From cab2401bca4fe0d22a7a98a1c226ada5148dec5c Mon Sep 17 00:00:00 2001
From: Vaaranan Yogalingam <vaaranan.y@gmail.com>
Date: Wed, 25 Aug 2021 21:28:43 +0000
Subject: [PATCH 01/23] Replaced old NTC curve with new experimental curve

---
 projects/solar/src/sense_temperature.c | 14 ++++++++++----
 1 file changed, 10 insertions(+), 4 deletions(-)

diff --git a/projects/solar/src/sense_temperature.c b/projects/solar/src/sense_temperature.c
index b70fbf657..348941b8f 100644
--- a/projects/solar/src/sense_temperature.c
+++ b/projects/solar/src/sense_temperature.c
@@ -34,10 +34,16 @@ static void prv_sense_callback(void *context) {
     case NTC_THERMISTOR:
       // NTC: T = 1 / ( ( ln(0.56 * V / (3.3 - V)) / 3428 ) + 1/298.15 ) in KELVIN. For Celsius,
       // subtract 273.15
-      converted_reading =
-          (1 /
-           ((ln(0.56 * converted_reading / (3.3 - converted_reading)) / 3428.0) + 1.0 / 298.15)) -
-          273.15;
+      // NEW NTC CURVE (BASED ON EXPERIMENTAL DATA): T = (-14.195)*V^3 + (37.9434)*V^2 - 64.8244V +
+      // 121.362 (already in celsius)
+      // converted_reading =
+      //     (1 /
+      //      ((ln(0.56 * converted_reading / (3.3 - converted_reading)) / 3428.0) + 1.0 / 298.15))
+      //      -
+      //     273.15;
+      converted_reading = (-14.195) * pow(converted_reading, 3) +
+                          (37.9434) * pow(converted_reading, 2) - 64.8244 * converted_reading +
+                          121.362;
 
       // Convert from Celsius to deciCelsius
       converted_reading = converted_reading * 10;

From f1ce7d0e01211428803f3e6320801245a2da254b Mon Sep 17 00:00:00 2001
From: Vaaranan Yogalingam <vaaranan.y@gmail.com>
Date: Wed, 25 Aug 2021 22:23:53 +0000
Subject: [PATCH 02/23] modified appropriate test(s)

---
 projects/solar/test/test_sense_temperature.c | 5 ++---
 1 file changed, 2 insertions(+), 3 deletions(-)

diff --git a/projects/solar/test/test_sense_temperature.c b/projects/solar/test/test_sense_temperature.c
index 3c4f463fe..60c987056 100644
--- a/projects/solar/test/test_sense_temperature.c
+++ b/projects/solar/test/test_sense_temperature.c
@@ -1,5 +1,3 @@
-#include "sense_temperature.h"
-
 #include <stdbool.h>
 
 #include "adc.h"
@@ -7,6 +5,7 @@
 #include "gpio.h"
 #include "log.h"
 #include "sense.h"
+#include "sense_temperature.h"
 #include "test_helpers.h"
 #include "unity.h"
 
@@ -15,7 +14,7 @@
 // The two test variables below are calculated from inputting 0x800 into the relative conversion
 // formulae (see sense_temperature.c)
 #define TEST_RTD_CONVERTED_READING (-541)
-#define TEST_NTC_CONVERTED_READING (272)
+#define TEST_NTC_CONVERTED_READING (258)
 
 static SenseCallback s_sense_callbacks[MAX_THERMISTORS];
 static void *s_sense_callback_contexts[MAX_THERMISTORS];

From 6d4839702ae11cca48df4d5b93935cd44c180ab5 Mon Sep 17 00:00:00 2001
From: Vaaranan Yogalingam <vaaranan.y@gmail.com>
Date: Sat, 2 Oct 2021 15:13:14 +0000
Subject: [PATCH 03/23] implemented jump to bootloader, follow comments

---
 projects/bootloader/inc/jump_to_bootloader.h  |  4 ++
 .../bootloader/inc/stm32f0xx/bootloader_mcu.h |  4 ++
 projects/bootloader/src/main.c                |  3 ++
 .../src/stm32f0xx/jump_to_bootloader.c        | 40 +++++++++++++++++++
 4 files changed, 51 insertions(+)
 create mode 100644 projects/bootloader/inc/jump_to_bootloader.h
 create mode 100644 projects/bootloader/src/stm32f0xx/jump_to_bootloader.c

diff --git a/projects/bootloader/inc/jump_to_bootloader.h b/projects/bootloader/inc/jump_to_bootloader.h
new file mode 100644
index 000000000..91938239a
--- /dev/null
+++ b/projects/bootloader/inc/jump_to_bootloader.h
@@ -0,0 +1,4 @@
+#pragma once
+
+// Jump to the bootloade at the beginning of flash memory
+void jump_to_bootloader(void);
diff --git a/projects/bootloader/inc/stm32f0xx/bootloader_mcu.h b/projects/bootloader/inc/stm32f0xx/bootloader_mcu.h
index 9db01a743..d464aef35 100644
--- a/projects/bootloader/inc/stm32f0xx/bootloader_mcu.h
+++ b/projects/bootloader/inc/stm32f0xx/bootloader_mcu.h
@@ -15,6 +15,8 @@ extern uint32_t _application_size;
 extern uint32_t _ram_start;
 extern uint32_t _ram_size;
 extern uint32_t _vector_table_size;
+extern uint32_t _bootloader_start;
+extern uint32_t _bootloader_size;
 
 #define BOOTLOADER_CONFIG_PAGE_1_START ((void *)&_config_page1_start)
 #define BOOTLOADER_CONFIG_PAGE_2_START ((void *)&_config_page2_start)
@@ -23,3 +25,5 @@ extern uint32_t _vector_table_size;
 #define BOOTLOADER_RAM_START ((void *)&_ram_start)
 #define BOOTLOADER_RAM_SIZE ((size_t)&_ram_size)
 #define BOOTLOADER_VECTOR_TABLE_SIZE ((size_t)&_vector_table_size)
+#define BOOTLOADER_DEFAULT_LOCATION ((size_t)&_bootloader_start)
+#define BOOTLOADER_SIZE ((size_t)&_bootloader_size)
diff --git a/projects/bootloader/src/main.c b/projects/bootloader/src/main.c
index b037408d8..d9a321e70 100644
--- a/projects/bootloader/src/main.c
+++ b/projects/bootloader/src/main.c
@@ -3,6 +3,7 @@
 #include "flash.h"
 #include "interrupt.h"
 #include "jump_to_application.h"
+#include "jump_to_bootloader.h"
 #include "log.h"
 #include "soft_timer.h"
 
