HAL_F4Light: added support scripts for binaries with bootloader, fixed non-BL versions

2018-03-19 15:31:06 +05:00 · 2018-03-19 15:31:06 +05:00 · a3ebb5c069
parent a5934c721e
commit a3ebb5c069
30 changed files with 153 additions and 79 deletions
--- a/libraries/AP_HAL_F4Light/boards/f4light_Airbot/board.h
+++ b/libraries/AP_HAL_F4Light/boards/f4light_Airbot/board.h
@ -133,16 +133,13 @@
 #define BOARD_DATAFLASH_PAGES 0x10000
 #define BOARD_DATAFLASH_ERASE_SIZE (4096)// in bytes

-#if 1// if board's dataflash supports 4k erases then we can use it as FAT and share it via USB
+// if board's dataflash supports 4k erases then we can use it as FAT and share it via USB
 #define BOARD_DATAFLASH_FATFS
 #define BOARD_HAS_SDIO
 #define USB_MASSSTORAGE
 #define HAL_BOARD_LOG_DIRECTORY "0:"
 #define HAL_BOARD_TERRAIN_DIRECTORY "0:/TERRAIN"
 //#define HAL_PARAM_DEFAULTS_PATH "0:/defaults.parm"
-#else
-// old dataflash logs
-#endif

 #define BOARD_UARTS_LAYOUT 2

--- a/libraries/AP_HAL_F4Light/boards/f4light_Airbot/support/UPLOAD-STLINK.sh
+++ b/libraries/AP_HAL_F4Light/boards/f4light_Airbot/support/UPLOAD-STLINK.sh
@ -4,9 +4,7 @@
 #/usr/local/stlink/st-flash  --reset write /tmp/ArduCopter.build/f4light_Revolution.bin 0x08010000

 #bare metal binary
-/usr/local/stlink/st-flash  --reset read  eeprom.bin 0x08004000  0xc000 && \
-/usr/local/stlink/st-flash  --reset write ../../../../../ArduCopter/f4light_Airbot_bl.bin 0x08000000 
-/usr/local/stlink/st-flash  --reset write eeprom.bin 0x08004000 
+/usr/local/stlink/st-flash  --reset write ../../../../../ArduCopter/f4light_Airbot.bin 0x08010000 
 /usr/local/stlink/st-util -m


--- a/libraries/AP_HAL_F4Light/boards/f4light_Airbot/support/UPLOAD-plane-STLINK.sh
+++ b/libraries/AP_HAL_F4Light/boards/f4light_Airbot/support/UPLOAD-plane-STLINK.sh
@ -4,9 +4,7 @@
 #/usr/local/stlink/st-flash  --reset write /tmp/ArduCopter.build/f4light_Revolution.bin 0x08010000

 #bare metal binary
-/usr/local/stlink/st-flash  --reset read  eeprom.bin 0x08004000  0xc000 && \
-/usr/local/stlink/st-flash  --reset write ../../../../../ArduPlane/f4light_Airbot_bl.bin 0x08000000 && \
-/usr/local/stlink/st-flash  --reset write eeprom.bin 0x08004000  && \
+/usr/local/stlink/st-flash  --reset write ../../../../../ArduPlane/f4light_Airbot.bin 0x08010000 && \
 /usr/local/stlink/st-util -m


