Added support for CC3D OPBL build

Makefile

@@ -20,6 +20,9 @@ TARGET		?= NAZE
 # Compile-time options
 OPTIONS		?=
 
+# compile for OpenPilot BootLoader support
+OPBL ?=no
+
 # Debugger optons, must be empty or GDB
 DEBUG ?=
 
@@ -36,14 +39,20 @@ FLASH_SIZE ?=
 FORKNAME			 = inav
 
 64K_TARGETS  = CJMCU
-128K_TARGETS = ALIENWIIF1 CC3D NAZE OLIMEXINO RMDO
+128K_TARGETS = ALIENWIIF1 CC3D CC3D_OPBL NAZE OLIMEXINO RMDO
 256K_TARGETS = ALIENWIIF3 CHEBUZZF3 COLIBRI_RACE EUSTM32F103RC LUX_RACE MOTOLAB NAZE32PRO PORT103R SPARKY SPRACINGF3 STM32F3DISCOVERY
 
 F3_TARGETS = ALIENWIIF3 CHEBUZZF3 COLIBRI_RACE LUX_RACE MOTOLAB NAZE32PRO RMDO SPARKY SPRACINGF3 STM32F3DISCOVERY
 
 VALID_TARGETS = $(64K_TARGETS) $(128K_TARGETS) $(256K_TARGETS)
 
-VCP_TARGETS = CC3D ALIENWIIF3 CHEBUZZF3 COLIBRI_RACE LUX_RACE MOTOLAB NAZE32PRO SPARKY STM32F3DISCOVERY
+VCP_TARGETS = CC3D CC3D_OPBL ALIENWIIF3 CHEBUZZF3 COLIBRI_RACE LUX_RACE MOTOLAB NAZE32PRO SPARKY STM32F3DISCOVERY
+
+# Valid targets for OP BootLoader support
+OPBL_TARGETS = CC3D_OPBL
+ifneq ($(filter $(TARGET),$(OPBL_TARGETS)),)
+OPBL=yes
+endif
 
 # Configure default flash sizes for the targets
 ifeq ($(FLASH_SIZE),)
@@ -227,6 +236,15 @@ ifeq ($(TARGET),$(filter $(TARGET),RMDO IRCFUSIONF3))
 TARGET_FLAGS := $(TARGET_FLAGS) -DSPRACINGF3
 endif
 
+ifeq ($(TARGET),$(filter $(TARGET),CC3D CC3D_OPBL))
+TARGET_FLAGS := $(TARGET_FLAGS) -DCC3D 
+ifeq ($(TARGET),CC3D_OPBL)
+TARGET_FLAGS := $(TARGET_FLAGS) -DCC3D_OPBL
+CC3D_OPBL_SRC = $(CC3D_SRC)
+endif
+TARGET_DIR = $(ROOT)/src/main/target/CC3D
+endif
+
 INCLUDE_DIRS := $(INCLUDE_DIRS) \
 			$(TARGET_DIR)
 
@@ -753,10 +771,21 @@ TARGET_OBJS	 = $(addsuffix .o,$(addprefix $(OBJECT_DIR)/$(TARGET)/,$(basename $(
 TARGET_DEPS	 = $(addsuffix .d,$(addprefix $(OBJECT_DIR)/$(TARGET)/,$(basename $($(TARGET)_SRC))))
 TARGET_MAP	 = $(OBJECT_DIR)/$(FORKNAME)_$(TARGET).map
 
+
 ## Default make goal:
 ## hex		 : Make filetype hex only
 .DEFAULT_GOAL := hex
 
+ifeq ($(OPBL),yes)
+ifneq ($(filter $(TARGET),$(OPBL_TARGETS)),)
+TARGET_FLAGS := -DOPBL $(TARGET_FLAGS)
+LD_SCRIPT	 = $(LINKER_DIR)/stm32_flash_f103_$(FLASH_SIZE)k_opbl.ld
+.DEFAULT_GOAL := binary
+else
+$(error OPBL specified with an unsupported target)
+endif
+endif
+
 ## Optional make goals:
 ## all		 : Make all filetypes, binary and hex
 all: hex bin
@@ -800,8 +829,6 @@ st-flash_$(TARGET): $(TARGET_BIN)
 ## st-flash	: flash firmware (.bin) onto flight controller
 st-flash: st-flash_$(TARGET)
 
