Merge branch 'next' into hyper/OP-936_task-monitor-rework

Makefile

@@ -198,7 +198,6 @@ export OPGCSSYNTHDIR := $(BUILD_DIR)/openpilotgcs-synthetics
 
 # Define supported board lists
 ALL_BOARDS    := coptercontrol oplinkmini revolution osd revoproto simposix
-ALL_BOARDS_BU := coptercontrol oplinkmini
 
 # Short names of each board (used to display board name in parallel builds)
 coptercontrol_short    := 'cc  '
@@ -211,14 +210,13 @@ simposix_short         := 'posx'
 # SimPosix only builds on Linux so drop it from the list for
 # all other platforms.
 ifneq ($(UNAME), Linux)
-    ALL_BOARDS    := $(filter-out simposix, $(ALL_BOARDS))
+    ALL_BOARDS := $(filter-out simposix, $(ALL_BOARDS))
-    ALL_BOARDS_BU := $(filter-out simposix, $(ALL_BOARDS_BU))
 endif
 
 # Start out assuming that we'll build fw, bl and bu for all boards
 FW_BOARDS  := $(ALL_BOARDS)
 BL_BOARDS  := $(ALL_BOARDS)
-BU_BOARDS  := $(ALL_BOARDS_BU)
+BU_BOARDS  := $(ALL_BOARDS)
 EF_BOARDS  := $(ALL_BOARDS)
 
 # SimPosix doesn't have a BL, BU or EF target so we need to

flight/pios/inc/pios_bl_helper.h

@@ -36,6 +36,7 @@ extern uint8_t PIOS_BL_HELPER_FLASH_Ini();
 extern uint32_t PIOS_BL_HELPER_CRC_Memory_Calc();
 extern void PIOS_BL_HELPER_FLASH_Read_Description(uint8_t * array, uint8_t size);
 extern uint8_t PIOS_BL_HELPER_FLASH_Start();
+extern uint8_t PIOS_BL_HELPER_FLASH_Erase_Bootloader();
 extern void PIOS_BL_HELPER_CRC_Ini();
 
 #endif /* PIOS_BL_HELPER_H */

flight/pios/stm32f10x/pios_bl_helper.c

@@ -28,12 +28,13 @@
  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
  */
 
-#include "pios.h"
+#include <pios.h>
 
 #ifdef PIOS_INCLUDE_BL_HELPER
 
 #include <pios_board_info.h>
-#include "stm32f10x_flash.h"
+#include <stm32f10x_flash.h>
+#include <stdbool.h>
 
 uint8_t *PIOS_BL_HELPER_FLASH_If_Read(uint32_t SectorAddress)
 {
@@ -41,38 +42,58 @@ uint8_t *PIOS_BL_HELPER_FLASH_If_Read(uint32_t SectorAddress)
 }
 
 #if defined(PIOS_INCLUDE_BL_HELPER_WRITE_SUPPORT)
+
+static bool erase_flash(uint32_t startAddress, uint32_t endAddress);
+
 uint8_t PIOS_BL_HELPER_FLASH_Ini()
 {
-	FLASH_Unlock();
+    FLASH_Unlock();
-	return 1;
+    return 1;
 }
 
 uint8_t PIOS_BL_HELPER_FLASH_Start()
 {
-	const struct pios_board_info * bdinfo = &pios_board_info_blob;
+    const struct pios_board_info * bdinfo = &pios_board_info_blob;
-	uint32_t pageAdress = bdinfo->fw_base;
+    uint32_t startAddress = bdinfo->fw_base;
-	uint8_t fail = FALSE;
+    uint32_t endAddress = bdinfo->fw_base + bdinfo->fw_size + bdinfo->desc_size;
-	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) {
-				fail = FALSE;
-				break;
-			} else {
-				fail = TRUE;
-			}
 
-		}
+    bool success = erase_flash(startAddress, endAddress);
+
+    return (success) ? 1 : 0;
+}
+
+uint8_t PIOS_BL_HELPER_FLASH_Erase_Bootloader() {
+/// Bootloader memory space erase
+    uint32_t startAddress = BL_BANK_BASE;
+    uint32_t endAddress = BL_BANK_BASE + BL_BANK_SIZE;
+
+    bool success = erase_flash(startAddress, endAddress);
+
+    return (success) ? 1 : 0;
+}
+
+static bool erase_flash(uint32_t startAddress, uint32_t endAddress) {
+    uint32_t pageAddress = startAddress;
+    uint8_t fail = false;
+    while ((pageAddress < endAddress) && (fail == false)) {
+        for (int retry = 0; retry < MAX_DEL_RETRYS; ++retry) {
+            if (FLASH_ErasePage(pageAddress) == FLASH_COMPLETE) {
+                fail = false;
+                break;
+            } else {
+                fail = true;
+            }
+        }
 