--- a/libraries/AP_HAL_F4Light/boards/f4light_Airbot/support/bl/UPLOAD-DFU.sh
+++ b/libraries/AP_HAL_F4Light/boards/f4light_Airbot/support/bl/UPLOAD-DFU.sh
@ -0,0 +1,8 @@
+#!/bin/sh
+
+#production binary for bootloader
+dfu-util -a 0 --dfuse-address 0x08010000:leave -D ../../../../../ArduCopter/f4light_Airbot.bin
+
+# bare metal binary
+#dfu-util -a 0 --dfuse-address 0x08000000:unprotect:force -D ../../../../../ArduCopter/f4light_Airbot.bin
+
--- a/libraries/AP_HAL_F4Light/boards/f4light_Airbot/support/bl/UPLOAD-STLINK.sh
+++ b/libraries/AP_HAL_F4Light/boards/f4light_Airbot/support/bl/UPLOAD-STLINK.sh
@ -0,0 +1,12 @@
+#!/bin/sh
+
+# production binary with bootloader
+#/usr/local/stlink/st-flash  --reset write /tmp/ArduCopter.build/f4light_Revolution.bin 0x08010000
+
+#bare metal binary
+/usr/local/stlink/st-flash  --reset read  eeprom.bin 0x08004000  0xc000 && \
+/usr/local/stlink/st-flash  --reset write ../../../../../ArduCopter/f4light_Airbot_bl.bin 0x08000000 
+/usr/local/stlink/st-flash  --reset write eeprom.bin 0x08004000 
+/usr/local/stlink/st-util -m
+
+
--- a/libraries/AP_HAL_F4Light/boards/f4light_Airbot/support/bl/UPLOAD-plane-STLINK.sh
+++ b/libraries/AP_HAL_F4Light/boards/f4light_Airbot/support/bl/UPLOAD-plane-STLINK.sh
@ -0,0 +1,12 @@
+#!/bin/sh
+
+# production binary with bootloader
+#/usr/local/stlink/st-flash  --reset write /tmp/ArduCopter.build/f4light_Revolution.bin 0x08010000
+
+#bare metal binary
+/usr/local/stlink/st-flash  --reset read  eeprom.bin 0x08004000  0xc000 && \
+/usr/local/stlink/st-flash  --reset write ../../../../../ArduPlane/f4light_Airbot_bl.bin 0x08000000 && \
+/usr/local/stlink/st-flash  --reset write eeprom.bin 0x08004000  && \
+/usr/local/stlink/st-util -m
+
+
--- a/libraries/AP_HAL_F4Light/boards/f4light_Revolution/board.h
+++ b/libraries/AP_HAL_F4Light/boards/f4light_Revolution/board.h
@ -148,17 +148,7 @@
 #define BOARD_DATAFLASH_NAME            "dataflash"
 #define BOARD_DATAFLASH_PAGES           0x2000
 #define BOARD_DATAFLASH_ERASE_SIZE (65536)// in bytes
-
-#if 0// use it as FAT and share it via USB
-#define BOARD_DATAFLASH_FATFS
-#define USB_MASSSTORAGE
-#define HAL_BOARD_LOG_DIRECTORY "0:/"
-#define HAL_BOARD_TERRAIN_DIRECTORY "0:/TERRAIN"
-//#define HAL_PARAM_DEFAULTS_PATH "0:/APM/defaults.parm"
-#else
-// old dataflash logs
-#endif
-
+#define HAL_BOARD_LOG_DIRECTORY "" // should be defined to logs works

 #define BOARD_UARTS_LAYOUT 1
 #define USE_SOFTSERIAL 1
@ -186,10 +176,10 @@
 #define USE_SERIAL_4WAY_BLHELI_INTERFACE


-//#define HAL_CONSOLE USB_Driver // console on USB
-//#define HAL_CONSOLE_PORT 0 // USB
-#define HAL_CONSOLE uart1Driver // console on radio
-#define HAL_CONSOLE_PORT 1 // console on radio
+#define HAL_CONSOLE USB_Driver // console on USB
+#define HAL_CONSOLE_PORT 0 // USB
+//#define HAL_CONSOLE uart1Driver // console on radio
+//#define HAL_CONSOLE_PORT 1 // console on radio

 /*
    // @Param: FLEXI_I2C
@ -198,9 +188,8 @@
    // @Values: 0:USART, 1:I2C
    // @User: Advanced
    AP_GROUPINFO("FLEXI_I2C",    6, AP_Param_Helper, _flexi_i2c, 0) \
-
-
 */
+
 #define BOARD_HAL_VARINFO \
    AP_GROUPINFO("FLEXI_I2C",    30, AP_Param_Helper, _flexi_i2c, 0),
    
--- a/libraries/AP_HAL_F4Light/boards/f4light_Revolution/support/UPLOAD-STLINK.sh
+++ b/libraries/AP_HAL_F4Light/boards/f4light_Revolution/support/UPLOAD-STLINK.sh
@ -4,9 +4,7 @@
 #/usr/local/stlink/st-flash  --reset write /tmp/ArduCopter.build/f4light_Revolution.bin 0x08010000

