OP-21/Flight Bootloader - Various fixes.

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1678 ebee16cc-31ac-478f-84a7-5cbb03baadba

flight/Bootloaders/AHRS/main.c

@@ -56,6 +56,12 @@ int main() {
 	uint8_t GO_dfu = false;
 	/* Brings up System using CMSIS functions, enables the LEDs. */
 	PIOS_SYS_Init();
+	 /* Enable Prefetch Buffer */
+		    FLASH_PrefetchBufferCmd(FLASH_PrefetchBuffer_Enable);
+
+		    /* Flash 2 wait state */
+		    FLASH_SetLatency(FLASH_Latency_2);
+			RCC_AHBPeriphClockCmd(RCC_AHBPeriph_CRC, ENABLE);
 	/* Delay system */
 	PIOS_DELAY_Init();
 	for (uint32_t t = 0; t < 20000000; ++t) {
@@ -66,6 +72,7 @@ int main() {
 			break;
 		}
 	}
+	GO_dfu=TRUE;
 	GO_dfu = GO_dfu;// OR with app boot request
 	if (GO_dfu == FALSE) {
 		jump_to_app();
@@ -119,12 +126,14 @@ void process_spi_request(void) {
 		return;
 	}
 
+
 	switch (user_rx_v0.payload.user.t) {
 
 	case OPAHRS_MSG_V0_REQ_FWUP_VERIFY:
 		opahrs_msg_v0_init_user_tx(&user_tx_v0, OPAHRS_MSG_V0_RSP_FWUP_STATUS);
 		Fw_crc = crc_memory_calc();
 		lfsm_user_set_tx_v0(&user_tx_v0);
+		//boot_status=idle;
 		user_tx_v0.payload.user.v.rsp.fwup_status.status = boot_status;
 		break;
 	case OPAHRS_MSG_V0_REQ_RESET:
@@ -132,7 +141,7 @@ void process_spi_request(void) {
 		PIOS_SYS_Reset();
 		break;
 	case OPAHRS_MSG_V0_REQ_VERSIONS:
-		PIOS_LED_Toggle(LED1);
+		//PIOS_LED_Toggle(LED1);
 		opahrs_msg_v0_init_user_tx(&user_tx_v0, OPAHRS_MSG_V0_RSP_VERSIONS);
 		user_tx_v0.payload.user.v.rsp.versions.bl_version = BOOTLOADER_VERSION;
 		user_tx_v0.payload.user.v.rsp.versions.hw_version = HW_VERSION;
@@ -162,8 +171,14 @@ void process_spi_request(void) {
 		lfsm_user_set_tx_v0(&user_tx_v0);
 		//PIOS_LED_Toggle(LED1);
 		break;
+	case OPAHRS_MSG_V0_REQ_FWUP_STATUS:
+			opahrs_msg_v0_init_user_tx(&user_tx_v0, OPAHRS_MSG_V0_RSP_FWUP_STATUS);
+			user_tx_v0.payload.user.v.rsp.fwup_status.status=boot_status;
+			lfsm_user_set_tx_v0(&user_tx_v0);
+			PIOS_LED_Toggle(LED1);
+			break;
 	case OPAHRS_MSG_V0_REQ_FWUP_DATA:
-		opahrs_msg_v0_init_user_tx(&user_tx_v0, OPAHRS_MSG_V0_REQ_FWUP_DATA);
+		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)) {
 			if (FLASH_ProgramWord(
@@ -180,16 +195,20 @@ void process_spi_request(void) {
 		lfsm_user_set_tx_v0(&user_tx_v0);
 		break;
 	case OPAHRS_MSG_V0_REQ_FWUP_START:
+		FLASH_Unlock();
 		opahrs_msg_v0_init_user_tx(&user_tx_v0, OPAHRS_MSG_V0_RSP_FWUP_STATUS);
+		user_tx_v0.payload.user.v.rsp.fwup_status.status = boot_status;
+		lfsm_user_set_tx_v0(&user_tx_v0);
+		PIOS_LED_On(LED1);
 		if (FLASH_Start() == TRUE) {
 			boot_status = started;
+			PIOS_LED_Off(LED1);
 		} else {
 			boot_status = start_failed;
 			break;
 		}
 