 #ifdef STM32F10X_HD
-		pageAdress += 2048;
+        pageAddress += 2048;
 #elif defined (STM32F10X_MD)
-		pageAdress += 1024;
+        pageAddress += 1024;
 #endif
-	}
+    }
-
+    return !fail;
-	return (fail == TRUE) ? 0 : 1;
 }
+
 #endif
 
 uint32_t PIOS_BL_HELPER_CRC_Memory_Calc()

flight/pios/stm32f10x/pios_sys.c

@@ -50,6 +50,9 @@ void PIOS_SYS_Init(void)
 	/* Setup STM32 system (RCC, clock, PLL and Flash configuration) - CMSIS Function */
 	SystemInit();
 
+	/* Init the delay system */
+	PIOS_DELAY_Init();
+
 	/* Enable GPIOA, GPIOB, GPIOC, GPIOD, GPIOE and AFIO clocks */
 	RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA | RCC_APB2Periph_GPIOB | RCC_APB2Periph_GPIOC | RCC_APB2Periph_GPIOD | RCC_APB2Periph_GPIOE |
 			       RCC_APB2Periph_AFIO, ENABLE);

flight/pios/stm32f4xx/libraries/CMSIS2/Device/ST/STM32F4xx/Source/osd/system_stm32f4xx.c

@@ -393,7 +393,7 @@ static void SetSysClock(void)
 		}
 		
 		/* Configure Flash prefetch, Instruction cache, Data cache and wait state */
-		FLASH->ACR = FLASH_ACR_ICEN |FLASH_ACR_DCEN |FLASH_ACR_LATENCY_5WS;
+		FLASH->ACR =  FLASH_ACR_PRFTEN | FLASH_ACR_ICEN |FLASH_ACR_DCEN |FLASH_ACR_LATENCY_5WS;
 		
 		/* Select the main PLL as system clock source */
 		RCC->CFGR &= (uint32_t)((uint32_t)~(RCC_CFGR_SW));

flight/pios/stm32f4xx/libraries/CMSIS2/Device/ST/STM32F4xx/Source/revolution/system_stm32f4xx.c

@@ -393,7 +393,7 @@ static void SetSysClock(void)
     }
    
     /* Configure Flash prefetch, Instruction cache, Data cache and wait state */
-    FLASH->ACR = FLASH_ACR_ICEN |FLASH_ACR_DCEN |FLASH_ACR_LATENCY_5WS;
+    FLASH->ACR = FLASH_ACR_PRFTEN | FLASH_ACR_ICEN | FLASH_ACR_DCEN | FLASH_ACR_LATENCY_5WS;
 
     /* Select the main PLL as system clock source */
     RCC->CFGR &= (uint32_t)((uint32_t)~(RCC_CFGR_SW));

flight/pios/stm32f4xx/libraries/CMSIS2/Device/ST/STM32F4xx/Source/revoproto/system_stm32f4xx.c

@@ -393,7 +393,7 @@ static void SetSysClock(void)
     }
    
     /* Configure Flash prefetch, Instruction cache, Data cache and wait state */
-    FLASH->ACR = FLASH_ACR_ICEN |FLASH_ACR_DCEN |FLASH_ACR_LATENCY_5WS;
+    FLASH->ACR = FLASH_ACR_PRFTEN | FLASH_ACR_ICEN |FLASH_ACR_DCEN |FLASH_ACR_LATENCY_5WS;
 
     /* Select the main PLL as system clock source */
     RCC->CFGR &= (uint32_t)((uint32_t)~(RCC_CFGR_SW));

flight/pios/stm32f4xx/library.mk

@@ -10,6 +10,9 @@ LINKER_SCRIPTS_APP	=  $(PIOS_DEVLIB)link_stm32f4xx_fw_memory.ld \
 			   $(PIOS_DEVLIB)link_stm32f4xx_sections.ld
 LINKER_SCRIPTS_BL	=  $(PIOS_DEVLIB)link_stm32f4xx_bl_memory.ld \
 			   $(PIOS_DEVLIB)link_stm32f4xx_sections.ld
+# _compat linker script are aimed at bootloader updater to guarantee to be compatible with earlier bootloaders.
+LINKER_SCRIPTS_COMPAT	=  $(PIOS_DEVLIB)link_stm32f4xx_fw_memory.ld \
+			   $(PIOS_DEVLIB)link_stm32f4xx_sections_compat.ld
 
