Documantation pass

8 files changed, 576 insertions, 316 deletions

diff --git a/src/drivers/boards/px4cannode-v1/bootloader/src/board_config.h b/src/drivers/boards/px4cannode-v1/bootloader/src/board_config.h
index 3d2a802eb..674621a76 100644
--- a/src/drivers/boards/px4cannode-v1/bootloader/src/board_config.h
+++ b/src/drivers/boards/px4cannode-v1/bootloader/src/board_config.h
@@ -1,9 +1,6 @@
-/************************************************************************************
- * configs/olimexino-stm32/src/olimexino-stm32.h
+/****************************************************************************
  *
- *   Copyright (C) 2015 Gregory Nutt. All rights reserved.
- *   Author: Gregory Nutt <gnutt@nuttx.org>
- *           David_s5 <david_s5@nscdg.com>
+ *   Copyright (c) 2012-2015 PX4 Development Team. All rights reserved.
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions
@@ -15,7 +12,7 @@
  *    notice, this list of conditions and the following disclaimer in
  *    the documentation and/or other materials provided with the
  *    distribution.
- * 3. Neither the name NuttX nor the names of its contributors may be
+ * 3. Neither the name PX4 nor the names of its contributors may be
  *    used to endorse or promote products derived from this software
  *    without specific prior written permission.
  *
@@ -32,252 +29,131 @@
  * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
  * POSSIBILITY OF SUCH DAMAGE.
  *
- ************************************************************************************/
+ ****************************************************************************/
+
+/*
+ * @file board_config.h
+ *
+ * PX4CANNODEv1 for the bootloader internal definitions
+ * This file is related to the parrent folder version but defines 
+ * differnet usages of the hardware for bootloading
+ */
+
+#pragma once
 
-#ifndef __CONFIGS_OLIMEXINO_STM32_SRC_OLIMEXINO_STM32_H
-#define __CONFIGS_OLIMEXINO_STM32_SRC_OLIMEXINO_STM32_H
 
 /************************************************************************************
  * Included Files
  ************************************************************************************/
 
-#include <nuttx/config.h>
+#include "../../board_config.h"
 #include <nuttx/compiler.h>
 #include <stdint.h>
 
-/************************************************************************************
+/****************************************************************************
  * Pre-processor Definitions
- ************************************************************************************/
-
-#if STM32_NSPI < 1
-#  undef CONFIG_STM32_SPI1
-#  undef CONFIG_STM32_SPI2
-#elif STM32_NSPI < 2
-#  undef CONFIG_STM32_SPI2
-#endif
-
-/* LEDs *****************************************************************************
- *
- *   GPIO      Function                                     MPU        Board
- *                                                          Pin #      Name
- * -- ----- --------------------------------             ----------------------------
- *
- *  PA[05] PA5/SPI1_SCK/ADC5                                21       D13(SCK1/LED1)
- *  PA[01] PA1/USART2_RTS/ADC1/TIM2_CH2                     15       D3(LED2)
- */
-
-#define GPIO_LED1       (GPIO_OUTPUT | GPIO_CNF_OUTPP | GPIO_MODE_50MHz | \
-                         GPIO_PORTA | GPIO_PIN5 | GPIO_OUTPUT_CLEAR)
-#define GPIO_LED_GREEN  GPIO_LED1
-#define GPIO_LED2       (GPIO_OUTPUT | GPIO_CNF_OUTPP | GPIO_MODE_50MHz | \
-                         GPIO_PORTA | GPIO_PIN1 | GPIO_OUTPUT_CLEAR)
-#define GPIO_LED_YELLOW GPIO_LED2
-
-/* BUTTON ***************************************************************************
- *
- *   GPIO      Function                                     MPU        Board
- *                                                          Pin #      Name
- * -- ----- --------------------------------             ----------------------------
- *
- *  PC[09] PC9/TIM3_CH4                                     40       BOOT0
- *
- */
-
-#define BUTTON_BOOT0n   (GPIO_INPUT | GPIO_CNF_INFLOAT | GPIO_PORTC | GPIO_PIN9 | \
-                         GPIO_EXTI)
-#define IRQBUTTON       BUTTON_BOOT0_BIT
-
-/* USBs *****************************************************************************
- *
- *   GPIO      Function                                     MPU        Board
- *                                                          Pin #      Name
- * -- ----- --------------------------------             ----------------------------
- *
- *  PC[11] PC11/USART3_RX                                   52       USB_P
- *  PC[12] PC12/USART3_CK                                   53       DISC
- *
- */
-
-#define GPIO_USB_VBUS    (GPIO_INPUT | GPIO_CNF_INFLOAT | GPIO_PORTC | GPIO_PIN11)
-#define GPIO_USB_PULLUPn (GPIO_OUTPUT | GPIO_CNF_OUTPP | GPIO_MODE_50MHz | \
-                          GPIO_PORTC | GPIO_PIN12 | GPIO_OUTPUT_SET)
-
-/* SPI ***************************************************************************
- *
- *   GPIO      Function                                     MPU        Board
- *                                                          Pin #      Name
- * -- ----- --------------------------------             ----------------------------
- *
- *  PC[09] PA4/SPI1_NSS/USART2_CK/ADC4                      20       D10(#SS1)
- *  PD[02] PD2/TIM3_ETR                                     54       D25(MMC_CS)
- */
-
-#define GPIO_SPI1_SSn (GPIO_OUTPUT | GPIO_CNF_OUTPP | GPIO_MODE_50MHz | \
-                       GPIO_PORTC | GPIO_PIN9 | GPIO_OUTPUT_SET)
-#define USER_CSn      GPIO_SPI1_SSn
-
-#define GPIO_SPI2_SSn (GPIO_OUTPUT | GPIO_CNF_OUTPP | GPIO_MODE_50MHz | \
-                       GPIO_PORTD | GPIO_PIN2 | GPIO_OUTPUT_SET)
-#define MMCSD_CSn     GPIO_SPI2_SSn
+ ****************************************************************************/
 