@@ -16,6 +17,8 @@ int main(void) {
   config_init();
 
   jump_to_application();
+  jump_to_bootloader();
+
   // not reached
   return 0;
 }
diff --git a/projects/bootloader/src/stm32f0xx/jump_to_bootloader.c b/projects/bootloader/src/stm32f0xx/jump_to_bootloader.c
new file mode 100644
index 000000000..e6689023b
--- /dev/null
+++ b/projects/bootloader/src/stm32f0xx/jump_to_bootloader.c
@@ -0,0 +1,40 @@
+#include "jump_to_bootloader.h"
+
+#include <stdint.h>
+#include <stdnoreturn.h>
+#include <string.h>
+
+#include "bootloader_mcu.h"
+#include "stm32f0xx_misc.h"
+#include "stm32f0xx_syscfg.h"
+
+static noreturn __attribute__((naked)) void prv_perform_jump(uint32_t sp, uint32_t pc) {
+  __asm(
+      "msr msp, %[sp] \n"  // reset the main stack pointer (msp) to sp
+      "bx %[pc] \n"        // jump to pc
+
+      // this bizarre syntax associates the "sp" and "pc" in asm with the sp and pc parameters
+      // see http://www.ethernut.de/en/documents/arm-inline-asm.html
+      :
+      : [sp] "r"(sp), [pc] "r"(pc));
+}
+
+void jump_to_bootloader(void) {
+  // Disable all interrupts so their is no interference when working with vector tables
+  __disable_irq();
+
+  // Reset the vector table to bootloader's vector table
+  SYSCFG_MemoryRemapConfig(
+      SYSCFG_MemoryRemap_SRAM);  // change where the vector table is stored to beginning of flash
+
+  // story memory location of bootloader starting point at the beginning of flash?
+  uint32_t *bootloader_in_flash = BOOTLOADER_DEFAULT_LOCATION;
+  // setting the stack pointer to the bootloader location now
+  uint32_t initial_sp = bootloader_in_flash[0];
+  uint32_t reset_handler_pc = bootloader_in_flash[1];
+
+  // re-enable interrupts
+  __enable_irq();
+  // jump to bootloader
+  prv_perform_jump(initial_sp, reset_handler_pc);
+}

From b0a8848394b9a22b5e8f229b14ba50a8f8ecbb16 Mon Sep 17 00:00:00 2001
From: Vaaranan Yogalingam <vaaranan.y@gmail.com>
Date: Sat, 2 Oct 2021 15:29:19 +0000
Subject: [PATCH 04/23] updated main in bootloader

---
 projects/bootloader/src/main.c | 57 +++++++++++++++++++++++++++++++---
 1 file changed, 53 insertions(+), 4 deletions(-)

diff --git a/projects/bootloader/src/main.c b/projects/bootloader/src/main.c
index d9a321e70..72052f394 100644
--- a/projects/bootloader/src/main.c
+++ b/projects/bootloader/src/main.c
@@ -1,24 +1,73 @@
+#include "bootloader_can.h"
+#include "bootloader_events.h"
+#include "can_datagram.h"
 #include "config.h"
 #include "crc32.h"
+#include "dispatcher.h"
+#include "event_queue.h"
 #include "flash.h"
 #include "interrupt.h"
 #include "jump_to_application.h"
 #include "jump_to_bootloader.h"
 #include "log.h"
+#include "ping.h"
+#include "query.h"
 #include "soft_timer.h"
+#include "wait.h"
+
+static CanStorage s_can_storage;
+static CanSettings s_can_settings = {
+  .loopback = false,
+  .bitrate = CAN_HW_BITRATE_500KBPS,
+  .rx_event = CAN_DATAGRAM_EVENT_RX,
+  .tx_event = CAN_DATAGRAM_EVENT_TX,
+  .fault_event = CAN_DATAGRAM_EVENT_FAULT,
+  .tx = { GPIO_PORT_A, 12 },
+  .rx = { GPIO_PORT_A, 11 },
+};
+
+static CanDatagramSettings s_datagram_settings = {
+  .tx_event = DATAGRAM_EVENT_TX,
+  .rx_event = DATAGRAM_EVENT_RX,
+  .repeat_event = DATAGRAM_EVENT_REPEAT,
+  .error_event = DATAGRAM_EVENT_ERROR,
+  .error_cb = NULL,
+};
 
 int main(void) {
   LOG_DEBUG("Hello from the bootloader!\n");
-  // initialize all the modules
+
   flash_init();
   interrupt_init();
   soft_timer_init();
   crc32_init();
+  event_queue_init();
   config_init();
 
-  jump_to_application();
-  jump_to_bootloader();
+  // gets the board id
+  BootloaderConfig blconfig = {
+    .controller_board_id = 0xFF,
+  };
+  config_get(&blconfig);
+  uint8_t board_id = blconfig.controller_board_id;
+
+  // can and datagram
+  bootloader_can_init(&s_can_storage, &s_can_settings, board_id);
+  can_datagram_init(&s_datagram_settings);
+
+  dispatcher_init(board_id);
+
+  ping_init(board_id);
+  query_init(&blconfig);
+
+  Event e = { 0 };
+  while (true) {
+    while (event_process(&e) == STATUS_CODE_OK) {
+      can_process_event(&e);
+      can_datagram_process_event(&e);
+    }
+    wait();
+  }
 
-  // not reached
   return 0;
 }

From 069f19be92e90d15feed7d62356fe43bbeca2c28 Mon Sep 17 00:00:00 2001
From: Vaaranan Yogalingam <vaaranan.y@gmail.com>
Date: Sat, 2 Oct 2021 15:43:04 +0000
Subject: [PATCH 05/23] Fixed macro typecast error

---
 projects/bootloader/inc/stm32f0xx/bootloader_mcu.h | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/projects/bootloader/inc/stm32f0xx/bootloader_mcu.h b/projects/bootloader/inc/stm32f0xx/bootloader_mcu.h
index d464aef35..ec90632ed 100644
--- a/projects/bootloader/inc/stm32f0xx/bootloader_mcu.h
+++ b/projects/bootloader/inc/stm32f0xx/bootloader_mcu.h
@@ -25,5 +25,5 @@ extern uint32_t _bootloader_size;
 #define BOOTLOADER_RAM_START ((void *)&_ram_start)
 #define BOOTLOADER_RAM_SIZE ((size_t)&_ram_size)
 #define BOOTLOADER_VECTOR_TABLE_SIZE ((size_t)&_vector_table_size)
-#define BOOTLOADER_DEFAULT_LOCATION ((size_t)&_bootloader_start)
+#define BOOTLOADER_DEFAULT_LOCATION ((void *)&_bootloader_start)
 #define BOOTLOADER_SIZE ((size_t)&_bootloader_size)

From d7782c6066efee4d0a1a8d83515f3926643701a3 Mon Sep 17 00:00:00 2001
From: Vaaranan Yogalingam <vaaranan.y@gmail.com>
Date: Sat, 9 Oct 2021 04:11:35 +0000
Subject: [PATCH 06/23] [SOFT-468] Fixed memory configuration to flash, not
 SRAM

---
 projects/bootloader/src/stm32f0xx/jump_to_bootloader.c | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/projects/bootloader/src/stm32f0xx/jump_to_bootloader.c b/projects/bootloader/src/stm32f0xx/jump_to_bootloader.c
index e6689023b..143d6aa52 100644
--- a/projects/bootloader/src/stm32f0xx/jump_to_bootloader.c
+++ b/projects/bootloader/src/stm32f0xx/jump_to_bootloader.c
@@ -25,7 +25,7 @@ void jump_to_bootloader(void) {
 
   // Reset the vector table to bootloader's vector table
   SYSCFG_MemoryRemapConfig(
-      SYSCFG_MemoryRemap_SRAM);  // change where the vector table is stored to beginning of flash
+      SYSCFG_MemoryRemap_Flash);  // change where the vector table is stored to beginning of flash
 
   // story memory location of bootloader starting point at the beginning of flash?
   uint32_t *bootloader_in_flash = BOOTLOADER_DEFAULT_LOCATION;

From 4ec7d102b05e1e92121d041ffa01a5bf3386dea3 Mon Sep 17 00:00:00 2001
From: Vaaranan Yogalingam <vaaranan.y@gmail.com>
Date: Sat, 9 Oct 2021 16:47:39 +0000
Subject: [PATCH 07/23] [SOFT-468] Modularized jump function