 # Compiler options implied by the F4xx
 CDEFS			+= -DSTM32F4XX

flight/pios/stm32f4xx/link_stm32f4xx_sections.ld

@@ -83,7 +83,7 @@ SECTIONS
     	_irq_stack_end = . ;
     	*(.irqstack)
     	_irq_stack_top = . ;
-	} > SRAM
+	} > CCSRAM
 	
 
 	/*

flight/pios/stm32f4xx/link_stm32f4xx_sections_compat.ld

@@ -0,0 +1,176 @@
+
+/* Section Definitions */
+SECTIONS
+{
+	/*
+	 * Vectors, code and constant data.
+	 */
+    .text :
+    {
+        PROVIDE (pios_isr_vector_table_base = .);
+        KEEP(*(.cpu_vectors))	/* CPU exception vectors */
+        KEEP(*(.io_vectors))	/* I/O interrupt vectors */
+        *(.text .text.* .gnu.linkonce.t.*)
+        *(.glue_7t) *(.glue_7)
+        *(.rodata .rodata* .gnu.linkonce.r.*)
+    } > FLASH
+
+    /* 
+     * Init section for UAVObjects. 
+     */
+    .initcalluavobj.init :
+    {
+        . = ALIGN(4);
+		__uavobj_initcall_start = .;
+        KEEP(*(.initcalluavobj.init))
+		. = ALIGN(4);
+		__uavobj_initcall_end   = .;
+    } >FLASH
+
+    /* 
+     * Module init section section
+     */
+    .initcallmodule.init :
+    {
+        . = ALIGN(4);
+		__module_initcall_start = .;
+        KEEP(*(.initcallmodule.init))
+		. = ALIGN(4);
+		__module_initcall_end   = .;
+    } >FLASH
+
+	/*
+	 * C++ exception handling.
+	 */
+    .ARM.extab :
+    {
+        *(.ARM.extab* .gnu.linkonce.armextab.*)
+    } > FLASH
+    .ARM.exidx :
+    {
+        __exidx_start = .;
+        *(.ARM.exidx* .gnu.linkonce.armexidx.*)
+        __exidx_end = .;
+    } > FLASH
+
+	/*
+	 * Markers for the end of the 'text' section and the in-flash start of 
+	 * non-constant data 
+	 */
+    . = ALIGN(4);
+    _etext = .;
+    _sidata = .;
+
+	/*
+	 * Board info structure, normally only generated by the bootloader but can
+	 * be read by the application.
+	 */
+	PROVIDE(pios_board_info_blob = ORIGIN(BD_INFO));
+    .boardinfo :
+    {
+		. = ALIGN(4);
+		KEEP(*(.boardinfo))
+		. = ALIGN(ORIGIN(BD_INFO)+LENGTH(BD_INFO));
+	} > BD_INFO
+
+    /*
+   	 * Place the IRQ/bootstrap stack at the bottom of SRAM so that an overflow
+   	 * results in a hard fault.
+   	 */
+   	.istack (NOLOAD) :
+   	{
+   		. = ALIGN(4);
+    	_irq_stack_end = . ;
+    	*(.irqstack)
+    	_irq_stack_top = . ;
+	} > SRAM
+	
+
+	/*
+	 * Non-const initialised data.
+	 */
+    .data : AT (_sidata)
+    {
+        . = ALIGN(4);
+        _sdata = .;
+        *(.data .data.*)
+        . = ALIGN(4);
+        _edata = . ;
+    } > SRAM
+
+    /*
+     * Uninitialised data (BSS + commons).
+     */
+    .bss (NOLOAD) :
+    {
+        _sbss = . ;
+        *(.bss .bss.*)
+        *(COMMON)
+        _ebss = . ;
+	    PROVIDE ( _end = _ebss ) ;    
+    } > SRAM
+
+	/*
+	 * The heap consumes the remainder of the SRAM.
+	 */
+    .heap (NOLOAD) :
+    {
+        . = ALIGN(4);
+        _sheap = . ;
+        
+        /*
+         * This allows us to declare an object or objects up to the minimum acceptable
+         * heap size and receive a linker error if the space available for the heap is
+         * not sufficient.
+         */
+        *(.heap)
+        
+        /* extend the heap up to the top of SRAM */
+        . = ORIGIN(SRAM) + LENGTH(SRAM) - ABSOLUTE(_sheap);
+        _eheap = .;
+    } > SRAM
+
+	/*
+	 * 'Fast' memory goes in the CCM SRAM
+	 */
+	.fast (NOLOAD) :
+	{
+		_sfast = . ;
+		*(.fast)
+		_efast = . ;
+	} > CCSRAM
+
+    /* Stabs debugging sections.  */
+    .stab          0 : { *(.stab) }
+    .stabstr       0 : { *(.stabstr) }
+    .stab.excl     0 : { *(.stab.excl) }
+    .stab.exclstr  0 : { *(.stab.exclstr) }
+    .stab.index    0 : { *(.stab.index) }
+    .stab.indexstr 0 : { *(.stab.indexstr) }
+    .comment       0 : { *(.comment) }
+    /* DWARF debug sections.
+       Symbols in the DWARF debugging sections are relative to the beginning
+       of the section so we begin them at 0.  */
+    /* DWARF 1 */
+    .debug          0 : { *(.debug) }
+    .line           0 : { *(.line) }
+    /* GNU DWARF 1 extensions */
+    .debug_srcinfo  0 : { *(.debug_srcinfo) }
+    .debug_sfnames  0 : { *(.debug_sfnames) }
+    /* DWARF 1.1 and DWARF 2 */
+    .debug_aranges  0 : { *(.debug_aranges) }
+    .debug_pubnames 0 : { *(.debug_pubnames) }
+    /* DWARF 2 */
+    .debug_info     0 : { *(.debug_info .gnu.linkonce.wi.*) }
+    .debug_abbrev   0 : { *(.debug_abbrev) }
+    .debug_line     0 : { *(.debug_line) }
+    .debug_frame    0 : { *(.debug_frame) }
+    .debug_str      0 : { *(.debug_str) }
+    .debug_loc      0 : { *(.debug_loc) }
+    .debug_macinfo  0 : { *(.debug_macinfo) }
+    /* SGI/MIPS DWARF 2 extensions */
+    .debug_weaknames 0 : { *(.debug_weaknames) }
+    .debug_funcnames 0 : { *(.debug_funcnames) }
+    .debug_typenames 0 : { *(.debug_typenames) }
+    .debug_varnames  0 : { *(.debug_varnames) }
+}