-		user_tx_v0.payload.user.v.rsp.fwup_status.status = boot_status;
+
-		lfsm_user_set_tx_v0(&user_tx_v0);
 		break;
 	case OPAHRS_MSG_V0_REQ_BOOT:
 		PIOS_DELAY_WaitmS(user_rx_v0.payload.user.v.req.boot.boot_delay_in_ms);
@@ -203,6 +222,7 @@ void process_spi_request(void) {
 	/* Finished processing the received message, requeue it */
 	lfsm_user_set_rx_v0(&user_rx_v0);
 	lfsm_user_done();
+	return;
 }
 void jump_to_app() {
 	if (((*(__IO uint32_t*) START_OF_USER_CODE) & 0x2FFE0000) == 0x20000000) { /* Jump to user application */

flight/Bootloaders/AHRS/pios_board.c

@@ -29,6 +29,7 @@
 
 #include <pios_spi_priv.h>
 
+
 /* OP Interface
  * 
  * NOTE: Leave this declared as const data so that it ends up in the 

flight/Bootloaders/OpenPilot/Makefile

@@ -93,6 +93,7 @@ PIOS = ../../PiOS
 PIOSINC = $(PIOS)/inc
 PIOSSTM32F10X = $(PIOS)/STM32F10x
 PIOSCOMMON = $(PIOS)/Common
+PIOSBOARDS = $(PIOS)/Boards
 APPLIBDIR = $(PIOSSTM32F10X)/Libraries
 STMLIBDIR = $(APPLIBDIR)
 STMSPDDIR = $(STMLIBDIR)/STM32F10x_StdPeriph_Driver
@@ -137,7 +138,7 @@ SRC += $(PIOSSTM32F10X)/pios_spi.c
 SRC += $(PIOSSTM32F10X)/pios_debug.c
 SRC += $(PIOSSTM32F10X)/pios_gpio.c
 #SRC += $(PIOSSTM32F10X)/pios_exti.c
-SRC += $(PIOSSTM32F10X)/pios_wdg.c
+#SRC += $(PIOSSTM32F10X)/pios_wdg.c
 
 
 # PIOS USB related files (seperated to make code maintenance more easy)
@@ -151,7 +152,7 @@ SRC += $(PIOSSTM32F10X)/pios_usb_hid_pwr.c
 ## PIOS Hardware (Common)
 #SRC += $(PIOSCOMMON)/pios_sdcard.c
 SRC += $(PIOSCOMMON)/pios_com.c
-SRC += $(PIOSCOMMON)/pios_bmp085.c
+#SRC += $(PIOSCOMMON)/pios_bmp085.c
 SRC += $(PIOSCOMMON)/pios_opahrs_v0.c
 SRC += $(PIOSCOMMON)/pios_bl_helper.c
 
@@ -160,23 +161,21 @@ SRC += $(PIOSCOMMON)/printf-stdarg.c
 
 ## Libraries for flight calculations
 SRC += $(FLIGHTLIB)/buffer.c
-#SRC += $(FLIGHTLIB)/WorldMagModel.c
-#SRC += $(FLIGHTLIB)/CoordinateConversions.c
 
