Fixed build issue for F1, and added dfu CLI command (for restart in DFU mode)

src/main/drivers/io.h

@@ -40,14 +40,12 @@ typedef uint8_t ioConfig_t;  // packed IO configuration
 #define IO_CONFIG(mode, speed) ((mode) | (speed))
 
 #define IOCFG_OUT_PP         IO_CONFIG(GPIO_Mode_Out_PP,      GPIO_Speed_2MHz)
-#define IOCFG_OUT_PP_25      IO_CONFIG(GPIO_Mode_Out_PP,      GPIO_Speed_25MHz)
 #define IOCFG_OUT_OD         IO_CONFIG(GPIO_Mode_Out_OD,      GPIO_Speed_2MHz)
 #define IOCFG_AF_PP          IO_CONFIG(GPIO_Mode_AF_PP,       GPIO_Speed_2MHz)
 #define IOCFG_AF_OD          IO_CONFIG(GPIO_Mode_AF_OD,       GPIO_Speed_2MHz)
 #define IOCFG_IPD            IO_CONFIG(GPIO_Mode_IPD,         GPIO_Speed_2MHz)
 #define IOCFG_IPU            IO_CONFIG(GPIO_Mode_IPU,         GPIO_Speed_2MHz)
 #define IOCFG_IN_FLOATING    IO_CONFIG(GPIO_Mode_IN_FLOATING, GPIO_Speed_2MHz)
-#define IOCFG_IPU_25         IO_CONFIG(GPIO_Mode_IPU,         GPIO_Speed_25MHz)
 
 #elif defined(STM32F3) || defined(STM32F4)
 

src/main/drivers/system.h

@@ -42,6 +42,7 @@ void systemReset(void);
 void systemResetToBootloader(void);
 bool isMPUSoftReset(void);
 void cycleCounterInit(void);
+void checkForBootLoaderRequest(void);
 
 void enableGPIOPowerUsageAndNoiseReductions(void);
 // current crystal frequency - 8 or 12MHz

src/main/drivers/system_stm32f10x.c

@@ -37,7 +37,8 @@ void systemReset(void)
     SCB->AIRCR = AIRCR_VECTKEY_MASK | (uint32_t)0x04;
 }
 
-void systemResetToBootloader(void) {
+void systemResetToBootloader(void) 
+{
     // 1FFFF000 -> 20000200 -> SP
     // 1FFFF004 -> 1FFFF021 -> PC
 
@@ -68,6 +69,8 @@ bool isMPUSoftReset(void)
 
 void systemInit(void)
 {
+	checkForBootLoaderRequest();
+
     SetSysClock(false);
     
 #ifdef CC3D
@@ -110,3 +113,6 @@ void systemInit(void)
     SysTick_Config(SystemCoreClock / 1000);
 }
 
+void checkForBootLoaderRequest(void)
+{
+}

src/main/drivers/system_stm32f30x.c

@@ -35,7 +35,8 @@ void systemReset(void)
     SCB->AIRCR = AIRCR_VECTKEY_MASK | (uint32_t)0x04;
 }
 
-void systemResetToBootloader(void) {
+void systemResetToBootloader(void) 
+{
     // 1FFFF000 -> 20000200 -> SP
     // 1FFFF004 -> 1FFFF021 -> PC
 
@@ -82,6 +83,8 @@ bool isMPUSoftReset(void)
 
 void systemInit(void)
 {
+	checkForBootLoaderRequest();
+
     // Enable FPU
     SCB->CPACR = (0x3 << (10 * 2)) | (0x3 << (11 * 2));
     SetSysClock();
@@ -102,3 +105,7 @@ void systemInit(void)
     // SysTick
     SysTick_Config(SystemCoreClock / 1000);
 }
+
+void checkForBootLoaderRequest(void)
+{
+}

src/main/drivers/system_stm32f4xx.c

@@ -169,6 +169,8 @@ bool isMPUSoftReset(void)
 
 void systemInit(void)
 {
+	checkForBootLoaderRequest();
+
     SetSysClock();
 