 #bare metal binary or binary with bootloader
-/usr/local/stlink/st-flash  --reset read  eeprom.bin 0x08004000  0xc000 && \
-/usr/local/stlink/st-flash  --reset write ../../../../../ArduCopter/f4light_Revolution_bl.bin 0x08000000 && \
-/usr/local/stlink/st-flash  --reset write eeprom.bin 0x08004000  && \
+/usr/local/stlink/st-flash  --reset write ../../../../../ArduCopter/f4light_Revolution.bin 0x08010000 && \
 /usr/local/stlink/st-util -m


--- a/libraries/AP_HAL_F4Light/boards/f4light_Revolution/support/UPLOAD-plane-STLINK.sh
+++ b/libraries/AP_HAL_F4Light/boards/f4light_Revolution/support/UPLOAD-plane-STLINK.sh
@ -4,9 +4,7 @@
 #/usr/local/stlink/st-flash  --reset write /tmp/ArduCopter.build/f4light_Revolution.bin 0x08010000

 #bare metal binary
-/usr/local/stlink/st-flash  --reset read  eeprom.bin 0x08004000  0xc000 && \
-/usr/local/stlink/st-flash  --reset write ../../../../../ArduPlane/f4light_Revolution_bl.bin 0x08000000 && \
-/usr/local/stlink/st-flash  --reset write eeprom.bin 0x08004000  && \
+/usr/local/stlink/st-flash  --reset write ../../../../../ArduPlane/f4light_Revolution.bin 0x08010000 && \
 /usr/local/stlink/st-util -m


--- a/libraries/AP_HAL_F4Light/boards/f4light_Revolution/support/bl/UPLOAD-STLINK.sh
+++ b/libraries/AP_HAL_F4Light/boards/f4light_Revolution/support/bl/UPLOAD-STLINK.sh
@ -0,0 +1,12 @@
+#!/bin/sh
+
+# production binary without bootloader
+#/usr/local/stlink/st-flash  --reset write /tmp/ArduCopter.build/f4light_Revolution.bin 0x08010000
+
+#bare metal binary or binary with bootloader
+/usr/local/stlink/st-flash  --reset read  eeprom.bin 0x08004000  0xc000 && \
+/usr/local/stlink/st-flash  --reset write ../../../../../../ArduCopter/f4light_Revolution_bl.bin 0x08000000 && \
+/usr/local/stlink/st-flash  --reset write eeprom.bin 0x08004000  && \
+/usr/local/stlink/st-util -m
+
+
--- a/libraries/AP_HAL_F4Light/boards/f4light_Revolution/support/bl/UPLOAD-plane-STLINK.sh
+++ b/libraries/AP_HAL_F4Light/boards/f4light_Revolution/support/bl/UPLOAD-plane-STLINK.sh
@ -0,0 +1,12 @@
+#!/bin/sh
+
+# production binary with bootloader
+#/usr/local/stlink/st-flash  --reset write /tmp/ArduCopter.build/f4light_Revolution.bin 0x08010000
+
+#bare metal binary
+/usr/local/stlink/st-flash  --reset read  eeprom.bin 0x08004000  0xc000 && \
+/usr/local/stlink/st-flash  --reset write ../../../../../ArduPlane/f4light_Revolution_bl.bin 0x08000000 && \
+/usr/local/stlink/st-flash  --reset write eeprom.bin 0x08004000  && \
+/usr/local/stlink/st-util -m
+
+
--- a/libraries/AP_HAL_F4Light/boards/f4light_Revolution_EE128/board.h
+++ b/libraries/AP_HAL_F4Light/boards/f4light_Revolution_EE128/board.h
@ -149,15 +149,11 @@
 #define BOARD_DATAFLASH_PAGES           0x10000
 #define BOARD_DATAFLASH_ERASE_SIZE      (4096)// in bytes

-#if 1// use it as FAT and share it via USB
 #define BOARD_DATAFLASH_FATFS
 #define USB_MASSSTORAGE
 #define HAL_BOARD_LOG_DIRECTORY "0:/"
 #define HAL_BOARD_TERRAIN_DIRECTORY "0:/TERRAIN"
 //#define HAL_PARAM_DEFAULTS_PATH "0:/APM/defaults.parm"
-#else
-// old dataflash logs
-#endif


