Added PX4 IO V3

Makefile

@@ -47,6 +47,7 @@ TARGETS	= \
 	px4fmuv4_bl \
 	px4fmuv4pro_bl \
 	px4io_bl \
+	px4iov3_bl \
 	tapv1_bl \
 
 all:	$(TARGETS)
@@ -97,6 +98,9 @@ crazyflie_bl: $(MAKEFILE_LIST) $(LIBOPENCM3)
 px4io_bl: $(MAKEFILE_LIST) $(LIBOPENCM3)
 	make -f Makefile.f1 TARGET_HW=PX4_PIO_V1 LINKER_FILE=stm32f1.ld TARGET_FILE_NAME=$@
 
+px4iov3_bl: $(MAKEFILE_LIST) $(LIBOPENCM3)
+	make -f Makefile.f3 TARGET_HW=PX4_PIO_V3 LINKER_FILE=stm32f3.ld TARGET_FILE_NAME=$@
+
 tapv1_bl: $(MAKEFILE_LIST) $(LIBOPENCM3)
 	make -f Makefile.f4 TARGET_HW=TAP_V1 LINKER_FILE=stm32f4.ld TARGET_FILE_NAME=$@
 

Makefile.f3

@@ -0,0 +1,38 @@
+#
+# PX4 bootloader build rules for STM32F3 targets.
+#
+
+OPENOCD		?= openocd
+
+JTAGCONFIG ?= interface/olimex-jtag-tiny.cfg
+#JTAGCONFIG ?= interface/jtagkey-tiny.cfg
+
+# 5 seconds / 5000 ms default delay
+PX4_BOOTLOADER_DELAY	?= 5000
+
+SRCS		 = $(COMMON_SRCS) main_f3.c
+
+FLAGS		+= -mthumb -mcpu=cortex-m4 -mfloat-abi=hard -mfpu=fpv4-sp-d16 \
+       -DTARGET_HW_$(TARGET_HW) \
+       -DSTM32F3 \
+       -T$(LINKER_FILE) \
+		   -L$(LIBOPENCM3)/lib \
+		   -lopencm3_stm32f3 \
+        $(EXTRAFLAGS)
+
+ELF		 = $(TARGET_FILE_NAME).elf
+BINARY		 = $(TARGET_FILE_NAME).bin
+
+all:		$(ELF) $(BINARY)
+
+$(ELF):		$(SRCS) $(MAKEFILE_LIST)
+	$(CC) -o $@ $(SRCS) $(FLAGS)
+
+$(BINARY):	$(ELF)
+	$(OBJCOPY) -O binary $(ELF) $(BINARY)
+
+#upload: all flash flash-bootloader
+upload: all flash-bootloader
+
+flash-bootloader:
+	$(OPENOCD) --search ../px4_bootloader -f $(JTAGCONFIG) -f stm32f3x.cfg -c init -c "reset halt" -c "flash write_image erase $(BINARY) 0x08000000" -c "reset run" -c shutdown

cdcacm.c

@@ -43,7 +43,7 @@
 #include <libopencm3/usb/cdc.h>
 
 #include "bl.h"
-
+#if INTERFACE_USB != 0
 #define USB_CDC_REQ_GET_LINE_CODING			0x21 // Not defined in libopencm3
 
 
@@ -379,3 +379,4 @@ usb_cout(uint8_t *buf, unsigned count)
 		}
 	}
 }
+#endif

hw_config.h

@@ -419,6 +419,53 @@
 # define BOARD_TYPE                     10
 # define FLASH_SECTOR_SIZE              0x400
 
+/****************************************************************************
+ * TARGET_HW_PX4_PIO_V3
+ ****************************************************************************/
+
+#elif  defined(TARGET_HW_PX4_PIO_V3)
+
+# define APP_LOAD_ADDRESS               0x08001000
+# define APP_SIZE_MAX                   0x3f000
+# define BOOTLOADER_DELAY               200
+# define BOARD_PIO
+# define INTERFACE_USB                	0
+# define INTERFACE_USART                1
+# define USBDEVICESTRING                ""
+# define USBPRODUCTID                   -1
+
+# define OSC_FREQ                       24
+
+# define BOARD_PIN_LED_ACTIVITY         0
+# define BOARD_PIN_LED_BOOTLOADER       GPIO13
+# define BOARD_PORT_LEDS                GPIOB
+# define BOARD_CLOCK_LEDS_REGISTER      RCC_AHBENR
+# define BOARD_CLOCK_LEDS               RCC_AHBENR_IOPBEN
+# define BOARD_LED_ON                   gpio_clear
+# define BOARD_LED_OFF                  gpio_set
+
+# define BOARD_USART                    USART2
+# define BOARD_USART_CLOCK_REGISTER     RCC_APB1ENR
+# define BOARD_USART_CLOCK_BIT          RCC_APB1ENR_USART2EN
+
+# define BOARD_PORT_USART               GPIOA
+# define BOARD_PORT_USART_AF 			GPIO_AF7
+# define BOARD_PIN_TX     				GPIO2
+# define BOARD_PIN_RX		     		GPIO3
+# define BOARD_USART_PIN_CLOCK_REGISTER RCC_AHBENR
+# define BOARD_USART_PIN_CLOCK_BIT      RCC_AHBENR_IOPAEN
+
+# define BOARD_FORCE_BL_PIN             GPIO5
+# define BOARD_FORCE_BL_PORT            GPIOB
+# define BOARD_FORCE_BL_CLOCK_REGISTER  RCC_AHBENR
+# define BOARD_FORCE_BL_CLOCK_BIT       RCC_AHBENR_IOPBEN
+# define BOARD_FORCE_BL_PULL            GPIO_PUPD_NONE // depend on external pull
+# define BOARD_FORCE_BL_VALUE           BOARD_FORCE_BL_PIN
+
+# define BOARD_FLASH_SECTORS            60
+# define BOARD_TYPE                     13
+# define FLASH_SECTOR_SIZE              0x800
+
 /****************************************************************************
  * TARGET_HW_PX4_AEROCORE_V1
  ****************************************************************************/