From 96827eecff6222cff6ee40682ee149f865c84054 Mon Sep 17 00:00:00 2001
From: Stacey Sheldon <stac@solidgoldbomb.org>
Date: Mon, 23 May 2011 18:15:06 -0400
Subject: [PATCH] build: Make all flight sw use pios_board_info_blob

Now that every bootloader build has a board info blob,
make all fw and bl images use it.

The following MACROS are removed:
  BOARD_TYPE, BOARD_REVISION, BOOTLOADER_VERSION,
  START_OF_USER_CODE, HW_TYPE

These values are now ONLY available from the bootloader
flash via the pios_board_info_blob symbol.  These values
must not be #defined or otherwise hard-coded into the
firmware in any way.  The bootloader flash is the only
valid source for this information.

NOTE: To ensure that we have an upgrade path from an
      old bootloader (without board_info_blob) to a
      new bootloader (with board_info_blob), it is
      essential that the bu_* targets do not depend
      on (or validate) the board_info_blob being present
      in the bootloader flash.
---
 flight/AHRS/ahrs.c                            | 11 +++++---
 flight/Bootloaders/AHRS/Makefile              | 12 +++++++--
 flight/Bootloaders/AHRS/main.c                | 25 +++++++++----------
 flight/Bootloaders/CopterControl/Makefile     | 12 +++++++--
 flight/Bootloaders/CopterControl/main.c       |  9 ++++---
 flight/Bootloaders/CopterControl/op_dfu.c     | 15 ++++++-----
 flight/Bootloaders/OpenPilot/Makefile         |  8 ++++++
 flight/Bootloaders/OpenPilot/main.c           |  9 ++++---
 flight/Bootloaders/OpenPilot/op_dfu.c         | 15 ++++++-----
 flight/Bootloaders/PipXtreme/Makefile         | 12 +++++++--
 flight/Bootloaders/PipXtreme/main.c           |  9 ++++---
 flight/Bootloaders/PipXtreme/op_dfu.c         | 15 ++++++-----
 flight/Modules/FirmwareIAP/firmwareiap.c      | 12 ++++++---
 flight/PiOS/Boards/STM32103CB_AHRS.h          | 17 -------------
 flight/PiOS/Boards/STM32103CB_CC_Rev1.h       | 15 -----------
 .../PiOS/Boards/STM32103CB_PIPXTREME_Rev1.h   | 12 ---------
 flight/PiOS/Boards/STM3210E_INS.h             | 19 --------------
 flight/PiOS/Boards/STM3210E_OP.h              | 19 --------------
 flight/PiOS/Common/pios_bl_helper.c           | 16 +++++++-----
 19 files changed, 120 insertions(+), 142 deletions(-)

diff --git a/flight/AHRS/ahrs.c b/flight/AHRS/ahrs.c
index 57f9e11e2..830245572 100644
--- a/flight/AHRS/ahrs.c
+++ b/flight/AHRS/ahrs.c
@@ -33,6 +33,7 @@
 
 /* OpenPilot Includes */
 #include "ahrs.h"
+#include <pios_board_info.h>
 #include "pios.h"
 #include "ahrs_timer.h"
 #include "ahrs_spi_comm.h"
@@ -1228,6 +1229,8 @@ void homelocation_callback(AhrsObjHandle obj)
 
 void firmwareiapobj_callback(AhrsObjHandle obj) 
 {
+	const struct pios_board_info * bdinfo = &pios_board_info_blob;
+
 	FirmwareIAPObjData firmwareIAPObj;
 	FirmwareIAPObjGet(&firmwareIAPObj);
 	if(firmwareIAPObj.ArmReset==0)
@@ -1235,7 +1238,7 @@ void firmwareiapobj_callback(AhrsObjHandle obj)
 	if(firmwareIAPObj.ArmReset==1)
 	{
 
-		if((firmwareIAPObj.BoardType==BOARD_TYPE) || (firmwareIAPObj.BoardType==0xFF))
+		if((firmwareIAPObj.BoardType==bdinfo->board_type) || (firmwareIAPObj.BoardType==0xFF))
 		{
 
