Add booting into the flash boot loader as an option.

src/main/cli/cli.c

@@ -274,6 +274,11 @@ typedef enum dumpFlags_e {
 
 typedef bool printFn(dumpFlags_t dumpMask, bool equalsDefault, const char *format, ...);
 
+typedef enum {
+    REBOOT_TARGET_FIRMWARE,
+    REBOOT_TARGET_BOOTLOADER_ROM,
+    REBOOT_TARGET_BOOTLOADER_FLASH,
+} rebootTarget_e;
 
 static void backupPgConfig(const pgRegistry_t *pg)
 {
@@ -3309,31 +3314,61 @@ static char *checkCommand(char *cmdline, const char *command)
     }
 }
 
-static void cliRebootEx(bool bootLoader)
+static void cliRebootEx(rebootTarget_e rebootTarget)
 {
     cliPrint("\r\nRebooting");
     bufWriterFlush(cliWriter);
     waitForSerialPortToFinishTransmitting(cliPort);
     stopPwmAllMotors();
 
-    if (bootLoader) {
+    switch (rebootTarget) {
-        systemResetToBootloader();
+    case REBOOT_TARGET_BOOTLOADER_ROM:
-        return;
+        systemResetToBootloader(BOOTLOADER_REQUEST_ROM);
-    }
+
+        break;
+#if defined(USE_FLASH_BOOT_LOADER)
+    case REBOOT_TARGET_BOOTLOADER_FLASH:
+        systemResetToBootloader(BOATLOADER_REQUEST_FLASH);
+
+        break;
+#endif
+    case REBOOT_TARGET_FIRMWARE:
+    default:
         systemReset();
+
+        break;
+    }
 }
 
 static void cliReboot(void)
 {
-    cliRebootEx(false);
+    cliRebootEx(REBOOT_TARGET_FIRMWARE);
 }
 
 static void cliBootloader(char *cmdline)
 {
-    UNUSED(cmdline);
+    rebootTarget_e rebootTarget;
+    if (
+#if !defined(USE_FLASH_BOOT_LOADER)
+        isEmpty(cmdline) ||
+#endif
+        strncasecmp(cmdline, "rom", 3) == 0) {
+        rebootTarget = REBOOT_TARGET_BOOTLOADER_ROM;
 
-    cliPrintHashLine("restarting in bootloader mode");
+        cliPrintHashLine("restarting in ROM bootloader mode");
-    cliRebootEx(true);
+#if defined(USE_FLASH_BOOT_LOADER)
+    } else if (isEmpty(cmdline) || strncasecmp(cmdline, "flash", 5) == 0) {
+        rebootTarget = REBOOT_TARGET_BOOTLOADER_FLASH;
+
+        cliPrintHashLine("restarting in flash bootloader mode");
+#endif
+    } else {
+        cliPrintErrorLinef("Invalid option");
+
+        return;
+    }
+
+    cliRebootEx(rebootTarget);
 }
 
 static void cliExit(char *cmdline)
@@ -5873,7 +5908,11 @@ const clicmd_t cmdTable[] = {
 #ifdef USE_RX_SPI
         CLI_COMMAND_DEF("bind_rx_spi", "initiate binding for RX SPI", NULL, cliRxSpiBind),
 #endif
-    CLI_COMMAND_DEF("bl", "reboot into bootloader", NULL, cliBootloader),
+#if defined(USE_FLASH_BOOT_LOADER)
+    CLI_COMMAND_DEF("bl", "reboot into bootloader", "[flash|rom]", cliBootloader),
+#else
+    CLI_COMMAND_DEF("bl", "reboot into bootloader", "[rom]", cliBootloader),
+#endif
 #if defined(USE_BOARD_INFO)
     CLI_COMMAND_DEF("board_name", "get / set the name of the board model", "[board name]", cliBoardName),
 #endif

src/main/drivers/system.c

@@ -202,7 +202,7 @@ void failureMode(failureMode_e mode)
 #ifdef DEBUG
     systemReset();
 #else
-    systemResetToBootloader();
+    systemResetToBootloader(BOOTLOADER_REQUEST_ROM);
 #endif
 }
 

src/main/drivers/system.h

@@ -50,16 +50,23 @@ typedef enum {
 #define WARNING_CODE_DURATION_LONG_MS 250
 #define WARNING_CODE_DURATION_SHORT_MS 50
 
+typedef enum {
+    BOOTLOADER_REQUEST_ROM,
+    BOATLOADER_REQUEST_FLASH,
+} bootloaderRequestType_e;
+
 // failure
 void indicateFailure(failureMode_e mode, int repeatCount);
 void failureMode(failureMode_e mode);
 