 ## CMSIS for STM32
 SRC += $(CMSISDIR)/core_cm3.c
 SRC += $(CMSISDIR)/system_stm32f10x.c
 
 ## Used parts of the STM-Library
-SRC += $(STMSPDSRCDIR)/stm32f10x_adc.c
+#SRC += $(STMSPDSRCDIR)/stm32f10x_adc.c
 SRC += $(STMSPDSRCDIR)/stm32f10x_bkp.c
 SRC += $(STMSPDSRCDIR)/stm32f10x_crc.c
-SRC += $(STMSPDSRCDIR)/stm32f10x_dac.c
+#SRC += $(STMSPDSRCDIR)/stm32f10x_dac.c
 SRC += $(STMSPDSRCDIR)/stm32f10x_dma.c
 SRC += $(STMSPDSRCDIR)/stm32f10x_exti.c
 SRC += $(STMSPDSRCDIR)/stm32f10x_flash.c
 SRC += $(STMSPDSRCDIR)/stm32f10x_gpio.c
-SRC += $(STMSPDSRCDIR)/stm32f10x_i2c.c
+#SRC += $(STMSPDSRCDIR)/stm32f10x_i2c.c
 SRC += $(STMSPDSRCDIR)/stm32f10x_pwr.c
 SRC += $(STMSPDSRCDIR)/stm32f10x_rcc.c
 SRC += $(STMSPDSRCDIR)/stm32f10x_rtc.c
@@ -195,27 +194,6 @@ SRC += $(STMUSBSRCDIR)/usb_mem.c
 SRC += $(STMUSBSRCDIR)/usb_regs.c
 SRC += $(STMUSBSRCDIR)/usb_sil.c
 
-## RTOS
-#SRC += $(RTOSSRCDIR)/list.c 
-#SRC += $(RTOSSRCDIR)/queue.c  
-#SRC += $(RTOSSRCDIR)/tasks.c
-
-## RTOS Portable 
-#SRC += $(RTOSSRCDIR)/portable/GCC/ARM_CM3/port.c
-#SRC += $(RTOSSRCDIR)/portable/MemMang/heap_2.c
-
-## Dosfs file system
-#SRC += $(DOSFSDIR)/dosfs.c
-#SRC += $(DOSFSDIR)/dfs_sdcard.c
-
-## Mass Storage Device
-#SRC += $(MSDDIR)/msd.c
-#SRC += $(MSDDIR)/msd_bot.c
-#SRC += $(MSDDIR)/msd_desc.c
-#SRC += $(MSDDIR)/msd_memory.c
-#SRC += $(MSDDIR)/msd_scsi.c
-#SRC += $(MSDDIR)/msd_scsi_data.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
@@ -255,6 +233,7 @@ EXTRAINCDIRS  += $(PIOSINC)
 EXTRAINCDIRS  += $(FLIGHTLIBINC)
 EXTRAINCDIRS  += $(PIOSSTM32F10X)
 EXTRAINCDIRS  += $(PIOSCOMMON)
+EXTRAINCDIRS  += $(PIOSBOARDS)
 EXTRAINCDIRS  += $(STMSPDINCDIR)
 EXTRAINCDIRS  += $(STMUSBINCDIR)
 EXTRAINCDIRS  += $(CMSISDIR)
@@ -403,9 +382,9 @@ OOCD_CL=-d0
 # interface and board/target settings (using the OOCD target-library here)
 UNAME := $(shell uname)
 ifeq ($(UNAME), Darwin)
-  OOCD_CL+=-f ../Project/OpenOCD/floss-jtag.openpilot.osx.cfg -f ../Project/OpenOCD/stm32.cfg
+  OOCD_CL+=-f ../../Project/OpenOCD/floss-jtag.openpilot.osx.cfg -f ../../Project/OpenOCD/stm32.cfg
 else
-  OOCD_CL+=-f ../Project/OpenOCD/floss-jtag.openpilot.cfg -f ../Project/OpenOCD/stm32.cfg
+  OOCD_CL+=-f ../../Project/OpenOCD/floss-jtag.openpilot.cfg -f ../../Project/OpenOCD/stm32.cfg
 endif
 # initialize
 OOCD_CL+=-c init

