implemented IAP by using ROM bootloader, changed ADXL init stuff, changed mag axis orientation. added startup assembly file to root since it got modified with bootloader reboot check.

git-svn-id: https://afrodevices.googlecode.com/svn/trunk/baseflight@88 7c89a4a9-59b9-e629-4cfe-3a2d53b20e61

drv_system.c

@@ -186,3 +186,15 @@ void failureMode(uint8_t mode)
         BEEP_OFF;
     }
 }
+
+#define AIRCR_VECTKEY_MASK    ((uint32_t)0x05FA0000)
+
+void systemResetToBootloader(void)
+{
+    // 1FFFF000 -> 20000200 -> SP
+    // 1FFFF004 -> 1FFFF021 -> PC
+    *((uint32_t *)0x20004FF0) = 0xDEADBEEF; // 20KB STM32F103
+
+    // Generate system reset
+    SCB->AIRCR = AIRCR_VECTKEY_MASK | (uint32_t)0x04;
+}