 #define BOARD_UARTS_LAYOUT 1
--- a/libraries/AP_HAL_F4Light/boards/f4light_Revolution_SD/rules.mk
+++ b/libraries/AP_HAL_F4Light/boards/f4light_Revolution_SD/rules.mk
@ -49,3 +49,4 @@ TGT_BIN += $(OBJS_$(d))
 d               := $(dirstack_$(sp))
 sp              := $(basename $(sp))

+include $(HARDWARE_PATH)/massstorage/rules.mk
--- a/libraries/AP_HAL_F4Light/boards/f4light_Revolution_SD/support/UPLOAD-STLINK.sh
+++ b/libraries/AP_HAL_F4Light/boards/f4light_Revolution_SD/support/UPLOAD-STLINK.sh
@ -4,9 +4,7 @@
 #/usr/local/stlink/st-flash  --reset write /tmp/ArduCopter.build/f4light_Revolution.bin 0x08010000

 #bare metal binary or binary with bootloader
-/usr/local/stlink/st-flash  --reset read  eeprom.bin 0x08004000  0xc000 && \
-/usr/local/stlink/st-flash  --reset write ../../../../../ArduCopter/f4light_Revolution_SD_bl.bin 0x08000000 && \
-/usr/local/stlink/st-flash  --reset write eeprom.bin 0x08004000  && \
+/usr/local/stlink/st-flash  --reset write ../../../../../ArduCopter/f4light_Revolution_SD.bin 0x08010000 && \
 /usr/local/stlink/st-util -m


--- a/libraries/AP_HAL_F4Light/boards/f4light_Revolution_SD/support/UPLOAD-plane-STLINK.sh
+++ b/libraries/AP_HAL_F4Light/boards/f4light_Revolution_SD/support/UPLOAD-plane-STLINK.sh
@ -4,9 +4,7 @@
 #/usr/local/stlink/st-flash  --reset write /tmp/ArduCopter.build/f4light_Revolution.bin 0x08010000

 #bare metal binary
-/usr/local/stlink/st-flash  --reset read  eeprom.bin 0x08004000  0xc000 && \
-/usr/local/stlink/st-flash  --reset write ../../../../../ArduPlane/f4light_Revolution_SD_bl.bin 0x08000000
-/usr/local/stlink/st-flash  --reset write eeprom.bin 0x08004000
+/usr/local/stlink/st-flash  --reset write ../../../../../ArduPlane/f4light_Revolution_SD.bin 0x08010000
 /usr/local/stlink/st-util -m


--- a/libraries/AP_HAL_F4Light/boards/f4light_Revolution_SD/support/bl/UPLOAD-STLINK.sh
+++ b/libraries/AP_HAL_F4Light/boards/f4light_Revolution_SD/support/bl/UPLOAD-STLINK.sh
@ -0,0 +1,12 @@
+#!/bin/sh
+
+# production binary without bootloader
+#/usr/local/stlink/st-flash  --reset write /tmp/ArduCopter.build/f4light_Revolution.bin 0x08010000
+
+#bare metal binary or binary with bootloader
+/usr/local/stlink/st-flash  --reset read  eeprom.bin 0x08004000  0xc000 && \
+/usr/local/stlink/st-flash  --reset write ../../../../../../ArduCopter/f4light_Revolution_SD_bl.bin 0x08000000 && \
+/usr/local/stlink/st-flash  --reset write eeprom.bin 0x08004000  && \
+/usr/local/stlink/st-util -m
+
+
--- a/libraries/AP_HAL_F4Light/boards/f4light_Revolution_SD/support/bl/UPLOAD-plane-STLINK.sh
+++ b/libraries/AP_HAL_F4Light/boards/f4light_Revolution_SD/support/bl/UPLOAD-plane-STLINK.sh
@ -0,0 +1,12 @@
+#!/bin/sh
+
+# production binary with bootloader
+#/usr/local/stlink/st-flash  --reset write /tmp/ArduCopter.build/f4light_Revolution.bin 0x08010000
+
+#bare metal binary
+/usr/local/stlink/st-flash  --reset read  eeprom.bin 0x08004000  0xc000 && \
+/usr/local/stlink/st-flash  --reset write ../../../../../../ArduPlane/f4light_Revolution_SD_bl.bin 0x08000000
+/usr/local/stlink/st-flash  --reset write eeprom.bin 0x08004000
+/usr/local/stlink/st-util -m
+
+
--- a/libraries/AP_HAL_F4Light/boards/f4light_cl_racing/board.cpp
+++ b/libraries/AP_HAL_F4Light/boards/f4light_cl_racing/board.cpp
@ -178,10 +178,14 @@ void boardInit(void) {
 #endif