---
 projects/bootloader/inc/jump.h                       |  7 +++++++
 projects/bootloader/src/stm32f0xx/jump.c             | 12 ++++++++++++
 .../bootloader/src/stm32f0xx/jump_to_bootloader.c    |  1 +
 3 files changed, 20 insertions(+)
 create mode 100644 projects/bootloader/inc/jump.h
 create mode 100644 projects/bootloader/src/stm32f0xx/jump.c

diff --git a/projects/bootloader/inc/jump.h b/projects/bootloader/inc/jump.h
new file mode 100644
index 000000000..ae7be3fb3
--- /dev/null
+++ b/projects/bootloader/inc/jump.h
@@ -0,0 +1,7 @@
+#pragma once
+
+#include <stdint.h>
+#include <stdnoreturn.h>
+
+// Reset main stack pointer to main stack pointer, and jump to program counter
+static noreturn __attribute__((naked)) void prv_perform_jump(uint32_t sp, uint32_t pc);
diff --git a/projects/bootloader/src/stm32f0xx/jump.c b/projects/bootloader/src/stm32f0xx/jump.c
new file mode 100644
index 000000000..e85162384
--- /dev/null
+++ b/projects/bootloader/src/stm32f0xx/jump.c
@@ -0,0 +1,12 @@
+#include "jump.h"
+
+static noreturn __attribute__((naked)) void prv_perform_jump(uint32_t sp, uint32_t pc) {
+  __asm(
+      "msr msp, %[sp] \n"  // reset the main stack pointer (msp) to sp
+      "bx %[pc] \n"        // jump to pc
+
+      // this bizarre syntax associates the "sp" and "pc" in asm with the sp and pc parameters
+      // see http://www.ethernut.de/en/documents/arm-inline-asm.html
+      :
+      : [sp] "r"(sp), [pc] "r"(pc));
+}
diff --git a/projects/bootloader/src/stm32f0xx/jump_to_bootloader.c b/projects/bootloader/src/stm32f0xx/jump_to_bootloader.c
index 143d6aa52..18f8c0568 100644
--- a/projects/bootloader/src/stm32f0xx/jump_to_bootloader.c
+++ b/projects/bootloader/src/stm32f0xx/jump_to_bootloader.c
@@ -5,6 +5,7 @@
 #include <string.h>
 
 #include "bootloader_mcu.h"
+#include "jump.h"
 #include "stm32f0xx_misc.h"
 #include "stm32f0xx_syscfg.h"
 

From 8b21f0d8f3524c917ee934cc410f1faf505fb055 Mon Sep 17 00:00:00 2001
From: Vaaranan Yogalingam <vaaranan.y@gmail.com>
Date: Sat, 9 Oct 2021 17:14:53 +0000
Subject: [PATCH 08/23] [SOFT-468] Added ms-bootloader library

---
 libraries/ms-bootloader/README.md | 16 ++++++++++++++++
 libraries/ms-bootloader/rules.mk  |  9 +++++++++
 2 files changed, 25 insertions(+)
 create mode 100644 libraries/ms-bootloader/README.md
 create mode 100644 libraries/ms-bootloader/rules.mk

diff --git a/libraries/ms-bootloader/README.md b/libraries/ms-bootloader/README.md
new file mode 100644
index 000000000..83854796d
--- /dev/null
+++ b/libraries/ms-bootloader/README.md
@@ -0,0 +1,16 @@
+<!--
+    General guidelines
+    These are just guidelines, not strict rules - document however seems best.
+    A README for a firmware-only project (e.g. Babydriver, MU, bootloader, CAN explorer) should answer the following questions:
+        - What is it?
+        - What problem does it solve?
+        - How do I use it? (with usage examples / example commands, etc)
+        - How does it work? (architectural overview)
+    A README for a board project (powering a hardware board, e.g. power distribution, centre console, charger, BMS carrier) should answer the following questions:
+        - What is the purpose of the board?
+        - What are all the things that the firmware needs to do?
+        - How does it fit into the overall system?
+        - How does it work? (architectural overview, e.g. what each module's purpose is or how data flows through the firmware)
+-->
+# ms-bootloader
+
diff --git a/libraries/ms-bootloader/rules.mk b/libraries/ms-bootloader/rules.mk
new file mode 100644
index 000000000..f4958023a
--- /dev/null
+++ b/libraries/ms-bootloader/rules.mk
@@ -0,0 +1,9 @@
+# Defines $(T)_SRC, $(T)_INC, $(T)_DEPS, and $(T)_CFLAGS for the build makefile.
+# Tests can be excluded by defining $(T)_EXCLUDE_TESTS.
+# Pre-defined:
+# $(T)_SRC_ROOT: $(T)_DIR/src
+# $(T)_INC_DIRS: $(T)_DIR/inc{/$(PLATFORM)}
+# $(T)_SRC: $(T)_DIR/src{/$(PLATFORM)}/*.{c,s}
+
+# Specify the libraries you want to include
+$(T)_DEPS := 

From 068736809e69edd81ad10d3e47b84bc3ca8e7220 Mon Sep 17 00:00:00 2001
From: Vaaranan Yogalingam <vaaranan.y@gmail.com>
Date: Sun, 10 Oct 2021 16:22:53 +0000
Subject: [PATCH 09/23] [SOFT-468] Implemented preprocessorconditional upon
 compilation for apps on bootloader

---
 libraries/ms-bootloader/inc/jump.h            |  7 ++++
 .../ms-bootloader/inc/jump_to_bootloader.h    |  4 ++
 libraries/ms-bootloader/src/jump.c            | 12 ++++++
 .../ms-bootloader/src/jump_to_bootloader.c    | 41 +++++++++++++++++++
 libraries/ms-common/src/can_fsm.c             |  5 +++
 platform/stm32f0xx/platform.mk                |  1 +
 6 files changed, 70 insertions(+)
 create mode 100644 libraries/ms-bootloader/inc/jump.h
 create mode 100644 libraries/ms-bootloader/inc/jump_to_bootloader.h
 create mode 100644 libraries/ms-bootloader/src/jump.c
 create mode 100644 libraries/ms-bootloader/src/jump_to_bootloader.c