 // bootloader/IAP
 void systemReset(void);
-void systemResetToBootloader(void);
+void systemResetToBootloader(bootloaderRequestType_e requestType);
-void checkForBootLoaderRequest(void);
 bool isMPUSoftReset(void);
 void cycleCounterInit(void);
+#if defined(STM32H7)
+void systemCheckResetReason(void);
+#endif
 
 void initialiseMemorySections(void);
 

src/main/drivers/system_stm32f10x.c

@@ -114,7 +114,7 @@ void systemInit(void)
     SysTick_Config(SystemCoreClock / 1000);
 }
 
-void checkForBootLoaderRequest(void)
+static void checkForBootLoaderRequest(void)
 {
     void(*bootJump)(void);
 

src/main/drivers/system_stm32f30x.c

@@ -35,8 +35,9 @@ void systemReset(void)
     SCB->AIRCR = AIRCR_VECTKEY_MASK | (uint32_t)0x04;
 }
 
-void systemResetToBootloader(void)
+void systemResetToBootloader(bootloaderRequestType_e requestType)
 {
+    UNUSED(requestType);
     // 1FFFF000 -> 20000200 -> SP
     // 1FFFF004 -> 1FFFF021 -> PC
 
@@ -83,6 +84,23 @@ bool isMPUSoftReset(void)
         return false;
 }
 
+static void checkForBootLoaderRequest(void)
+{
+    void(*bootJump)(void);
+
+    if (*((uint32_t *)0x20009FFC) == 0xDEADBEEF) {
+
+        *((uint32_t *)0x20009FFC) = 0x0;
+
+        __enable_irq();
+        __set_MSP(*((uint32_t *)0x1FFFD800));
+
+        bootJump = (void(*)(void))(*((uint32_t *) 0x1FFFD804));
+        bootJump();
+        while (1);
+    }
+}
+
 void systemInit(void)
 {
     checkForBootLoaderRequest();
@@ -106,20 +124,3 @@ void systemInit(void)
     // SysTick
     SysTick_Config(SystemCoreClock / 1000);
 }
-
-void checkForBootLoaderRequest(void)
-{
-    void(*bootJump)(void);
-
-    if (*((uint32_t *)0x20009FFC) == 0xDEADBEEF) {
-
-        *((uint32_t *)0x20009FFC) = 0x0;
-
-        __enable_irq();
-        __set_MSP(*((uint32_t *)0x1FFFD800));
-
-        bootJump = (void(*)(void))(*((uint32_t *) 0x1FFFD804));
-        bootJump();
-        while (1);
-    }
-}

src/main/drivers/system_stm32f4xx.c

@@ -39,10 +39,16 @@ void systemReset(void)
     NVIC_SystemReset();
 }
 
-void systemResetToBootloader(void)
+void systemResetToBootloader(bootloaderRequestType_e requestType)
 {
+    switch (requestType) {
+    case BOOTLOADER_REQUEST_ROM:
+    default:
         persistentObjectWrite(PERSISTENT_OBJECT_RESET_REASON, RESET_BOOTLOADER_REQUEST);
 
+        break;
+    }
+
     __disable_irq();
     NVIC_SystemReset();
 }
@@ -54,6 +60,7 @@ typedef struct isrVector_s {
     resetHandler_t *resetHandler;
 } isrVector_t;
 
+// Used in the startup files for F4
 void checkForBootLoaderRequest(void)
 {
     uint32_t bootloaderRequest = persistentObjectRead(PERSISTENT_OBJECT_RESET_REASON);

src/main/drivers/system_stm32f7xx.c

@@ -43,9 +43,16 @@ void systemReset(void)
     NVIC_SystemReset();
 }
 
-void systemResetToBootloader(void)
+void systemResetToBootloader(bootloaderRequestType_e requestType)
 {
+    switch (requestType) {
+    case BOOTLOADER_REQUEST_ROM:
+    default:
         persistentObjectWrite(PERSISTENT_OBJECT_RESET_REASON, RESET_BOOTLOADER_REQUEST);
+
+        break;
+    }
+
     __disable_irq();
     NVIC_SystemReset();
 }
@@ -152,6 +159,30 @@ bool isMPUSoftReset(void)
         return false;
 }
 
+static void checkForBootLoaderRequest(void)
+{
+    uint32_t bootloaderRequest = persistentObjectRead(PERSISTENT_OBJECT_RESET_REASON);
+
+    if (bootloaderRequest != RESET_BOOTLOADER_REQUEST) {
+        return;
+    }
+    persistentObjectWrite(PERSISTENT_OBJECT_RESET_REASON, RESET_NONE);
+
+    void (*SysMemBootJump)(void);
+
+    __SYSCFG_CLK_ENABLE();
+    SYSCFG->MEMRMP |= SYSCFG_MEM_BOOT_ADD0 ;
+
+    uint32_t p =  (*((uint32_t *) 0x1ff00000));
+
+    __set_MSP(p); //Set the main stack pointer to its default values
+
+    SysMemBootJump = (void (*)(void)) (*((uint32_t *) 0x1ff00004)); // Point the PC to the System Memory reset vector (+4)
+    SysMemBootJump();
+
+    while (1);
+}
+
 void systemInit(void)
 {
     checkForBootLoaderRequest();
@@ -186,29 +217,3 @@ void systemInit(void)
 
