restore UAVCAN bootloader support

- essentially reverting #7878 minus the obsolete board support
2026-05-28 02:36:37 +08:00 · 2020-04-19 16:10:09 -04:00
parent 7c533e5a53
commit a3ad710623
30 changed files with 6658 additions and 3 deletions
@@ -60,6 +60,17 @@ if("${PX4_BOARD_LABEL}" STREQUAL "bootloader")
 		bootloader_lib
 		drivers_board
 	)
+elseif("${PX4_BOARD_LABEL}" STREQUAL "canbootloader")
+	set(SCRIPT_PREFIX ${PX4_BOARD_LABEL}_)
+	add_subdirectory(src/canbootloader)
+	list(APPEND nuttx_libs
+		canbootloader
+		drivers_board
+	)
+
+	target_link_libraries(px4 PRIVATE
+		-Wl,-wrap,sched_process_timer -Wl,-wrap,sem_post -Wl,-wrap,sem_wait
+	)
 else()
 	if(NOT "${PX4_BOARD_LINKER_PREFIX}" STREQUAL "")
 		set(SCRIPT_PREFIX ${PX4_BOARD_LINKER_PREFIX}-)
@@ -0,0 +1,48 @@
+############################################################################
+#
+#   Copyright (c) 2020 PX4 Development Team. All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# 1. Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+# 2. Redistributions in binary form must reproduce the above copyright
+#    notice, this list of conditions and the following disclaimer in
+#    the documentation and/or other materials provided with the
+#    distribution.
+# 3. Neither the name PX4 nor the names of its contributors may be
+#    used to endorse or promote products derived from this software
+#    without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+############################################################################
+
+px4_add_library(canbootloader
+	arch/stm32/board_identity.c
+	arch/stm32/drivers/can/driver.c
+	common/boot_app_shared.c
+	fs/flash.c
+	protocol/uavcan.c
+	sched/timer.c
+	uavcan/main.c
+	util/crc.c
+	util/random.c
+)
+
+include_directories(include)
+target_include_directories(canbootloader INTERFACE include)
+target_compile_options(canbootloader PRIVATE -Wno-error)
@@ -0,0 +1,56 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2017 PX4 Development Team. All rights reserved.
+ *   Author: @author David Sidrane <david_s5@nscdg.com>
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file board_identity.c
+ * Implementation of STM32 based Board identity API
+ */
+
+#include <px4_config.h>
+#include <stdio.h>
+#include <string.h>
+
+#define SWAP_UINT32(x) (((x) >> 24) | (((x) & 0x00ff0000) >> 8) | (((x) & 0x0000ff00) << 8) | ((x) << 24))
+
+int board_get_mfguid(mfguid_t mfgid)
+{
+	uint32_t *chip_uuid = (uint32_t *) STM32_SYSMEM_UID;
+	uint32_t  *rv = (uint32_t *) &mfgid[0];
+
+	for (int i = 0; i < PX4_CPU_UUID_WORD32_LENGTH; i++) {
+		*rv++ = SWAP_UINT32(chip_uuid[(PX4_CPU_UUID_WORD32_LENGTH - 1) - i]);
+	}
+
+	return PX4_CPU_MFGUID_BYTE_LENGTH;
+}
@@ -0,0 +1,204 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2015 PX4 Development Team. All rights reserved.
+ *       Author: Ben Dyer <ben_dyer@mac.com>
+ *               Pavel Kirienko <pavel.kirienko@zubax.com>
+ *               David Sidrane <david_s5@nscdg.com>
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+#include <nuttx/config.h>
+
+#include <stdint.h>
+#include <string.h>
+
+#include "chip.h"
+#include "stm32.h"
+
+#include <errno.h>
+#include "boot_app_shared.h"
+#include "crc.h"
+
+#define BOOTLOADER_COMMON_APP_SIGNATURE         0xB0A04150u
+#define BOOTLOADER_COMMON_BOOTLOADER_SIGNATURE  0xB0A0424Cu
+
+/*  CAN_FiRx where (i=0..27|13, x=1, 2)
+ *                      STM32_CAN1_FIR(i,x)
+ * Using i = 2 does not requier there block
+ * to be enabled nor FINIT in CAN_FMR to be set.
+ * todo:Validate this claim on F2, F3
+ */
+
+#define crc_HiLOC       STM32_CAN1_FIR(2,1)
+#define crc_LoLOC       STM32_CAN1_FIR(2,2)
+#define signature_LOC   STM32_CAN1_FIR(3,1)
+#define bus_speed_LOC   STM32_CAN1_FIR(3,2)
+#define node_id_LOC     STM32_CAN1_FIR(4,1)
+#define CRC_H 1
+#define CRC_L 0
+
+inline static void read(bootloader_app_shared_t *pshared)
+{
+	pshared->signature = getreg32(signature_LOC);
+	pshared->bus_speed = getreg32(bus_speed_LOC);
+	pshared->node_id = getreg32(node_id_LOC);
+	pshared->crc.ul[CRC_L] = getreg32(crc_LoLOC);
+	pshared->crc.ul[CRC_H] = getreg32(crc_HiLOC);
+}
+
+inline static void write(bootloader_app_shared_t *pshared)
+{
+	putreg32(pshared->signature, signature_LOC);
+	putreg32(pshared->bus_speed, bus_speed_LOC);
+	putreg32(pshared->node_id, node_id_LOC);
+	putreg32(pshared->crc.ul[CRC_L], crc_LoLOC);
+	putreg32(pshared->crc.ul[CRC_H], crc_HiLOC);
+}
+
+static uint64_t calulate_signature(bootloader_app_shared_t *pshared)
+{
+	uint64_t crc;
+	crc = crc64_add_word(CRC64_INITIAL, pshared->signature);
+	crc = crc64_add_word(crc, pshared->bus_speed);
+	crc = crc64_add_word(crc, pshared->node_id);
+	crc ^= CRC64_OUTPUT_XOR;
+	return crc;
+}
+
+static void bootloader_app_shared_init(bootloader_app_shared_t *pshared, eRole_t role)
+{
+	memset(pshared, 0, sizeof(bootloader_app_shared_t));
+
+	if (role != Invalid) {
+		pshared->signature =
+			(role ==
+			 App ? BOOTLOADER_COMMON_APP_SIGNATURE :
+			 BOOTLOADER_COMMON_BOOTLOADER_SIGNATURE);
+	}
+}
+
+/****************************************************************************
+ * Name: bootloader_app_shared_read
+ *
+ * Description:
+ *   Based on the role requested, this function will conditionally populate
+ *   a bootloader_app_shared_t structure from the physical locations used
+ *   to transfer the shared data to/from an application (internal data) .
+ *
+ *   The functions will only populate the structure and return a status
+ *   indicating success, if the internal data has the correct signature as
+ *   requested by the Role AND has a valid crc.
+ *
+ * Input Parameters:
+ *   shared - A pointer to a bootloader_app_shared_t return the data in if
+ *   the internal data is valid for the requested Role
+ *   role   - An eRole_t of App or BootLoader to validate the internal data
+ *            against. For a Bootloader this would be the value of App to
+ *            read the application passed data.
+ *
+ * Returned value:
+ *   OK     - Indicates that the internal data has been copied to callers
+ *            bootloader_app_shared_t structure.
+ *
+ *  -EBADR  - The Role or crc of the internal data was not valid. The copy
+ *            did not occur.
+ *
+ ****************************************************************************/
+__EXPORT int bootloader_app_shared_read(bootloader_app_shared_t *shared, eRole_t role)
+{
+	int rv = -EBADR;
+	bootloader_app_shared_t working;
+
+	read(&working);
+
+	if ((role == App ? working.signature == BOOTLOADER_COMMON_APP_SIGNATURE
+	     : working.signature == BOOTLOADER_COMMON_BOOTLOADER_SIGNATURE)
+	    && (working.crc.ull == calulate_signature(&working))) {
+		*shared = working;
+		rv = OK;
+	}
+
+	return rv;
+}
+
+/****************************************************************************
+ * Name: bootloader_app_shared_write
+ *
+ * Description:
+ *   Based on the role, this function will commit the data passed
+ *   into the physical locations used to transfer the shared data to/from
+ *   an application (internal data) .
+ *
+ *   The functions will populate the signature and crc the data
+ *   based on the provided Role.
+ *
+ * Input Parameters:
+ *   shared - A pointer to a bootloader_app_shared_t data to commit to
+ *   the internal data for passing to/from an application.
+ *   role   - An eRole_t of App or BootLoader to use in the internal data
+ *            to be passed to/from an application. For a Bootloader this
+ *            would be the value of Bootloader to write to the passed data.
+ *            to the application via the internal data.
+ *
+ * Returned value:
+ *   None.
+ *
+ ****************************************************************************/
+__EXPORT void bootloader_app_shared_write(bootloader_app_shared_t *shared, eRole_t role)
+{
+	bootloader_app_shared_t working = *shared;
+	working.signature = (role == App ? BOOTLOADER_COMMON_APP_SIGNATURE : BOOTLOADER_COMMON_BOOTLOADER_SIGNATURE);
+	working.crc.ull = calulate_signature(&working);
+	write(&working);
+}
+
+/****************************************************************************
+ * Name: bootloader_app_shared_invalidate
+ *
+ * Description:
+ *   Invalidates the data passed the physical locations used to transfer
+ *   the shared data to/from an application (internal data) .
+ *
+ *   The functions will invalidate the signature and crc and shoulf be used
+ *   to prevent deja vu.
+ *
+ * Input Parameters:
+ *   None.
+ *
+ * Returned value:
+ *   None.
+ *
+ ****************************************************************************/
+__EXPORT void bootloader_app_shared_invalidate(void)
+{
+	bootloader_app_shared_t working;
+	bootloader_app_shared_init(&working, Invalid);
+	write(&working);
+}
@@ -0,0 +1,146 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2015 PX4 Development Team. All rights reserved.
+ *       Author: Ben Dyer <ben_dyer@mac.com>
+ *               Pavel Kirienko <pavel.kirienko@zubax.com>
+ *               David Sidrane <david_s5@nscdg.com>
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+#include <nuttx/config.h>
+
+#include "boot_config.h"
+
+#include <stdint.h>
+#include <stdlib.h>
+
+#include <nuttx/progmem.h>
+
+#include "chip.h"
+#include "stm32.h"
+
+#include "flash.h"
+#include "blsched.h"
+
+/****************************************************************************
+ * Name: bl_flash_erase
+ *
+ * Description:
+ *   This function erases the flash starting at address and ending at
+ *   address + nbytes.
+ *
+ * Input Parameters:
+ *   address - A word-aligned address within the first page of flash to erase
+ *   nbytes - The number of bytes to erase, rounding up to the next page.
+ *
+ *
+ *
+ * Returned value:
+ *   On success FLASH_OK On Error one of the flash_error_t
+ *
+ ****************************************************************************/
+
+flash_error_t bl_flash_erase(size_t address, size_t nbytes)
+{
+	/*
+	 * FIXME (?): this may take a long time, and while flash is being erased it
+	 * might not be possible to execute interrupts, send NodeStatus messages etc.
