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Yannick Vignon
committed
MiniM4: initial commit of new target
Basic support for new Mini-M4 board. Work in progress, not working yet.
1 parent ab68825 commit ed34a53

35 files changed

+6686
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lines changed

‎flight/PiOS/STM32F4xx/pios_sys.c

+3
Original file line numberDiff line numberDiff line change
@@ -163,7 +163,10 @@ void PIOS_SYS_Init(void)
163163
GPIO_Init(GPIOA, &GPIO_InitStructure);
164164

165165
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_All;
166+
GPIO_InitStructure.GPIO_Pin &= ~(GPIO_Pin_3 | GPIO_Pin_4); // leave JTAG pins alone
166167
GPIO_Init(GPIOB, &GPIO_InitStructure);
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GPIO_InitStructure.GPIO_Pin = GPIO_Pin_All;
167170
GPIO_Init(GPIOC, &GPIO_InitStructure);
168171
GPIO_Init(GPIOD, &GPIO_InitStructure);
169172
GPIO_Init(GPIOE, &GPIO_InitStructure);

‎flight/targets/minim4/bl/pios_board.c

+106
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@@ -0,0 +1,106 @@
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/**
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******************************************************************************
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* @addtogroup TauLabsBootloader Tau Labs Bootloaders
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* @{
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* @addtogroup QuantonBL Quanton bootloader
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* @{
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*
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* @file pios_board.c
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* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
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* @author Tau Labs, http://taulabs.org, Copyright (C) 2012-2013
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* @brief Board specific initialization for the bootloader
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* @see The GNU Public License (GPL) Version 3
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*
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*****************************************************************************/
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/*
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* This program is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation; either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful, but
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* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
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* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
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* for more details.
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*
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* You should have received a copy of the GNU General Public License along
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* with this program; if not, write to the Free Software Foundation, Inc.,
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* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
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*/
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/* Pull in the board-specific static HW definitions.
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* Including .c files is a bit ugly but this allows all of
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* the HW definitions to be const and static to limit their
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* scope.
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*
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* NOTE: THIS IS THE ONLY PLACE THAT SHOULD EVER INCLUDE THIS FILE
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*/
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#include "board_hw_defs.c"
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#include <pios_board_info.h>
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#include <pios.h>
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uintptr_t pios_com_telem_usb_id;
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void PIOS_Board_Init() {
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/* Delay system */
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PIOS_DELAY_Init();
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const struct pios_board_info * bdinfo = &pios_board_info_blob;
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#if defined(PIOS_INCLUDE_LED)
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const struct pios_led_cfg * led_cfg = PIOS_BOARD_HW_DEFS_GetLedCfg(bdinfo->board_rev);
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PIOS_Assert(led_cfg);
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PIOS_LED_Init(led_cfg);
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#endif /* PIOS_INCLUDE_LED */
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PWR_BackupAccessCmd(ENABLE);
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RCC_LSEConfig(RCC_LSE_OFF);
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PIOS_LED_On(PIOS_LED_HEARTBEAT);
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PIOS_LED_On(PIOS_LED_ALARM);
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#if defined(PIOS_INCLUDE_SPI)
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/* Set up the SPI interface to the flash */
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if (PIOS_SPI_Init(&pios_spi_flash_id, &pios_spi_flash_cfg)) {
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PIOS_DEBUG_Assert(0);
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}
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#endif /* PIOS_INCLUDE_SPI */
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#if defined(PIOS_INCLUDE_FLASH)
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/* Inititialize all flash drivers */
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PIOS_Flash_Internal_Init(&pios_internal_flash_id, &flash_internal_cfg);
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#if defined(PIOS_INCLUDE_SPI)
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PIOS_Flash_Jedec_Init(&pios_external_flash_id, pios_spi_flash_id, 0, &flash_mx25_cfg);
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#endif /* PIOS_INCLUDE_SPI */
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/* Register the partition table */
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PIOS_FLASH_register_partition_table(pios_flash_partition_table, NELEMENTS(pios_flash_partition_table));
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#endif /* PIOS_INCLUDE_FLASH */
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#if defined(PIOS_INCLUDE_USB)
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/* Initialize board specific USB data */
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PIOS_USB_BOARD_DATA_Init();
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/* Activate the HID-only USB configuration */
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PIOS_USB_DESC_HID_ONLY_Init();
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uintptr_t pios_usb_id;
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PIOS_USB_Init(&pios_usb_id, PIOS_BOARD_HW_DEFS_GetUsbCfg(bdinfo->board_rev));
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#if defined(PIOS_INCLUDE_USB_HID) && defined(PIOS_INCLUDE_COM_MSG)
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uintptr_t pios_usb_hid_id;
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if (PIOS_USB_HID_Init(&pios_usb_hid_id, &pios_usb_hid_cfg, pios_usb_id)) {
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PIOS_Assert(0);
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}
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if (PIOS_COM_MSG_Init(&pios_com_telem_usb_id, &pios_usb_hid_com_driver, pios_usb_hid_id)) {
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PIOS_Assert(0);
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}
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#endif /* PIOS_INCLUDE_USB_HID && PIOS_INCLUDE_COM_MSG */
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PIOS_USBHOOK_Activate();
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#endif /* PIOS_INCLUDE_USB */
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}