 			++reset_count;
@@ -1247,11 +1250,11 @@ void firmwareiapobj_callback(AhrsObjHandle obj)
 			}
 		}
 	}
-	else if(firmwareIAPObj.BoardType==BOARD_TYPE && firmwareIAPObj.crc!=PIOS_BL_HELPER_CRC_Memory_Calc())
+	else if(firmwareIAPObj.BoardType==bdinfo->board_type && firmwareIAPObj.crc!=PIOS_BL_HELPER_CRC_Memory_Calc())
 	{
-		PIOS_BL_HELPER_FLASH_Read_Description(firmwareIAPObj.Description,SIZE_OF_DESCRIPTION);
+		PIOS_BL_HELPER_FLASH_Read_Description(firmwareIAPObj.Description,bdinfo->desc_size);
 		firmwareIAPObj.crc=PIOS_BL_HELPER_CRC_Memory_Calc();
-		firmwareIAPObj.BoardRevision=BOARD_REVISION;
+		firmwareIAPObj.BoardRevision=bdinfo->board_rev;
 		FirmwareIAPObjSet(&firmwareIAPObj);
 	}
 }
diff --git a/flight/Bootloaders/AHRS/Makefile b/flight/Bootloaders/AHRS/Makefile
index 3c9fa9615..10f184f96 100644
--- a/flight/Bootloaders/AHRS/Makefile
+++ b/flight/Bootloaders/AHRS/Makefile
@@ -199,6 +199,13 @@ CDEFS = -DSTM32F10X_$(MODEL)
 CDEFS += -DUSE_STDPERIPH_DRIVER
 CDEFS += -DUSE_$(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 += -DSTART_OF_USER_CODE=$(START_OF_FW_CODE)
+
 # Place project-specific -D and/or -U options for 
 # Assembler with preprocessor here.
 #ADEFS = -DUSE_IRQ_ASM_WRAPPER
@@ -233,8 +240,9 @@ CFLAGS += -O$(OPT)
 ifeq ($(DEBUG),NO)
 CFLAGS += -fdata-sections -ffunction-sections
 endif
-CFLAGS += -mcpu=$(MCU) -mthumb
+CFLAGS += -mcpu=$(MCU)
 CFLAGS += $(CDEFS)
+CFLAGS += $(BLONLY_CDEFS)
 CFLAGS += $(patsubst %,-I%,$(EXTRAINCDIRS)) -I.
 
 CFLAGS += -mapcs-frame 
@@ -256,7 +264,7 @@ CONLYFLAGS += $(CSTANDARD)
 # Assembler flags.
 #  -Wa,...:    tell GCC to pass this to the assembler.
 #  -ahlns:     create listing
-ASFLAGS  = -mcpu=$(MCU) -mthumb -I. -x assembler-with-cpp
+ASFLAGS  = -mcpu=$(MCU) -I. -x assembler-with-cpp
 ASFLAGS += $(ADEFS)
 ASFLAGS += -Wa,-adhlns=$(addprefix $(OUTDIR)/, $(notdir $(addsuffix .lst, $(basename $<))))
 ASFLAGS += $(patsubst %,-I%,$(EXTRAINCDIRS))
diff --git a/flight/Bootloaders/AHRS/main.c b/flight/Bootloaders/AHRS/main.c
index 30915cef0..c7da0d439 100644
--- a/flight/Bootloaders/AHRS/main.c
+++ b/flight/Bootloaders/AHRS/main.c
@@ -33,6 +33,7 @@
 
 /* OpenPilot Includes */
 #include "ahrs_bl.h"
+#include <pios_board_info.h>
 #include "pios_opahrs_proto.h"
 #include "bl_fsm.h"		/* lfsm_state */
 #include "stm32f10x_flash.h"
@@ -108,6 +109,7 @@ static struct opahrs_msg_v0 link_rx_v0;
 static struct opahrs_msg_v0 user_tx_v0;
 static struct opahrs_msg_v0 user_rx_v0;
 void process_spi_request(void) {
+	const struct pios_board_info * bdinfo = &pios_board_info_blob;
 	bool msg_to_process = FALSE;
 
 	PIOS_IRQ_Disable();
@@ -166,15 +168,15 @@ void process_spi_request(void) {
 		break;
 	case OPAHRS_MSG_V0_REQ_MEM_MAP:
 		opahrs_msg_v0_init_user_tx(&user_tx_v0, OPAHRS_MSG_V0_RSP_MEM_MAP);
-		user_tx_v0.payload.user.v.rsp.mem_map.density = HW_TYPE;
+		user_tx_v0.payload.user.v.rsp.mem_map.density = bdinfo->hw_type;
 		user_tx_v0.payload.user.v.rsp.mem_map.rw_flags = (BOARD_READABLE
 				| (BOARD_WRITABLA << 1));
 		user_tx_v0.payload.user.v.rsp.mem_map.size_of_code_memory
-				= SIZE_OF_CODE;
+				= bdinfo->fw_size;
 		user_tx_v0.payload.user.v.rsp.mem_map.size_of_description
-				= SIZE_OF_DESCRIPTION;
+				= bdinfo->desc_size;
 		user_tx_v0.payload.user.v.rsp.mem_map.start_of_user_code
-				= START_OF_USER_CODE;
+				= bdinfo->fw_base;
 		lfsm_user_set_tx_v0(&user_tx_v0);
 		break;
 	case OPAHRS_MSG_V0_REQ_SERIAL:
@@ -192,7 +194,7 @@ void process_spi_request(void) {
 		PIOS_LED_On(LED1);
 		opahrs_msg_v0_init_user_tx(&user_tx_v0, OPAHRS_MSG_V0_RSP_FWUP_STATUS);
 		if (!(user_rx_v0.payload.user.v.req.fwup_data.adress
-				< START_OF_USER_CODE)) {
+				< bdinfo->fw_base)) {
 			for (uint8_t x = 0; x
 					< user_rx_v0.payload.user.v.req.fwup_data.size; ++x) {
 				if (FLASH_ProgramWord(
@@ -250,13 +252,10 @@ void process_spi_request(void) {
 	return;
 }
 void jump_to_app() {
-	//while(TRUE)
-	//{
-	//	PIOS_LED_Toggle(LED1);
-	//	PIOS_DELAY_WaitmS(1000);
-	//}
+	const struct pios_board_info * bdinfo = &pios_board_info_blob;
+
 	PIOS_LED_On(LED1);
-	if (((*(__IO uint32_t*) START_OF_USER_CODE) & 0x2FFE0000) == 0x20000000) { /* Jump to user application */
+	if (((*(__IO uint32_t*) bdinfo->fw_base) & 0x2FFE0000) == 0x20000000) { /* Jump to user application */
 		FLASH_Lock();
 		RCC_APB2PeriphResetCmd(0xffffffff, ENABLE);
 		RCC_APB1PeriphResetCmd(0xffffffff, ENABLE);
@@ -265,10 +264,10 @@ void jump_to_app() {
 		//_SetCNTR(0); // clear interrupt mask
 		//_SetISTR(0); // clear all requests
 
