#
# PX4 bootloader build rules for STM32F4 targets.
#

OPENOCD		?= openocd

JTAGCONFIG ?= interface/olimex-jtag-tiny.cfg
#JTAGCONFIG ?= interface/jtagkey-tiny.cfg

# 5 seconds / 5000 ms default delay
PX4_BOOTLOADER_DELAY	?= 5000

SRCS		 = $(COMMON_SRCS) main_f4.c

FLAGS		+= -mthumb -mcpu=cortex-m4 -mfloat-abi=hard -mfpu=fpv4-sp-d16 \
       -DTARGET_HW_$(TARGET_HW) \
       -DSTM32F4 \
       -T$(LINKER_FILE) \
		   -L$(LIBOPENCM3)/lib \
		   -lopencm3_stm32f4 \
        $(EXTRAFLAGS)

ELF		 = $(TARGET_FILE_NAME).elf
BINARY		 = $(TARGET_FILE_NAME).bin

all:		$(ELF) $(BINARY)

$(ELF):		$(SRCS) $(MAKEFILE_LIST)
	$(CC) -o $@ $(SRCS) $(FLAGS)

$(BINARY):	$(ELF)
	$(OBJCOPY) -O binary $(ELF) $(BINARY)

#upload: all flash flash-bootloader
upload: all flash-bootloader

flash-bootloader:
	$(OPENOCD) --search ../px4_bootloader -f $(JTAGCONFIG) -f stm32f4x.cfg -c init -c "reset halt" -c "flash write_image erase $(BINARY) 0x08000000" -c "reset run" -c shutdown

# Use to upload to a stm32f4-discovery devboard, requires the latest version of openocd (from git)
# build openocd with "cd openocd; ./bootstrap; ./configure --enable-maintainer-mode --enable-stlink"
upload-discovery: 
	$(OPENOCD) --search ../px4_bootloader -f board/stm32f4discovery.cfg -c init -c "reset halt" -c "flash probe 0" -c "stm32f2x mass_erase 0" -c "flash write_image erase $(BINARY) 0x08000000" -c "reset" -c shutdown