OP-917 bootloader updater for F4 targets. Initial commit

Makefile

@@ -197,7 +197,7 @@ export OPGCSSYNTHDIR := $(BUILD_DIR)/openpilotgcs-synthetics
 
 # Define supported board lists
 ALL_BOARDS    := coptercontrol oplinkmini revolution osd revoproto simposix
-ALL_BOARDS_BU := coptercontrol oplinkmini
+ALL_BOARDS_BU := coptercontrol oplinkmini revolution osd revoproto
 
 # Short names of each board (used to display board name in parallel builds)
 coptercontrol_short    := 'cc  '

flight/targets/common/bootloader_updater/Makefile

@@ -39,7 +39,6 @@ HWDEFSINC	= ../../boards/$(BOARD_NAME)
 # Use file-extension c for "c-only"-files
 SRC += $(OPSYSTEM)/main.c
 SRC += $(OPSYSTEM)/pios_board.c
-
 ## PIOS Hardware
 ifeq ($(MCU),cortex-m3)
     include $(PIOS)/stm32f10x/library.mk
@@ -47,9 +46,19 @@ ifeq ($(MCU),cortex-m3)
     # Set linker-script name depending on selected submodel name
     LDFLAGS += -T$(LINKER_SCRIPTS_PATH)/link_$(BOARD)_memory.ld
     LDFLAGS += -T$(LINKER_SCRIPTS_PATH)/link_$(BOARD)_sections.ld
+else
+ifeq  ($(MCU),cortex-m4)
+	include $(PIOS)/stm32f4xx/library.mk
+    # Set linker-script name depending on selected submodel name
+    LDFLAGS += -T$(PIOS_DEVLIB)/link_stm32f4xx_fw_memory.ld
+    LDFLAGS += -T$(PIOS_DEVLIB)/link_stm32f4xx_sections.ld
+    SRC += $(HWDEFSINC)/firmware/cm3_fault_handlers.c
+    SRC += $(HWDEFSINC)/firmware/dcc_stdio.c
+
 else
     $(error Unsupported MCU for BootloaderUpdater: $(MCU))
 endif
+endif
 
 # List any extra directories to look for include files here.
 #    Each directory must be seperated by a space.

flight/targets/common/bootloader_updater/inc/pios_config.h

@@ -34,7 +34,7 @@
 #define PIOS_INCLUDE_DELAY
 #define PIOS_INCLUDE_SYS
 #define PIOS_INCLUDE_IRQ
-#define PIOS_INCLUDE_GPIO
+//#define PIOS_INCLUDE_GPIO
 #define PIOS_INCLUDE_LED
 #define PIOS_INCLUDE_BL_HELPER
 

flight/targets/common/bootloader_updater/main.c

@@ -35,7 +35,9 @@
 extern void PIOS_Board_Init(void);
 extern void FLASH_Download();
 void error(int, int);
-
+#ifdef STM32F4XX
+#define FLASH_ErasePage(x) FLASH_EraseSector((x) > 0x08000000 ? FLASH_Sector_1 : FLASH_Sector_0, VoltageRange_3)
+#endif
 /* The ADDRESSES of the _binary_* symbols are the important
  * data.  This is non-intuitive for _binary_size where you
  * might expect its value to hold the size but you'd be wrong.
@@ -58,7 +60,7 @@ int main()
 
 	/// Self overwrite check
 	uint32_t base_address = SCB->VTOR;
-	if ((0x08000000 + embedded_image_size) > base_address)
+	if ((BL_BANK_BASE + embedded_image_size) > base_address)
 		error(PIOS_LED_HEARTBEAT, 1);
 	///
 
@@ -71,7 +73,7 @@ int main()
 	 */
 
 	/* Calculate how far the board_info_blob is from the beginning of the bootloader */
-	uint32_t board_info_blob_offset = (uint32_t) &pios_board_info_blob - (uint32_t)0x08000000;
+	uint32_t board_info_blob_offset = (uint32_t) &pios_board_info_blob - (uint32_t)BL_BANK_BASE;
 
 	/* Use the same offset into our embedded bootloader image */
 	struct pios_board_info * new_board_info_blob = (struct pios_board_info *)
@@ -90,9 +92,9 @@ int main()
 
