AP_Networking: allow reuse of some of AP_Networking in bootloader

libraries/AP_Networking/AP_Networking.cpp

@@ -214,10 +214,12 @@ void AP_Networking::announce_address_changes()
         return;
     }
 
+#if AP_HAVE_GCS_SEND_TEXT
     char ipstr[16];
     GCS_SEND_TEXT(MAV_SEVERITY_INFO, "NET: IP      %s", SocketAPM::inet_addr_to_str(get_ip_active(), ipstr, sizeof(ipstr)));
     GCS_SEND_TEXT(MAV_SEVERITY_INFO, "NET: Mask    %s", SocketAPM::inet_addr_to_str(get_netmask_active(), ipstr, sizeof(ipstr)));
     GCS_SEND_TEXT(MAV_SEVERITY_INFO, "NET: Gateway %s", SocketAPM::inet_addr_to_str(get_gateway_active(), ipstr, sizeof(ipstr)));
+#endif
 
     announce_ms = as.last_change_ms;
 }

libraries/AP_Networking/AP_Networking_ChibiOS.cpp

@@ -13,6 +13,7 @@
 #if LWIP_DHCP
 #include <lwip/dhcp.h>
 #endif
+#include <lwip/etharp.h>
 #include <hal.h>
 #include "../../modules/ChibiOS/os/various/evtimer.h"
 #include <AP_HAL_ChibiOS/hwdef/common/stm32_util.h>
@@ -62,11 +63,14 @@ bool AP_Networking_ChibiOS::allocate_buffers()
     if (mem == nullptr) {
         return false;
     }
+
+#ifndef HAL_BOOTLOADER_BUILD
     // ensure our memory is aligned
     // ref. Cortex-M7 peripherals PM0253, section 4.6.4 MPU region base address register
     if (((uint32_t)mem) % size) {
         AP_HAL::panic("Bad alignment of ETH memory");
     }
+#endif
 
     // for total_size == 9240, size should be 16384 and (rasr-1) should be 13 (MPU_RASR_SIZE_16K)
     const uint32_t rasr_size = MPU_RASR_SIZE(rasr-1);
@@ -139,8 +143,8 @@ bool AP_Networking_ChibiOS::init()
 
 void AP_Networking_ChibiOS::link_up_cb(void *p)
 {
-    auto *driver = (AP_Networking_ChibiOS *)p;
 #if LWIP_DHCP
+    auto *driver = (AP_Networking_ChibiOS *)p;
     if (driver->frontend.get_dhcp_enabled()) {
         dhcp_start(driver->thisif);
     }
@@ -149,8 +153,8 @@ void AP_Networking_ChibiOS::link_up_cb(void *p)
 
 void AP_Networking_ChibiOS::link_down_cb(void *p)
 {
-    auto *driver = (AP_Networking_ChibiOS *)p;
 #if LWIP_DHCP
+    auto *driver = (AP_Networking_ChibiOS *)p;
     if (driver->frontend.get_dhcp_enabled()) {
         dhcp_stop(driver->thisif);
     }

libraries/AP_Networking/AP_Networking_ChibiOS.h

@@ -8,6 +8,7 @@
 class AP_Networking_ChibiOS : public AP_Networking_Backend
 {
 public:
+    friend class BL_Network;
     using AP_Networking_Backend::AP_Networking_Backend;
 
     /* Do not allow copies */
@@ -17,7 +18,7 @@ public:
     void update() override;
 
 private:
-    bool allocate_buffers(void);
+    static bool allocate_buffers(void);
     void thread(void);
     static void link_up_cb(void*);
     static void link_down_cb(void*);

libraries/AP_Networking/config/lwipopts.h

@@ -31,6 +31,8 @@
  */
 #pragma once
 
+#include "hwdef.h"
+
 #ifdef   __cplusplus
 extern "C"
 {
@@ -78,13 +80,17 @@ extern "C"
 #define LWIP_SNMP_V3               (LWIP_SNMP)
 #endif
 
-#define LWIP_DNS                   LWIP_UDP
+#define LWIP_DNS                   0
-#define LWIP_MDNS_RESPONDER        LWIP_UDP
+#define LWIP_MDNS_RESPONDER        0
 
 #define LWIP_NUM_NETIF_CLIENT_DATA (LWIP_MDNS_RESPONDER)
 
+#ifndef LWIP_HAVE_LOOPIF
 #define LWIP_HAVE_LOOPIF           1
+#endif
+#ifndef LWIP_NETIF_LOOPBACK
 #define LWIP_NETIF_LOOPBACK        1
+#endif
 #define LWIP_LOOPBACK_MAX_PBUFS    10
 