‎flight/targets/minim4/bl/pios_config.h

+46
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@@ -0,0 +1,46 @@
1+
/**
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******************************************************************************
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* @addtogroup TauLabsBootloader Tau Labs Bootloaders
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* @{
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* @addtogroup MiniM4BL MiniM4 bootloader
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* @{
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*
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* @file pios_config.h
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* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
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* @author Tau Labs, http://taulabs.org, Copyright (C) 2012-2013
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* @brief Board specific bootloader configuration file for PiOS
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* @see The GNU Public License (GPL) Version 3
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*
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*****************************************************************************/
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/*
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* This program is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
18+
* the Free Software Foundation; either version 3 of the License, or
19+
* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful, but
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* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
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* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
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* for more details.
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*
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* You should have received a copy of the GNU General Public License along
27+
* with this program; if not, write to the Free Software Foundation, Inc.,
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* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
29+
*/
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#ifndef PIOS_CONFIG_H
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#define PIOS_CONFIG_H
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/* Enable/Disable PiOS Modules */
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#define PIOS_INCLUDE_DELAY
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#define PIOS_INCLUDE_IRQ
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#define PIOS_INCLUDE_LED
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#define PIOS_INCLUDE_SYS
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#define PIOS_INCLUDE_IAP
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#define PIOS_INCLUDE_USB
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#define PIOS_INCLUDE_USB_HID
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#define PIOS_INCLUDE_COM_MSG
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#define PIOS_INCLUDE_FLASH
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#define PIOS_INCLUDE_FLASH_INTERNAL
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#endif /* PIOS_CONFIG_H */

‎flight/targets/minim4/bl/pios_usb_board_data.c

+89
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@@ -0,0 +1,89 @@
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/**
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******************************************************************************
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* @addtogroup TauLabsBootloader Tau Labs Bootloaders
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* @{
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* @addtogroup MiniM4BL Quanton bootloader
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* @{
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*
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* @file pios_usb_board_data.c
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* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
10+
* @author Tau Labs, http://taulabs.org, Copyright (C) 2012-2013
11+
* @brief Board specific USB definitions
12+
* @see The GNU Public License (GPL) Version 3
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*
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*****************************************************************************/
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/*
16+
* This program is free software; you can redistribute it and/or modify
17+
* it under the terms of the GNU General Public License as published by
18+
* the Free Software Foundation; either version 3 of the License, or
19+
* (at your option) any later version.
20+
*
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* This program is distributed in the hope that it will be useful, but
22+
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
23+
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
24+
* for more details.
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*
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* You should have received a copy of the GNU General Public License along
27+
* with this program; if not, write to the Free Software Foundation, Inc.,
28+
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
29+
*/
30+
#include "pios_usb_board_data.h" /* struct usb_*, USB_* */
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#include "pios_sys.h" /* PIOS_SYS_SerialNumberGet */
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#include "pios_usbhook.h" /* PIOS_USBHOOK_* */
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#include "pios_usb_util.h" /* PIOS_USB_UTIL_AsciiToUtf8 */
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static const uint8_t usb_product_id[20] = {
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sizeof(usb_product_id),
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USB_DESC_TYPE_STRING,
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'm', 0,
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'i', 0,
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'n', 0,
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'i', 0,
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'm', 0,
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'4', 0,
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' ', 0,
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'f', 0,
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'c', 0,
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};
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static uint8_t usb_serial_number[2 + PIOS_SYS_SERIAL_NUM_ASCII_LEN*2 + (sizeof(PIOS_USB_BOARD_SN_SUFFIX)-1)*2] = {
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sizeof(usb_serial_number),
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USB_DESC_TYPE_STRING,
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};
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static const struct usb_string_langid usb_lang_id = {
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.bLength = sizeof(usb_lang_id),
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.bDescriptorType = USB_DESC_TYPE_STRING,
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.bLangID = htousbs(USB_LANGID_ENGLISH_US),
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};
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static const uint8_t usb_vendor_id[14] = {
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sizeof(usb_vendor_id),
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USB_DESC_TYPE_STRING,
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'Y', 0,
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'a', 0,
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'c', 0,
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'k', 0,
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'o', 0,
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'u', 0,
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};
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int32_t PIOS_USB_BOARD_DATA_Init(void)
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{
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/* Load device serial number into serial number string */
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uint8_t sn[PIOS_SYS_SERIAL_NUM_ASCII_LEN + 1];
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PIOS_SYS_SerialNumberGet((char *)sn);
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/* Concatenate the device serial number and the appropriate suffix ("+BL" or "+FW") into the USB serial number */
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uint8_t * utf8 = &(usb_serial_number[2]);
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utf8 = PIOS_USB_UTIL_AsciiToUtf8(utf8, sn, PIOS_SYS_SERIAL_NUM_ASCII_LEN);
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utf8 = PIOS_USB_UTIL_AsciiToUtf8(utf8, (uint8_t *)PIOS_USB_BOARD_SN_SUFFIX, sizeof(PIOS_USB_BOARD_SN_SUFFIX)-1);
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PIOS_USBHOOK_RegisterString(USB_STRING_DESC_PRODUCT, (uint8_t *)&usb_product_id, sizeof(usb_product_id));
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PIOS_USBHOOK_RegisterString(USB_STRING_DESC_SERIAL, (uint8_t *)&usb_serial_number, sizeof(usb_serial_number));
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PIOS_USBHOOK_RegisterString(USB_STRING_DESC_LANG, (uint8_t *)&usb_lang_id, sizeof(usb_lang_id));
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PIOS_USBHOOK_RegisterString(USB_STRING_DESC_VENDOR, (uint8_t *)&usb_vendor_id, sizeof(usb_vendor_id));
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return 0;
89+
}

