Add jump-to-bootloader functionality

firmware/lib/systems.c

@@ -262,3 +262,29 @@ void ConfigureGPIO( uint8_t gpio, int parameters )
 	GPIO_Init(GPIOOf(gpio), &GPIO_InitStructure);
 }
 
+void JumpToBootloader(void) {
+	// Many thanks to https://stm32f4-discovery.net/2017/04/tutorial-jump-system-memory-software-stm32/
+
+	void (*SysMemBootJump)(void);
+	volatile uint32_t addr = 0x1FFF0000;
+
+	RCC_DeInit();
+
+	// Disable and reset systick
+	SysTick->CTRL = 0;
+	SysTick->LOAD = 0;
+	SysTick->VAL = 0;
+
+	__disable_irq();
+
+	// Remap system memory	
+	SYSCFG->MEMRMP = 0x01;
+
+	SysMemBootJump = (void (*)(void)) (*((uint32_t *)(addr + 4)));
+
+	// Set main stack pointer
+	__set_MSP(*(uint32_t *)addr);
+
+	// Jump
+	SysMemBootJump();
+}

firmware/lib/systems.h

@@ -54,8 +54,10 @@ void ConfigureGPIO( gpio gpio, int parameters );
 #endif
 
 void ConfigureUART();
-
 void ConfigureLED();
+
+void JumpToBootloader(void);
+
 #define LED_TOGGLE {GPIOOf(LEDPIN)->ODR^=(1<<((LEDPIN)&0x0f));}
 #define LED_ON     GPIOOn(LEDPIN)
 #define LED_OFF    GPIOOff(LEDPIN)