diff --git a/libraries/ms-bootloader/inc/jump.h b/libraries/ms-bootloader/inc/jump.h
new file mode 100644
index 000000000..ae7be3fb3
--- /dev/null
+++ b/libraries/ms-bootloader/inc/jump.h
@@ -0,0 +1,7 @@
+#pragma once
+
+#include <stdint.h>
+#include <stdnoreturn.h>
+
+// Reset main stack pointer to main stack pointer, and jump to program counter
+static noreturn __attribute__((naked)) void prv_perform_jump(uint32_t sp, uint32_t pc);
diff --git a/libraries/ms-bootloader/inc/jump_to_bootloader.h b/libraries/ms-bootloader/inc/jump_to_bootloader.h
new file mode 100644
index 000000000..91938239a
--- /dev/null
+++ b/libraries/ms-bootloader/inc/jump_to_bootloader.h
@@ -0,0 +1,4 @@
+#pragma once
+
+// Jump to the bootloade at the beginning of flash memory
+void jump_to_bootloader(void);
diff --git a/libraries/ms-bootloader/src/jump.c b/libraries/ms-bootloader/src/jump.c
new file mode 100644
index 000000000..e85162384
--- /dev/null
+++ b/libraries/ms-bootloader/src/jump.c
@@ -0,0 +1,12 @@
+#include "jump.h"
+
+static noreturn __attribute__((naked)) void prv_perform_jump(uint32_t sp, uint32_t pc) {
+  __asm(
+      "msr msp, %[sp] \n"  // reset the main stack pointer (msp) to sp
+      "bx %[pc] \n"        // jump to pc
+
+      // this bizarre syntax associates the "sp" and "pc" in asm with the sp and pc parameters
+      // see http://www.ethernut.de/en/documents/arm-inline-asm.html
+      :
+      : [sp] "r"(sp), [pc] "r"(pc));
+}
diff --git a/libraries/ms-bootloader/src/jump_to_bootloader.c b/libraries/ms-bootloader/src/jump_to_bootloader.c
new file mode 100644
index 000000000..18f8c0568
--- /dev/null
+++ b/libraries/ms-bootloader/src/jump_to_bootloader.c
@@ -0,0 +1,41 @@
+#include "jump_to_bootloader.h"
+
+#include <stdint.h>
+#include <stdnoreturn.h>
+#include <string.h>
+
+#include "bootloader_mcu.h"
+#include "jump.h"
+#include "stm32f0xx_misc.h"
+#include "stm32f0xx_syscfg.h"
+
+static noreturn __attribute__((naked)) void prv_perform_jump(uint32_t sp, uint32_t pc) {
+  __asm(
+      "msr msp, %[sp] \n"  // reset the main stack pointer (msp) to sp
+      "bx %[pc] \n"        // jump to pc
+
+      // this bizarre syntax associates the "sp" and "pc" in asm with the sp and pc parameters
+      // see http://www.ethernut.de/en/documents/arm-inline-asm.html
+      :
+      : [sp] "r"(sp), [pc] "r"(pc));
+}
+
+void jump_to_bootloader(void) {
+  // Disable all interrupts so their is no interference when working with vector tables
+  __disable_irq();
+
+  // Reset the vector table to bootloader's vector table
+  SYSCFG_MemoryRemapConfig(
+      SYSCFG_MemoryRemap_Flash);  // change where the vector table is stored to beginning of flash
+
+  // story memory location of bootloader starting point at the beginning of flash?
+  uint32_t *bootloader_in_flash = BOOTLOADER_DEFAULT_LOCATION;
+  // setting the stack pointer to the bootloader location now
+  uint32_t initial_sp = bootloader_in_flash[0];
+  uint32_t reset_handler_pc = bootloader_in_flash[1];
+
+  // re-enable interrupts
+  __enable_irq();
+  // jump to bootloader
+  prv_perform_jump(initial_sp, reset_handler_pc);
+}
diff --git a/libraries/ms-common/src/can_fsm.c b/libraries/ms-common/src/can_fsm.c
index 7eaec813c..4258feb2b 100644
--- a/libraries/ms-common/src/can_fsm.c
+++ b/libraries/ms-common/src/can_fsm.c
@@ -1,9 +1,11 @@
 #include "can_fsm.h"
+
 #include "bootloader_can.h"
 #include "can.h"
 #include "can_hw.h"
 #include "can_msg_defs.h"
 #include "can_rx.h"
+#include "jump_to_bootloader.h"
 
 FSM_DECLARE_STATE(can_rx_fsm_handle);
 FSM_DECLARE_STATE(can_tx_fsm_handle);
@@ -57,6 +59,9 @@ static void prv_handle_rx(Fsm *fsm, const Event *e, void *context) {
 
   // Process bootloader messages
   if (rx_msg.source_id == SYSTEM_CAN_DEVICE_BOOTLOADER) {
+#ifdef APP_COMP_ON_BOOT
+    jump_to_bootloader();
+#endif
     result = bootloader_can_receive(&rx_msg);
     return;
   }
diff --git a/platform/stm32f0xx/platform.mk b/platform/stm32f0xx/platform.mk
index 414448609..402c5a02c 100644
--- a/platform/stm32f0xx/platform.mk
+++ b/platform/stm32f0xx/platform.mk
@@ -44,6 +44,7 @@ endif
 DEFAULT_LINKER_SCRIPT ?= stm32f0_default.ld
 ifeq ($(MAKECMDGOALS),temp-bootloader-write)
 DEFAULT_LINKER_SCRIPT := stm32f0_application.ld
+CFLAGS += -DAPP_COMP_ON_BOOT
 endif
 
 # Device openocd config file

From b5824540f9c0449c4900799513154ddbe9fb49bc Mon Sep 17 00:00:00 2001
From: Vaaranan Yogalingam <vaaranan.y@gmail.com>
Date: Sun, 10 Oct 2021 16:40:32 +0000
Subject: [PATCH 10/23] [SOFT-468] fixed jump function implementation

---
 libraries/ms-bootloader/src/jump_to_bootloader.c      | 11 -----------
 .../bootloader/src/stm32f0xx/jump_to_bootloader.c     | 11 -----------
 2 files changed, 22 deletions(-)

diff --git a/libraries/ms-bootloader/src/jump_to_bootloader.c b/libraries/ms-bootloader/src/jump_to_bootloader.c
index 18f8c0568..458146374 100644
--- a/libraries/ms-bootloader/src/jump_to_bootloader.c
+++ b/libraries/ms-bootloader/src/jump_to_bootloader.c
@@ -9,17 +9,6 @@
 #include "stm32f0xx_misc.h"
 #include "stm32f0xx_syscfg.h"
 
-static noreturn __attribute__((naked)) void prv_perform_jump(uint32_t sp, uint32_t pc) {
-  __asm(
-      "msr msp, %[sp] \n"  // reset the main stack pointer (msp) to sp
-      "bx %[pc] \n"        // jump to pc
-
-      // this bizarre syntax associates the "sp" and "pc" in asm with the sp and pc parameters
-      // see http://www.ethernut.de/en/documents/arm-inline-asm.html
-      :
-      : [sp] "r"(sp), [pc] "r"(pc));
-}
-
 void jump_to_bootloader(void) {
   // Disable all interrupts so their is no interference when working with vector tables
   __disable_irq();
diff --git a/projects/bootloader/src/stm32f0xx/jump_to_bootloader.c b/projects/bootloader/src/stm32f0xx/jump_to_bootloader.c
index 18f8c0568..458146374 100644
--- a/projects/bootloader/src/stm32f0xx/jump_to_bootloader.c
+++ b/projects/bootloader/src/stm32f0xx/jump_to_bootloader.c
@@ -9,17 +9,6 @@
 #include "stm32f0xx_misc.h"
 #include "stm32f0xx_syscfg.h"
 
-static noreturn __attribute__((naked)) void prv_perform_jump(uint32_t sp, uint32_t pc) {
-  __asm(
-      "msr msp, %[sp] \n"  // reset the main stack pointer (msp) to sp
-      "bx %[pc] \n"        // jump to pc
-
-      // this bizarre syntax associates the "sp" and "pc" in asm with the sp and pc parameters
-      // see http://www.ethernut.de/en/documents/arm-inline-asm.html
-      :
-      : [sp] "r"(sp), [pc] "r"(pc));
-}
-
 void jump_to_bootloader(void) {
   // Disable all interrupts so their is no interference when working with vector tables
   __disable_irq();

From a91053cbe73034206ccc9b28259b2e313eb77ba1 Mon Sep 17 00:00:00 2001
From: Vaaranan Yogalingam <vaaranan.y@gmail.com>
Date: Sun, 10 Oct 2021 17:10:45 +0000
Subject: [PATCH 11/23] [SOFT-468] moved jump.c

---
 projects/bootloader/src/{stm32f0xx => }/jump.c | 0
 1 file changed, 0 insertions(+), 0 deletions(-)
 rename projects/bootloader/src/{stm32f0xx => }/jump.c (100%)

diff --git a/projects/bootloader/src/stm32f0xx/jump.c b/projects/bootloader/src/jump.c
similarity index 100%
rename from projects/bootloader/src/stm32f0xx/jump.c
rename to projects/bootloader/src/jump.c