 #define TCP_LISTEN_BACKLOG         1
@@ -254,14 +260,18 @@ a lot of data that needs to be copied, this should be set high. */
 #define LWIP_ARP                1
 #define ARP_TABLE_SIZE          10
 #define ARP_QUEUEING            1
+#ifndef ARP_PROXYARP_SUPPORT
 #define ARP_PROXYARP_SUPPORT    1
+#endif
 
 
 /* ---------- IP options ---------- */
 /* Define IP_FORWARD to 1 if you wish to have the ability to forward
    IP packets across network interfaces. If you are going to run lwIP
    on a device with only one network interface, define this to 0. */
+#ifndef IP_FORWARD
 #define IP_FORWARD              1
+#endif
 
 /*
   extra header space when forwarding for adding the ethernet header
@@ -284,7 +294,9 @@ a lot of data that needs to be copied, this should be set high. */
 /* ---------- DHCP options ---------- */
 /* Define LWIP_DHCP to 1 if you want DHCP configuration of
    interfaces. */
+#ifndef LWIP_DHCP
 #define LWIP_DHCP               1
+#endif
 
 /* 1 if you want to do an ARP check on the offered address
    (recommended). */
@@ -297,13 +309,15 @@ a lot of data that needs to be copied, this should be set high. */
 
 
 /* ---------- UDP options ---------- */
+#ifndef LWIP_UDP
 #define LWIP_UDP                1
+#endif
 #define LWIP_UDPLITE            LWIP_UDP
 #define UDP_TTL                 255
 
 
 /* ---------- RAW options ---------- */
-#define LWIP_RAW                1
+#define LWIP_RAW                0
 
 
 /* ---------- Statistics options ---------- */
@@ -312,11 +326,13 @@ a lot of data that needs to be copied, this should be set high. */
 #define LWIP_STATS_DISPLAY      0
 
 /* ---------- NETBIOS options ---------- */
-#define LWIP_NETBIOS_RESPOND_NAME_QUERY 1
+#define LWIP_NETBIOS_RESPOND_NAME_QUERY 0
 
 /* ---------- PPP options ---------- */
 
+#ifndef PPP_SUPPORT
 #define PPP_SUPPORT             1      /* Set > 0 for PPP */
+#endif
 
 #if PPP_SUPPORT
 
@@ -328,7 +344,7 @@ a lot of data that needs to be copied, this should be set high. */
  * in this file.
  */
 #define PPPOE_SUPPORT           0
-#define PPPOS_SUPPORT           1
+#define PPPOS_SUPPORT           PPP_SUPPORT
 
 #define PAP_SUPPORT             0      /* Set > 0 for PAP. */
 #define CHAP_SUPPORT            0      /* Set > 0 for CHAP. */

libraries/AP_Networking/lwip_hal/arch/sys_arch.cpp

@@ -10,6 +10,10 @@
 #include <AP_HAL/Semaphores.h>
 #include <AP_Math/AP_Math.h>
 
+#if CONFIG_HAL_BOARD == HAL_BOARD_CHIBIOS
+#include <AP_HAL_ChibiOS/hwdef/common/stm32_util.h>
+#endif
+
 #include <string.h>
 #include <sys/time.h>
 #include <sys/types.h>
@@ -63,8 +67,12 @@ public:
         arg(_arg)
         {}
     bool create(const char *name, int stacksize, int prio) {
+#ifdef HAL_BOOTLOADER_BUILD
+        return thread_create_alloc(MAX(stacksize,2048), name, 60, function, arg);
+#else
         return hal.scheduler->thread_create(
             FUNCTOR_BIND_MEMBER(&ThreadWrapper::run, void), name, MAX(stacksize,2048), AP_HAL::Scheduler::PRIORITY_NET, prio);
+#endif
     }
 private:
     void run(void) {
@@ -373,9 +381,7 @@ sys_init(void)
 sys_prot_t
 sys_arch_protect(void)
 {
-    if (hal.scheduler != nullptr) {
+    lwprot_mutex.take_blocking();
-        lwprot_mutex.take_blocking();
-    }
     return 0;
 }
 
@@ -383,9 +389,7 @@ void
 sys_arch_unprotect(sys_prot_t pval)
 {
     LWIP_UNUSED_ARG(pval);
-    if (hal.scheduler != nullptr) {
+    lwprot_mutex.give();
-        lwprot_mutex.give();
-    }
 }
 
 #endif // AP_NETWORKING_NEED_LWIP