-/* CAN ***************************************************************************
+/* Bootloader Option*****************************************************************
  *
  *   GPIO      Function                                     MPU        Board
  *                                                          Pin #      Name
  * -- ----- --------------------------------             ----------------------------
- *
- *  PB[08] PB8/TIM4_CH3/I2C1_SCL/CANRX                      61       D14(CANRX)
- *  PB[09] PB9/TIM4_CH4/I2C1_SDA/CANTX                      62       D24(CANTX)
- *  PC[13] PC13/ANTI_TAMP                                   2        D21(CAN_CTRL)
+ *  *  PC[09] PC9/TIM3_CH4                                     40       BOOT0
  */
-
-#define GPIO_CAN_CTRL (GPIO_OUTPUT | GPIO_CNF_OUTPP | GPIO_MODE_50MHz | \
-                       GPIO_PORTC | GPIO_PIN13 | GPIO_OUTPUT_CLEAR)
-
 #define GPIO_GETNODEINFO_JUMPER (BUTTON_BOOT0n&~(GPIO_EXTI))
 
 
-/************************************************************************************
- * Public Types
- ************************************************************************************/
+/****************************************************************************
+ * Public Type Definitions
+ ****************************************************************************/
 
+typedef enum {
+
+  reset,
+  autobaud_start,
+  autobaud_end,
+  allocation_start,
+  allocation_end,
+  fw_update_start,
+  fw_update_erase_fail,
+  fw_update_invalid_response,
+  fw_update_timeout,
+  fw_update_invalid_crc,
+  jump_to_app,
+} uiindication_t;
 /************************************************************************************
  * Public data
  ************************************************************************************/
 
 #ifndef __ASSEMBLY__
 
-/************************************************************************************
- * Public Functions
- ************************************************************************************/
+/****************************************************************************
+ * Public Function Prototypes
+ ****************************************************************************/
 
 /************************************************************************************
- * Name: stm32_spiinitialize
+ * Name: stm32_boarddeinitialize
  *
  * Description:
- *   Called to configure SPI chip select GPIO pins.
+ *   This function is called by the bootloader code priore to booting
+ *   the application. Is should place the HW into an benign initialized state.
  *
  ************************************************************************************/
 
-#if defined(CONFIG_STM32_SPI1) || defined(CONFIG_STM32_SPI2) || \
-    defined(CONFIG_STM32_SPI3)
-void weak_function stm32_spiinitialize(void);
-#endif
+void stm32_boarddeinitialize(void);
 
-/************************************************************************************
- * Name: stm32_usbinitialize
+/****************************************************************************
+ * Name: board_get_product_name
  *
  * Description:
- *   Called to setup USB-related GPIO pins.
+ *   Called to retrive the product name. The retuned alue is a assumed
+ *   to be written to a pascal style string that will be length prefixed
+ *   and not null terminated
  *
- ************************************************************************************/
-
-void stm32_usbinitialize(void);
-
-/************************************************************************************
- * Name: stm32_usb_set_pwr_callback()
- *
- * Description:
- *   Called to setup set a call back for USB power state changes.
+ * Input Parameters:
+ *    product_name - A pointer to a buffer to write the name.
+ *    maxlen       - The imum number of chatater that can be written
  *
- * Inputs:
- *   pwr_changed_handler: An interrupt handler that will be called on VBUS power
- *   state changes.
+ * Returned Value:
+ *   The length of charaacters written to the buffer.
  *
- ************************************************************************************/
+ ****************************************************************************/
 
-void stm32_usb_set_pwr_callback(xcpt_t pwr_changed_handler);
+uint8_t board_get_product_name(uint8_t * product_name, size_t maxlen);
 
