From 9966fbea0fe74a154f84a1a3d865a638c0db5a7a Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Wed, 20 Feb 2019 17:35:10 +1100
Subject: [PATCH] HAL_ChibiOS: fixed bootloader build error

---
 libraries/AP_HAL_ChibiOS/hwdef/common/malloc.c      | 13 +++++++------
 .../AP_HAL_ChibiOS/hwdef/scripts/chibios_hwdef.py   |  2 +-
 2 files changed, 8 insertions(+), 7 deletions(-)

diff --git a/libraries/AP_HAL_ChibiOS/hwdef/common/malloc.c b/libraries/AP_HAL_ChibiOS/hwdef/common/malloc.c
index 5e9fd46509..faf7a8ab22 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/common/malloc.c
+++ b/libraries/AP_HAL_ChibiOS/hwdef/common/malloc.c
@@ -34,11 +34,10 @@
 #define MEM_REGION_FLAG_DMA_OK 1
 #define MEM_REGION_FLAG_FAST   2
 
-static struct memory_region {
+static const struct memory_region {
     void *address;
     uint32_t size;
     uint32_t flags;
-    memory_heap_t heap;
 } memory_regions[] = { HAL_MEMORY_REGIONS };
 
 // the first memory region is already setup as the ChibiOS
@@ -47,6 +46,8 @@ static struct memory_region {
 
 #if CH_CFG_USE_HEAP == TRUE
 
+static memory_heap_t heaps[NUM_MEMORY_REGIONS];
+
 #define MIN_ALIGNMENT 8
 
 #if defined(STM32H7)
@@ -70,7 +71,7 @@ static memory_heap_t dma_reserve_heap;
 void malloc_init(void)
 {
     for (uint8_t i=1; i<NUM_MEMORY_REGIONS; i++) {
-        chHeapObjectInit(&memory_regions[i].heap, memory_regions[i].address, memory_regions[i].size);
+        chHeapObjectInit(&heaps[i], memory_regions[i].address, memory_regions[i].size);
     }
 
 #if DMA_RESERVE_SIZE != 0
@@ -117,7 +118,7 @@ static void *malloc_flags(size_t size, uint32_t flags)
             !(memory_regions[i].flags & MEM_REGION_FLAG_FAST)) {
             continue;
         }
-        p = chHeapAllocAligned(&memory_regions[i].heap, size, alignment);
+        p = chHeapAllocAligned(&heaps[i], size, alignment);
         if (p) {
             goto found;
         }
@@ -126,7 +127,7 @@ static void *malloc_flags(size_t size, uint32_t flags)
     // if this is a not a DMA request then we can fall back to any heap
     if (!(flags & MEM_REGION_FLAG_DMA_OK)) {
         for (uint8_t i=1; i<NUM_MEMORY_REGIONS; i++) {
-            p = chHeapAllocAligned(&memory_regions[i].heap, size, alignment);
+            p = chHeapAllocAligned(&heaps[i], size, alignment);
             if (p) {
                 goto found;
             }
@@ -206,7 +207,7 @@ size_t mem_available(void)
     // now our own heaps
     for (uint8_t i=1; i<NUM_MEMORY_REGIONS; i++) {
         size_t available = 0;
-        chHeapStatus(&memory_regions[i].heap, &available, NULL);
+        chHeapStatus(&heaps[i], &available, NULL);
         totalp += available;
     }
 
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/scripts/chibios_hwdef.py b/libraries/AP_HAL_ChibiOS/hwdef/scripts/chibios_hwdef.py
index f9e312388a..48e18db69b 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/scripts/chibios_hwdef.py
+++ b/libraries/AP_HAL_ChibiOS/hwdef/scripts/chibios_hwdef.py
@@ -559,7 +559,7 @@ def write_mcu_config(f):
     f.write('// memory regions\n')
     regions = []
     for (address, size, flags) in ram_map:
-        regions.append('{(void*)0x%08x, 0x%08x, 0x%02x, {}}' % (address, size*1024, flags))
+        regions.append('{(void*)0x%08x, 0x%08x, 0x%02x }' % (address, size*1024, flags))
     f.write('#define HAL_MEMORY_REGIONS %s\n' % ', '.join(regions))
 
     f.write('\n// CPU serial number (12 bytes)\n')