     HAL_SYSTICK_CLKSourceConfig(SYSTICK_CLKSOURCE_HCLK);
 }
-
-void(*bootJump)(void);
-
-void checkForBootLoaderRequest(void)
-{
-    uint32_t bootloaderRequest = persistentObjectRead(PERSISTENT_OBJECT_RESET_REASON);
-
-    if (bootloaderRequest != RESET_BOOTLOADER_REQUEST) {
-        return;
-    }
-    persistentObjectWrite(PERSISTENT_OBJECT_RESET_REASON, RESET_NONE);
-
-    void (*SysMemBootJump)(void);
-
-    __SYSCFG_CLK_ENABLE();
-    SYSCFG->MEMRMP |= SYSCFG_MEM_BOOT_ADD0 ;
-
-    uint32_t p =  (*((uint32_t *) 0x1ff00000));
-
-    __set_MSP(p); //Set the main stack pointer to its default values
-
-    SysMemBootJump = (void (*)(void)) (*((uint32_t *) 0x1ff00004)); // Point the PC to the System Memory reset vector (+4)
-    SysMemBootJump();
-
-    while (1);
-}

src/main/drivers/system_stm32h7xx.c

@@ -180,7 +180,7 @@ void systemInit(void)
     //  Mark ITCM-RAM as read-only
     HAL_MPU_Disable();
 
-    // "For Cortex®-M7, TCMs memories always behave as Non-cacheable, Non-shared normal memories, irrespectiveof the memory type attributes defined in the MPU for a memory region containing addresses held in the TCM"
+    // "For Cortex®-M7, TCMs memories always behave as Non-cacheable, Non-shared normal memories, irrespective of the memory type attributes defined in the MPU for a memory region containing addresses held in the TCM"
     // See AN4838
 
     MPU_Region_InitTypeDef MPU_InitStruct;
@@ -230,14 +230,6 @@ void systemInit(void)
 
 void systemReset(void)
 {
-#if 0
-#ifdef USE_GYRO
-    if (mpuResetFn) {
-        mpuResetFn();
-    }
-#endif
-#endif
-
     SCB_DisableDCache();
     SCB_DisableICache();
 
@@ -253,36 +245,36 @@ void forcedSystemResetWithoutDisablingCaches(void)
     NVIC_SystemReset();
 }
 
-void systemResetToBootloader(void)
+void systemResetToBootloader(bootloaderRequestType_e requestType)
 {
-#if 0
+    switch (requestType) {
-#ifdef USE_GYRO
+#if defined(USE_FLASH_BOOT_LOADER)
-    if (mpuResetFn) {
+    case BOATLOADER_REQUEST_FLASH:
-        mpuResetFn();
-    }
-#endif
-#endif
-#ifdef USE_EXST
         persistentObjectWrite(PERSISTENT_OBJECT_RESET_REASON, RESET_FLASH_BOOTLOADER_REQUEST);
-#else
+
-    persistentObjectWrite(PERSISTENT_OBJECT_RESET_REASON, RESET_BOOTLOADER_REQUEST);
+        break;
 #endif
+    case BOOTLOADER_REQUEST_ROM:
+    default:
+        persistentObjectWrite(PERSISTENT_OBJECT_RESET_REASON, RESET_BOOTLOADER_REQUEST);
+
+        break;
+    }
+
     __disable_irq();
     NVIC_SystemReset();
 }
 
 static uint32_t bootloaderRequest;
 
-bool systemIsFlashBootloaderRequested(void)
-{
-    return (bootloaderRequest == RESET_FLASH_BOOTLOADER_REQUEST);
-}
-
 void systemCheckResetReason(void)
 {
     bootloaderRequest = persistentObjectRead(PERSISTENT_OBJECT_RESET_REASON);
 
     switch (bootloaderRequest) {
+#if defined(USE_FLASH_BOOT_LOADER)
+    case BOATLOADER_REQUEST_FLASH:
+#endif
     case RESET_BOOTLOADER_REQUEST:
         persistentObjectWrite(PERSISTENT_OBJECT_RESET_REASON, RESET_BOOTLOADER_POST);
         break;

src/main/msp/msp.c

@@ -140,9 +140,10 @@ static const char * const flightControllerIdentifier = BETAFLIGHT_IDENTIFIER; //
 
 enum {
     MSP_REBOOT_FIRMWARE = 0,
-    MSP_REBOOT_BOOTLOADER,
+    MSP_REBOOT_BOOTLOADER_ROM,
     MSP_REBOOT_MSC,
     MSP_REBOOT_MSC_UTC,
+    MSP_REBOOT_BOOTLOADER_FLASH,
     MSP_REBOOT_COUNT,
 };
 
