Flash using PX4 bootloader

conf/Makefile.stm32-upload

@@ -154,6 +154,13 @@ upload: $(OBJDIR)/$(TARGET).bin
 	@echo "Using ST-LINK with SWD at $(STLINK_ADDR)"
 	$(Q)st-flash write $^ $(STLINK_ADDR)
 
+else ifeq ($(FLASH_MODE),PX4_BOOTLOADER)
+	# Program the device and start it.
+upload: $(OBJDIR)/$(TARGET).bin
+	$(PAPARAZZI_SRC)/sw/tools/px4/px_mkfw.py --prototype $(PX4_PROTOTYPE) --image $(OBJDIR)/$(TARGET).bin > $(OBJDIR)/$(TARGET).px4
+	$(PAPARAZZI_SRC)/sw/tools/px4/print_message.py
+	$(PAPARAZZI_SRC)/sw/tools/px4/px_uploader.py --port $(PX4_BL_PORT) $(OBJDIR)/$(TARGET).px4
+
 #
 # no known flash mode
 else

conf/boards/px4fmu_2.4.makefile

@@ -2,7 +2,7 @@
 #
 # px4fmu_2.4.makefile
 #
-# This is for the main MCU (STM32F427) on the pixhawk board
+# This is for the main MCU (STM32F427) on the PX4 board
 # See https://pixhawk.org/modules/pixhawk for details
 #
 
@@ -19,10 +19,12 @@ $(TARGET).LDSCRIPT=$(SRC_ARCH)/px4fmu_2.4.ld
 
 HARD_FLOAT=yes
 
-# default flash mode is via usb dfu bootloader
-# possibilities: DFU, SWD
-FLASH_MODE ?= SWD
-
+# default flash mode is the PX4 bootloader
+# possibilities: DFU, SWD, PX4 bootloader
+FLASH_MODE ?= PX4_BOOTLOADER
+PX4_PROTOTYPE ?= "${PAPARAZZI_HOME}/sw/tools/px4/px4fmu-v2.prototype"
+PX4_BL_PORT ?= "/dev/serial/by-id/usb-3D_Robotics*,/dev/serial/by-id/pci-3D_Robotics*"
+$(TARGET).MAKEFILE = stm32
 
 #
 # default LED configuration
@@ -40,12 +42,10 @@ SYS_TIME_LED       ?= 1
 MODEM_PORT ?= UART2
 MODEM_BAUD ?= B57600
 
+#The GPS serial on px4 is called serial 3, but connected to uart4 on the f4
 GPS_PORT ?= UART4
 GPS_BAUD ?= B38400
 
-RADIO_CONTROL_SPEKTRUM_PRIMARY_PORT ?= UART2
-
-
 #
 # default actuator configuration
 #

conf/flash_modes.xml

@@ -96,6 +96,13 @@
       <board name="px4fmu_.*"/>
       <board name="elle*"/>
     </boards>
+  </mode>
+    <mode name="Px4 bootloader">
+    <variable name="FLASH_MODE" value="PX4_BOOTLOADER"/>
+    <boards>
+      <board name="px4fmu_.*"/>
+      <board name="px4io_.*"/>
+    </boards>
   </mode>
   <mode name="JTAG (OpenOCD)">
     <variable name="FLASH_MODE" value="JTAG"/>

conf/modules/px4io_flash.xml

@@ -0,0 +1,31 @@
+<!DOCTYPE module SYSTEM "module.dtd">
+
+<module name="px4io_flash">
+  <doc>
+    <description>Flashes the px4io f1 through the px4 bootloader.</description>
+  </doc>
+  <header>
+    <file name="px4io_flash.h"/>
+  </header>
+  <init fun="px4ioflash_init()"/>
+  <event fun="px4ioflash_event()"/>
+  <makefile target="ap">
+    <raw>
+
+    </raw>
+    <file name="px4io_flash.c"/>
+    <configure name="PX4IO_UART" default="uart6" case="upper|lower"/>
+    <configure name="PX4IO_BAUD" default="B1500000"/>
+    <define name="USE_$(PX4IO_UART_UPPER)"/>
+    <define name="PX4IO_UART" value="$(PX4IO_UART_LOWER)"/>
+    <define name="$(PX4IO_UART_UPPER)_BAUD" value="$(PX4IO_BAUD)"/>
+
+    <configure name="TELEM2_UART" default="uart3" case="upper|lower"/>
+    <configure name="TELEM2_BAUD" default="B115200"/>
+    <define name="USE_$(TELEM2_UART_UPPER)"/>
+    <define name="TELEM2_UART" value="$(TELEM2_UART_LOWER)"/>
+    <define name="$(TELEM2_UART_UPPER)_BAUD" value="$(TELEM2_BAUD)"/>
+
+  </makefile>
+</module>
+