeriphResetCmd(0xffffffff, ENABLE);
+		RCC_APB1PeriphResetCmd(0xffffffff, ENABLE);
+		RCC_APB2PeriphResetCmd(0xffffffff, DISABLE);
+		RCC_APB1PeriphResetCmd(0xffffffff, DISABLE);
+
+		PIOS_USBHOOK_Deactivate();
+
+		JumpAddress = *(__IO uint32_t*) (bdinfo->fw_base + 4);
+		Jump_To_Application = (pFunction) JumpAddress;
+		/* Initialize user application's Stack Pointer */
+		__set_MSP(*(__IO uint32_t*) bdinfo->fw_base);
+		Jump_To_Application();
+	} else {
+		DeviceState = failed_jump;
+		return;
+	}
+}
+uint32_t LedPWM(uint32_t pwm_period, uint32_t pwm_sweep_steps, uint32_t count) {
+	uint32_t curr_step = (count / pwm_period) % pwm_sweep_steps; /* 0 - pwm_sweep_steps */
+	uint32_t pwm_duty = pwm_period * curr_step / pwm_sweep_steps; /* fraction of pwm_period */
+
+	uint32_t curr_sweep = (count / (pwm_period * pwm_sweep_steps)); /* ticks once per full sweep */
+	if (curr_sweep & 1) {
+		pwm_duty = pwm_period - pwm_duty; /* reverse direction in odd sweeps */
+	}
+	return ((count % pwm_period) > pwm_duty) ? 1 : 0;
+}
+
+uint8_t processRX() {
+	if (PIOS_COM_MSG_Receive(PIOS_COM_TELEM_USB, mReceive_Buffer, sizeof(mReceive_Buffer))) {
+		processComand(mReceive_Buffer);
+	}
+	return true;
+}
+
+/**
+ * Check the brown out reset threshold is 2.7 volts and if not
+ * resets it.  This solves an issue that can prevent boards
+ * powering up with some BEC
+ */
+void check_bor()
+{
+	uint8_t bor = FLASH_OB_GetBOR();
+	if(bor != OB_BOR_LEVEL3) {
+		FLASH_OB_Unlock();
+		FLASH_OB_BORConfig(OB_BOR_LEVEL3);
+		FLASH_OB_Launch();
+		while(FLASH_WaitForLastOperation() == FLASH_BUSY);
+		FLASH_OB_Lock();
+		while(FLASH_WaitForLastOperation() == FLASH_BUSY);
+	}
+}
+

flight/Bootloaders/RevoMini/op_dfu.c

@@ -0,0 +1,468 @@
+/**
+ ******************************************************************************
+ * @addtogroup CopterControlBL CopterControl BootLoader
+ * @brief These files contain the code to the CopterControl Bootloader.
+ *
+ * @{
+ * @file       op_dfu.c
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @brief      This file contains the DFU commands handling code
+ * @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
+ */
+
+/* Includes ------------------------------------------------------------------*/
+#include "pios.h"
+#include <stdbool.h>
+#include "op_dfu.h"
+#include "pios_bl_helper.h"
+#include "pios_com_msg.h"
+#include <pios_board_info.h>
+//programmable devices
+Device devicesTable[10];
+uint8_t numberOfDevices = 0;
+
+DFUProgType currentProgrammingDestination; //flash, flash_trough spi
+uint8_t currentDeviceCanRead;
+uint8_t currentDeviceCanWrite;
+Device currentDevice;
+
+uint8_t Buffer[64];
+uint8_t echoBuffer[64];
+uint8_t SendBuffer[64];
+uint8_t Command = 0;
+uint8_t EchoReqFlag = 0;
+uint8_t EchoAnsFlag = 0;
+uint8_t StartFlag = 0;
+uint32_t Aditionals = 0;
+uint32_t SizeOfTransfer = 0;
+uint32_t Expected_CRC = 0;
+uint8_t SizeOfLastPacket = 0;
+uint32_t Next_Packet = 0;
+uint8_t TransferType;
+uint32_t Count = 0;
+uint32_t Data;
+uint8_t Data0;
+uint8_t Data1;
+uint8_t Data2;
+uint8_t Data3;
+uint8_t offset = 0;
+uint32_t aux;
+//Download vars
+uint32_t downSizeOfLastPacket = 0;
+uint32_t downPacketTotal = 0;
+uint32_t downPacketCurrent = 0;
+DFUTransfer downType = 0;
+/* Extern variables ----------------------------------------------------------*/
+extern DFUStates DeviceState;
+extern uint8_t JumpToApp;
+/* Private function prototypes -----------------------------------------------*/
+/* Private functions ---------------------------------------------------------*/
+void sendData(uint8_t * buf, uint16_t size);
+uint32_t CalcFirmCRC(void);
+
+void DataDownload(DownloadAction action) {
+	if ((DeviceState == downloading)) {
+
+		uint8_t packetSize;
+		uint32_t offset;
+		uint32_t partoffset;
+		SendBuffer[0] = 0x01;
+		SendBuffer[1] = Download;
+		SendBuffer[2] = downPacketCurrent >> 24;
+		SendBuffer[3] = downPacketCurrent >> 16;
+		SendBuffer[4] = downPacketCurrent >> 8;
+		SendBuffer[5] = downPacketCurrent;
+		if (downPacketCurrent == downPacketTotal - 1) {
+			packetSize = downSizeOfLastPacket;
+		} else {
+			packetSize = 14;
+		}
+		for (uint8_t x = 0; x < packetSize; ++x) {
+			partoffset = (downPacketCurrent * 14 * 4) + (x * 4);
+			offset = baseOfAdressType(downType) + partoffset;
+			if (!flash_read(SendBuffer + (6 + x * 4), offset,
+					currentProgrammingDestination)) {
+				DeviceState = Last_operation_failed;
+			}
+		}
+		downPacketCurrent = downPacketCurrent + 1;
+		if (downPacketCurrent > downPacketTotal - 1) {
+			DeviceState = Last_operation_Success;
+			Aditionals = (uint32_t) Download;
+		}
+		sendData(SendBuffer + 1, 63);
+	}
+}
+void processComand(uint8_t *xReceive_Buffer) {
+
+	Command = xReceive_Buffer[COMMAND];
+#ifdef DEBUG_SSP
+	char str[63]= {0};
+	sprintf(str,"Received COMMAND:%d|",Command);
+	PIOS_COM_SendString(PIOS_COM_TELEM_USB,str);
+#endif
+	EchoReqFlag = (Command >> 7);
+	EchoAnsFlag = (Command >> 6) & 0x01;
+	StartFlag = (Command >> 5) & 0x01;
+	Count = xReceive_Buffer[COUNT] << 24;
+	Count += xReceive_Buffer[COUNT + 1] << 16;
+	Count += xReceive_Buffer[COUNT + 2] << 8;
+	Count += xReceive_Buffer[COUNT + 3];
+
+	Data = xReceive_Buffer[DATA] << 24;
+	Data += xReceive_Buffer[DATA + 1] << 16;
+	Data += xReceive_Buffer[DATA + 2] << 8;
+	Data += xReceive_Buffer[DATA + 3];
+	Data0 = xReceive_Buffer[DATA];
+	Data1 = xReceive_Buffer[DATA + 1];
+	Data2 = xReceive_Buffer[DATA + 2];
+	Data3 = xReceive_Buffer[DATA + 3];
+	Command = Command & 0b00011111;
+
+	if (EchoReqFlag == 1) {
+		memcpy(echoBuffer, xReceive_Buffer, 64);
+	}
+	switch (Command) {
+	case EnterDFU:
+		if (((DeviceState == BLidle) && (Data0 < numberOfDevices))
+				|| (DeviceState == DFUidle)) {
+			if (Data0 > 0)
+				OPDfuIni(true);
+			DeviceState = DFUidle;
+			currentProgrammingDestination = devicesTable[Data0].programmingType;
+			currentDeviceCanRead = devicesTable[Data0].readWriteFlags & 0x01;
+			currentDeviceCanWrite = devicesTable[Data0].readWriteFlags >> 1
+					& 0x01;
+			currentDevice = devicesTable[Data0];
+			uint8_t result = 0;
+			switch (currentProgrammingDestination) {
+			case Self_flash:
+				result = PIOS_BL_HELPER_FLASH_Ini();
+				break;
+			case Remote_flash_via_spi:
+				result = true;
+				break;
+			default:
+				DeviceState = Last_operation_failed;
+				Aditionals = (uint16_t) Command;
+			}
+			if (result != 1) {
+				DeviceState = Last_operation_failed;
+				Aditionals = (uint32_t) Command;
+			}
+		}
+		break;
+	case Upload:
+		if ((DeviceState == DFUidle) || (DeviceState == uploading)) {
+			if ((StartFlag == 1) && (Next_Packet == 0)) {
+				TransferType = Data0;
+				SizeOfTransfer = Count;
+				Next_Packet = 1;
+				Expected_CRC = Data2 << 24;
+				Expected_CRC += Data3 << 16;
+				Expected_CRC += xReceive_Buffer[DATA + 4] << 8;
+				Expected_CRC += xReceive_Buffer[DATA + 5];
+				SizeOfLastPacket = Data1;
+
+				if (isBiggerThanAvailable(TransferType, (SizeOfTransfer - 1)
+						* 14 * 4 + SizeOfLastPacket * 4) == true) {
+					DeviceState = outsideDevCapabilities;
+					Aditionals = (uint32_t) Command;
+				} else {
+					uint8_t result = 1;
+					if (TransferType == FW) {
+						switch (currentProgrammingDestination) {
+						case Self_flash:
+							result = PIOS_BL_HELPER_FLASH_Start();
+							break;
+						case Remote_flash_via_spi:
+							result = false;
+							break;
+						default:
+							break;
+						}
+					}
+					if (result != 1) {
+						DeviceState = Last_operation_failed;
+						Aditionals = (uint32_t) Command;
+					} else {
+
+						DeviceState = uploading;
+					}
+				}
+			} else if ((StartFlag != 1) && (Next_Packet != 0)) {
+				if (Count > SizeOfTransfer) {
+					DeviceState = too_many_packets;
+					Aditionals = Count;
+				} else if (Count == Next_Packet - 1) {
+					uint8_t numberOfWords = 14;
+					if (Count == SizeOfTransfer - 1)//is this the last packet?
+					{
+						numberOfWords = SizeOfLastPacket;
+					}
+					uint8_t result = 0;
+					switch (currentProgrammingDestination) {
+					case Self_flash:
+						for (uint8_t x = 0; x < numberOfWords; ++x) {
+							offset = 4 * x;
+							Data = xReceive_Buffer[DATA + offset] << 24;
+							Data += xReceive_Buffer[DATA + 1 + offset] << 16;
+							Data += xReceive_Buffer[DATA + 2 + offset] << 8;
+							Data += xReceive_Buffer[DATA + 3 + offset];
+							aux = baseOfAdressType(TransferType) + (uint32_t)(
+									Count * 14 * 4 + x * 4);
+							result = 0;
+							for (int retry = 0; retry < MAX_WRI_RETRYS; ++retry) {
+								if (result == 0) {
+									result = (FLASH_ProgramWord(aux, Data)
+											== FLASH_COMPLETE) ? 1 : 0;
+								}
+							}
+						}
+						break;
+					case Remote_flash_via_spi:
+						result = false; // No support for this for the PipX
+						break;
+					default:
+						result = 0;
+						break;
+					}
+					if (result != 1) {
+						DeviceState = Last_operation_failed;
+						Aditionals = (uint32_t) Command;
+					}
+
+					++Next_Packet;
+				} else {
+					DeviceState = wrong_packet_received;
+					Aditionals = Count;
+				}
+			} else {
+				DeviceState = Last_operation_failed;
+				Aditionals = (uint32_t) Command;
+			}
+		}
+		break;
+	case Req_Capabilities:
+		OPDfuIni(true);
+		Buffer[0] = 0x01;
+		Buffer[1] = Rep_Capabilities;
+		if (Data0 == 0) {
+			Buffer[2] = 0;
+			Buffer[3] = 0;
+			Buffer[4] = 0;
+			Buffer[5] = 0;
+			Buffer[6] = 0;
+			Buffer[7] = numberOfDevices;
+			uint16_t WRFlags = 0;
+			for (int x = 0; x < numberOfDevices; ++x) {
+				WRFlags = ((devicesTable[x].readWriteFlags << (x * 2))
+						| WRFlags);
+			}
+			Buffer[8] = WRFlags >> 8;
+			Buffer[9] = WRFlags;
+		} else {
+			Buffer[2] = devicesTable[Data0 - 1].sizeOfCode >> 24;
+			Buffer[3] = devicesTable[Data0 - 1].sizeOfCode >> 16;
+			Buffer[4] = devicesTable[Data0 - 1].sizeOfCode >> 8;
+			Buffer[5] = devicesTable[Data0 - 1].sizeOfCode;
+			Buffer[6] = Data0;
+			Buffer[7] = devicesTable[Data0 - 1].BL_Version;
+			Buffer[8] = devicesTable[Data0 - 1].sizeOfDescription;
+			Buffer[9] = devicesTable[Data0 - 1].devID;
+			Buffer[10] = devicesTable[Data0 - 1].FW_Crc >> 24;
+			Buffer[11] = devicesTable[Data0 - 1].FW_Crc >> 16;
+			Buffer[12] = devicesTable[Data0 - 1].FW_Crc >> 8;
+			Buffer[13] = devicesTable[Data0 - 1].FW_Crc;
+			Buffer[14] = devicesTable[Data0 - 1].devID >> 8;
+			Buffer[15] = devicesTable[Data0 - 1].devID;
+		}
+		sendData(Buffer + 1, 63);
+		break;
+	case JumpFW:
+		if (Data == 0x5AFE) {
+			/* Force board into safe mode */
+			PIOS_IAP_WriteBootCount(0xFFFF);
+		}
+		FLASH_Lock();
+		JumpToApp = 1;
+		break;
+	case Reset:
+		PIOS_SYS_Reset();
+		break;
+	case Abort_Operation:
+		Next_Packet = 0;
+		DeviceState = DFUidle;
+		break;
+
+	case Op_END:
+		if (DeviceState == uploading) {
+			if (Next_Packet - 1 == SizeOfTransfer) {
+				Next_Packet = 0;
+				if ((TransferType != FW) || (Expected_CRC == CalcFirmCRC())) {
+					DeviceState = Last_operation_Success;
+				} else {
+					DeviceState = CRC_Fail;
+				}
+			}
+			if (Next_Packet - 1 < SizeOfTransfer) {
+				Next_Packet = 0;
+				DeviceState = too_few_packets;
+			}
+		}
+		break;
+	case Download_Req:
+#ifdef DEBUG_SSP
+		sprintf(str,"COMMAND:DOWNLOAD_REQ 1 Status=%d|",DeviceState);
+		PIOS_COM_SendString(PIOS_COM_TELEM_USB,str);
+#endif
+		if (DeviceState == DFUidle) {
+#ifdef DEBUG_SSP
+			PIOS_COM_SendString(PIOS_COM_TELEM_USB,"COMMAND:DOWNLOAD_REQ 1|");
+#endif
+			downType = Data0;
+			downPacketTotal = Count;
+			downSizeOfLastPacket = Data1;
+			if (isBiggerThanAvailable(downType, (downPacketTotal - 1) * 14 * 4
+					+ downSizeOfLastPacket * 4) == 1) {
+				DeviceState = outsideDevCapabilities;
+				Aditionals = (uint32_t) Command;
+
+			} else {
+				downPacketCurrent = 0;
+				DeviceState = downloading;
+			}
+		} else {
+			DeviceState = Last_operation_failed;
+			Aditionals = (uint32_t) Command;
+		}
+		break;
+
+	case Status_Request:
+		Buffer[0] = 0x01;
+		Buffer[1] = Status_Rep;
+		if (DeviceState == wrong_packet_received) {
+			Buffer[2] = Aditionals >> 24;
+			Buffer[3] = Aditionals >> 16;
+			Buffer[4] = Aditionals >> 8;
+			Buffer[5] = Aditionals;
+		} else {
+			Buffer[2] = 0;
+			Buffer[3] = ((uint16_t) Aditionals) >> 8;
+			Buffer[4] = ((uint16_t) Aditionals);
+			Buffer[5] = 0;
+		}
+		Buffer[6] = DeviceState;
+		Buffer[7] = 0;
+		Buffer[8] = 0;
+		Buffer[9] = 0;
+		sendData(Buffer + 1, 63);
+		if (DeviceState == Last_operation_Success) {
+			DeviceState = DFUidle;
+		}
+		break;
+	case Status_Rep:
+
+		break;
+
+	}
+	if (EchoReqFlag == 1) {
+		echoBuffer[0] = echoBuffer[0] | (1 << 6);
+		sendData(echoBuffer, 63);
+	}
+	return;
+}
+void OPDfuIni(uint8_t discover) {
+	const struct pios_board_info * bdinfo = &pios_board_info_blob;
+	Device dev;
+
+	dev.programmingType = Self_flash;
+	dev.readWriteFlags = (BOARD_READABLE | (BOARD_WRITABLE << 1));
+	dev.startOfUserCode = bdinfo->fw_base;
+	dev.sizeOfCode = bdinfo->fw_size;
+	dev.sizeOfDescription = bdinfo->desc_size;
+	dev.BL_Version = bdinfo->bl_rev;
+	dev.FW_Crc = CalcFirmCRC();
+	dev.devID = (bdinfo->board_type << 8) | (bdinfo->board_rev);
+	dev.devType = bdinfo->hw_type;
+	numberOfDevices = 1;
+	devicesTable[0] = dev;
+	if (discover) {
+		//TODO check other devices trough spi or whatever
+	}
+}
+uint32_t baseOfAdressType(DFUTransfer type) {
+	switch (type) {
+	case FW:
+		return currentDevice.startOfUserCode;
+		break;
+	case Descript:
+		return currentDevice.startOfUserCode + currentDevice.sizeOfCode;
+		break;
+	default:
+
+		return 0;
+	}
+}
+uint8_t isBiggerThanAvailable(DFUTransfer type, uint32_t size) {
+	switch (type) {
+	case FW:
+		return (size > currentDevice.sizeOfCode) ? 1 : 0;
+		break;
+	case Descript:
+		return (size > currentDevice.sizeOfDescription) ? 1 : 0;
+		break;
+	default:
+		return true;
+	}
+}
+
+uint32_t CalcFirmCRC() {
+	switch (currentProgrammingDestination) {
+	case Self_flash:
+		return PIOS_BL_HELPER_CRC_Memory_Calc();
+		break;
+	case Remote_flash_via_spi:
+		return 0;
+		break;
+	default:
+		return 0;
+		break;
+	}
+
+}
+void sendData(uint8_t * buf, uint16_t size) {
+	PIOS_COM_MSG_Send(PIOS_COM_TELEM_USB, buf, size);
+}
+
+bool flash_read(uint8_t * buffer, uint32_t adr, DFUProgType type) {
+	switch (type) {
+	case Remote_flash_via_spi:
+		return false; // We should not get this for the PipX
+		break;
+	case Self_flash:
+		for (uint8_t x = 0; x < 4; ++x) {
+			buffer[x] = *PIOS_BL_HELPER_FLASH_If_Read(adr + x);
+		}
+		return true;
+		break;
+	default:
+		return false;
+	}
+}

flight/Bootloaders/RevoMini/pios_board.c

@@ -0,0 +1,78 @@
+/**
+ ******************************************************************************
+ *
+ * @file       pios_board.c
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @brief      Defines board specific static initializers for hardware for the AHRS 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
+ */
+
+/* Pull in the board-specific static HW definitions.
+ * Including .c files is a bit ugly but this allows all of
+ * the HW definitions to be const and static to limit their
+ * scope.  
+ *
+ * NOTE: THIS IS THE ONLY PLACE THAT SHOULD EVER INCLUDE THIS FILE
+ */
+#include "board_hw_defs.c"
+
+#include <pios_board_info.h>
+#include <pios.h>
+
+uint32_t pios_com_telem_usb_id;
+
+static bool board_init_complete = false;
+void PIOS_Board_Init() {
+	if (board_init_complete) {
+		return;
+	}
+
+	/* Delay system */
+	PIOS_DELAY_Init();
+	
+#if defined(PIOS_INCLUDE_LED)
+	PIOS_LED_Init(&pios_led_cfg);
+#endif	/* PIOS_INCLUDE_LED */
+
+#if defined(PIOS_INCLUDE_USB)
+	/* Initialize board specific USB data */
+	PIOS_USB_BOARD_DATA_Init();
+
+	/* Activate the HID-only USB configuration */
+	PIOS_USB_DESC_HID_ONLY_Init();
+
+	uint32_t pios_usb_id;
+	PIOS_USB_Init(&pios_usb_id, &pios_usb_main_cfg);
+
+#if defined(PIOS_INCLUDE_USB_HID) && defined(PIOS_INCLUDE_COM_MSG)
+	uint32_t pios_usb_hid_id;
+	if (PIOS_USB_HID_Init(&pios_usb_hid_id, &pios_usb_hid_cfg, pios_usb_id)) {
+		PIOS_Assert(0);
+	}
+	if (PIOS_COM_MSG_Init(&pios_com_telem_usb_id, &pios_usb_hid_com_driver, pios_usb_hid_id)) {
+		PIOS_Assert(0);
+	}
+#endif	/* PIOS_INCLUDE_USB_HID && PIOS_INCLUDE_COM_MSG */
+
+	PIOS_USBHOOK_Activate();
+
+#endif	/* PIOS_INCLUDE_USB */
+
+	board_init_complete = true;
+}

flight/Bootloaders/RevoMini/pios_usb_board_data.c

@@ -0,0 +1,98 @@
+/**
+ ******************************************************************************
+ * @addtogroup PIOS PIOS Core hardware abstraction layer
+ * @{
+ * @addtogroup PIOS_USB_BOARD Board specific USB definitions
+ * @brief Board specific USB definitions
+ * @{
+ *
+ * @file       pios_usb_board_data.c
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @brief      Board specific USB definitions
+ * @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
+ */
+
+#include "pios_usb_board_data.h" /* struct usb_*, USB_* */
+#include "pios_sys.h"		 /* PIOS_SYS_SerialNumberGet */
+#include "pios_usbhook.h"	 /* PIOS_USBHOOK_* */
+#include "pios_usb_util.h"	 /* PIOS_USB_UTIL_AsciiToUtf8 */
+
+static const uint8_t usb_product_id[22] = {
+	sizeof(usb_product_id),
+	USB_DESC_TYPE_STRING,
+	'R', 0,
+	'e', 0,
+	'v', 0,
+	'o', 0,
+	'l', 0,
+	'u', 0,
+	't', 0,
+	'i', 0,
+	'o', 0,
+	'n', 0,
+};
+
+static uint8_t usb_serial_number[2 + PIOS_SYS_SERIAL_NUM_ASCII_LEN*2 + (sizeof(PIOS_USB_BOARD_SN_SUFFIX)-1)*2] = {
+	sizeof(usb_serial_number),
+	USB_DESC_TYPE_STRING,
+};
+
+static const struct usb_string_langid usb_lang_id = {
+	.bLength = sizeof(usb_lang_id),
+	.bDescriptorType = USB_DESC_TYPE_STRING,
+	.bLangID = htousbs(USB_LANGID_ENGLISH_US),
+};
+
+static const uint8_t usb_vendor_id[28] = {
+	sizeof(usb_vendor_id),
+	USB_DESC_TYPE_STRING,
+	'o', 0,
+	'p', 0,
+	'e', 0,
+	'n', 0,
+	'p', 0,
+	'i', 0,
+	'l', 0,
+	'o', 0,
+	't', 0,
+	'.', 0,
+	'o', 0,
+	'r', 0,
+	'g', 0
+};
+
+int32_t PIOS_USB_BOARD_DATA_Init(void)
+{
+	/* Load device serial number into serial number string */
+	uint8_t sn[PIOS_SYS_SERIAL_NUM_ASCII_LEN + 1];
+	PIOS_SYS_SerialNumberGet((char *)sn);
+
+	/* Concatenate the device serial number and the appropriate suffix ("+BL" or "+FW") into the USB serial number */
+	uint8_t * utf8 = &(usb_serial_number[2]);
+	utf8 = PIOS_USB_UTIL_AsciiToUtf8(utf8, sn, PIOS_SYS_SERIAL_NUM_ASCII_LEN);
+	utf8 = PIOS_USB_UTIL_AsciiToUtf8(utf8, (uint8_t *)PIOS_USB_BOARD_SN_SUFFIX, sizeof(PIOS_USB_BOARD_SN_SUFFIX)-1);
+
+	PIOS_USBHOOK_RegisterString(USB_STRING_DESC_PRODUCT, (uint8_t *)&usb_product_id, sizeof(usb_product_id));
+	PIOS_USBHOOK_RegisterString(USB_STRING_DESC_SERIAL, (uint8_t *)&usb_serial_number, sizeof(usb_serial_number));
+
+	PIOS_USBHOOK_RegisterString(USB_STRING_DESC_LANG, (uint8_t *)&usb_lang_id, sizeof(usb_lang_id));
+	PIOS_USBHOOK_RegisterString(USB_STRING_DESC_VENDOR, (uint8_t *)&usb_vendor_id, sizeof(usb_vendor_id));
+
+	return 0;
+}