+	 * We can pass a per page callback or yeild */
+
+	flash_error_t status = FLASH_ERROR_AFU;
+
+
+	ssize_t bllastpage = up_progmem_getpage(address - 1);
+
+	if (bllastpage < 0) {
+		return FLASH_ERROR_AFU;
+	}
+
+	ssize_t appstartpage = up_progmem_getpage(address);
+	ssize_t appendpage = up_progmem_getpage(address + nbytes - 4);
+
+	if (appendpage < 0 || appstartpage < 0) {
+		return FLASH_ERROR_AFU;
+	}
+
+	status = FLASH_ERROR_SUICIDE;
+
+	if (bllastpage >= 0 && appstartpage > bllastpage) {
+
+		/* Erase the whole application flash region */
+
+		status = FLASH_OK;
+
+		while (status == FLASH_OK && appstartpage <= appendpage) {
+			bl_sched_yield();
+			ssize_t ps = up_progmem_eraseblock(appstartpage++);
+
+			if (ps <= 0) {
+				status = FLASH_ERASE_ERROR;
+			}
+		}
+	}
+
+	return status;
+}
+
+/****************************************************************************
+ * Name: bl_flash_write
+ *
+ * Description:
+ *   This function writes the flash starting at the given address
+ *
+ * Input Parameters:
+ *   flash_address - The address of the flash to write
+ *                   must be word aligned
+ *   data          - A pointer to a buffer count bytes to be written
+ *                   to the flash.
+ *   count         - Number of bytes to write
+ *
+ * Returned value:
+ *   On success FLASH_OK On Error one of the flash_error_t
+ *
+ ****************************************************************************/
+
+flash_error_t bl_flash_write(uint32_t flash_address, uint8_t *data, ssize_t count)
+{
+
+	flash_error_t status = FLASH_ERROR;
+
+	if (flash_address >= APPLICATION_LOAD_ADDRESS &&
+	    (flash_address + count) <= (uint32_t) APPLICATION_LAST_8BIT_ADDRRESS) {
+		if (count  ==
+		    up_progmem_write((size_t) flash_address, (void *)data, count)) {
+			status = FLASH_OK;
+		}
+	}
+
+	return status;
+}
@@ -0,0 +1,51 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2012-2015 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/*
+ * @file board.h
+ *
+ * bootloader board interface
+ * This file contains the common interfaces that all boards
+ * have to supply
+ */
+
+#pragma once
+
+#define BIT(pos)                                (1ull<<(pos))
+#define BIT_MASK(length)                        (BIT(length)-1)
+
+#define BITFEILD_MASK(lsb_pos, length)          ( BIT_MASK(length) << (lsb_pos))
+#define BITFEILD_ISOLATE(x, lsb_pos, length)    ((x) & (BITFEILD_MASK((lsb_pos), (length))))
+#define BITFEILD_EXCLUDE(x, lsb_pos, length)    ((x) & ~(BITFEILD_MASK((lsb_pos), (length))))
+#define BITFEILD_GET(y, lsb_pos, length)        (((y)>>(lsb_pos)) & BIT_MASK(length))
+#define BITFEILD_SET(y, x, lsb_pos, length)     ( y= ((y) & ~BF_MASK(lsb_pos, length)) | BITFEILD_ISOLATE(x, lsb_pos, length))
@@ -0,0 +1,59 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2015 PX4 Development Team. All rights reserved.
+ *       Author: Ben Dyer <ben_dyer@mac.com>
+ *               Pavel Kirienko <pavel.kirienko@zubax.com>
+ *               David Sidrane <david_s5@nscdg.com>
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+#pragma once
+
+/****************************************************************************
+ * Name: sched_yield()
+ *
+ * Description:
+ *   This function should be called in situation were the cpu may be
+ *   busy for a long time without interrupts or the ability to run code
+ *   to insure that the timer based process will be run.
+ *
+ *
+ * Input Parameters:
+ *   None
+ *
+ * Returned value:
+ *   None
+ *
+ ****************************************************************************/
+#if defined(OPT_USE_YIELD)
+void bl_sched_yield(void);
+#else
+# define bl_sched_yield()
+#endif
@@ -0,0 +1,129 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2012-2015 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/*
+ * @file board.h
+ *
+ * bootloader board interface
+ * This file contains the common interfaces that all boards
+ * have to supply
+ */
+#pragma once
+
+#include "uavcan.h"
+#include <nuttx/compiler.h>
+#include <stdint.h>
+
+typedef enum {
+	off,
+	reset,
+	autobaud_start,
+	autobaud_end,
+	allocation_start,
+	allocation_end,
+	fw_update_start,
+	fw_update_erase_fail,
+	fw_update_invalid_response,
+	fw_update_timeout,
+	fw_update_invalid_crc,
+	jump_to_app,
+} uiindication_t;
+
+#ifndef __ASSEMBLY__
+
+/************************************************************************************
+ * Name: stm32_boarddeinitialize
+ *
+ * Description:
+ *   This function is called by the bootloader code priore to booting
+ *   the application. Is should place the HW into an benign initialized state.
+ *
+ ************************************************************************************/
+
+void stm32_boarddeinitialize(void);
+
+/****************************************************************************
+ * Name: board_get_product_name
+ *
+ * Description:
+ *   Called to retrive the product name. The retuned alue is a assumed
+ *   to be written to a pascal style string that will be length prefixed
+ *   and not null terminated
+ *
+ * Input Parameters:
+ *    product_name - A pointer to a buffer to write the name.
+ *    maxlen       - The imum number of chatater that can be written
+ *
+ * Returned Value:
+ *   The length of charaacters written to the buffer.
+ *
+ ****************************************************************************/
+
+uint8_t board_get_product_name(uint8_t *product_name, size_t maxlen);
+
+/****************************************************************************
+ * Name: board_get_hardware_version
+ *
+ * Description:
+ *   Called to retrieve the hardware version information. The function
+ *   will first initialize the the callers struct to all zeros.
+ *
+ * Input Parameters:
+ *    hw_version - A pointer to a uavcan_hardwareversion_t.
+ *
+ * Returned Value:
+ *   Length of the unique_id
+ *
+ ****************************************************************************/
+
+size_t board_get_hardware_version(uavcan_HardwareVersion_t *hw_version);
+
+/****************************************************************************
+ * Name: board_indicate
+ *
+ * Description:
+ *   Provides User feedback to indicate the state of the bootloader
+ *   on board specific  hardware.
+ *
+ * Input Parameters:
+ *    indication - A member of the uiindication_t
+ *
+ * Returned Value:
+ *   None
+ *
+ ****************************************************************************/
+
+void board_indicate(uiindication_t indication);
+
+
+#endif /* __ASSEMBLY__ */
@@ -0,0 +1,77 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2016 PX4 Development Team. All rights reserved.
+ *                 Author: David Sidrane <david_s5@nscdg.com>
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file board_common.h
+ *
+ * Provide the the common board interfaces
+ */
+
+#pragma once
+
+/* Defined the types used for board UUID and MFG UID
+ *
+ * A type suitable for holding the byte format of the UUID
+ *
+ * The original PX4 stm32 (legacy) based implementation **displayed** the
+ * UUID as: ABCD EFGH IJKL
+ * Where:
+ *       A was bit 31 and D was bit 0
+ *       E was bit 63 and H was bit 32
+ *       I was bit 95 and L was bit 64
+ *
+ * Since the string was used by some manufactures to identify the units
+ * it must be preserved.
+ *
+ * For new targets moving forward we will use
+ *      IJKL EFGH ABCD
+ */
+
+/* A type suitable for defining the 8 bit format of the MFG UID
+ * This is always returned as MSD @ index 0 -LSD @ index PX4_CPU_MFGUID_BYTE_LENGTH-1
+ */
+typedef uint8_t mfguid_t[PX4_CPU_MFGUID_BYTE_LENGTH];
+
+/************************************************************************************
+ * Name: board_get_mfguid
+ *
+ * Description:
+ *   All boards either provide a way to retrieve a manafactuers Uniqe ID or
+ *   define BOARD_OVERRIDE_MFGUID.
+ *    The MFGUID is returned as an array of bytes in
+ *    MSD @ index 0 - LSD @ index PX4_CPU_MFGUID_BYTE_LENGTH-1
+ *
+ ************************************************************************************/
+
+int board_get_mfguid(mfguid_t mfgid);
@@ -0,0 +1,216 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2015 PX4 Development Team. All rights reserved.
+ *       Author: Ben Dyer <ben_dyer@mac.com>
+ *               Pavel Kirienko <pavel.kirienko@zubax.com>
+ *               David Sidrane <david_s5@nscdg.com>
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+#pragma once
+
+#include <nuttx/compiler.h>
+
+__BEGIN_DECLS
+
+/* Define the signature for the Application descriptor as 'APDesc' and a
+ * revision number of 00 used in app_descriptor_t
+ */
+
+#define APP_DESCRIPTOR_SIGNATURE_ID 'A','P','D','e','s','c'
+#define APP_DESCRIPTOR_SIGNATURE_REV '0','0'
+#define APP_DESCRIPTOR_SIGNATURE APP_DESCRIPTOR_SIGNATURE_ID, APP_DESCRIPTOR_SIGNATURE_REV
+
+/* N.B. the .ld file must emit this sections */
+# define boot_app_shared_section __attribute__((section(".app_descriptor")))
+
+/* eRole defines the role of the bootloader_app_shared_t structure */
+
+typedef enum eRole  {
+	Invalid,
+	App,
+	BootLoader
+} eRole_t;
+
+/****************************************************************************
+ *
+ * Bootloader and Application shared structure.
+ *
+ * The data in this structure is passed in SRAM or the the CAN filter
+ * registers from bootloader to application and application to bootloader.
+ *
+ * Do not assume any mapping or location for the passing of this data
+ * that is done in the read and write routines and is abstracted by design.
+ *
+ * For reference, the following is performed based on eRole in API calls
+ * defined below:
+ *
+ *      The application must write BOOTLOADER_COMMON_APP_SIGNATURE to the
+ *      signature field when passing data to the bootloader; when the
+ *      bootloader passes data to the application, it must write
+ *      BOOTLOADER_COMMON_BOOTLOADER_SIGNATURE to the signature field.
+ *
+ *      The CRC is calculated over the structure from signature to the
+ *      last byte. The resulting values are then copied to the CAN filter
+ *      registers by bootloader_app_shared_read and
+ *      bootloader_app_shared_write.
+ *
+****************************************************************************/
+
+#pragma GCC diagnostic push
+#pragma GCC diagnostic ignored "-Wattributes"
+typedef begin_packed_struct struct bootloader_app_shared_t {
+	union {
+		uint64_t ull;
+		uint32_t ul[2];
+		uint8_t  valid;
+	} crc;
+	uint32_t signature;
+	uint32_t bus_speed;
+	uint32_t node_id;
+} end_packed_struct bootloader_app_shared_t;
+#pragma GCC diagnostic pop
+
+/****************************************************************************
+ *
+ * Application firmware descriptor.
