Uploading firmware bricked VESC

I am trying to work out what dumb thing I have done.

I bought an assembled and working VESC. I wanted to create a custom firmware so followed the instructions with the example on vedder.se, and uploaded it with the STlink

I first used the default ubuntu 16.04 toolchain, but have since upgraded using the instructions here

http://vesc-project.com/node/310

I have since gone back to using the vanilla version from the github repository.

If I upload the firmware using make upload it seems to upload ok

If I upload the bootloader it seems to upload but hangs on the

** Resetting Target **   stage

If I run the openocd command with -d3 to get more info it seems to hang on:

Debug: 6432 4588 command.c:145 script_debug(): command - init ocd_init

The vesc sits there flashing its red led twice if plugged into the STlink or not at all if powered from a battery.

If I connect to bldc-tool  (again from github) it claims I have an old version of the firmware and that I should upload a newer version

I have changed the hardware version to 4.12 (my board) in conf_general.c

I can't see any error messages

Does anyone have any idea what is going on? As I have never used STM32s before and I am feeling somewhat blind in my attempts to fix it.

   thanks

Results of make upload in firmware

openocd -f board/stm32f4discovery.cfg -c "reset_config trst_only combined" -c "program build/BLDC_4_ChibiOS.elf verify reset exit" # For openocd 0.9
Open On-Chip Debugger 0.9.0 (2015-09-02-10:42)
Licensed under GNU GPL v2
For bug reports, read
    http://openocd.org/doc/doxygen/bugs.html
Info : The selected transport took over low-level target control. The results might differ compared to plain JTAG/SWD
adapter speed: 2000 kHz
adapter_nsrst_delay: 100
none separate
srst_only separate srst_nogate srst_open_drain connect_deassert_srst
trst_only combined trst_push_pull
Info : Unable to match requested speed 2000 kHz, using 1800 kHz
Info : Unable to match requested speed 2000 kHz, using 1800 kHz
Info : clock speed 1800 kHz
Info : STLINK v2 JTAG v21 API v2 SWIM v4 VID 0x0483 PID 0x3748
Info : using stlink api v2
Info : Target voltage: 3.243243
Info : stm32f4x.cpu: hardware has 6 breakpoints, 4 watchpoints
target state: halted
target halted due to debug-request, current mode: Thread
xPSR: 0x01000000 pc: 0x0800c000 msp: 0x20000800
** Programming Started **
auto erase enabled
Info : device id = 0x10076413
Info : flash size = 1024kbytes
Info : Padding image section 0 with 48704 bytes
Info : Padding image section 1 with 4 bytes
target state: halted
target halted due to breakpoint, current mode: Thread
xPSR: 0x61000000 pc: 0x20000042 msp: 0x20000800
wrote 262144 bytes from file build/BLDC_4_ChibiOS.elf in 8.767796s (29.198 KiB/s)
** Programming Finished **
** Verify Started **
target state: halted
target halted due to breakpoint, current mode: Thread
xPSR: 0x61000000 pc: 0x2000002e msp: 0x20000800
target state: halted
target halted due to breakpoint, current mode: Thread
xPSR: 0x61000000 pc: 0x2000002e msp: 0x20000800
target state: halted
target halted due to breakpoint, current mode: Thread
xPSR: 0x61000000 pc: 0x2000002e msp: 0x20000800
verified 151000 bytes in 1.393879s (105.792 KiB/s)
** Verified OK **
** Resetting Target **
shutdown command invoked

Results of make upload bootloader

#qstlink2 --cli --erase --write build/BLDC_4_Bootloader.bin
openocd -f interface/stlink-v2.cfg -c "set WORKAREASIZE 0x2000" -f target/stm32f4x.cfg -c "program build/BLDC_4_Bootloader.elf verify reset"
Open On-Chip Debugger 0.9.0 (2015-09-02-10:42)
Licensed under GNU GPL v2
For bug reports, read
    http://openocd.org/doc/doxygen/bugs.html
0x2000
Info : auto-selecting first available session transport "hla_swd". To override use 'transport select <transport>'.
Info : The selected transport took over low-level target control. The results might differ compared to plain JTAG/SWD
adapter speed: 2000 kHz
adapter_nsrst_delay: 100
none separate
Info : Unable to match requested speed 2000 kHz, using 1800 kHz
Info : Unable to match requested speed 2000 kHz, using 1800 kHz
Info : clock speed 1800 kHz
Info : STLINK v2 JTAG v21 API v2 SWIM v4 VID 0x0483 PID 0x3748
Info : using stlink api v2
Info : Target voltage: 3.243243
Info : stm32f4x.cpu: hardware has 6 breakpoints, 4 watchpoints
target state: halted
target halted due to debug-request, current mode: Thread
xPSR: 0x01000000 pc: 0x0800c000 msp: 0x20000800
** Programming Started **
auto erase enabled
Info : device id = 0x10076413
Info : flash size = 1024kbytes
target state: halted
target halted due to breakpoint, current mode: Thread
xPSR: 0x61000000 pc: 0x20000042 msp: 0x20000800
wrote 131072 bytes from file build/BLDC_4_Bootloader.elf in 4.266656s (30.000 KiB/s)
** Programming Finished **
** Verify Started **
target state: halted
target halted due to breakpoint, current mode: Thread
xPSR: 0x61000000 pc: 0x2000002e msp: 0x20000800
verified 4288 bytes in 0.071080s (58.912 KiB/s)
** Verified OK **
** Resetting Target **
^CMakefile:237: recipe for target 'upload' failed
make: *** [upload] Interrupt