flight/RevoMini/Makefile

@@ -0,0 +1,495 @@
+#####
+# Project: OpenPilot INS
+#
+#
+# Makefile for OpenPilot INS project
+#
+# The OpenPilot Team, http://www.openpilot.org, Copyright (C) 2009.
+#
+#
+# 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
+#####
+
+WHEREAMI := $(dir $(lastword $(MAKEFILE_LIST)))
+TOP      := $(realpath $(WHEREAMI)/../../)
+include $(TOP)/make/firmware-defs.mk
+include $(TOP)/make/boards/$(BOARD_NAME)/board-info.mk
+
+# Target file name (without extension).
+TARGET := fw_$(BOARD_NAME)
+
+# Directory for output files (lst, obj, dep, elf, sym, map, hex, bin etc.)
+OUTDIR := $(TOP)/build/$(TARGET)
+
+# Set developer code and compile options
+# Set to YES for debugging
+DEBUG ?= NO
+
+# Set to YES when using Code Sourcery toolchain
+CODE_SOURCERY ?= NO
+
+ifeq ($(CODE_SOURCERY), YES)
+REMOVE_CMD = cs-rm
+else
+REMOVE_CMD = rm
+endif
+
+FLASH_TOOL = OPENOCD
+
+# List of modules to include
+MODULES = Sensors Attitude/revolution ManualControl Stabilization Actuator
+MODULES += Battery
+MODULES += Altitude/revolution  GPS FirmwareIAP
+MODULES += Airspeed/revolution
+MODULES += AltitudeHold VtolPathFollower FixedWingPathFollower PathPlanner
+MODULES += CameraStab
+MODULES += OveroSync
+MODULES += Telemetry
+PYMODULES = 
+#FlightPlan
+
+# Paths
+OPSYSTEM = ./System
+OPSYSTEMINC = $(OPSYSTEM)/inc
+OPUAVTALK = ../UAVTalk
+OPUAVTALKINC = $(OPUAVTALK)/inc
+OPUAVOBJ = ../UAVObjects
+OPUAVOBJINC = $(OPUAVOBJ)/inc
+PIOS = ../PiOS
+PIOSINC = $(PIOS)/inc
+OPMODULEDIR = ../Modules
+FLIGHTLIB = ../Libraries
+FLIGHTLIBINC = ../Libraries/inc
+PIOSSTM32F4XX = $(PIOS)/STM32F4xx
+PIOSCOMMON = $(PIOS)/Common
+PIOSBOARDS = $(PIOS)/Boards
+PIOSCOMMONLIB = $(PIOSCOMMON)/Libraries
+APPLIBDIR = $(PIOSSTM32F4XX)/Libraries
+STMLIBDIR = $(APPLIBDIR)
+STMSPDDIR = $(STMLIBDIR)/STM32F4xx_StdPeriph_Driver
+STMSPDSRCDIR = $(STMSPDDIR)/src
+STMSPDINCDIR = $(STMSPDDIR)/inc
+OPUAVOBJ = ../UAVObjects
+OPUAVOBJINC = $(OPUAVOBJ)/inc
+BOOT = ../Bootloaders/INS
+BOOTINC = $(BOOT)/inc
+PYMITE = $(FLIGHTLIB)/PyMite
+PYMITELIB = $(PYMITE)/lib
+PYMITEPLAT = $(PYMITE)/platform/openpilot
+PYMITETOOLS = $(PYMITE)/tools
+PYMITEVM = $(PYMITE)/vm
+PYMITEINC = $(PYMITEVM)
+PYMITEINC += $(PYMITEPLAT)
+PYMITEINC += $(OUTDIR)
+FLIGHTPLANLIB = $(OPMODULEDIR)/FlightPlan/lib
+FLIGHTPLANS = $(OPMODULEDIR)/FlightPlan/flightplans
+HWDEFSINC = ../board_hw_defs/$(BOARD_NAME)
+UAVOBJSYNTHDIR = $(OUTDIR)/../uavobject-synthetics/flight
+
+SRC = 
+# optional component libraries
+include $(PIOSCOMMONLIB)/FreeRTOS/library.mk
+#include $(PIOSCOMMONLIB)/dosfs/library.mk
+include $(PIOSCOMMONLIB)/msheap/library.mk
+
+
+# List C source files here. (C dependencies are automatically generated.)
+# use file-extension c for "c-only"-files
+
+## PyMite files and modules
+SRC += $(OUTDIR)/pmlib_img.c
+SRC += $(OUTDIR)/pmlib_nat.c
+SRC += $(OUTDIR)/pmlibusr_img.c
+SRC += $(OUTDIR)/pmlibusr_nat.c
+PYSRC += $(wildcard ${PYMITEVM}/*.c)
+PYSRC += $(wildcard ${PYMITEPLAT}/*.c)
+PYSRC += ${foreach MOD, ${PYMODULES}, ${wildcard ${OPMODULEDIR}/${MOD}/*.c}}
+SRC += $(PYSRC)
+
+## MODULES
+SRC += ${foreach MOD, ${MODULES}, ${wildcard ${OPMODULEDIR}/${MOD}/*.c}}
+## OPENPILOT CORE:
+SRC += ${OPMODULEDIR}/System/systemmod.c
+SRC += $(OPSYSTEM)/revolution.c
+SRC += $(OPSYSTEM)/pios_board.c
+SRC += $(OPSYSTEM)/pios_usb_board_data.c
+SRC += $(OPSYSTEM)/alarms.c
+SRC += $(OPUAVTALK)/uavtalk.c
+SRC += $(OPUAVOBJ)/uavobjectmanager.c
+SRC += $(OPUAVOBJ)/eventdispatcher.c
+
+#ifeq ($(DEBUG),YES)
+SRC += $(OPSYSTEM)/dcc_stdio.c
+SRC += $(OPSYSTEM)/cm3_fault_handlers.c
+#endif
+
+SRC += $(FLIGHTLIB)/CoordinateConversions.c
+SRC += $(FLIGHTLIB)/paths.c
+SRC += $(FLIGHTLIB)/fifo_buffer.c
+SRC += $(FLIGHTLIB)/WorldMagModel.c
+SRC += $(FLIGHTLIB)/insgps13state.c
+SRC += $(FLIGHTLIB)/taskmonitor.c
+
+## PIOS Hardware (STM32F4xx)
+include $(PIOS)/STM32F4xx/library.mk
+
+## PIOS Hardware (Common)
+SRC += $(PIOSCOMMON)/pios_mpu6000.c
+SRC += $(PIOSCOMMON)/pios_bma180.c
+SRC += $(PIOSCOMMON)/pios_etasv3.c
+SRC += $(PIOSCOMMON)/pios_gcsrcvr.c
+SRC += $(PIOSCOMMON)/pios_l3gd20.c
+SRC += $(PIOSCOMMON)/pios_hmc5883.c
+SRC += $(PIOSCOMMON)/pios_ms5611.c
+SRC += $(PIOSCOMMON)/pios_crc.c
+SRC += $(PIOSCOMMON)/pios_com.c
+SRC += $(PIOSCOMMON)/pios_rcvr.c
+SRC += $(PIOSCOMMON)/pios_flash_jedec.c
+SRC += $(PIOSCOMMON)/pios_flashfs_objlist.c
+SRC += $(PIOSCOMMON)/printf-stdarg.c
+SRC += $(PIOSCOMMON)/pios_usb_desc_hid_cdc.c
+SRC += $(PIOSCOMMON)/pios_usb_desc_hid_only.c
+SRC += $(PIOSCOMMON)/pios_usb_util.c
+
+include ./UAVObjects.inc
+SRC += $(UAVOBJSRC)
+
+# List C source files here which must be compiled in ARM-Mode (no -mthumb).
+# use file-extension c for "c-only"-files
+## just for testing, timer.c could be compiled in thumb-mode too
+SRCARM =
+
+# List C++ source files here.
+# use file-extension .cpp for C++-files (not .C)
+CPPSRC =
+
+# List C++ source files here which must be compiled in ARM-Mode.
+# use file-extension .cpp for C++-files (not .C)
+#CPPSRCARM = $(TARGET).cpp
+CPPSRCARM =
+
+# List Assembler source files here.
+# Make them always end in a capital .S. Files ending in a lowercase .s
+# will not be considered source files but generated files (assembler
+# output from the compiler), and will be deleted upon "make clean"!
+# 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.
+
+
+# List Assembler source files here which must be assembled in ARM-Mode..
+ASRCARM =
+
+# List any extra directories to look for include files here.
+#    Each directory must be seperated by a space.
+EXTRAINCDIRS  += $(PIOS)
+EXTRAINCDIRS  += $(PIOSINC)
+EXTRAINCDIRS  += $(OPSYSTEMINC)
+EXTRAINCDIRS  += $(OPUAVTALK)
+EXTRAINCDIRS  += $(OPUAVTALKINC)
+EXTRAINCDIRS  += $(OPUAVOBJ)
+EXTRAINCDIRS  += $(OPUAVOBJINC)
+EXTRAINCDIRS  += $(UAVOBJSYNTHDIR)
+EXTRAINCDIRS  += $(FLIGHTLIBINC)
+EXTRAINCDIRS  += $(PIOSSTM32F4XX)
+EXTRAINCDIRS  += $(PIOSCOMMON)
+EXTRAINCDIRS  += $(PIOSBOARDS)
+EXTRAINCDIRS  += $(STMSPDINCDIR)
+EXTRAINCDIRS  += $(CMSISDIR)
+EXTRAINCDIRS  += $(OPUAVSYNTHDIR)
+EXTRAINCDIRS  += $(BOOTINC)
+EXTRAINCDIRS  += $(PYMITEINC)
+EXTRAINCDIRS  += $(HWDEFSINC)
+
+# Generate intermediate code
+gencode: ${OUTDIR}/pmlib_img.c ${OUTDIR}/pmlib_nat.c ${OUTDIR}/pmlibusr_img.c ${OUTDIR}/pmlibusr_nat.c ${OUTDIR}/pmfeatures.h 
+
+$(PYSRC): gencode
+
+PYTHON = python
+
+# Generate code for PyMite
+${OUTDIR}/pmlib_img.c ${OUTDIR}/pmlib_nat.c ${OUTDIR}/pmlibusr_img.c ${OUTDIR}/pmlibusr_nat.c ${OUTDIR}/pmfeatures.h: $(wildcard ${PYMITELIB}/*.py) $(wildcard ${PYMITEPLAT}/*.py) $(wildcard ${FLIGHTPLANLIB}/*.py) $(wildcard ${FLIGHTPLANS}/*.py) 
+	@echo $(MSG_PYMITEINIT) $(call toprel, $@)
+	@$(PYTHON) $(PYMITETOOLS)/pmImgCreator.py -f $(PYMITEPLAT)/pmfeatures.py -c -s --memspace=flash -o $(OUTDIR)/pmlib_img.c --native-file=$(OUTDIR)/pmlib_nat.c $(PYMITELIB)/list.py $(PYMITELIB)/dict.py $(PYMITELIB)/__bi.py $(PYMITELIB)/sys.py $(PYMITELIB)/string.py $(wildcard $(FLIGHTPLANLIB)/*.py)
+	@$(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
+EXTRAINCDIRS += ${foreach MOD, ${MODULES} ${PYMODULES}, $(OPMODULEDIR)/${MOD}/inc} ${OPMODULEDIR}/System/inc
+
+# List any extra directories to look for library files here.
+# Also add directories where the linker should search for
+# includes from linker-script to the list
+#     Each directory must be seperated by a space.
+EXTRA_LIBDIRS =
+
+# Extra Libraries
+#    Each library-name must be seperated by a space.
+#    i.e. to link with libxyz.a, libabc.a and libefsl.a:
+#    EXTRA_LIBS = xyz abc efsl
+# for newlib-lpc (file: libnewlibc-lpc.a):
+#    EXTRA_LIBS = newlib-lpc
+EXTRA_LIBS =
+
+# Path to Linker-Scripts
+LINKERSCRIPTPATH = $(PIOSSTM32F4XX)
+
+# Optimization level, can be [0, 1, 2, 3, s].
+# 0 = turn off optimization. s = optimize for size.
+# (Note: 3 is not always the best optimization level. See avr-libc FAQ.)
+
+ifeq ($(DEBUG),YES)
+CFLAGS += -O0
+CFLAGS += -DGENERAL_COV
+CFLAGS += -finstrument-functions -ffixed-r10
+else
+CFLAGS += -Os
+endif
+
+
+   
+# common architecture-specific flags from the device-specific library makefile
+CFLAGS += $(ARCHFLAGS)
+
+CFLAGS += -DDIAGNOSTICS
+CFLAGS += -DDIAG_TASKS
+
+# This is not the best place for these.  Really should abstract out
+# to the board file or something
+CFLAGS += -DSTM32F4XX
+CFLAGS += -DMEM_SIZE=1024000000
+
+# Output format. (can be ihex or binary or both)
+#  binary to create a load-image in raw-binary format i.e. for SAM-BA,
+#  ihex to create a load-image in Intel hex format
+#LOADFORMAT = ihex
+#LOADFORMAT = binary
+LOADFORMAT = both
+
+# Debugging format.
+DEBUGF = dwarf-2
+
+# Place project-specific -D (define) and/or
+# -U options for C here.
+CDEFS += -DHSE_VALUE=$(OSCILLATOR_FREQ)
+CDEFS += -DSYSCLK_FREQ=$(SYSCLK_FREQ)
+CDEFS += -DUSE_STDPERIPH_DRIVER
+CDEFS += -DUSE_$(BOARD)
+
+# Place project-specific -D and/or -U options for
+# Assembler with preprocessor here.
+#ADEFS = -DUSE_IRQ_ASM_WRAPPER
+ADEFS = -D__ASSEMBLY__
+
+# Compiler flag to set the C Standard level.
+# c89   - "ANSI" C
+# gnu89 - c89 plus GCC extensions
+# c99   - ISO C99 standard (not yet fully implemented)
+# gnu99 - c99 plus GCC extensions
+CSTANDARD = -std=gnu99
+
+#-----
+
+# Compiler flags.
+
+#  -g*:          generate debugging information
+#  -O*:          optimization level
+#  -f...:        tuning, see GCC manual and avr-libc documentation
+#  -Wall...:     warning level
+#  -Wa,...:      tell GCC to pass this to the assembler.
+#    -adhlns...: create assembler listing
+#
+# Flags for C and C++ (arm-elf-gcc/arm-elf-g++)
+
+CFLAGS += -g$(DEBUGF)
+
+CFLAGS += -ffast-math
+
+CFLAGS += -mcpu=$(MCU)
+CFLAGS += $(CDEFS)
+CFLAGS += $(patsubst %,-I%,$(EXTRAINCDIRS)) -I.
+
+CFLAGS += -mapcs-frame
+CFLAGS += -fomit-frame-pointer
+ifeq ($(CODE_SOURCERY), YES)
+CFLAGS += -fpromote-loop-indices
+endif
+
+CFLAGS += -Wall
+#CFLAGS += -Werror
+CFLAGS += -Wa,-adhlns=$(addprefix $(OUTDIR)/, $(notdir $(addsuffix .lst, $(basename $<))))
+# Compiler flags to generate dependency files:
+CFLAGS += -MD -MP -MF $(OUTDIR)/dep/$(@F).d
+
+# flags only for C
+#CONLYFLAGS += -Wnested-externs
+CONLYFLAGS += $(CSTANDARD)
+
+# Assembler flags.
+#  -Wa,...:    tell GCC to pass this to the assembler.
+#  -ahlns:     create listing
+ASFLAGS  = $(ARCHFLAGS) -mthumb -I. -x assembler-with-cpp
+ASFLAGS += $(ADEFS)
+ASFLAGS += -Wa,-adhlns=$(addprefix $(OUTDIR)/, $(notdir $(addsuffix .lst, $(basename $<))))
+ASFLAGS += $(patsubst %,-I%,$(EXTRAINCDIRS))
+
+MATH_LIB = -lm
+
+# Linker flags.
+#  -Wl,...:     tell GCC to pass this to linker.
+#    -Map:      create map file
+#    --cref:    add cross reference to  map file
+LDFLAGS = -nostartfiles -Wl,-Map=$(OUTDIR)/$(TARGET).map,--cref,--gc-sections
+LDFLAGS += $(patsubst %,-L%,$(EXTRA_LIBDIRS))
+LDFLAGS += -lc
+LDFLAGS += $(patsubst %,-l%,$(EXTRA_LIBS))
+LDFLAGS += $(MATH_LIB)
+LDFLAGS += -lc -lgcc
+
+#Linker scripts                                                                                                                                                                                                              
+LDFLAGS += $(addprefix -T,$(LINKER_SCRIPTS_APP))
+
+
+# Define programs and commands.
+REMOVE  = $(REMOVE_CMD) -f
+PYHON   = python
+
+# List of all source files.
+ALLSRC     = $(ASRCARM) $(ASRC) $(SRCARM) $(SRC) $(CPPSRCARM) $(CPPSRC)
+# List of all source files without directory and file-extension.
+ALLSRCBASE = $(notdir $(basename $(ALLSRC)))
+
+# Define all object files.
+ALLOBJ     = $(addprefix $(OUTDIR)/, $(addsuffix .o, $(ALLSRCBASE)))
+
+# Define all listing files (used for make clean).
+LSTFILES   = $(addprefix $(OUTDIR)/, $(addsuffix .lst, $(ALLSRCBASE)))
+# Define all depedency-files (used for make clean).
+DEPFILES   = $(addprefix $(OUTDIR)/dep/, $(addsuffix .o.d, $(ALLSRCBASE)))
+
+# Default target.
+all: gccversion build
+
+ifeq ($(LOADFORMAT),ihex)
+build: elf hex lss sym
+else
+ifeq ($(LOADFORMAT),binary)
+build: elf bin lss sym
+else
+ifeq ($(LOADFORMAT),both)
+build: elf hex bin lss sym
+else
+$(error "$(MSG_FORMATERROR) $(FORMAT)")
+endif
+endif
+endif
+
+
+# Link: create ELF output file from object files.
+$(eval $(call LINK_TEMPLATE, $(OUTDIR)/$(TARGET).elf, $(ALLOBJ)))
+
+# Assemble: create object files from assembler source files.
+$(foreach src, $(ASRC), $(eval $(call ASSEMBLE_TEMPLATE, $(src))))
+
+# Assemble: create object files from assembler source files. ARM-only
+$(foreach src, $(ASRCARM), $(eval $(call ASSEMBLE_ARM_TEMPLATE, $(src))))
+
+# Compile: create object files from C source files.
+$(foreach src, $(SRC), $(eval $(call COMPILE_C_TEMPLATE, $(src))))
+
+# Compile: create object files from C source files. ARM-only
+$(foreach src, $(SRCARM), $(eval $(call COMPILE_C_ARM_TEMPLATE, $(src))))
+
+# Compile: create object files from C++ source files.
+$(foreach src, $(CPPSRC), $(eval $(call COMPILE_CPP_TEMPLATE, $(src))))
+
+# Compile: create object files from C++ source files. ARM-only
+$(foreach src, $(CPPSRCARM), $(eval $(call COMPILE_CPP_ARM_TEMPLATE, $(src))))
+
+# Compile: create assembler files from C source files. ARM/Thumb
+$(eval $(call PARTIAL_COMPILE_TEMPLATE, SRC))
+
+# Compile: create assembler files from C source files. ARM only
+$(eval $(call PARTIAL_COMPILE_ARM_TEMPLATE, SRCARM))
+
+$(OUTDIR)/$(TARGET).bin.o: $(OUTDIR)/$(TARGET).bin
+
+$(eval $(call OPFW_TEMPLATE,$(OUTDIR)/$(TARGET).bin,$(BOARD_TYPE),$(BOARD_REVISION)))
+
+# Add jtag targets (program and wipe)
+$(eval $(call JTAG_TEMPLATE,$(OUTDIR)/$(TARGET).bin,$(FW_BANK_BASE),$(FW_BANK_SIZE),$(OPENOCD_JTAG_CONFIG),$(OPENOCD_CONFIG)))
+
+.PHONY: elf lss sym hex bin bino opfw
+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
+opfw: $(OUTDIR)/$(TARGET).opfw
+
+# Display sizes of sections.
+$(eval $(call SIZE_TEMPLATE, $(OUTDIR)/$(TARGET).elf))
+
+# Generate Doxygen documents
+docs:
+	doxygen  $(DOXYGENDIR)/doxygen.cfg
+
+# Install: install binary file with prefix/suffix into install directory
+install: $(OUTDIR)/$(TARGET).opfw
+ifneq ($(INSTALL_DIR),)
+	@echo $(MSG_INSTALLING) $(call toprel, $<)
+	$(V1) mkdir -p $(INSTALL_DIR)
+	$(V1) $(INSTALL) $< $(INSTALL_DIR)/$(INSTALL_PFX)$(TARGET)$(INSTALL_SFX).opfw
+else
+	$(error INSTALL_DIR must be specified for $@)
+endif
+
+# Target: clean project.
+clean: clean_list
+
+clean_list :
+	@echo $(MSG_CLEANING)
+	$(V1) $(REMOVE) $(OUTDIR)/$(TARGET).map
+	$(V1) $(REMOVE) $(OUTDIR)/$(TARGET).elf
+	$(V1) $(REMOVE) $(OUTDIR)/$(TARGET).hex
+	$(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)
+	$(V1) $(REMOVE) $(SRC:.c=.s)
+	$(V1) $(REMOVE) $(SRCARM:.c=.s)
+	$(V1) $(REMOVE) $(CPPSRC:.cpp=.s)
+	$(V1) $(REMOVE) $(CPPSRCARM:.cpp=.s)
+
+# Create output files directory
+# all known MS Windows OS define the ComSpec environment variable
+ifdef ComSpec
+$(shell md $(subst /,\\,$(OUTDIR)) 2>NUL)
+else
+$(shell mkdir -p $(OUTDIR) 2>/dev/null)
+endif
+
+# Include the dependency files.
+ifdef ComSpec
+-include $(shell md $(subst /,\\,$(OUTDIR))\dep 2>NUL) $(wildcard $(OUTDIR)/dep/*)
+else
+-include $(shell mkdir $(OUTDIR) 2>/dev/null) $(shell mkdir $(OUTDIR)/dep 2>/dev/null) $(wildcard $(OUTDIR)/dep/*)
+endif
+
+# Listing of phony targets.
+.PHONY : all build clean clean_list install

flight/RevoMini/Makefile.osx

@@ -0,0 +1,669 @@
+ #####
+ # Project: RevoMini
+ #
+ #
+ # Makefile for OpenPilot project build PiOS and the AP.
+ #
+ # The OpenPilot Team, http://www.openpilot.org, Copyright (C) 2012.
+ #
+ # 
+ # 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
+ #####
+
+
+# Set developer code and compile options
+# Set to YES to compile for debugging
+DEBUG ?= YES
+
+# Set to YES to use the Servo output pins for debugging via scope or logic analyser
+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 ?= NO
+
+
+# Set to YES when using Code Sourcery toolchain
+CODE_SOURCERY ?= NO
+
+# Remove command is different for Code Sourcery on Windows
+REMOVE_CMD ?= rm
+
+FLASH_TOOL = OPENOCD
+
+# YES enables -mthumb option to flags for source-files listed
+# in SRC and CPPSRC
+USE_THUMB_MODE = YES
+
+# List of modules to include
+MODULES +=  Actuator ManualControl Stabilization 
+MODULES += AltitudeHold VtolPathFollower FixedWingPathFollower PathPlanner
+MODULES += Attitude/revolution
+#MODULES += OveroSync/simulated
+
+# To run simulation instead of connect to SITL
+MODULES += Sensors/simulated
+
+MODULES += Telemetry
+
+# MCU name, submodel and board
+# - MCU used for compiler-option (-mtune)
+# - MODEL used for linker-script name (-T) and passed as define
+# - BOARD just passed as define (optional)
+MCU      = i686
+#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 = ../../build/sim_osx
+
+# Target file name (without extension).
+TARGET = RevoMini
+
+# Paths
+OPSYSTEM = ./System
+OPSYSTEMINC = $(OPSYSTEM)/inc
+OPUAVTALK = ../UAVTalk
+OPUAVTALKINC = $(OPUAVTALK)/inc
+OPUAVOBJ = ../UAVObjects
+OPUAVOBJINC = $(OPUAVOBJ)/inc
+OPTESTS  = ./Tests
+OPMODULEDIR = ../Modules
+FLIGHTLIB = ../Libraries
+FLIGHTLIBINC = $(FLIGHTLIB)/inc
+PIOS = ../PiOS.osx
+PIOSINC = $(PIOS)/inc
+PIOSPOSIX = $(PIOS)/osx
+APPLIBDIR = $(PIOSPOSIX)/Libraries
+RTOSDIR = $(APPLIBDIR)/FreeRTOS
+RTOSSRCDIR = $(RTOSDIR)/Source
+RTOSINCDIR = $(RTOSSRCDIR)/include
+DOXYGENDIR = ../Doc/Doxygen
+PYMITE = $(FLIGHTLIB)/PyMite
+PYMITELIB = $(PYMITE)/lib
+PYMITEPLAT = $(PYMITE)/platform/openpilot_sitl
+PYMITETOOLS = $(PYMITE)/tools
+PYMITEVM = $(PYMITE)/vm
+PYMITEINC = $(PYMITEVM)
+PYMITEINC += $(PYMITEPLAT)
+PYMITEINC += $(OUTDIR)
+FLIGHTPLANLIB = $(OPMODULEDIR)/FlightPlan/lib
+FLIGHTPLANS = $(OPMODULEDIR)/FlightPlan/flightplans
+
+UAVOBJSYNTHDIR = $(OUTDIR)/../uavobject-synthetics/flight
+UAVOBJPYTHONSYNTHDIR = $(OUTDIR)/../uavobject-synthetics/python
+
+# List C source files here. (C dependencies are automatically generated.)
+# use file-extension c for "c-only"-files
+
+MODNAMES = $(notdir ${MODULES})
+
+ifndef TESTAPP
+
+## PyMite files
+SRC += $(OUTDIR)/pmlib_img.c
+SRC += $(OUTDIR)/pmlib_nat.c
+SRC += $(OUTDIR)/pmlibusr_img.c
+SRC += $(OUTDIR)/pmlibusr_nat.c
+SRC += $(wildcard ${PYMITEVM}/*.c)
+SRC += $(wildcard ${PYMITEPLAT}/*.c)
+
+## MODULES
+SRC += ${foreach MOD, ${MODULES}, ${wildcard ${OPMODULEDIR}/${MOD}/*.c}}
+SRC += ${OUTDIR}/InitMods.c
+## OPENPILOT CORE:
+SRC += ${OPMODULEDIR}/System/systemmod.c
+SRC += $(OPSYSTEM)/revolution.c
+SRC += $(OPSYSTEM)/pios_board_sim.c
+SRC += $(OPSYSTEM)/alarms.c
+SRC += $(OPUAVTALK)/uavtalk.c
+SRC += $(OPUAVOBJ)/uavobjectmanager.c
+SRC += $(OPUAVOBJ)/eventdispatcher.c
+SRC += $(UAVOBJSYNTHDIR)/uavobjectsinit.c
+else
+## TESTCODE
+SRC += $(OPTESTS)/test_common.c
+SRC += $(OPTESTS)/$(TESTAPP).c
+endif
+
+
+
+## UAVOBJECTS
+ifndef TESTAPP
+#include $(UAVOBJSYNTHDIR)/Makefile.inc
+include ./UAVObjects.inc
+
+UAVOBJSRCFILENAMES += attitudesimulated
+UAVOBJSRC = $(foreach UAVOBJSRCFILE,$(UAVOBJSRCFILENAMES),$(UAVOBJSYNTHDIR)/$(UAVOBJSRCFILE).c )
+UAVOBJDEFINE = $(foreach UAVOBJSRCFILE,$(UAVOBJSRCFILENAMES),-DUAVOBJ_INIT_$(UAVOBJSRCFILE) )
+
+SRC += $(UAVOBJSRC)
+CFLAGS_UAVOBJECTS = $(UAVOBJDEFINE)
+endif
+
+## PIOS Hardware (posix)
+SRC += $(PIOSPOSIX)/pios_crc.c
+SRC += $(PIOSPOSIX)/pios_sys.c
+SRC += $(PIOSPOSIX)/pios_led.c
+SRC += $(PIOSPOSIX)/pios_irq.c
+SRC += $(PIOSPOSIX)/pios_delay.c
+SRC += $(PIOSPOSIX)/pios_sdcard.c
+SRC += $(PIOSPOSIX)/pios_udp.c
+SRC += $(PIOSPOSIX)/pios_tcp.c
+SRC += $(PIOSPOSIX)/pios_com.c
+SRC += $(PIOSPOSIX)/pios_servo.c
+SRC += $(PIOSPOSIX)/pios_wdg.c
+SRC += $(PIOSPOSIX)/pios_debug.c
+
+SRC += $(PIOSPOSIX)/pios_rcvr.c
+SRC += $(PIOSPOSIX)/pios_gcsrcvr.c
+
+## Libraries for flight calculations
+SRC += $(FLIGHTLIB)/fifo_buffer.c
+SRC += $(FLIGHTLIB)/WorldMagModel.c
+SRC += $(FLIGHTLIB)/CoordinateConversions.c
+SRC += $(FLIGHTLIB)/paths.c
+SRC += $(FLIGHTLIB)/insgps13state.c
+SRC += $(FLIGHTLIB)/taskmonitor.c
+
+## RTOS and RTOS Portable 
+SRC += $(RTOSSRCDIR)/list.c
+SRC += $(RTOSSRCDIR)/queue.c
+UNAME := $(shell uname)
+SRC += $(RTOSSRCDIR)/task.c
+SRC += $(RTOSSRCDIR)/timers.c
+SRC += $(RTOSSRCDIR)/portable/GCC/Posix/port.c
+SRC += $(RTOSSRCDIR)/portable/MemMang/heap_3.c
+
+
+
+# List C source files here which must be compiled in ARM-Mode (no -mthumb).
+# use file-extension c for "c-only"-files
+## just for testing, timer.c could be compiled in thumb-mode too
+SRCARM =
+
+# List C++ source files here.
+# use file-extension .cpp for C++-files (not .C)
+CPPSRC =
+
+# List C++ source files here which must be compiled in ARM-Mode.
+# use file-extension .cpp for C++-files (not .C)
+#CPPSRCARM = $(TARGET).cpp
+CPPSRCARM =
+
+
+# List any extra directories to look for include files here.
+#    Each directory must be seperated by a space.
+EXTRAINCDIRS  =  $(OPSYSTEM)
+EXTRAINCDIRS  += $(OPSYSTEMINC)
+EXTRAINCDIRS  += $(OPUAVTALK)
+EXTRAINCDIRS  += $(OPUAVTALKINC)
+EXTRAINCDIRS  += $(OPUAVOBJ)
+EXTRAINCDIRS  += $(OPUAVOBJINC)
+EXTRAINCDIRS  += $(UAVOBJSYNTHDIR)
+EXTRAINCDIRS  += $(PIOS)
+EXTRAINCDIRS  += $(PIOSINC)
+EXTRAINCDIRS  += $(FLIGHTLIBINC)
+EXTRAINCDIRS  += $(PIOSPOSIX)
+EXTRAINCDIRS  += $(RTOSINCDIR)
+EXTRAINCDIRS  += $(APPLIBDIR)
+EXTRAINCDIRS  += $(RTOSSRCDIR)/portable/GCC/Posix
+EXTRAINCDIRS  += $(PYMITEINC)
+
+EXTRAINCDIRS += ${foreach MOD, ${MODULES}, $(OPMODULEDIR)/${MOD}/inc} ${OPMODULEDIR}/System/inc
+
+
+# List any extra directories to look for library files here.
+# Also add directories where the linker should search for
+# includes from linker-script to the list
+#     Each directory must be seperated by a space.
+EXTRA_LIBDIRS =
+
+# Extra Libraries
+#    Each library-name must be seperated by a space.
+#    i.e. to link with libxyz.a, libabc.a and libefsl.a:
+#    EXTRA_LIBS = xyz abc efsl
+# for newlib-lpc (file: libnewlibc-lpc.a):
+#    EXTRA_LIBS = newlib-lpc
+EXTRA_LIBS =
+
+# Path to Linker-Scripts
+LINKERSCRIPTPATH = $(PIOSSTM32F10X)
+
+# Optimization level, can be [0, 1, 2, 3, s].
+# 0 = turn off optimization. s = optimize for size.
+# (Note: 3 is not always the best optimization level. See avr-libc FAQ.)
+
+ifeq ($(DEBUG),YES)
+OPT = 0
+else
+OPT = s
+endif
+
+# Output format. (can be ihex or binary or both)
+#  binary to create a load-image in raw-binary format i.e. for SAM-BA,
+#  ihex to create a load-image in Intel hex format
+#LOADFORMAT = ihex
+#LOADFORMAT = binary
+LOADFORMAT = both
+
+# Debugging format.
+#DEBUGF = dwarf-2
+
+# Place project-specific -D (define) and/or
+# -U options for C here.
+ifeq ($(ENABLE_DEBUG_PINS), YES)
+CDEFS += -DPIOS_ENABLE_DEBUG_PINS
+endif
+ifeq ($(ENABLE_AUX_UART), YES)
+CDEFS += -DPIOS_ENABLE_AUX_UART
+endif
+ifeq ($(USE_BOOTLOADER), YES)
+CDEFS += -DUSE_BOOTLOADER
+endif
+
+# Compiler flag to set the C Standard level.
+# c89   - "ANSI" C
+# gnu89 - c89 plus GCC extensions
+# c99   - ISO C99 standard (not yet fully implemented)
+# gnu99 - c99 plus GCC extensions
+CSTANDARD = -std=gnu99
+
+#-----
+
+# Compiler flags.
+
+#  -g*:          generate debugging information
+#  -O*:          optimization level
+#  -f...:        tuning, see GCC manual and avr-libc documentation
+#  -Wall...:     warning level
+#  -Wa,...:      tell GCC to pass this to the assembler.
+#    -adhlns...: create assembler listing
+#
+# Flags for C and C++ (arm-elf-gcc/arm-elf-g++)
+
+ifeq ($(DEBUG),YES)
+CFLAGS = -g$(DEBUGF) -DDEBUG
+endif
+
+CFLAGS += -DDIAGNOSTICS
+CFLAGS += -DDIAG_TASKS
+
+CFLAGS += $(CFLAGS_UAVOBJECTS)
+CFLAGS += -DARCH_POSIX
+CFLAGS += -O$(OPT)
+CFLAGS += -mtune=$(MCU)
+CFLAGS += $(CDEFS)
+CFLAGS += $(patsubst %,-I%,$(EXTRAINCDIRS)) -I.
+
+#CFLAGS += ARCH=arm 
+#CROSS_COMPILE=/usr/local/android-ndk-r5/toolchains/arm-linux-androideabi-4.4.3/prebuilt/darwin-x86/bin/arm-linux-androideabi-
+
+CFLAGS += -fomit-frame-pointer
+ifeq ($(CODE_SOURCERY), YES)
+CFLAGS += -fpromote-loop-indices
+endif
+
+CFLAGS += -Wall
+CFLAGS += -Werror
+# Compiler flags to generate dependency files:
+CFLAGS += -MD -MP -MF $(OUTDIR)/dep/$(@F).d
+
+# flags only for C
+#CONLYFLAGS += -Wnested-externs
+CONLYFLAGS += $(CSTANDARD)
+
+# Assembler flags.
+#  -Wa,...:    tell GCC to pass this to the assembler.
+#  -ahlns:     create listing
+ASFLAGS  = -mtune=$(MCU) -I. -x assembler-with-cpp
+ASFLAGS += $(ADEFS)
+ASFLAGS += -Wa,-adhlns=$(addprefix $(OUTDIR)/, $(notdir $(addsuffix .lst, $(basename $<))))
+ASFLAGS += $(patsubst %,-I%,$(EXTRAINCDIRS))
+
+MATH_LIB = -lm
+
+# Linker flags.
+#  -Wl,...:     tell GCC to pass this to linker.
+#    -Map:      create map file
+#    --cref:    add cross reference to  map file
+LDFLAGS += -lpthread 
+LDFLAGS += $(patsubst %,-L%,$(EXTRA_LIBDIRS))
+LDFLAGS += -lc
+LDFLAGS += $(patsubst %,-l%,$(EXTRA_LIBS))
+LDFLAGS += $(MATH_LIB)
+LDFLAGS += -lc -lgcc
+
+# To include simulation model
+LDFLAGS += -L$(OUTDIR) 
+#LDFLAGS += -lsimmodel
+
+
+# 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
+PYTHON  = python
+###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}
+MSG_PYMITEINIT = ${quote}**** Generating PyMite intermediate code${quote}
+
+# List of all source files.
+ALLSRC     = $(ASRCARM) $(ASRC) $(SRCARM) $(SRC) $(CPPSRCARM) $(CPPSRC)
+# List of all source files without directory and file-extension.
+ALLSRCBASE = $(notdir $(basename $(ALLSRC)))
+
+# Define all object files.
+ALLOBJ     = $(addprefix $(OUTDIR)/, $(addsuffix .o, $(ALLSRCBASE)))
+
+# Define all listing files (used for make clean).
+LSTFILES   = $(addprefix $(OUTDIR)/, $(addsuffix .lst, $(ALLSRCBASE)))
+# Define all depedency-files (used for make clean).
+DEPFILES   = $(addprefix $(OUTDIR)/dep/, $(addsuffix .o.d, $(ALLSRCBASE)))
+
+elf: $(OUTDIR)/$(TARGET).elf
+lss: $(OUTDIR)/$(TARGET).lss
+sym: $(OUTDIR)/$(TARGET).sym
+hex: $(OUTDIR)/$(TARGET).hex
+bin: $(OUTDIR)/$(TARGET).bin
+
+# Default target.
+#all: begin gccversion sizebefore build sizeafter finished end
+#all: begin gencode gccversion build sizeafter finished end
+all: elf
+
+ifeq ($(LOADFORMAT),ihex)
+build: elf hex lss sym
+else
+ifeq ($(LOADFORMAT),binary)
+build: elf bin lss sym
+else
+ifeq ($(LOADFORMAT),both)
+build: elf hex bin lss sym
+else
+$(error "$(MSG_FORMATERROR) $(FORMAT)")
+endif
+endif
+endif
+
+# Test if quotes are needed for the echo-command
+result = ${shell echo "test"}
+ifeq (${result}, test)
+	quote = '
+else
+	quote =
+endif
+
+# Generate intermediate code
+gencode: ${OUTDIR}/InitMods.c ${OUTDIR}/pmlib_img.c ${OUTDIR}/pmlib_nat.c ${OUTDIR}/pmlibusr_img.c ${OUTDIR}/pmlibusr_nat.c ${OUTDIR}/pmfeatures.h 
+
+getmodname = $(firstword $(subst /, ,$1))
+
+MOD_GEN := $(foreach MOD,$(MODULES),$(call getmodname,$(MOD)))
+
+# Generate code for module initialization
+${OUTDIR}/InitMods.c: Makefile.osx
+	echo ${MOD_GEN}
+	@echo ${MSG_MODINIT}
+	@echo ${quote}// Autogenerated file${quote} > ${OUTDIR}/InitMods.c
+	@echo ${quote}${foreach MOD, ${MOD_GEN}, extern unsigned int ${MOD}Initialize(void);}${quote}  >> ${OUTDIR}/InitMods.c
+	@echo ${quote}${foreach MOD, ${MOD_GEN}, extern unsigned int ${MOD}Start(void);}${quote}  >> ${OUTDIR}/InitMods.c
+	@echo ${quote}void InitModules() {${quote} >> ${OUTDIR}/InitMods.c
+	@echo ${quote}${foreach MOD, ${MOD_GEN}, ${MOD}Initialize();}${quote}  >> ${OUTDIR}/InitMods.c
+	@echo ${quote}}${quote} >> ${OUTDIR}/InitMods.c
+	@echo ${quote}void StartModules() {${quote} >> ${OUTDIR}/InitMods.c
+	@echo ${quote}${foreach MOD, ${MOD_GEN}, ${MOD}Start();}${quote}  >> ${OUTDIR}/InitMods.c
+	@echo ${quote}}${quote} >> ${OUTDIR}/InitMods.c
+
+# Generate code for PyMite
+${OUTDIR}/pmlib_img.c ${OUTDIR}/pmlib_nat.c ${OUTDIR}/pmlibusr_img.c ${OUTDIR}/pmlibusr_nat.c ${OUTDIR}/pmfeatures.h: $(wildcard ${PYMITELIB}/*.py) $(wildcard ${PYMITEPLAT}/*.py) $(wildcard ${FLIGHTPLANLIB}/*.py) $(wildcard ${FLIGHTPLANS}/*.py) $(wildcard $(UAVOBJPYTHONSYNTHDIR)/*.py)
+	@echo ${MSG_PYMITEINIT}
+	@$(PYTHON) $(PYMITETOOLS)/pmImgCreator.py -f $(PYMITEPLAT)/pmfeatures.py -c -s --memspace=flash -o $(OUTDIR)/pmlib_img.c --native-file=$(OUTDIR)/pmlib_nat.c $(PYMITELIB)/list.py $(PYMITELIB)/dict.py $(PYMITELIB)/__bi.py $(PYMITELIB)/sys.py $(PYMITELIB)/string.py $(wildcard $(FLIGHTPLANLIB)/*.py) $(wildcard $(UAVOBJPYTHONSYNTHDIR)/*.py)
+	@$(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
+
+# Eye candy.
+begin:
+##	@echo
+	@echo $(MSG_BEGIN)
+
+finished:
+##	@echo $(MSG_ERRORS_NONE)
+
+end:
+	@echo $(MSG_END)
+##	@echo
+
+# Display sizes of sections.
+ELFSIZE = $(SIZE) -A  $(OUTDIR)/$(TARGET).elf
+##ELFSIZE = $(SIZE) --format=Berkeley --common $(OUTDIR)/$(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 $(ALLOBJ)
+
+# Program the device.
+ifeq ($(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
+	@echo ${quote}Programming with OPENOCD${quote}
+	$(OOCD_EXE) $(OOCD_CL)
+endif
+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
+.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
+	@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
+	@echo $(MSG_ASMFROMC_ARM) $< to $@
+	$(CC) -S $(CFLAGS) $(CONLYFLAGS) $< -o $@
+
+# Generate Doxygen documents
+docs:
+	doxygen  $(DOXYGENDIR)/doxygen.cfg
+
+# Target: clean project.
+clean: begin clean_list finished end
+
+clean_list :
+##	@echo
+	@echo $(MSG_CLEANING)
+	$(REMOVE) $(OUTDIR)/$(TARGET).map
+	$(REMOVE) $(OUTDIR)/$(TARGET).elf
+	$(REMOVE) $(OUTDIR)/$(TARGET).hex
+	$(REMOVE) $(OUTDIR)/$(TARGET).bin
+	$(REMOVE) $(OUTDIR)/$(TARGET).sym
+	$(REMOVE) $(OUTDIR)/$(TARGET).lss
+	$(REMOVE) $(wildcard $(OUTDIR)/*.c)
+	$(REMOVE) $(wildcard $(OUTDIR)/*.h)
+	$(REMOVE) $(ALLOBJ)
+	$(REMOVE) $(LSTFILES)
+	$(REMOVE) $(DEPFILES)
+	$(REMOVE) $(SRC:.c=.s)
+	$(REMOVE) $(SRCARM:.c=.s)
+	$(REMOVE) $(CPPSRC:.cpp=.s)
+	$(REMOVE) $(CPPSRCARM:.cpp=.s)
+
+
+# Create output files directory
+# all known MS Windows OS define the ComSpec environment variable
+ifdef ComSpec
+$(shell md $(OUTDIR) 2>NUL)
+else
+$(shell mkdir $(OUTDIR) 2>/dev/null)
+endif
+
+# Include the dependency files.
+ifdef ComSpec
+-include $(shell md $(OUTDIR)\dep 2>NUL) $(wildcard $(OUTDIR)/dep/*)
+else
+-include $(shell mkdir $(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 \
+build elf hex bin lss sym clean clean_list program gencode
+