flight/pios/stm32f4xx/pios_bl_helper.c

@@ -28,12 +28,12 @@
  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
  */
 
-#include "pios.h"
+#include <pios.h>
 
 #ifdef PIOS_INCLUDE_BL_HELPER
 
 #include <pios_board_info.h>
-#include "stm32f4xx_flash.h"
+#include <stm32f4xx_flash.h>
 #include <stdbool.h>
 
 uint8_t *PIOS_BL_HELPER_FLASH_If_Read(uint32_t SectorAddress)
@@ -42,6 +42,9 @@ uint8_t *PIOS_BL_HELPER_FLASH_If_Read(uint32_t SectorAddress)
 }
 
 #if defined(PIOS_INCLUDE_BL_HELPER_WRITE_SUPPORT)
+
+static bool erase_flash(uint32_t startAddress, uint32_t endAddress);
+
 uint8_t PIOS_BL_HELPER_FLASH_Ini()
 {
 	FLASH_Unlock();
@@ -138,35 +141,54 @@ static bool PIOS_BL_HELPER_FLASH_GetSectorInfo(uint32_t address, uint8_t * secto
 uint8_t PIOS_BL_HELPER_FLASH_Start()
 {
 	const struct pios_board_info * bdinfo = &pios_board_info_blob;
-	uint32_t pageAddress = bdinfo->fw_base;
+	uint32_t startAddress = bdinfo->fw_base;
-	bool fail = false;
+	uint32_t endAddress = bdinfo->fw_base + bdinfo->fw_size + bdinfo->desc_size;
-	while ((pageAddress < (bdinfo->fw_base + bdinfo->fw_size + bdinfo->desc_size))
-	       && (fail == false)) {
-		uint8_t sector_number;
-		uint32_t sector_start;
-		uint32_t sector_size;
-		if (!PIOS_BL_HELPER_FLASH_GetSectorInfo(pageAddress, 
-								&sector_number,
-								&sector_start,
-								&sector_size)) {
-			/* We're asking for an invalid flash address */
-			PIOS_Assert(0);
-		}
-		for (int retry = 0; retry < MAX_DEL_RETRYS; ++retry) {
-			if (FLASH_EraseSector(sector_number, VoltageRange_3) == FLASH_COMPLETE) {
-				fail = false;
-				break;
-			} else {
-				fail = true;
-			}
 
-		}
+	bool success = erase_flash(startAddress, endAddress);
-		/* Move to the next sector */
-		pageAddress += sector_size;
-	}
 