 #ifdef BOARD_MPU6000_DRDY_PIN
-    // Init MPU6000 DRDY pin - but it not used by driver
    gpio_set_mode(PIN_MAP[BOARD_MPU6000_DRDY_PIN].gpio_device, PIN_MAP[BOARD_MPU6000_DRDY_PIN].gpio_bit, GPIO_INPUT_PU);
 #endif

+#ifdef BOARD_BUZZER_PIN
+    gpio_set_mode(PIN_MAP[BOARD_BUZZER_PIN].gpio_device, PIN_MAP[BOARD_BUZZER_PIN].gpio_bit, GPIO_OUTPUT_PP);
+    gpio_write_bit(PIN_MAP[BOARD_BUZZER_PIN].gpio_device, PIN_MAP[BOARD_BUZZER_PIN].gpio_bit, HAL_BUZZER_OFF);
+#endif
+
 #ifdef BOARD_SBUS_INVERTER
 // it is not necessary because of 10K resistor to ground
    gpio_set_mode( PIN_MAP[BOARD_SBUS_INVERTER].gpio_device, PIN_MAP[BOARD_SBUS_INVERTER].gpio_bit, GPIO_OUTPUT_PP);
--- a/libraries/AP_HAL_F4Light/boards/f4light_cl_racing/board.h
+++ b/libraries/AP_HAL_F4Light/boards/f4light_cl_racing/board.h
@ -61,8 +61,6 @@



-
-
 #define BOARD_USB_SENSE 11      // PC5


@ -75,17 +73,16 @@
 //#define BOARD_SOFTSERIAL_RX 15


-# define BOARD_BLUE_LED_PIN        36  // BLUE
-# define BOARD_GREEN_LED_PIN        6   // NC - PC0 pin 8
+# define BOARD_BLUE_LED_PIN      36  // BLUE
+# define BOARD_GREEN_LED_PIN     105   // NC - PC0 pin 8

 # define HAL_GPIO_A_LED_PIN      BOARD_BLUE_LED_PIN
 # define HAL_GPIO_B_LED_PIN      BOARD_GREEN_LED_PIN

-# define HAL_GPIO_LED_ON           LOW
-# define HAL_GPIO_LED_OFF          HIGH
+# define HAL_GPIO_LED_ON         LOW
+# define HAL_GPIO_LED_OFF        HIGH

-
-#define BOARD_NR_GPIO_PINS      109
+#define BOARD_NR_GPIO_PINS       109

 //TODO add #define BOARD_HAS_UART3 ?

@ -118,16 +115,12 @@

 #define BOARD_INS_DEFAULT HAL_INS_MPU60XX_SPI
 #define BOARD_INS_ROTATION  ROTATION_NONE
-#define BOARD_INS_MPU60x0_NAME            "mpu6000"
-
-#define BOARD_MPU6000_CS_PIN	51  // PA4
-#define BOARD_MPU6000_DRDY_PIN	10  // PC4
-
-
+#define BOARD_INS_MPU60x0_NAME          "mpu6000"
+#define BOARD_MPU6000_CS_PIN	        51  // PA4
+#define BOARD_MPU6000_DRDY_PIN	        10  // PC4

 #define BOARD_STORAGE_SIZE            8192 // 4096 // EEPROM size

-
 #define BOARD_SDCARD_NAME "sdcard"
 #define BOARD_SDCARD_CS_PIN    2 // PB12
 //#define BOARD_SDCARD_DET_PIN  38 // PB7
@ -172,13 +165,8 @@
 #define SERVO_PIN_5 105 // PB4   - buzzer
 //#define SERVO_PIN_6 22 // PA8