flight/RevoMini/System/alarms.c

@@ -0,0 +1,210 @@
+/**
+ ******************************************************************************
+ * @addtogroup OpenPilotSystem OpenPilot System
+ * @{
+ * @addtogroup OpenPilotLibraries OpenPilot System Libraries
+ * @brief OpenPilot System libraries are available to all OP modules.
+ * @{
+ * @file       alarms.c
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @brief      Library for setting and clearing system alarms
+ * @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
+ */
+
+#include "openpilot.h"
+#include "alarms.h"
+
+// Private constants
+
+// Private types
+
+// Private variables
+static xSemaphoreHandle lock;
+
+// Private functions
+static int32_t hasSeverity(SystemAlarmsAlarmOptions severity);
+
+/**
+ * Initialize the alarms library
+ */
+int32_t AlarmsInitialize(void)
+{
+	SystemAlarmsInitialize();
+	lock = xSemaphoreCreateRecursiveMutex();
+	return 0;
+}
+
+/**
+ * Set an alarm
+ * @param alarm The system alarm to be modified
+ * @param severity The alarm severity
+ * @return 0 if success, -1 if an error
+ */
+int32_t AlarmsSet(SystemAlarmsAlarmElem alarm, SystemAlarmsAlarmOptions severity)
+{
+	SystemAlarmsData alarms;
+
+	// Check that this is a valid alarm
+	if (alarm >= SYSTEMALARMS_ALARM_NUMELEM)
+	{
+		return -1;
+	}
+
+	// Lock
+    xSemaphoreTakeRecursive(lock, portMAX_DELAY);
+
+    // Read alarm and update its severity only if it was changed
+    SystemAlarmsGet(&alarms);
+    if ( alarms.Alarm[alarm] != severity )
+    {
+    	alarms.Alarm[alarm] = severity;
+    	SystemAlarmsSet(&alarms);
+    }
+
+    // Release lock
+    xSemaphoreGiveRecursive(lock);
+    return 0;
+
+}
+
+/**
+ * Get an alarm
+ * @param alarm The system alarm to be read
+ * @return Alarm severity
+ */
+SystemAlarmsAlarmOptions AlarmsGet(SystemAlarmsAlarmElem alarm)
+{
+	SystemAlarmsData alarms;
+
+	// Check that this is a valid alarm
+	if (alarm >= SYSTEMALARMS_ALARM_NUMELEM)
+	{
+		return 0;
+	}
+
+    // Read alarm
+    SystemAlarmsGet(&alarms);
+    return alarms.Alarm[alarm];
+}
+
+/**
+ * Set an alarm to it's default value
+ * @param alarm The system alarm to be modified
+ * @return 0 if success, -1 if an error
+ */
+int32_t AlarmsDefault(SystemAlarmsAlarmElem alarm)
+{
+	return AlarmsSet(alarm, SYSTEMALARMS_ALARM_DEFAULT);
+}
+
+/**
+ * Default all alarms
+ */
+void AlarmsDefaultAll()
+{
+	uint32_t n;
+    for (n = 0; n < SYSTEMALARMS_ALARM_NUMELEM; ++n)
+    {
+    	AlarmsDefault(n);
+    }
+}
+
+/**
+ * Clear an alarm
+ * @param alarm The system alarm to be modified
+ * @return 0 if success, -1 if an error
+ */
+int32_t AlarmsClear(SystemAlarmsAlarmElem alarm)
+{
+	return AlarmsSet(alarm, SYSTEMALARMS_ALARM_OK);
+}
+
+/**
+ * Clear all alarms
+ */
+void AlarmsClearAll()
+{
+	uint32_t n;
+    for (n = 0; n < SYSTEMALARMS_ALARM_NUMELEM; ++n)
+    {
+    	AlarmsClear(n);
+    }
+}
+
+/**
+ * Check if there are any alarms with the given or higher severity
+ * @return 0 if no alarms are found, 1 if at least one alarm is found
+ */
+int32_t AlarmsHasWarnings()
+{
+	return hasSeverity(SYSTEMALARMS_ALARM_WARNING);
+}
+
+/**
+ * Check if there are any alarms with error or higher severity
+ * @return 0 if no alarms are found, 1 if at least one alarm is found
+ */
+int32_t AlarmsHasErrors()
+{
+	return hasSeverity(SYSTEMALARMS_ALARM_ERROR);
+};
+
+/**
+ * Check if there are any alarms with critical or higher severity
+ * @return 0 if no alarms are found, 1 if at least one alarm is found
+ */
+int32_t AlarmsHasCritical()
+{
+	return hasSeverity(SYSTEMALARMS_ALARM_CRITICAL);
+};
+
+/**
+ * Check if there are any alarms with the given or higher severity
+ * @return 0 if no alarms are found, 1 if at least one alarm is found
+ */
+static int32_t hasSeverity(SystemAlarmsAlarmOptions severity)
+{
+	SystemAlarmsData alarms;
+	uint32_t n;
+
+	// Lock
+    xSemaphoreTakeRecursive(lock, portMAX_DELAY);
+
+    // Read alarms
+    SystemAlarmsGet(&alarms);
+
+    // Go through alarms and check if any are of the given severity or higher
+    for (n = 0; n < SYSTEMALARMS_ALARM_NUMELEM; ++n)
+    {
+    	if ( alarms.Alarm[n] >= severity)
+    	{
+    		xSemaphoreGiveRecursive(lock);
+    		return 1;
+    	}
+    }
+
+    // If this point is reached then no alarms found
+    xSemaphoreGiveRecursive(lock);
+    return 0;
+}
+/**
+ * @}
+ * @}
+ */
+

flight/RevoMini/System/cm3_fault_handlers.c

@@ -0,0 +1,87 @@
+/*
+ * cm3_fault_handlers.c
+ *
+ *  Created on: Apr 24, 2011
+ *      Author: msmith
+ */
+
+#include <stdint.h>
+#include "dcc_stdio.h"
+#ifdef STM32F4XX
+# include "stm32f4xx.h"
+#endif
+#ifdef STM32F2XX
+# include "stm32f2xx.h"
+#endif
+
+#define FAULT_TRAMPOLINE(_vec)										\
+__attribute__((naked, no_instrument_function))						\
+void																\
+_vec##_Handler(void)												\
+{																	\
+     __asm(  ".syntax unified\n"									\
+                     "MOVS   R0, #4  \n"							\
+                     "MOV    R1, LR  \n"							\
+                     "TST    R0, R1  \n"							\
+                     "BEQ    1f    \n"								\
+                     "MRS    R0, PSP \n"							\
+                     "B      " #_vec "_Handler2      \n"			\
+             "1:  \n"												\
+                     "MRS    R0, MSP \n"							\
+                     "B      " #_vec "_Handler2      \n"			\
+             ".syntax divided\n");									\
+}																	\
+struct hack
+
+struct cm3_frame {
+	uint32_t	r0;
+	uint32_t	r1;
+	uint32_t	r2;
+	uint32_t	r3;
+	uint32_t	r12;
+	uint32_t	lr;
+	uint32_t	pc;
+	uint32_t	psr;
+};
+
+FAULT_TRAMPOLINE(HardFault);
+FAULT_TRAMPOLINE(BusFault);
+FAULT_TRAMPOLINE(UsageFault);
+
+/* this is a hackaround to avoid an issue where dereferencing SCB seems to result in bad codegen and a link error */
+#define SCB_REG(_reg)	(*(uint32_t *)&(SCB->_reg))
+
+void
+HardFault_Handler2(struct cm3_frame *frame)
+{
+	dbg_write_str("\nHARD FAULT");
+	dbg_write_hex32(frame->pc);
+	dbg_write_char('\n');
+	dbg_write_hex32(SCB_REG(HFSR));
+	dbg_write_char('\n');
+	for (;;);
+}
+
+void
+BusFault_Handler2(struct cm3_frame *frame)
+{
+	dbg_write_str("\nBUS FAULT");
+	dbg_write_hex32(frame->pc);
+	dbg_write_char('\n');
+	dbg_write_hex32(SCB_REG(CFSR));
+	dbg_write_char('\n');
+	dbg_write_hex32(SCB_REG(BFAR));
+	dbg_write_char('\n');
+	for (;;);
+}
+
+void
+UsageFault_Handler2(struct cm3_frame *frame)
+{
+	dbg_write_str("\nUSAGE FAULT");
+	dbg_write_hex32(frame->pc);
+	dbg_write_char('\n');
+	dbg_write_hex32(SCB_REG(CFSR));
+	dbg_write_char('\n');
+	for (;;);
+}

flight/RevoMini/System/dcc_stdio.c

@@ -0,0 +1,149 @@
+/***************************************************************************
+ *   Copyright (C) 2008 by Dominic Rath                                    *
+ *   Dominic.Rath@gmx.de                                                   *
+ *   Copyright (C) 2008 by Spencer Oliver                                  *
+ *   spen@spen-soft.co.uk                                                  *
+ *   Copyright (C) 2008 by Frederik Kriewtz                                *
+ *   frederik@kriewitz.eu                                                  *
+ *                                                                         *
+ *   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 2 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.             *
+ ***************************************************************************/
+
+#include "dcc_stdio.h"
+
+#define TARGET_REQ_TRACEMSG					0x00
+#define TARGET_REQ_DEBUGMSG_ASCII			0x01
+#define TARGET_REQ_DEBUGMSG_HEXMSG(size)	(0x01 | ((size & 0xff) << 8))
+#define TARGET_REQ_DEBUGCHAR				0x02
+
+/* we use the cortex_m3 DCRDR reg to simulate a arm7_9 dcc channel
+ * DCRDR[7:0] is used by target for status
+ * DCRDR[15:8] is used by target for write buffer
+ * DCRDR[23:16] is used for by host for status
+ * DCRDR[31:24] is used for by host for write buffer */
+
+#define NVIC_DBG_DATA_R		(*((volatile unsigned short *)0xE000EDF8))
+
+#define	BUSY	1
+
+void dbg_write(unsigned long dcc_data)
+{
+	int len = 4;
+
+	while (len--)
+	{
+		/* wait for data ready */
+		while (NVIC_DBG_DATA_R & BUSY);
+
+		/* write our data and set write flag - tell host there is data*/
+		NVIC_DBG_DATA_R = (unsigned short)(((dcc_data & 0xff) << 8) | BUSY);
+		dcc_data >>= 8;
+	}
+}
+
+void dbg_trace_point(unsigned long number)
+{
+	dbg_write(TARGET_REQ_TRACEMSG | (number << 8));
+}
+
+void dbg_write_u32(const unsigned long *val, long len)
+{
+	dbg_write(TARGET_REQ_DEBUGMSG_HEXMSG(4) | ((len & 0xffff) << 16));
+
+	while (len > 0)
+	{
+		dbg_write(*val);
+
+		val++;
+		len--;
+	}
+}
+
+void dbg_write_u16(const unsigned short *val, long len)
+{
+	unsigned long dcc_data;
+
+	dbg_write(TARGET_REQ_DEBUGMSG_HEXMSG(2) | ((len & 0xffff) << 16));
+
+	while (len > 0)
+	{
+		dcc_data = val[0]
+			| ((len > 1) ? val[1] << 16: 0x0000);
+
+		dbg_write(dcc_data);
+
+		val += 2;
+		len -= 2;
+	}
+}
+
+void dbg_write_u8(const unsigned char *val, long len)
+{
+	unsigned long dcc_data;
+
+	dbg_write(TARGET_REQ_DEBUGMSG_HEXMSG(1) | ((len & 0xffff) << 16));
+
+	while (len > 0)
+	{
+		dcc_data = val[0]
+			| ((len > 1) ? val[1] << 8 : 0x00)
+			| ((len > 2) ? val[2] << 16 : 0x00)
+			| ((len > 3) ? val[3] << 24 : 0x00);
+
+		dbg_write(dcc_data);
+
+		val += 4;
+		len -= 4;
+	}
+}
+
+void dbg_write_str(const char *msg)
+{
+	long len;
+	unsigned long dcc_data;
+
+	for (len = 0; msg[len] && (len < 65536); len++);
+
+	dbg_write(TARGET_REQ_DEBUGMSG_ASCII | ((len & 0xffff) << 16));
+
+	while (len > 0)
+	{
+		dcc_data = msg[0]
+			| ((len > 1) ? msg[1] << 8 : 0x00)
+			| ((len > 2) ? msg[2] << 16 : 0x00)
+			| ((len > 3) ? msg[3] << 24 : 0x00);
+		dbg_write(dcc_data);
+
+		msg += 4;
+		len -= 4;
+	}
+}
+
+void dbg_write_char(char msg)
+{
+	dbg_write(TARGET_REQ_DEBUGCHAR | ((msg & 0xff) << 16));
+}
+
+void dbg_write_hex32(const unsigned long val)
+{
+	static const char hextab[] = {
+			'0', '1', '2', '3', '4', '5', '6', '7',
+			'8', '9', 'a', 'b', 'c', 'd', 'e', 'f'
+	};
+
+	for (int shift = 28; shift >= 0; shift -= 4)
+		dbg_write_char(hextab[(val >> shift) & 0xf]);
+}

flight/RevoMini/System/inc/FreeRTOSConfig.h

@@ -0,0 +1,103 @@
+
+#ifndef FREERTOS_CONFIG_H
+#define FREERTOS_CONFIG_H
+
+/*-----------------------------------------------------------
+ * Application specific definitions.
+ *
+ * These definitions should be adjusted for your particular hardware and
+ * application requirements.
+ *
+ * THESE PARAMETERS ARE DESCRIBED WITHIN THE 'CONFIGURATION' SECTION OF THE
+ * FreeRTOS API DOCUMENTATION AVAILABLE ON THE FreeRTOS.org WEB SITE. 
+ *
+ * See http://www.freertos.org/a00110.html.
+ *----------------------------------------------------------*/
+
+/**
+  * @addtogroup PIOS PIOS
+  * @{
+  * @addtogroup FreeRTOS FreeRTOS
+  * @{
+  */
+
+/* Notes: We use 5 task priorities */
+
+#define configCPU_CLOCK_HZ						(SYSCLK_FREQ)	// really the NVIC clock ...
+#define configTICK_RATE_HZ						((portTickType )1000)
+#define configMAX_PRIORITIES					((unsigned portBASE_TYPE)5)
+#define configMINIMAL_STACK_SIZE				((unsigned short)512)
+#define configTOTAL_HEAP_SIZE					((size_t)(180 * 1024))	// this is minimum, not total
+#define configMAX_TASK_NAME_LEN					(16)
+
+#define configUSE_PREEMPTION					1
+#define configUSE_IDLE_HOOK						1
+#define configUSE_TICK_HOOK						0
+#define configUSE_TRACE_FACILITY				0
+#define configUSE_16_BIT_TICKS					0
+#define configIDLE_SHOULD_YIELD					0
+#define configUSE_MUTEXES						1
+#define configUSE_RECURSIVE_MUTEXES				1
+#define configUSE_COUNTING_SEMAPHORES			0
+#define configUSE_ALTERNATIVE_API				0
+#define configCHECK_FOR_STACK_OVERFLOW			2
+#define configQUEUE_REGISTRY_SIZE				10
+
+#define configUSE_TIMERS						1
+#define configTIMER_TASK_PRIORITY				(configMAX_PRIORITIES - 1)	/* run timers at max priority */
+#define configTIMER_QUEUE_LENGTH				10
+#define configTIMER_TASK_STACK_DEPTH			configMINIMAL_STACK_SIZE
+
+/* Co-routine definitions. */
+#define configUSE_CO_ROUTINES 					0
+//#define configMAX_CO_ROUTINE_PRIORITIES 		( 2 )
+
+/* Set the following definitions to 1 to include the API function, or zero
+to exclude the API function. */
+
+#define INCLUDE_vTaskPrioritySet				1
+#define INCLUDE_uxTaskPriorityGet				1
+#define INCLUDE_vTaskDelete						1
+#define INCLUDE_vTaskCleanUpResources			1
+#define INCLUDE_vTaskSuspend					1
+#define INCLUDE_vTaskDelayUntil					1
+#define INCLUDE_vTaskDelay						1
+#define INCLUDE_xTaskGetSchedulerState			1
+#define INCLUDE_xTaskGetCurrentTaskHandle		1
+#define INCLUDE_uxTaskGetStackHighWaterMark		1
+
+/* This is the raw value as per the Cortex-M3 NVIC.  Values can be 255
+(lowest) to 1 (highest maskable) to 0 (highest non-maskable). */
+#define configKERNEL_INTERRUPT_PRIORITY 		15 << 4	/* equivalent to NVIC priority 15 */
+#define configMAX_SYSCALL_INTERRUPT_PRIORITY 	 3 << 4	/* equivalent to NVIC priority  3 */
+
+/* This is the value being used as per the ST library which permits 16
+priority values, 0 to 15.  This must correspond to the
+configKERNEL_INTERRUPT_PRIORITY setting.  Here 15 corresponds to the lowest
+NVIC value of 255. */
+#define configLIBRARY_KERNEL_INTERRUPT_PRIORITY	15
+
+/* Enable run time stats collection */
+#define configGENERATE_RUN_TIME_STATS 			1
+#define INCLUDE_uxTaskGetRunTime 				1
+
+/*
+ * Once we move to CMSIS2 we can at least use:
+ *
+ * CoreDebug->DEMCR |= CoreDebug_DEMCR_TRCENA_Msk;
+ *
+ * (still nothing for the DWT registers, surprisingly)
+ */
+#define portCONFIGURE_TIMER_FOR_RUN_TIME_STATS()									\
+	do {																			\
+		(*(unsigned long *)0xe000edfc) |= (1<<24);	/* DEMCR |= DEMCR_TRCENA */		\
+		(*(unsigned long *)0xe0001000) |= 1; 	/* DWT_CTRL |= DWT_CYCCNT_ENA */	\
+	} while(0)
+#define portGET_RUN_TIME_COUNTER_VALUE() 			(*(unsigned long *)0xe0001004)	/* DWT_CYCCNT */
+
+
+/**
+  * @}
+  */
+
+#endif /* FREERTOS_CONFIG_H */

flight/RevoMini/System/inc/alarms.h

@@ -0,0 +1,50 @@
+/**
+ ******************************************************************************
+ * @addtogroup OpenPilotSystem OpenPilot System
+ * @{
+ * @addtogroup OpenPilotLibraries OpenPilot System Libraries
+ * @{
+ * @file       alarms.h
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @brief      Include file of the alarm library
+ * @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
+ */
+#ifndef ALARMS_H
+#define ALARMS_H
+
+#include "systemalarms.h"
+#define SYSTEMALARMS_ALARM_DEFAULT SYSTEMALARMS_ALARM_UNINITIALISED
+
+int32_t AlarmsInitialize(void);
+int32_t AlarmsSet(SystemAlarmsAlarmElem alarm, SystemAlarmsAlarmOptions severity);
+SystemAlarmsAlarmOptions AlarmsGet(SystemAlarmsAlarmElem alarm);
+int32_t AlarmsDefault(SystemAlarmsAlarmElem alarm);
+void AlarmsDefaultAll();
+int32_t AlarmsClear(SystemAlarmsAlarmElem alarm);
+void AlarmsClearAll();
+int32_t AlarmsHasWarnings();
+int32_t AlarmsHasErrors();
+int32_t AlarmsHasCritical();
+
+#endif // ALARMS_H
+
+/**
+ * @}
+ * @}
+ */

flight/RevoMini/System/inc/dcc_stdio.h

@@ -0,0 +1,36 @@
+/***************************************************************************
+ *   Copyright (C) 2008 by Dominic Rath                                    *
+ *   Dominic.Rath@gmx.de                                                   *
+ *   Copyright (C) 2008 by Spencer Oliver                                  *
+ *   spen@spen-soft.co.uk                                                  *
+ *                                                                         *
+ *   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 2 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.             *
+ ***************************************************************************/
+
+#ifndef DCC_STDIO_H
+#define DCC_STDIO_H
+
+void dbg_trace_point(unsigned long number);
+
+void dbg_write_u32(const unsigned long *val, long len);
+void dbg_write_u16(const unsigned short *val, long len);
+void dbg_write_u8(const unsigned char *val, long len);
+
+void dbg_write_str(const char *msg);
+void dbg_write_char(char msg);
+void dbg_write_hex32(const unsigned long val);
+
+#endif	/* DCC_STDIO_H */