-	return (fail == true) ? 0 : 1;
+    return (success) ? 1 : 0;
 }
+
+
+uint8_t PIOS_BL_HELPER_FLASH_Erase_Bootloader() {
+/// Bootloader memory space erase
+    uint32_t startAddress = BL_BANK_BASE;
+    uint32_t endAddress = BL_BANK_BASE + BL_BANK_SIZE;
+
+    bool success = erase_flash(startAddress, endAddress);
+
+    return (success) ? 1 : 0;
+}
+
+static bool erase_flash(uint32_t startAddress, uint32_t endAddress)
+{
+    uint32_t pageAddress = startAddress;
+    bool fail = false;
+    while ((pageAddress < endAddress) && (fail == false)) {
+        uint8_t sector_number;
+        uint32_t sector_start;
+        uint32_t sector_size;
+        if (!PIOS_BL_HELPER_FLASH_GetSectorInfo(pageAddress,
+                        &sector_number,
+                        &sector_start,
+                        &sector_size)) {
+            /* We're asking for an invalid flash address */
+            PIOS_Assert(0);
+        }
+        for (int retry = 0; retry < MAX_DEL_RETRYS; ++retry) {
+            if (FLASH_EraseSector(sector_number, VoltageRange_3) == FLASH_COMPLETE) {
+                fail = false;
+                break;
+            } else {
+                fail = true;
+            }
+        }
+        /* Move to the next sector */
+        pageAddress += sector_size;
+    }
+    return !fail;
+}
+
 #endif
 
 uint32_t PIOS_BL_HELPER_CRC_Memory_Calc()

flight/targets/boards/coptercontrol/bootloader/main.c

@@ -156,8 +156,7 @@ int main() {
 
 		if (stopwatch > 50 * 1000 * 1000)
 			stopwatch = 0;
-		if ((stopwatch > 6 * 1000 * 1000) && (DeviceState
+        if ((stopwatch > 6 * 1000 * 1000) && ((DeviceState == BLidle) || (DeviceState == DFUidle && !USB_connected)))
-				== BLidle))
 			JumpToApp = TRUE;
 
 		processRX();

flight/targets/boards/osd/board-info.mk

@@ -1,6 +1,6 @@
 BOARD_TYPE          := 0x05
 BOARD_REVISION      := 0x01
-BOOTLOADER_VERSION  := 0x04
+BOOTLOADER_VERSION  := 0x05
 HW_TYPE             := 0x00
 
 MCU                 := cortex-m4

flight/targets/boards/osd/bootloader/main.c

@@ -170,7 +170,11 @@ 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 */
+    // Look at cm3_vectors struct in startup. In a fw image the first uint32_t contains the address of the top of irqstack
+    uint32_t fwIrqStackBase = (*(__IO uint32_t*) bdinfo->fw_base) & 0xFFFE0000;
+    // Check for the two possible irqstack locations (sram or core coupled sram)
+    if ( fwIrqStackBase == 0x20000000 || fwIrqStackBase == 0x10000000) {
+        /* Jump to user application */
 		FLASH_Lock();
 		RCC_APB2PeriphResetCmd(0xffffffff, ENABLE);
 		RCC_APB1PeriphResetCmd(0xffffffff, ENABLE);

flight/targets/boards/revolution/board-info.mk

@@ -1,6 +1,6 @@
 BOARD_TYPE          := 0x09
 BOARD_REVISION      := 0x03
-BOOTLOADER_VERSION  := 0x04
+BOOTLOADER_VERSION  := 0x05
 HW_TYPE             := 0x00
 
 MCU                 := cortex-m4
@@ -19,7 +19,7 @@ BL_BANK_SIZE        := 0x00008000  # Should include BD_INFO region
 # Leave the remaining 16KB and 64KB sectors for other uses
 
 FW_BANK_BASE        := 0x08020000  # Start of firmware flash
-FW_BANK_SIZE        := 0x00040000  # Should include FW_DESC_SIZE
+FW_BANK_SIZE        := 0x00060000  # Should include FW_DESC_SIZE
 
 FW_DESC_SIZE        := 0x00000064
 

flight/targets/boards/revolution/bootloader/main.c

@@ -161,8 +161,7 @@ int main() {
 
 		if (stopwatch > 50 * 1000 * 1000)
 			stopwatch = 0;
-		if ((stopwatch > 6 * 1000 * 1000) && (DeviceState
+		if ((stopwatch > 6 * 1000 * 1000) && ((DeviceState == BLidle) || (DeviceState == DFUidle && !USB_connected)))
-				== BLidle))
 			JumpToApp = true;
 