From 3837dd3ec38e83cd121a6a707a87f3d4ab2ba6cb Mon Sep 17 00:00:00 2001
From: Vaaranan Yogalingam <vaaranan.y@gmail.com>
Date: Sun, 10 Oct 2021 18:08:35 +0000
Subject: [PATCH 12/23] [SOFT-468] made perform_jump non-static/public

---
 libraries/ms-bootloader/inc/jump.h                     | 2 +-
 libraries/ms-bootloader/src/jump.c                     | 2 +-
 libraries/ms-bootloader/src/jump_to_bootloader.c       | 2 +-
 projects/bootloader/inc/jump.h                         | 2 +-
 projects/bootloader/src/jump.c                         | 2 +-
 projects/bootloader/src/stm32f0xx/jump_to_bootloader.c | 2 +-
 6 files changed, 6 insertions(+), 6 deletions(-)

diff --git a/libraries/ms-bootloader/inc/jump.h b/libraries/ms-bootloader/inc/jump.h
index ae7be3fb3..c7a117660 100644
--- a/libraries/ms-bootloader/inc/jump.h
+++ b/libraries/ms-bootloader/inc/jump.h
@@ -4,4 +4,4 @@
 #include <stdnoreturn.h>
 
 // Reset main stack pointer to main stack pointer, and jump to program counter
-static noreturn __attribute__((naked)) void prv_perform_jump(uint32_t sp, uint32_t pc);
+noreturn __attribute__((naked)) void perform_jump(uint32_t sp, uint32_t pc);
diff --git a/libraries/ms-bootloader/src/jump.c b/libraries/ms-bootloader/src/jump.c
index e85162384..addab0fff 100644
--- a/libraries/ms-bootloader/src/jump.c
+++ b/libraries/ms-bootloader/src/jump.c
@@ -1,6 +1,6 @@
 #include "jump.h"
 
-static noreturn __attribute__((naked)) void prv_perform_jump(uint32_t sp, uint32_t pc) {
+noreturn __attribute__((naked)) void prv_perform_jump(uint32_t sp, uint32_t pc) {
   __asm(
       "msr msp, %[sp] \n"  // reset the main stack pointer (msp) to sp
       "bx %[pc] \n"        // jump to pc
diff --git a/libraries/ms-bootloader/src/jump_to_bootloader.c b/libraries/ms-bootloader/src/jump_to_bootloader.c
index 458146374..4eaa51811 100644
--- a/libraries/ms-bootloader/src/jump_to_bootloader.c
+++ b/libraries/ms-bootloader/src/jump_to_bootloader.c
@@ -26,5 +26,5 @@ void jump_to_bootloader(void) {
   // re-enable interrupts
   __enable_irq();
   // jump to bootloader
-  prv_perform_jump(initial_sp, reset_handler_pc);
+  perform_jump(initial_sp, reset_handler_pc);
 }
diff --git a/projects/bootloader/inc/jump.h b/projects/bootloader/inc/jump.h
index ae7be3fb3..c7a117660 100644
--- a/projects/bootloader/inc/jump.h
+++ b/projects/bootloader/inc/jump.h
@@ -4,4 +4,4 @@
 #include <stdnoreturn.h>
 
 // Reset main stack pointer to main stack pointer, and jump to program counter
-static noreturn __attribute__((naked)) void prv_perform_jump(uint32_t sp, uint32_t pc);
+noreturn __attribute__((naked)) void perform_jump(uint32_t sp, uint32_t pc);
diff --git a/projects/bootloader/src/jump.c b/projects/bootloader/src/jump.c
index e85162384..b02547046 100644
--- a/projects/bootloader/src/jump.c
+++ b/projects/bootloader/src/jump.c
@@ -1,6 +1,6 @@
 #include "jump.h"
 
-static noreturn __attribute__((naked)) void prv_perform_jump(uint32_t sp, uint32_t pc) {
+noreturn __attribute__((naked)) void perform_jump(uint32_t sp, uint32_t pc) {
   __asm(
       "msr msp, %[sp] \n"  // reset the main stack pointer (msp) to sp
       "bx %[pc] \n"        // jump to pc
diff --git a/projects/bootloader/src/stm32f0xx/jump_to_bootloader.c b/projects/bootloader/src/stm32f0xx/jump_to_bootloader.c
index 458146374..4eaa51811 100644
--- a/projects/bootloader/src/stm32f0xx/jump_to_bootloader.c
+++ b/projects/bootloader/src/stm32f0xx/jump_to_bootloader.c
@@ -26,5 +26,5 @@ void jump_to_bootloader(void) {
   // re-enable interrupts
   __enable_irq();
   // jump to bootloader
-  prv_perform_jump(initial_sp, reset_handler_pc);
+  perform_jump(initial_sp, reset_handler_pc);
 }

From 718f7f816917ebc0ade70c026d36eb9dc73ffdf9 Mon Sep 17 00:00:00 2001
From: Vaaranan Yogalingam <vaaranan.y@gmail.com>
Date: Sun, 10 Oct 2021 18:49:28 +0000
Subject: [PATCH 13/23] [SOFT-468] included string library to jump header

---
 libraries/ms-bootloader/inc/jump.h | 1 +
 projects/bootloader/inc/jump.h     | 1 +
 2 files changed, 2 insertions(+)

diff --git a/libraries/ms-bootloader/inc/jump.h b/libraries/ms-bootloader/inc/jump.h
index c7a117660..b3a2f690f 100644
--- a/libraries/ms-bootloader/inc/jump.h
+++ b/libraries/ms-bootloader/inc/jump.h
@@ -2,6 +2,7 @@
 
 #include <stdint.h>
 #include <stdnoreturn.h>
+#include <string.h>
 
 // Reset main stack pointer to main stack pointer, and jump to program counter
 noreturn __attribute__((naked)) void perform_jump(uint32_t sp, uint32_t pc);
diff --git a/projects/bootloader/inc/jump.h b/projects/bootloader/inc/jump.h
index c7a117660..b3a2f690f 100644
--- a/projects/bootloader/inc/jump.h
+++ b/projects/bootloader/inc/jump.h
@@ -2,6 +2,7 @@
 
 #include <stdint.h>
 #include <stdnoreturn.h>
+#include <string.h>
 
 // Reset main stack pointer to main stack pointer, and jump to program counter
 noreturn __attribute__((naked)) void perform_jump(uint32_t sp, uint32_t pc);

From d3d5bd5b17895d642ab0ff68683cfdf3887a70ac Mon Sep 17 00:00:00 2001
From: Vaaranan Yogalingam <vaaranan.y@gmail.com>
Date: Wed, 13 Oct 2021 03:33:46 +0000
Subject: [PATCH 14/23] [SOFT-468] Removed naked attribute from jump function

---
 libraries/ms-bootloader/inc/jump.h | 2 +-
 libraries/ms-bootloader/src/jump.c | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/libraries/ms-bootloader/inc/jump.h b/libraries/ms-bootloader/inc/jump.h
index b3a2f690f..321c50ebe 100644
--- a/libraries/ms-bootloader/inc/jump.h
+++ b/libraries/ms-bootloader/inc/jump.h
@@ -5,4 +5,4 @@
 #include <string.h>
 