-#if 1
 #define HAL_CONSOLE USB_Driver // console on USB
 #define HAL_CONSOLE_PORT 0
-#else
- #define HAL_CONSOLE uart1Driver // console on radio
- #define HAL_CONSOLE_PORT 1
-#endif

 /*
    // @Param: USB_STORAGE
--- a/libraries/AP_HAL_F4Light/boards/f4light_cl_racing/support/UPLOAD-STLINK.sh
+++ b/libraries/AP_HAL_F4Light/boards/f4light_cl_racing/support/UPLOAD-STLINK.sh
@ -4,9 +4,7 @@
 #/usr/local/stlink/st-flash  --reset write /tmp/ArduCopter.build/f4light_Revolution.bin 0x08010000

 #bare metal binary
-/usr/local/stlink/st-flash  --reset read  eeprom.bin 0x08004000  0xc000 && \
-/usr/local/stlink/st-flash  --reset write ../../../../../ArduCopter/f4light_cl_racing_bl.bin 0x08000000 && \
-/usr/local/stlink/st-flash  --reset write eeprom.bin 0x08004000  && \
+/usr/local/stlink/st-flash  --reset write ../../../../../ArduCopter/f4light_cl_racing.bin 0x08010000 && \
 /usr/local/stlink/st-util -m


--- a/libraries/AP_HAL_F4Light/boards/f4light_cl_racing/support/UPLOAD-plane-STLINK.sh
+++ b/libraries/AP_HAL_F4Light/boards/f4light_cl_racing/support/UPLOAD-plane-STLINK.sh
@ -4,9 +4,7 @@
 #/usr/local/stlink/st-flash  --reset write /tmp/ArduCopter.build/f4light_Revolution.bin 0x08010000

 #bare metal binary
-/usr/local/stlink/st-flash  --reset read  eeprom.bin 0x08004000  0xc000 && \
-/usr/local/stlink/st-flash  --reset write ../../../../../ArduPlane/f4light_cl_racing_bl.bin 0x08000000 &&  \
-/usr/local/stlink/st-flash  --reset write eeprom.bin 0x08004000  && \
+/usr/local/stlink/st-flash  --reset write ../../../../../ArduPlane/f4light_cl_racing.bin 0x08010000 &&  \
 /usr/local/stlink/st-util -m