-		JumpAddress = *(__IO uint32_t*) (START_OF_USER_CODE + 4);
+		JumpAddress = *(__IO uint32_t*) (bdinfo->fw_base + 4);
 		Jump_To_Application = (pFunction) JumpAddress;
 		/* Initialize user application's Stack Pointer */
-		__set_MSP(*(__IO uint32_t*) START_OF_USER_CODE);
+		__set_MSP(*(__IO uint32_t*) bdinfo->fw_base);
 		Jump_To_Application();
 	} else {
 		boot_status = jump_failed;
diff --git a/flight/Bootloaders/CopterControl/Makefile b/flight/Bootloaders/CopterControl/Makefile
index f19898d07..fe83ceb66 100644
--- a/flight/Bootloaders/CopterControl/Makefile
+++ b/flight/Bootloaders/CopterControl/Makefile
@@ -252,6 +252,13 @@ ifeq ($(ENABLE_AUX_UART), YES)
 CDEFS += -DPIOS_ENABLE_AUX_UART
 endif
 
+# 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 += -DSTART_OF_USER_CODE=$(START_OF_FW_CODE)
+
 # Place project-specific -D and/or -U options for 
 # Assembler with preprocessor here.
 #ADEFS = -DUSE_IRQ_ASM_WRAPPER
@@ -287,8 +294,9 @@ ifeq ($(DEBUG),NO)
 CFLAGS += -ffunction-sections
 endif
 
-CFLAGS += -mcpu=$(MCU) -mthumb
+CFLAGS += -mcpu=$(MCU)
 CFLAGS += $(CDEFS)
+CFLAGS += $(BLONLY_CDEFS)
 CFLAGS += $(patsubst %,-I%,$(EXTRAINCDIRS)) -I.
 
 CFLAGS += -mapcs-frame 
@@ -308,7 +316,7 @@ CONLYFLAGS += $(CSTANDARD)
 # Assembler flags.
 #  -Wa,...:    tell GCC to pass this to the assembler.
 #  -ahlns:     create listing
-ASFLAGS  = -mcpu=$(MCU) -mthumb -I. -x assembler-with-cpp
+ASFLAGS  = -mcpu=$(MCU) -I. -x assembler-with-cpp
 ASFLAGS += $(ADEFS)
 ASFLAGS += -Wa,-adhlns=$(addprefix $(OUTDIR)/, $(notdir $(addsuffix .lst, $(basename $<))))
 ASFLAGS += $(patsubst %,-I%,$(EXTRAINCDIRS))
diff --git a/flight/Bootloaders/CopterControl/main.c b/flight/Bootloaders/CopterControl/main.c
index 23a8f16c1..67f6a4c32 100644
--- a/flight/Bootloaders/CopterControl/main.c
+++ b/flight/Bootloaders/CopterControl/main.c
@@ -27,6 +27,7 @@
  */
 /* Bootloader Includes */
 #include <pios.h>
+#include <pios_board_info.h>
 #include "stopwatch.h"
 #include "op_dfu.h"
 #include "usb_lib.h"
@@ -163,7 +164,9 @@ int main() {
 }
 
