From 48639c6810dbf88e5b6c07b1f3f3d3ed639f585b Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Thu, 18 Aug 2022 16:45:30 +1000
Subject: [PATCH] AP_HAL_ChibiOS: add SD card support to bootloader

---
 libraries/AP_HAL_ChibiOS/Scheduler.cpp        | 12 ++++++++++-
 .../hwdef/scripts/chibios_hwdef.py            | 20 +++++++++++++++++++
 libraries/AP_HAL_ChibiOS/sdcard.cpp           | 11 ++++++++--
 libraries/AP_HAL_ChibiOS/sdcard.h             |  2 ++
 4 files changed, 42 insertions(+), 3 deletions(-)

diff --git a/libraries/AP_HAL_ChibiOS/Scheduler.cpp b/libraries/AP_HAL_ChibiOS/Scheduler.cpp
index e646af24a8..8f0d65abd3 100644
--- a/libraries/AP_HAL_ChibiOS/Scheduler.cpp
+++ b/libraries/AP_HAL_ChibiOS/Scheduler.cpp
@@ -14,6 +14,15 @@
  *
  * Code by Andrew Tridgell and Siddharth Bharat Purohit
  */
+
+#include <AP_HAL/AP_HAL_Boards.h>
+
+#ifndef HAL_SCHEDULER_ENABLED
+#define HAL_SCHEDULER_ENABLED 1
+#endif
+
+#if HAL_SCHEDULER_ENABLED
+
 #include <AP_HAL/AP_HAL.h>
 
 #include <hal.h>
@@ -788,5 +797,6 @@ void Scheduler::check_stack_free(void)
 }
 #endif // CH_DBG_ENABLE_STACK_CHECK == TRUE
 
-
 #endif // CH_CFG_USE_DYNAMIC
+
+#endif  // HAL_SCHEDULER_ENABLED
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/scripts/chibios_hwdef.py b/libraries/AP_HAL_ChibiOS/hwdef/scripts/chibios_hwdef.py
index 55d5f8d525..f253f1cd7d 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/scripts/chibios_hwdef.py
+++ b/libraries/AP_HAL_ChibiOS/hwdef/scripts/chibios_hwdef.py
@@ -1109,7 +1109,9 @@ def write_mcu_config(f):
 #define HAL_USE_I2C FALSE
 #define HAL_USE_PWM FALSE
 #define HAL_NO_UARTDRIVER
+#ifndef CH_CFG_USE_DYNAMIC
 #define CH_CFG_USE_DYNAMIC FALSE
+#endif
 #define HAL_USE_EMPTY_STORAGE 1
 #ifndef HAL_STORAGE_SIZE
 #define HAL_STORAGE_SIZE 16384
@@ -1136,11 +1138,19 @@ def write_mcu_config(f):
 #endif
 #define HAL_NO_ROMFS_SUPPORT TRUE
 #define CH_CFG_USE_TM FALSE
+#ifndef CH_CFG_USE_REGISTRY
 #define CH_CFG_USE_REGISTRY FALSE
+#endif
+#ifndef CH_CFG_USE_WAITEXIT
 #define CH_CFG_USE_WAITEXIT FALSE
+#endif
+#ifndef CH_CFG_USE_MEMPOOLS
 #define CH_CFG_USE_MEMPOOLS FALSE
+#endif
 #define CH_DBG_FILL_THREADS FALSE
+#ifndef CH_CFG_USE_MUTEXES
 #define CH_CFG_USE_MUTEXES FALSE
+#endif
 #define CH_CFG_USE_EVENTS FALSE
 #define CH_CFG_USE_EVENTS_TIMEOUT FALSE
 #define HAL_USE_EMPTY_STORAGE 1
@@ -1149,14 +1159,22 @@ def write_mcu_config(f):
 #endif
 #define HAL_USE_RTC FALSE
 #define DISABLE_SERIAL_ESC_COMM TRUE
+#ifndef CH_CFG_USE_DYNAMIC
 #define CH_CFG_USE_DYNAMIC FALSE
+#endif
 #define DISABLE_WATCHDOG 1
 ''')
         if not env_vars['EXT_FLASH_SIZE_MB'] and not args.signed_fw:
             f.write('''
+#ifndef CH_CFG_USE_MEMCORE
 #define CH_CFG_USE_MEMCORE FALSE
+#endif
+#ifndef CH_CFG_USE_SEMAPHORES
 #define CH_CFG_USE_SEMAPHORES FALSE
+#endif
+#ifndef CH_CFG_USE_HEAP
 #define CH_CFG_USE_HEAP FALSE
+#endif
 ''')
     if env_vars.get('ROMFS_UNCOMPRESSED', False):
         f.write('#define HAL_ROMFS_UNCOMPRESSED\n')
@@ -3014,6 +3032,8 @@ def add_bootloader_defaults(f):
 // AP_Bootloader defaults
 
 #define HAL_DSHOT_ALARM_ENABLED 0
+#define HAL_LOGGING_ENABLED 0
+#define HAL_SCHEDULER_ENABLED 0
 
 // bootloaders *definitely* don't use the FFT library:
 #ifndef HAL_GYROFFT_ENABLED
diff --git a/libraries/AP_HAL_ChibiOS/sdcard.cpp b/libraries/AP_HAL_ChibiOS/sdcard.cpp
index fcb756e069..efc50ce481 100644
--- a/libraries/AP_HAL_ChibiOS/sdcard.cpp
+++ b/libraries/AP_HAL_ChibiOS/sdcard.cpp
@@ -17,6 +17,7 @@
 #include <hal.h>
 #include "SPIDevice.h"
 #include "sdcard.h"
+#include "bouncebuffer.h"
 #include "hwdef/common/spi_hook.h"
 #include <AP_BoardConfig/AP_BoardConfig.h>
 #include <AP_Filesystem/AP_Filesystem.h>
@@ -26,9 +27,11 @@ extern const AP_HAL::HAL& hal;
 
 #ifdef USE_POSIX
 static FATFS SDC_FS; // FATFS object
-static bool sdcard_running;
+#ifndef HAL_BOOTLOADER_BUILD
 static HAL_Semaphore sem;
 #endif
+static bool sdcard_running;
+#endif
 
 #if HAL_USE_SDC
 static SDCConfig sdcconfig = {
@@ -52,9 +55,13 @@ static SPIConfig highspeed;
 bool sdcard_init()
 {
 #ifdef USE_POSIX
+#ifndef HAL_BOOTLOADER_BUILD
     WITH_SEMAPHORE(sem);
 
     uint8_t sd_slowdown = AP_BoardConfig::get_sdcard_slowdown();
+#else
+    uint8_t sd_slowdown = 0;  // maybe take from a define?
+#endif
 #if HAL_USE_SDC
 
 #if STM32_SDC_USE_SDMMC2 == TRUE
@@ -134,7 +141,7 @@ bool sdcard_init()
     }
 #endif
     sdcard_running = false;
-#endif
+#endif  // USE_POSIX
     return false;
 }
 
diff --git a/libraries/AP_HAL_ChibiOS/sdcard.h b/libraries/AP_HAL_ChibiOS/sdcard.h
index b0bd4ab1e2..b64466f099 100644
--- a/libraries/AP_HAL_ChibiOS/sdcard.h
+++ b/libraries/AP_HAL_ChibiOS/sdcard.h
@@ -15,6 +15,8 @@
  */
 #pragma once
 
+#include <stdbool.h>
+
 bool sdcard_init();
 void sdcard_stop();
 bool sdcard_retry();