 /****************************************************************************
- * Name: stm32_led_initialize
+ * Name: board_get_hardware_version
  *
  * Description:
- *   This functions is called very early in initialization to perform board-
- *   specific initialization of LED-related resources.  This includes such
- *   things as, for example, configure GPIO pins to drive the LEDs and also
- *   putting the LEDs in their correct initial state.
- *
- *   NOTE: In most architectures, LED initialization() is called from
- *   board-specific initialization and should, therefore, have the name
- *   <arch>_led_intialize().  But there are a few architectures where the
- *   LED initialization function is still called from common chip
- *   architecture logic.  This interface is not, however, a common board
- *   interface in any event and the name board_led_initialization is
- *   deprecated.
+ *   Called to retrive the hardware version information.
  *
  * Input Parameters:
- *   None
+ *    hw_version - A pointer to a uavcan_hardwareversion_t.
  *
  * Returned Value:
  *   None
  *
  ****************************************************************************/
 
-#ifdef CONFIG_ARCH_LEDS
-void stm32_led_initialize(void);
-#endif
-
-/************************************************************************************
- * Name: stm32_can_initialize
- *
- * Description:
- *   Called at application startup time to initialize the CAN functionality.
- *
- ************************************************************************************/
-
-#if defined(CONFIG_CAN) && (defined(CONFIG_STM32_CAN1) || defined(CONFIG_STM32_CAN2))
-int stm32_can_initialize(void);
-#endif
+void board_get_hardware_version(uavcan_hardwareversion_t * hw_version);
 
 /****************************************************************************
- * Name: usbmsc_archinitialize
+ * Name: board_indicate
  *
  * Description:
- *   Called from the application system/usbmc or the boards_nsh if the
- *   application is not included.
- *   Perform architecture specific initialization.  This function must
- *   configure the block device to export via USB.  This function must be
- *   provided by architecture-specific logic in order to use this add-on.
+ *   Provides User feedback to indicate the state of the bootloader
+ *   on board specific  hardware.
  *
- ****************************************************************************/
-
-#if !defined(CONFIG_NSH_BUILTIN_APPS) && !defined(CONFIG_SYSTEM_USBMSC)
-int usbmsc_archinitialize(void);
-#endif
-
-/****************************************************************************
- * Name: composite_archinitialize
+ * Input Parameters:
+ *    indication - A member of the uiindication_t
  *
- * Description:
- *   Called from the application system/composite or the boards_nsh if the
- *   application is not included.
- *   Perform architecture specific initialization.  This function must
- *   configure the block device to export via USB.  This function must be
- *   provided by architecture-specific logic in order to use this add-on.
+ * Returned Value:
+ *   None
  *
  ****************************************************************************/
 
-#if !defined(CONFIG_NSH_BUILTIN_APPS) && !defined(CONFIG_SYSTEM_COMPOSITE)
-extern int composite_archinitialize(void);
-#endif
-
-uint8_t board_get_product_name(uint8_t * product_name);
-void board_get_hardware_version(uavcan_hardwareversion_t * hw_version);
-void board_initialize(void);
-void board_indicate_reset(void);
-void board_indicate_autobaud_start(void);
-void board_indicate_autobaud_end(void);
-void board_indicate_allocation_start(void);
-void board_indicate_allocation_end(void);
-void board_indicate_fw_update_start(void);
-void board_indicate_fw_update_erase_fail(void);
-void board_indicate_fw_update_invalid_response(void);
-void board_indicate_fw_update_timeout(void);
-void board_indicate_fw_update_invalid_crc(void);
-void board_indicate_jump_to_app(void);
-void stm32_boarddeinitialize(void);
-uint8_t board_get_wait_for_getnodeinfo_flag(void);
+void board_indicate(uiindication_t indication);
 
 
 #endif /* __ASSEMBLY__ */
-#endif /* __CONFIGS_OLIMEXINO_STM32_SRC_OLIMEXINO_STM32_H */
diff --git a/src/drivers/boards/px4cannode-v1/bootloader/src/boot.c b/src/drivers/boards/px4cannode-v1/bootloader/src/boot.c
index 6f1a07d13..57897910e 100644
--- a/src/drivers/boards/px4cannode-v1/bootloader/src/boot.c
+++ b/src/drivers/boards/px4cannode-v1/bootloader/src/boot.c
@@ -1,9 +1,9 @@
-/************************************************************************************
- * configs/olimexino-stm32/src/bl_boot.c
+/****************************************************************************
  *
- *   Copyright (C) 2015 Gregory Nutt. All rights reserved.
- *   Author: Gregory Nutt <gnutt@nuttx.org>
- *           David Sidrane <david_s5@nscdg.com>
+ *   Copyright (c) 2015 PX4 Development Team. All rights reserved.
+ *       Author: Ben Dyer <ben_dyer@mac.com>
+ *               Pavel Kirienko <pavel.kirienko@zubax.com>
+ *               David Sidrane <david_s5@nscdg.com>
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions
@@ -15,7 +15,7 @@
  *    notice, this list of conditions and the following disclaimer in
  *    the documentation and/or other materials provided with the
  *    distribution.
- * 3. Neither the name NuttX nor the names of its contributors may be
+ * 3. Neither the name PX4 nor the names of its contributors may be
  *    used to endorse or promote products derived from this software
  *    without specific prior written permission.
  *
@@ -32,11 +32,11 @@
  * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
  * POSSIBILITY OF SUCH DAMAGE.
  *
- ************************************************************************************/
+ ****************************************************************************/
 