 void jump_to_app() {
-	if (((*(__IO uint32_t*) START_OF_USER_CODE) & 0x2FFE0000) == 0x20000000) { /* Jump to user application */
+	const struct pios_board_info * bdinfo = &pios_board_info_blob;
+
+	if (((*(__IO uint32_t*) bdinfo->fw_base) & 0x2FFE0000) == 0x20000000) { /* Jump to user application */
 		FLASH_Lock();
 		RCC_APB2PeriphResetCmd(0xffffffff, ENABLE);
 		RCC_APB1PeriphResetCmd(0xffffffff, ENABLE);
@@ -171,10 +174,10 @@ void jump_to_app() {
 		RCC_APB1PeriphResetCmd(0xffffffff, DISABLE);
 		_SetCNTR(0); // clear interrupt mask
 		_SetISTR(0); // clear all requests
-		JumpAddress = *(__IO uint32_t*) (START_OF_USER_CODE + 4);
+		JumpAddress = *(__IO uint32_t*) (bdinfo->fw_base + 4);
 		Jump_To_Application = (pFunction) JumpAddress;
 		/* Initialize user application's Stack Pointer */
-		__set_MSP(*(__IO uint32_t*) START_OF_USER_CODE);
+		__set_MSP(*(__IO uint32_t*) bdinfo->fw_base);
 		Jump_To_Application();
 	} else {
 		DeviceState = failed_jump;
diff --git a/flight/Bootloaders/CopterControl/op_dfu.c b/flight/Bootloaders/CopterControl/op_dfu.c
index 854c7cb71..834c29339 100644
--- a/flight/Bootloaders/CopterControl/op_dfu.c
+++ b/flight/Bootloaders/CopterControl/op_dfu.c
@@ -30,6 +30,7 @@
 #include "pios.h"
 #include "op_dfu.h"
 #include "pios_bl_helper.h"
+#include <pios_board_info.h>
 //programmable devices
 Device devicesTable[10];
 uint8_t numberOfDevices = 0;
@@ -382,16 +383,18 @@ void processComand(uint8_t *xReceive_Buffer) {
 	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_WRITABLA << 1));
-	dev.startOfUserCode = START_OF_USER_CODE;
-	dev.sizeOfCode = SIZE_OF_CODE;
-	dev.sizeOfDescription = SIZE_OF_DESCRIPTION;
-	dev.BL_Version = BOOTLOADER_VERSION;
+	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 = (BOARD_TYPE << 8) | BOARD_REVISION;
-	dev.devType = HW_TYPE;
+	dev.devID = (bdinfo->board_type << 8) | (bdinfo->board_rev);
+	dev.devType = bdinfo->hw_type;
 	numberOfDevices = 1;
 	devicesTable[0] = dev;
 	if (discover) {
diff --git a/flight/Bootloaders/OpenPilot/Makefile b/flight/Bootloaders/OpenPilot/Makefile
index e7804b536..23b3ffa8b 100644
--- a/flight/Bootloaders/OpenPilot/Makefile
+++ b/flight/Bootloaders/OpenPilot/Makefile
@@ -255,6 +255,13 @@ ifeq ($(ENABLE_AUX_UART), YES)
 CDEFS += -DPIOS_ENABLE_AUX_UART
 endif
 
+# 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 += -DSTART_OF_USER_CODE=$(START_OF_FW_CODE)
+
 # Place project-specific -D and/or -U options for 
 # Assembler with preprocessor here.
 #ADEFS = -DUSE_IRQ_ASM_WRAPPER
@@ -292,6 +299,7 @@ endif
 
 CFLAGS += -mcpu=$(MCU)
 CFLAGS += $(CDEFS)
+CFLAGS += $(BLONLY_CDEFS)
 CFLAGS += $(patsubst %,-I%,$(EXTRAINCDIRS)) -I.
 
 CFLAGS += -mapcs-frame 
diff --git a/flight/Bootloaders/OpenPilot/main.c b/flight/Bootloaders/OpenPilot/main.c
index 4766caf41..3ed5a80aa 100644
--- a/flight/Bootloaders/OpenPilot/main.c
+++ b/flight/Bootloaders/OpenPilot/main.c
@@ -27,6 +27,7 @@
  */
 /* Bootloader Includes */
 #include <pios.h>
+#include <pios_board_info.h>
 #include "pios_opahrs.h"
 #include "stopwatch.h"
 #include "op_dfu.h"
@@ -216,7 +217,9 @@ int main() {
 }
 
 void jump_to_app() {
-	if (((*(__IO uint32_t*) START_OF_USER_CODE) & 0x2FFE0000) == 0x20000000) { /* Jump to user application */
+	const struct pios_board_info * bdinfo = &pios_board_info_blob;
+
+	if (((*(__IO uint32_t*) bdinfo->fw_base) & 0x2FFE0000) == 0x20000000) { /* Jump to user application */
 		FLASH_Lock();
 		RCC_APB2PeriphResetCmd(0xffffffff, ENABLE);
 		RCC_APB1PeriphResetCmd(0xffffffff, ENABLE);
@@ -225,10 +228,10 @@ void jump_to_app() {
 		_SetCNTR(0); // clear interrupt mask
 		_SetISTR(0); // clear all requests
 