+ *
+ * This structure located by the linker script somewhere after the vector table.
+ * (within the first several kilobytes of the beginning address of the
+ * application);
+ *
+ * This structure must be aligned on an 8-byte boundary.
+ *
+ * The bootloader will scan through the application FLASH image until it
+ * finds the signature.
+ *
+ * The image_crc is calculated as follows:
+ *      1) All fields of this structure must be initialized with the correct
+ *         information about the firmware image bin file
+ *         (Here after refereed to as image)
+ *      2) image_crc set to 0;
+ *      3) The CRC 64 is calculated over the image from offset 0 up to and including the
+ *         last byte of the image file.
+ *      4) The calculated CRC 64 is stored in image_crc
+ *      5) The new image file is then written to a file a ".img" extension.
+ *
+****************************************************************************/
+
+#pragma GCC diagnostic push
+#pragma GCC diagnostic ignored "-Wattributes"
+#pragma GCC diagnostic ignored "-Wpacked"
+typedef begin_packed_struct struct app_descriptor_t {
+	uint8_t signature[sizeof(uint64_t)];
+	uint64_t image_crc;
+	uint32_t image_size;
+	uint32_t vcs_commit;
+	uint8_t major_version;
+	uint8_t minor_version;
+	uint8_t reserved[6];
+} end_packed_struct app_descriptor_t;
+#pragma GCC diagnostic pop
+
+/****************************************************************************
+ * Name: bootloader_app_shared_read
+ *
+ * Description:
+ *   Based on the role requested, this function will conditionally populate
+ *   a bootloader_app_shared_t structure from the physical locations used
+ *   to transfer the shared data to/from an application (internal data) .
+ *
+ *   The functions will only populate the structure and return a status
+ *   indicating success, if the internal data has the correct signature as
+ *   requested by the Role AND has a valid crc.
+ *
+ * Input Parameters:
+ *   shared - A pointer to a bootloader_app_shared_t return the data in if
+ *   the internal data is valid for the requested Role
+ *   role   - An eRole_t of App or BootLoader to validate the internal data
+ *            against. For a Bootloader this would be the value of App to
+ *            read the application passed data.
+ *
+ * Returned value:
+ *   OK     - Indicates that the internal data has been copied to callers
+ *            bootloader_app_shared_t structure.
+ *
+ *  -EBADR  - The Role or crc of the internal data was not valid. The copy
+ *            did not occur.
+ *
+ ****************************************************************************/
+
+int bootloader_app_shared_read(bootloader_app_shared_t *shared, eRole_t role);
+
+/****************************************************************************
+ * Name: bootloader_app_shared_write
+ *
+ * Description:
+ *   Based on the role, this function will commit the data passed
+ *   into the physical locations used to transfer the shared data to/from
+ *   an application (internal data) .
+ *
+ *   The functions will populate the signature and crc the data
+ *   based on the provided Role.
+ *
+ * Input Parameters:
+ *   shared - A pointer to a bootloader_app_shared_t data to commit to
+ *   the internal data for passing to/from an application.
+ *   role   - An eRole_t of App or BootLoader to use in the internal data
+ *            to be passed to/from an application. For a Bootloader this
+ *            would be the value of Bootloader to write to the passed data.
+ *            to the application via the internal data.
+ *
+ * Returned value:
+ *   None.
+ *
+ ****************************************************************************/
+
+void bootloader_app_shared_write(bootloader_app_shared_t *shared, eRole_t role);
+
+/****************************************************************************
+ * Name: bootloader_app_shared_invalidate
+ *
+ * Description:
+ *   Invalidates the data passed the physical locations used to transfer
+ *   the shared data to/from an application (internal data) .
+ *
+ *   The functions will invalidate the signature and crc and should be used
+ *   to prevent deja vu.
+ *
+ * Input Parameters:
+ *   None.
+ *
+ * Returned value:
+ *   None.
+ *
+ ****************************************************************************/
+
+void bootloader_app_shared_invalidate(void);
+
+__END_DECLS
@@ -0,0 +1,218 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2015 PX4 Development Team. All rights reserved.
+ *       Author: Ben Dyer <ben_dyer@mac.com>
+ *               Pavel Kirienko <pavel.kirienko@zubax.com>
+ *               David Sidrane <david_s5@nscdg.com>
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+#pragma once
+
+#include "timer.h"
+
+typedef enum {
+	CanPayloadLength = 8,
+} can_const_t;
+
+typedef enum {
+	CAN_OK = 0,
+	CAN_BOOT_TIMEOUT,
+	CAN_ERROR
+} can_error_t;
+
+typedef enum {
+	CAN_UNKNOWN   = 0,
+	CAN_125KBAUD  = 1,
+	CAN_250KBAUD  = 2,
+	CAN_500KBAUD  = 3,
+	CAN_1MBAUD    = 4
+} can_speed_t;
+
+typedef enum {
+	CAN_Mode_Normal = 0,         // Bits 30 and 31 00
+	CAN_Mode_LoopBack = 1,       // Bit 30: Loop Back Mode (Debug)
+	CAN_Mode_Silent = 2,         // Bit 31: Silent Mode (Debug)
+	CAN_Mode_Silent_LoopBack = 3 // Bits 30 and 31 11
+} can_mode_t;
+
+
+/*
+ * Receive from FIFO 1 -- filters are configured to push the messages there,
+ * and there are send/receive functions called off the SysTick ISR so
+ * we partition the usage of the CAN hardware to avoid the same FIFOs/mailboxes
+ * as the rest of the application uses.
+ */
+typedef enum {
+
+	Fifo0          = 0,
+	MailBox0       = 0,
+	Fifo1          = 1,
+	MailBox1       = 1,
+	Fifo2          = 2,
+	MailBox2       = 2,
+	FifoNone       = 3,
+	MailBoxNone    = 3,
+
+} can_fifo_mailbox_t;
+
+/****************************************************************************
+ * Name: can_speed2freq
+ *
+ * Description:
+ *   This function maps a can_speed_t to a bit rate in Hz
+ *
+ * Input Parameters:
+ *   can_speed - A can_speed_t from CAN_125KBAUD to CAN_1MBAUD
+ *
+ * Returned value:
+ *   Bit rate in Hz
+ *
+ ****************************************************************************/
+int can_speed2freq(can_speed_t speed);
+
+/****************************************************************************
+ * Name: can_speed2freq
+ *
+ * Description:
+ *   This function maps a frequency in Hz to a can_speed_t in the range
+ *   CAN_125KBAUD to CAN_1MBAUD.
+ *
+ * Input Parameters:
+ *   freq - Bit rate in Hz
+ *
+ * Returned value:
+ *   A can_speed_t from CAN_125KBAUD to CAN_1MBAUD
+ *
+ ****************************************************************************/
+can_speed_t can_freq2speed(int freq);
+
+/****************************************************************************
+ * Name: can_tx
+ *
+ * Description:
+ *   This function is called to transmit a CAN frame using the supplied
+ *   mailbox. It will busy wait on the mailbox if not available.
+ *
+ * Input Parameters:
+ *   message_id - The CAN message's EXID field
+ *   length     - The number of bytes of data - the DLC field
+ *   message    - A pointer to 8 bytes of data to be sent (all 8 bytes will be
+ *                loaded into the CAN transmitter but only length bytes will
+ *                be sent.
+ *   mailbox    - A can_fifo_mailbox_t MBxxx value to choose the outgoing
+ *                mailbox.
+ *
+ * Returned value:
+ *   The CAN_OK of the data sent or CAN_ERROR if a time out occurred
+ *
+ ****************************************************************************/
+uint8_t can_tx(uint32_t message_id, size_t length, const uint8_t *message, uint8_t mailbox);
+
+/****************************************************************************
+ * Name: can_rx
+ *
+ * Description:
+ *   This function is called to receive a CAN frame from a supplied fifo.
+ *   It does not block if there is not available, but returns 0
+ *
+ * Input Parameters:
+ *   message_id - A pointer to return the CAN message's EXID field
+ *   length     - A pointer to return the number of bytes of data - the DLC field
+ *   message    - A pointer to return 8 bytes of data to be sent (all 8 bytes will
+ *                be written from the CAN receiver but only length bytes will be sent.
+ *   fifo         A can_fifo_mailbox_t fifixxx value to choose the incoming fifo.
+ *
+ * Returned value:
+ *   The length of the data read or 0 if the fifo was empty
+ *
+ ****************************************************************************/
+uint8_t can_rx(uint32_t *message_id, size_t *length, uint8_t *message, uint8_t fifo);
+
+/****************************************************************************
+ * Name: can_init
+ *
+ * Description:
+ *   This function is used to initialize the CAN block for a given bit rate and
+ *   mode.
+ *
+ * Input Parameters:
+ *   speed - A can_speed_t from CAN_125KBAUD to CAN_1MBAUD
+ *   mode  - One of the can_mode_t of Normal, LoopBack and Silent or
+ *           combination thereof.
+ *
+ * Returned value:
+ *   OK - on Success or a negate errno value
+ *
+ ****************************************************************************/
+int can_init(can_speed_t speed, can_mode_t mode);
+
+/****************************************************************************
+ * Name: can_autobaud
+ *
+ * Description:
+ *   This function will attempt to detect the bit rate in use on the CAN
+ *   interface until the timeout provided expires or the successful detection
+ *   occurs.
+ *
+ *   It will initialize the CAN block for a given bit rate
+ *   to test that a message can be received. The CAN interface is left
+ *   operating at the detected bit rate and in CAN_Mode_Normal mode.
+ *
+ * Input Parameters:
+ *   can_speed - A pointer to return detected can_speed_t from CAN_UNKNOWN to
+ *               CAN_1MBAUD
+ *   timeout   - The timer id of a timer to use as the maximum time to wait for
+ *               successful bit rate detection. This timer may be not running
+ *               in which case the auto baud code will try indefinitely to
+ *               detect the bit rate.
+ *
+ * Returned value:
+ *   CAN_OK - on Success or a CAN_BOOT_TIMEOUT
+ *
+ ****************************************************************************/
+int can_autobaud(can_speed_t *can_speed, bl_timer_id timeout);
+
+/****************************************************************************
+ * Name: can_cancel_on_error
+ *
+ * Description:
+ *   This function will test for transition completion or any error.
+ *   If the is a error the the transmit will be aborted.
+ *
+ * Input Parameters:
+ *   mailbox    - A can_fifo_mailbox_t MBxxx value to choose the outgoing
+ *                mailbox.
+ *
+ * Returned value:
+ *   None
+ *
+ ****************************************************************************/
+void can_cancel_on_error(uint8_t mailbox);
@@ -0,0 +1,95 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2015 PX4 Development Team. All rights reserved.