 // Reset main stack pointer to main stack pointer, and jump to program counter
-noreturn __attribute__((naked)) void perform_jump(uint32_t sp, uint32_t pc);
+noreturn void perform_jump(uint32_t sp, uint32_t pc);
diff --git a/libraries/ms-bootloader/src/jump.c b/libraries/ms-bootloader/src/jump.c
index addab0fff..dd04d329d 100644
--- a/libraries/ms-bootloader/src/jump.c
+++ b/libraries/ms-bootloader/src/jump.c
@@ -1,6 +1,6 @@
 #include "jump.h"
 
-noreturn __attribute__((naked)) void prv_perform_jump(uint32_t sp, uint32_t pc) {
+noreturn void prv_perform_jump(uint32_t sp, uint32_t pc) {
   __asm(
       "msr msp, %[sp] \n"  // reset the main stack pointer (msp) to sp
       "bx %[pc] \n"        // jump to pc

From ad43709e3dec5e89d8caeb8c7893beb5e07327fc Mon Sep 17 00:00:00 2001
From: Vaaranan Yogalingam <vaaranan.y@gmail.com>
Date: Wed, 13 Oct 2021 04:04:17 +0000
Subject: [PATCH 15/23] [SOFT-468] Removed naked attribute from jump function
 in project itself

---
 projects/bootloader/inc/jump.h | 2 +-
 projects/bootloader/src/jump.c | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/projects/bootloader/inc/jump.h b/projects/bootloader/inc/jump.h
index b3a2f690f..321c50ebe 100644
--- a/projects/bootloader/inc/jump.h
+++ b/projects/bootloader/inc/jump.h
@@ -5,4 +5,4 @@
 #include <string.h>
 
 // Reset main stack pointer to main stack pointer, and jump to program counter
-noreturn __attribute__((naked)) void perform_jump(uint32_t sp, uint32_t pc);
+noreturn void perform_jump(uint32_t sp, uint32_t pc);
diff --git a/projects/bootloader/src/jump.c b/projects/bootloader/src/jump.c
index b02547046..e002674b6 100644
--- a/projects/bootloader/src/jump.c
+++ b/projects/bootloader/src/jump.c
@@ -1,6 +1,6 @@
 #include "jump.h"
 
-noreturn __attribute__((naked)) void perform_jump(uint32_t sp, uint32_t pc) {
+noreturn void perform_jump(uint32_t sp, uint32_t pc) {
   __asm(
       "msr msp, %[sp] \n"  // reset the main stack pointer (msp) to sp
       "bx %[pc] \n"        // jump to pc

From f3a9b4bf0d2f3b6c6526c6bfb3c105cdfb619c02 Mon Sep 17 00:00:00 2001
From: Vaaranan Yogalingam <vaaranan.y@gmail.com>
Date: Thu, 11 Nov 2021 01:07:23 +0000
Subject: [PATCH 16/23] [SOFT-468] Moved implementation to STM32F0XX

---
 projects/bootloader/src/{ => stm32f0xx}/jump.c | 0
 1 file changed, 0 insertions(+), 0 deletions(-)
 rename projects/bootloader/src/{ => stm32f0xx}/jump.c (100%)

diff --git a/projects/bootloader/src/jump.c b/projects/bootloader/src/stm32f0xx/jump.c
similarity index 100%
rename from projects/bootloader/src/jump.c
rename to projects/bootloader/src/stm32f0xx/jump.c

From 4be00058882fbb2b275fabc79e37be8b4c1d8881 Mon Sep 17 00:00:00 2001
From: Vaaranan Yogalingam <vaaranan.y@gmail.com>
Date: Thu, 11 Nov 2021 01:37:29 +0000
Subject: [PATCH 17/23] [SOFT-468] removed noreturn from perform jump

---
 projects/bootloader/src/stm32f0xx/jump.c | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/projects/bootloader/src/stm32f0xx/jump.c b/projects/bootloader/src/stm32f0xx/jump.c
index e002674b6..227a57999 100644
--- a/projects/bootloader/src/stm32f0xx/jump.c
+++ b/projects/bootloader/src/stm32f0xx/jump.c
@@ -1,6 +1,6 @@
 #include "jump.h"
 
-noreturn void perform_jump(uint32_t sp, uint32_t pc) {
+void perform_jump(uint32_t sp, uint32_t pc) {
   __asm(
       "msr msp, %[sp] \n"  // reset the main stack pointer (msp) to sp
       "bx %[pc] \n"        // jump to pc

From f379df387fb051250c381271dd378765e0d42085 Mon Sep 17 00:00:00 2001
From: Vaaranan Yogalingam <vaaranan.y@gmail.com>
Date: Sat, 13 Nov 2021 17:41:50 +0000
Subject: [PATCH 18/23] [SOFT-468] moved implementation from bootloader project
 to ms-bootloader

---
 libraries/ms-bootloader/src/jump.c            |  2 +-
 projects/bootloader/inc/jump.h                |  8 -----
 projects/bootloader/inc/jump_to_bootloader.h  |  4 ---
 projects/bootloader/src/stm32f0xx/jump.c      | 12 --------
 .../src/stm32f0xx/jump_to_bootloader.c        | 30 -------------------
 5 files changed, 1 insertion(+), 55 deletions(-)
 delete mode 100644 projects/bootloader/inc/jump.h
 delete mode 100644 projects/bootloader/inc/jump_to_bootloader.h
 delete mode 100644 projects/bootloader/src/stm32f0xx/jump.c
 delete mode 100644 projects/bootloader/src/stm32f0xx/jump_to_bootloader.c

diff --git a/libraries/ms-bootloader/src/jump.c b/libraries/ms-bootloader/src/jump.c
index dd04d329d..1cdf3d144 100644
--- a/libraries/ms-bootloader/src/jump.c
+++ b/libraries/ms-bootloader/src/jump.c
@@ -1,6 +1,6 @@
 #include "jump.h"
 
-noreturn void prv_perform_jump(uint32_t sp, uint32_t pc) {
+__attribute__((naked)) noreturn void prv_perform_jump(uint32_t sp, uint32_t pc) {
   __asm(
       "msr msp, %[sp] \n"  // reset the main stack pointer (msp) to sp
       "bx %[pc] \n"        // jump to pc
diff --git a/projects/bootloader/inc/jump.h b/projects/bootloader/inc/jump.h
deleted file mode 100644
index 321c50ebe..000000000
--- a/projects/bootloader/inc/jump.h
+++ /dev/null
@@ -1,8 +0,0 @@
-#pragma once
-
-#include <stdint.h>
-#include <stdnoreturn.h>
-#include <string.h>
-
-// Reset main stack pointer to main stack pointer, and jump to program counter
-noreturn void perform_jump(uint32_t sp, uint32_t pc);
diff --git a/projects/bootloader/inc/jump_to_bootloader.h b/projects/bootloader/inc/jump_to_bootloader.h
deleted file mode 100644
index 91938239a..000000000
--- a/projects/bootloader/inc/jump_to_bootloader.h
+++ /dev/null
@@ -1,4 +0,0 @@
-#pragma once
-
-// Jump to the bootloade at the beginning of flash memory
-void jump_to_bootloader(void);
diff --git a/projects/bootloader/src/stm32f0xx/jump.c b/projects/bootloader/src/stm32f0xx/jump.c
deleted file mode 100644
index 227a57999..000000000
--- a/projects/bootloader/src/stm32f0xx/jump.c
+++ /dev/null
@@ -1,12 +0,0 @@
-#include "jump.h"
-
-void perform_jump(uint32_t sp, uint32_t pc) {
-  __asm(
-      "msr msp, %[sp] \n"  // reset the main stack pointer (msp) to sp
-      "bx %[pc] \n"        // jump to pc
-
-      // this bizarre syntax associates the "sp" and "pc" in asm with the sp and pc parameters
-      // see http://www.ethernut.de/en/documents/arm-inline-asm.html
-      :
-      : [sp] "r"(sp), [pc] "r"(pc));
-}
diff --git a/projects/bootloader/src/stm32f0xx/jump_to_bootloader.c b/projects/bootloader/src/stm32f0xx/jump_to_bootloader.c
deleted file mode 100644
index 4eaa51811..000000000
--- a/projects/bootloader/src/stm32f0xx/jump_to_bootloader.c
+++ /dev/null
@@ -1,30 +0,0 @@
-#include "jump_to_bootloader.h"
-
-#include <stdint.h>
-#include <stdnoreturn.h>
-#include <string.h>
-
-#include "bootloader_mcu.h"
-#include "jump.h"
-#include "stm32f0xx_misc.h"
-#include "stm32f0xx_syscfg.h"
-
-void jump_to_bootloader(void) {
-  // Disable all interrupts so their is no interference when working with vector tables
-  __disable_irq();
-
-  // Reset the vector table to bootloader's vector table
-  SYSCFG_MemoryRemapConfig(
-      SYSCFG_MemoryRemap_Flash);  // change where the vector table is stored to beginning of flash
-
-  // story memory location of bootloader starting point at the beginning of flash?
-  uint32_t *bootloader_in_flash = BOOTLOADER_DEFAULT_LOCATION;
-  // setting the stack pointer to the bootloader location now
-  uint32_t initial_sp = bootloader_in_flash[0];
-  uint32_t reset_handler_pc = bootloader_in_flash[1];
-
-  // re-enable interrupts
-  __enable_irq();
-  // jump to bootloader
-  perform_jump(initial_sp, reset_handler_pc);
-}

