AP_Bootloader: use IP address from periph if available

Tools/AP_Bootloader/AP_Bootloader.cpp

@@ -97,6 +97,10 @@ int main(void)
     stm32_flash_unprotect_flash();
 #endif
 
+#if AP_BOOTLOADER_NETWORK_ENABLED
+    network.save_comms_ip();
+#endif
+
 #if AP_FASTBOOT_ENABLED
     enum rtc_boot_magic m = check_fast_reboot();
     bool was_watchdog = stm32_was_watchdog_reset();

Tools/AP_Bootloader/app_comms.h

@@ -10,7 +10,10 @@
 
 struct app_bootloader_comms {
     uint32_t magic;
-    uint32_t reserved[4];
+    uint32_t ip;
+    uint32_t netmask;
+    uint32_t gateway;
+    uint32_t reserved;
     uint8_t server_node_id;
     uint8_t my_node_id;
     uint8_t path[201];

Tools/AP_Bootloader/can.cpp

@@ -725,9 +725,8 @@ bool can_check_update(void)
             fw_update.reads[i].offset = i*sizeof(uavcan_protocol_file_ReadResponse::data.data);
         }
         memcpy(fw_update.path, comms->path, sizeof(uavcan_protocol_file_Path::path.data)+1);
+        memset(comms, 0, sizeof(*comms));
         ret = true;
-        // clear comms region
-        memset(comms, 0, sizeof(struct app_bootloader_comms));
     }
 #endif
 #if defined(CAN1_BASE) && defined(RCC_APB1ENR_CAN1EN)

Tools/AP_Bootloader/network.cpp

@@ -24,9 +24,22 @@
 #include "support.h"
 #include "bl_protocol.h"
 #include <AP_CheckFirmware/AP_CheckFirmware.h>
+#include "app_comms.h"
 
-#ifndef AP_NETWORKING_DEFAULT_MAC_ADDR
+#ifndef AP_NETWORKING_BOOTLOADER_DEFAULT_MAC_ADDR
-#define AP_NETWORKING_DEFAULT_MAC_ADDR "C2:AF:51:03:CF:46"
+#define AP_NETWORKING_BOOTLOADER_DEFAULT_MAC_ADDR "C2:AF:51:03:CF:46"
+#endif
+
+#ifndef AP_NETWORKING_BOOTLOADER_DEFAULT_IP
+#define AP_NETWORKING_BOOTLOADER_DEFAULT_IP "192.168.1.100"
+#endif
+
+#ifndef AP_NETWORKING_BOOTLOADER_DEFAULT_GATEWAY
+#define AP_NETWORKING_BOOTLOADER_DEFAULT_GATEWAY "192.168.1.1"
+#endif
+
+#ifndef AP_NETWORKING_BOOTLOADER_DEFAULT_NETMASK
+#define AP_NETWORKING_BOOTLOADER_DEFAULT_NETMASK "255.255.255.0"
 #endif
 
 #ifndef AP_BOOTLOADER_NETWORK_USE_DHCP
@@ -186,21 +199,27 @@ void BL_Network::net_thread()
 
     thread_sleep_ms(100);
 
-    AP_Networking::convert_str_to_macaddr(AP_NETWORKING_DEFAULT_MAC_ADDR, thisif->hwaddr);
+    AP_Networking::convert_str_to_macaddr(AP_NETWORKING_BOOTLOADER_DEFAULT_MAC_ADDR, thisif->hwaddr);
 
-    struct {
+    ip4_addr_t ip, gateway, netmask;
-        ip4_addr_t ip, gateway, netmask;
+    if (addr.ip == 0) {
-    } addr {};
+        // no IP from AP_Periph, use defaults
-
+        ip.addr = htonl(SocketAPM::inet_str_to_addr(AP_NETWORKING_BOOTLOADER_DEFAULT_IP));
-    addr.ip.addr = htonl(SocketAPM::inet_str_to_addr("192.168.2.201"));
+        gateway.addr = htonl(SocketAPM::inet_str_to_addr(AP_NETWORKING_BOOTLOADER_DEFAULT_GATEWAY));
-    addr.gateway.addr = htonl(SocketAPM::inet_str_to_addr("192.168.2.10"));
+        netmask.addr = htonl(SocketAPM::inet_str_to_addr(AP_NETWORKING_BOOTLOADER_DEFAULT_NETMASK));
-    addr.netmask.addr = htonl(SocketAPM::inet_str_to_addr("255.255.255.0"));
+    } else {
+        // use addresses from AP_Periph
+        ip.addr = htonl(addr.ip);
+        netmask.addr = htonl(addr.netmask);
+        gateway.addr = htonl(addr.gateway);
+    }
 
     const MACConfig mac_config = {thisif->hwaddr};
     macStart(&ETHD1, &mac_config);
 
     /* Add interface. */
-    auto result = netifapi_netif_add(thisif, &addr.ip, &addr.netmask, &addr.gateway, NULL, ethernetif_init, tcpip_input);
+
+    auto result = netifapi_netif_add(thisif, &ip, &netmask, &gateway, NULL, ethernetif_init, tcpip_input);
     if (result != ERR_OK) {
         AP_HAL::panic("Failed to initialise netif");
     }
@@ -505,5 +524,18 @@ void BL_Network::init()
                         this);
 }
 
+/*
+  save IP address from AP_Periph
+ */
+void BL_Network::save_comms_ip(void)
+{
+    struct app_bootloader_comms *comms = (struct app_bootloader_comms *)HAL_RAM0_START;
+    if (comms->magic == APP_BOOTLOADER_COMMS_MAGIC && comms->ip != 0) {
+        addr.ip = comms->ip;
+        addr.netmask = comms->netmask;
+        addr.gateway = comms->gateway;
+    }
+}
+
 #endif // AP_BOOTLOADER_NETWORK_ENABLED
 

Tools/AP_Bootloader/network.h

@@ -13,6 +13,8 @@ class SocketAPM;
 class BL_Network {
 public:
     void init(void);
+    void save_comms_ip(void);
+
 private:
     struct netif *thisif;
     thread_t *net_thread_ctx;
@@ -37,6 +39,10 @@ private:
         const char *name;
         const char *value;
     } variables[];
+
+    struct {
+        uint32_t ip, gateway, netmask;
+    } addr;
 };
 
 #endif // AP_BOOTLOADER_NETWORK_ENABLED

Tools/AP_Bootloader/support.cpp

@@ -150,6 +150,9 @@ bool flash_func_is_erased(uint32_t sector)
 
 bool flash_func_erase_sector(uint32_t sector, bool force_erase)
 {
+    if (sector >= num_pages) {
+        return false;
+    }
 #if AP_BOOTLOADER_ALWAYS_ERASE
     return stm32_flash_erasepage(flash_base_page+sector);
 #else