+ *       Author: Ben Dyer <ben_dyer@mac.com>
+ *               Pavel Kirienko <pavel.kirienko@zubax.com>
+ *               David Sidrane <david_s5@nscdg.com>
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+#pragma once
+
+#define CRC16_INITIAL           0xFFFFu
+#define CRC16_OUTPUT_XOR        0x0000u
+#define CRC64_INITIAL           0xFFFFFFFFFFFFFFFFull
+#define CRC64_OUTPUT_XOR        0xFFFFFFFFFFFFFFFFull
+
+/****************************************************************************
+ * Name: crc16_add
+ *
+ * Description:
+ *   Use to calculates a CRC-16-CCITT using the polynomial of
+ *   0x1021 by adding a value successive values.
+ *
+ * Input Parameters:
+ *    crc   - The running total of the crc 16
+ *    value - The value to add
+ *
+ * Returned Value:
+ *   The current crc16 with the value processed.
+ *
+ ****************************************************************************/
+uint16_t crc16_add(uint16_t crc, uint8_t value);
+
+/****************************************************************************
+ * Name: crc16_signature
+ *
+ * Description:
+ *   Calculates a CRC-16-CCITT using the crc16_add
+ *   function
+ *
+ * Input Parameters:
+ *    initial - The Initial value to uses as the crc's starting point
+ *    length  - The number of bytes to add to the crc
+ *    bytes   - A pointer to any array of length bytes
+ *
+ * Returned Value:
+ *   The crc16 of the array of bytes
+ *
+ ****************************************************************************/
+uint16_t crc16_signature(uint16_t initial, size_t length, const uint8_t *bytes);
+
+/****************************************************************************
+ * Name: crc64_add_word
+ *
+ * Description:
+ *   Calculates a CRC-64-WE using the polynomial of 0x42F0E1EBA9EA3693
+ *   See http://reveng.sourceforge.net/crc-catalogue/17plus.htm#crc.cat-bits.64
+ *   Check: 0x62EC59E3F1A4F00A
+ *
+ * Input Parameters:
+ *    crc   - The running total of the crc 64
+ *    value - The value to add
+ *
+ * Returned Value:
+ *   The current crc64 with the value processed.
+ *
+ ****************************************************************************/
+uint64_t crc64_add_word(uint64_t crc, uint32_t value);
@@ -0,0 +1,85 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2015 PX4 Development Team. All rights reserved.
+ *       Author: Ben Dyer <ben_dyer@mac.com>
+ *               Pavel Kirienko <pavel.kirienko@zubax.com>
+ *               David Sidrane <david_s5@nscdg.com>
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+#pragma once
+
+typedef enum {
+	FLASH_OK = 0,
+	FLASH_ERROR,
+	FLASH_ERASE_ERROR,
+	FLASH_ERASE_VERIFY_ERROR,
+	FLASH_ERROR_SUICIDE,
+	FLASH_ERROR_AFU,
+
+} flash_error_t;
+
+/****************************************************************************
+ * Name: bl_flash_erase
+ *
+ * Description:
+ *   This function erases the flash starting at address and ending at
+ *   address + nbytes.
+ *
+ * Input Parameters:
+ *   address - A word-aligned address within the first page of flash to erase
+ *   nbytes - The number of bytes to erase, rounding up to the next page.
+ *
+ *
+ *
+ * Returned value:
+ *   On success FLASH_OK On Error one of the flash_error_t
+ *
+ ****************************************************************************/
+flash_error_t bl_flash_erase(size_t address, size_t nbytes);
+
+/****************************************************************************
+ * Name: bl_flash_write
+ *
+ * Description:
+ *   This function writes the flash starting at the given address
+ *
+ * Input Parameters:
+ *   flash_address - The address of the flash to write
+ *                   must be word aligned
+ *   data          - A pointer to a buffer count bytes to be written
+ *                   to the flash.
+ *   count         - Number of bytes to write
+ *
+ * Returned value:
+ *   On success FLASH_OK On Error one of the flash_error_t
+ *
+ ****************************************************************************/
+flash_error_t bl_flash_write(uint32_t flash_address, uint8_t *data, ssize_t count);
@@ -0,0 +1,51 @@
+
+/****************************************************************************
+ *
+ *   Copyright (C) 2015 Mark Charlebois. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file px4_config.h
+   Configuration flags used in code.
+ */
+
+#pragma once
+
+#if defined(__PX4_NUTTX)
+
+#include <nuttx/config.h>
+#include <nuttx/arch.h>
+#include "px4_micro_hal.h"
+#include <board_config.h>
+
+#elif defined (__PX4_POSIX)
+# include <board_config.h>
+#endif
@@ -0,0 +1,116 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2014 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file px4_macros.h
+ *
+ * A set of useful macros for enhanced runtime and compile time
+ * error detection and warning suppression.
+ *
+ * Define NO_BLOAT to reduce bloat from file name inclusion.
+ *
+ * The arraySize() will compute the size of an array regardless
+ * it's type
+ *
+ * INVALID_CASE(c) should be used is case statements to ferret out
+ * unintended behavior
+ *
+ * UNUSED(var) will suppress compile time warnings of unused
+ * variables
+ *
+ * CCASSERT(predicate) Will generate a compile time error it the
+ * predicate is false
+ */
+#include <assert.h>
+
+#ifndef _PX4_MACROS_H
+#define _PX4_MACROS_H
+
+
+#if !defined(arraySize)
+#define arraySize(a) (sizeof((a))/sizeof((a[0])))
+#endif
+
+#if !defined(NO_BLOAT)
+#if defined(__BASE_FILE__)
+#define _FILE_NAME_ __BASE_FILE__
+#else
+#define _FILE_NAME_ __FILE__
+#endif
+#else
+#define _FILE_NAME_ ""
+#endif
+
+#if !defined(INVALID_CASE)
+#define INVALID_CASE(c) printf("Invalid Case %d, %s:%d",(c),__BASE_FILE__,__LINE__) /* todo use PANIC */
+#endif
+
+#if !defined(UNUSED)
+#define UNUSED(var) (void)(var)
+#endif
+
+#if !defined(CAT)
+#if !defined(_CAT)
+#define _CAT(a, b) a ## b
+#endif
+#define CAT(a, b) _CAT(a, b)
+#endif
+
+#if !defined(FREEZE_STR)
+#  define FREEZE_STR(s) #s
+#endif
+
+#if !defined(STRINGIFY)
+#define STRINGIFY(s) FREEZE_STR(s)
+#endif
+
+#if !defined(CCASSERT)
+#if defined(static_assert)
+#		define CCASSERT(predicate) static_assert(predicate, STRINGIFY(predicate))
+#	else
+#		define CCASSERT(predicate) _x_CCASSERT_LINE(predicate, __LINE__)
+#		if !defined(_x_CCASSERT_LINE)
+#			define _x_CCASSERT_LINE(predicate, line) typedef char CAT(constraint_violated_on_line_,line)[2*((predicate)!=0)-1] __attribute__ ((unused)) ;
+#		endif
+#	endif
+#endif
+
+#if !defined(DO_PRAGMA)
+#  define DO_PRAGMA(x) _Pragma (#x)
+#endif
+
+#if !defined(TODO)
+#  define TODO(x) DO_PRAGMA(message ("TODO - " #x))
+#endif
+
+#endif /* _PX4_MACROS_H */
@@ -0,0 +1,56 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2016 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+#pragma once
+/*
+ * This file is a shim to bridge to nuttx_v3
+ */
+
+__BEGIN_DECLS
+
+#    define PX4_CPU_UUID_BYTE_LENGTH                12
+#    define PX4_CPU_UUID_WORD32_LENGTH              (PX4_CPU_UUID_BYTE_LENGTH/sizeof(uint32_t))
+
+/* The mfguid will be an array of bytes with
+ * MSD @ index 0 - LSD @ index PX4_CPU_MFGUID_BYTE_LENGTH-1
+ *
+ * It will be converted to a string with the MSD on left and LSD on the right most position.
+ */
+#    define PX4_CPU_MFGUID_BYTE_LENGTH              PX4_CPU_UUID_BYTE_LENGTH
+
+/*                                                  Separator    nnn:nnn:nnnn     2 char per byte           term */
+#    define PX4_CPU_UUID_WORD32_FORMAT_SIZE         (PX4_CPU_UUID_WORD32_LENGTH-1+(2*PX4_CPU_UUID_BYTE_LENGTH)+1)
+#    define PX4_CPU_MFGUID_FORMAT_SIZE              ((2*PX4_CPU_MFGUID_BYTE_LENGTH)+1)
+
+
+#include <arch/board/board.h>
+__END_DECLS
@@ -0,0 +1,75 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2015 PX4 Development Team. All rights reserved.
+ *       Author: Ben Dyer <ben_dyer@mac.com>
+ *               Pavel Kirienko <pavel.kirienko@zubax.com>
+ *               David Sidrane <david_s5@nscdg.com>
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+#pragma once
+
+#define CRC16_INITIAL           0xFFFFu
+#define CRC16_OUTPUT_XOR        0x0000u
+#define CRC64_INITIAL           0xFFFFFFFFFFFFFFFFull
+#define CRC64_OUTPUT_XOR        0xFFFFFFFFFFFFFFFFull
+
+/****************************************************************************
+ * Name: util_srand
+ *
+ * Description:
+ *   This function seeds the random number generator
+ *
+ *
+ * Input Parameters:
+ *   seed    - The seed
+ *
+ * Returned value:
+ *   None
+ *
+ ****************************************************************************/
+void util_srand(uint16_t seed);
+
+/****************************************************************************
+ * Name: util_random
+ *
+ * Description:
+ *   This function returns a random number between min and max
+ *
+ *
+ * Input Parameters:
+ *   min    - The minimum value the return value can be.
+ *   max    - The maximum value the return value can be.
+ *
+ * Returned value:
+ *   A random number
+ *
+ ****************************************************************************/
+uint16_t util_random(uint16_t min, uint16_t max);
@@ -0,0 +1,419 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2015 PX4 Development Team. All rights reserved.
+ *       Author: Ben Dyer <ben_dyer@mac.com>
+ *               Pavel Kirienko <pavel.kirienko@zubax.com>
+ *               David Sidrane <david_s5@nscdg.com>
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+#pragma once
+
+/*
+ * We support two classes of timer interfaces. The first one is for structured
+ * timers that have an API for life cycle management and use. (timer_xx)
+ * The Second type of methods are for interfacing to a high resolution
+ * counter with fast access and are provided via an in line API (timer_hrt)
+ */
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <stdbool.h>
+#include <stdint.h>
+#include "stm32.h"
+#include "nvic.h"
+
+#define TIMER_HRT_CYCLES_PER_US (STM32_HCLK_FREQUENCY/1000000)
+#define TIMER_HRT_CYCLES_PER_MS (STM32_HCLK_FREQUENCY/1000)
+
+/* Types for timer access */
+typedef uint8_t bl_timer_id;             /* A timer handle */
+typedef uint32_t time_ms_t;              /* A timer value */
+typedef volatile time_ms_t *time_ref_t;  /* A pointer to the internal
+                                         counter in the structure of a timer
+                                         used to do a time out test value */
+
+typedef uint32_t time_hrt_cycles_t;     /* A timer value type of the hrt */
+
+
+/*
+ *  Timers
+ *
+ *  There are 3 modes of operation for the timers.