-/************************************************************************************
+/****************************************************************************
  * Included Files
- ************************************************************************************/
+ ****************************************************************************/
 
 #include <nuttx/config.h>
 #include "app_config.h"
@@ -46,21 +46,35 @@
 
 #include <nuttx/board.h>
 
-
 #include "board_config.h"
 
-
-/************************************************************************************
+/****************************************************************************
  * Pre-processor Definitions
- ************************************************************************************/
+ ****************************************************************************/
 
-/************************************************************************************
+/****************************************************************************
+ * Private Types
+ ****************************************************************************/
+
+/****************************************************************************
+ * Private Function Prototypes
+ ****************************************************************************/
+
+/****************************************************************************
+ * Private Data
+ ****************************************************************************/
+
+/****************************************************************************
+ * Public Data
+ ****************************************************************************/
+
+/****************************************************************************
  * Private Functions
- ************************************************************************************/
+ ****************************************************************************/
 
-/************************************************************************************
+/****************************************************************************
  * Public Functions
- ************************************************************************************/
+ ****************************************************************************/
 
 /************************************************************************************
  * Name: stm32_boardinitialize
@@ -89,6 +103,15 @@ __EXPORT void stm32_boardinitialize(void)
 
 }
 
+/************************************************************************************
+ * Name: stm32_boarddeinitialize
+ *
+ * Description:
+ *   This function is called by the bootloader code priore to booting
+ *   the application. Is should place the HW into an benign initialized state.
+ *
+ ************************************************************************************/
+
 void stm32_boarddeinitialize(void)
 {
 
@@ -96,23 +119,46 @@ void stm32_boarddeinitialize(void)
            STM32_RCC_APB1RSTR);
 }
 
-#include <nuttx/config.h>
-#include "app_config.h"
-
-#include <stdint.h>
-
-#include "stm32.h"
-
-
+/****************************************************************************
+ * Name: board_get_product_name
+ *
+ * Description:
+ *   Called to retrive the product name. The retuned alue is a assumed
+ *   to be written to a pascal style string that will be length prefixed
+ *   and not null terminated
+ *
+ * Input Parameters:
+ *    product_name - A pointer to a buffer to write the name.
+ *    maxlen       - The imum number of chatater that can be written
+ *
+ * Returned Value:
+ *   The length of charaacters written to the buffer.
+ *
+ ****************************************************************************/
 
-uint8_t board_get_product_name(uint8_t * product_name)
+uint8_t board_get_product_name(uint8_t * product_name, size_t maxlen)
 {
+  DEBUGASSERT(maxlen > 3);
   product_name[0] = 'h';
   product_name[1] = 'i';
   product_name[2] = '!';
   return 3u;
 }
 
+/****************************************************************************
+ * Name: board_get_hardware_version
+ *
+ * Description:
+ *   Called to retrive the hardware version information.
+ *
+ * Input Parameters:
+ *    hw_version - A pointer to a uavcan_hardwareversion_t.
+ *
+ * Returned Value:
+ *   None
+ *
+ ****************************************************************************/
+
 void board_get_hardware_version(uavcan_hardwareversion_t * hw_version)
 {
   uint32_t i;
@@ -138,62 +184,22 @@ void board_get_hardware_version(uavcan_hardwareversion_t * hw_version)
   hw_version->certificate_of_authenticity_length = 0u;
 }
 
-void board_indicate_reset(void)
-{
-
-}
-
-void board_indicate_autobaud_start(void)
-{
-
-}
-
-void board_indicate_autobaud_end(void)
-{
-
-}
-
-void board_indicate_allocation_start(void)
-{
-
-}
-
-void board_indicate_allocation_end(void)
-{
-
-}
-
-void board_indicate_fw_update_start(void)
-{
-
-}
-
-void board_indicate_fw_update_erase_fail(void)
-{
-
-}
-
-void board_indicate_fw_update_invalid_response(void)
-{
-
-}
-
-void board_indicate_fw_update_timeout(void)
-{
-
-}
-
-void board_indicate_fw_update_invalid_crc(void)
-{
-
-}
-
-void board_indicate_jump_to_app(void)
-{
-
-}
+/****************************************************************************
+ * Name: board_indicate
+ *
+ * Description:
+ *   Provides User feedback to indicate the state of the bootloader
+ *   on board specific  hardware.
+ *
+ * Input Parameters:
+ *    indication - A member of the uiindication_t
+ *
+ * Returned Value:
+ *   None
+ *
+ ****************************************************************************/
 