From 450b24302618c83026f7aba81d69f2c516eaae37 Mon Sep 17 00:00:00 2001
From: Vaaranan Yogalingam <vaaranan.y@gmail.com>
Date: Sat, 13 Nov 2021 17:43:50 +0000
Subject: [PATCH 19/23] [SOFT-468] changes APP_COMP_ON_BOOT to
 BOOTLOADER_APPLICATION

---
 platform/stm32f0xx/platform.mk | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/platform/stm32f0xx/platform.mk b/platform/stm32f0xx/platform.mk
index 402c5a02c..3df400b64 100644
--- a/platform/stm32f0xx/platform.mk
+++ b/platform/stm32f0xx/platform.mk
@@ -44,7 +44,7 @@ endif
 DEFAULT_LINKER_SCRIPT ?= stm32f0_default.ld
 ifeq ($(MAKECMDGOALS),temp-bootloader-write)
 DEFAULT_LINKER_SCRIPT := stm32f0_application.ld
-CFLAGS += -DAPP_COMP_ON_BOOT
+CFLAGS += -DBOOTLOADER_APPLICATION
 endif
 
 # Device openocd config file

From 426d9e30adac966f320b2464b46e86cd088fe162 Mon Sep 17 00:00:00 2001
From: Vaaranan Yogalingam <vaaranan.y@gmail.com>
Date: Sat, 13 Nov 2021 17:50:02 +0000
Subject: [PATCH 20/23] [SOFT-468] changed BOOTLOADER_DEFAULT_LOCATION to
 BOOTLOADER_START

---
 libraries/ms-bootloader/src/jump_to_bootloader.c   | 2 +-
 projects/bootloader/inc/stm32f0xx/bootloader_mcu.h | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/libraries/ms-bootloader/src/jump_to_bootloader.c b/libraries/ms-bootloader/src/jump_to_bootloader.c
index 4eaa51811..6e3091cac 100644
--- a/libraries/ms-bootloader/src/jump_to_bootloader.c
+++ b/libraries/ms-bootloader/src/jump_to_bootloader.c
@@ -18,7 +18,7 @@ void jump_to_bootloader(void) {
       SYSCFG_MemoryRemap_Flash);  // change where the vector table is stored to beginning of flash
 
   // story memory location of bootloader starting point at the beginning of flash?
-  uint32_t *bootloader_in_flash = BOOTLOADER_DEFAULT_LOCATION;
+  uint32_t *bootloader_in_flash = BOOTLOADER_START;
   // setting the stack pointer to the bootloader location now
   uint32_t initial_sp = bootloader_in_flash[0];
   uint32_t reset_handler_pc = bootloader_in_flash[1];
diff --git a/projects/bootloader/inc/stm32f0xx/bootloader_mcu.h b/projects/bootloader/inc/stm32f0xx/bootloader_mcu.h
index ec90632ed..579f9e300 100644
--- a/projects/bootloader/inc/stm32f0xx/bootloader_mcu.h
+++ b/projects/bootloader/inc/stm32f0xx/bootloader_mcu.h
@@ -25,5 +25,5 @@ extern uint32_t _bootloader_size;
 #define BOOTLOADER_RAM_START ((void *)&_ram_start)
 #define BOOTLOADER_RAM_SIZE ((size_t)&_ram_size)
 #define BOOTLOADER_VECTOR_TABLE_SIZE ((size_t)&_vector_table_size)
-#define BOOTLOADER_DEFAULT_LOCATION ((void *)&_bootloader_start)
+#define BOOTLOADER_START ((void *)&_bootloader_start)
 #define BOOTLOADER_SIZE ((size_t)&_bootloader_size)

From d75fa56f583d353b034c09a0c3fbc40b5c74f364 Mon Sep 17 00:00:00 2001
From: Vaaranan Yogalingam <vaaranan.y@gmail.com>
Date: Sat, 13 Nov 2021 17:51:55 +0000
Subject: [PATCH 21/23] [SOFT-468] Added description for ms-bootloader

---
 libraries/ms-bootloader/README.md | 4 ++++
 1 file changed, 4 insertions(+)

diff --git a/libraries/ms-bootloader/README.md b/libraries/ms-bootloader/README.md
index 83854796d..598e2f4d0 100644
--- a/libraries/ms-bootloader/README.md
+++ b/libraries/ms-bootloader/README.md
@@ -12,5 +12,9 @@
         - How does it fit into the overall system?
         - How does it work? (architectural overview, e.g. what each module's purpose is or how data flows through the firmware)
 -->
+
 # ms-bootloader
 
+<!--
+    ms-bootloader currently contains the jump_to_bootloader project, which allows an application to jump back to the bootloader on command
+>

From 47f14b92980705336402e5faa3dba34431785b86 Mon Sep 17 00:00:00 2001
From: Vaaranan Yogalingam <vaaranan.y@gmail.com>
Date: Thu, 10 Mar 2022 00:31:06 +0000
Subject: [PATCH 22/23] [SOFT-468] changed APP_ON_COMP to
 BOOTLOADER_APPLICATION

---
 libraries/ms-bootloader/README.md  | 4 +---
 libraries/ms-bootloader/inc/jump.h | 2 +-
 libraries/ms-common/rules.mk       | 2 ++
 libraries/ms-common/src/can_fsm.c  | 3 ++-
 4 files changed, 6 insertions(+), 5 deletions(-)

diff --git a/libraries/ms-bootloader/README.md b/libraries/ms-bootloader/README.md
index 598e2f4d0..f02d96571 100644
--- a/libraries/ms-bootloader/README.md
+++ b/libraries/ms-bootloader/README.md
@@ -15,6 +15,4 @@
 
