From 03b58017f98449d3e2f13d6e55f821ceaad1e7ab Mon Sep 17 00:00:00 2001
From: podhrmic <michal.podhradsky@aggiemail.usu.edu>
Date: Sun, 7 Dec 2014 08:32:47 +0100
Subject: [PATCH] [boards][stm32f4] Lisa MX luftboot support

Added support for luftboot-like bootloader for Lisa MX 2.0 and 2.1
(the bootloader itself is in ext repository, this is only support in pprzi code)
---
 conf/boards/lisa_mx_2.0.makefile  | 13 +++++++------
 conf/boards/lisa_mx_2.1.makefile  | 13 +++++++------
 conf/flash_modes.xml              |  1 +
 sw/airborne/arch/stm32/mcu_arch.c |  4 ++++
 sw/tools/dfu/stm32_mem.py         |  1 +
 5 files changed, 20 insertions(+), 12 deletions(-)

diff --git a/conf/boards/lisa_mx_2.0.makefile b/conf/boards/lisa_mx_2.0.makefile
index 45c2726493..b318d5ae39 100644
--- a/conf/boards/lisa_mx_2.0.makefile
+++ b/conf/boards/lisa_mx_2.0.makefile
@@ -21,12 +21,13 @@ $(TARGET).LDSCRIPT=$(SRC_ARCH)/lisa-mx.ld
 # other possibilities: DFU-UTIL, SWD, JTAG_BMP, STLINK, SERIAL
 FLASH_MODE ?= SWD
 
-
-#
-#
-# some default values shared between different firmwares
-#
-#
+HAS_LUFTBOOT ?= 0
+ifeq (,$(findstring $(HAS_LUFTBOOT),0 FALSE))
+$(TARGET).CFLAGS+=-DLUFTBOOT
+$(TARGET).LDFLAGS+=-Wl,-Ttext=0x8004000
+DFU_ADDR = 0x8004000
+DFU_PRODUCT = Lisa/Lia
+endif
 
 
 #
diff --git a/conf/boards/lisa_mx_2.1.makefile b/conf/boards/lisa_mx_2.1.makefile
index dca2fbc4d0..4ffd521105 100644
--- a/conf/boards/lisa_mx_2.1.makefile
+++ b/conf/boards/lisa_mx_2.1.makefile
@@ -21,12 +21,13 @@ $(TARGET).LDSCRIPT=$(SRC_ARCH)/lisa-mx.ld
 # other possibilities: DFU-UTIL, SWD, JTAG_BMP, STLINK, SERIAL
 FLASH_MODE ?= SWD
 
-
-#
-#
-# some default values shared between different firmwares
-#
-#
+HAS_LUFTBOOT ?= 0
+ifeq (,$(findstring $(HAS_LUFTBOOT),0 FALSE))
+$(TARGET).CFLAGS+=-DLUFTBOOT
+$(TARGET).LDFLAGS+=-Wl,-Ttext=0x8004000
+DFU_ADDR = 0x8004000
+DFU_PRODUCT = Lisa/Lia
+endif
 
 
 #
diff --git a/conf/flash_modes.xml b/conf/flash_modes.xml
index 614bc97b39..26002b5882 100644
--- a/conf/flash_modes.xml
+++ b/conf/flash_modes.xml
@@ -44,6 +44,7 @@
     <boards>
       <board name="krooz_sd"/>
       <board name="li[s]?a_[m]?_.*"/>
+      <board name="li[s]?a_mx_.*"/>
       <board name="px4fmu_.*"/>
     </boards>
   </mode>
diff --git a/sw/airborne/arch/stm32/mcu_arch.c b/sw/airborne/arch/stm32/mcu_arch.c
index 718f61cf51..d628c5731c 100644
--- a/sw/airborne/arch/stm32/mcu_arch.c
+++ b/sw/airborne/arch/stm32/mcu_arch.c
@@ -42,8 +42,12 @@
 void mcu_arch_init(void) {
 #if LUFTBOOT
 PRINT_CONFIG_MSG("We are running luftboot, the interrupt vector is being relocated.")
+#if defined STM32F4
+  SCB_VTOR = 0x00004000;
+#else
   SCB_VTOR = 0x00002000;
 #endif
+#endif
 #if EXT_CLK == 8000000
 #if defined(STM32F1)
 PRINT_CONFIG_MSG("Using 8MHz external clock to PLL it to 72MHz.")
diff --git a/sw/tools/dfu/stm32_mem.py b/sw/tools/dfu/stm32_mem.py
index 1547cdc78a..ebebb79759 100755
--- a/sw/tools/dfu/stm32_mem.py
+++ b/sw/tools/dfu/stm32_mem.py
@@ -153,6 +153,7 @@ if __name__ == "__main__":
     valid_manufacturers.append("TUDelft MavLab. 2012->13")
     valid_manufacturers.append("1 BIT SQUARED")
     valid_manufacturers.append("S.Krukowski")
+    valid_manufacturers.append("Paparazzi UAV")
 
     # list of tuples with possible stm32 (autopilot) devices
     stm32devs = []