flight/Bootloaders/OpenPilot/inc/common.h

@@ -30,8 +30,8 @@ typedef enum {
 	Last_operation_failed, //8
 	uploadingStarting, //9
 	outsideDevCapabilities, //10
-	CRC_Fail,
+	CRC_Fail,//11
-	failed_jump,
+	failed_jump,//12
 } DFUStates;
 /**************************************************/
 /* OP_DFU commands                       */

flight/Bootloaders/OpenPilot/inc/pios_config.h

@@ -53,7 +53,7 @@
 #define PIOS_INCLUDE_OPAHRS
 #define PIOS_INCLUDE_COM
 //#define PIOS_INCLUDE_SDCARD
-#define PIOS_INCLUDE_SETTINGS
+//#define PIOS_INCLUDE_SETTINGS
 //#define PIOS_INCLUDE_FREERTOS
 #define PIOS_INCLUDE_GPIO
 //#define PIOS_INCLUDE_EXTI

flight/Bootloaders/OpenPilot/main.c

@@ -60,10 +60,10 @@ uint32_t sweep_steps2 = 100; // * 5 mS -> 500 mS
 /* Extern variables ----------------------------------------------------------*/
 DFUStates DeviceState;
 uint8_t JumpToApp = FALSE;
-uint8_t GO_dfu = false;
+uint8_t GO_dfu = FALSE;
-uint8_t USB_connected = false;
+uint8_t USB_connected = FALSE;
-uint8_t User_DFU_request = false;
+uint8_t User_DFU_request = FALSE;
-uint8_t Receive_Buffer[64];
+static uint8_t mReceive_Buffer[64];
 /* Private function prototypes -----------------------------------------------*/
 uint32_t LedPWM(uint32_t pwm_period, uint32_t pwm_sweep_steps, uint32_t count);
 uint8_t processRX();
@@ -81,7 +81,7 @@ int main() {
 	if (BSL_HOLD_STATE == 0)
 		USB_connected = TRUE;
 
-	GO_dfu = USB_connected | User_DFU_request;
+	GO_dfu = USB_connected || User_DFU_request;
 	if (GO_dfu == TRUE) {
 		PIOS_Board_Init();
 		PIOS_OPAHRS_Init();
@@ -89,14 +89,14 @@ int main() {
 		STOPWATCH_Init(100);
 		USB_connected = TRUE;
 		PIOS_SPI_RC_PinSet(PIOS_OPAHRS_SPI, 0);
-		OPDfuIni(false);
+		//OPDfuIni(false);
 
 	} else
 		JumpToApp = TRUE;
+
 	STOPWATCH_Reset();
 
 	while (TRUE) {
-
 		if (JumpToApp == TRUE)
 			jump_to_app();
 		//pwm_period = 50; // *100 uS -> 5 mS
@@ -193,17 +193,13 @@ uint32_t LedPWM(uint32_t pwm_period, uint32_t pwm_sweep_steps, uint32_t count) {
 }
 
 uint8_t processRX() {
-	uint32_t n = 0;
+	while(PIOS_COM_ReceiveBufferUsed(PIOS_COM_TELEM_USB)>=63)
-
+	{
-	n = PIOS_COM_ReceiveBufferUsed(PIOS_COM_TELEM_USB);
+		for (int32_t x = 0; x < 63; ++x) {
-	if (n != 0) {
+			mReceive_Buffer[x] = PIOS_COM_ReceiveBuffer(PIOS_COM_TELEM_USB);
-		n = (n > 63) ? 63 : n;
-
-		for (int32_t x = 0; x < n; ++x) {
-			Receive_Buffer[x] = PIOS_COM_ReceiveBuffer(PIOS_COM_TELEM_USB);
 		}
-		processComand(Receive_Buffer);
+		//PIOS_IRQ_Enable();
-		return TRUE;
+		processComand(mReceive_Buffer);
 	}
-	return FALSE;
+	return TRUE;
 }