flight/RevoMini/System/inc/op_config.h

@@ -0,0 +1,39 @@
+/**
+ ******************************************************************************
+ * @addtogroup OpenPilotSystem OpenPilot System
+ * @{
+ * @addtogroup OpenPilotCore OpenPilot Core
+ * @{
+ *
+ * @file       op_config.h  
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @brief      OpenPilot configuration header. 
+ *             Compile time config for OpenPilot Application
+ * @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
+ */
+
+
+#ifndef OP_CONFIG_H
+#define OP_CONFIG_H
+
+#endif /* OP_CONFIG_H */
+/**
+ * @}
+ * @}
+ */

flight/RevoMini/System/inc/openpilot.h

@@ -0,0 +1,53 @@
+/**
+ ******************************************************************************
+ * @addtogroup OpenPilotSystem OpenPilot System
+ * @{
+ * @addtogroup OpenPilotCore OpenPilot Core
+ * @{
+ * @file       openpilot.h
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @brief      Main OpenPilot header.
+ * @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
+ */
+
+
+#ifndef OPENPILOT_H
+#define OPENPILOT_H
+
+
+/* PIOS Includes */
+#include <pios.h>
+
+/* OpenPilot Libraries */
+#include "op_config.h"
+#include "utlist.h"
+#include "uavobjectmanager.h"
+#include "eventdispatcher.h"
+#include "alarms.h"
+#include "taskmonitor.h"
+#include "uavtalk.h"
+
+/* Global Functions */
+void OpenPilotInit(void);
+
+#endif /* OPENPILOT_H */
+/**
+ * @}
+ * @}
+ */

flight/RevoMini/System/inc/pios_board_sim.h

@@ -0,0 +1,85 @@
+/**
+ ******************************************************************************
+ *
+ * @file       pios_board.h   
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @brief      Defines board hardware for the OpenPilot Version 1.1 hardware.
+ * @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
+ */
+
+
+#ifndef PIOS_BOARD_H
+#define PIOS_BOARD_H
+
+
+
+
+//------------------------
+// PIOS_LED
+//------------------------
+#define PIOS_LED_ALARM 0
+#define PIOS_LED_HEARTBEAT 1
+#define PIOS_LED_NUM 2
+
+//-------------------------
+// COM
+//
+// See also pios_board_posix.c
+//-------------------------
+//#define PIOS_USART_TX_BUFFER_SIZE		256
+#define PIOS_COM_BUFFER_SIZE 1024
+#define PIOS_COM_MAX_DEVS 255
+#define PIOS_UDP_RX_BUFFER_SIZE		PIOS_COM_BUFFER_SIZE
+#define PIOS_TCP_RX_BUFFER_SIZE		PIOS_COM_BUFFER_SIZE
+
+extern uint32_t pios_com_telem_rf_id;
+extern uint32_t pios_com_telem_usb_id;
+extern uint32_t pios_com_gps_id;
+extern uint32_t pios_com_aux_id;
+extern uint32_t pios_com_spectrum_id;
+
+#define PIOS_COM_TELEM_RF                       (pios_com_telem_rf_id)
+#define PIOS_COM_TELEM_USB                      (pios_com_telem_usb_id)
+#define PIOS_COM_GPS                            (pios_com_gps_id)
+
+#ifdef PIOS_ENABLE_AUX_UART
+#define PIOS_COM_AUX                            (pios_com_aux_id)
+#define PIOS_COM_DEBUG                          (PIOS_COM_AUX
+#endif
+
+#define PIOS_GCSRCVR_TIMEOUT_MS 200
+/**
+ * glue macros for file IO
+ * STM32 uses DOSFS for file IO
+ */
+#define PIOS_FOPEN_READ(filename,file)	(file=fopen((char*)filename,"r"))==NULL
+
+#define PIOS_FOPEN_WRITE(filename,file)	(file=fopen((char*)filename,"w"))==NULL
+
+#define PIOS_FREAD(file,bufferadr,length,resultadr)	(*resultadr=fread((uint8_t*)bufferadr,1,length,*file)) != length
+
+#define PIOS_FWRITE(file,bufferadr,length,resultadr)	*resultadr=fwrite((uint8_t*)bufferadr,1,length,*file)
+
+
+
+#define PIOS_FCLOSE(file)		fclose(file)
+
+#define PIOS_FUNLINK(file)		unlink((char*)filename)
+
+#endif /* PIOS_BOARD_H */

flight/RevoMini/System/inc/pios_config.h

@@ -0,0 +1,122 @@
+/**
+ ******************************************************************************
+ * @addtogroup OpenPilotSystem OpenPilot System
+ * @{
+ * @addtogroup OpenPilotCore OpenPilot Core
+ * @{
+ *
+ * @file       pios_config.h  
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @brief      PiOS configuration header. 
+ *             Central compile time config for the project.
+ *             In particular, pios_config.h is where you define which PiOS libraries
+ *             and features are included in the firmware.
+ * @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
+ */
+
+
+#ifndef PIOS_CONFIG_H
+#define PIOS_CONFIG_H
+
+/* Major features */
+#define PIOS_INCLUDE_FREERTOS
+#define PIOS_INCLUDE_BL_HELPER
+
+/* Enable/Disable PiOS Modules */
+#define PIOS_INCLUDE_ADC
+#define PIOS_INCLUDE_DELAY
+#define PIOS_INCLUDE_I2C
+#define PIOS_INCLUDE_IRQ
+#define PIOS_INCLUDE_LED
+#define PIOS_INCLUDE_IAP
+#define PIOS_INCLUDE_SERVO
+#define PIOS_INCLUDE_SPI
+#define PIOS_INCLUDE_SYS
+#define PIOS_INCLUDE_USART
+#define PIOS_INCLUDE_USB
+#define PIOS_INCLUDE_USB_HID
+//#define PIOS_INCLUDE_GPIO
+#define PIOS_INCLUDE_EXTI
+#define PIOS_INCLUDE_RTC
+#define PIOS_INCLUDE_WDG
+
+/* Select the sensors to include */
+#define PIOS_INCLUDE_BMA180
+#define PIOS_INCLUDE_HMC5883
+#define PIOS_INCLUDE_MPU6000
+#define PIOS_MPU6000_ACCEL
+#define PIOS_INCLUDE_L3GD20
+#define PIOS_INCLUDE_MS5611
+#define PIOS_INCLUDE_ETASV3
+//#define PIOS_INCLUDE_HCSR04
+#define PIOS_FLASH_ON_ACCEL /* true for second revo */
+#define FLASH_FREERTOS
+/* Com systems to include */
+#define PIOS_INCLUDE_COM
+#define PIOS_INCLUDE_COM_TELEM
+#define PIOS_INCLUDE_COM_AUX
+#define PIOS_INCLUDE_COM_AUXSBUS
+#define PIOS_INCLUDE_COM_FLEXI
+
+#define PIOS_INCLUDE_GPS
+#define PIOS_INCLUDE_GPS_NMEA_PARSER
+#define PIOS_INCLUDE_GPS_UBX_PARSER
+#define PIOS_GPS_SETS_HOMELOCATION
+
+#define PIOS_OVERO_SPI
+/* Supported receiver interfaces */
+#define PIOS_INCLUDE_RCVR
+#define PIOS_INCLUDE_DSM
+//#define PIOS_INCLUDE_SBUS
+#define PIOS_INCLUDE_PPM
+#define PIOS_INCLUDE_PWM
+#define PIOS_INCLUDE_GCSRCVR
+
+#define PIOS_INCLUDE_SETTINGS
+#define PIOS_INCLUDE_FLASH
+/* A really shitty setting saving implementation */
+#define PIOS_INCLUDE_FLASH_SECTOR_SETTINGS
+
+/* Other Interfaces */
+//#define PIOS_INCLUDE_I2C_ESC
+
+/* Flags that alter behaviors - mostly to lower resources for CC */
+#define PIOS_INCLUDE_INITCALL           /* Include init call structures */
+#define PIOS_TELEM_PRIORITY_QUEUE       /* Enable a priority queue in telemetry */
+//#define PIOS_QUATERNION_STABILIZATION   /* Stabilization options */
+#define PIOS_GPS_SETS_HOMELOCATION      /* GPS options */
+
+/* Alarm Thresholds */
+#define HEAP_LIMIT_WARNING		1000
+#define HEAP_LIMIT_CRITICAL		500
+#define IRQSTACK_LIMIT_WARNING		150
+#define IRQSTACK_LIMIT_CRITICAL		80
+#define CPULOAD_LIMIT_WARNING		80
+#define CPULOAD_LIMIT_CRITICAL		95
+
+// This actually needs calibrating
+#define IDLE_COUNTS_PER_SEC_AT_NO_LOAD (8379692)
+
+#define REVOLUTION
+
+#endif /* PIOS_CONFIG_H */
+/**
+ * @}
+ * @}
+ */

flight/RevoMini/System/inc/pios_config_sim.h

@@ -0,0 +1,79 @@
+/**
+ ******************************************************************************
+ *
+ * @file       pios_config.h  
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @brief      PiOS configuration header. 
+ *             Central compile time config for the project.
+ * @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
+ */
+
+
+#ifndef PIOS_CONFIG_POSIX_H
+#define PIOS_CONFIG_POSIX_H
+
+
+/* Enable/Disable PiOS Modules */
+#define PIOS_INCLUDE_SYS
+#define PIOS_INCLUDE_DELAY
+#define PIOS_INCLUDE_LED
+#define PIOS_INCLUDE_SDCARD
+#define PIOS_INCLUDE_FREERTOS
+#define PIOS_INCLUDE_COM
+//#define PIOS_INCLUDE_GPS
+#define PIOS_INCLUDE_IRQ
+#define PIOS_INCLUDE_TELEMETRY_RF
+#define PIOS_INCLUDE_TCP
+#define PIOS_INCLUDE_UDP
+#define PIOS_INCLUDE_SERVO
+#define PIOS_INCLUDE_RCVR
+#define PIOS_INCLUDE_GCSRCVR
+
+#define PIOS_RCVR_MAX_CHANNELS			12
+#define PIOS_RCVR_MAX_DEVS              3
+
+/* Defaults for Logging */
+#define LOG_FILENAME 			"PIOS.LOG"
+#define STARTUP_LOG_ENABLED		1
+
+/* COM Module */
+#define GPS_BAUDRATE			19200
+#define TELEM_BAUDRATE			19200
+#define AUXUART_ENABLED			0
+#define AUXUART_BAUDRATE		19200
+
+#define TELEM_QUEUE_SIZE                20
+#define PIOS_TELEM_STACK_SIZE           2048
+
+/* Stabilization options */
+#define PIOS_QUATERNION_STABILIZATION
+
+/* GPS options */
+#define PIOS_GPS_SETS_HOMELOCATION
+
+#define HEAP_LIMIT_WARNING		4000
+#define HEAP_LIMIT_CRITICAL		1000
+#define IRQSTACK_LIMIT_WARNING		150
+#define IRQSTACK_LIMIT_CRITICAL		80
+#define CPULOAD_LIMIT_WARNING		80
+#define CPULOAD_LIMIT_CRITICAL		95
+
+#define REVOLUTION
+
+#endif /* PIOS_CONFIG_POSIX_H */

flight/RevoMini/System/inc/pios_usb_board_data.h

@@ -0,0 +1,46 @@
+/**
+ ******************************************************************************
+ * @addtogroup PIOS PIOS Core hardware abstraction layer
+ * @{
+ * @addtogroup PIOS_USB_BOARD Board specific USB definitions
+ * @brief Board specific USB definitions
+ * @{
+ *
+ * @file       pios_usb_board_data.h
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @brief      Board specific USB definitions
+ * @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
+ */
+
+#ifndef PIOS_USB_BOARD_DATA_H
+#define PIOS_USB_BOARD_DATA_H
+
+#define PIOS_USB_BOARD_CDC_DATA_LENGTH 64
+#define PIOS_USB_BOARD_CDC_MGMT_LENGTH 32
+#define PIOS_USB_BOARD_HID_DATA_LENGTH 64
+
+#define PIOS_USB_BOARD_EP_NUM 4
+
+#include "pios_usb_defs.h" 	/* USB_* macros */
+
+#define PIOS_USB_BOARD_PRODUCT_ID USB_PRODUCT_ID_REVOLUTION
+#define PIOS_USB_BOARD_DEVICE_VER USB_OP_DEVICE_VER(USB_OP_BOARD_ID_REVOLUTION, USB_OP_BOARD_MODE_FW)
+#define PIOS_USB_BOARD_SN_SUFFIX "+FW"
+
+#endif	/* PIOS_USB_BOARD_DATA_H */