-uint8_t board_get_wait_for_getnodeinfo_flag(void)
+void board_indicate(uiindication_t indication)
 {
-  return 1u;
+//todo:Indicate state on Led
 }
diff --git a/src/drivers/boards/px4cannode-v1/bootloader/src/crc.c b/src/drivers/boards/px4cannode-v1/bootloader/src/crc.c
index cee1dae3f..882829ff1 100644
--- a/src/drivers/boards/px4cannode-v1/bootloader/src/crc.c
+++ b/src/drivers/boards/px4cannode-v1/bootloader/src/crc.c
@@ -1,14 +1,91 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2015 PX4 Development Team. All rights reserved.
+ *       Author: Ben Dyer <ben_dyer@mac.com>
+ *               Pavel Kirienko <pavel.kirienko@zubax.com>
+ *               David Sidrane <david_s5@nscdg.com>
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
 #include <stdint.h>
 #include <stdlib.h>
 #include "crc.h"
 
-/*
-CRC-16-CCITT
-Initial value: 0xFFFF
-Poly: 0x1021
-Reverse: no
-Output xor: 0
-*/
+/****************************************************************************
+ * Pre-processor Definitions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Private Types
+ ****************************************************************************/
+
+/****************************************************************************
+ * Private Function Prototypes
+ ****************************************************************************/
+
+/****************************************************************************
+ * Private Data
+ ****************************************************************************/
+
+/****************************************************************************
+ * Public Data
+ ****************************************************************************/
+
+/****************************************************************************
+ * Private Functions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Public Functions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Name: crc16_add
+ *
+ * Description:
+ *   Use to caculates a CRC-16-CCITT using the polynomial of
+ *   0x1021 by adding a value successive values.
+ *
+ * Input Parameters:
+ *    crc   - The running total of the crc 16
+ *    value - The value to add
+ *
+ * Returned Value:
+ *   The current crc16 with the value processed.
+ *
+ ****************************************************************************/
+
 uint16_t crc16_add(uint16_t crc, uint8_t value)
 {
   uint32_t i;
@@ -28,6 +105,23 @@ uint16_t crc16_add(uint16_t crc, uint8_t value)
   return crc;
 }
 
+/****************************************************************************
+ * Name: crc16_signature
+ *
+ * Description:
+ *   Caculates a CRC-16-CCITT using the crc16_add
+ *   function
+ *
+ * Input Parameters:
+ *    initial - The Inital value to uses as the crc's statrting point
+ *    length  - The number of bytes to add to the crc
+ *    bytes   - A pointer to any array of length bytes
+ *
+ * Returned Value:
+ *   The crc16 of the array of bytes
+ *
+ ****************************************************************************/
+
 uint16_t crc16_signature(uint16_t initial, size_t length,
                          const uint8_t *bytes)
 {
@@ -38,16 +132,23 @@ uint16_t crc16_signature(uint16_t initial, size_t length,
     return initial ^ CRC16_OUTPUT_XOR;
 }
 
+/****************************************************************************
+ * Name: crc64_add
+ *
+ * Description:
+ *   Caculates a CRC-64-WE usinsg the polynomial of 0x42F0E1EBA9EA3693
+ *   See http://reveng.sourceforge.net/crc-catalogue/17plus.htm#crc.cat-bits.64
+ *   Check: 0x62EC59E3F1A4F00A
+ *
+ * Input Parameters:
+ *    crc   - The running total of the crc 64
+ *    value - The value to add
+ *
+ * Returned Value:
+ *   The current crc64 with the value processed.
+ *
+ ****************************************************************************/
 
-/*
-CRC-64-WE
-Description: http://reveng.sourceforge.net/crc-catalogue/17plus.htm#crc.cat-bits.64
-Initial value: 0xFFFFFFFFFFFFFFFF
-Poly: 0x42F0E1EBA9EA3693
-Reverse: no
-Output xor: 0xFFFFFFFFFFFFFFFF
-Check: 0x62EC59E3F1A4F00A
-*/
 uint64_t crc64_add(uint64_t crc, uint8_t value)
 {
   uint32_t i;
diff --git a/src/drivers/boards/px4cannode-v1/bootloader/src/crc.h b/src/drivers/boards/px4cannode-v1/bootloader/src/crc.h
index 8eaf39c04..2ca756b9c 100644
--- a/src/drivers/boards/px4cannode-v1/bootloader/src/crc.h
+++ b/src/drivers/boards/px4cannode-v1/bootloader/src/crc.h
@@ -1,11 +1,117 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2015 PX4 Development Team. All rights reserved.
+ *       Author: Ben Dyer <ben_dyer@mac.com>
+ *               Pavel Kirienko <pavel.kirienko@zubax.com>
+ *               David Sidrane <david_s5@nscdg.com>
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
 #pragma once
 