flight/Bootloaders/OpenPilot/op_dfu.c

@@ -62,7 +62,7 @@ uint8_t Data2;
 uint8_t Data3;
 uint8_t offset = 0;
 uint32_t aux;
-uint8_t spi_dev_desc[200];
+uint8_t spi_dev_desc[200]={0};
 //Download vars
 uint32_t downSizeOfLastPacket = 0;
 uint32_t downPacketTotal = 0;
@@ -81,6 +81,7 @@ void DataDownload(DownloadAction action) {
 
 		uint8_t packetSize;
 		uint32_t offset;
+		uint32_t partoffset;
 		SendBuffer[0] = 0x01;
 		SendBuffer[1] = Download;
 		SendBuffer[2] = downPacketCurrent >> 24;
@@ -93,23 +94,23 @@ void DataDownload(DownloadAction action) {
 			packetSize = 14;
 		}
 		for (uint8_t x = 0; x < packetSize; ++x) {
-			offset = baseOfAdressType(downType) + (downPacketCurrent * 14 * 4)
+			partoffset = (downPacketCurrent * 14 * 4) + (x * 4);
-					+ (x * 4);
+			offset = baseOfAdressType(downType) + partoffset;
 			switch (currentProgrammingDestination) {
-			case Self_flash:
-				SendBuffer[6 + (x * 4)] = spi_dev_desc[offset];
-				SendBuffer[7 + (x * 4)] = spi_dev_desc[offset + 1];
-				SendBuffer[8 + (x * 4)] = spi_dev_desc[offset + 2];
-				SendBuffer[9 + (x * 4)] = spi_dev_desc[offset + 3];
-				break;
 			case Remote_flash_via_spi:
 				if (downType == Descript) {
-					SendBuffer[6 + (x * 4)] = *FLASH_If_Read(offset);
+					SendBuffer[6 + (x * 4)] = spi_dev_desc[(uint8_t)partoffset];
-					SendBuffer[7 + (x * 4)] = *FLASH_If_Read(offset + 1);
+					SendBuffer[7 + (x * 4)] = spi_dev_desc[(uint8_t)partoffset + 1];
-					SendBuffer[8 + (x * 4)] = *FLASH_If_Read(offset + 2);
+					SendBuffer[8 + (x * 4)] = spi_dev_desc[(uint8_t)partoffset + 2];
-					SendBuffer[9 + (x * 4)] = *FLASH_If_Read(offset + 3);
+					SendBuffer[9 + (x * 4)] = spi_dev_desc[(uint8_t)partoffset + 3];
-					break;
 				}
+				break;
+			case Self_flash:
+				SendBuffer[6 + (x * 4)] = *FLASH_If_Read(offset);
+				SendBuffer[7 + (x * 4)] = *FLASH_If_Read(offset + 1);
+				SendBuffer[8 + (x * 4)] = *FLASH_If_Read(offset + 2);
+				SendBuffer[9 + (x * 4)] = *FLASH_If_Read(offset + 3);
+				break;
 			}
 
 		}
@@ -125,24 +126,25 @@ void DataDownload(DownloadAction action) {
 	}
 }
 
-void processComand(uint8_t *Receive_Buffer) {
+void processComand(uint8_t *xReceive_Buffer) {
 