 # ms-bootloader
 
-<!--
-    ms-bootloader currently contains the jump_to_bootloader project, which allows an application to jump back to the bootloader on command
->
+ms-bootloader currently contains the jump_to_bootloader project, which allows an application to jump back to the bootloader on command
diff --git a/libraries/ms-bootloader/inc/jump.h b/libraries/ms-bootloader/inc/jump.h
index 321c50ebe..126d2a3e4 100644
--- a/libraries/ms-bootloader/inc/jump.h
+++ b/libraries/ms-bootloader/inc/jump.h
@@ -1,5 +1,5 @@
 #pragma once
-
+// This library allows client to jump to an arbitrary memory address
 #include <stdint.h>
 #include <stdnoreturn.h>
 #include <string.h>
diff --git a/libraries/ms-common/rules.mk b/libraries/ms-common/rules.mk
index 7ed5600d9..b4564bafc 100644
--- a/libraries/ms-common/rules.mk
+++ b/libraries/ms-common/rules.mk
@@ -10,6 +10,8 @@ ifneq (,$(IS_MU))
 $(T)_DEPS += mu-gen mu-store
 endif
 
+$(T)_DEPS += ms-bootloader
+
 ifeq (x86,$(PLATFORM))
 $(T)_EXCLUDE_TESTS := pwm pwm_input
 $(T)_CFLAGS += -DX86
diff --git a/libraries/ms-common/src/can_fsm.c b/libraries/ms-common/src/can_fsm.c
index 4258feb2b..0518ef5f7 100644
--- a/libraries/ms-common/src/can_fsm.c
+++ b/libraries/ms-common/src/can_fsm.c
@@ -59,8 +59,9 @@ static void prv_handle_rx(Fsm *fsm, const Event *e, void *context) {
 
   // Process bootloader messages
   if (rx_msg.source_id == SYSTEM_CAN_DEVICE_BOOTLOADER) {
-#ifdef APP_COMP_ON_BOOT
+#ifdef BOOTLOADER_APPLICATIONB  // *NOTE: jump to bootloader does not actually return
     jump_to_bootloader();
+    return;
 #endif
     result = bootloader_can_receive(&rx_msg);
     return;

From f0c9869e1f7068fabe82bfc2751874c6085b5102 Mon Sep 17 00:00:00 2001
From: Ryan Dancy <ryan@keal.ca>
Date: Thu, 10 Mar 2022 00:50:27 +0000
Subject: [PATCH 23/23] [SOFT-468] Fix bootloader_mcu include issues

---
 .../ms-bootloader}/inc/stm32f0xx/bootloader_mcu.h     | 11 +++++++++--
 .../ms-bootloader}/inc/x86/bootloader_mcu.h           |  0
 libraries/ms-bootloader/src/jump_to_bootloader.c      |  2 ++
 libraries/ms-common/src/can_fsm.c                     |  2 +-
 projects/bootloader/rules.mk                          |  2 +-
 5 files changed, 13 insertions(+), 4 deletions(-)
 rename {projects/bootloader => libraries/ms-bootloader}/inc/stm32f0xx/bootloader_mcu.h (75%)
 rename {projects/bootloader => libraries/ms-bootloader}/inc/x86/bootloader_mcu.h (100%)

diff --git a/projects/bootloader/inc/stm32f0xx/bootloader_mcu.h b/libraries/ms-bootloader/inc/stm32f0xx/bootloader_mcu.h
similarity index 75%
rename from projects/bootloader/inc/stm32f0xx/bootloader_mcu.h
rename to libraries/ms-bootloader/inc/stm32f0xx/bootloader_mcu.h
index 579f9e300..b10da6cc4 100644
--- a/projects/bootloader/inc/stm32f0xx/bootloader_mcu.h
+++ b/libraries/ms-bootloader/inc/stm32f0xx/bootloader_mcu.h
@@ -4,8 +4,7 @@
 
 #include <stdint.h>
 
-// TODO(SOFT-416): Move this to ms-bootloader.
-
+#ifdef BOOTLOADER_APPLICATION
 // The addresses of these values are defined in the bootloader linker script (memory_spaces.ld).
 // If there's an undefined reference linker error from here, you're using the wrong linker script!
 extern uint32_t _config_page1_start;
@@ -27,3 +26,11 @@ extern uint32_t _bootloader_size;
 #define BOOTLOADER_VECTOR_TABLE_SIZE ((size_t)&_vector_table_size)
 #define BOOTLOADER_START ((void *)&_bootloader_start)
 #define BOOTLOADER_SIZE ((size_t)&_bootloader_size)
+#else
+// If we're not in the bootloader or the application, we shouldn't use this!
+#define BOOTLOADER_CONFIG_PAGE_1_START ((void *)0)
+#define BOOTLOADER_CONFIG_PAGE_2_START ((void *)0)
+#define BOOTLOADER_APPLICATION_START ((void *)0)
+#define BOOTLOADER_APPLICATION_SIZE (((size_t)0))
+#define BOOTLOADER_VECTOR_TABLE_SIZE ((size_t)0)
+#endif
diff --git a/projects/bootloader/inc/x86/bootloader_mcu.h b/libraries/ms-bootloader/inc/x86/bootloader_mcu.h
similarity index 100%
rename from projects/bootloader/inc/x86/bootloader_mcu.h
rename to libraries/ms-bootloader/inc/x86/bootloader_mcu.h
diff --git a/libraries/ms-bootloader/src/jump_to_bootloader.c b/libraries/ms-bootloader/src/jump_to_bootloader.c
index 6e3091cac..a56d708e8 100644
--- a/libraries/ms-bootloader/src/jump_to_bootloader.c
+++ b/libraries/ms-bootloader/src/jump_to_bootloader.c
@@ -10,6 +10,7 @@
 #include "stm32f0xx_syscfg.h"
 
 void jump_to_bootloader(void) {
+#ifdef BOOTLOADER_APPLICATION // don't do anything if we're not in the bootloader/application
   // Disable all interrupts so their is no interference when working with vector tables
   __disable_irq();
 
@@ -27,4 +28,5 @@ void jump_to_bootloader(void) {
   __enable_irq();
   // jump to bootloader
   perform_jump(initial_sp, reset_handler_pc);
+#endif // BOOTLOADER_APPLICATION
 }
diff --git a/libraries/ms-common/src/can_fsm.c b/libraries/ms-common/src/can_fsm.c
index 0518ef5f7..b3c97c5f8 100644
--- a/libraries/ms-common/src/can_fsm.c
+++ b/libraries/ms-common/src/can_fsm.c
@@ -59,7 +59,7 @@ static void prv_handle_rx(Fsm *fsm, const Event *e, void *context) {
 
   // Process bootloader messages
   if (rx_msg.source_id == SYSTEM_CAN_DEVICE_BOOTLOADER) {
-#ifdef BOOTLOADER_APPLICATIONB  // *NOTE: jump to bootloader does not actually return
+#ifdef BOOTLOADER_APPLICATION  // *NOTE: jump to bootloader does not actually return
     jump_to_bootloader();
     return;
 #endif
diff --git a/projects/bootloader/rules.mk b/projects/bootloader/rules.mk
index 67f6365be..175d18428 100644
--- a/projects/bootloader/rules.mk
+++ b/projects/bootloader/rules.mk
@@ -13,7 +13,7 @@ $(T)_SRC := $(wildcard $($(T)_SRC_ROOT)/src/*.c) \
 
 $(T)_INC_DIRS += $($(T)_DIR)/protogen
 
-$(T)_DEPS := ms-common ms-helper nanopb
+$(T)_DEPS := ms-common ms-helper nanopb ms-bootloader
 
 $(T)_LINKER_SCRIPT := stm32f0_bootloader.ld
 $(T)_test_config_MOCKS := persist_init