+ *  All modes support a call back on expiration.
+ *
+ */
+typedef enum {
+	/*  Specifies a one-shot timer. After notification timer is discarded. */
+	modeOneShot         = 1,
+	/*  Specifies a repeating timer. */
+	modeRepeating       = 2,
+	/* Specifies a persistent start / stop timer. */
+	modeTimeout         = 3,
+	/* Or'ed in to start the timer when allocated */
+	modeStarted         = 0x40
+} bl_timer_modes_t;
+
+
+/* The call back function signature type */
+
+typedef void (*bl_timer_ontimeout)(bl_timer_id id, void *context);
+
+/*
+ * A helper type for timer allocation to setup a callback
+ * There is a null_cb object (see below) that can be used to
+ * a bl_timer_cb_t.
+ *
+ * Typical usage is:
+ *
+ *  void my_process(bl_timer_id id, void *context) {
+ *  ...
+ *  };
+ *
+ *  bl_timer_cb_t mycallback = null_cb;
+ *  mycallback.cb = my_process;
+ *  bl_timer_id mytimer = timer_allocate(modeRepeating|modeStarted, 100, &mycallback);
+ */
+
+typedef struct {
+	void *context;
+	bl_timer_ontimeout cb;
+
+} bl_timer_cb_t;
+
+
+extern const bl_timer_cb_t null_cb;
+
+/****************************************************************************
+ * Name: timer_init
+ *
+ * Description:
+ *   Called early in os_start to initialize the data associated with
+ *   the timers
+ *
+ * Input Parameters:
+ *   None
+ *
+ * Returned Value:
+ *   None
+ *
+ ****************************************************************************/
+void timer_init(void);
+
+/****************************************************************************
+ * Name: timer_allocate
+ *
+ * Description:
+ *   Is used to allocate a timer. Allocation does not involve memory
+ *   allocation as the data for the timer are compile time generated.
+ *   See OPT_BL_NUMBER_TIMERS
+ *
+ *   There is an inherent priority to the timers in that the first timer
+ *   allocated is the first timer run per tick.
+ *
+ *   There are 3 modes of operation for the timers. All modes support an
+ *   optional call back on expiration.
+ *
+ *     modeOneShot   - Specifies a one-shot timer. After notification timer
+ *                     is resource is freed.
+ *     modeRepeating - Specifies a repeating timer that will reload and
+ *                     call an optional.
+ *     modeTimeout   - Specifies a persistent start / stop timer.
+ *
+ *     modeStarted   - Or'ed in to start the timer when allocated
+ *
+ *
+ * Input Parameters:
+ *   mode       - One of bl_timer_modes_t with the Optional modeStarted
+ *   msfromnow  - The reload and initial value for the timer in Ms.
+ *   fc         - A pointer or NULL (0). If it is non null it can be any
+ *                of the following:
+ *
+ *                 a) A bl_timer_cb_t populated on the users stack or
+ *                 in the data segment. The values are copied into the
+ *                 internal data structure of the timer and therefore do
+ *                 not have to persist after the call to timer_allocate
+ *
+ *                 b) The address of null_cb. This is identical to passing
+ *                 null for the value of fc.
+ *
+ * Returned Value:
+ *    On success a value from 0 - OPT_BL_NUMBER_TIMERS-1 that is
+ *    the bl_timer_id for subsequent timer operations
+ *    -1 on failure. This indicates there are no free timers.
+ *
+ ****************************************************************************/
+bl_timer_id timer_allocate(bl_timer_modes_t mode, time_ms_t msfromnow, bl_timer_cb_t *fc);
+
+/****************************************************************************
+ * Name: timer_free
+ *
+ * Description:
+ *   Is used to free a timer. Freeing a timer does not involve memory
+ *   deallocation as the data for the timer are compile time generated.
+ *   See OPT_BL_NUMBER_TIMERS
+ *
+ * Input Parameters:
+ *   id - Returned from timer_allocate;
+ *
+ * Returned Value:
+ *   None.
+ *
+ ****************************************************************************/
+void timer_free(bl_timer_id id);
+
+/****************************************************************************
+ * Name: timer_start
+ *
+ * Description:
+ *   Is used to Start a timer. The reload value is copied to the counter.
+ *   And the running bit it set. There is no problem in Starting a running
+ *   timer. But it will restart the timeout.
+ *
+ * Input Parameters:
+ *   id - Returned from timer_allocate;
+ *
+ * Returned Value:
+ *   None.
+ *
+ ****************************************************************************/
+void timer_start(bl_timer_id id);
+
+/****************************************************************************
+ * Name: timer_restart
+ *
+ * Description:
+ *   Is used to re start a timer with a new reload count. The reload value
+ *   is copied to the counter and the running bit it set. There is no
+ *   problem in restarting a running timer.
+ *
+ * Input Parameters:
+ *   id - Returned from timer_allocate;
+ *   ms - Is a time_ms_t and the new reload value to use.
+ *
+ * Returned Value:
+ *   None.
+ *
+ ****************************************************************************/
+void timer_restart(bl_timer_id id, time_ms_t ms);
+
+/****************************************************************************
+ * Name: timer_stop
+ *
+ * Description:
+ *   Is used to stop a timer. It is Ok to stop a stopped timer.
+ *
+ * Input Parameters:
+ *   id - Returned from timer_allocate;
+ *
+ * Returned Value:
+ *   None.
+ *
+ ****************************************************************************/
+void timer_stop(bl_timer_id id);
+
+/****************************************************************************
+ * Name: timer_expired
+ *
+ * Description:
+ *   Test if a timer that was configured as a modeTimeout timer is expired.
+ *   To be expired the time has to be running and have a count of 0.
+ *
+ * Input Parameters:
+ *   id - Returned from timer_allocate;
+ *
+ * Returned Value:
+ *   No Zero if the timer is expired otherwise zero.
+ *
+ ****************************************************************************/
+int timer_expired(bl_timer_id id);
+
+/****************************************************************************
+ * Name: timer_ref
+ *
+ * Description:
+ *   Returns an time_ref_t that is a reference (pointer) to the internal counter
+ *   of the timer selected by id. It should only be used with calls to
+ *   timer_ref_expired.
+ *
+ * Input Parameters:
+ *   id - Returned from timer_allocate;
+ *
+ * Returned Value:
+ *   An internal reference that should be treated as opaque by the caller and
+ *   should only be used with calls to timer_ref_expired.
+ *   There is no reference counting on the reference and therefore does not
+ *   require any operation to free it.
+ *
+ ****************************************************************************/
+time_ref_t timer_ref(bl_timer_id id);
+
+/****************************************************************************
+ * Name: timer_ref_expired
+ *
+ * Description:
+ *   Test if a timer, that was configured as a modeTimeout timer is expired
+ *   based on the reference provided.
+ *
+ * Input Parameters:
+ *   ref - Returned timer_ref;
+ *
+ * Returned Value:
+ *   Non Zero if the timer is expired otherwise zero.
+ *
+ ****************************************************************************/
+static inline int timer_ref_expired(time_ref_t ref)
+{
+	return *ref == 0;
+}
+
+/****************************************************************************
+ * Name: timer_tic
+ *
+ * Description:
+ *   Returns the system tic counter that counts in units of
+ *   (CONFIG_USEC_PER_TICK/1000). By default 10 Ms.
+ *
+ * Input Parameters:
+ *   None
+ *
+ * Returned Value:
+ *   None
+ *
+ ****************************************************************************/
+time_ms_t timer_tic(void);
+
+/****************************************************************************
+ * Name: timer_hrt_read
+ *
+ * Description:
+ *   Returns the hardware SysTic counter that counts in units of
+ *  STM32_HCLK_FREQUENCY. This file defines TIMER_HRT_CYCLES_PER_US
+ *  and TIMER_HRT_CYCLES_PER_MS that should be used to define times.
+ *
+ * Input Parameters:
+ *   None
+ *
+ * Returned Value:
+ *   The current value of the HW counter in the type of time_hrt_cycles_t.
+ *
+ ****************************************************************************/
+static inline time_hrt_cycles_t timer_hrt_read(void)
+{
+	return getreg32(NVIC_SYSTICK_CURRENT);
+}
+
+/****************************************************************************
+ * Name: timer_hrt_clear_wrap
+ *
+ * Description:
+ *   Clears the wrap flag by reading the timer
+ *
+ *
+ * Input Parameters:
+ *   None
+ *
+ * Returned Value:
+ *   None
+ *
+ ****************************************************************************/
+static inline void timer_hrt_clear_wrap(void)
+{
+	(void)timer_hrt_read();
+}
+/****************************************************************************
+ * Name: timer_hrt_wrap
+ *
+ * Description:
+ *   Returns true if SysTic  counted to 0 since last time it was
+ *   read.
+ *
+ * Input Parameters:
+ *   None
+ *
+ * Returned Value:
+ *   Returns true  if timer counted to 0 since last time this was read.
+ *
+ ****************************************************************************/
+static inline bool timer_hrt_wrap(void)
+{
+	uint32_t rv = getreg32(NVIC_SYSTICK_CTRL);
+	return ((rv  & NVIC_SYSTICK_CTRL_COUNTFLAG) ? true : false);
+}
+
+/****************************************************************************
+ * Name: timer_hrt_max
+ *
+ * Description:
+ *   Returns the hardware SysTic reload value +1
+ *
+ * Input Parameters:
+ *   None
+ *
+ * Returned Value:
+ *   The current SysTic reload of the HW counter in the type of
+ *   time_hrt_cycles_t.
+ *
+ ****************************************************************************/
+static inline time_hrt_cycles_t timer_hrt_max(void)
+{
+	return getreg32(NVIC_SYSTICK_RELOAD) + 1;
+}
+
+/****************************************************************************
+ * Name: timer_hrt_elapsed
+ *
+ * Description:
+ *   Returns the difference between 2 time values, taking into account
+ *   the way the timer wrap.
+ *
+ * Input Parameters:
+ *   begin - Beginning timer count.
+ *   end   - Ending timer count.
+ *
+ * Returned Value:
+ *   The difference from begin to end
+ *
+ ****************************************************************************/
+static inline time_hrt_cycles_t timer_hrt_elapsed(time_hrt_cycles_t begin, time_hrt_cycles_t end)
+{
+	/* It is a down count from NVIC_SYSTICK_RELOAD */
+
+	time_hrt_cycles_t elapsed = begin - end;
+	time_hrt_cycles_t reload = timer_hrt_max();
+
+	/* Did it wrap */
+	if (elapsed > reload) {
+		elapsed +=  reload;
+	}
+
+	return elapsed;
+}
@@ -0,0 +1,66 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2015 PX4 Development Team. All rights reserved.