-	Command = Receive_Buffer[COMMAND];
+	Command = xReceive_Buffer[COMMAND];
 	EchoReqFlag = (Command >> 7);
 	EchoAnsFlag = (Command >> 6) & 0x01;
 	StartFlag = (Command >> 5) & 0x01;
-	Count = Receive_Buffer[COUNT] << 24;
+	Count = xReceive_Buffer[COUNT] << 24;
-	Count += Receive_Buffer[COUNT + 1] << 16;
+	Count += xReceive_Buffer[COUNT + 1] << 16;
-	Count += Receive_Buffer[COUNT + 2] << 8;
+	Count += xReceive_Buffer[COUNT + 2] << 8;
-	Count += Receive_Buffer[COUNT + 3];
+	Count += xReceive_Buffer[COUNT + 3];
-	Data = Receive_Buffer[DATA] << 24;
+
-	Data += Receive_Buffer[DATA + 1] << 16;
+	Data = xReceive_Buffer[DATA] << 24;
-	Data += Receive_Buffer[DATA + 2] << 8;
+	Data += xReceive_Buffer[DATA + 1] << 16;
-	Data += Receive_Buffer[DATA + 3];
+	Data += xReceive_Buffer[DATA + 2] << 8;
-	Data0 = Receive_Buffer[DATA];
+	Data += xReceive_Buffer[DATA + 3];
-	Data1 = Receive_Buffer[DATA + 1];
+	Data0 = xReceive_Buffer[DATA];
-	Data2 = Receive_Buffer[DATA + 2];
+	Data1 = xReceive_Buffer[DATA + 1];
-	Data3 = Receive_Buffer[DATA + 3];
+	Data2 = xReceive_Buffer[DATA + 2];
+	Data3 = xReceive_Buffer[DATA + 3];
 	Command = Command & 0b00011111;
 
 	if (EchoReqFlag == 1) {
@@ -152,7 +154,7 @@ void processComand(uint8_t *Receive_Buffer) {
 	case EnterDFU:
 		if (((DeviceState == BLidle) && (Data0 < numberOfDevices))
 				|| (DeviceState == DFUidle)) {
-			if(Data0>0)
+			if (Data0 > 0)
 				OPDfuIni(TRUE);
 			DeviceState = DFUidle;
 			currentProgrammingDestination = devicesTable[Data0].programmingType;
@@ -166,7 +168,7 @@ void processComand(uint8_t *Receive_Buffer) {
 				result = FLASH_Ini();
 				break;
 			case Remote_flash_via_spi:
-				//TODO result=SPI_FLASH();
+				result = TRUE;
 				break;
 			default:
 				DeviceState = Last_operation_failed;
@@ -176,9 +178,6 @@ void processComand(uint8_t *Receive_Buffer) {
 				DeviceState = Last_operation_failed;
 				Aditionals = (uint32_t) Command;
 			}
-		} else {
-			DeviceState = outsideDevCapabilities;
-			Aditionals = (uint32_t) Command;
 		}
 		break;
 	case Upload:
@@ -189,8 +188,8 @@ void processComand(uint8_t *Receive_Buffer) {
 				Next_Packet = 1;
 				Expected_CRC = Data2 << 24;
 				Expected_CRC += Data3 << 16;
-				Expected_CRC += Receive_Buffer[DATA + 4] << 8;
+				Expected_CRC += xReceive_Buffer[DATA + 4] << 8;
-				Expected_CRC += Receive_Buffer[DATA + 5];
+				Expected_CRC += xReceive_Buffer[DATA + 5];
 				SizeOfLastPacket = Data1;
 
 				if (isBiggerThanAvailable(TransferType, (SizeOfTransfer - 1)
@@ -206,15 +205,23 @@ void processComand(uint8_t *Receive_Buffer) {
 							result = FLASH_Start();
 							break;
 						case Remote_flash_via_spi:
-							if (PIOS_OPAHRS_bl_FwupVerify(&rsp)
+							PIOS_OPAHRS_bl_FwupStart(&rsp);
-									== OPAHRS_RESULT_OK) {
+							result = FALSE;
-								if (rsp.payload.user.v.rsp.fwup_status.status
+							for (int i = 0; i < 5; ++i) {
-										== started) {
+								PIOS_DELAY_WaitmS(1000);
-									result = TRUE;
+								PIOS_OPAHRS_bl_resync();
-								} else
+								if (PIOS_OPAHRS_bl_FwupStatus(&rsp)
-									result = FALSE;
+										== OPAHRS_RESULT_OK) {
-							} else
+									if (rsp.payload.user.v.rsp.fwup_status.status
-								result = FALSE;
+											== started) {
+										result = TRUE;
+										break;
+									} else {
+										result = FALSE;
+										break;
+									}
+								}
+							}
 							break;
 						default:
 