-#define CRC16_INITIAL 0xFFFFu
-#define CRC16_OUTPUT_XOR 0x0000u
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+/****************************************************************************
+ * Pre-processor Definitions
+ ****************************************************************************/
+#define CRC16_INITIAL           0xFFFFu
+#define CRC16_OUTPUT_XOR        0x0000u
+#define CRC64_INITIAL           0xFFFFFFFFFFFFFFFFull
+#define CRC64_OUTPUT_XOR        0xFFFFFFFFFFFFFFFFull
+
+/****************************************************************************
+ * Public Type Definitions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Global Variables
+ ****************************************************************************/
+
+/****************************************************************************
+ * Public Function Prototypes
+ ****************************************************************************/
+/****************************************************************************
+ * Name: crc16_add
+ *
+ * Description:
+ *   Use to caculates a CRC-16-CCITT using the polynomial of
+ *   0x1021 by adding a value successive values.
+ *
+ * Input Parameters:
+ *    crc   - The running total of the crc 16
+ *    value - The value to add
+ *
+ * Returned Value:
+ *   The current crc16 with the value processed.
+ *
+ ****************************************************************************/
+
 uint16_t crc16_add(uint16_t crc, uint8_t value);
+
+/****************************************************************************
+ * Name: crc16_signature
+ *
+ * Description:
+ *   Caculates a CRC-16-CCITT using the crc16_add
+ *   function
+ *
+ * Input Parameters:
+ *    initial - The Inital value to uses as the crc's statrting point
+ *    length  - The number of bytes to add to the crc
+ *    bytes   - A pointer to any array of length bytes
+ *
+ * Returned Value:
+ *   The crc16 of the array of bytes
+ *
+ ****************************************************************************/
+
 uint16_t crc16_signature(uint16_t initial, size_t length,
                          const uint8_t *bytes);
 
-#define CRC64_INITIAL 0xFFFFFFFFFFFFFFFFull
-#define CRC64_OUTPUT_XOR 0xFFFFFFFFFFFFFFFFull
+/****************************************************************************
+ * Name: crc64_add
+ *
+ * Description:
+ *   Caculates a CRC-64-WE usinsg the polynomial of 0x42F0E1EBA9EA3693
+ *   See http://reveng.sourceforge.net/crc-catalogue/17plus.htm#crc.cat-bits.64
+ *   Check: 0x62EC59E3F1A4F00A
+ *
+ * Input Parameters:
+ *    crc   - The running total of the crc 64
+ *    value - The value to add
+ *
+ * Returned Value:
+ *   The current crc64 with the value processed.
+ *
+ ****************************************************************************/
+
 uint64_t crc64_add(uint64_t crc, uint8_t value);
diff --git a/src/drivers/boards/px4cannode-v1/bootloader/src/flash.c b/src/drivers/boards/px4cannode-v1/bootloader/src/flash.c
index cdf177ac6..8c28b1fbd 100644
--- a/src/drivers/boards/px4cannode-v1/bootloader/src/flash.c
+++ b/src/drivers/boards/px4cannode-v1/bootloader/src/flash.c
@@ -12,7 +12,21 @@
 #include "flash.h"
 
 
-flash_error_t bl_flash_erase(void)
+/****************************************************************************
+ * Name: bl_flash_erase
+ *
+ * Description:
+ *   This function erases the flash starting at the given address
+ *
+ * Input Parameters:
+ *   address - The address of the flash to erase
+ *
+ * Returned value:
+ *   On sucess FLASH_OK On Error one of the flash_error_t
+ *
+ ****************************************************************************/
+
+flash_error_t bl_flash_erase(size_t address)
 {
   /* 
    * FIXME (?): this may take a long time, and while flash is being erased it
@@ -21,13 +35,13 @@ flash_error_t bl_flash_erase(void)
 
   flash_error_t status = FLASH_ERROR_AFU;
 
-  ssize_t bllastpage = up_progmem_getpage(APPLICATION_LOAD_ADDRESS - 1);
+  ssize_t bllastpage = up_progmem_getpage(address - 1);
 
   if (bllastpage >= 0)
     {
 
       status = FLASH_ERROR_SUICIDE;
-      ssize_t appfirstpage = up_progmem_getpage(APPLICATION_LOAD_ADDRESS);
+      ssize_t appfirstpage = up_progmem_getpage(address);
 
       if (appfirstpage > bllastpage)
         {
@@ -51,6 +65,22 @@ flash_error_t bl_flash_erase(void)
   return status;
 }
 