-binary: $(TARGET_BIN)
-
 unbrick_$(TARGET): $(TARGET_HEX)
 	stty -F $(SERIAL_DEVICE) raw speed 115200 -crtscts cs8 -parenb -cstopb -ixon
 	stm32flash -w $(TARGET_HEX) -v -g 0x0 -b 115200 $(SERIAL_DEVICE)

src/main/io/serial_msp.c

@@ -1139,6 +1139,7 @@ static bool processInCommand(void)
         updateMagHoldHeading(read16());
         break;
     case MSP_SET_RAW_RC:
+#ifndef SKIP_RX_MSP
         {
             uint8_t channelCount = currentPort->dataSize / sizeof(uint16_t);
             if (channelCount > MAX_SUPPORTED_RC_CHANNEL_COUNT) {
@@ -1153,6 +1154,7 @@ static bool processInCommand(void)
                 rxMspFrameReceive(frame, channelCount);
             }
         }
+#endif
         break;
     case MSP_SET_ARMING_CONFIG:
         masterConfig.auto_disarm_delay = read8();

src/main/rx/msp.c

@@ -22,11 +22,11 @@
 
 #include "build_config.h"
 
-#include "drivers/system.h"
+#ifndef SKIP_RX_MSP
 
+#include "drivers/system.h"
 #include "drivers/serial.h"
 #include "drivers/serial_uart.h"
-#include "io/serial.h"
 
 #include "rx/rx.h"
 #include "rx/msp.h"
@@ -71,3 +71,4 @@ void rxMspInit(rxConfig_t *rxConfig, rxRuntimeConfig_t *rxRuntimeConfig, rcReadR
     if (callback)
         *callback = rxMspReadRawRC;
 }
+#endif

src/main/rx/rx.c

@@ -177,9 +177,11 @@ void rxInit(rxConfig_t *rxConfig, modeActivationCondition_t *modeActivationCondi
     }
 #endif
 
+#ifndef SKIP_RX_MSP
     if (feature(FEATURE_RX_MSP)) {
         rxMspInit(rxConfig, &rxRuntimeConfig, &rcReadRawFunc);
     }
+#endif
 
     if (feature(FEATURE_RX_PPM) || feature(FEATURE_RX_PARALLEL_PWM)) {
         rxRefreshRate = 20000;
@@ -330,6 +332,7 @@ void updateRx(uint32_t currentTime)
     }
 #endif
 
+#ifndef SKIP_RX_MSP
     if (feature(FEATURE_RX_MSP)) {
         rxDataReceived = rxMspFrameComplete();
 
@@ -339,6 +342,7 @@ void updateRx(uint32_t currentTime)
             needRxSignalBefore = currentTime + DELAY_5_HZ;
         }
     }
+#endif
 
     if (feature(FEATURE_RX_PPM)) {
         if (isPPMDataBeingReceived()) {

src/main/target/CC3D/target.h

@@ -158,6 +158,15 @@
 //Disables uncommon predefined mixer settings like BiCopter, H6 and similar exotics
 #define DISABLE_UNCOMMON_MIXERS
 
+#ifdef CC3D_OPBL
+#define USE_QUAD_MIXER_ONLY
+#undef USE_SERVOS
+#undef TELEMETRY
+#undef TELEMETRY_LTM
+#undef SERIAL_RX
+//#define SKIP_RX_MSP
+#endif
+
 // DEBUG
 //#define HIL
 //#define USE_FAKE_MAG

src/main/target/stm32_flash_f103_128k_opbl.ld

@@ -0,0 +1,22 @@
+/*
+*****************************************************************************
+**
+**  File        : stm32_flash.ld
+**
+**  Abstract    : Linker script for STM32F103CB Device with
+**                128KByte FLASH, 20KByte RAM
+**
+*****************************************************************************
+*/
+
+/* Specify the memory areas. */
+MEMORY
+{
+  FLASH (rx)       : ORIGIN = 0x08003000, LENGTH = 124K - 0x03000 /* last 4kb used for config storage first 12k for OP Bootloader */
+  FLASH_CONFIG (r) : ORIGIN = 0x0801F000, LENGTH = 4K
+
+  RAM (xrw)       : ORIGIN = 0x20000000, LENGTH = 20K
+  MEMORY_B1 (rx)  : ORIGIN = 0x60000000, LENGTH = 0K
+}
+
+INCLUDE "stm32_flash.ld"