 		processRX();
@@ -174,7 +173,11 @@ 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 */
+	// Look at cm3_vectors struct in startup. In a fw image the first uint32_t contains the address of the top of irqstack
+	uint32_t fwIrqStackBase = (*(__IO uint32_t*) bdinfo->fw_base) & 0xFFFE0000;
+	// Check for the two possible irqstack locations (sram or core coupled sram)
+	if ( fwIrqStackBase == 0x20000000 || fwIrqStackBase == 0x10000000) {
+	    /* Jump to user application */
 		FLASH_Lock();
 		RCC_APB2PeriphResetCmd(0xffffffff, ENABLE);
 		RCC_APB1PeriphResetCmd(0xffffffff, ENABLE);

flight/targets/boards/revoproto/board-info.mk

@@ -1,6 +1,6 @@
 BOARD_TYPE          := 0x09
 BOARD_REVISION      := 0x02
-BOOTLOADER_VERSION  := 0x04
+BOOTLOADER_VERSION  := 0x05
 HW_TYPE             := 0x00
 
 MCU                 := cortex-m4
@@ -19,7 +19,7 @@ BL_BANK_SIZE        := 0x00008000  # Should include BD_INFO region
 # Leave the remaining 16KB and 64KB sectors for other uses
 
 FW_BANK_BASE        := 0x08020000  # Start of firmware flash
-FW_BANK_SIZE        := 0x00040000  # Should include FW_DESC_SIZE
+FW_BANK_SIZE        := 0x00060000  # Should include FW_DESC_SIZE
 
 FW_DESC_SIZE        := 0x00000064
 

flight/targets/boards/revoproto/bootloader/main.c

@@ -161,8 +161,7 @@ int main() {
 
 		if (stopwatch > 50 * 1000 * 1000)
 			stopwatch = 0;
-		if ((stopwatch > 6 * 1000 * 1000) && (DeviceState
+        if ((stopwatch > 6 * 1000 * 1000) && ((DeviceState == BLidle) || (DeviceState == DFUidle && !USB_connected)))
-				== BLidle))
 			JumpToApp = true;
 
 		processRX();
@@ -174,7 +173,11 @@ 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 */
+    // Look at cm3_vectors struct in startup. In a fw image the first uint32_t contains the address of the top of irqstack
+    uint32_t fwIrqStackBase = (*(__IO uint32_t*) bdinfo->fw_base) & 0xFFFE0000;
+    // Check for the two possible irqstack locations (sram or core coupled sram)
+    if ( fwIrqStackBase == 0x20000000 || fwIrqStackBase == 0x10000000) {
+        /* Jump to user application */
 		FLASH_Lock();
 		RCC_APB2PeriphResetCmd(0xffffffff, ENABLE);
 		RCC_APB1PeriphResetCmd(0xffffffff, ENABLE);

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 $(PIOS)/stm32f10x/library.mk
@@ -47,6 +46,16 @@ ifeq ($(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
+    # Using the _compat ld script ensure that the bootloader updated is compiled with irqstack in sram
+    # This allow to be used with bootloader earlier than rel5
+    LDFLAGS += -T$(PIOS_DEVLIB)/link_stm32f4xx_sections_compat.ld
+    SRC += $(HWDEFSINC)/firmware/cm3_fault_handlers.c
+    SRC += $(HWDEFSINC)/firmware/dcc_stdio.c
 else
     $(error Unsupported MCU for BootloaderUpdater: $(MCU))
 endif

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

@@ -34,9 +34,9 @@
 #define PIOS_INCLUDE_DELAY
 #define PIOS_INCLUDE_SYS
 #define PIOS_INCLUDE_IRQ
-#define PIOS_INCLUDE_GPIO
 #define PIOS_INCLUDE_LED
 #define PIOS_INCLUDE_BL_HELPER
+#define PIOS_INCLUDE_BL_HELPER_WRITE_SUPPORT
 
 #endif /* PIOS_CONFIG_H */
 

flight/targets/common/bootloader_updater/main.c

@@ -29,6 +29,7 @@
 #include <pios.h>
 #include <pios_board_info.h>
 #include <stdbool.h>
+#include <pios_bl_helper.h>
 
 #define MAX_WRI_RETRYS 3
 /* Prototype of PIOS_Board_Init() function */
@@ -43,105 +44,87 @@ void error(int, int);
 extern uint32_t _binary_start;
 extern uint32_t _binary_end;
 extern uint32_t _binary_size;
-const uint32_t * embedded_image_start = (uint32_t *) &(_binary_start);
+const uint32_t  *embedded_image_start = (uint32_t *) &(_binary_start);
-const uint32_t * embedded_image_end   = (uint32_t *) &(_binary_end);
+const uint32_t  *embedded_image_end   = (uint32_t *) &(_binary_end);
 const uint32_t   embedded_image_size  = (uint32_t)   &(_binary_size);
 
 int main()
 {
 
-	PIOS_SYS_Init();
+    PIOS_SYS_Init();
-	PIOS_Board_Init();
+    PIOS_Board_Init();
-	PIOS_LED_On(PIOS_LED_HEARTBEAT);
+    PIOS_LED_On(PIOS_LED_HEARTBEAT);
-	PIOS_DELAY_WaitmS(3000);
+    PIOS_DELAY_WaitmS(3000);
-	PIOS_LED_Off(PIOS_LED_HEARTBEAT);
+    PIOS_LED_Off(PIOS_LED_HEARTBEAT);
 