+/****************************************************************************
+ * Name: bl_flash_write_word
+ *
+ * Description:
+ *   This function erases the flash starting at the given address
+ *
+ * Input Parameters:
+ *   flash_address - The address of the flash to write
+ *   data          - A pointer to a buffer of 4 bytes to be written
+ *                   to the flash.
+ *
+ * Returned value:
+ *   On sucess FLASH_OK On Error one of the flash_error_t
+ *
+ ****************************************************************************/
+
 flash_error_t bl_flash_write_word(uint32_t flash_address, const uint8_t data[4])
 {
 
diff --git a/src/drivers/boards/px4cannode-v1/bootloader/src/flash.h b/src/drivers/boards/px4cannode-v1/bootloader/src/flash.h
index 2be47848b..db5f5827b 100644
--- a/src/drivers/boards/px4cannode-v1/bootloader/src/flash.h
+++ b/src/drivers/boards/px4cannode-v1/bootloader/src/flash.h
@@ -1,7 +1,54 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2015 PX4 Development Team. All rights reserved.
+ *       Author: Ben Dyer <ben_dyer@mac.com>
+ *               Pavel Kirienko <pavel.kirienko@zubax.com>
+ *               David Sidrane <david_s5@nscdg.com>
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
 #pragma once
 
-typedef enum
-  {
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+/****************************************************************************
+ * Pre-processor Definitions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Public Type Definitions
+ ****************************************************************************/
+
+typedef enum {
     FLASH_OK = 0,
     FLASH_ERROR,
     FLASH_ERASE_ERROR,
@@ -9,8 +56,45 @@ typedef enum
     FLASH_ERROR_SUICIDE,
     FLASH_ERROR_AFU,
 
-  } flash_error_t;
+} flash_error_t;
+
+/****************************************************************************
+ * Global Variables
+ ****************************************************************************/
+
+/****************************************************************************
+ * Public Function Prototypes
+ ****************************************************************************/
+/****************************************************************************
+ * Name: bl_flash_erase
+ *
+ * Description:
+ *   This function erases the flash starting at the given address
+ *
+ * Input Parameters:
+ *   address - The word aligned address of the flash to erase
+ *
+ * Returned value:
+ *   On sucess FLASH_OK On Error one of the flash_error_t
+ *
+ ****************************************************************************/
+
+flash_error_t bl_flash_erase(size_t address);
+
+/****************************************************************************
+ * Name: bl_flash_write_word
+ *
+ * Description:
+ *   This function erases the flash starting at the given address
+ *
+ * Input Parameters:
+ *   flash_address - The address of the flash to write
+ *   data          - A pointer to a buffer of 4 bytes to be written
+ *                   to the flash.
+ *
+ * Returned value:
+ *   On sucess FLASH_OK On Error one of the flash_error_t
+ *
+ ****************************************************************************/
 
-flash_error_t bl_flash_erase(void);
 flash_error_t bl_flash_write_word(uint32_t flash_address, const uint8_t * word);
-uint64_t flash_crc(uint32_t flash_address, size_t length, uint64_t initial_crc);
diff --git a/src/drivers/boards/px4cannode-v1/bootloader/src/timer.h b/src/drivers/boards/px4cannode-v1/bootloader/src/timer.h
index 530a60859..65f977d3b 100644
--- a/src/drivers/boards/px4cannode-v1/bootloader/src/timer.h
+++ b/src/drivers/boards/px4cannode-v1/bootloader/src/timer.h
@@ -1,9 +1,59 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2015 PX4 Development Team. All rights reserved.
+ *       Author: Ben Dyer <ben_dyer@mac.com>
+ *               Pavel Kirienko <pavel.kirienko@zubax.com>
+ *               David Sidrane <david_s5@nscdg.com>
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
 #pragma once
 
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
 
 #include "stm32.h"
 #include "nvic.h"
 
+/****************************************************************************
+ * Pre-processor Definitions
+ ****************************************************************************/
+
+#define TIMER_HRT_CYCLES_PER_US (STM32_HCLK_FREQUENCY/1000000)
+#define TIMER_HRT_CYCLES_PER_MS (STM32_HCLK_FREQUENCY/1000)
+
+/****************************************************************************
+ * Public Type Definitions
+ ****************************************************************************/
+
 typedef enum {
         //! Specifies a one-shot timer. After notification timer is discarded.
         modeOneShot         = 1,
@@ -17,6 +67,7 @@ typedef enum {
 
 } bl_timer_modes_t;
 
+
 typedef uint8_t bl_timer_id;
 typedef uint32_t time_ms_t;
 typedef volatile time_ms_t* time_ref_t;
@@ -31,8 +82,16 @@ typedef struct {
 
 } bl_timer_cb_t;
 
+
+/****************************************************************************
+ * Global Variables
+ ****************************************************************************/
+
 extern bl_timer_cb_t null_cb;
 
+/****************************************************************************
+ * Public Function Prototypes
+ ****************************************************************************/
 
 void timer_init(void);
 bl_timer_id timer_allocate(bl_timer_modes_t mode, time_ms_t msfromnow, bl_timer_cb_t *fc);
@@ -50,8 +109,6 @@ static inline int timer_ref_expired(time_ref_t ref)
 }
 