+ *       Author: Ben Dyer <ben_dyer@mac.com>
+ *               Pavel Kirienko <pavel.kirienko@zubax.com>
+ *               David Sidrane <david_s5@nscdg.com>
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/* This file not a typical h file, is defines the UAVCAN dsdl
+ * usage and may be included several times in header or source
+ * file
+ */
+
+/* UAVCAN_BIT_DEFINE(    field_name,                    lsb_pos,             length) */
+
+/* Message Frame Format */
+UAVCAN_BIT_DEFINE(UavCanMessagePriority,                   24,              5)
+UAVCAN_BIT_DEFINE(UavCanMessageTypeID,                      8,             16)
+UAVCAN_BIT_DEFINE(UavCanMessageServiceNotMessage,           7,              1)
+UAVCAN_BIT_DEFINE(UavCanMessageSourceNodeID,                0,              7)
+/* Anonymous message Frame Format */
+UAVCAN_BIT_DEFINE(UavCanAnonMessagePriority,               24,              5)
+UAVCAN_BIT_DEFINE(UavCanAnonMessageDiscriminator,          10,             14)
+UAVCAN_BIT_DEFINE(UavCanAnonMessageTypeID,                  8,              2)
+UAVCAN_BIT_DEFINE(UavCanAnonMessageServiceNotMessage,       7,              1)
+UAVCAN_BIT_DEFINE(UavCanAnonMessageSourceNodeID,            0,              7)
+/* Service Frame Format */
+UAVCAN_BIT_DEFINE(UavCanServicePriority,                   24,              5)
+UAVCAN_BIT_DEFINE(UavCanServiceTypeID,                     16,              8)
+UAVCAN_BIT_DEFINE(UavCanServiceRequestNotResponse,         15,              1)
+UAVCAN_BIT_DEFINE(UavCanServiceDestinationNodeID,           8,              7)
+UAVCAN_BIT_DEFINE(UavCanServiceServiceNotMessage,           7,              1)
+UAVCAN_BIT_DEFINE(UavCanServiceSourceNodeID,                0,              7)
+/* Tail Format */
+UAVCAN_BIT_DEFINE(UavCanStartOfTransfer,                    7,              1)
+UAVCAN_BIT_DEFINE(UavCanEndOfTransfer,                      6,              1)
+UAVCAN_BIT_DEFINE(UavCanToggle,                             5,              1)
+UAVCAN_BIT_DEFINE(UavCanTransferID,                         0,              5)
@@ -0,0 +1,187 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2015 PX4 Development Team. All rights reserved.
+ *       Author: Ben Dyer <ben_dyer@mac.com>
+ *               Pavel Kirienko <pavel.kirienko@zubax.com>
+ *               David Sidrane <david_s5@nscdg.com>
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/*  This file not a typical h file, is defines the UAVCAN dsdl
+ * usage and may be included several times in header or source
+ * file
+ */
+
+/* Components */
+
+/* UAVCAN_DSDL_BIT_DEF(data_typ_name,                  field_name,        lsb_pos,    length,    payload_offset, payload_length) */
+UAVCAN_DSDL_BIT_DEF(CRC,                                   lsb,              0,         8,            0,             1)
+UAVCAN_DSDL_BIT_DEF(CRC,                                   msb,              0,         8,            1,             1)
+UAVCAN_DSDL_BIT_DEF(CRC,                                  data,              0,         8,            2,             4)
+
+/*UAVCAN_DSDL_TYPE_DEF(name,                dtid,              signature,  packed size    mailbox,         fifo,         inbound,        outbound) */
+UAVCAN_DSDL_TYPE_DEF(Path,                  0,                       0,      200,          NA,            NA,
+		     NA,              NA)
+/* UAVCAN_DSDL_BIT_DEF(data_typ_name,                  field_name,        lsb_pos,    length,    payload_offset, payload_length) */
+UAVCAN_DSDL_BIT_DEF(Path,                                   path,              0,         8,            0,
+		    200)
+
+/*UAVCAN_DSDL_TYPE_DEF(name,                dtid,              signature,  packed size    mailbox,         fifo,         inbound,        outbound) */
+UAVCAN_DSDL_TYPE_DEF(SoftwareVersion,       0,                       0,        15,         NA,            NA,
+		     NA,              NA)
+/* UAVCAN_DSDL_BIT_DEF(data_typ_name,                    field_name,        lsb_pos,    length,    payload_offset, payload_length) */
+UAVCAN_DSDL_BIT_DEF(SoftwareVersion,                        major,              0,         8,            0,
+		    1)
+UAVCAN_DSDL_BIT_DEF(SoftwareVersion,                        minor,              0,         8,            1,
+		    1)
+UAVCAN_DSDL_BIT_DEF(SoftwareVersion,         optional_field_flags,              0,         8,            2,
+		    1)
+UAVCAN_DSDL_BIT_DEF(SoftwareVersion,                   vcs_commit,              0,         32,           3,
+		    4)
+UAVCAN_DSDL_BIT_DEF(SoftwareVersion,                    image_crc,              0,         NA,           7,
+		    8) // NA becuase bit mask is 64
+
+/*UAVCAN_DSDL_TYPE_DEF(name,                dtid,              signature,  packed size    mailbox,         fifo,         inbound,        outbound) */
+UAVCAN_DSDL_TYPE_DEF(HardwareVersion,       0,                       0,       NA,         NA,            NA,
+		     NA,              NA)
+/* UAVCAN_DSDL_BIT_DEF(data_typ_name,                    field_name,        lsb_pos,    length,    payload_offset, payload_length) */
+UAVCAN_DSDL_BIT_DEF(HardwareVersion,                   unique_id,              0,         8,            0,
+		    16)
+UAVCAN_DSDL_BIT_DEF(HardwareVersion, certificate_of_authenticity,              0,         8,            0,
+		    255)
+END_COMPONENTS
+
+/*UAVCAN_DSDL_TYPE_DEF(name,                dtid,              signature,  packed size    mailbox,         fifo,         inbound,        outbound) */
+UAVCAN_DSDL_MESG_DEF(Allocation,              1,                0xf258,        0,         MailBox0,     Fifo0,
+		     MultiFrameTailInit, SingleFrameTailInit) /* Message */
+/* UAVCAN_DSDL_BIT_DEF(data_typ_name,                    field_name,        lsb_pos,    length,    payload_offset, payload_length) */
+UAVCAN_DSDL_BIT_DEF(Allocation,                          node_id,              1,         7,            0,
+		    1)
+UAVCAN_DSDL_BIT_DEF(Allocation,          first_part_of_unique_id,              0,         1,            0,
+		    1)
+UAVCAN_DSDL_BIT_DEF(Allocation,                        unique_id,              0,         8,            1,
+		    16)
+
+
+/*UAVCAN_DSDL_TYPE_DEF(name,                dtid,              signature,  packed size    mailbox,         fifo,         inbound,        outbound) */
+UAVCAN_DSDL_MESG_DEF(NodeStatus,            341,                0xbe5f,        7,         MailBox1,    FifoNone,
+		     SingleFrameTailInit, SingleFrameTailInit) /* Message */
+/* UAVCAN_DSDL_BIT_DEF(data_typ_name,                    field_name,        lsb_pos,    length,    payload_offset, payload_length) */
+UAVCAN_DSDL_BIT_DEF(NodeStatus,                       uptime_sec,              0,        32,             0,
+		    4)
+UAVCAN_DSDL_BIT_DEF(NodeStatus,                           health,              6,         2,             5,
+		    1)
+UAVCAN_DSDL_BIT_DEF(NodeStatus,                             mode,              3,         3,             5,
+		    1)
+UAVCAN_DSDL_BIT_DEF(NodeStatus,                         sub_mode,              0,         3,             5,
+		    1)
+UAVCAN_DSDL_BIT_DEF(NodeStatus,      vendor_specific_status_code,              0,        16,             6,
+		    2)
+
+/*UAVCAN_DSDL_TYPE_DEF(name,                dtid,              signature,  packed size    mailbox,         fifo,         inbound,        outbound) */
+UAVCAN_DSDL_SREQ_DEF(GetNodeInfo,             1,                0xd9a7,        0,         MailBox1,     Fifo1,
+		     SingleFrameTailInit, MultiFrameTailInit)  /* Request */
+/* UAVCAN_DSDL_BIT_DEF(data_typ_name,                    field_name,        lsb_pos,    length,    payload_offset, payload_length)  Empty */
+
+UAVCAN_DSDL_SRSP_DEF(GetNodeInfo,             1,                0xd9a7,        0,         MailBox1,     Fifo1,
+		     SingleFrameTailInit, MultiFrameTailInit)  /* Response */
+UAVCAN_DSDL_BIT_DEF(GetNodeInfo,                          status,              0,         8,             0,
+		    PackedSizeMsgNodeStatus)
+UAVCAN_DSDL_BIT_DEF(GetNodeInfo,                software_version,              0,         8,            NA,
+		    NA)
+UAVCAN_DSDL_BIT_DEF(GetNodeInfo,                hardware_version,              0,         8,            NA,
+		    NA)
+UAVCAN_DSDL_BIT_DEF(GetNodeInfo,                            name,              0,         8,            NA,
+		    80)
+
+/*UAVCAN_DSDL_TYPE_DEF(name,                dtid,              signature,  packed size    mailbox,         fifo,         inbound,        outbound) */
+UAVCAN_DSDL_SREQ_DEF(BeginFirmwareUpdate,    40,                0x729e,        0,         MailBox0,     Fifo0,
+		     MultiFrameTailInit, SingleFrameTailInit)  /* Request */
+/* UAVCAN_DSDL_BIT_DEF(data_typ_name,                    field_name,        lsb_pos,    length,    payload_offset, payload_length) */
+UAVCAN_DSDL_BIT_DEF(BeginFirmwareUpdate,           source_node_id,              0,          8,           0,
+		    1)
+UAVCAN_DSDL_BIT_DEF(BeginFirmwareUpdate,   image_file_remote_path,              0,          8,           1,
+		    PayloadLengthPathpath)
+
+UAVCAN_DSDL_SRSP_DEF(BeginFirmwareUpdate,     40,                0x729e,        0,         MailBox0,     Fifo0,
+		     MultiFrameTailInit, SingleFrameTailInit)  /* Response */
+UAVCAN_DSDL_BIT_DEF(BeginFirmwareUpdate,                   error,               0,          8,           0,
+		    1)
+UAVCAN_DSDL_BIT_DEF(BeginFirmwareUpdate,  optional_error_message,               0,          8,            1,
+		    128)
+
+/*UAVCAN_DSDL_TYPE_DEF(name,                dtid,              signature,  packed size    mailbox,         fifo,         inbound,        outbound) */
+UAVCAN_DSDL_SREQ_DEF(GetInfo,                45,                0x14b9,          0,         MailBox0,     Fifo0,
+		     SingleFrameTailInit, MultiFrameTailInit)  /* Request */
+/* UAVCAN_DSDL_BIT_DEF(data_typ_name,                    field_name,        lsb_pos,    length,    payload_offset, payload_length) */