-	/// Self overwrite check
+    /// Self overwrite check
-	uint32_t base_address = SCB->VTOR;
+    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);
+        error(PIOS_LED_HEARTBEAT, 1);
-	///
+    ///
 
-	/*
+    /*
-	 * Make sure the bootloader we're carrying is for the same
+     * Make sure the bootloader we're carrying is for the same
-	 * board type and board revision as the one we're running on.
+     * board type and board revision as the one we're running on.
-	 *
+     *
-	 * Assume the bootloader in flash and the bootloader contained in
+     * Assume the bootloader in flash and the bootloader contained in
-	 * the updater both carry a board_info_blob at the end of the image.
+     * the updater both carry a board_info_blob at the end of the image.
-	 */
+     */
 
-	/* Calculate how far the board_info_blob is from the beginning of the bootloader */
+    /* 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 */
+    /* Use the same offset into our embedded bootloader image */
-	struct pios_board_info * new_board_info_blob = (struct pios_board_info *)
+    struct pios_board_info *new_board_info_blob = (struct pios_board_info *) ((uint32_t) embedded_image_start + board_info_blob_offset);
-		((uint32_t)embedded_image_start + board_info_blob_offset);
 
-	/* Compare the two board info blobs to make sure they're for the same HW revision */
+    /* Compare the two board info blobs to make sure they're for the same HW revision */
-	if ((pios_board_info_blob.magic != new_board_info_blob->magic) ||
+    if ((pios_board_info_blob.magic != new_board_info_blob->magic) ||
-		(pios_board_info_blob.board_type != new_board_info_blob->board_type) ||
+        (pios_board_info_blob.board_type != new_board_info_blob->board_type) ||
-		(pios_board_info_blob.board_rev != new_board_info_blob->board_rev)) {
+        (pios_board_info_blob.board_rev != new_board_info_blob->board_rev)) {
-		error(PIOS_LED_HEARTBEAT, 2);
+        error(PIOS_LED_HEARTBEAT, 2);
-	}
+    }
 
-	/* Embedded bootloader looks like it's the right one for this HW, proceed... */
+    /* Embedded bootloader looks like it's the right one for this HW, proceed... */
 
-	FLASH_Unlock();
+    FLASH_Unlock();
 
-	/// Bootloader memory space erase
+    bool fail;
-	uint32_t pageAddress;
-	pageAddress = 0x08000000;
-	bool fail = false;
-	while ((pageAddress < base_address) && (fail == false)) {
-		for (int retry = 0; retry < MAX_DEL_RETRYS; ++retry) {
-			if (FLASH_ErasePage(pageAddress) == FLASH_COMPLETE) {
-				fail = false;
-				break;
-			} else {
-				fail = true;
-			}
-		}
-#ifdef STM32F10X_HD
-		pageAddress += 2048;
-#elif defined (STM32F10X_MD)
-		pageAddress += 1024;
-#endif
-	}
 
-	if (fail == true)
+    fail = (PIOS_BL_HELPER_FLASH_Erase_Bootloader() != 1);
-		error(PIOS_LED_HEARTBEAT, 3);
 
+    if (fail == true){
+        error(PIOS_LED_HEARTBEAT, 3);
+    }
+    ///
+    /// Bootloader programing
+    for (uint32_t offset = 0; offset < embedded_image_size / sizeof(uint32_t); ++offset) {
+        bool result = false;
+        PIOS_LED_Toggle(PIOS_LED_HEARTBEAT);
+        for (uint8_t retry = 0; retry < MAX_WRI_RETRYS; ++retry) {
+            if (result == false) {
+                result = (FLASH_ProgramWord(BL_BANK_BASE + (offset * 4), embedded_image_start[offset]) == FLASH_COMPLETE);
+            }
+        }
+        if (result == false) {
+            error(PIOS_LED_HEARTBEAT, 4);
+        }
+    }
+    ///
+    for (uint8_t x = 0; x < 3; ++x) {
+        PIOS_LED_On(PIOS_LED_HEARTBEAT);
+        PIOS_DELAY_WaitmS(1000);
+        PIOS_LED_Off(PIOS_LED_HEARTBEAT);
+        PIOS_DELAY_WaitmS(1000);
+    }
 