-		JumpAddress = *(__IO uint32_t*) (START_OF_USER_CODE + 4);
+		JumpAddress = *(__IO uint32_t*) (bdinfo->fw_base + 4);
 		Jump_To_Application = (pFunction) JumpAddress;
 		/* Initialize user application's Stack Pointer */
-		__set_MSP(*(__IO uint32_t*) START_OF_USER_CODE);
+		__set_MSP(*(__IO uint32_t*) bdinfo->fw_base);
 		Jump_To_Application();
 	} else {
 		DeviceState = failed_jump;
diff --git a/flight/Bootloaders/OpenPilot/op_dfu.c b/flight/Bootloaders/OpenPilot/op_dfu.c
index 77b4c2c59..e15d8596b 100644
--- a/flight/Bootloaders/OpenPilot/op_dfu.c
+++ b/flight/Bootloaders/OpenPilot/op_dfu.c
@@ -30,6 +30,7 @@
 #include "pios.h"
 #include "op_dfu.h"
 #include "pios_bl_helper.h"
+#include <pios_board_info.h>
 #include "pios_opahrs.h"
 #include "ssp.h"
 /* Private typedef -----------------------------------------------------------*/
@@ -447,16 +448,18 @@ void processComand(uint8_t *xReceive_Buffer) {
 	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_WRITABLA << 1));
-	dev.startOfUserCode = START_OF_USER_CODE;
-	dev.sizeOfCode = SIZE_OF_CODE;
-	dev.sizeOfDescription = SIZE_OF_DESCRIPTION;
-	dev.BL_Version = BOOTLOADER_VERSION;
+	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 = (BOARD_TYPE << 8) | BOARD_REVISION;
-	dev.devType = HW_TYPE;
+	dev.devID = (bdinfo->board_type << 8) | (bdinfo->board_rev);
+	dev.devType = bdinfo->hw_type;
 	numberOfDevices = 1;
 	devicesTable[0] = dev;
 	if (discover) {
diff --git a/flight/Bootloaders/PipXtreme/Makefile b/flight/Bootloaders/PipXtreme/Makefile
index f502a43c2..dd4a1ce43 100644
--- a/flight/Bootloaders/PipXtreme/Makefile
+++ b/flight/Bootloaders/PipXtreme/Makefile
@@ -251,6 +251,13 @@ ifeq ($(ENABLE_AUX_UART), YES)
 CDEFS += -DPIOS_ENABLE_AUX_UART
 endif
 
+# 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)C
+BLONLY_CDEFS += -DSTART_OF_USER_CODE=$(START_OF_FW_CODE)
+
 # Place project-specific -D and/or -U options for 
 # Assembler with preprocessor here.
 #ADEFS = -DUSE_IRQ_ASM_WRAPPER
@@ -286,8 +293,9 @@ ifeq ($(DEBUG),NO)
 CFLAGS += -ffunction-sections
 endif
 
-CFLAGS += -mcpu=$(MCU) -mthumb
+CFLAGS += -mcpu=$(MCU)
 CFLAGS += $(CDEFS)
+CFLAGS += $(BLONLY_CDEFS)
 CFLAGS += $(patsubst %,-I%,$(EXTRAINCDIRS)) -I.
 
 CFLAGS += -mapcs-frame 
@@ -307,7 +315,7 @@ CONLYFLAGS += $(CSTANDARD)
 # Assembler flags.
 #  -Wa,...:    tell GCC to pass this to the assembler.
 #  -ahlns:     create listing
-ASFLAGS  = -mcpu=$(MCU) -mthumb -I. -x assembler-with-cpp
+ASFLAGS  = -mcpu=$(MCU) -I. -x assembler-with-cpp
 ASFLAGS += $(ADEFS)
 ASFLAGS += -Wa,-adhlns=$(addprefix $(OUTDIR)/, $(notdir $(addsuffix .lst, $(basename $<))))
 ASFLAGS += $(patsubst %,-I%,$(EXTRAINCDIRS))
diff --git a/flight/Bootloaders/PipXtreme/main.c b/flight/Bootloaders/PipXtreme/main.c
index a8eb5bcc6..d1568d163 100644
--- a/flight/Bootloaders/PipXtreme/main.c
+++ b/flight/Bootloaders/PipXtreme/main.c
@@ -27,6 +27,7 @@
  */
 /* Bootloader Includes */
 #include <pios.h>
+#include <pios_board_info.h>
 #include "stopwatch.h"
 #include "op_dfu.h"
 #include "usb_lib.h"
@@ -170,7 +171,9 @@ int main() {
 }
 
 void jump_to_app() {
-	if (((*(__IO uint32_t*) START_OF_USER_CODE) & 0x2FFE0000) == 0x20000000) { /* Jump to user application */
+	const struct pios_board_info * bdinfo = &pios_board_info_blob;
+
+	if (((*(__IO uint32_t*) bdinfo->fw_base) & 0x2FFE0000) == 0x20000000) { /* Jump to user application */
 		FLASH_Lock();
 		RCC_APB2PeriphResetCmd(0xffffffff, ENABLE);
 		RCC_APB1PeriphResetCmd(0xffffffff, ENABLE);
@@ -179,10 +182,10 @@ void jump_to_app() {
 		_SetCNTR(0); // clear interrupt mask
 		_SetISTR(0); // clear all requests
 