 
-#define TIMER_HRT_CYCLES_PER_US (STM32_HCLK_FREQUENCY/1000000)
-#define TIMER_HRT_CYCLES_PER_MS (STM32_HCLK_FREQUENCY/1000)
 
 static inline time_hrt_cycles_t timer_hrt_read(void)
 {
diff --git a/src/drivers/boards/px4cannode-v1/bootloader/uavcan/main.c b/src/drivers/boards/px4cannode-v1/bootloader/uavcan/main.c
index a990b389c..6be947458 100644
--- a/src/drivers/boards/px4cannode-v1/bootloader/uavcan/main.c
+++ b/src/drivers/boards/px4cannode-v1/bootloader/uavcan/main.c
@@ -91,7 +91,7 @@ static void node_info_process(bl_timer_id id, void *context)
   uavcan_pack_nodestatus(response.nodestatus, &node_status);
 
   board_get_hardware_version(&response.hardware_version);
-  response.name_length = board_get_product_name(response.name);
+  response.name_length = board_get_product_name(response.name, sizeof(response.name));
   memset(&response.software_version,0, sizeof(response.software_version));
 
   if (bootloader.app_valid) {
@@ -167,7 +167,7 @@ __EXPORT int main(int argc, char *argv[])
 
   bootloader.app_valid = is_app_valid(bootloader.fw_image[0]);
 
-  board_indicate_reset();
+  board_indicate(reset);
 
 
   bootloader.app_bl_request = (OK == bootloader_app_shared_read(&common, App)) &&
@@ -242,7 +242,7 @@ __EXPORT int main(int argc, char *argv[])
   while (!fw_source_node_id);
 
   timer_stop(tboot);
-  board_indicate_fw_update_start();
+  board_indicate(fw_update_start);
 
   file_getinfo(&fw_image_size, &fw_image_crc, fw_path, fw_path_length,
                fw_source_node_id);
@@ -265,12 +265,12 @@ __EXPORT int main(int argc, char *argv[])
 
   bootloader.app_valid = false;
 
-  status = bl_flash_erase();
+  status = bl_flash_erase(APPLICATION_LOAD_ADDRESS);
   if (status != FLASH_OK)
     {
       /* UAVCANBootloader_v0.3 #28.8: [Erase
        * Failed]:INDICATE_FW_UPDATE_ERASE_FAIL */
-      board_indicate_fw_update_erase_fail();
+      board_indicate(fw_update_erase_fail);
 
       error_log_stage = UAVCAN_LOGMESSAGE_STAGE_ERASE;
       goto failure;
@@ -290,7 +290,7 @@ __EXPORT int main(int argc, char *argv[])
       bootloader.app_valid = 0u;
 
       /* UAVCANBootloader_v0.3 #43: [crc Fail]:INDICATE_FW_UPDATE_INVALID_CRC */
-      board_indicate_fw_update_invalid_crc();
+      board_indicate(fw_update_invalid_crc);
 
       error_log_stage = UAVCAN_LOGMESSAGE_STAGE_VALIDATE;
       goto failure;
@@ -383,16 +383,16 @@ uint64_t get_short_unique_id(void)
 
 int autobaud_and_get_dynamic_node_id(bl_timer_id tboot, can_speed_t *speed, uint32_t *node_id)
 {
-  board_indicate_autobaud_start();
+  board_indicate(autobaud_start);
   int rv = can_autobaud(speed, tboot);
   if (rv != CAN_BOOT_TIMEOUT) {
       can_init(*speed, CAN_Mode_Normal);
 
-      board_indicate_autobaud_end();
-      board_indicate_allocation_start();
+      board_indicate(autobaud_end);
+      board_indicate(allocation_start);
       rv = get_dynamic_node_id(tboot, node_id);
       if (rv != CAN_BOOT_TIMEOUT) {
-        board_indicate_allocation_end();
+        board_indicate(allocation_end);
       }
   }
   return rv;
@@ -721,7 +721,7 @@ flash_error_t file_read_and_program(uint8_t fw_source_node_id,
 
               /* UAVCANBootloader_v0.3 #35: [(retries != 0 && timeout) ||
                * !ValidReadReadResponse]:INDICATE_FW_UPDATE_INVALID_RESPONSE */
-              board_indicate_fw_update_invalid_response();
+              board_indicate(fw_update_invalid_response);
 
               /* UAVCANBootloader_v0.3 #36: [(retries != 0 && timeout) ||
                * !ValidReadReadResponse]:1023.LogMessage.uavcan */
@@ -737,7 +737,7 @@ flash_error_t file_read_and_program(uint8_t fw_source_node_id,
         {
           /* UAVCANBootloader_v0.3 #37: [(retries == 0 &&
            * timeout]:INDICATE_FW_UPDATE_TIMEOUT */
-          board_indicate_fw_update_timeout();
+          board_indicate(fw_update_timeout);
           break;
         }
 
@@ -919,7 +919,7 @@ void application_run(size_t fw_image_size)
                NVIC_SYSTICK_CTRL);
 
       /* and set a specific LED pattern */
-      board_indicate_jump_to_app();
+      board_indicate(jump_to_app);
 
       /* the interface */