@@ -263,8 +264,8 @@ static void mspRebootFn(serialPort_t *serialPort)
         systemReset();
 
         break;
-    case MSP_REBOOT_BOOTLOADER:
+    case MSP_REBOOT_BOOTLOADER_ROM:
-        systemResetToBootloader();
+        systemResetToBootloader(BOOTLOADER_REQUEST_ROM);
 
         break;
 #if defined(USE_USB_MSC)
@@ -279,6 +280,12 @@ static void mspRebootFn(serialPort_t *serialPort)
         }
         break;
 #endif
+#if defined(USE_FLASH_BOOT_LOADER)
+    case MSP_REBOOT_BOOTLOADER_FLASH:
+        systemResetToBootloader(BOOTLOADER_REQUEST_FLASH);
+
+        break;
+#endif
     default:
 
         return;

src/main/msp/msp_serial.c

@@ -425,16 +425,16 @@ static mspPostProcessFnPtr mspSerialProcessReceivedCommand(mspPort_t *msp, mspPr
 
 static void mspEvaluateNonMspData(mspPort_t * mspPort, uint8_t receivedChar)
 {
-#ifdef USE_CLI
-    if (receivedChar == '#') {
-        mspPort->pendingRequest = MSP_PENDING_CLI;
-        return;
-    }
-#endif
-
    if (receivedChar == serialConfig()->reboot_character) {
-        mspPort->pendingRequest = MSP_PENDING_BOOTLOADER;
+        mspPort->pendingRequest = MSP_PENDING_BOOTLOADER_ROM;
-        return;
+#ifdef USE_CLI
+   } else if (receivedChar == '#') {
+        mspPort->pendingRequest = MSP_PENDING_CLI;
+#endif
+#if defined(USE_FLASH_BOOT_LOADER)
+   } else if (receivedChar == 'F') {
+        mspPort->pendingRequest = MSP_PENDING_BOOTLOADER_FLASH;
+#endif
     }
 }
 
@@ -446,10 +446,16 @@ static void mspProcessPendingRequest(mspPort_t * mspPort)
     }
 
     switch(mspPort->pendingRequest) {
-        case MSP_PENDING_BOOTLOADER:
+    case MSP_PENDING_BOOTLOADER_ROM:
-            systemResetToBootloader();
+        systemResetToBootloader(BOOTLOADER_REQUEST_ROM);
-            break;
 
+        break;
+#if defined(USE_FLASH_BOOT_LOADER)
+    case MSP_PENDING_BOOTLOADER_ROM:
+        systemResetToBootloader(BOATLOADER_REQUEST_FLASH);
+
+        break;
+#endif
 #ifdef USE_CLI
     case MSP_PENDING_CLI:
         cliEnter(mspPort->port);

src/main/msp/msp_serial.h

@@ -59,8 +59,9 @@ typedef enum {
 
 typedef enum {
     MSP_PENDING_NONE,
-    MSP_PENDING_BOOTLOADER,
+    MSP_PENDING_BOOTLOADER_ROM,
-    MSP_PENDING_CLI
+    MSP_PENDING_CLI,
+    MSP_PENDING_BOOTLOADER_FLASH,
 } mspPendingSystemRequest_e;
 
 #define MSP_PORT_INBUF_SIZE 192

src/main/target/SITL/target.c

@@ -252,7 +252,9 @@ void systemReset(void){
     pthread_join(udpWorker, NULL);
     exit(0);
 }
-void systemResetToBootloader(void) {
+void systemResetToBootloader(bootloaderRequestType_e requestType) {
+    UNUSED(requestType);
+
     printf("[system]ResetToBootloader!\n");
     workerRunning = false;
     pthread_join(tcpWorker, NULL);

src/main/target/common_post.h

@@ -352,3 +352,7 @@ extern uint8_t eepromData[EEPROM_SIZE];
 extern uint8_t __config_start;   // configured via linker script when building binaries.
 extern uint8_t __config_end;
 #endif
+
+#if defined(USE_EXST)
+#define USE_FLASH_BOOT_LOADER
+#endif

src/main/target/system_stm32h7xx.c

@@ -572,8 +572,6 @@ void MPU_Config()
   * @param  None
   * @retval None
   */
-void systemCheckResetReason(void);
-
 void resetMPU(void)
 {
     MPU_Region_InitTypeDef MPU_InitStruct;