-		JumpAddress = *(__IO uint32_t*) (START_OF_USER_CODE + 4);
+		JumpAddress = *(__IO uint32_t*) (bdinfo->fw_base + 4);
 		Jump_To_Application = (pFunction) JumpAddress;
 		/* Initialize user application's Stack Pointer */
-		__set_MSP(*(__IO uint32_t*) START_OF_USER_CODE);
+		__set_MSP(*(__IO uint32_t*) bdinfo->fw_base);
 		Jump_To_Application();
 	} else {
 		DeviceState = failed_jump;
diff --git a/flight/Bootloaders/PipXtreme/op_dfu.c b/flight/Bootloaders/PipXtreme/op_dfu.c
index c413c31ba..fa0281d52 100644
--- a/flight/Bootloaders/PipXtreme/op_dfu.c
+++ b/flight/Bootloaders/PipXtreme/op_dfu.c
@@ -30,6 +30,7 @@
 #include "pios.h"
 #include "op_dfu.h"
 #include "pios_bl_helper.h"
+#include <pios_board_info.h>
 /* Private typedef -----------------------------------------------------------*/
 /* Private define ------------------------------------------------------------*/
 /* Private macro -------------------------------------------------------------*/
@@ -414,16 +415,18 @@ void processComand(uint8_t *xReceive_Buffer) {
 	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_WRITABLA << 1));
-	dev.startOfUserCode = START_OF_USER_CODE;
-	dev.sizeOfCode = SIZE_OF_CODE;
-	dev.sizeOfDescription = SIZE_OF_DESCRIPTION;
-	dev.BL_Version = BOOTLOADER_VERSION;
+	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 = (BOARD_TYPE << 8) | BOARD_REVISION;
-	dev.devType = HW_TYPE;
+	dev.devID = (bdinfo->board_type << 8) | (bdinfo->board_rev);
+	dev.devType = bdinfo->hw_type;
 	numberOfDevices = 1;
 	devicesTable[0] = dev;
 	if (discover) {
diff --git a/flight/Modules/FirmwareIAP/firmwareiap.c b/flight/Modules/FirmwareIAP/firmwareiap.c
index 11e8721fd..395ed960f 100644
--- a/flight/Modules/FirmwareIAP/firmwareiap.c
+++ b/flight/Modules/FirmwareIAP/firmwareiap.c
@@ -27,6 +27,7 @@
 #include <stdint.h>
 
 #include "pios.h"
+#include <pios_board_info.h>
 #include "openpilot.h"
 #include "firmwareiap.h"
 #include "firmwareiapobj.h"
@@ -90,10 +91,12 @@ static void resetTask(UAVObjEvent *);
 