-	///
+    /// Invalidate the bootloader updater so we won't run
-	/// Bootloader programing
+    /// the update again on the next power cycle.
-	for (uint32_t offset = 0; offset < embedded_image_size / sizeof(uint32_t); ++offset) {
+    FLASH_ProgramWord(base_address, 0);
-		bool result = false;
+    FLASH_Lock();
-		PIOS_LED_Toggle(PIOS_LED_HEARTBEAT);
-		for (uint8_t retry = 0; retry < MAX_WRI_RETRYS; ++retry) {
-			if (result == false) {
-				result = (FLASH_ProgramWord(0x08000000 + (offset * 4), embedded_image_start[offset])
-					== FLASH_COMPLETE) ? true : false;
-			}
-		}
-		if (result == false)
-			error(PIOS_LED_HEARTBEAT, 4);
-	}
-	///
-	for (uint8_t x = 0; x < 3; ++x) {
-		PIOS_LED_On(PIOS_LED_HEARTBEAT);
-		PIOS_DELAY_WaitmS(1000);
-		PIOS_LED_Off(PIOS_LED_HEARTBEAT);
-		PIOS_DELAY_WaitmS(1000);
-	}
 
-	/// Invalidate the bootloader updater so we won't run
+    for (;;) {
-	/// the update again on the next power cycle.
+        PIOS_DELAY_WaitmS(1000);
-	FLASH_ProgramWord(base_address, 0);
+    }
-	FLASH_Lock();
-
-	for (;;) {
-		PIOS_DELAY_WaitmS(1000);
-	}
 
 }
 
@@ -157,4 +140,4 @@ void error(int led, int code)
 		}
 		PIOS_DELAY_WaitmS(3000);
 		}
-}
+}

flight/targets/common/bootloader_updater/pios_board.c

@@ -38,15 +38,6 @@
 void PIOS_Board_Init(void) {
 	const struct pios_board_info * bdinfo = &pios_board_info_blob;
 
-	/* Enable Prefetch Buffer */
-	FLASH_PrefetchBufferCmd(FLASH_PrefetchBuffer_Enable);
-
-	/* Flash 2 wait state */
-	FLASH_SetLatency(FLASH_Latency_2);
-
-	/* Delay system */
-	PIOS_DELAY_Init();
-
 	/* LEDs */
 #if defined(PIOS_INCLUDE_LED)
 	const struct pios_led_cfg * led_cfg = PIOS_BOARD_HW_DEFS_GetLedCfg(bdinfo->board_rev);
@@ -55,5 +46,8 @@ 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

@@ -107,14 +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)
-
 # Compiler flags
-CDEFS += $(BLONLY_CDEFS)
+CDEFS += 
 
 # Set linker-script name depending on selected submodel name
 ifeq ($(MCU),cortex-m3)

make/common-defs.mk

@@ -95,11 +95,6 @@ endif
 #ADEFS = -DUSE_IRQ_ASM_WRAPPER
 ADEFS = -D__ASSEMBLY__
 
-# Provide board-specific defines
-CDEFS += -DFW_BANK_BASE=$(FW_BANK_BASE)
-CDEFS += -DFW_BANK_SIZE=$(FW_BANK_SIZE)
-CDEFS += -DFW_DESC_SIZE=$(FW_DESC_SIZE)
-
 # Compiler flag to set the C Standard level.
 # c89   - "ANSI" C
 # gnu89 - c89 plus GCC extensions
@@ -129,6 +124,21 @@ CFLAGS += -Werror
 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 += $(BOARD_CDEFS)
+
 ifeq ($(DEBUG), YES)
     CFLAGS += -DDEBUG
 else

shared/uavobjectdefinition/stabilizationsettings.xml

@@ -27,7 +27,7 @@
 	<field name="DerivativeCutoff" units="Hz" type="uint8" elements="1" defaultvalue="20"/>
 	<field name="DerivativeGamma" units="" type="float" elements="1" defaultvalue="1"/>
 
-	<field name="MaxAxisLock" units="deg" type="uint8" elements="1" defaultvalue="15"/>
+	<field name="MaxAxisLock" units="deg" type="uint8" elements="1" defaultvalue="30"/>
 	<field name="MaxAxisLockRate" units="deg/s" type="uint8" elements="1" defaultvalue="2"/>
 
 	<field name="WeakLevelingKp" units="(deg/s)/deg" type="float" elements="1" defaultvalue="0.1"/>