--- a/libraries/AP_HAL_F4Light/boards/f4light_cl_racing/support/bl/UPLOAD-DFU.sh
+++ b/libraries/AP_HAL_F4Light/boards/f4light_cl_racing/support/bl/UPLOAD-DFU.sh
@ -0,0 +1,12 @@
+#!/bin/sh
+
+#production binary for bootloader
+#dfu-util -a 0 --dfuse-address 0x08010000 -D /tmp/ArduCopter.build/f4light_AirbotV2.bin
+
+# bare metal binary
+
+#dfu-util -a 0 --dfuse-address 0x08000000:unprotect:force -D /tmp/ArduCopter.build/f4light_Revolution.bin
+#dfu-util -a 0 --dfuse-address 0x08000000:leave -D ../../../../../ArduCopter/f4light_Revolution.bin -R
+
+dfu-util -a 0 --dfuse-address 0x08010000:leave -D ../../../../../ArduCopter/f4light_cl_racing.bin -R
+
--- a/libraries/AP_HAL_F4Light/boards/f4light_cl_racing/support/bl/UPLOAD-STLINK.sh
+++ b/libraries/AP_HAL_F4Light/boards/f4light_cl_racing/support/bl/UPLOAD-STLINK.sh
@ -0,0 +1,12 @@
+#!/bin/sh
+
+# production binary with bootloader
+#/usr/local/stlink/st-flash  --reset write /tmp/ArduCopter.build/f4light_Revolution.bin 0x08010000
+
+#bare metal binary
+/usr/local/stlink/st-flash  --reset read  eeprom.bin 0x08004000  0xc000 && \
+/usr/local/stlink/st-flash  --reset write ../../../../../ArduCopter/f4light_cl_racing_bl.bin 0x08000000 && \
+/usr/local/stlink/st-flash  --reset write eeprom.bin 0x08004000  && \
+/usr/local/stlink/st-util -m
+
+
--- a/libraries/AP_HAL_F4Light/boards/f4light_cl_racing/support/bl/UPLOAD-plane-STLINK.sh
+++ b/libraries/AP_HAL_F4Light/boards/f4light_cl_racing/support/bl/UPLOAD-plane-STLINK.sh
@ -0,0 +1,12 @@
+#!/bin/sh
+
+# production binary with bootloader
+#/usr/local/stlink/st-flash  --reset write /tmp/ArduCopter.build/f4light_Revolution.bin 0x08010000
+
+#bare metal binary
+/usr/local/stlink/st-flash  --reset read  eeprom.bin 0x08004000  0xc000 && \
+/usr/local/stlink/st-flash  --reset write ../../../../../ArduPlane/f4light_cl_racing_bl.bin 0x08000000 &&  \
+/usr/local/stlink/st-flash  --reset write eeprom.bin 0x08004000  && \
+/usr/local/stlink/st-util -m
+
+
--- a/libraries/AP_HAL_F4Light/support/EEPROM_Read_DFU.sh
+++ b/libraries/AP_HAL_F4Light/support/EEPROM_Read_DFU.sh
@ -0,0 +1,3 @@
+#!/bin/sh
+
+dfu-util -a 0 --dfuse-address 0x08004000:leave -Z 0xc000 -U $1.bin  -R
--- a/libraries/AP_HAL_F4Light/support/EEPROM_Write.sh
+++ b/libraries/AP_HAL_F4Light/support/EEPROM_Write.sh
@ -1,4 +1,4 @@
 #!/bin/sh
-/usr/local/stlink/st-flash  --reset write $1.bin 0x08004000 
+/usr/local/stlink/st-flash  --reset write $1 0x08004000 


--- a/libraries/AP_HAL_F4Light/support/EEPROM_Write_DFU.sh
+++ b/libraries/AP_HAL_F4Light/support/EEPROM_Write_DFU.sh
@ -1,3 +1,3 @@
 #!/bin/sh

-dfu-util -a 0 --dfuse-address 0x08004000:leave -D $1.bin -R
+dfu-util -a 0 --dfuse-address 0x08004000:leave -D $1 -R
--- a/libraries/AP_HAL_F4Light/support/MMM.sh
+++ b/libraries/AP_HAL_F4Light/support/MMM.sh
@ -86,12 +86,10 @@ mkdir -p $ROOT/Release/Plane
 cp $ROOT/ArduPlane/f4light_cl_racing_bl.bin $ROOT/Release/Plane
 cp $ROOT/ArduPlane/f4light_cl_racing_bl.dfu $ROOT/Release/Plane

- make f4light-clean
-
 )
 ) && ( # AirBotF4 board
 cd $ROOT/ArduCopter
-# make f4light-clean
+ make f4light-clean
 make f4light VERBOSE=1 BOARD=f4light_AirbotV2  && (

 cp $ROOT/ArduCopter/f4light_AirbotV2.bin $ROOT/Release/Copter
--- a/libraries/AP_HAL_F4Light/support/PULL_MASTER.sh
+++ b/libraries/AP_HAL_F4Light/support/PULL_MASTER.sh
@ -3,6 +3,6 @@ git pull --rebase git://github.com/ArduPilot/ardupilot.git master

 # Step 2: Merge the changes and update on GitHub.

-git checkout RevoMini
-git rebase master && git push origin RevoMini
+git checkout Revo
+git rebase master && git push origin Revo

--- a/libraries/AP_HAL_F4Light/support/UPDATE_OSD.sh
+++ b/libraries/AP_HAL_F4Light/support/UPDATE_OSD.sh
@ -7,8 +7,6 @@ git checkout -f master
 git fetch origin
 git reset --hard origin/master
 popd
-
 # git diff # this should show a change to git hash of OSD
 git add minimosd-extra
 git commit -m 'HAL_F4Light: updated OSD submodule'
-