 int32_t FirmwareIAPInitialize()
 {
-	data.BoardType= BOARD_TYPE;
+	const struct pios_board_info * bdinfo = &pios_board_info_blob;
+
+	data.BoardType= bdinfo->board_type;
 	PIOS_BL_HELPER_FLASH_Read_Description(data.Description,FIRMWAREIAPOBJ_DESCRIPTION_NUMELEM);
 	PIOS_SYS_SerialNumberGetBinary(data.CPUSerial);
-	data.BoardRevision= BOARD_REVISION;
+	data.BoardRevision= bdinfo->board_rev;
 	data.ArmReset=0;
 	data.crc = 0;
 	FirmwareIAPObjSet( &data );
@@ -112,6 +115,7 @@ int32_t FirmwareIAPInitialize()
 static uint8_t    iap_state = IAP_STATE_READY;
 static void FirmwareIAPCallback(UAVObjEvent* ev)
 {
+	const struct pios_board_info * bdinfo = &pios_board_info_blob;
 	static uint32_t   last_time = 0;
 	uint32_t          this_time;
 	uint32_t          delta;
@@ -125,11 +129,11 @@ static void FirmwareIAPCallback(UAVObjEvent* ev)
 		this_time = get_time();
 		delta = this_time - last_time;
 		last_time = this_time;
-		if((data.BoardType==BOARD_TYPE)&&(data.crc != PIOS_BL_HELPER_CRC_Memory_Calc()))
+		if((data.BoardType==bdinfo->board_type)&&(data.crc != PIOS_BL_HELPER_CRC_Memory_Calc()))
 		{
 			PIOS_BL_HELPER_FLASH_Read_Description(data.Description,FIRMWAREIAPOBJ_DESCRIPTION_NUMELEM);
 			PIOS_SYS_SerialNumberGetBinary(data.CPUSerial);
-			data.BoardRevision=BOARD_REVISION;
+			data.BoardRevision=bdinfo->board_rev;
 			data.crc = PIOS_BL_HELPER_CRC_Memory_Calc();
 			FirmwareIAPObjSet( &data );
 		}
diff --git a/flight/PiOS/Boards/STM32103CB_AHRS.h b/flight/PiOS/Boards/STM32103CB_AHRS.h
index a1c4907b0..d17799ada 100644
--- a/flight/PiOS/Boards/STM32103CB_AHRS.h
+++ b/flight/PiOS/Boards/STM32103CB_AHRS.h
@@ -64,23 +64,6 @@ TIM8  |           |           |           |
 //------------------------
 // BOOTLOADER_SETTINGS
 //------------------------
-//#define FUNC_ID				2
-//#define HW_VERSION			69
-
-#define BOOTLOADER_VERSION	0
-#define BOARD_TYPE		0x02
-#define BOARD_REVISION		0x01
-//#define HW_VERSION	(BOARD_TYPE << 8) | BOARD_REVISION
-
-#define MEM_SIZE			0x20000 //128K
-#define SIZE_OF_DESCRIPTION	100
-#define START_OF_USER_CODE	(uint32_t)0x08002000
-#define SIZE_OF_CODE		(uint32_t)(MEM_SIZE-(START_OF_USER_CODE-0x08000000)-SIZE_OF_DESCRIPTION)
-#ifdef STM32F10X_HD
-		#define HW_TYPE			0 //0=high_density 1=medium_density;
-#elif STM32F10X_MD
-		#define HW_TYPE			1 //0=high_density 1=medium_density;
-#endif
 #define BOARD_READABLE	TRUE
 #define BOARD_WRITABLA	TRUE
 #define MAX_DEL_RETRYS	3
diff --git a/flight/PiOS/Boards/STM32103CB_CC_Rev1.h b/flight/PiOS/Boards/STM32103CB_CC_Rev1.h
index fcc868090..f26bd9c1c 100644
--- a/flight/PiOS/Boards/STM32103CB_CC_Rev1.h
+++ b/flight/PiOS/Boards/STM32103CB_CC_Rev1.h
@@ -60,21 +60,6 @@ TIM4  |  RC In 1  |  Servo 3  |  Servo 2  |  Servo 1
 //------------------------
 // BOOTLOADER_SETTINGS
 //------------------------
-//#define FUNC_ID				2
-//#define HW_VERSION			69
-
-#define BOOTLOADER_VERSION	0
-#define BOARD_TYPE		0x04
-#define BOARD_REVISION		0x01
-#define MEM_SIZE			0x20000 //128K
-#define SIZE_OF_DESCRIPTION	100
-#define START_OF_USER_CODE	(uint32_t)0x08003000
-#define SIZE_OF_CODE		(uint32_t)(MEM_SIZE-(START_OF_USER_CODE-0x08000000)-SIZE_OF_DESCRIPTION)
-#ifdef STM32F10X_HD
-		#define HW_TYPE			0 //0=high_density 1=medium_density;
-#elif STM32F10X_MD
-		#define HW_TYPE			1 //0=high_density 1=medium_density;
-#endif
 #define BOARD_READABLE	TRUE
 #define BOARD_WRITABLA	TRUE
 #define MAX_DEL_RETRYS	3
diff --git a/flight/PiOS/Boards/STM32103CB_PIPXTREME_Rev1.h b/flight/PiOS/Boards/STM32103CB_PIPXTREME_Rev1.h
index 6811bfad5..7114c2871 100644
--- a/flight/PiOS/Boards/STM32103CB_PIPXTREME_Rev1.h
+++ b/flight/PiOS/Boards/STM32103CB_PIPXTREME_Rev1.h
@@ -58,18 +58,6 @@ TIM4  |                     STOPWATCH                    |
 //------------------------
 // BOOTLOADER_SETTINGS
 //------------------------
-#define BOOTLOADER_VERSION	0
-#define BOARD_TYPE		0x03
-#define BOARD_REVISION		0x01
-#define MEM_SIZE		(0x20000 - 0x00400) // 128K - 1K (reserved for config data)
-#define SIZE_OF_DESCRIPTION	100
-#define START_OF_USER_CODE	(uint32_t)0x08003000
-#define SIZE_OF_CODE		(uint32_t)(MEM_SIZE-(START_OF_USER_CODE-0x08000000)-SIZE_OF_DESCRIPTION)
-#ifdef STM32F10X_HD
-		#define HW_TYPE			0 //0=high_density 1=medium_density;
-#elif STM32F10X_MD
-		#define HW_TYPE			1 //0=high_density 1=medium_density;
-#endif
 #define BOARD_READABLE	TRUE
 #define BOARD_WRITABLA	TRUE
 #define MAX_DEL_RETRYS	3
diff --git a/flight/PiOS/Boards/STM3210E_INS.h b/flight/PiOS/Boards/STM3210E_INS.h
index 5efb04a36..3229de344 100644
--- a/flight/PiOS/Boards/STM3210E_INS.h
+++ b/flight/PiOS/Boards/STM3210E_INS.h
@@ -69,25 +69,6 @@ TIM8  |           |           |           |
 //------------------------
 // BOOTLOADER_SETTINGS
 //------------------------
-
-//#define FUNC_ID				1
-//#define HW_VERSION			01
-
-#define BOOTLOADER_VERSION	0
-#define BOARD_TYPE			0x05  // INS board
-#define BOARD_REVISION		0x01  // Beta version
-//#define HW_VERSION	(BOARD_TYPE << 8) | BOARD_REVISION
-
-#define MEM_SIZE			524288 //512K
-#define SIZE_OF_DESCRIPTION	(uint8_t) 100
-#define START_OF_USER_CODE	(uint32_t)0x08005000//REMEMBER SET ALSO IN link_stm32f10x_HD_BL.ld
-#define SIZE_OF_CODE		(uint32_t) (MEM_SIZE-(START_OF_USER_CODE-0x08000000)-SIZE_OF_DESCRIPTION)
-
-#ifdef STM32F10X_HD
-		#define HW_TYPE			0 //0=high_density 1=medium_density;
-#elif STM32F10X_MD
-		#define HW_TYPE			1 //0=high_density 1=medium_density;
-#endif
 #define BOARD_READABLE	TRUE
 #define BOARD_WRITABLA	TRUE
 #define MAX_DEL_RETRYS	3
diff --git a/flight/PiOS/Boards/STM3210E_OP.h b/flight/PiOS/Boards/STM3210E_OP.h
index b987ab600..58e3fb077 100644
--- a/flight/PiOS/Boards/STM3210E_OP.h
+++ b/flight/PiOS/Boards/STM3210E_OP.h
@@ -68,25 +68,6 @@ TIM8  | Servo 5   | Servo 6   | Servo 7   | Servo 8
 //------------------------
 // BOOTLOADER_SETTINGS
 //------------------------
-
-//#define FUNC_ID				1
-//#define HW_VERSION			01
-
-#define BOOTLOADER_VERSION	0
-#define BOARD_TYPE		0x01  // OpenPilot board
-#define BOARD_REVISION		0x01  // Beta version
-//#define HW_VERSION	(BOARD_TYPE << 8) | BOARD_REVISION
-
-#define MEM_SIZE			524288 //512K
-#define SIZE_OF_DESCRIPTION	(uint8_t) 100
-#define START_OF_USER_CODE	(uint32_t)0x08005000//REMEMBER SET ALSO IN link_stm32f10x_HD_BL.ld
-#define SIZE_OF_CODE		(uint32_t) (MEM_SIZE-(START_OF_USER_CODE-0x08000000)-SIZE_OF_DESCRIPTION)
-
-#ifdef STM32F10X_HD
-		#define HW_TYPE			0 //0=high_density 1=medium_density;
-#elif STM32F10X_MD
-		#define HW_TYPE			1 //0=high_density 1=medium_density;
-#endif
 #define BOARD_READABLE	TRUE
 #define BOARD_WRITABLA	TRUE
 #define MAX_DEL_RETRYS	3
diff --git a/flight/PiOS/Common/pios_bl_helper.c b/flight/PiOS/Common/pios_bl_helper.c
index 545a008c6..967c3c7e6 100644
--- a/flight/PiOS/Common/pios_bl_helper.c
+++ b/flight/PiOS/Common/pios_bl_helper.c
@@ -31,6 +31,7 @@
 /* Project Includes */
 #include "pios.h"
 #if defined(PIOS_INCLUDE_BL_HELPER)
+#include <pios_board_info.h>
 #include "stm32f10x_flash.h"
 