@@ -241,15 +248,15 @@ void processComand(uint8_t *Receive_Buffer) {
 					}
 					for (uint8_t x = 0; x < numberOfWords; ++x) {
 						offset = 4 * x;
-						Data = Receive_Buffer[DATA + offset] << 24;
+						Data = xReceive_Buffer[DATA + offset] << 24;
-						Data += Receive_Buffer[DATA + 1 + offset] << 16;
+						Data += xReceive_Buffer[DATA + 1 + offset] << 16;
-						Data += Receive_Buffer[DATA + 2 + offset] << 8;
+						Data += xReceive_Buffer[DATA + 2 + offset] << 8;
-						Data += Receive_Buffer[DATA + 3 + offset];
+						Data += xReceive_Buffer[DATA + 3 + offset];
 						aux = baseOfAdressType(TransferType) + (uint32_t)(Count
 								* 14 * 4 + x * 4);
 						uint8_t result = 0;
 						struct opahrs_msg_v0 rsp;
-													struct opahrs_msg_v0 req;
+						struct opahrs_msg_v0 req;
 						switch (currentProgrammingDestination) {
 						case Self_flash:
 							for (int retry = 0; retry < MAX_WRI_RETRYS; ++retry) {
@@ -372,9 +379,10 @@ void processComand(uint8_t *Receive_Buffer) {
 				DeviceState = outsideDevCapabilities;
 				Aditionals = (uint32_t) Command;
 
-			} else
+			} else {
 				downPacketCurrent = 0;
-			DeviceState = downloading;
+				DeviceState = downloading;
+			}
 		} else {
 			DeviceState = Last_operation_failed;
 			Aditionals = (uint32_t) Command;
@@ -441,7 +449,7 @@ void OPDfuIni(uint8_t discover) {
 				dev.FW_Crc = 0;
 				break;
 			}
-			PIOS_DELAY_WaitmS(500);
+			PIOS_DELAY_WaitmS(50);
 		}
 		if (found_spi_device == TRUE) {
 			struct opahrs_msg_v0 rsp;
@@ -450,9 +458,11 @@ void OPDfuIni(uint8_t discover) {
 				dev.BL_Version = rsp.payload.user.v.rsp.versions.bl_version;
 				dev.FW_Crc = rsp.payload.user.v.rsp.versions.fw_version;
 				dev.devID = rsp.payload.user.v.rsp.versions.hw_version;
-				memcpy(spi_dev_desc,
+				for(int x=0;x<200;++x)
-						rsp.payload.user.v.rsp.versions.description,
+				{
-						sizeof(rsp.payload.user.v.rsp.versions.description));
+				spi_dev_desc[x]=(uint8_t)rsp.payload.user.v.rsp.versions.description[x];
+
+				}
 				if (PIOS_OPAHRS_bl_GetMemMap(&rsp) == OPAHRS_RESULT_OK) {
 					dev.readWriteFlags
 							= rsp.payload.user.v.rsp.mem_map.rw_flags;
@@ -503,11 +513,15 @@ uint32_t CalcFirmCRC() {
 		return crc_memory_calc();
 		break;
 	case Remote_flash_via_spi:
-		if (PIOS_OPAHRS_bl_FwupVerify(&rsp) == OPAHRS_RESULT_OK) {
+		PIOS_OPAHRS_bl_FwupVerify(&rsp);
+		for (int i = 0; i < 5; ++i) {
+			PIOS_DELAY_WaitmS(1000);
+			PIOS_OPAHRS_bl_resync();
 			if (PIOS_OPAHRS_bl_GetVersions(&rsp) == OPAHRS_RESULT_OK) {
 				return rsp.payload.user.v.rsp.versions.fw_version;
 			}
 		}
+
 		return 0;
 		break;
 	default: