Upload works now for Krooz. Testing flight settigs...

conf/Makefile.stm32

@@ -256,7 +256,12 @@ ifeq ($(FLASH_MODE),DFU)
 # DFU flash mode
 upload: $(OBJDIR)/$(TARGET).bin
 	@echo "Using stm32 mem dfu loader"
+ifeq ($(ARCH_L), )
 	$(PYTHON) $(PAPARAZZI_SRC)/sw/tools/dfu/stm32_mem.py $^
+else ifeq ($(ARCH_L),f4)
+	$(PYTHON) $(PAPARAZZI_SRC)/sw/tools/dfu/stm32_f4_mem.py $^
+endif
+
 #
 # serial flash mode
 else ifeq ($(FLASH_MODE),SERIAL)

conf/radios/mx-16.xml

@@ -0,0 +1,57 @@
+<?xml version="1.0"?>
+<!-- $Id: cockpitSX.xml 3610 2009-07-02 16:35:18Z poine $
+--
+-- (c) 2006 Pascal Brisset, Antoine Drouin
+--
+-- This file is part of paparazzi.
+--
+-- paparazzi is free software; you can redistribute it and/or modify
+-- it under the terms of the GNU General Public License as published by
+-- the Free Software Foundation; either version 2, or (at your option)
+-- any later version.
+--
+-- paparazzi is distributed in the hope that it will be useful,
+-- but WITHOUT ANY WARRANTY; without even the implied warranty of
+-- MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+-- GNU General Public License for more details.
+--
+-- You should have received a copy of the GNU General Public License
+-- along with paparazzi; see the file COPYING.  If not, write to
+-- the Free Software Foundation, 59 Temple Place - Suite 330,
+-- Boston, MA 02111-1307, USA.  
+-->
+
+<!--
+-- Attributes of root (Radio) tag :
+-- name: name of RC
+-- data_min: min width of a pulse to be considered as a data pulse
+-- data_max: max width of a pulse to be considered as a data pulse
+-- sync_min: min width of a pulse to be considered as a synchro pulse
+-- sync_max: max width of a pulse to be considered as a synchro pulse
+-- pulse_type: POSITIVE ( Futaba and others) | NEGATIVE (JR)
+-- min, max and sync are expressed in micro-seconds
+-->
+
+<!-- 
+-- order in section  = order in the PPM frame
+-- Attributes of channel tag :
+-- ctl: name of the command on the transmitter - only for displaying
+-- function: logical command
+-- averaged: channel filtered through several frames (for discrete commands)
+-- min: minimum pulse length (micro-seconds)
+-- max: maximum pulse length (micro-seconds)
+-- neutral: neutral pulse length (micro-seconds)
+-- Note: a command may be reversed by exchanging min and max values
+-->
+
+<!DOCTYPE radio SYSTEM "radio.dtd">
+<radio name="mx-16" data_min="967" data_max="2033" sync_min ="5000" sync_max ="15000" pulse_type="NEGATIVE">
+  <channel ctl="MOTOR"       function="THROTTLE" min="1100" neutral="1100" max="1900" average="0"/>
+  <channel ctl="QUERRUDER"   function="ROLL"     min="1900" neutral="1500" max="1100" average="0"/>
+  <channel ctl="HOEHENRUDER" function="PITCH"    min="1900" neutral="1500" max="1100" average="0"/>
+  <channel ctl="SEITENRUDER" function="YAW"      min="1900" neutral="1500" max="1100" average="0"/>
+  <channel ctl="ROCKER"      function="MODE"     min="1100" neutral="1500" max="1900" average="1"/>
+  <channel ctl="SHOTS"	     function="SHOTS"    min="1100" neutral="1100" max="1900" average="1"/>
+  <channel ctl="PHOTO_VIDEO" function="PH_VD"    min="1100" neutral="1500" max="1900" average="1"/>
+  <channel ctl="CAMERA"      function="CAM"      min="1100" neutral="1500" max="1900" average="1"/>
+</radio>

sw/airborne/arch/stm32/mcu_periph/adc_arch.c

@@ -284,8 +284,8 @@ static inline void adc_init_rcc( void )
   timer_set_period(timer, 0xFF);
   timer_set_prescaler(timer, 0x8);
 #elif defined(STM32F4)
-		timer_set_period(timer, 0xFFFF);
-    timer_set_prescaler(timer, 0x53);
+	timer_set_period(timer, 0xFFFF);
+  timer_set_prescaler(timer, 0x53);
 #endif
   //timer_set_clock_division(timer, 0x0);
   /* Generate TRGO on every update. */

sw/tools/dfu/stm32_f4_mem.py

@@ -0,0 +1,123 @@
+#!/usr/bin/python
+#
+# stm32_mem.py: STM32 memory access using USB DFU class
+# Copyright (C) 2011  Black Sphere Technologies 
+# Written by Gareth McMullin <gareth@blacksphere.co.nz>
+#
+# This program is free software: you can redistribute it and/or modify
+# it under the terms of the GNU General Public License as published by
+# the Free Software Foundation, either version 3 of the License, or
+# (at your option) any later version.
+#
+# This program is distributed in the hope that it will be useful,
+# but WITHOUT ANY WARRANTY; without even the implied warranty of
+# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+# GNU General Public License for more details.
+#
+# You should have received a copy of the GNU General Public License
+# along with this program.  If not, see <http://www.gnu.org/licenses/>.
+
+from time import sleep
+import struct
+from sys import stdout, argv
+
+import usb
+import dfu
+
+APP_ADDRESS = 0x08004000
+SECTOR_SIZE = 2048
+
+CMD_GETCOMMANDS =            0x00
+CMD_SETADDRESSPOINTER =      0x21
+CMD_ERASE =                  0x41
+
+def stm32_erase(dev, addr):
+	erase_cmd = struct.pack("<BL", CMD_ERASE, addr)
+	dev.download(0, erase_cmd)
+	while True:
+		status = dev.get_status()
+		if status.bState == dfu.STATE_DFU_DOWNLOAD_BUSY:
+			sleep(status.bwPollTimeout / 1000.0)
+		if status.bState == dfu.STATE_DFU_DOWNLOAD_IDLE:
+			break
+
+def stm32_write(dev, data):
+	dev.download(2, data)
+	while True:
+		status = dev.get_status()
+		if status.bState == dfu.STATE_DFU_DOWNLOAD_BUSY:
+			sleep(status.bwPollTimeout / 1000.0)
+		if status.bState == dfu.STATE_DFU_DOWNLOAD_IDLE:
+			break
+
+def stm32_manifest(dev):
+	dev.download(0, "")
+	while True:
+		try:
+			status = dev.get_status()
+		except:
+			return
+		sleep(status.bwPollTimeout / 1000.0)
+		if status.bState == dfu.STATE_DFU_MANIFEST:
+			break
+
+if __name__ == "__main__":
+	print
+	print "USB Device Firmware Upgrade - Host Utility -- version 1.2"
+	print "Copyright (C) 2011  Black Sphere Technologies"
+	print "Copyright (C) 2012  Transition Robotics Inc."
+	print "License GPLv3+: GNU GPL version 3 or later <http://gnu.org/licenses/gpl.html>"
+	print
+
+	devs = dfu.finddevs()
+	if not devs:
+		print "No devices found!"
+		exit(-1)
+
+	for dev in devs:
+		dfudev = dfu.dfu_device(*dev)
+		try:
+			man = dfudev.handle.getString(dfudev.dev.iManufacturer, 30)
+			product = dfudev.handle.getString(dfudev.dev.iProduct, 30)
+			serial = dfudev.handle.getString(dfudev.dev.iSerialNumber, 40)
+		except:
+			print "Could not access the description strings of a DFU device. Maybe the OS driver is claiming it?"
+			continue
+		if man == "Black Sphere Technologies": break
+		if man == "Transition Robotics Inc.": break
+		if man == "STMicroelectronics": break
+
+	print "Device %s: ID %04x:%04x %s - %s - %s" % (dfudev.dev.filename, 
+		dfudev.dev.idVendor, dfudev.dev.idProduct, man, product, serial)
+
+	try:
+		state = dfudev.get_state()
+	except:
+		print "Failed to read device state! Assuming APP_IDLE"
+		state = dfu.STATE_APP_IDLE
+	if state == dfu.STATE_APP_IDLE:
+		dfudev.detach()
+		print "Run again to upgrade firmware."
+		exit(0)
+
+	dfudev.make_idle()
+
+	try:
+		bin = open(argv[1], "rb").read()
+	except:
+		print "Could not open binary file."
+		raise
+
+	addr = APP_ADDRESS
+	while bin:
+		print ("Programming memory at 0x%08X\r" % addr),
+		stdout.flush()
+		stm32_erase(dfudev, addr)
+		stm32_write(dfudev, bin[:SECTOR_SIZE])
+
+		bin = bin[SECTOR_SIZE:]
+		addr += SECTOR_SIZE
+
+	stm32_manifest(dfudev)
+
+	print "\nAll operations complete!\n"