+UAVCAN_DSDL_BIT_DEF(GetInfo,                                path,              0,          8,              0,
+		    PayloadLengthPathpath)
+
+UAVCAN_DSDL_SRSP_DEF(GetInfo,                45,                0x14b9,          0,         MailBox0,     Fifo0,
+		     SingleFrameTailInit, MultiFrameTailInit)  /* Response */
+UAVCAN_DSDL_BIT_DEF(GetInfo,                                size,              0,         32,              0,
+		    4)  /* Response */
+UAVCAN_DSDL_BIT_DEF(GetInfo,                             sizemsb,              0,          8,              4,
+		    1)
+UAVCAN_DSDL_BIT_DEF(GetInfo,                               error,              0,         16,              5,
+		    2)
+UAVCAN_DSDL_BIT_DEF(GetInfo,                          entry_type,              0,          8,              7,
+		    1)
+
+/*UAVCAN_DSDL_TYPE_DEF(name,                dtid,              signature,  packed size    mailbox,         fifo,         inbound,        outbound) */
+UAVCAN_DSDL_SREQ_DEF(Read,                   48,               0x2f12,          0,         MailBox0,     Fifo0,
+		     SingleFrameTailInit, MultiFrameTailInit)  /* Request */
+/* UAVCAN_DSDL_BIT_DEF(data_typ_name,                    field_name,        lsb_pos,    length,    payload_offset, payload_length) */
+UAVCAN_DSDL_BIT_DEF(Read,                                 offset,              0,         32,              0,
+		    4)  /* Request */
+UAVCAN_DSDL_BIT_DEF(Read,                              msboffset,              0,          8,              4,
+		    1)
+UAVCAN_DSDL_BIT_DEF(Read,                                   path,              0,          8,              5,
+		    PayloadLengthPathpath)
+
+UAVCAN_DSDL_SRSP_DEF(Read,                   48,               0x2f12,          0,         MailBox0,     Fifo0,
+		     SingleFrameTailInit, MultiFrameTailInit) // Responce
+UAVCAN_DSDL_BIT_DEF(Read,                                  error,              0,         16,              0,
+		    2)  /* Response */
+UAVCAN_DSDL_BIT_DEF(Read,                                   data,              0,          8,              2,
+		    256)
+
+/*UAVCAN_DSDL_TYPE_DEF(name,                dtid,              signature,  packed size    mailbox,         fifo,         inbound,        outbound) */
+UAVCAN_DSDL_MESG_DEF(LogMessage,          16383,                0x4570,         7,         MailBox0,     Fifo0,
+		     NA,           SingleFrameTailInit) /* Message */
+/* UAVCAN_DSDL_BIT_DEF(data_typ_name,                    field_name,        lsb_pos,    length,    payload_offset, payload_length) */
+UAVCAN_DSDL_BIT_DEF(LogMessage,                            level,              5,          3,              0,
+		    1)
+UAVCAN_DSDL_BIT_DEF(LogMessage,                    source_length,              0,          5,              0,
+		    1)
+UAVCAN_DSDL_BIT_DEF(LogMessage,                           source,              0,          8,              1,
+		    4) // Bootloader specific uses is 4
+UAVCAN_DSDL_BIT_DEF(LogMessage,                             text,              0,          8,              5,
+		    2) // Bootloader specific uses is 2
@@ -0,0 +1,72 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file visibility.h
+ *
+ * Definitions controlling symbol naming and visibility.
+ *
+ * This file is normally included automatically by the build system.
+ */
+
+#pragma once
+
+#ifdef __EXPORT
+#  undef __EXPORT
+#endif
+#define __EXPORT __attribute__ ((visibility ("default")))
+
+#ifdef __PRIVATE
+#  undef __PRIVATE
+#endif
+#define __PRIVATE __attribute__ ((visibility ("hidden")))
+
+#ifdef __cplusplus
+#  define __BEGIN_DECLS		extern "C" {
+#  define __END_DECLS		}
+#else
+#  define __BEGIN_DECLS
+#  define __END_DECLS
+#endif
+
+
+#ifdef __PX4_NUTTX
+/* On NuttX we call clearenv() so we cannot use getenv() and others (see px4_task_spawn_cmd() in px4_nuttx_tasks.c).
+ * We need to include the headers declaring getenv() before the pragma, otherwise it will trigger a poison error.
+ */
+#include <stdlib.h>
+#ifdef __cplusplus
+#include <cstdlib>
+#endif
+#pragma GCC poison getenv setenv putenv
+#endif /* __PX4_NUTTX */
@@ -0,0 +1,434 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2015 PX4 Development Team. All rights reserved.
+ *       Author: Ben Dyer <ben_dyer@mac.com>
+ *               Pavel Kirienko <pavel.kirienko@zubax.com>
+ *               David Sidrane <david_s5@nscdg.com>
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+#include <nuttx/config.h>
+
+// Turn off Probes in this module
+#undef CONFIG_BOARD_USE_PROBES
+
+#include <boot_config.h>
+
+#include <sys/types.h>
+#include <stdint.h>
+#include <string.h>
+
+#include <nuttx/arch.h>
+#include <arch/irq.h>
+#include <arch/board/board.h>
+
+#include "px4_macros.h"
+#include "timer.h"
+#include "nvic.h"
+
+typedef enum {
+	OneShot         = modeOneShot,
+	Repeating       = modeRepeating,
+	Timeout         = modeTimeout,
+
+	modeMsk         = 0x3,
+	running         = modeStarted,
+	inuse           = 0x80,
+
+} bl_timer_ctl_t;
+
+typedef struct {
+	bl_timer_cb_t         usr;
+	time_ms_t             count;
+	time_ms_t             reload;
+	bl_timer_ctl_t        ctl;
+} bl_timer_t;
+
+static time_ms_t sys_tic;
+static bl_timer_t timers[OPT_BL_NUMBER_TIMERS];
+
+/* Use to initialize  */
+const bl_timer_cb_t null_cb = { 0, 0 };
+
+/* We use the linker --wrap ability to wrap the NuttX stm32 call out to
+ * the sceduler's sched_process_timer and service it here. Thus replacing
+ * the NuttX scheduler with are timer driven scheduling.
+ */
+void __wrap_sched_process_timer(void);
+
+/****************************************************************************
+ * Name: timer_tic
+ *
+ * Description:
+ *   Returns the system tic counter that counts in units of
+ *   (CONFIG_USEC_PER_TICK/1000). By default 10 Ms.
+ *
+ * Input Parameters:
+ *   None
+ *
+ * Returned Value:
+ *   None
+ *
+ ****************************************************************************/
+time_ms_t timer_tic(void)
+{
+	return sys_tic;
+}
+
+/****************************************************************************
+ * Name: sched_process_timer
+ *
+ * Description:
+ *   Called by Nuttx on the ISR of the SysTic. This function run the list of
+ *   timers. It deducts that amount of the time of a system tick from the
+ *   any timers that are in use and running.
+ *
+ *   Depending on the mode of the timer, the appropriate actions is taken on
+ *   expiration.
+ *
+ * Input Parameters:
+ *   None
+ *
+ * Returned Value:
+ *   None
+ *
+ ****************************************************************************/
+__EXPORT void __wrap_sched_process_timer(void)
+{
+	//PROBE(1, true);
+	//PROBE(1, false);
+
+	/* Increment the per-tick system counter */
+	sys_tic++;
+
+	/* todo:May need a X tick here is threads run long */
+	time_ms_t ms_elapsed = (CONFIG_USEC_PER_TICK / 1000);
+
+	/* Walk the time list from High to low and */
+	bl_timer_id t;
+
+	for (t =  arraySize(timers) - 1; (int8_t) t >= 0; t--) {
+
+		/* Timer in use and running */
+		if ((timers[t].ctl & (inuse | running)) == (inuse | running)) {
+
+			/* Is it NOT already expired nor about to expire ?*/
+			if (timers[t].count != 0) {
+
+				/* Is it off in future */
+				if (timers[t].count > ms_elapsed) {
+
+					/* Just remove the amount attributed to the tick */
+
+					timers[t].count -= ms_elapsed;
+					continue;
+				}
+
+				/* it has expired now or less than a tick ago */
+
+				/* Mark it expired */
+
+				timers[t].count = 0;
+
+				/* Now perform action based on mode */
+				switch (timers[t].ctl & ~(inuse | running)) {
+
+				case OneShot: {
+						bl_timer_cb_t user = timers[t].usr;
+						memset(&timers[t], 0, sizeof(timers[t]));
+
+						if (user.cb) {
+							user.cb(t, user.context);
+						}
+					}
+					break;
+
+				case Repeating:
+					timers[t].count = timers[t].reload;
+
+				/* FALLTHROUGH */
+				/* to callback */
+				case Timeout:
+					if (timers[t].usr.cb) {
+						timers[t].usr.cb(t, timers[t].usr.context);
+					}
+
+					break;
+
+				default:
+					break;
+				}
+			}
+		}
+	}
+}
+
+/****************************************************************************
+ * Name: timer_allocate
+ *
+ * Description:
+ *   Is used to allocate a timer. Allocation does not involve memory
+ *   allocation as the data for the timer are compile time generated.
+ *   See OPT_BL_NUMBER_TIMERS
+ *
+ *   There is an inherent priority to the timers in that the first timer
+ *   allocated is the first timer run per tick.
+ *
+ *   There are 3 modes of operation for the timers. All modes support an
+ *   optional call back on expiration.
+ *
+ *     modeOneShot   - Specifies a one-shot timer. After notification timer
+ *                     is resource is freed.
+ *     modeRepeating - Specifies a repeating timer that will reload and
+ *                     call an optional.
+ *     modeTimeout   - Specifies a persistent start / stop timer.
+ *
+ *     modeStarted   - Or'ed in to start the timer when allocated
+ *
+ *
+ * Input Parameters:
+ *   mode       - One of bl_timer_modes_t with the Optional modeStarted
+ *   msfromnow  - The reload and initial value for the timer in Ms.
+ *   fc         - A pointer or NULL (0). If it is non null it can be any
+ *                of the following:
+ *
+ *                 a) A bl_timer_cb_t populated on the users stack or
+ *                 in the data segment. The values are copied into the
+ *                 internal data structure of the timer and therefore do
+ *                 not have to persist after the call to timer_allocate
+ *
+ *                 b) The address of null_cb. This is identical to passing
+ *                 null for the value of fc.
+ *
+ * Returned Value:
+ *    On success a value from 0 - OPT_BL_NUMBER_TIMERS-1 that is
+ *    the bl_timer_id for subsequent timer operations
+ *    -1 on failure. This indicates there are no free timers.