‎flight/targets/minim4/bl/pios_usb_board_data.h

+55
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@@ -0,0 +1,55 @@
1+
/**
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******************************************************************************
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* @addtogroup TauLabsBootloader Tau Labs Bootloaders
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* @{
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* @addtogroup MiniM4BL MiniM4 bootloader
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* @{
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*
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* @file pios_usb_board_data.h
9+
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
10+
* @author Tau Labs, http://taulabs.org, Copyright (C) 2012-2013
11+
* @brief Board specific USB definitions
12+
* @see The GNU Public License (GPL) Version 3
13+
*
14+
*****************************************************************************/
15+
/*
16+
* This program is free software; you can redistribute it and/or modify
17+
* it under the terms of the GNU General Public License as published by
18+
* the Free Software Foundation; either version 3 of the License, or
19+
* (at your option) any later version.
20+
*
21+
* This program is distributed in the hope that it will be useful, but
22+
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
23+
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
24+
* for more details.
25+
*
26+
* You should have received a copy of the GNU General Public License along
27+
* with this program; if not, write to the Free Software Foundation, Inc.,
28+
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
29+
*/
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31+
#ifndef PIOS_USB_BOARD_DATA_H
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#define PIOS_USB_BOARD_DATA_H
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#define PIOS_USB_BOARD_HID_DATA_LENGTH 64
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#define PIOS_USB_BOARD_EP_NUM 2
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#include "pios_usb_defs.h" /* struct usb_* */
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#define PIOS_USB_BOARD_VENDOR_ID 0x0fda //Quantec Networks GmbH
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#define PIOS_USB_BOARD_PRODUCT_ID 0x0100 //quanton flight control rev. 1
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#define PIOS_USB_BOARD_DEVICE_VER USB_OP_DEVICE_VER(0, USB_OP_BOARD_MODE_BL)
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#define PIOS_USB_BOARD_SN_SUFFIX "+BL"
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/*
46+
* The bootloader uses a simplified report structure
47+
* BL: <REPORT_ID><DATA>...<DATA>
48+
* FW: <REPORT_ID><LENGTH><DATA>...<DATA>
49+
* This define changes the behaviour in pios_usb_hid.c
50+
*/
51+
#define PIOS_USB_BOARD_BL_HID_HAS_NO_LENGTH_BYTE
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#endif /* PIOS_USB_BOARD_DATA_H */
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‎flight/targets/minim4/board-info/board-info.mk

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BOARD_TYPE := 0x86
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BOARD_REVISION := 0x01
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BOOTLOADER_VERSION := 0x81
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HW_TYPE := 0x00 # seems to be unused
5+
6+
MCU := cortex-m4
7+
CHIP := STM32F405RGT
8+
BOARD := STM32F4xx_MINIM4
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MODEL := HD
10+
MODEL_SUFFIX :=
11+
12+
OPENOCD_JTAG_CONFIG := jtagkey2p-ftdi.cfg
13+
OPENOCD_CONFIG := stm32f4xx-jtagkey.cfg
14+
15+
# Note: These must match the values in link_$(BOARD)_memory.ld
16+
BL_BANK_BASE := 0x08000000 # Start of bootloader flash
17+
BL_BANK_SIZE := 0x00008000 # Should include BD_INFO region (32kb)
18+
19+
# Leave the remaining 16KB and 64KB sectors for other uses
20+
FW_BANK_BASE := 0x08020000 # Start of firmware flash (128kb)
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FW_BANK_SIZE := 0x00040000 # Should include FW_DESC_SIZE (256kb)
22+
#FW_BANK_BASE := 0x08000000 # Start of firmware flash (128kb)
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#FW_BANK_SIZE := 0x00100000 # Should include FW_DESC_SIZE (256kb)
24+
25+
FW_DESC_SIZE := 0x00000064
26+
27+
EE_BANK_BASE := 0x00000000
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EE_BANK_SIZE := 0x00000000
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30+
EF_BANK_BASE := 0x08000000 # Start of entire flash image (usually start of bootloader as well)
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EF_BANK_SIZE := 0x00060000 # Size of the entire flash image (from bootloader until end of firmware)
32+
33+
OSCILLATOR_FREQ := 16000000
34+
SYSCLK_FREQ := 168000000

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