 uint8_t *PIOS_BL_HELPER_FLASH_If_Read(uint32_t SectorAddress)
@@ -47,10 +48,10 @@ uint8_t PIOS_BL_HELPER_FLASH_Ini()
 
 uint8_t PIOS_BL_HELPER_FLASH_Start()
 {
-	uint32_t pageAdress;
-	pageAdress = START_OF_USER_CODE;
+	const struct pios_board_info * bdinfo = &pios_board_info_blob;
+	uint32_t pageAdress = bdinfo->fw_base;
 	uint8_t fail = FALSE;
-	while ((pageAdress < START_OF_USER_CODE + SIZE_OF_CODE + SIZE_OF_DESCRIPTION)
+	while ((pageAdress < (bdinfo->fw_base + bdinfo->fw_size + bdinfo->desc_size))
 	       || (fail == TRUE)) {
 		for (int retry = 0; retry < MAX_DEL_RETRYS; ++retry) {
 			if (FLASH_ErasePage(pageAdress) == FLASH_COMPLETE) {
@@ -75,17 +76,20 @@ uint8_t PIOS_BL_HELPER_FLASH_Start()
 
 uint32_t PIOS_BL_HELPER_CRC_Memory_Calc()
 {
+	const struct pios_board_info * bdinfo = &pios_board_info_blob;
+
 	PIOS_BL_HELPER_CRC_Ini();
 	CRC_ResetDR();
-	CRC_CalcBlockCRC((uint32_t *) START_OF_USER_CODE, (SIZE_OF_CODE) >> 2);
+	CRC_CalcBlockCRC((uint32_t *) bdinfo->fw_base, (bdinfo->fw_size) >> 2);
 	return CRC_GetCRC();
 }
 
 void PIOS_BL_HELPER_FLASH_Read_Description(uint8_t * array, uint8_t size)
 {
+	const struct pios_board_info * bdinfo = &pios_board_info_blob;
 	uint8_t x = 0;
-	if (size>SIZE_OF_DESCRIPTION) size = SIZE_OF_DESCRIPTION;
-	for (uint32_t i = START_OF_USER_CODE + SIZE_OF_CODE; i < START_OF_USER_CODE + SIZE_OF_CODE + size; ++i) {
+	if (size > bdinfo->desc_size) size = bdinfo->desc_size;
+	for (uint32_t i = bdinfo->fw_base + bdinfo->fw_size; i < bdinfo->fw_base + bdinfo->fw_size + size; ++i) {
 		array[x] = *PIOS_BL_HELPER_FLASH_If_Read(i);
 		++x;
 	}