     // Configure NVIC preempt/priority groups
@@ -194,3 +196,16 @@ void systemInit(void)
     SysTick_Config(SystemCoreClock / 1000);
 }
 
+void(*bootJump)(void);
+void checkForBootLoaderRequest(void)
+{
+	__enable_irq();
+	if (*((uint32_t *)0x2001FFFC) == 0xDEADBEEF) {
+		*((uint32_t *)0x2001FFFC) = 0x0; 
+		__set_MSP(0x20001000);
+		                                               
+		bootJump = (void(*)(void))(*((uint32_t *) 0x1fff0004)); 
+		bootJump();
+		while (1);
+	}
+}

src/main/io/serial_4way.c

@@ -120,12 +120,12 @@ void setEscLo(uint8_t selEsc)
 
 void setEscInput(uint8_t selEsc)
 {
-    IOConfigGPIO(escHardware[selEsc].io, IOCFG_IPU_25);
+    IOConfigGPIO(escHardware[selEsc].io, IOCFG_IPU);
 }
 
 void setEscOutput(uint8_t selEsc)
 {
-    IOConfigGPIO(escHardware[selEsc].io, IOCFG_OUT_PP_25);
+    IOConfigGPIO(escHardware[selEsc].io, IOCFG_OUT_PP);
 }
 
 // Initialize 4way ESC interface

src/main/io/serial_cli.c

@@ -112,6 +112,7 @@ static void cliRxFail(char *cmdline);
 static void cliAdjustmentRange(char *cmdline);
 static void cliMotorMix(char *cmdline);
 static void cliDefaults(char *cmdline);
+void cliDfu(char *cmdLine); 
 static void cliDump(char *cmdLine);
 void cliDumpProfile(uint8_t profileIndex);
 void cliDumpRateProfile(uint8_t rateProfileIndex) ;
@@ -122,6 +123,7 @@ static void cliPlaySound(char *cmdline);
 static void cliProfile(char *cmdline);
 static void cliRateProfile(char *cmdline);
 static void cliReboot(void);
+static void cliRebootEx(bool bootLoader);
 static void cliSave(char *cmdline);
 static void cliSerial(char *cmdline);
 #ifndef SKIP_SERIAL_PASSTHROUGH
@@ -263,8 +265,8 @@ const clicmd_t cmdTable[] = {
     CLI_COMMAND_DEF("color", "configure colors", NULL, cliColor),
 #endif
     CLI_COMMAND_DEF("defaults", "reset to defaults and reboot", NULL, cliDefaults),
-    CLI_COMMAND_DEF("dump", "dump configuration",
-        "[master|profile]", cliDump),
+    CLI_COMMAND_DEF("dfu", "DFU mode on reboot", NULL, cliDfu),
+    CLI_COMMAND_DEF("dump", "dump configuration", "[master|profile]", cliDump),
     CLI_COMMAND_DEF("exit", NULL, NULL, cliExit),
     CLI_COMMAND_DEF("feature", "configure features",
         "list\r\n"
@@ -2564,10 +2566,19 @@ static void cliRateProfile(char *cmdline) {
 
 static void cliReboot(void)
 {
-    cliPrint("\r\nRebooting");
+	cliRebootEx(false);
+}
+
+static void cliRebootEx(bool bootLoader)
+{
+	cliPrint("\r\nRebooting");
     bufWriterFlush(cliWriter);
     waitForSerialPortToFinishTransmitting(cliPort);
     stopMotors();
+    if (bootLoader) {
+	    systemResetToBootloader();
+	    return;
+    }
     systemReset();
 }
 
@@ -3107,6 +3118,13 @@ static void cliResource(char *cmdline)
     }
 }
 
+void cliDfu(char *cmdLine)
+{
+	UNUSED(cmdLine);
+	cliPrint("\r\nRestarting in DFU mode");
+	cliRebootEx(true);
+}
+
 void cliInit(serialConfig_t *serialConfig)
 {
     UNUSED(serialConfig);