+ *
+ ****************************************************************************/
+bl_timer_id timer_allocate(bl_timer_modes_t mode, time_ms_t msfromnow, bl_timer_cb_t *fc)
+{
+	bl_timer_id t;
+	irqstate_t s = enter_critical_section();
+
+	for (t = arraySize(timers) - 1; (int8_t)t >= 0; t--) {
+
+		if ((timers[t].ctl & inuse) == 0) {
+
+			timers[t].reload = msfromnow;
+			timers[t].count = msfromnow;
+			timers[t].usr = fc ? *fc : null_cb;
+			timers[t].ctl = (mode & (modeMsk | running)) | (inuse);
+			break;
+		}
+	}
+
+	leave_critical_section(s);
+	return t;
+}
+
+/****************************************************************************
+ * Name: timer_free
+ *
+ * Description:
+ *   Is used to free a timer. Freeing a timer does not involve memory
+ *   deallocation as the data for the timer are compile time generated.
+ *   See OPT_BL_NUMBER_TIMERS
+ *
+ * Input Parameters:
+ *   id - Returned from timer_allocate;
+ *
+ * Returned Value:
+ *   None.
+ *
+ ****************************************************************************/
+void timer_free(bl_timer_id id)
+{
+	DEBUGASSERT(id >= 0 && id < arraySize(timers));
+	irqstate_t s = enter_critical_section();
+	memset(&timers[id], 0, sizeof(timers[id]));
+	leave_critical_section(s);
+}
+
+/****************************************************************************
+ * Name: timer_start
+ *
+ * Description:
+ *   Is used to Start a timer. The reload value is copied to the counter.
+ *   And the running bit it set. There is no problem in Starting a running
+ *   timer. But it will restart the timeout.
+ *
+ * Input Parameters:
+ *   id - Returned from timer_allocate;
+ *
+ * Returned Value:
+ *   None.
+ *
+ ****************************************************************************/
+void timer_start(bl_timer_id id)
+{
+	DEBUGASSERT(id >= 0 && id < arraySize(timers) && (timers[id].ctl & inuse));
+	irqstate_t s = enter_critical_section();
+	timers[id].count = timers[id].reload;
+	timers[id].ctl |= running;
+	leave_critical_section(s);
+}
+
+/****************************************************************************
+ * Name: timer_stop
+ *
+ * Description:
+ *   Is used to stop a timer. It is Ok to stop a stopped timer.
+ *
+ * Input Parameters:
+ *   id - Returned from timer_allocate;
+ *
+ * Returned Value:
+ *   None.
+ *
+ ****************************************************************************/
+void timer_stop(bl_timer_id id)
+{
+	DEBUGASSERT(id >= 0 && id < arraySize(timers) && (timers[id].ctl & inuse));
+	irqstate_t s = enter_critical_section();
+	timers[id].ctl &= ~running;
+	leave_critical_section(s);
+
+}
+
+/****************************************************************************
+ * Name: timer_expired
+ *
+ * Description:
+ *   Test if a timer that was configured as a modeTimeout timer is expired.
+ *   To be expired the time has to be running and have a count of 0.
+ *
+ * Input Parameters:
+ *   id - Returned from timer_allocate;
+ *
+ * Returned Value:
+ *   Non Zero if the timer is expired otherwise zero.
+ *
+ ****************************************************************************/
+int timer_expired(bl_timer_id id)
+{
+	DEBUGASSERT(id >= 0 && id < arraySize(timers) && (timers[id].ctl & inuse));
+	irqstate_t s = enter_critical_section();
+	int rv = ((timers[id].ctl & running) && timers[id].count == 0);
+	leave_critical_section(s);
+	return rv;
+}
+
+/****************************************************************************
+ * Name: timer_restart
+ *
+ * Description:
+ *   Is used to re start a timer with a new reload count. The reload value
+ *   is copied to the counter and the running bit it set. There is no
+ *   problem in restarting a running timer.
+ *
+ * Input Parameters:
+ *   id - Returned from timer_allocate;
+ *   ms - Is a time_ms_t and the new reload value to use.
+ *
+ * Returned Value:
+ *   None.
+ *
+ ****************************************************************************/
+void timer_restart(bl_timer_id id, time_ms_t ms)
+{
+	DEBUGASSERT(id >= 0 && id < arraySize(timers) && (timers[id].ctl & inuse));
+	irqstate_t s = enter_critical_section();
+	timers[id].count = timers[id].reload = ms;
+	timers[id].ctl |= running;
+	leave_critical_section(s);
+}
+
+/****************************************************************************
+ * Name: timer_ref
+ *
+ * Description:
+ *   Returns an time_ref_t that is a reference (ponter) to the internal counter
+ *   of the timer selected by id. It should only be used with calls to
+ *   timer_ref_expired.
+ *
+ * Input Parameters:
+ *   id - Returned from timer_allocate;
+ *
+ * Returned Value:
+ *   An internal reference that should be treated as opaque by the caller and
+ *   should only be used with calls to timer_ref_expired.
+ *   There is no reference counting on the reference and therefore does not
+ *   require any operation to free it.
+ *
+ *************************************************************************/
+time_ref_t timer_ref(bl_timer_id id)
+{
+	DEBUGASSERT(id >= 0 && id < arraySize(timers) && (timers[id].ctl & inuse));
+	return (time_ref_t) &timers[id].count;
+}
+
+/****************************************************************************
+ * Name: timer_init
+ *
+ * Description:
+ *   Called early in os_start to initialize the data associated with
+ *   the timers
+ *
+ * Input Parameters:
+ *   None
+ *
+ * Returned Value:
+ *   None
+ *
+ ****************************************************************************/
+__EXPORT void timer_init(void)
+{
+	/* For system timing probing see bord.h and
+	 * CONFIG_BOARD_USE_PROBES
+	 */
+	//PROBE_INIT(7);
+	//PROBE(1, true);
+	//PROBE(2, true);
+	//PROBE(3, true);
+	//PROBE(1, false);
+	//PROBE(2, false);
+	//PROBE(3, false);
+	/* This is the lowlevel IO if needed to instrument timing
+	 * with the smallest impact
+	 * *((uint32_t *)0x40011010) = 0x100; // PROBE(3,true);
+	 *  *((uint32_t *)0x40011014) = 0x100; // PROBE(3,false);
+	 */
+
+	/* Initialize timer data */
+
+	sys_tic = 0;
+	memset(timers, 0, sizeof(timers));
+}
@@ -0,0 +1,138 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2015 PX4 Development Team. All rights reserved.
+ *       Author: Ben Dyer <ben_dyer@mac.com>
+ *               Pavel Kirienko <pavel.kirienko@zubax.com>
+ *               David Sidrane <david_s5@nscdg.com>
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+#include <stdint.h>
+#include <stdlib.h>
+#include "crc.h"
+
+/****************************************************************************
+ * Name: crc16_add
+ *
+ * Description:
+ *   Use to calculates a CRC-16-CCITT using the polynomial of
+ *   0x1021 by adding a value successive values.
+ *
+ * Input Parameters:
+ *    crc   - The running total of the crc 16
+ *    value - The value to add
+ *
+ * Returned Value:
+ *   The current crc16 with the value processed.
+ *
+ ****************************************************************************/
+uint16_t crc16_add(uint16_t crc, uint8_t value)
+{
+	uint32_t i;
+	const uint16_t poly = 0x1021u;
+	crc ^= (uint16_t)((uint16_t) value << 8u);
+
+	for (i = 0; i < 8; i++) {
+		if (crc & (1u << 15u)) {
+			crc = (uint16_t)((crc << 1u) ^ poly);
+
+		} else {
+			crc = (uint16_t)(crc << 1u);
+		}
+	}
+
+	return crc;
+}
+
+/****************************************************************************
+ * Name: crc16_signature
+ *
+ * Description:
+ *   Calculates a CRC-16-CCITT using the crc16_add
+ *   function
+ *
+ * Input Parameters:
+ *    initial - The Initial value to uses as the crc's starting point
+ *    length  - The number of bytes to add to the crc
+ *    bytes   - A pointer to any array of length bytes
+ *
+ * Returned Value:
+ *   The crc16 of the array of bytes
+ *
+ ****************************************************************************/
+uint16_t crc16_signature(uint16_t initial, size_t length, const uint8_t *bytes)
+{
+	size_t i;
+
+	for (i = 0u; i < length; i++) {
+		initial = crc16_add(initial, bytes[i]);
+	}
+
+	return initial ^ CRC16_OUTPUT_XOR;
+}
+
+/****************************************************************************
+ * Name: crc64_add_word
+ *
+ * Description:
+ *   Calculates a CRC-64-WE using the polynomial of 0x42F0E1EBA9EA3693
+ *   See http://reveng.sourceforge.net/crc-catalogue/17plus.htm#crc.cat-bits.64
+ *   Check: 0x62EC59E3F1A4F00A
+ *
+ * Input Parameters:
+ *    crc   - The running total of the crc 64
+ *    value - The value to add
+ *
+ * Returned Value:
+ *   The current crc64 with the value processed.
+ *
+ ****************************************************************************/
+__EXPORT uint64_t crc64_add_word(uint64_t crc, uint32_t value)
+{
+	uint32_t i, j;
+	uint8_t byte;
+	const uint64_t poly = 0x42F0E1EBA9EA3693ull;
+
+	for (j = 0; j < 4; j++) {
+		byte = ((uint8_t *) &value)[j];
+		crc ^= (uint64_t) byte << 56u;
+
+		for (i = 0; i < 8; i++) {
+			if (crc & (1ull << 63u)) {
+				crc = (uint64_t)(crc << 1u) ^ poly;
+
+			} else {
+				crc = (uint64_t)(crc << 1u);
+			}
+		}
+	}
+
+	return crc;
+}
@@ -0,0 +1,82 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2015 PX4 Development Team. All rights reserved.
+ *       Author: Ben Dyer <ben_dyer@mac.com>
+ *               Pavel Kirienko <pavel.kirienko@zubax.com>
+ *               David Sidrane <david_s5@nscdg.com>
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+#include <stdint.h>
+#include "random.h"
+
+#define RAND_MAX_32 ((1U << 31) - 1)
+
+static uint32_t rseed;
+
+/****************************************************************************
+ * Name: util_srand
+ *
+ * Description:
+ *   This function seeds the random number generator
+ *
+ *
+ * Input Parameters:
+ *   seed    - The seed
+ *
+ * Returned value:
+ *   None
+ *
+ ****************************************************************************/
+void util_srand(uint16_t seed)
+{
+	rseed = seed;
+}
+
+/****************************************************************************
+ * Name: util_random
+ *
+ * Description:
+ *   This function returns a random number between min and max
+ *
+ *
+ * Input Parameters:
+ *   min    - The minimum value the return value can be.
+ *   max    - The maximum value the return value can be.
+ *
+ * Returned value:
+ *   A random number
+ *
+ ****************************************************************************/
+uint16_t util_random(uint16_t min, uint16_t max)
+{
+	uint16_t rand = (rseed = (rseed * 214013 + 2531011) & RAND_MAX_32) >> 16;
+	return rand % (max - min) + min;
+}