 	/// Bootloader memory space erase
 	uint32_t pageAddress;
-	pageAddress = 0x08000000;
+	pageAddress = BL_BANK_BASE;
 	bool fail = false;
-	while ((pageAddress < base_address) && (fail == false)) {
+	while ((pageAddress < BL_BANK_BASE + BL_BANK_SIZE) && (fail == false)) {
 		for (int retry = 0; retry < MAX_DEL_RETRYS; ++retry) {
 			if (FLASH_ErasePage(pageAddress) == FLASH_COMPLETE) {
 				fail = false;
@@ -105,6 +107,8 @@ int main()
 		pageAddress += 2048;
 #elif defined (STM32F10X_MD)
 		pageAddress += 1024;
+#elif defined (STM32F4XX)
+        pageAddress += 0x4000;
 #endif
 	}
 
@@ -157,4 +161,4 @@ void error(int led, int code)
 		}
 		PIOS_DELAY_WaitmS(3000);
 		}
-}
+}

flight/targets/common/bootloader_updater/pios_board.c

@@ -34,6 +34,11 @@
  * NOTE: THIS IS THE ONLY PLACE THAT SHOULD EVER INCLUDE THIS FILE
  */
 #include <board_hw_defs.c>
+#ifdef STM32F4XX
+#define FLASH_ErasePage(x) FLASH_EraseSector(x,VoltageRange_3)
+#define FLASH_PrefetchBuffer_Enable ENABLE
+#endif
+
 
 void PIOS_Board_Init(void) {
 	const struct pios_board_info * bdinfo = &pios_board_info_blob;
@@ -42,7 +47,7 @@ void PIOS_Board_Init(void) {
 	FLASH_PrefetchBufferCmd(FLASH_PrefetchBuffer_Enable);
 
 	/* Flash 2 wait state */
-	FLASH_SetLatency(FLASH_Latency_2);
+	//FLASH_SetLatency(FLASH_Latency_5);
 
 	/* Delay system */
 	PIOS_DELAY_Init();
@@ -55,5 +60,8 @@ void PIOS_Board_Init(void) {
 #endif	/* PIOS_INCLUDE_LED */
 
 	/* Initialize the PiOS library */
+#if defined(PIOS_INCLUDE_GPIO)
 	PIOS_GPIO_Init();
+#endif  /* PIOS_INCLUDE_GPIO */
+
 }

make/boot-defs.mk

@@ -107,17 +107,8 @@ EXTRA_LIBDIRS +=
 #    EXTRA_LIBS = newlib-lpc
 EXTRA_LIBS +=
 
-# 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)
-
 # Compiler flags
-CDEFS += $(BLONLY_CDEFS)
+CDEFS += 
 
 # Set linker-script name depending on selected submodel name
 ifeq ($(MCU),cortex-m3)

make/common-defs.mk

@@ -122,6 +122,21 @@ CFLAGS += -Wall
 CFLAGS += $(patsubst %,-I%,$(EXTRAINCDIRS)) -I.
 CFLAGS += -Wa,-adhlns=$(addprefix $(OUTDIR)/, $(notdir $(addsuffix .lst, $(basename $<))))
 
+# Provides board-specific defines
+BOARD_CDEFS += -DBOARD_TYPE=$(BOARD_TYPE)
+BOARD_CDEFS += -DBOARD_REVISION=$(BOARD_REVISION)
+BOARD_CDEFS += -DHW_TYPE=$(HW_TYPE)
+BOARD_CDEFS += -DBOOTLOADER_VERSION=$(BOOTLOADER_VERSION)
+BOARD_CDEFS += -DFW_BANK_BASE=$(FW_BANK_BASE)
+BOARD_CDEFS += -DFW_BANK_SIZE=$(FW_BANK_SIZE)
+BOARD_CDEFS += -DFW_DESC_SIZE=$(FW_DESC_SIZE)
+
+BOARD_CDEFS += -DBL_BANK_BASE=$(BL_BANK_BASE)
+BOARD_CDEFS += -DBL_BANK_SIZE=$(BL_BANK_SIZE)
+BOARD_CDEFS += -DBL_DESC_SIZE=$(BL_DESC_SIZE)
+
+CDEFS += $(BOARD_CDEFS)
+
 # FIXME: stm32f4xx library raises strict aliasing and const qualifier warnings
 ifneq ($(MCU),cortex-m4)
     CFLAGS += -Werror