flight/RevoMini/System/pios_board.c

@@ -0,0 +1,885 @@
+/**
+ ******************************************************************************
+ * @addtogroup Revolution Revolution configuration files
+ * @{
+ * @brief Configures the revolution board
+ * @{
+ *
+ * @file       pios_board.c
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2011.
+ * @brief      Defines board specific static initializers for hardware for the Revolution 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
+ */
+
+/* Pull in the board-specific static HW definitions.
+ * Including .c files is a bit ugly but this allows all of
+ * the HW definitions to be const and static to limit their
+ * scope.  
+ *
+ * NOTE: THIS IS THE ONLY PLACE THAT SHOULD EVER INCLUDE THIS FILE
+ */
+#include "board_hw_defs.c"
+
+#include <pios.h>
+#include <openpilot.h>
+#include <uavobjectsinit.h>
+#include "hwsettings.h"
+#include "manualcontrolsettings.h"
+
+/**
+ * Sensor configurations 
+ */
+
+#if defined(PIOS_INCLUDE_ADC)
+#include "pios_adc_priv.h"
+void PIOS_ADC_DMC_irq_handler(void);
+void DMA2_Stream4_IRQHandler(void) __attribute__((alias("PIOS_ADC_DMC_irq_handler")));
+struct pios_adc_cfg pios_adc_cfg = {
+	.adc_dev = ADC1,
+	.dma = {
+		.irq = {
+			.flags   = (DMA_FLAG_TCIF4 | DMA_FLAG_TEIF4 | DMA_FLAG_HTIF4),
+			.init    = {
+				.NVIC_IRQChannel                   = DMA2_Stream4_IRQn,
+				.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_LOW,
+				.NVIC_IRQChannelSubPriority        = 0,
+				.NVIC_IRQChannelCmd                = ENABLE,
+			},
+		},
+		.rx = {
+			.channel = DMA2_Stream4,
+			.init    = {
+				.DMA_Channel                    = DMA_Channel_0,
+				.DMA_PeripheralBaseAddr = (uint32_t) & ADC1->DR
+			},
+		}
+	},
+	.half_flag = DMA_IT_HTIF4,
+	.full_flag = DMA_IT_TCIF4,
+
+};
+void PIOS_ADC_DMC_irq_handler(void)
+{
+	/* Call into the generic code to handle the IRQ for this specific device */
+	PIOS_ADC_DMA_Handler();
+}
+
+#endif
+
+#if defined(PIOS_INCLUDE_HMC5883)
+#include "pios_hmc5883.h"
+static const struct pios_exti_cfg pios_exti_hmc5883_cfg __exti_config = {
+	.vector = PIOS_HMC5883_IRQHandler,
+	.line = EXTI_Line5,
+	.pin = {
+		.gpio = GPIOB,
+		.init = {
+			.GPIO_Pin = GPIO_Pin_5,
+			.GPIO_Speed = GPIO_Speed_100MHz,
+			.GPIO_Mode = GPIO_Mode_IN,
+			.GPIO_OType = GPIO_OType_OD,
+			.GPIO_PuPd = GPIO_PuPd_NOPULL,
+		},
+	},
+	.irq = {
+		.init = {
+			.NVIC_IRQChannel = EXTI9_5_IRQn,
+			.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_LOW,
+			.NVIC_IRQChannelSubPriority = 0,
+			.NVIC_IRQChannelCmd = ENABLE,
+		},
+	},
+	.exti = {
+		.init = {
+			.EXTI_Line = EXTI_Line5, // matches above GPIO pin
+			.EXTI_Mode = EXTI_Mode_Interrupt,
+			.EXTI_Trigger = EXTI_Trigger_Rising,
+			.EXTI_LineCmd = ENABLE,
+		},
+	},
+};
+
+static const struct pios_hmc5883_cfg pios_hmc5883_cfg = {
+	.exti_cfg = &pios_exti_hmc5883_cfg,
+	.M_ODR = PIOS_HMC5883_ODR_75,
+	.Meas_Conf = PIOS_HMC5883_MEASCONF_NORMAL,
+	.Gain = PIOS_HMC5883_GAIN_1_9,
+	.Mode = PIOS_HMC5883_MODE_CONTINUOUS,
+
+};
+#endif /* PIOS_INCLUDE_HMC5883 */
+
+/**
+ * Configuration for the MS5611 chip
+ */
+#if defined(PIOS_INCLUDE_MS5611)
+#include "pios_ms5611.h"
+static const struct pios_ms5611_cfg pios_ms5611_cfg = {
+	.oversampling = 1,
+};
+#endif /* PIOS_INCLUDE_MS5611 */
+
+/**
+ * Configuration for the BMA180 chip
+ */
+#if defined(PIOS_INCLUDE_BMA180)
+#include "pios_bma180.h"
+static const struct pios_exti_cfg pios_exti_bma180_cfg __exti_config = {
+	.vector = PIOS_BMA180_IRQHandler,
+	.line = EXTI_Line4,
+	.pin = {
+		.gpio = GPIOC,
+		.init = {
+			.GPIO_Pin = GPIO_Pin_4,
+			.GPIO_Speed = GPIO_Speed_100MHz,
+			.GPIO_Mode = GPIO_Mode_IN,
+			.GPIO_OType = GPIO_OType_OD,
+			.GPIO_PuPd = GPIO_PuPd_NOPULL,
+		},
+	},
+	.irq = {
+		.init = {
+			.NVIC_IRQChannel = EXTI4_IRQn,
+			.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_LOW,
+			.NVIC_IRQChannelSubPriority = 0,
+			.NVIC_IRQChannelCmd = ENABLE,
+		},
+	},
+	.exti = {
+		.init = {
+			.EXTI_Line = EXTI_Line4, // matches above GPIO pin
+			.EXTI_Mode = EXTI_Mode_Interrupt,
+			.EXTI_Trigger = EXTI_Trigger_Rising,
+			.EXTI_LineCmd = ENABLE,
+		},
+	},
+};
+static const struct pios_bma180_cfg pios_bma180_cfg = {
+	.exti_cfg = &pios_exti_bma180_cfg,
+	.bandwidth = BMA_BW_600HZ,
+	.range = BMA_RANGE_8G,
+};
+#endif /* PIOS_INCLUDE_BMA180 */
+
+/**
+ * Configuration for the MPU6000 chip
+ */
+#if defined(PIOS_INCLUDE_MPU6000)
+#include "pios_mpu6000.h"
+static const struct pios_exti_cfg pios_exti_mpu6000_cfg __exti_config = {
+	.vector = PIOS_MPU6000_IRQHandler,
+	.line = EXTI_Line8,
+	.pin = {
+		.gpio = GPIOD,
+		.init = {
+			.GPIO_Pin = GPIO_Pin_8,
+			.GPIO_Speed = GPIO_Speed_100MHz,
+			.GPIO_Mode = GPIO_Mode_IN,
+			.GPIO_OType = GPIO_OType_OD,
+			.GPIO_PuPd = GPIO_PuPd_NOPULL,
+		},
+	},
+	.irq = {
+		.init = {
+			.NVIC_IRQChannel = EXTI9_5_IRQn,
+			.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGH,
+			.NVIC_IRQChannelSubPriority = 0,
+			.NVIC_IRQChannelCmd = ENABLE,
+		},
+	},
+	.exti = {
+		.init = {
+			.EXTI_Line = EXTI_Line8, // matches above GPIO pin
+			.EXTI_Mode = EXTI_Mode_Interrupt,
+			.EXTI_Trigger = EXTI_Trigger_Rising,
+			.EXTI_LineCmd = ENABLE,
+		},
+	},
+};
+
+static const struct pios_mpu6000_cfg pios_mpu6000_cfg = {
+	.exti_cfg = &pios_exti_mpu6000_cfg,
+	.Fifo_store = PIOS_MPU6000_FIFO_TEMP_OUT | PIOS_MPU6000_FIFO_GYRO_X_OUT | PIOS_MPU6000_FIFO_GYRO_Y_OUT | PIOS_MPU6000_FIFO_GYRO_Z_OUT,
+	// Clock at 8 khz, downsampled by 8 for 1khz
+	.Smpl_rate_div = 11,
+	.interrupt_cfg = PIOS_MPU6000_INT_CLR_ANYRD,
+	.interrupt_en = PIOS_MPU6000_INTEN_DATA_RDY,
+	.User_ctl = PIOS_MPU6000_USERCTL_FIFO_EN | PIOS_MPU6000_USERCTL_DIS_I2C,
+	.Pwr_mgmt_clk = PIOS_MPU6000_PWRMGMT_PLL_X_CLK,
+	.accel_range = PIOS_MPU6000_ACCEL_8G,
+	.gyro_range = PIOS_MPU6000_SCALE_500_DEG,
+	.filter = PIOS_MPU6000_LOWPASS_256_HZ
+};
+#endif /* PIOS_INCLUDE_MPU6000 */
+
+/**
+ * Configuration for L3GD20 chip
+ */
+#if defined(PIOS_INCLUDE_L3GD20)
+#include "pios_l3gd20.h"
+static const struct pios_exti_cfg pios_exti_l3gd20_cfg __exti_config = {
+	.vector = PIOS_L3GD20_IRQHandler,
+	.line = EXTI_Line8,
+	.pin = {
+		.gpio = GPIOD,
+		.init = {
+			.GPIO_Pin = GPIO_Pin_8,
+			.GPIO_Speed = GPIO_Speed_100MHz,
+			.GPIO_Mode = GPIO_Mode_IN,
+			.GPIO_OType = GPIO_OType_OD,
+			.GPIO_PuPd = GPIO_PuPd_NOPULL,
+		},
+	},
+	.irq = {
+		.init = {
+			.NVIC_IRQChannel = EXTI9_5_IRQn,
+			.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGH,
+			.NVIC_IRQChannelSubPriority = 0,
+			.NVIC_IRQChannelCmd = ENABLE,
+		},
+	},
+	.exti = {
+		.init = {
+			.EXTI_Line = EXTI_Line8, // matches above GPIO pin
+			.EXTI_Mode = EXTI_Mode_Interrupt,
+			.EXTI_Trigger = EXTI_Trigger_Rising,
+			.EXTI_LineCmd = ENABLE,
+		},
+	},
+};
+
+static const struct pios_l3gd20_cfg pios_l3gd20_cfg = {
+	.exti_cfg = &pios_exti_l3gd20_cfg,
+	.range = PIOS_L3GD20_SCALE_500_DEG,
+};
+#endif /* PIOS_INCLUDE_L3GD20 */
+
+
+static const struct flashfs_cfg flashfs_m25p_cfg = {
+	.table_magic = 0x85FB3D35,
+	.obj_magic = 0x3015A371,
+	.obj_table_start = 0x00000010,
+	.obj_table_end = 0x00010000,
+	.sector_size = 0x00010000,
+	.chip_size = 0x00200000,
+};
+
+static const struct pios_flash_jedec_cfg flash_m25p_cfg = {
+	.sector_erase = 0xD8,
+	.chip_erase = 0xC7
+};
+
+/* One slot per selectable receiver group.
+ *  eg. PWM, PPM, GCS, SPEKTRUM1, SPEKTRUM2, SBUS
+ * NOTE: No slot in this map for NONE.
+ */
+uint32_t pios_rcvr_group_map[MANUALCONTROLSETTINGS_CHANNELGROUPS_NONE];
+
+#define PIOS_COM_TELEM_RF_RX_BUF_LEN 512
+#define PIOS_COM_TELEM_RF_TX_BUF_LEN 512
+
+#define PIOS_COM_GPS_RX_BUF_LEN 32
+
+#define PIOS_COM_TELEM_USB_RX_BUF_LEN 65
+#define PIOS_COM_TELEM_USB_TX_BUF_LEN 65
+
+#define PIOS_COM_BRIDGE_RX_BUF_LEN 65
+#define PIOS_COM_BRIDGE_TX_BUF_LEN 12
+
+#define PIOS_COM_AUX_RX_BUF_LEN 512
+#define PIOS_COM_AUX_TX_BUF_LEN 512
+
+uint32_t pios_com_aux_id = 0;
+uint32_t pios_com_gps_id = 0;
+uint32_t pios_com_telem_usb_id = 0;
+uint32_t pios_com_telem_rf_id = 0;
+uint32_t pios_com_bridge_id = 0;
+uint32_t pios_com_overo_id = 0;
+
+/* 
+ * Setup a com port based on the passed cfg, driver and buffer sizes. tx size of -1 make the port rx only
+ */
+static void PIOS_Board_configure_com(const struct pios_usart_cfg *usart_port_cfg, size_t rx_buf_len, size_t tx_buf_len,
+		const struct pios_com_driver *com_driver, uint32_t *pios_com_id) 
+{
+	uint32_t pios_usart_id;
+	if (PIOS_USART_Init(&pios_usart_id, usart_port_cfg)) {
+		PIOS_Assert(0);
+	}
+	
+	uint8_t * rx_buffer = (uint8_t *) pvPortMalloc(rx_buf_len);
+	PIOS_Assert(rx_buffer);
+	if(tx_buf_len!= -1){ // this is the case for rx/tx ports
+		uint8_t * tx_buffer = (uint8_t *) pvPortMalloc(tx_buf_len);
+		PIOS_Assert(tx_buffer);
+		
+		if (PIOS_COM_Init(pios_com_id, com_driver, pios_usart_id,
+				rx_buffer, rx_buf_len,
+				tx_buffer, tx_buf_len)) {
+			PIOS_Assert(0);
+		}
+	}
+	else{ //rx only port
+		if (PIOS_COM_Init(pios_com_id, com_driver, pios_usart_id,
+				rx_buffer, rx_buf_len,
+				NULL, 0)) {
+			PIOS_Assert(0);
+		}
+	}
+}
+
+static void PIOS_Board_configure_dsm(const struct pios_usart_cfg *pios_usart_dsm_cfg, const struct pios_dsm_cfg *pios_dsm_cfg, 
+		const struct pios_com_driver *pios_usart_com_driver,enum pios_dsm_proto *proto, 
+		ManualControlSettingsChannelGroupsOptions channelgroup,uint8_t *bind)
+{
+	uint32_t pios_usart_dsm_id;
+	if (PIOS_USART_Init(&pios_usart_dsm_id, pios_usart_dsm_cfg)) {
+		PIOS_Assert(0);
+	}
+	
+	uint32_t pios_dsm_id;
+	if (PIOS_DSM_Init(&pios_dsm_id, pios_dsm_cfg, pios_usart_com_driver,
+			pios_usart_dsm_id, *proto, *bind)) {
+		PIOS_Assert(0);
+	}
+	
+	uint32_t pios_dsm_rcvr_id;
+	if (PIOS_RCVR_Init(&pios_dsm_rcvr_id, &pios_dsm_rcvr_driver, pios_dsm_id)) {
+		PIOS_Assert(0);
+	}
+	pios_rcvr_group_map[channelgroup] = pios_dsm_rcvr_id;
+}
+
+/**
+ * PIOS_Board_Init()
+ * initializes all the core subsystems on this specific hardware
+ * called from System/openpilot.c
+ */
+
+#include <pios_board_info.h>
+
+void PIOS_Board_Init(void) {
+
+	const struct pios_board_info * bdinfo = &pios_board_info_blob;	
+	
+	/* Delay system */
+	PIOS_DELAY_Init();
+
+	PIOS_LED_Init(&pios_led_cfg);
+
+	/* Set up the SPI interface to the accelerometer*/
+	if (PIOS_SPI_Init(&pios_spi_accel_id, &pios_spi_accel_cfg)) {
+		PIOS_DEBUG_Assert(0);
+	}
+	
+	/* Set up the SPI interface to the gyro */
+	if (PIOS_SPI_Init(&pios_spi_gyro_id, &pios_spi_gyro_cfg)) {
+		PIOS_DEBUG_Assert(0);
+	}
+#if !defined(PIOS_FLASH_ON_ACCEL)
+	/* Set up the SPI interface to the flash */
+	if (PIOS_SPI_Init(&pios_spi_flash_id, &pios_spi_flash_cfg)) {
+		PIOS_DEBUG_Assert(0);
+	}
+	PIOS_Flash_Jedec_Init(pios_spi_flash_id, 0, &flash_m25p_cfg);
+#else
+	PIOS_Flash_Jedec_Init(pios_spi_accel_id, 1, &flash_m25p_cfg);
+#endif
+	PIOS_FLASHFS_Init(&flashfs_m25p_cfg);
+
+	/* Initialize UAVObject libraries */
+	EventDispatcherInitialize();
+	UAVObjInitialize();
+	
+	HwSettingsInitialize();
+	
+#if defined(PIOS_INCLUDE_RTC)
+	PIOS_RTC_Init(&pios_rtc_main_cfg);
+#endif
+
+	/* Initialize the alarms library */
+	AlarmsInitialize();
+
+	/* Initialize the task monitor library */
+	TaskMonitorInitialize();
+
+	/* Set up pulse timers */
+	PIOS_TIM_InitClock(&tim_1_cfg);
+	PIOS_TIM_InitClock(&tim_3_cfg);
+	PIOS_TIM_InitClock(&tim_4_cfg);
+	PIOS_TIM_InitClock(&tim_5_cfg);
+	PIOS_TIM_InitClock(&tim_9_cfg);
+	PIOS_TIM_InitClock(&tim_10_cfg);
+	PIOS_TIM_InitClock(&tim_11_cfg);
+
+	/* IAP System Setup */
+	PIOS_IAP_Init();
+	uint16_t boot_count = PIOS_IAP_ReadBootCount();
+	if (boot_count < 3) {
+		PIOS_IAP_WriteBootCount(++boot_count);
+		AlarmsClear(SYSTEMALARMS_ALARM_BOOTFAULT);
+	} else {
+		/* Too many failed boot attempts, force hwsettings to defaults */
+		HwSettingsSetDefaults(HwSettingsHandle(), 0);
+		AlarmsSet(SYSTEMALARMS_ALARM_BOOTFAULT, SYSTEMALARMS_ALARM_CRITICAL);
+	}
+	
+	
+	//PIOS_IAP_Init();
+
+#if defined(PIOS_INCLUDE_USB)
+	/* Initialize board specific USB data */
+	PIOS_USB_BOARD_DATA_Init();
+
+	/* Flags to determine if various USB interfaces are advertised */
+	bool usb_hid_present = false;
+	bool usb_cdc_present = false;
+
+#if defined(PIOS_INCLUDE_USB_CDC)
+	if (PIOS_USB_DESC_HID_CDC_Init()) {
+		PIOS_Assert(0);
+	}
+	usb_hid_present = true;
+	usb_cdc_present = true;
+#else
+	if (PIOS_USB_DESC_HID_ONLY_Init()) {
+		PIOS_Assert(0);
+	}
+	usb_hid_present = true;
+#endif
+
+	uint32_t pios_usb_id;
+	PIOS_USB_Init(&pios_usb_id, &pios_usb_main_cfg);
+
+#if defined(PIOS_INCLUDE_USB_CDC)
+
+	uint8_t hwsettings_usb_vcpport;
+	/* Configure the USB VCP port */
+	HwSettingsUSB_VCPPortGet(&hwsettings_usb_vcpport);
+
+	if (!usb_cdc_present) {
+		/* Force VCP port function to disabled if we haven't advertised VCP in our USB descriptor */
+		hwsettings_usb_vcpport = HWSETTINGS_USB_VCPPORT_DISABLED;
+	}
+
+	switch (hwsettings_usb_vcpport) {
+	case HWSETTINGS_USB_VCPPORT_DISABLED:
+		break;
+	case HWSETTINGS_USB_VCPPORT_USBTELEMETRY:
+#if defined(PIOS_INCLUDE_COM)
+			PIOS_Board_configure_com(&pios_usb_cdc_cfg, PIOS_COM_TELEM_USB_RX_BUF_LEN, PIOS_COM_TELEM_USB_TX_BUF_LEN, &pios_usb_cdc_com_driver, &pios_com_telem_usb_id);
+#endif	/* PIOS_INCLUDE_COM */
+		break;
+	case HWSETTINGS_USB_VCPPORT_COMBRIDGE:
+#if defined(PIOS_INCLUDE_COM)
+		PIOS_Board_configure_com(&pios_usb_cdc_cfg, PIOS_COM_BRIDGE_RX_BUF_LEN, PIOS_COM_BRIDGE_TX_BUF_LEN, &pios_usb_cdc_com_driver, &pios_com_vcp_id);
+#endif	/* PIOS_INCLUDE_COM */
+		break;
+	}
+#endif	/* PIOS_INCLUDE_USB_CDC */
+
+#if defined(PIOS_INCLUDE_USB_HID)
+	/* Configure the usb HID port */
+	uint8_t hwsettings_usb_hidport;
+	HwSettingsUSB_HIDPortGet(&hwsettings_usb_hidport);
+
+	if (!usb_hid_present) {
+		/* Force HID port function to disabled if we haven't advertised HID in our USB descriptor */
+		hwsettings_usb_hidport = HWSETTINGS_USB_HIDPORT_DISABLED;
+	}
+
+	switch (hwsettings_usb_hidport) {
+	case HWSETTINGS_USB_HIDPORT_DISABLED:
+		break;
+	case HWSETTINGS_USB_HIDPORT_USBTELEMETRY:
+#if defined(PIOS_INCLUDE_COM)
+		{
+			uint32_t pios_usb_hid_id;
+			if (PIOS_USB_HID_Init(&pios_usb_hid_id, &pios_usb_hid_cfg, pios_usb_id)) {
+				PIOS_Assert(0);
+			}
+			uint8_t * rx_buffer = (uint8_t *) pvPortMalloc(PIOS_COM_TELEM_USB_RX_BUF_LEN);
+			uint8_t * tx_buffer = (uint8_t *) pvPortMalloc(PIOS_COM_TELEM_USB_TX_BUF_LEN);
+			PIOS_Assert(rx_buffer);
+			PIOS_Assert(tx_buffer);
+			if (PIOS_COM_Init(&pios_com_telem_usb_id, &pios_usb_hid_com_driver, pios_usb_hid_id,
+						rx_buffer, PIOS_COM_TELEM_USB_RX_BUF_LEN,
+						tx_buffer, PIOS_COM_TELEM_USB_TX_BUF_LEN)) {
+				PIOS_Assert(0);
+			}
+		}
+#endif	/* PIOS_INCLUDE_COM */
+		break;
+	}
+
+#endif	/* PIOS_INCLUDE_USB_HID */
+
+	if (usb_hid_present || usb_cdc_present) {
+		PIOS_USBHOOK_Activate();
+	}
+#endif	/* PIOS_INCLUDE_USB */
+
+	/* Configure IO ports */
+	uint8_t hwsettings_DSMxBind;
+	HwSettingsDSMxBindGet(&hwsettings_DSMxBind);
+	
+	/* Configure Telemetry port */
+	uint8_t hwsettings_rv_telemetryport;
+	HwSettingsRV_TelemetryPortGet(&hwsettings_rv_telemetryport);
+
+	switch (hwsettings_rv_telemetryport){
+		case HWSETTINGS_RV_TELEMETRYPORT_DISABLED:
+			break;
+		case HWSETTINGS_RV_TELEMETRYPORT_TELEMETRY:
+			PIOS_Board_configure_com(&pios_usart_telem_cfg, PIOS_COM_TELEM_RF_RX_BUF_LEN, PIOS_COM_TELEM_RF_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_telem_rf_id);
+			break;
+		case HWSETTINGS_RV_TELEMETRYPORT_COMAUX:
+			PIOS_Board_configure_com(&pios_usart_telem_cfg, PIOS_COM_AUX_RX_BUF_LEN, PIOS_COM_AUX_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_aux_id);
+			break;
+		case HWSETTINGS_RV_TELEMETRYPORT_COMBRIDGE:
+			PIOS_Board_configure_com(&pios_usart_telem_cfg, PIOS_COM_BRIDGE_RX_BUF_LEN, PIOS_COM_BRIDGE_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_bridge_id);
+			break;
+			
+	} /* 	hwsettings_rv_telemetryport */
+
+	/* Configure GPS port */
+	uint8_t hwsettings_rv_gpsport;
+	HwSettingsRV_GPSPortGet(&hwsettings_rv_gpsport);
+	switch (hwsettings_rv_gpsport){
+		case HWSETTINGS_RV_GPSPORT_DISABLED:
+			break;
+			
+		case HWSETTINGS_RV_GPSPORT_TELEMETRY:
+			PIOS_Board_configure_com(&pios_usart_gps_cfg, PIOS_COM_TELEM_RF_RX_BUF_LEN, PIOS_COM_TELEM_RF_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_telem_rf_id);
+			break;
+			
+		case HWSETTINGS_RV_GPSPORT_GPS:
+			PIOS_Board_configure_com(&pios_usart_gps_cfg, PIOS_COM_GPS_RX_BUF_LEN, -1,  &pios_usart_com_driver, &pios_com_gps_id);
+			break;
+		
+		case HWSETTINGS_RV_GPSPORT_COMAUX:
+			PIOS_Board_configure_com(&pios_usart_gps_cfg, PIOS_COM_AUX_RX_BUF_LEN, PIOS_COM_AUX_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_aux_id);
+			break;
+			
+		case HWSETTINGS_RV_GPSPORT_COMBRIDGE:
+			PIOS_Board_configure_com(&pios_usart_gps_cfg, PIOS_COM_BRIDGE_RX_BUF_LEN, PIOS_COM_BRIDGE_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_bridge_id);
+			break;
+	}/* hwsettings_rv_gpsport */
+
+	/* Configure AUXPort */
+	uint8_t hwsettings_rv_auxport;
+	HwSettingsRV_AuxPortGet(&hwsettings_rv_auxport);
+
+	switch (hwsettings_rv_auxport) {
+		case HWSETTINGS_RV_AUXPORT_DISABLED:
+			break;
+			
+		case HWSETTINGS_RV_AUXPORT_TELEMETRY:
+			PIOS_Board_configure_com(&pios_usart_aux_cfg, PIOS_COM_TELEM_RF_RX_BUF_LEN, PIOS_COM_TELEM_RF_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_telem_rf_id);
+			break;
+			
+		case HWSETTINGS_RV_AUXPORT_DSM2:
+		case HWSETTINGS_RV_AUXPORT_DSMX10BIT:
+		case HWSETTINGS_RV_AUXPORT_DSMX11BIT:
+		{
+			enum pios_dsm_proto proto;
+			switch (hwsettings_rv_auxport) {
+				case HWSETTINGS_RV_AUXPORT_DSM2:
+					proto = PIOS_DSM_PROTO_DSM2;
+					break;
+				case HWSETTINGS_RV_AUXPORT_DSMX10BIT:
+					proto = PIOS_DSM_PROTO_DSMX10BIT;
+					break;
+				case HWSETTINGS_RV_AUXPORT_DSMX11BIT:
+					proto = PIOS_DSM_PROTO_DSMX11BIT;
+					break;
+				default:
+					PIOS_Assert(0);
+					break;
+			}
+			//TODO: Define the various Channelgroup for Revo dsm inputs and handle here
+			PIOS_Board_configure_dsm(&pios_usart_dsm_aux_cfg, &pios_dsm_aux_cfg, 
+											 &pios_usart_com_driver, &proto, MANUALCONTROLSETTINGS_CHANNELGROUPS_DSMMAINPORT,&hwsettings_DSMxBind);
+		}
+			break;
+		case HWSETTINGS_RV_AUXPORT_COMAUX:
+			PIOS_Board_configure_com(&pios_usart_aux_cfg, PIOS_COM_AUX_RX_BUF_LEN, PIOS_COM_AUX_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_aux_id);
+			break;
+		case HWSETTINGS_RV_AUXPORT_COMBRIDGE:
+			PIOS_Board_configure_com(&pios_usart_aux_cfg, PIOS_COM_BRIDGE_RX_BUF_LEN, PIOS_COM_BRIDGE_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_bridge_id);
+			break;
+	} /* hwsettings_rv_auxport */
+	/* Configure AUXSbusPort */
+	//TODO: ensure that the serial invertion pin is setted correctly
+	uint8_t hwsettings_rv_auxsbusport;
+	HwSettingsRV_AuxSBusPortGet(&hwsettings_rv_auxsbusport);
+	
+	switch (hwsettings_rv_auxsbusport) {
+		case HWSETTINGS_RV_AUXSBUSPORT_DISABLED:
+			break;
+		case HWSETTINGS_RV_AUXSBUSPORT_SBUS:
+#ifdef PIOS_INCLUDE_SBUS
+		{
+			uint32_t pios_usart_sbus_id;
+			if (PIOS_USART_Init(&pios_usart_sbus_id, &pios_usart_sbus_auxsbus_cfg)) {
+				PIOS_Assert(0);
+			}
+			
+			uint32_t pios_sbus_id;
+			if (PIOS_SBus_Init(&pios_sbus_id, &pios_sbus_cfg, &pios_usart_com_driver, pios_usart_sbus_id)) {
+				PIOS_Assert(0);
+			}
+			
+			uint32_t pios_sbus_rcvr_id;
+			if (PIOS_RCVR_Init(&pios_sbus_rcvr_id, &pios_sbus_rcvr_driver, pios_sbus_id)) {
+				PIOS_Assert(0);
+			}
+			pios_rcvr_group_map[MANUALCONTROLSETTINGS_CHANNELGROUPS_SBUS] = pios_sbus_rcvr_id;
+			
+		}
+#endif /* PIOS_INCLUDE_SBUS */
+			break;
+
+		case HWSETTINGS_RV_AUXSBUSPORT_DSM2:
+		case HWSETTINGS_RV_AUXSBUSPORT_DSMX10BIT:
+		case HWSETTINGS_RV_AUXSBUSPORT_DSMX11BIT:
+		{
+			enum pios_dsm_proto proto;
+			switch (hwsettings_rv_auxsbusport) {
+				case HWSETTINGS_RV_AUXSBUSPORT_DSM2:
+					proto = PIOS_DSM_PROTO_DSM2;
+					break;
+				case HWSETTINGS_RV_AUXSBUSPORT_DSMX10BIT:
+					proto = PIOS_DSM_PROTO_DSMX10BIT;
+					break;
+				case HWSETTINGS_RV_AUXSBUSPORT_DSMX11BIT:
+					proto = PIOS_DSM_PROTO_DSMX11BIT;
+					break;
+				default:
+					PIOS_Assert(0);
+					break;
+			}
+			//TODO: Define the various Channelgroup for Revo dsm inputs and handle here
+			PIOS_Board_configure_dsm(&pios_usart_dsm_auxsbus_cfg, &pios_dsm_auxsbus_cfg, 
+											 &pios_usart_com_driver, &proto, MANUALCONTROLSETTINGS_CHANNELGROUPS_DSMMAINPORT,&hwsettings_DSMxBind);
+		}
+			break;
+		case HWSETTINGS_RV_AUXSBUSPORT_COMAUX:
+			PIOS_Board_configure_com(&pios_usart_auxsbus_cfg, PIOS_COM_AUX_RX_BUF_LEN, PIOS_COM_AUX_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_aux_id);
+			break;
+		case HWSETTINGS_RV_AUXSBUSPORT_COMBRIDGE:
+			PIOS_Board_configure_com(&pios_usart_auxsbus_cfg, PIOS_COM_BRIDGE_RX_BUF_LEN, PIOS_COM_BRIDGE_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_bridge_id);
+			break;
+	} /* hwsettings_rv_auxport */
+	
+	/* Configure FlexiPort */
+
+	uint8_t hwsettings_rv_flexiport;
+	HwSettingsRV_FlexiPortGet(&hwsettings_rv_flexiport);
+	
+	switch (hwsettings_rv_flexiport) {
+		case HWSETTINGS_RV_FLEXIPORT_DISABLED:
+			break;
+		case HWSETTINGS_RV_FLEXIPORT_I2C:
+#if defined(PIOS_INCLUDE_I2C)
+		{
+			if (PIOS_I2C_Init(&pios_i2c_flexiport_adapter_id, &pios_i2c_flexiport_adapter_cfg)) {
+				PIOS_Assert(0);
+			}
+		}
+#endif	/* PIOS_INCLUDE_I2C */
+			break;
+			
+		case HWSETTINGS_RV_FLEXIPORT_DSM2:
+		case HWSETTINGS_RV_FLEXIPORT_DSMX10BIT:
+		case HWSETTINGS_RV_FLEXIPORT_DSMX11BIT:
+		{
+			enum pios_dsm_proto proto;
+			switch (hwsettings_rv_flexiport) {
+				case HWSETTINGS_RV_FLEXIPORT_DSM2:
+					proto = PIOS_DSM_PROTO_DSM2;
+					break;
+				case HWSETTINGS_RV_FLEXIPORT_DSMX10BIT:
+					proto = PIOS_DSM_PROTO_DSMX10BIT;
+					break;
+				case HWSETTINGS_RV_FLEXIPORT_DSMX11BIT:
+					proto = PIOS_DSM_PROTO_DSMX11BIT;
+					break;
+				default:
+					PIOS_Assert(0);
+					break;
+			}
+			//TODO: Define the various Channelgroup for Revo dsm inputs and handle here
+			PIOS_Board_configure_dsm(&pios_usart_dsm_flexi_cfg, &pios_dsm_flexi_cfg, 
+											 &pios_usart_com_driver, &proto, MANUALCONTROLSETTINGS_CHANNELGROUPS_DSMMAINPORT,&hwsettings_DSMxBind);
+		}
+			break;
+		case HWSETTINGS_RV_FLEXIPORT_COMAUX:
+			PIOS_Board_configure_com(&pios_usart_flexi_cfg, PIOS_COM_AUX_RX_BUF_LEN, PIOS_COM_AUX_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_aux_id);
+			break;
+		case HWSETTINGS_RV_FLEXIPORT_COMBRIDGE:
+			PIOS_Board_configure_com(&pios_usart_flexi_cfg, PIOS_COM_BRIDGE_RX_BUF_LEN, PIOS_COM_BRIDGE_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_bridge_id);
+			break;
+	} /* hwsettings_rv_flexiport */
+	
+	
+	/* Configure the receiver port*/
+	uint8_t hwsettings_rcvrport;
+	HwSettingsRV_RcvrPortGet(&hwsettings_rcvrport);
+	//   
+	switch (hwsettings_rcvrport){
+		case HWSETTINGS_RV_RCVRPORT_DISABLED:
+			break;
+		case HWSETTINGS_RV_RCVRPORT_PWM:
+#if defined(PIOS_INCLUDE_PWM)
+		{
+			/* Set up the receiver port.  Later this should be optional */
+			uint32_t pios_pwm_id;
+			PIOS_PWM_Init(&pios_pwm_id, &pios_pwm_cfg);
+			
+			uint32_t pios_pwm_rcvr_id;
+			if (PIOS_RCVR_Init(&pios_pwm_rcvr_id, &pios_pwm_rcvr_driver, pios_pwm_id)) {
+				PIOS_Assert(0);
+			}
+			pios_rcvr_group_map[MANUALCONTROLSETTINGS_CHANNELGROUPS_PWM] = pios_pwm_rcvr_id;
+		}
+#endif	/* PIOS_INCLUDE_PWM */
+			break;
+		case HWSETTINGS_RV_RCVRPORT_PPM:
+		case HWSETTINGS_RV_RCVRPORT_PPMOUTPUTS:
+#if defined(PIOS_INCLUDE_PPM)
+		{
+			uint32_t pios_ppm_id;
+			PIOS_PPM_Init(&pios_ppm_id, &pios_ppm_cfg);
+			
+			uint32_t pios_ppm_rcvr_id;
+			if (PIOS_RCVR_Init(&pios_ppm_rcvr_id, &pios_ppm_rcvr_driver, pios_ppm_id)) {
+				PIOS_Assert(0);
+			}
+			pios_rcvr_group_map[MANUALCONTROLSETTINGS_CHANNELGROUPS_PPM] = pios_ppm_rcvr_id;
+		}
+#endif	/* PIOS_INCLUDE_PPM */
+		case HWSETTINGS_RV_RCVRPORT_OUTPUTS:
+		
+			break;
+	}
+
+#if defined(PIOS_OVERO_SPI)
+	/* Set up the SPI based PIOS_COM interface to the overo */
+	{
+		HwSettingsData hwSettings;
+		HwSettingsGet(&hwSettings);
+		if(hwSettings.OptionalModules[HWSETTINGS_OPTIONALMODULES_OVERO] == HWSETTINGS_OPTIONALMODULES_ENABLED) {
+			if (PIOS_OVERO_Init(&pios_overo_id, &pios_overo_cfg)) {
+				PIOS_DEBUG_Assert(0);
+			}
+			const uint32_t PACKET_SIZE = 1024;
+			uint8_t * rx_buffer = (uint8_t *) pvPortMalloc(PACKET_SIZE);
+			uint8_t * tx_buffer = (uint8_t *) pvPortMalloc(PACKET_SIZE);
+			PIOS_Assert(rx_buffer);
+			PIOS_Assert(tx_buffer);
+			if (PIOS_COM_Init(&pios_com_overo_id, &pios_overo_com_driver, pios_overo_id,
+							  rx_buffer, PACKET_SIZE,
+							  tx_buffer, PACKET_SIZE)) {
+				PIOS_Assert(0);
+			}
+		}
+	}
+
+#endif
+
+#if defined(PIOS_INCLUDE_GCSRCVR)
+	GCSReceiverInitialize();
+	uint32_t pios_gcsrcvr_id;
+	PIOS_GCSRCVR_Init(&pios_gcsrcvr_id);
+	uint32_t pios_gcsrcvr_rcvr_id;
+	if (PIOS_RCVR_Init(&pios_gcsrcvr_rcvr_id, &pios_gcsrcvr_rcvr_driver, pios_gcsrcvr_id)) {
+		PIOS_Assert(0);
+	}
+	pios_rcvr_group_map[MANUALCONTROLSETTINGS_CHANNELGROUPS_GCS] = pios_gcsrcvr_rcvr_id;
+#endif	/* PIOS_INCLUDE_GCSRCVR */
+	
+#ifndef PIOS_DEBUG_ENABLE_DEBUG_PINS
+	switch (hwsettings_rcvrport) {
+		case HWSETTINGS_RV_RCVRPORT_DISABLED:
+		case HWSETTINGS_RV_RCVRPORT_PWM:
+		case HWSETTINGS_RV_RCVRPORT_PPM:
+			/* Set up the servo outputs */
+			PIOS_Servo_Init(&pios_servo_cfg);
+			break;
+		case HWSETTINGS_RV_RCVRPORT_PPMOUTPUTS:
+		case HWSETTINGS_RV_RCVRPORT_OUTPUTS:
+			//PIOS_Servo_Init(&pios_servo_rcvr_cfg);
+			//TODO: Prepare the configurations on board_hw_defs and handle here:
+			PIOS_Servo_Init(&pios_servo_cfg);
+			break;
+	}
+#else
+	PIOS_DEBUG_Init(&pios_tim_servo_all_channels, NELEMENTS(pios_tim_servo_all_channels));
+#endif
+	
+	if (PIOS_I2C_Init(&pios_i2c_mag_adapter_id, &pios_i2c_mag_adapter_cfg)) {
+		PIOS_DEBUG_Assert(0);
+	}
+
+	if (PIOS_I2C_Init(&pios_i2c_pressure_adapter_id, &pios_i2c_pressure_adapter_cfg)) {
+		PIOS_DEBUG_Assert(0);
+	}
+	
+	PIOS_DELAY_WaitmS(50);
+
+#if defined(PIOS_INCLUDE_ADC)
+	PIOS_ADC_Init(&pios_adc_cfg);
+#endif
+
+#if defined(PIOS_INCLUDE_HMC5883)
+	PIOS_HMC5883_Init(&pios_hmc5883_cfg);
+#endif
+	
+#if defined(PIOS_INCLUDE_MS5611)
+	PIOS_MS5611_Init(&pios_ms5611_cfg, pios_i2c_pressure_adapter_id);
+#endif
+
+	switch(bdinfo->board_rev) {
+		case 0x01:
+#if defined(PIOS_INCLUDE_L3GD20)
+			PIOS_L3GD20_Init(pios_spi_gyro_id, 0, &pios_l3gd20_cfg);
+			PIOS_Assert(PIOS_L3GD20_Test() == 0);
+#endif
+#if defined(PIOS_INCLUDE_BMA180)
+			PIOS_BMA180_Init(pios_spi_accel_id, 0, &pios_bma180_cfg);
+			PIOS_Assert(PIOS_BMA180_Test() == 0);
+#endif
+			break;
+		case 0x02:
+#if defined(PIOS_INCLUDE_MPU6000)
+			PIOS_MPU6000_Init(pios_spi_gyro_id,0, &pios_mpu6000_cfg);
+#endif
+			break;
+		default:
+			PIOS_DEBUG_Assert(0);
+	}
+
+}
+
+/**
+ * @}
+ * @}
+ */
+

flight/RevoMini/System/pios_board_sim.c

@@ -0,0 +1,229 @@
+/**
+ ******************************************************************************
+ *
+ * @file       pios_board.c
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @brief      Defines board specific static initializers for hardware 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
+ */
+
+#include <pios.h>
+#include <pios_com_priv.h>
+#include <pios_tcp_priv.h>
+#include <pios_udp_priv.h>
+#include <openpilot.h>
+#include <uavobjectsinit.h>
+
+#include "accels.h"
+#include "baroaltitude.h"
+#include "gpsposition.h"
+#include "gyros.h"
+#include "gyrosbias.h"
+#include "magnetometer.h"
+#include "manualcontrolsettings.h"
+
+#include "pios_rcvr_priv.h"
+#include "pios_gcsrcvr_priv.h"
+
+void Stack_Change() {
+}
+
+void Stack_Change_Weak() {
+}
+
+
+const struct pios_tcp_cfg pios_tcp_telem_cfg = {
+  .ip = "0.0.0.0",
+  .port = 9001,
+};
+
+const struct pios_udp_cfg pios_udp_telem_cfg = {
+	.ip = "0.0.0.0",
+	.port = 9001,
+};
+
+const struct pios_tcp_cfg pios_tcp_gps_cfg = {
+  .ip = "0.0.0.0",
+  .port = 9001,
+};
+const struct pios_tcp_cfg pios_tcp_debug_cfg = {
+  .ip = "0.0.0.0",
+  .port = 9002,
+};
+
+#ifdef PIOS_COM_AUX
+/*
+ * AUX USART
+ */
+const struct pios_tcp_cfg pios_tcp_aux_cfg = {
+  .ip = "0.0.0.0",
+  .port = 9003,
+};
+#endif
+
+#define PIOS_COM_TELEM_RF_RX_BUF_LEN 192
+#define PIOS_COM_TELEM_RF_TX_BUF_LEN 192
+#define PIOS_COM_GPS_RX_BUF_LEN 96
+
+/*
+ * Board specific number of devices.
+ */
+/*
+struct pios_udp_dev pios_udp_devs[] = {
+#define PIOS_UDP_TELEM  0
+  {
+    .cfg = &pios_udp0_cfg,
+  },
+#define PIOS_UDP_GPS    1
+  {
+    .cfg = &pios_udp1_cfg,
+  },
+#define PIOS_UDP_LOCAL    2
+  {
+    .cfg = &pios_udp2_cfg,
+  },
+#ifdef PIOS_COM_AUX
+#define PIOS_UDP_AUX    3
+  {
+    .cfg = &pios_udp3_cfg,
+  },
+#endif
+};
+
+uint8_t pios_udp_num_devices = NELEMENTS(pios_udp_devs);
+*/
+/*
+ * COM devices
+ */
+
+/*
+ * Board specific number of devices.
+ */
+extern const struct pios_com_driver pios_serial_com_driver;
+extern const struct pios_com_driver pios_udp_com_driver;
+extern const struct pios_com_driver pios_tcp_com_driver;
+
+uint32_t pios_com_telem_rf_id;
+uint32_t pios_com_telem_usb_id;
+uint32_t pios_com_gps_id;
+uint32_t pios_com_aux_id;
+uint32_t pios_com_spectrum_id;
+uint32_t pios_rcvr_group_map[MANUALCONTROLSETTINGS_CHANNELGROUPS_NONE];
+
+/**
+ * PIOS_Board_Init()
+ * initializes all the core systems on this specific hardware
+ * called from System/openpilot.c
+ */
+void PIOS_Board_Init(void) {
+
+	/* Delay system */
+	PIOS_DELAY_Init();
+
+	/* Initialize UAVObject libraries */
+	EventDispatcherInitialize();
+	UAVObjInitialize();
+	UAVObjectsInitializeAll();
+
+	AccelsInitialize();
+	BaroAltitudeInitialize();
+	MagnetometerInitialize();
+	GPSPositionInitialize();
+	GyrosInitialize();
+	GyrosBiasInitialize();
+
+	/* Initialize the alarms library */
+	AlarmsInitialize();
+
+	/* Initialize the task monitor library */
+	TaskMonitorInitialize();
+
+#if defined(PIOS_INCLUDE_COM)
+#if defined(PIOS_INCLUDE_TELEMETRY_RF) && 1
+	{
+		uint32_t pios_tcp_telem_rf_id;
+		if (PIOS_TCP_Init(&pios_tcp_telem_rf_id, &pios_tcp_telem_cfg)) {
+			PIOS_Assert(0);
+		}
+
+		uint8_t * rx_buffer = (uint8_t *) pvPortMalloc(PIOS_COM_TELEM_RF_RX_BUF_LEN);
+		uint8_t * tx_buffer = (uint8_t *) pvPortMalloc(PIOS_COM_TELEM_RF_TX_BUF_LEN);
+		PIOS_Assert(rx_buffer);
+		PIOS_Assert(tx_buffer);
+		if (PIOS_COM_Init(&pios_com_telem_rf_id, &pios_tcp_com_driver, pios_tcp_telem_rf_id,
+						  rx_buffer, PIOS_COM_TELEM_RF_RX_BUF_LEN,
+						  tx_buffer, PIOS_COM_TELEM_RF_TX_BUF_LEN)) {
+			PIOS_Assert(0);
+		}
+	}
+#endif /* PIOS_INCLUDE_TELEMETRY_RF */
+
+#if defined(PIOS_INCLUDE_TELEMETRY_RF) && 0
+	{
+		uint32_t pios_udp_telem_rf_id;
+		if (PIOS_UDP_Init(&pios_udp_telem_rf_id, &pios_udp_telem_cfg)) {
+			PIOS_Assert(0);
+		}
+		
+		uint8_t * rx_buffer = (uint8_t *) pvPortMalloc(PIOS_COM_TELEM_RF_RX_BUF_LEN);
+		uint8_t * tx_buffer = (uint8_t *) pvPortMalloc(PIOS_COM_TELEM_RF_TX_BUF_LEN);
+		PIOS_Assert(rx_buffer);
+		PIOS_Assert(tx_buffer);
+		if (PIOS_COM_Init(&pios_com_telem_rf_id, &pios_udp_com_driver, pios_udp_telem_rf_id,
+						  rx_buffer, PIOS_COM_TELEM_RF_RX_BUF_LEN,
+						  tx_buffer, PIOS_COM_TELEM_RF_TX_BUF_LEN)) {
+			PIOS_Assert(0);
+		}
+	}
+#endif /* PIOS_INCLUDE_TELEMETRY_RF */
+
+
+#if defined(PIOS_INCLUDE_GPS)
+	{
+		uint32_t pios_tcp_gps_id;
+		if (PIOS_TCP_Init(&pios_tcp_gps_id, &pios_tcp_gps_cfg)) {
+			PIOS_Assert(0);
+		}
+		uint8_t * rx_buffer = (uint8_t *) pvPortMalloc(PIOS_COM_GPS_RX_BUF_LEN);
+		PIOS_Assert(rx_buffer);
+		if (PIOS_COM_Init(&pios_com_gps_id, &pios_tcp_com_driver, pios_tcp_gps_id,
+				  rx_buffer, PIOS_COM_GPS_RX_BUF_LEN,
+				  NULL, 0)) {
+			PIOS_Assert(0);
+		}
+	}
+#endif	/* PIOS_INCLUDE_GPS */
+#endif
+
+#if defined(PIOS_INCLUDE_GCSRCVR)
+	GCSReceiverInitialize();
+	uint32_t pios_gcsrcvr_id;
+	PIOS_GCSRCVR_Init(&pios_gcsrcvr_id);
+	uint32_t pios_gcsrcvr_rcvr_id;
+	if (PIOS_RCVR_Init(&pios_gcsrcvr_rcvr_id, &pios_gcsrcvr_rcvr_driver, pios_gcsrcvr_id)) {
+		PIOS_Assert(0);
+	}
+	pios_rcvr_group_map[MANUALCONTROLSETTINGS_CHANNELGROUPS_GCS] = pios_gcsrcvr_rcvr_id;
+#endif	/* PIOS_INCLUDE_GCSRCVR */
+
+}
+
+/**
+ * @}
+ */

flight/RevoMini/System/pios_usb_board_data.c

@@ -0,0 +1,98 @@
+/**
+ ******************************************************************************
+ * @addtogroup PIOS PIOS Core hardware abstraction layer
+ * @{
+ * @addtogroup PIOS_USB_BOARD Board specific USB definitions
+ * @brief Board specific USB definitions
+ * @{
+ *
+ * @file       pios_usb_board_data.c
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @brief      Board specific USB definitions
+ * @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
+ */
+
+#include "pios_usb_board_data.h" /* struct usb_*, USB_* */
+#include "pios_sys.h"		 /* PIOS_SYS_SerialNumberGet */
+#include "pios_usbhook.h"	 /* PIOS_USBHOOK_* */
+#include "pios_usb_util.h"	 /* PIOS_USB_UTIL_AsciiToUtf8 */
+
+static const uint8_t usb_product_id[22] = {
+	sizeof(usb_product_id),
+	USB_DESC_TYPE_STRING,
+	'R', 0,
+	'e', 0,
+	'v', 0,
+	'o', 0,
+	'l', 0,
+	'u', 0,
+	't', 0,
+	'i', 0,
+	'o', 0,
+	'n', 0,
+};
+
+static uint8_t usb_serial_number[2 + PIOS_SYS_SERIAL_NUM_ASCII_LEN*2 + (sizeof(PIOS_USB_BOARD_SN_SUFFIX)-1)*2] = {
+	sizeof(usb_serial_number),
+	USB_DESC_TYPE_STRING,
+};
+
+static const struct usb_string_langid usb_lang_id = {
+	.bLength = sizeof(usb_lang_id),
+	.bDescriptorType = USB_DESC_TYPE_STRING,
+	.bLangID = htousbs(USB_LANGID_ENGLISH_US),
+};
+
+static const uint8_t usb_vendor_id[28] = {
+	sizeof(usb_vendor_id),
+	USB_DESC_TYPE_STRING,
+	'o', 0,
+	'p', 0,
+	'e', 0,
+	'n', 0,
+	'p', 0,
+	'i', 0,
+	'l', 0,
+	'o', 0,
+	't', 0,
+	'.', 0,
+	'o', 0,
+	'r', 0,
+	'g', 0
+};
+
+int32_t PIOS_USB_BOARD_DATA_Init(void)
+{
+	/* Load device serial number into serial number string */
+	uint8_t sn[PIOS_SYS_SERIAL_NUM_ASCII_LEN + 1];
+	PIOS_SYS_SerialNumberGet((char *)sn);
+
+	/* Concatenate the device serial number and the appropriate suffix ("+BL" or "+FW") into the USB serial number */
+	uint8_t * utf8 = &(usb_serial_number[2]);
+	utf8 = PIOS_USB_UTIL_AsciiToUtf8(utf8, sn, PIOS_SYS_SERIAL_NUM_ASCII_LEN);
+	utf8 = PIOS_USB_UTIL_AsciiToUtf8(utf8, (uint8_t *)PIOS_USB_BOARD_SN_SUFFIX, sizeof(PIOS_USB_BOARD_SN_SUFFIX)-1);
+
+	PIOS_USBHOOK_RegisterString(USB_STRING_DESC_PRODUCT, (uint8_t *)&usb_product_id, sizeof(usb_product_id));
+	PIOS_USBHOOK_RegisterString(USB_STRING_DESC_SERIAL, (uint8_t *)&usb_serial_number, sizeof(usb_serial_number));
+
+	PIOS_USBHOOK_RegisterString(USB_STRING_DESC_LANG, (uint8_t *)&usb_lang_id, sizeof(usb_lang_id));
+	PIOS_USBHOOK_RegisterString(USB_STRING_DESC_VENDOR, (uint8_t *)&usb_vendor_id, sizeof(usb_vendor_id));
+
+	return 0;
+}

flight/RevoMini/System/revolution.c

@@ -0,0 +1,142 @@
+/**
+ ******************************************************************************
+ * @addtogroup OpenPilotSystem OpenPilot System
+ * @brief These files are the core system files of OpenPilot.
+ * They are the ground layer just above PiOS. In practice, OpenPilot actually starts
+ * in the main() function of openpilot.c
+ * @{
+ * @addtogroup OpenPilotCore OpenPilot Core
+ * @brief This is where the OP firmware starts. Those files also define the compile-time
+ * options of the firmware.
+ * @{
+ * @file       openpilot.c 
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @brief      Sets up and runs main OpenPilot tasks.
+ * @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
+ */
+
+
+/* OpenPilot Includes */
+#include "openpilot.h"
+#include "uavobjectsinit.h"
+#include "systemmod.h"
+
+/* Task Priorities */
+#define PRIORITY_TASK_HOOKS             (tskIDLE_PRIORITY + 3)
+
+/* Global Variables */
+
+/* Local Variables */
+#define INCLUDE_TEST_TASKS 0
+#if INCLUDE_TEST_TASKS
+static uint8_t sdcard_available;
+#endif
+char Buffer[1024];
+uint32_t Cache;
+
+/* Function Prototypes */
+#if INCLUDE_TEST_TASKS
+static void TaskTick(void *pvParameters);
+static void TaskTesting(void *pvParameters);
+static void TaskHIDTest(void *pvParameters);
+static void TaskServos(void *pvParameters);
+static void TaskSDCard(void *pvParameters);
+#endif
+int32_t CONSOLE_Parse(uint8_t port, char c);
+void OP_ADC_NotifyChange(uint32_t pin, uint32_t pin_value);
+
+/* Prototype of PIOS_Board_Init() function */
+extern void PIOS_Board_Init(void);
+extern void Stack_Change(void);
+static void Stack_Change_Weak () __attribute__ ((weakref ("Stack_Change")));
+
+/* Local Variables */
+#define INIT_TASK_PRIORITY	(tskIDLE_PRIORITY + configMAX_PRIORITIES - 1)	// max priority
+#define INIT_TASK_STACK		(1024 / 4)										// XXX this seems excessive
+static xTaskHandle initTaskHandle;
+
+/* Function Prototypes */
+static void initTask(void *parameters);
+
+/* Prototype of generated InitModules() function */
+extern void InitModules(void);
+
+/**
+* OpenPilot Main function:
+*
+* Initialize PiOS<BR>
+* Create the "System" task (SystemModInitializein Modules/System/systemmod.c) <BR>
+* Start FreeRTOS Scheduler (vTaskStartScheduler)<BR>
+* If something goes wrong, blink LED1 and LED2 every 100ms
+*
+*/
+int main()
+{
+	int	result;
+
+	/* NOTE: Do NOT modify the following start-up sequence */
+	/* Any new initialization functions should be added in OpenPilotInit() */
+	vPortInitialiseBlocks();  
+
+	/* Brings up System using CMSIS functions, enables the LEDs. */
+	PIOS_SYS_Init();
+	
+	/* For Revolution we use a FreeRTOS task to bring up the system so we can */
+	/* always rely on FreeRTOS primitive */
+	result = xTaskCreate(initTask, (const signed char *)"init",
+						 INIT_TASK_STACK, NULL, INIT_TASK_PRIORITY,
+						 &initTaskHandle);
+	PIOS_Assert(result == pdPASS);
+	
+	/* Start the FreeRTOS scheduler */
+	vTaskStartScheduler();
+
+	/* If all is well we will never reach here as the scheduler will now be running. */
+	/* Do some PIOS_LED_HEARTBEAT to user that something bad just happened */
+	PIOS_LED_Off(PIOS_LED_HEARTBEAT); \
+	for(;;) { \
+		PIOS_LED_Toggle(PIOS_LED_HEARTBEAT); \
+		PIOS_DELAY_WaitmS(100); \
+	};
+
+	return 0;
+}
+/**
+ * Initialisation task.
+ *
+ * Runs board and module initialisation, then terminates.
+ */
+void
+initTask(void *parameters)
+{
+	/* board driver init */
+	PIOS_Board_Init();
+	
+	/* Initialize modules */
+	MODULE_INITIALISE_ALL;
+	
+	/* terminate this task */
+	vTaskDelete(NULL);
+}
+
+/**
+ * @}
+ * @}
+ */
+

flight/RevoMini/UAVObjects.inc

@@ -0,0 +1,96 @@
+#####
+# Project: OpenPilot
+#
+# Makefile for OpenPilot UAVObject code
+#
+# The OpenPilot Team, http://www.openpilot.org, Copyright (C) 2011.
+# 
+# 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
+#####
+
+# These are the UAVObjects supposed to be build as part of the OpenPilot target
+# (all architectures)
+
+UAVOBJSRCFILENAMES =
+UAVOBJSRCFILENAMES += accessorydesired
+UAVOBJSRCFILENAMES += actuatorcommand
+UAVOBJSRCFILENAMES += actuatordesired
+UAVOBJSRCFILENAMES += actuatorsettings
+UAVOBJSRCFILENAMES += altholdsmoothed
+UAVOBJSRCFILENAMES += attitudesettings
+UAVOBJSRCFILENAMES += attitudeactual
+UAVOBJSRCFILENAMES += gyros
+UAVOBJSRCFILENAMES += gyrosbias
+UAVOBJSRCFILENAMES += accels
+UAVOBJSRCFILENAMES += magnetometer
+UAVOBJSRCFILENAMES += magbias
+UAVOBJSRCFILENAMES += baroaltitude
+UAVOBJSRCFILENAMES += baroairspeed
+UAVOBJSRCFILENAMES += fixedwingpathfollowersettings
+UAVOBJSRCFILENAMES += fixedwingpathfollowerstatus
+UAVOBJSRCFILENAMES += flightbatterysettings
+UAVOBJSRCFILENAMES += firmwareiapobj
+UAVOBJSRCFILENAMES += flightbatterystate
+UAVOBJSRCFILENAMES += flightplancontrol
+UAVOBJSRCFILENAMES += flightplansettings
+UAVOBJSRCFILENAMES += flightplanstatus
+UAVOBJSRCFILENAMES += flighttelemetrystats
+UAVOBJSRCFILENAMES += gcstelemetrystats
+UAVOBJSRCFILENAMES += gcsreceiver
+UAVOBJSRCFILENAMES += gpsposition
+UAVOBJSRCFILENAMES += gpssatellites
+UAVOBJSRCFILENAMES += gpssettings
+UAVOBJSRCFILENAMES += gpstime
+UAVOBJSRCFILENAMES += gpsvelocity
+UAVOBJSRCFILENAMES += vtolpathfollowersettings
+UAVOBJSRCFILENAMES += homelocation
+UAVOBJSRCFILENAMES += i2cstats
+UAVOBJSRCFILENAMES += manualcontrolcommand
+UAVOBJSRCFILENAMES += manualcontrolsettings
+UAVOBJSRCFILENAMES += mixersettings
+UAVOBJSRCFILENAMES += mixerstatus
+UAVOBJSRCFILENAMES += nedaccel
+UAVOBJSRCFILENAMES += nedposition
+UAVOBJSRCFILENAMES += objectpersistence
+UAVOBJSRCFILENAMES += overosyncstats
+UAVOBJSRCFILENAMES += overosyncsettings
+UAVOBJSRCFILENAMES += pathplannersettings
+UAVOBJSRCFILENAMES += pathdesired
+UAVOBJSRCFILENAMES += positionactual
+UAVOBJSRCFILENAMES += ratedesired
+UAVOBJSRCFILENAMES += revocalibration
+UAVOBJSRCFILENAMES += revosettings
+UAVOBJSRCFILENAMES += sonaraltitude
+UAVOBJSRCFILENAMES += stabilizationdesired
+UAVOBJSRCFILENAMES += stabilizationsettings
+UAVOBJSRCFILENAMES += systemalarms
+UAVOBJSRCFILENAMES += systemsettings
+UAVOBJSRCFILENAMES += systemstats
+UAVOBJSRCFILENAMES += taskinfo
+UAVOBJSRCFILENAMES += velocityactual
+UAVOBJSRCFILENAMES += velocitydesired
+UAVOBJSRCFILENAMES += watchdogstatus
+UAVOBJSRCFILENAMES += flightstatus
+UAVOBJSRCFILENAMES += hwsettings
+UAVOBJSRCFILENAMES += receiveractivity
+UAVOBJSRCFILENAMES += cameradesired
+UAVOBJSRCFILENAMES += camerastabsettings
+UAVOBJSRCFILENAMES += altitudeholdsettings                                                                                                            
+UAVOBJSRCFILENAMES += altitudeholddesired
+UAVOBJSRCFILENAMES += waypoint
+UAVOBJSRCFILENAMES += waypointactive
+
+UAVOBJSRC = $(foreach UAVOBJSRCFILE,$(UAVOBJSRCFILENAMES),$(UAVOBJSYNTHDIR)/$(UAVOBJSRCFILE).c )
+UAVOBJDEFINE = $(foreach UAVOBJSRCFILE,$(UAVOBJSRCFILENAMES),-DUAVOBJ_INIT_$(UAVOBJSRCFILE) )

flight/board_hw_defs/revomini/board_hw_defs.c

@@ -0,0 +1,1823 @@
+/**
+ ******************************************************************************
+ * @addtogroup OpenPilotSystem OpenPilot System
+ * @{
+ * @addtogroup OpenPilotCore OpenPilot Core
+ * @{
+ *
+ * @file       board_hw_defs.c
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
+ * @brief      Defines board specific static initializers for hardware 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
+ */
+#include <pios_config.h>
+#include <pios_board_info.h>
+
+#if defined(PIOS_INCLUDE_LED)
+
+#include <pios_led_priv.h>
+static const struct pios_led pios_leds[] = {
+	[PIOS_LED_HEARTBEAT] = {
+		.pin = {
+			.gpio = GPIOE,
+			.init = {
+				.GPIO_Pin   = GPIO_Pin_2,
+				.GPIO_Speed = GPIO_Speed_50MHz,
+				.GPIO_Mode  = GPIO_Mode_OUT,
+				.GPIO_OType = GPIO_OType_PP,
+				.GPIO_PuPd = GPIO_PuPd_UP
+			},
+		},
+	},
+	[PIOS_LED_ALARM] = {
+		.pin = {
+			.gpio = GPIOE,
+			.init = {
+				.GPIO_Pin   = GPIO_Pin_3,
+				.GPIO_Speed = GPIO_Speed_50MHz,
+				.GPIO_Mode  = GPIO_Mode_OUT,
+				.GPIO_OType = GPIO_OType_PP,
+				.GPIO_PuPd = GPIO_PuPd_UP
+			},
+		},
+	},
+};
+
+static const struct pios_led_cfg pios_led_cfg = {
+	.leds     = pios_leds,
+	.num_leds = NELEMENTS(pios_leds),
+};
+
+const struct pios_led_cfg * PIOS_BOARD_HW_DEFS_GetLedCfg (uint32_t board_revision)
+{
+	return &pios_led_cfg;
+}
+
+#endif	/* PIOS_INCLUDE_LED */
+
+#if defined(PIOS_INCLUDE_SPI)
+#include <pios_spi_priv.h>
+/* SPI1 Interface
+ *    - Used for BMA180 accelerometer
+ */
+void PIOS_SPI_accel_irq_handler(void);
+void DMA2_Stream0_IRQHandler(void) __attribute__((alias("PIOS_SPI_accel_irq_handler")));
+void DMA2_Stream3_IRQHandler(void) __attribute__((alias("PIOS_SPI_accel_irq_handler")));
+static const struct pios_spi_cfg pios_spi_accel_cfg = {
+	.regs = SPI1,
+	.remap = GPIO_AF_SPI1,
+	.init   = {
+		.SPI_Mode              = SPI_Mode_Master,
+		.SPI_Direction         = SPI_Direction_2Lines_FullDuplex,
+		.SPI_DataSize          = SPI_DataSize_8b,
+		.SPI_NSS               = SPI_NSS_Soft,
+		.SPI_FirstBit          = SPI_FirstBit_MSB,
+		.SPI_CRCPolynomial     = 7,
+		.SPI_CPOL              = SPI_CPOL_High,
+		.SPI_CPHA              = SPI_CPHA_2Edge,
+		.SPI_BaudRatePrescaler = SPI_BaudRatePrescaler_16,
+	},
+	.use_crc = false,
+	.dma = {
+		.irq = {
+			.flags   = (DMA_IT_TCIF0 | DMA_IT_TEIF0 | DMA_IT_HTIF0),
+			.init    = {
+				.NVIC_IRQChannel                   = DMA2_Stream0_IRQn,
+				.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGH,
+				.NVIC_IRQChannelSubPriority        = 0,
+				.NVIC_IRQChannelCmd                = ENABLE,
+			},
+		},
+		
+		.rx = {
+			.channel = DMA2_Stream0,
+			.init    = {
+                .DMA_Channel            = DMA_Channel_3,
+				.DMA_PeripheralBaseAddr = (uint32_t)&(SPI1->DR),
+				.DMA_DIR                = DMA_DIR_PeripheralToMemory,
+				.DMA_PeripheralInc      = DMA_PeripheralInc_Disable,
+				.DMA_MemoryInc          = DMA_MemoryInc_Enable,
+				.DMA_PeripheralDataSize = DMA_PeripheralDataSize_Byte,
+				.DMA_MemoryDataSize     = DMA_MemoryDataSize_Byte,
+				.DMA_Mode               = DMA_Mode_Normal,
+				.DMA_Priority           = DMA_Priority_Medium,
+				.DMA_FIFOMode           = DMA_FIFOMode_Disable,
+                /* .DMA_FIFOThreshold */
+                .DMA_MemoryBurst        = DMA_MemoryBurst_Single,
+                .DMA_PeripheralBurst    = DMA_PeripheralBurst_Single,
+			},
+		},
+		.tx = {
+			.channel = DMA2_Stream3,
+			.init    = {
+                .DMA_Channel            = DMA_Channel_3,
+				.DMA_PeripheralBaseAddr = (uint32_t)&(SPI1->DR),
+				.DMA_DIR                = DMA_DIR_MemoryToPeripheral,
+				.DMA_PeripheralInc      = DMA_PeripheralInc_Disable,
+				.DMA_MemoryInc          = DMA_MemoryInc_Enable,
+				.DMA_PeripheralDataSize = DMA_PeripheralDataSize_Byte,
+				.DMA_MemoryDataSize     = DMA_MemoryDataSize_Byte,
+				.DMA_Mode               = DMA_Mode_Normal,
+				.DMA_Priority           = DMA_Priority_High,
+				.DMA_FIFOMode           = DMA_FIFOMode_Disable,
+                /* .DMA_FIFOThreshold */
+                .DMA_MemoryBurst        = DMA_MemoryBurst_Single,
+                .DMA_PeripheralBurst    = DMA_PeripheralBurst_Single,
+			},
+		},
+	},
+	.sclk = {
+		.gpio = GPIOA,
+		.init = {
+			.GPIO_Pin   = GPIO_Pin_5,
+			.GPIO_Speed = GPIO_Speed_100MHz,
+			.GPIO_Mode  = GPIO_Mode_AF,
+			.GPIO_OType = GPIO_OType_PP,
+			.GPIO_PuPd = GPIO_PuPd_UP
+		},
+	},
+	.miso = {
+		.gpio = GPIOA,
+		.init = {
+			.GPIO_Pin   = GPIO_Pin_6,
+			.GPIO_Speed = GPIO_Speed_50MHz,
+			.GPIO_Mode  = GPIO_Mode_AF,
+			.GPIO_OType = GPIO_OType_PP,
+			.GPIO_PuPd = GPIO_PuPd_UP
+		},
+	},
+	.mosi = {
+		.gpio = GPIOA,
+		.init = {
+			.GPIO_Pin   = GPIO_Pin_7,
+			.GPIO_Speed = GPIO_Speed_50MHz,
+			.GPIO_Mode  = GPIO_Mode_AF,
+			.GPIO_OType = GPIO_OType_PP,
+			.GPIO_PuPd = GPIO_PuPd_UP
+		},
+	},
+	.slave_count = 2,
+	.ssel = { {
+		.gpio = GPIOA,
+		.init = {
+			.GPIO_Pin   = GPIO_Pin_4,
+			.GPIO_Speed = GPIO_Speed_50MHz,
+			.GPIO_Mode  = GPIO_Mode_OUT,
+			.GPIO_OType = GPIO_OType_PP,
+			.GPIO_PuPd = GPIO_PuPd_UP
+		} },
+		{
+			.gpio = GPIOC,
+			.init = {
+				.GPIO_Pin   = GPIO_Pin_5,
+				.GPIO_Speed = GPIO_Speed_50MHz,
+				.GPIO_Mode  = GPIO_Mode_OUT,
+				.GPIO_OType = GPIO_OType_PP,
+				.GPIO_PuPd = GPIO_PuPd_UP
+			} },
+	}
+};
+
+static uint32_t pios_spi_accel_id;
+void PIOS_SPI_accel_irq_handler(void)
+{
+	/* Call into the generic code to handle the IRQ for this specific device */
+	PIOS_SPI_IRQ_Handler(pios_spi_accel_id);
+}
+
+
+/* SPI2 Interface
+ *      - Used for gyro communications
+ */
+void PIOS_SPI_GYRO_irq_handler(void);
+void DMA1_Stream3_IRQHandler(void) __attribute__((alias("PIOS_SPI_gyro_irq_handler")));
+void DMA1_Stream4_IRQHandler(void) __attribute__((alias("PIOS_SPI_gyro_irq_handler")));
+static const struct pios_spi_cfg pios_spi_gyro_cfg = {
+	.regs = SPI2,
+	.remap = GPIO_AF_SPI2,
+	.init = {
+		.SPI_Mode              = SPI_Mode_Master,
+		.SPI_Direction         = SPI_Direction_2Lines_FullDuplex,
+		.SPI_DataSize          = SPI_DataSize_8b,
+		.SPI_NSS               = SPI_NSS_Soft,
+		.SPI_FirstBit          = SPI_FirstBit_MSB,
+		.SPI_CRCPolynomial     = 7,
+		.SPI_CPOL              = SPI_CPOL_High,
+		.SPI_CPHA              = SPI_CPHA_2Edge,
+		.SPI_BaudRatePrescaler = SPI_BaudRatePrescaler_8,
+	},
+	.use_crc = false,
+	.dma = {
+		.irq = {
+			// Note this is the stream ID that triggers interrupts (in this case RX)
+			.flags = (DMA_IT_TCIF3 | DMA_IT_TEIF3 | DMA_IT_HTIF3),
+			.init = {
+				.NVIC_IRQChannel = DMA1_Stream3_IRQn,
+				.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGH,
+				.NVIC_IRQChannelSubPriority = 0,
+				.NVIC_IRQChannelCmd = ENABLE,
+			},
+		},
+		
+		.rx = {
+			.channel = DMA1_Stream3,
+			.init = {
+				.DMA_Channel            = DMA_Channel_0,
+				.DMA_PeripheralBaseAddr = (uint32_t) & (SPI2->DR),
+				.DMA_DIR                = DMA_DIR_PeripheralToMemory,
+				.DMA_PeripheralInc      = DMA_PeripheralInc_Disable,
+				.DMA_MemoryInc          = DMA_MemoryInc_Enable,
+				.DMA_PeripheralDataSize = DMA_PeripheralDataSize_Byte,
+				.DMA_MemoryDataSize     = DMA_MemoryDataSize_Byte,
+				.DMA_Mode               = DMA_Mode_Normal,
+				.DMA_Priority           = DMA_Priority_Medium,
+				//TODO: Enable FIFO
+				.DMA_FIFOMode           = DMA_FIFOMode_Disable,
+                .DMA_FIFOThreshold      = DMA_FIFOThreshold_Full,
+                .DMA_MemoryBurst        = DMA_MemoryBurst_Single,
+                .DMA_PeripheralBurst    = DMA_PeripheralBurst_Single,
+			},
+		},
+		.tx = {
+			.channel = DMA1_Stream4,
+			.init = {
+				.DMA_Channel            = DMA_Channel_0,
+				.DMA_PeripheralBaseAddr = (uint32_t) & (SPI2->DR),
+				.DMA_DIR                = DMA_DIR_MemoryToPeripheral,
+				.DMA_PeripheralInc      = DMA_PeripheralInc_Disable,
+				.DMA_MemoryInc          = DMA_MemoryInc_Enable,
+				.DMA_PeripheralDataSize = DMA_PeripheralDataSize_Byte,
+				.DMA_MemoryDataSize     = DMA_MemoryDataSize_Byte,
+				.DMA_Mode               = DMA_Mode_Normal,
+				.DMA_Priority           = DMA_Priority_Medium,
+				.DMA_FIFOMode           = DMA_FIFOMode_Disable,
+                .DMA_FIFOThreshold      = DMA_FIFOThreshold_Full,
+                .DMA_MemoryBurst        = DMA_MemoryBurst_Single,
+                .DMA_PeripheralBurst    = DMA_PeripheralBurst_Single,
+			},
+		},
+	},
+	.sclk = {
+		.gpio = GPIOB,
+		.init = {
+			.GPIO_Pin = GPIO_Pin_13,
+			.GPIO_Speed = GPIO_Speed_100MHz,
+			.GPIO_Mode = GPIO_Mode_AF,
+			.GPIO_OType = GPIO_OType_PP,
+			.GPIO_PuPd = GPIO_PuPd_NOPULL
+		},
+	},
+	.miso = {
+		.gpio = GPIOB,
+		.init = {
+			.GPIO_Pin = GPIO_Pin_14,
+			.GPIO_Speed = GPIO_Speed_50MHz,
+			.GPIO_Mode = GPIO_Mode_AF,
+			.GPIO_OType = GPIO_OType_PP,
+			.GPIO_PuPd = GPIO_PuPd_NOPULL
+		},
+	},
+	.mosi = {
+		.gpio = GPIOB,
+		.init = {
+			.GPIO_Pin = GPIO_Pin_15,
+			.GPIO_Speed = GPIO_Speed_50MHz,
+			.GPIO_Mode = GPIO_Mode_AF,
+			.GPIO_OType = GPIO_OType_PP,
+			.GPIO_PuPd = GPIO_PuPd_NOPULL
+		},
+	},
+	.slave_count = 1,
+	.ssel = { {
+		.gpio = GPIOB,
+		.init = {
+			.GPIO_Pin = GPIO_Pin_12,
+			.GPIO_Speed = GPIO_Speed_50MHz,
+			.GPIO_Mode  = GPIO_Mode_OUT,
+			.GPIO_OType = GPIO_OType_PP,
+			.GPIO_PuPd = GPIO_PuPd_UP
+		},
+	} },
+};
+
+uint32_t pios_spi_gyro_id;
+void PIOS_SPI_gyro_irq_handler(void)
+{
+	/* Call into the generic code to handle the IRQ for this specific device */
+	PIOS_SPI_IRQ_Handler(pios_spi_gyro_id);
+}
+
+
+#if !defined(PIOS_FLASH_ON_ACCEL)
+/* SPI3 Interface
+ *      - Used for flash communications
+ */
+void PIOS_SPI_flash_irq_handler(void);
+void DMA1_Stream0_IRQHandler(void) __attribute__((alias("PIOS_SPI_flash_irq_handler")));
+void DMA1_Stream5_IRQHandler(void) __attribute__((alias("PIOS_SPI_flash_irq_handler")));
+static const struct pios_spi_cfg pios_spi_flash_cfg = {
+	.regs = SPI3,
+	.remap = GPIO_AF_SPI3,
+	.init = {
+		.SPI_Mode              = SPI_Mode_Master,
+		.SPI_Direction         = SPI_Direction_2Lines_FullDuplex,
+		.SPI_DataSize          = SPI_DataSize_8b,
+		.SPI_NSS               = SPI_NSS_Soft,
+		.SPI_FirstBit          = SPI_FirstBit_MSB,
+		.SPI_CRCPolynomial     = 7,
+		.SPI_CPOL              = SPI_CPOL_High,
+		.SPI_CPHA              = SPI_CPHA_2Edge,
+		.SPI_BaudRatePrescaler = SPI_BaudRatePrescaler_2,
+	},
+	.use_crc = false,
+	.dma = {
+		.irq = {
+			// Note this is the stream ID that triggers interrupts (in this case RX)
+			.flags = (DMA_IT_TCIF0 | DMA_IT_TEIF0 | DMA_IT_HTIF0),
+			.init = {
+				.NVIC_IRQChannel = DMA1_Stream0_IRQn,
+				.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGH,
+				.NVIC_IRQChannelSubPriority = 0,
+				.NVIC_IRQChannelCmd = ENABLE,
+			},
+		},
+		
+		.rx = {
+			.channel = DMA1_Stream0,
+			.init = {
+				.DMA_Channel            = DMA_Channel_0,
+				.DMA_PeripheralBaseAddr = (uint32_t) & (SPI3->DR),
+				.DMA_DIR                = DMA_DIR_PeripheralToMemory,
+				.DMA_PeripheralInc      = DMA_PeripheralInc_Disable,
+				.DMA_MemoryInc          = DMA_MemoryInc_Enable,
+				.DMA_PeripheralDataSize = DMA_PeripheralDataSize_Byte,
+				.DMA_MemoryDataSize     = DMA_MemoryDataSize_Byte,
+				.DMA_Mode               = DMA_Mode_Normal,
+				.DMA_Priority           = DMA_Priority_Medium,
+				//TODO: Enable FIFO
+				.DMA_FIFOMode           = DMA_FIFOMode_Disable,
+                .DMA_FIFOThreshold      = DMA_FIFOThreshold_Full,
+                .DMA_MemoryBurst        = DMA_MemoryBurst_Single,
+                .DMA_PeripheralBurst    = DMA_PeripheralBurst_Single,
+			},
+		},
+		.tx = {
+			.channel = DMA1_Stream5,
+			.init = {
+				.DMA_Channel            = DMA_Channel_0,
+				.DMA_PeripheralBaseAddr = (uint32_t) & (SPI3->DR),
+				.DMA_DIR                = DMA_DIR_MemoryToPeripheral,
+				.DMA_PeripheralInc      = DMA_PeripheralInc_Disable,
+				.DMA_MemoryInc          = DMA_MemoryInc_Enable,
+				.DMA_PeripheralDataSize = DMA_PeripheralDataSize_Byte,
+				.DMA_MemoryDataSize     = DMA_MemoryDataSize_Byte,
+				.DMA_Mode               = DMA_Mode_Normal,
+				.DMA_Priority           = DMA_Priority_Medium,
+				.DMA_FIFOMode           = DMA_FIFOMode_Disable,
+                .DMA_FIFOThreshold      = DMA_FIFOThreshold_Full,
+                .DMA_MemoryBurst        = DMA_MemoryBurst_Single,
+                .DMA_PeripheralBurst    = DMA_PeripheralBurst_Single,
+			},
+		},
+	},
+	.sclk = {
+		.gpio = GPIOC,
+		.init = {
+			.GPIO_Pin = GPIO_Pin_10,
+			.GPIO_Speed = GPIO_Speed_100MHz,
+			.GPIO_Mode = GPIO_Mode_AF,
+			.GPIO_OType = GPIO_OType_PP,
+			.GPIO_PuPd = GPIO_PuPd_NOPULL
+		},
+	},
+	.miso = {
+		.gpio = GPIOC,
+		.init = {
+			.GPIO_Pin = GPIO_Pin_11,
+			.GPIO_Speed = GPIO_Speed_50MHz,
+			.GPIO_Mode = GPIO_Mode_AF,
+			.GPIO_OType = GPIO_OType_PP,
+			.GPIO_PuPd = GPIO_PuPd_NOPULL
+		},
+	},
+	.mosi = {
+		.gpio = GPIOC,
+		.init = {
+			.GPIO_Pin = GPIO_Pin_12,
+			.GPIO_Speed = GPIO_Speed_50MHz,
+			.GPIO_Mode = GPIO_Mode_AF,
+			.GPIO_OType = GPIO_OType_PP,
+			.GPIO_PuPd = GPIO_PuPd_NOPULL
+		},
+	},
+	.slave_count = 1,
+	.ssel = { {
+		.gpio = GPIOD,
+		.init = {
+			.GPIO_Pin = GPIO_Pin_2,
+			.GPIO_Speed = GPIO_Speed_50MHz,
+			.GPIO_Mode  = GPIO_Mode_OUT,
+			.GPIO_OType = GPIO_OType_PP,
+			.GPIO_PuPd = GPIO_PuPd_UP
+		},
+	} },
+};
+
+uint32_t pios_spi_flash_id;
+void PIOS_SPI_flash_irq_handler(void)
+{
+	/* Call into the generic code to handle the IRQ for this specific device */
+	PIOS_SPI_IRQ_Handler(pios_spi_flash_id);
+}
+#endif /* PIOS_FLASH_ON_ACCEL */
+
+#endif /* PIOS_INCLUDE_SPI */
+
+#if defined(PIOS_OVERO_SPI)
+/* SPI3 Interface
+ *      - Used for flash communications
+ */
+#include <pios_overo_priv.h>
+void PIOS_OVERO_irq_handler(void);
+void DMA1_Stream7_IRQHandler(void) __attribute__((alias("PIOS_OVERO_irq_handler")));
+static const struct pios_overo_cfg pios_overo_cfg = {
+	.regs = SPI3,
+	.remap = GPIO_AF_SPI3,
+	.init = {
+		.SPI_Mode              = SPI_Mode_Slave,
+		.SPI_Direction         = SPI_Direction_2Lines_FullDuplex,
+		.SPI_DataSize          = SPI_DataSize_8b,
+		.SPI_NSS               = SPI_NSS_Hard,
+		.SPI_FirstBit          = SPI_FirstBit_MSB,
+		.SPI_CRCPolynomial     = 7,
+		.SPI_CPOL              = SPI_CPOL_High,
+		.SPI_CPHA              = SPI_CPHA_2Edge,
+		.SPI_BaudRatePrescaler = SPI_BaudRatePrescaler_2,
+	},
+	.use_crc = false,
+	.dma = {		
+		.irq = {
+			// Note this is the stream ID that triggers interrupts (in this case TX)
+			.flags = (DMA_IT_TCIF7),
+			.init = {
+				.NVIC_IRQChannel = DMA1_Stream7_IRQn,
+				.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGH,
+				.NVIC_IRQChannelSubPriority = 0,
+				.NVIC_IRQChannelCmd = ENABLE,
+			},
+		},
+		
+		.rx = {
+			.channel = DMA1_Stream0,
+			.init = {
+				.DMA_Channel            = DMA_Channel_0,
+				.DMA_PeripheralBaseAddr = (uint32_t) & (SPI3->DR),
+				.DMA_DIR                = DMA_DIR_PeripheralToMemory,
+				.DMA_PeripheralInc      = DMA_PeripheralInc_Disable,
+				.DMA_MemoryInc          = DMA_MemoryInc_Enable,
+				.DMA_PeripheralDataSize = DMA_PeripheralDataSize_Byte,
+				.DMA_MemoryDataSize     = DMA_MemoryDataSize_Byte,
+				.DMA_Mode               = DMA_Mode_Circular,
+				.DMA_Priority           = DMA_Priority_Medium,
+				//TODO: Enable FIFO
+				.DMA_FIFOMode           = DMA_FIFOMode_Disable,
+				.DMA_FIFOThreshold      = DMA_FIFOThreshold_Full,
+				.DMA_MemoryBurst        = DMA_MemoryBurst_Single,
+				.DMA_PeripheralBurst    = DMA_PeripheralBurst_Single,
+			},
+		},
+		.tx = {
+			.channel = DMA1_Stream7,
+			.init = {
+				.DMA_Channel            = DMA_Channel_0,
+				.DMA_PeripheralBaseAddr = (uint32_t) & (SPI3->DR),
+				.DMA_DIR                = DMA_DIR_MemoryToPeripheral,
+				.DMA_PeripheralInc      = DMA_PeripheralInc_Disable,
+				.DMA_MemoryInc          = DMA_MemoryInc_Enable,
+				.DMA_PeripheralDataSize = DMA_PeripheralDataSize_Byte,
+				.DMA_MemoryDataSize     = DMA_MemoryDataSize_Byte,
+				.DMA_Mode               = DMA_Mode_Circular,
+				.DMA_Priority           = DMA_Priority_Medium,
+				.DMA_FIFOMode           = DMA_FIFOMode_Disable,
+				.DMA_FIFOThreshold      = DMA_FIFOThreshold_Full,
+				.DMA_MemoryBurst        = DMA_MemoryBurst_Single,
+				.DMA_PeripheralBurst    = DMA_PeripheralBurst_Single,
+			},
+		},
+	},
+	.sclk = {
+		.gpio = GPIOC,
+		.init = {
+			.GPIO_Pin = GPIO_Pin_10,
+			.GPIO_Speed = GPIO_Speed_100MHz,
+			.GPIO_Mode = GPIO_Mode_AF,
+			.GPIO_OType = GPIO_OType_PP,
+			.GPIO_PuPd = GPIO_PuPd_NOPULL
+		},
+	},
+	.miso = {
+		.gpio = GPIOC,
+		.init = {
+			.GPIO_Pin = GPIO_Pin_11,
+			.GPIO_Speed = GPIO_Speed_50MHz,
+			.GPIO_Mode = GPIO_Mode_AF,
+			.GPIO_OType = GPIO_OType_PP,
+			.GPIO_PuPd = GPIO_PuPd_NOPULL
+		},
+	},
+	.mosi = {
+		.gpio = GPIOC,
+		.init = {
+			.GPIO_Pin = GPIO_Pin_12,
+			.GPIO_Speed = GPIO_Speed_50MHz,
+			.GPIO_Mode = GPIO_Mode_AF,
+			.GPIO_OType = GPIO_OType_PP,
+			.GPIO_PuPd = GPIO_PuPd_NOPULL
+		},
+	},
+	.slave_count = 1,
+	.ssel = { {
+		.gpio = GPIOA,
+		.init = {
+			.GPIO_Pin = GPIO_Pin_15,
+			.GPIO_Speed = GPIO_Speed_50MHz,
+			.GPIO_Mode  = GPIO_Mode_OUT,
+			.GPIO_OType = GPIO_OType_PP,
+			.GPIO_PuPd = GPIO_PuPd_UP
+		},
+	} },
+};
+uint32_t pios_overo_id = 0;
+void PIOS_OVERO_irq_handler(void)
+{
+	/* Call into the generic code to handle the IRQ for this specific device */
+	PIOS_OVERO_DMA_irq_handler(pios_overo_id);
+}
+#else
+
+#endif /* PIOS_OVERO_SPI */
+
+
+
+
+
+#include <pios_usart_priv.h>
+
+#ifdef PIOS_INCLUDE_COM_TELEM
+/*
+ * Telemetry on main USART
+ */
+static const struct pios_usart_cfg pios_usart_telem_cfg = {
+	.regs = USART2,
+	.remap = GPIO_AF_USART2,
+	.init = {
+		.USART_BaudRate = 57600,
+		.USART_WordLength = USART_WordLength_8b,
+		.USART_Parity = USART_Parity_No,
+		.USART_StopBits = USART_StopBits_1,
+		.USART_HardwareFlowControl =
+		USART_HardwareFlowControl_None,
+		.USART_Mode = USART_Mode_Rx | USART_Mode_Tx,
+	},
+	.irq = {
+		.init = {
+			.NVIC_IRQChannel = USART2_IRQn,
+			.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID,
+			.NVIC_IRQChannelSubPriority = 0,
+			.NVIC_IRQChannelCmd = ENABLE,
+		},
+	},
+	.rx = {
+		.gpio = GPIOD,
+		.init = {
+			.GPIO_Pin   = GPIO_Pin_6,
+			.GPIO_Speed = GPIO_Speed_2MHz,
+			.GPIO_Mode  = GPIO_Mode_AF,
+			.GPIO_OType = GPIO_OType_PP,
+			.GPIO_PuPd  = GPIO_PuPd_UP
+		},
+	},
+	.tx = {
+		.gpio = GPIOD,
+		.init = {
+			.GPIO_Pin   = GPIO_Pin_5,
+			.GPIO_Speed = GPIO_Speed_2MHz,
+			.GPIO_Mode  = GPIO_Mode_AF,
+			.GPIO_OType = GPIO_OType_PP,
+			.GPIO_PuPd  = GPIO_PuPd_UP
+		},
+	},
+};
+
+#endif /* PIOS_COM_TELEM */
+
+#ifdef PIOS_INCLUDE_GPS
+/*
+ * GPS USART
+ */
+static const struct pios_usart_cfg pios_usart_gps_cfg = {
+	.regs = USART1,
+	.remap = GPIO_AF_USART1,
+	.init = {
+		.USART_BaudRate = 57600,
+		.USART_WordLength = USART_WordLength_8b,
+		.USART_Parity = USART_Parity_No,
+		.USART_StopBits = USART_StopBits_1,
+		.USART_HardwareFlowControl =
+		USART_HardwareFlowControl_None,
+		.USART_Mode = USART_Mode_Rx | USART_Mode_Tx,
+	},
+	.irq = {
+		.init = {
+			.NVIC_IRQChannel = USART1_IRQn,
+			.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID,
+			.NVIC_IRQChannelSubPriority = 0,
+			.NVIC_IRQChannelCmd = ENABLE,
+		},
+	},
+	.rx = {
+		.gpio = GPIOA,
+		.init = {
+			.GPIO_Pin   = GPIO_Pin_10,
+			.GPIO_Speed = GPIO_Speed_2MHz,
+			.GPIO_Mode  = GPIO_Mode_AF,
+			.GPIO_OType = GPIO_OType_PP,
+			.GPIO_PuPd  = GPIO_PuPd_UP
+		},
+	},
+	.tx = {
+		.gpio = GPIOA,
+		.init = {
+			.GPIO_Pin   = GPIO_Pin_9,
+			.GPIO_Speed = GPIO_Speed_2MHz,
+			.GPIO_Mode  = GPIO_Mode_AF,
+			.GPIO_OType = GPIO_OType_PP,
+			.GPIO_PuPd  = GPIO_PuPd_UP
+		},
+	},
+};
+
+#endif /* PIOS_INCLUDE_GPS */
+
+#ifdef PIOS_INCLUDE_COM_AUX
+/*
+ * AUX USART (UART label on rev2)
+ */
+static const struct pios_usart_cfg pios_usart_aux_cfg = {
+	.regs = USART6,
+	.remap = GPIO_AF_USART6,
+	.init = {
+		.USART_BaudRate = 57600,
+		.USART_WordLength = USART_WordLength_8b,
+		.USART_Parity = USART_Parity_No,
+		.USART_StopBits = USART_StopBits_1,
+		.USART_HardwareFlowControl =
+		USART_HardwareFlowControl_None,
+		.USART_Mode = USART_Mode_Rx | USART_Mode_Tx,
+	},
+	.irq = {
+		.init = {
+			.NVIC_IRQChannel = USART6_IRQn,
+			.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID,
+			.NVIC_IRQChannelSubPriority = 0,
+			.NVIC_IRQChannelCmd = ENABLE,
+		},
+	},
+	.rx = {
+		.gpio = GPIOC,
+		.init = {
+			.GPIO_Pin   = GPIO_Pin_7,
+			.GPIO_Speed = GPIO_Speed_2MHz,
+			.GPIO_Mode  = GPIO_Mode_AF,
+			.GPIO_OType = GPIO_OType_PP,
+			.GPIO_PuPd  = GPIO_PuPd_UP
+		},
+	},
+	.tx = {
+		.gpio = GPIOC,
+		.init = {
+			.GPIO_Pin   = GPIO_Pin_6,
+			.GPIO_Speed = GPIO_Speed_2MHz,
+			.GPIO_Mode  = GPIO_Mode_AF,
+			.GPIO_OType = GPIO_OType_PP,
+			.GPIO_PuPd  = GPIO_PuPd_UP
+		},
+	},
+};
+
+#endif /* PIOS_COM_AUX */
+
+#ifdef PIOS_INCLUDE_COM_AUXSBUS
+/*
+ * AUX USART SBUS ( UART/ S Bus label on rev2)
+ */
+static const struct pios_usart_cfg pios_usart_auxsbus_cfg = {
+	.regs = UART4,
+	.remap = GPIO_AF_UART4,
+	.init = {
+		.USART_BaudRate = 57600,
+		.USART_WordLength = USART_WordLength_8b,
+		.USART_Parity = USART_Parity_No,
+		.USART_StopBits = USART_StopBits_1,
+		.USART_HardwareFlowControl =
+		USART_HardwareFlowControl_None,
+		.USART_Mode = USART_Mode_Rx | USART_Mode_Tx,
+	},
+	.irq = {
+		.init = {
+			.NVIC_IRQChannel = UART4_IRQn,
+			.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID,
+			.NVIC_IRQChannelSubPriority = 0,
+			.NVIC_IRQChannelCmd = ENABLE,
+		},
+	},
+	.rx = {
+		.gpio = GPIOA,
+		.init = {
+			.GPIO_Pin   = GPIO_Pin_1,
+			.GPIO_Speed = GPIO_Speed_2MHz,
+			.GPIO_Mode  = GPIO_Mode_AF,
+			.GPIO_OType = GPIO_OType_PP,
+			.GPIO_PuPd  = GPIO_PuPd_UP
+		},
+	},
+	.tx = {
+		.gpio = GPIOA,
+		.init = {
+			.GPIO_Pin   = GPIO_Pin_0,
+			.GPIO_Speed = GPIO_Speed_2MHz,
+			.GPIO_Mode  = GPIO_Mode_AF,
+			.GPIO_OType = GPIO_OType_PP,
+			.GPIO_PuPd  = GPIO_PuPd_UP
+		},
+	},
+};
+
+#endif /* PIOS_INCLUDE_COM_AUXSBUS */
+
+#ifdef PIOS_INCLUDE_COM_FLEXI
+/*
+ * FLEXI PORT
+ */
+static const struct pios_usart_cfg pios_usart_flexi_cfg = {
+	.regs = USART3,
+	.remap = GPIO_AF_USART3,
+	.init = {
+		.USART_BaudRate = 57600,
+		.USART_WordLength = USART_WordLength_8b,
+		.USART_Parity = USART_Parity_No,
+		.USART_StopBits = USART_StopBits_1,
+		.USART_HardwareFlowControl =
+		USART_HardwareFlowControl_None,
+		.USART_Mode = USART_Mode_Rx | USART_Mode_Tx,
+	},
+	.irq = {
+		.init = {
+			.NVIC_IRQChannel = USART3_IRQn,
+			.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID,
+			.NVIC_IRQChannelSubPriority = 0,
+			.NVIC_IRQChannelCmd = ENABLE,
+		},
+	},
+	.rx = {
+		.gpio = GPIOB,
+		.init = {
+			.GPIO_Pin   = GPIO_Pin_10,
+			.GPIO_Speed = GPIO_Speed_2MHz,
+			.GPIO_Mode  = GPIO_Mode_AF,
+			.GPIO_OType = GPIO_OType_PP,
+			.GPIO_PuPd  = GPIO_PuPd_UP
+		},
+	},
+	.tx = {
+		.gpio = GPIOB,
+		.init = {
+			.GPIO_Pin   = GPIO_Pin_11,
+			.GPIO_Speed = GPIO_Speed_2MHz,
+			.GPIO_Mode  = GPIO_Mode_AF,
+			.GPIO_OType = GPIO_OType_PP,
+			.GPIO_PuPd  = GPIO_PuPd_UP
+		},
+	},
+};
+
+#endif /* PIOS_INCLUDE_COM_FLEXI */
+
+#if defined(PIOS_INCLUDE_DSM)
+/*
+ * Spektrum/JR DSM USART
+ */
+#include <pios_dsm_priv.h>
+
+static const struct pios_usart_cfg pios_usart_dsm_aux_cfg = {
+	.regs = USART6,
+	.remap = GPIO_AF_USART6,
+	.init = {
+		.USART_BaudRate = 115200,
+		.USART_WordLength = USART_WordLength_8b,
+		.USART_Parity = USART_Parity_No,
+		.USART_StopBits = USART_StopBits_1,
+		.USART_HardwareFlowControl = USART_HardwareFlowControl_None,
+		.USART_Mode = USART_Mode_Rx,
+	},
+	.irq = {
+		.init = {
+			.NVIC_IRQChannel = USART6_IRQn,
+			.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGH,
+			.NVIC_IRQChannelSubPriority = 0,
+			.NVIC_IRQChannelCmd = ENABLE,
+		},
+	},
+	.rx = {
+		.gpio = GPIOC,
+		.init = {
+			.GPIO_Pin   = GPIO_Pin_7,
+			.GPIO_Speed = GPIO_Speed_2MHz,
+			.GPIO_Mode  = GPIO_Mode_AF,
+			.GPIO_OType = GPIO_OType_PP,
+			.GPIO_PuPd  = GPIO_PuPd_UP
+		},
+	},
+	.tx = {
+		.gpio = GPIOC,
+		.init = {
+			.GPIO_Pin   = GPIO_Pin_6,
+			.GPIO_Speed = GPIO_Speed_2MHz,
+			.GPIO_Mode  = GPIO_Mode_AF,
+			.GPIO_OType = GPIO_OType_PP,
+			.GPIO_PuPd  = GPIO_PuPd_UP
+		},
+	},
+};
+
+static const struct pios_dsm_cfg pios_dsm_aux_cfg = {
+	.bind = {
+		.gpio = GPIOC,
+		.init = {
+			.GPIO_Pin   = GPIO_Pin_7,
+			.GPIO_Speed = GPIO_Speed_2MHz,
+			.GPIO_Mode  = GPIO_Mode_OUT,
+			.GPIO_OType = GPIO_OType_PP,
+			.GPIO_PuPd  = GPIO_PuPd_NOPULL
+		},
+	},
+};
+
+static const struct pios_usart_cfg pios_usart_dsm_auxsbus_cfg = {
+	.regs = UART4,
+	.remap = GPIO_AF_UART4,
+	.init = {
+		.USART_BaudRate = 115200,
+		.USART_WordLength = USART_WordLength_8b,
+		.USART_Parity = USART_Parity_No,
+		.USART_StopBits = USART_StopBits_1,
+		.USART_HardwareFlowControl = USART_HardwareFlowControl_None,
+		.USART_Mode = USART_Mode_Rx,
+	},
+	.irq = {
+		.init = {
+			.NVIC_IRQChannel = UART4_IRQn,
+			.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID,
+			.NVIC_IRQChannelSubPriority = 0,
+			.NVIC_IRQChannelCmd = ENABLE,
+		},
+	},
+	.rx = {
+		.gpio = GPIOA,
+		.init = {
+			.GPIO_Pin   = GPIO_Pin_1,
+			.GPIO_Speed = GPIO_Speed_2MHz,
+			.GPIO_Mode  = GPIO_Mode_AF,
+			.GPIO_OType = GPIO_OType_PP,
+			.GPIO_PuPd  = GPIO_PuPd_UP
+		},
+	},
+	.tx = {
+		.gpio = GPIOA,
+		.init = {
+			.GPIO_Pin   = GPIO_Pin_0,
+			.GPIO_Speed = GPIO_Speed_2MHz,
+			.GPIO_Mode  = GPIO_Mode_AF,
+			.GPIO_OType = GPIO_OType_PP,
+			.GPIO_PuPd  = GPIO_PuPd_UP
+		},
+	},
+};
+
+static const struct pios_dsm_cfg pios_dsm_auxsbus_cfg = {
+	.bind = {
+		.gpio = GPIOA,
+		.init = {
+			.GPIO_Pin   = GPIO_Pin_1,
+			.GPIO_Speed = GPIO_Speed_2MHz,
+			.GPIO_Mode  = GPIO_Mode_OUT,
+			.GPIO_OType = GPIO_OType_PP,
+			.GPIO_PuPd  = GPIO_PuPd_NOPULL
+		},
+	},
+};
+
+static const struct pios_usart_cfg pios_usart_dsm_flexi_cfg = {
+	.regs = USART3,
+	.remap = GPIO_AF_USART3,
+	.init = {
+		.USART_BaudRate            = 115200,
+		.USART_WordLength          = USART_WordLength_8b,
+		.USART_Parity              = USART_Parity_No,
+		.USART_StopBits            = USART_StopBits_1,
+		.USART_HardwareFlowControl = USART_HardwareFlowControl_None,
+		.USART_Mode                = USART_Mode_Rx,
+	},
+	.irq = {
+		.init = {
+			.NVIC_IRQChannel                   = USART3_IRQn,
+			.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGH,
+			.NVIC_IRQChannelSubPriority        = 0,
+			.NVIC_IRQChannelCmd                = ENABLE,
+		},
+	},
+	.rx = {
+		.gpio = GPIOB,
+		.init = {
+			.GPIO_Pin   = GPIO_Pin_11,
+			.GPIO_Speed = GPIO_Speed_2MHz,
+			.GPIO_Mode  = GPIO_Mode_AF,
+			.GPIO_OType = GPIO_OType_PP,
+			.GPIO_PuPd  = GPIO_PuPd_UP
+		},
+	},
+	.tx = {
+		.gpio = GPIOB,
+		.init = {
+			.GPIO_Pin   = GPIO_Pin_10,
+			.GPIO_Speed = GPIO_Speed_2MHz,
+			.GPIO_Mode  = GPIO_Mode_AF,
+			.GPIO_OType = GPIO_OType_PP,
+			.GPIO_PuPd  = GPIO_PuPd_UP
+		},
+	},
+};
+
+static const struct pios_dsm_cfg pios_dsm_flexi_cfg = {
+	.bind = {
+		.gpio = GPIOB,
+		.init = {
+			.GPIO_Pin   = GPIO_Pin_11,
+			.GPIO_Speed = GPIO_Speed_2MHz,
+			.GPIO_Mode  = GPIO_Mode_OUT,
+			.GPIO_OType = GPIO_OType_PP,
+			.GPIO_PuPd  = GPIO_PuPd_NOPULL
+		},
+	},
+};
+
+#endif	/* PIOS_INCLUDE_DSM */
+
+#if defined(PIOS_INCLUDE_SBUS)
+/*
+ * S.Bus USART
+ */
+#include <pios_sbus_priv.h>
+
+static const struct pios_usart_cfg pios_usart_sbus_auxsbus_cfg = {
+	.regs = UART4,
+	.init = {
+		.USART_BaudRate            = 100000,
+		.USART_WordLength          = USART_WordLength_8b,
+		.USART_Parity              = USART_Parity_Even,
+		.USART_StopBits            = USART_StopBits_2,
+		.USART_HardwareFlowControl = USART_HardwareFlowControl_None,
+		.USART_Mode                = USART_Mode_Rx,
+	},
+	.irq = {
+		.init = {
+			.NVIC_IRQChannel                   = UART4_IRQn,
+			.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGH,
+			.NVIC_IRQChannelSubPriority        = 0,
+			.NVIC_IRQChannelCmd                = ENABLE,
+		},
+	},
+	.rx = {
+		.gpio = GPIOA,
+		.init = {
+			.GPIO_Pin   = GPIO_Pin_1,
+			.GPIO_Speed = GPIO_Speed_2MHz,
+			.GPIO_Mode  = GPIO_Mode_AF,
+			.GPIO_OType = GPIO_OType_PP,
+			.GPIO_PuPd  = GPIO_PuPd_UP
+		},
+	},
+	.tx = {
+		.gpio = GPIOA,
+		.init = {
+			.GPIO_Pin   = GPIO_Pin_0,
+			.GPIO_Speed = GPIO_Speed_2MHz,
+			.GPIO_Mode  = GPIO_Mode_OUT,
+			.GPIO_OType = GPIO_OType_PP,
+			.GPIO_PuPd  = GPIO_PuPd_NOPULL
+		},
+	},
+};
+
+static const struct pios_sbus_cfg pios_sbus_cfg = {
+	/* Inverter configuration */
+	.inv = {
+		.gpio = GPIOC,
+		.init = {
+			.GPIO_Pin = GPIO_Pin_3,
+			.GPIO_Mode  = GPIO_Mode_OUT,
+			.GPIO_OType = GPIO_OType_PP,
+			.GPIO_Speed = GPIO_Speed_2MHz,
+		},
+	},
+	.gpio_clk_func = RCC_AHB1PeriphClockCmd,
+	.gpio_clk_periph = RCC_AHB1Periph_GPIOB,
+	.gpio_inv_enable = Bit_SET,
+};
+
+#endif	/* PIOS_INCLUDE_SBUS */
+
+#if defined(PIOS_INCLUDE_COM)
+
+#include <pios_com_priv.h>
+
+#endif /* PIOS_INCLUDE_COM */
+
+#if defined(PIOS_INCLUDE_I2C)
+
+#include <pios_i2c_priv.h>
+
+/*
+ * I2C Adapters
+ */
+void PIOS_I2C_mag_adapter_ev_irq_handler(void);
+void PIOS_I2C_mag_adapter_er_irq_handler(void);
+void I2C1_EV_IRQHandler()
+__attribute__ ((alias("PIOS_I2C_mag_adapter_ev_irq_handler")));
+void I2C1_ER_IRQHandler()
+__attribute__ ((alias("PIOS_I2C_mag_adapter_er_irq_handler")));
+
+static const struct pios_i2c_adapter_cfg pios_i2c_mag_adapter_cfg = {
+	.regs = I2C1,
+	.remap = GPIO_AF_I2C1,
+	.init = {
+		.I2C_Mode = I2C_Mode_I2C,
+		.I2C_OwnAddress1 = 0,
+		.I2C_Ack = I2C_Ack_Enable,
+		.I2C_AcknowledgedAddress = I2C_AcknowledgedAddress_7bit,
+		.I2C_DutyCycle = I2C_DutyCycle_2,
+		.I2C_ClockSpeed = 400000,	/* bits/s */
+	},
+	.transfer_timeout_ms = 50,
+	.scl = {
+		.gpio = GPIOB,
+		.init = {
+			.GPIO_Pin = GPIO_Pin_6,
+            .GPIO_Mode  = GPIO_Mode_AF,
+            .GPIO_Speed = GPIO_Speed_50MHz,
+            .GPIO_OType = GPIO_OType_OD,
+            .GPIO_PuPd  = GPIO_PuPd_NOPULL,
+		},
+	},
+	.sda = {
+		.gpio = GPIOB,
+		.init = {
+			.GPIO_Pin = GPIO_Pin_7,
+            .GPIO_Mode  = GPIO_Mode_AF,
+            .GPIO_Speed = GPIO_Speed_50MHz,
+            .GPIO_OType = GPIO_OType_OD,
+            .GPIO_PuPd  = GPIO_PuPd_NOPULL,
+		},
+	},
+	.event = {
+		.flags = 0,	/* FIXME: check this */
+		.init = {
+			.NVIC_IRQChannel = I2C1_EV_IRQn,
+			.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGHEST,
+			.NVIC_IRQChannelSubPriority = 0,
+			.NVIC_IRQChannelCmd = ENABLE,
+		},
+	},
+	.error = {
+		.flags = 0,	/* FIXME: check this */
+		.init = {
+			.NVIC_IRQChannel = I2C1_ER_IRQn,
+			.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGHEST,
+			.NVIC_IRQChannelSubPriority = 0,
+			.NVIC_IRQChannelCmd = ENABLE,
+		},
+	},
+};
+
+uint32_t pios_i2c_mag_adapter_id;
+void PIOS_I2C_mag_adapter_ev_irq_handler(void)
+{
+	/* Call into the generic code to handle the IRQ for this specific device */
+	PIOS_I2C_EV_IRQ_Handler(pios_i2c_mag_adapter_id);
+}
+
+void PIOS_I2C_mag_adapter_er_irq_handler(void)
+{
+	/* Call into the generic code to handle the IRQ for this specific device */
+	PIOS_I2C_ER_IRQ_Handler(pios_i2c_mag_adapter_id);
+}
+
+
+void PIOS_I2C_flexiport_adapter_ev_irq_handler(void);
+void PIOS_I2C_flexiport_adapter_er_irq_handler(void);
+void I2C2_EV_IRQHandler() __attribute__ ((alias ("PIOS_I2C_flexiport_adapter_ev_irq_handler")));
+void I2C2_ER_IRQHandler() __attribute__ ((alias ("PIOS_I2C_flexiport_adapter_er_irq_handler")));
+
+static const struct pios_i2c_adapter_cfg pios_i2c_flexiport_adapter_cfg = {
+	.regs = I2C2,
+	.remap = GPIO_AF_I2C2,
+	.init = {
+		.I2C_Mode                = I2C_Mode_I2C,
+		.I2C_OwnAddress1         = 0,
+		.I2C_Ack                 = I2C_Ack_Enable,
+		.I2C_AcknowledgedAddress = I2C_AcknowledgedAddress_7bit,
+		.I2C_DutyCycle           = I2C_DutyCycle_2,
+		.I2C_ClockSpeed          = 400000,	/* bits/s */
+	},
+	.transfer_timeout_ms = 50,
+	.scl = {
+		.gpio = GPIOB,
+		.init = {
+			.GPIO_Pin   = GPIO_Pin_10,
+            .GPIO_Mode  = GPIO_Mode_AF,
+            .GPIO_Speed = GPIO_Speed_50MHz,
+            .GPIO_OType = GPIO_OType_OD,
+            .GPIO_PuPd  = GPIO_PuPd_NOPULL,
+		},
+	},
+	.sda = {
+		.gpio = GPIOB,
+		.init = {
+			.GPIO_Pin   = GPIO_Pin_11,
+            .GPIO_Mode  = GPIO_Mode_AF,
+            .GPIO_Speed = GPIO_Speed_50MHz,
+            .GPIO_OType = GPIO_OType_OD,
+            .GPIO_PuPd  = GPIO_PuPd_NOPULL,
+		},
+	},
+	.event = {
+		.flags   = 0,		/* FIXME: check this */
+		.init = {
+			.NVIC_IRQChannel                   = I2C2_EV_IRQn,
+			.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGHEST,
+			.NVIC_IRQChannelSubPriority        = 0,
+			.NVIC_IRQChannelCmd                = ENABLE,
+		},
+	},
+	.error = {
+		.flags   = 0,		/* FIXME: check this */
+		.init = {
+			.NVIC_IRQChannel                   = I2C2_ER_IRQn,
+			.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGHEST,
+			.NVIC_IRQChannelSubPriority        = 0,
+			.NVIC_IRQChannelCmd                = ENABLE,
+		},
+	},
+};
+
+uint32_t pios_i2c_flexiport_adapter_id;
+void PIOS_I2C_flexiport_adapter_ev_irq_handler(void)
+{
+	/* Call into the generic code to handle the IRQ for this specific device */
+	PIOS_I2C_EV_IRQ_Handler(pios_i2c_flexiport_adapter_id);
+}
+
+void PIOS_I2C_flexiport_adapter_er_irq_handler(void)
+{
+	/* Call into the generic code to handle the IRQ for this specific device */
+	PIOS_I2C_ER_IRQ_Handler(pios_i2c_flexiport_adapter_id);
+}
+
+
+void PIOS_I2C_pressure_adapter_ev_irq_handler(void);
+void PIOS_I2C_pressure_adapter_er_irq_handler(void);
+void I2C3_EV_IRQHandler() __attribute__ ((alias ("PIOS_I2C_pressure_adapter_ev_irq_handler")));
+void I2C3_ER_IRQHandler() __attribute__ ((alias ("PIOS_I2C_pressure_adapter_er_irq_handler")));
+
+static const struct pios_i2c_adapter_cfg pios_i2c_pressure_adapter_cfg = {
+	.regs = I2C3,
+	.remap = GPIO_AF_I2C3,
+	.init = {
+		.I2C_Mode                = I2C_Mode_I2C,
+		.I2C_OwnAddress1         = 0,
+		.I2C_Ack                 = I2C_Ack_Enable,
+		.I2C_AcknowledgedAddress = I2C_AcknowledgedAddress_7bit,
+		.I2C_DutyCycle           = I2C_DutyCycle_2,
+		.I2C_ClockSpeed          = 40000,	/* bits/s */
+	},
+	.transfer_timeout_ms = 50,
+	.scl = {
+		.gpio = GPIOA,
+		.init = {
+			.GPIO_Pin   = GPIO_Pin_8,
+            .GPIO_Mode  = GPIO_Mode_AF,
+            .GPIO_Speed = GPIO_Speed_50MHz,
+            .GPIO_OType = GPIO_OType_OD,
+            .GPIO_PuPd  = GPIO_PuPd_NOPULL,
+		},
+	},
+	.sda = {
+		.gpio = GPIOC,
+		.init = {
+			.GPIO_Pin   = GPIO_Pin_9,
+            .GPIO_Mode  = GPIO_Mode_AF,
+            .GPIO_Speed = GPIO_Speed_50MHz,
+            .GPIO_OType = GPIO_OType_OD,
+            .GPIO_PuPd  = GPIO_PuPd_NOPULL,
+		},
+	},
+	.event = {
+		.flags   = 0,		/* FIXME: check this */
+		.init = {
+			.NVIC_IRQChannel                   = I2C3_EV_IRQn,
+			.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGHEST,
+			.NVIC_IRQChannelSubPriority        = 0,
+			.NVIC_IRQChannelCmd                = ENABLE,
+		},
+	},
+	.error = {
+		.flags   = 0,		/* FIXME: check this */
+		.init = {
+			.NVIC_IRQChannel                   = I2C3_ER_IRQn,
+			.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGHEST,
+			.NVIC_IRQChannelSubPriority        = 0,
+			.NVIC_IRQChannelCmd                = ENABLE,
+		},
+	},
+};
+
+uint32_t pios_i2c_pressure_adapter_id;
+void PIOS_I2C_pressure_adapter_ev_irq_handler(void)
+{
+	/* Call into the generic code to handle the IRQ for this specific device */
+	PIOS_I2C_EV_IRQ_Handler(pios_i2c_pressure_adapter_id);
+}
+
+void PIOS_I2C_pressure_adapter_er_irq_handler(void)
+{
+	/* Call into the generic code to handle the IRQ for this specific device */
+	PIOS_I2C_ER_IRQ_Handler(pios_i2c_pressure_adapter_id);
+}
+#endif /* PIOS_INCLUDE_I2C */
+
+#if defined(PIOS_INCLUDE_RTC)
+/*
+ * Realtime Clock (RTC)
+ */
+#include <pios_rtc_priv.h>
+
+void PIOS_RTC_IRQ_Handler (void);
+void RTC_WKUP_IRQHandler() __attribute__ ((alias ("PIOS_RTC_IRQ_Handler")));
+static const struct pios_rtc_cfg pios_rtc_main_cfg = {
+	.clksrc = RCC_RTCCLKSource_HSE_Div16, // Divide 8 Mhz crystal down to 1
+	// For some reason it's acting like crystal is 16 Mhz.  This clock is then divided
+	// by another 16 to give a nominal 62.5 khz clock
+	.prescaler = 100, // Every 100 cycles gives 625 Hz
+	.irq = {
+		.init = {
+			.NVIC_IRQChannel                   = RTC_WKUP_IRQn,
+			.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID,
+			.NVIC_IRQChannelSubPriority        = 0,
+			.NVIC_IRQChannelCmd                = ENABLE,
+		},
+	},
+};
+
+void PIOS_RTC_IRQ_Handler (void)
+{
+	PIOS_RTC_irq_handler ();
+}
+
+#endif
+
+#include "pios_tim_priv.h"
+
+static const TIM_TimeBaseInitTypeDef tim_3_5_time_base = {
+	.TIM_Prescaler = (PIOS_PERIPHERAL_APB1_CLOCK / 1000000) - 1,
+	.TIM_ClockDivision = TIM_CKD_DIV1,
+	.TIM_CounterMode = TIM_CounterMode_Up,
+	.TIM_Period = ((1000000 / PIOS_SERVO_UPDATE_HZ) - 1),
+	.TIM_RepetitionCounter = 0x0000,
+};
+static const TIM_TimeBaseInitTypeDef tim_9_10_11_time_base = {
+	.TIM_Prescaler = (PIOS_PERIPHERAL_APB2_CLOCK / 1000000) - 1,
+	.TIM_ClockDivision = TIM_CKD_DIV1,
+	.TIM_CounterMode = TIM_CounterMode_Up,
+	.TIM_Period = ((1000000 / PIOS_SERVO_UPDATE_HZ) - 1),
+	.TIM_RepetitionCounter = 0x0000,
+};
+
+static const struct pios_tim_clock_cfg tim_3_cfg = {
+	.timer = TIM3,
+	.time_base_init = &tim_3_5_time_base,
+	.irq = {
+		.init = {
+			.NVIC_IRQChannel                   = TIM3_IRQn,
+			.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID,
+			.NVIC_IRQChannelSubPriority        = 0,
+			.NVIC_IRQChannelCmd                = ENABLE,
+		},
+	},
+};
+
+static const struct pios_tim_clock_cfg tim_5_cfg = {
+	.timer = TIM5,
+	.time_base_init = &tim_3_5_time_base,
+	.irq = {
+		.init = {
+			.NVIC_IRQChannel                   = TIM5_IRQn,
+			.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID,
+			.NVIC_IRQChannelSubPriority        = 0,
+			.NVIC_IRQChannelCmd                = ENABLE,
+		},
+	},
+};
+
+static const struct pios_tim_clock_cfg tim_9_cfg = {
+	.timer = TIM9,
+	.time_base_init = &tim_9_10_11_time_base,
+	.irq = {
+		.init = {
+			.NVIC_IRQChannel                   = TIM1_BRK_TIM9_IRQn,
+			.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID,
+			.NVIC_IRQChannelSubPriority        = 0,
+			.NVIC_IRQChannelCmd                = ENABLE,
+		},
+	},
+};
+
+static const struct pios_tim_clock_cfg tim_10_cfg = {
+	.timer = TIM10,
+	.time_base_init = &tim_9_10_11_time_base,
+	.irq = {
+		.init = {
+			.NVIC_IRQChannel                   = TIM1_UP_TIM10_IRQn,
+			.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID,
+			.NVIC_IRQChannelSubPriority        = 0,
+			.NVIC_IRQChannelCmd                = ENABLE,
+		},
+	},
+};
+
+static const struct pios_tim_clock_cfg tim_11_cfg = {
+	.timer = TIM11,
+	.time_base_init = &tim_9_10_11_time_base,
+	.irq = {
+		.init = {
+			.NVIC_IRQChannel                   = TIM1_TRG_COM_TIM11_IRQn,
+			.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID,
+			.NVIC_IRQChannelSubPriority        = 0,
+			.NVIC_IRQChannelCmd                = ENABLE,
+		},
+	},
+};
+
+// Set up timers that only have inputs on APB2
+static const TIM_TimeBaseInitTypeDef tim_1_time_base = {
+	.TIM_Prescaler = (PIOS_PERIPHERAL_APB2_CLOCK / 1000000) - 1,
+	.TIM_ClockDivision = TIM_CKD_DIV1,
+	.TIM_CounterMode = TIM_CounterMode_Up,
+	.TIM_Period = 0xFFFF,
+	.TIM_RepetitionCounter = 0x0000,
+};
+// Set up timers that only have inputs on APB2
+static const TIM_TimeBaseInitTypeDef tim_4_time_base = {
+	.TIM_Prescaler = (PIOS_PERIPHERAL_APB1_CLOCK / 1000000) - 1,
+	.TIM_ClockDivision = TIM_CKD_DIV1,
+	.TIM_CounterMode = TIM_CounterMode_Up,
+	.TIM_Period = 0xFFFF,
+	.TIM_RepetitionCounter = 0x0000,
+};
+
+static const struct pios_tim_clock_cfg tim_1_cfg = {
+	.timer = TIM1,
+	.time_base_init = &tim_1_time_base,
+	.irq = {
+		.init = {
+			.NVIC_IRQChannel                   = TIM1_CC_IRQn,
+			.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID,
+			.NVIC_IRQChannelSubPriority        = 0,
+			.NVIC_IRQChannelCmd                = ENABLE,
+		},
+	},
+};
+
+static const struct pios_tim_clock_cfg tim_4_cfg = {
+	.timer = TIM4,
+	.time_base_init = &tim_4_time_base,
+	.irq = {
+		.init = {
+			.NVIC_IRQChannel                   = TIM4_IRQn,
+			.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID,
+			.NVIC_IRQChannelSubPriority        = 0,
+			.NVIC_IRQChannelCmd                = ENABLE,
+		},
+	},
+};
+
+/**
+ * Pios servo configuration structures
+ */
+#include <pios_servo_priv.h>
+static const struct pios_tim_channel pios_tim_servoport_all_pins[] = {
+	{
+		.timer = TIM9,
+		.timer_chan = TIM_Channel_1,
+		.pin = {
+			.gpio = GPIOE,
+			.init = {
+				.GPIO_Pin = GPIO_Pin_5,
+				.GPIO_Speed = GPIO_Speed_2MHz,
+				.GPIO_Mode  = GPIO_Mode_AF,
+				.GPIO_OType = GPIO_OType_PP,
+				.GPIO_PuPd  = GPIO_PuPd_UP
+			},
+			.pin_source = GPIO_PinSource5,
+		},
+		.remap = GPIO_AF_TIM9,
+	},
+	{
+		.timer = TIM9,
+		.timer_chan = TIM_Channel_2,
+		.pin = {
+			.gpio = GPIOE,
+			.init = {
+				.GPIO_Pin = GPIO_Pin_6,
+				.GPIO_Speed = GPIO_Speed_2MHz,
+				.GPIO_Mode  = GPIO_Mode_AF,
+				.GPIO_OType = GPIO_OType_PP,
+				.GPIO_PuPd  = GPIO_PuPd_UP
+			},
+			.pin_source = GPIO_PinSource6,
+		},
+		.remap = GPIO_AF_TIM9,		
+	},
+	{
+		.timer = TIM11,
+		.timer_chan = TIM_Channel_1,
+		.pin = {
+			.gpio = GPIOB,
+			.init = {
+				.GPIO_Pin = GPIO_Pin_9,
+				.GPIO_Speed = GPIO_Speed_2MHz,
+				.GPIO_Mode  = GPIO_Mode_AF,
+				.GPIO_OType = GPIO_OType_PP,
+				.GPIO_PuPd  = GPIO_PuPd_UP
+			},
+			.pin_source = GPIO_PinSource9,
+		},
+		.remap = GPIO_AF_TIM11,
+	},
+	{
+		.timer = TIM10,
+		.timer_chan = TIM_Channel_1,
+		.pin = {
+			.gpio = GPIOB,
+			.init = {
+				.GPIO_Pin = GPIO_Pin_8,
+				.GPIO_Speed = GPIO_Speed_2MHz,
+				.GPIO_Mode  = GPIO_Mode_AF,
+				.GPIO_OType = GPIO_OType_PP,
+				.GPIO_PuPd  = GPIO_PuPd_UP
+			},
+			.pin_source = GPIO_PinSource8,
+		},
+		.remap = GPIO_AF_TIM10,
+	},
+	{
+		.timer = TIM5,
+		.timer_chan = TIM_Channel_3,
+		.pin = {
+			.gpio = GPIOA,
+			.init = {
+				.GPIO_Pin = GPIO_Pin_2,
+				.GPIO_Speed = GPIO_Speed_2MHz,
+				.GPIO_Mode  = GPIO_Mode_AF,
+				.GPIO_OType = GPIO_OType_PP,
+				.GPIO_PuPd  = GPIO_PuPd_UP
+			},
+			.pin_source = GPIO_PinSource2,
+		},
+		.remap = GPIO_AF_TIM5,
+	},
+	{
+		.timer = TIM5,
+		.timer_chan = TIM_Channel_4,
+		.pin = {
+			.gpio = GPIOA,
+			.init = {
+				.GPIO_Pin = GPIO_Pin_3,
+				.GPIO_Speed = GPIO_Speed_2MHz,
+				.GPIO_Mode  = GPIO_Mode_AF,
+				.GPIO_OType = GPIO_OType_PP,
+				.GPIO_PuPd  = GPIO_PuPd_UP
+			},
+			.pin_source = GPIO_PinSource3,
+		},
+		.remap = GPIO_AF_TIM5,
+	},
+	{
+		.timer = TIM3,
+		.timer_chan = TIM_Channel_3,
+		.pin = {
+			.gpio = GPIOB,
+			.init = {
+				.GPIO_Pin = GPIO_Pin_0,
+				.GPIO_Speed = GPIO_Speed_2MHz,
+				.GPIO_Mode  = GPIO_Mode_AF,
+				.GPIO_OType = GPIO_OType_PP,
+				.GPIO_PuPd  = GPIO_PuPd_UP
+			},
+			.pin_source = GPIO_PinSource0,
+		},
+		.remap = GPIO_AF_TIM3,
+	},
+	{
+		.timer = TIM3,
+		.timer_chan = TIM_Channel_4,
+		.pin = {
+			.gpio = GPIOB,
+			.init = {
+				.GPIO_Pin = GPIO_Pin_1,
+				.GPIO_Speed = GPIO_Speed_2MHz,
+				.GPIO_Mode  = GPIO_Mode_AF,
+				.GPIO_OType = GPIO_OType_PP,
+				.GPIO_PuPd  = GPIO_PuPd_UP
+			},
+			.pin_source = GPIO_PinSource1,
+		},
+		.remap = GPIO_AF_TIM3,
+	},
+};
+
+const struct pios_servo_cfg pios_servo_cfg = {
+	.tim_oc_init = {
+		.TIM_OCMode = TIM_OCMode_PWM1,
+		.TIM_OutputState = TIM_OutputState_Enable,
+		.TIM_OutputNState = TIM_OutputNState_Disable,
+		.TIM_Pulse = PIOS_SERVOS_INITIAL_POSITION,
+		.TIM_OCPolarity = TIM_OCPolarity_High,
+		.TIM_OCNPolarity = TIM_OCPolarity_High,
+		.TIM_OCIdleState = TIM_OCIdleState_Reset,
+		.TIM_OCNIdleState = TIM_OCNIdleState_Reset,
+	},
+	.channels = pios_tim_servoport_all_pins,
+	.num_channels = NELEMENTS(pios_tim_servoport_all_pins),
+};
+
+
+/*
+ * PWM Inputs
+ */
+#if defined(PIOS_INCLUDE_PWM) || defined(PIOS_INCLUDE_PPM)
+#include <pios_pwm_priv.h>
+static const struct pios_tim_channel pios_tim_rcvrport_all_channels[] = {
+	{
+		.timer = TIM4,
+		.timer_chan = TIM_Channel_4,
+		.pin = {
+			.gpio = GPIOD,
+			.init = {
+				.GPIO_Pin = GPIO_Pin_15,
+				.GPIO_Speed = GPIO_Speed_2MHz,
+				.GPIO_Mode  = GPIO_Mode_AF,
+				.GPIO_OType = GPIO_OType_PP,
+				.GPIO_PuPd  = GPIO_PuPd_UP
+			},
+			.pin_source = GPIO_PinSource15,
+		},
+		.remap = GPIO_AF_TIM4,
+	},
+	{
+		.timer = TIM4,
+		.timer_chan = TIM_Channel_3,
+		.pin = {
+			.gpio = GPIOD,
+			.init = {
+				.GPIO_Pin = GPIO_Pin_14,
+				.GPIO_Speed = GPIO_Speed_2MHz,
+				.GPIO_Mode  = GPIO_Mode_AF,
+				.GPIO_OType = GPIO_OType_PP,
+				.GPIO_PuPd  = GPIO_PuPd_UP
+			},
+			.pin_source = GPIO_PinSource14,
+		},
+		.remap = GPIO_AF_TIM4,
+	},
+	{
+		.timer = TIM4,
+		.timer_chan = TIM_Channel_2,
+		.pin = {
+			.gpio = GPIOD,
+			.init = {
+				.GPIO_Pin = GPIO_Pin_13,
+				.GPIO_Speed = GPIO_Speed_2MHz,
+				.GPIO_Mode  = GPIO_Mode_AF,
+				.GPIO_OType = GPIO_OType_PP,
+				.GPIO_PuPd  = GPIO_PuPd_UP
+			},
+			.pin_source = GPIO_PinSource13,
+		},
+		.remap = GPIO_AF_TIM4,
+	},
+	{
+		.timer = TIM4,
+		.timer_chan = TIM_Channel_1,
+		.pin = {
+			.gpio = GPIOD,
+			.init = {
+				.GPIO_Pin = GPIO_Pin_12,
+				.GPIO_Speed = GPIO_Speed_2MHz,
+				.GPIO_Mode  = GPIO_Mode_AF,
+				.GPIO_OType = GPIO_OType_PP,
+				.GPIO_PuPd  = GPIO_PuPd_UP
+			},
+			.pin_source = GPIO_PinSource12,
+		},
+		.remap = GPIO_AF_TIM4,
+	},
+	{
+		.timer = TIM1,
+		.timer_chan = TIM_Channel_4,
+		.pin = {
+			.gpio = GPIOE,
+			.init = {
+				.GPIO_Pin = GPIO_Pin_14,
+				.GPIO_Speed = GPIO_Speed_2MHz,
+				.GPIO_Mode  = GPIO_Mode_AF,
+				.GPIO_OType = GPIO_OType_PP,
+				.GPIO_PuPd  = GPIO_PuPd_UP
+			},
+			.pin_source = GPIO_PinSource14,
+		},
+		.remap = GPIO_AF_TIM1,
+	},
+	{
+		.timer = TIM1,
+		.timer_chan = TIM_Channel_3,
+		.pin = {
+			.gpio = GPIOE,
+			.init = {
+				.GPIO_Pin = GPIO_Pin_13,
+				.GPIO_Speed = GPIO_Speed_2MHz,
+				.GPIO_Mode  = GPIO_Mode_AF,
+				.GPIO_OType = GPIO_OType_PP,
+				.GPIO_PuPd  = GPIO_PuPd_UP
+			},
+			.pin_source = GPIO_PinSource13,
+		},
+		.remap = GPIO_AF_TIM1,
+	},
+	{
+		.timer = TIM1,
+		.timer_chan = TIM_Channel_2,
+		.pin = {
+			.gpio = GPIOE,
+			.init = {
+				.GPIO_Pin = GPIO_Pin_11,
+				.GPIO_Speed = GPIO_Speed_2MHz,
+				.GPIO_Mode  = GPIO_Mode_AF,
+				.GPIO_OType = GPIO_OType_PP,
+				.GPIO_PuPd  = GPIO_PuPd_UP
+			},
+			.pin_source = GPIO_PinSource11,
+		},
+		.remap = GPIO_AF_TIM1,
+	},
+	{
+		.timer = TIM1,
+		.timer_chan = TIM_Channel_1,
+		.pin = {
+			.gpio = GPIOE,
+			.init = {
+				.GPIO_Pin = GPIO_Pin_9,
+				.GPIO_Speed = GPIO_Speed_2MHz,
+				.GPIO_Mode  = GPIO_Mode_AF,
+				.GPIO_OType = GPIO_OType_PP,
+				.GPIO_PuPd  = GPIO_PuPd_UP
+			},
+			.pin_source = GPIO_PinSource9,
+		},
+		.remap = GPIO_AF_TIM1,
+	},
+};
+
+const struct pios_pwm_cfg pios_pwm_cfg = {
+	.tim_ic_init = {
+		.TIM_ICPolarity = TIM_ICPolarity_Rising,
+		.TIM_ICSelection = TIM_ICSelection_DirectTI,
+		.TIM_ICPrescaler = TIM_ICPSC_DIV1,
+		.TIM_ICFilter = 0x0,
+	},
+	.channels = pios_tim_rcvrport_all_channels,
+	.num_channels = NELEMENTS(pios_tim_rcvrport_all_channels),
+};
+#endif
+
+/*
+ * PPM Input
+ */
+#if defined(PIOS_INCLUDE_PPM)
+#include <pios_ppm_priv.h>
+static const struct pios_ppm_cfg pios_ppm_cfg = {
+	.tim_ic_init = {
+		.TIM_ICPolarity = TIM_ICPolarity_Rising,
+		.TIM_ICSelection = TIM_ICSelection_DirectTI,
+		.TIM_ICPrescaler = TIM_ICPSC_DIV1,
+		.TIM_ICFilter = 0x0,
+		.TIM_Channel = TIM_Channel_2,
+	},
+	/* Use only the first channel for ppm */
+	.channels = &pios_tim_rcvrport_all_channels[0],
+	.num_channels = 1,
+};
+
+#endif //PPM
+
+#if defined(PIOS_INCLUDE_GCSRCVR)
+#include "pios_gcsrcvr_priv.h"
+#endif	/* PIOS_INCLUDE_GCSRCVR */
+
+#if defined(PIOS_INCLUDE_RCVR)
+#include "pios_rcvr_priv.h"
+#endif /* PIOS_INCLUDE_RCVR */
+
+#if defined(PIOS_INCLUDE_USB)
+#include "pios_usb_priv.h"
+
+static const struct pios_usb_cfg pios_usb_main_cfg = {
+	.irq = {
+		.init    = {
+			.NVIC_IRQChannel                   = OTG_FS_IRQn,
+			.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_LOW,
+			.NVIC_IRQChannelSubPriority        = 3,
+			.NVIC_IRQChannelCmd                = ENABLE,
+		},
+	},
+	.vsense = {
+		.gpio = GPIOD,
+		.init = {
+			.GPIO_Pin   = GPIO_Pin_11,
+			.GPIO_Speed = GPIO_Speed_25MHz,
+			.GPIO_Mode  = GPIO_Mode_IN,
+			.GPIO_OType = GPIO_OType_OD,
+		},
+	}
+};
+
+#include "pios_usb_board_data_priv.h"
+#include "pios_usb_desc_hid_cdc_priv.h"
+#include "pios_usb_desc_hid_only_priv.h"
+#include "pios_usbhook.h"
+
+#endif	/* PIOS_INCLUDE_USB */
+
+#if defined(PIOS_INCLUDE_COM_MSG)
+
+#include <pios_com_msg_priv.h>
+
+#endif /* PIOS_INCLUDE_COM_MSG */
+
+#if defined(PIOS_INCLUDE_USB_HID)
+#include <pios_usb_hid_priv.h>
+
+const struct pios_usb_hid_cfg pios_usb_hid_cfg = {
+	.data_if = 0,
+	.data_rx_ep = 1,
+	.data_tx_ep = 1,
+};
+#endif /* PIOS_INCLUDE_USB_HID */
+
+#if defined(PIOS_INCLUDE_USB_CDC)
+#include <pios_usb_cdc_priv.h>
+
+const struct pios_usb_cdc_cfg pios_usb_cdc_cfg = {
+	.ctrl_if = 1,
+	.ctrl_tx_ep = 2,
+
+	.data_if = 2,
+	.data_rx_ep = 3,
+	.data_tx_ep = 3,
+};
+#endif	/* PIOS_INCLUDE_USB_CDC */