Merge remote branch 'paparazzi/master'

conf/Makefile.stm32

@@ -138,7 +138,7 @@ else
 LDFLAGS = -D__thumb2__ -T$(LDSCRIPT) -nostartfiles  -L$(GCC_LIB_DIR) -O$(OPT) --gc-sections
 endif
 LDFLAGS += -Wl,-Map=$(OBJDIR)/$(TARGET).map,--cref,--gc-sections
-LDLIBS  += -lc -lm -lgcc -lcmsis -lstm32
+LDLIBS  += -lc -lm -lgcc -lcmsis -lstm32 -lopencm3_stm32
 
 CPFLAGS = -j .isr_vector -j .text -j .data
 CPFLAGS_BIN = -Obinary

sw/airborne/arch/stm32/mcu_arch.c

@@ -24,17 +24,24 @@
 
 #include "mcu.h"
 
+#include BOARD_CONFIG
 
 #include <inttypes.h>
 #include <stm32/gpio.h>
 #include <stm32/rcc.h>
 #include <stm32/flash.h>
 #include <stm32/misc.h>
+#ifdef USE_OPENCM3
+#include <libopencm3/stm32/rcc.h>
+#endif
 
-#include BOARD_CONFIG
 
 void mcu_arch_init(void) {
-
+#ifdef USE_OPENCM3
+  rcc_clock_setup_in_hse_12mhz_out_72mhz();
+  NVIC_SetVectorTable(NVIC_VectTab_FLASH, 0x0);
+  return;
+#endif
 #ifdef HSE_TYPE_EXT_CLK
 #warning Using external clock
   /* Setup the microcontroller system.

sw/airborne/arch/stm32/mcu_periph/uart_arch.c

@@ -29,6 +29,14 @@
 #include <stm32/gpio.h>
 #include "std.h"
 
+#include BOARD_CONFIG
+
+#ifdef USE_OPENCM3
+#define pprz_usart_set_baudrate(x, y) usart_set_baudrate(x, y)
+#else
+#define pprz_usart_set_baudrate(x, y) do { } while(0);
+#endif
+
 #ifdef USE_UART1
 
 volatile uint16_t uart1_rx_insert_idx, uart1_rx_extract_idx;
@@ -74,6 +82,9 @@ void uart1_init( void ) {
   USART_Init(USART1, &usart);
   /* Enable USART1 Receive interrupts */
   USART_ITConfig(USART1, USART_IT_RXNE, ENABLE);
+
+  pprz_usart_set_baudrate(USART1, UART1_BAUD);
+
   /* Enable the USART1 */
   USART_Cmd(USART1, ENABLE);
 
@@ -197,6 +208,9 @@ void uart2_init( void ) {
   USART_Init(USART2, &usart);
   /* Enable USART2 Receive interrupts */
   USART_ITConfig(USART2, USART_IT_RXNE, ENABLE);
+
+  pprz_usart_set_baudrate(USART2, UART2_BAUD);
+
   /* Enable the USART2 */
   USART_Cmd(USART2, ENABLE);
 
@@ -320,6 +334,9 @@ void uart3_init( void ) {
   USART_Init(USART3, &usart);
   /* Enable USART3 Receive interrupts */
   USART_ITConfig(USART3, USART_IT_RXNE, ENABLE);
+
+  pprz_usart_set_baudrate(USART3, UART3_BAUD);
+
   /* Enable the USART3 */
   USART_Cmd(USART3, ENABLE);
 

sw/airborne/boards/lisa_m_1.0.h

@@ -28,6 +28,8 @@
 
 #define BOARD_HAS_BARO
 
+#define USE_OPENCM3
+
 #define HSE_TYPE_EXT_CLK
 #define STM32_RCC_MODE RCC_HSE_ON
 #define STM32_PLL_MULT RCC_PLLMul_6