AP_HAL_ChibiOS: add and use AP_BOOTLOADER_FLASHING_ENABLED

libraries/AP_HAL_ChibiOS/Util.cpp

@@ -253,9 +253,10 @@ uint64_t Util::get_hw_rtc() const
     return stm32_get_utc_usec();
 }
 
-#if !defined(HAL_NO_FLASH_SUPPORT) && !defined(HAL_NO_ROMFS_SUPPORT)
-
 #include <GCS_MAVLink/GCS.h>
+
+#if AP_BOOTLOADER_FLASHING_ENABLED
+
 #if HAL_GCS_ENABLED
 #define Debug(fmt, args ...)  do { gcs().send_text(MAV_SEVERITY_INFO, fmt, ## args); } while (0)
 #endif // HAL_GCS_ENABLED
@@ -264,6 +265,10 @@ uint64_t Util::get_hw_rtc() const
 #define Debug(fmt, args ...)  do { hal.console->printf(fmt, ## args); } while (0)
 #endif
 
+#ifdef HAL_NO_FLASH_SUPPORT
+#error "Bootloader-flashing enabled but no flashing support"
+#endif
+
 Util::FlashBootloader Util::flash_bootloader()
 {
     uint32_t fw_size;
@@ -371,7 +376,7 @@ Util::FlashBootloader Util::flash_bootloader()
     AP_ROMFS::free(fw);
     return FlashBootloader::FAIL;
 }
-#endif // !HAL_NO_FLASH_SUPPORT && !HAL_NO_ROMFS_SUPPORT
+#endif // AP_BOOTLOADER_FLASHING_ENABLED
 
 /*
   display system identifer - board type and serial number

libraries/AP_HAL_ChibiOS/Util.h

@@ -30,6 +30,10 @@ class ExpandingString;
 #define HAL_ENABLE_SAVE_PERSISTENT_PARAMS (defined(STM32F7) || defined(STM32H7))
 #endif
 
+#ifndef AP_BOOTLOADER_FLASHING_ENABLED
+#define AP_BOOTLOADER_FLASHING_ENABLED 0
+#endif
+
 class ChibiOS::Util : public AP_HAL::Util {
 public:
     static Util *from(AP_HAL::Util *util) {
@@ -126,7 +130,7 @@ private:
       get system clock in UTC microseconds
      */
     uint64_t get_hw_rtc() const override;
-#if !defined(HAL_NO_FLASH_SUPPORT) && !defined(HAL_NO_ROMFS_SUPPORT)
+#if AP_BOOTLOADER_FLASHING_ENABLED
     FlashBootloader flash_bootloader() override;
 #endif
 

libraries/AP_HAL_ChibiOS/hwdef/f103-RangeFinder/hwdef.dat

@@ -12,6 +12,7 @@ define AP_PERIPH_RANGEFINDER_PORT_DEFAULT 3
 
 # we're too low on flash with old compiler for bootloader
 define HAL_NO_ROMFS_SUPPORT
+define AP_BOOTLOADER_FLASHING_ENABLED 0
 
 # setup for MSP
 define HAL_MSP_ENABLED 1

libraries/AP_HAL_ChibiOS/hwdef/iomcu/hwdef.dat

@@ -137,5 +137,6 @@ IOMCU_FW 1
 MAIN_STACK 0x200
 PROCESS_STACK 0x250
 define HAL_DISABLE_LOOP_DELAY
+define AP_BOOTLOADER_FLASHING_ENABLED 0
 
 AUTOBUILD_TARGETS iofirmware

libraries/AP_HAL_ChibiOS/hwdef/iomcu_f103_8MHz/hwdef.dat

@@ -138,4 +138,6 @@ MAIN_STACK 0x200
 PROCESS_STACK 0x250
 define HAL_DISABLE_LOOP_DELAY
 
+define AP_BOOTLOADER_FLASHING_ENABLED 0
+
 AUTOBUILD_TARGETS iofirmware

libraries/AP_HAL_ChibiOS/hwdef/scripts/chibios_hwdef.py

@@ -2381,21 +2381,23 @@ def bootloader_path():
                                    "Tools",
                                    "bootloaders",
                                    bootloader_filename)
-    if os.path.exists(bootloader_path):
-        return os.path.realpath(bootloader_path)
-
-    return None
+    return bootloader_path
 
 
-def add_bootloader():
+def embed_bootloader(f):
     '''added bootloader to ROMFS'''
-    bp = bootloader_path()
-    if bp is not None and int(get_config('BOOTLOADER_EMBED', required=False, default='1')):
-        romfs["bootloader.bin"] = bp
-        env_vars['BOOTLOADER_EMBED'] = 1
-    else:
-        env_vars['BOOTLOADER_EMBED'] = 0
+    if not intdefines.get('AP_BOOTLOADER_FLASHING_ENABLED', 1):
+        # or, you know, not...
+        return
 
+    bp = bootloader_path()
+    if not os.path.exists(bp):
+        return
+
+    bp = os.path.realpath(bp)
+
+    romfs["bootloader.bin"] = bp
+    f.write("#define AP_BOOTLOADER_FLASHING_ENABLED 1\n")
 
 
 def write_ROMFS(outdir):
@@ -2559,7 +2561,7 @@ def write_hwdef_header(outfilename):
     setup_apj_IDs()
     write_USB_config(f)
 
-    add_bootloader()
+    embed_bootloader(f)
 
     if len(romfs) > 0:
         f.write('#define HAL_HAVE_AP_ROMFS_EMBEDDED_H 1\n')