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Remove bootloader flashing code if we're not embedding the bootloader #23536

Merged
merged 1 commit into from
Apr 26, 2023
Merged

Remove bootloader flashing code if we're not embedding the bootloader #23536

merged 1 commit into from
Apr 26, 2023

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peterbarker
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@peterbarker peterbarker commented Apr 18, 2023 •
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We explicitly exempt the bootloader on some boards.

Board                         AP_Periph  blimp  bootloader  copter  heli   iofirmware  plane  rover  sub
ARKV6X                                   -1984  *           -1976   -1984              -1984  -1976  -1984
CarbonixF405                  -568                                                                   
CarbonixL496                  -568                                                                   
CubeBlack-periph              -32816                                                                 
CubeOrange-SimOnHardWare                                    -1984                                    
CubeOrangePlus-SimOnHardWare                                -2880                                    
CubePilot-CANMod              -568                                                                   
G4-ESC                        -568                                                                   
HerePro                       -592                                                                   
MatekH743-periph              -18320                                                                 
MatekL431-HWTelem             -568                                                                   
MatekL431-Proximity           -568                                                                   
MatekL431-bdshot              -568                                                                   
MazzyStarDrone                           -792   *           -792    -792               -792   -792   -792
Nucleo-L476                   -568                                                                   
Nucleo-L496                   -568                                                                   
PH4-mini-bdshot                          -2000  *           -2000   -2000              -2000  -2000  -2000
PixFlamingo                              -624   *           -624    -624               -624   -624   -624
PixSurveyA1                              -568   *           -568    -568               -560   -560   -560
Pixhawk1-1M-bdshot                       -560               -560    -568               -560   -560   -568
Sierra-F405                   -568                                                                   
Sierra-F412                   -568                                                                   
Sierra-F9P                    -568                                                                   
f303-PWM                      -568                                                                   
f303-TempSensor               -568                                                                   
fmuv2                                    -568               -560    -568               -568   -568   -568
fmuv3-bdshot                             -568               -560    -568               -568   -568   -568
luminousbee4                             -624               -624    -624               -624   -624   -624
mRoControlZeroClassic                    -2000  *           -2000   -2000              -2000  -2000  -2000
mRoControlZeroH7                         -2000  *           -2000   -2000              -2000  -2000  -2000
omnibusf4pro-one                         -584   *           -584    -584               -584   -584   -584
revo-mini-bdshot                         -584   *           -584    -584               -584   -584   -584
revo-mini-i2c                            -584   *           -584    -584               -584   -584   -584
revo-mini-i2c-bdshot                     -584   *           -584    -584               -584   -584   -584
skyviper-f412-rev1                                          -584                                     
skyviper-journey                                            -584                                     
skyviper-v2450                                              -584

All unchanged outputs have been pruned

HerePro is a heavy periph, thus its size change.

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Tested on Pixhawk1-1M-bdshot - bootloader flashing fails with appropriate CMD_ACK

@peterbarker peterbarker force-pushed the wip/bootloader-flashing-enabled branch from b1d7f37 to 4fc28d2 Compare April 19, 2023 05:07
tridge
tridge reviewed Apr 19, 2023
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libraries/AP_HAL_ChibiOS/hwdef/skyviper-v2450/hwdef.dat Outdated
@@ -205,4 +205,8 @@ define AP_LTM_TELEM_ENABLED 0
// no buttons on SkyViper:
define HAL_BUTTON_ENABLED 0

// we don't embed the bootloader and there's no other way to flash the
// bootloader, so:
define AP_BOOTLOADER_FLASHING_ENABLED 0
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why is this needed?

tridge
tridge requested changes Apr 19, 2023
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libraries/AP_HAL_ChibiOS/hwdef/iomcu/hwdef.dat Outdated
@@ -125,6 +125,7 @@ define HAL_NO_FLASH_SUPPORT TRUE
define HAL_NO_UARTDRIVER TRUE
define DISABLE_SERIAL_ESC_COMM TRUE
define HAL_LOGGING_ENABLED 0
BOOTLOADER_EMBED 0
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shouldn't be needed

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Well, actually, the bootloader does exist in the tree, so it would try to embed it but then fail elsewhere because stm32 flash was disabled...

libraries/AP_HAL_ChibiOS/hwdef/iomcu_f103_8MHz/hwdef.dat Outdated
@@ -122,6 +122,7 @@ define __FPU_PRESENT 0

define HAL_USE_RTC FALSE
define HAL_NO_FLASH_SUPPORT TRUE
BOOTLOADER_EMBED 0
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shouldn't be needed

@tridge tridge removed the DevCallEU label Apr 19, 2023
@peterbarker peterbarker force-pushed the wip/bootloader-flashing-enabled branch from 4fc28d2 to 40c91bd Compare April 19, 2023 11:21
@peterbarker peterbarker force-pushed the wip/bootloader-flashing-enabled branch 8 times, most recently from 0cf97b1 to 2df6cb0 Compare April 21, 2023 00:25
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peterbarker commented Apr 21, 2023 •
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CubeBlack-periph loses 32kB because we embed the IOMCU firmware then remove the entire ROMFS library (as there are no references as no AP_IOMCU and no bootloader flashing). The bootloader doesn't get embedded as it isn't in-tree.

.... we embed the io firmware because we inherit ROMFS_FILES from fmuv3 which includes it

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The ~600 bytes ones are missing flash-bootloader and get-persistent-params (we don't need to get persistent-params unless we are saving persistent params to storage which we only do when flashing the bootloader, it returns a string...);

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peterbarker commented Apr 22, 2023 •
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The 2kB savings come from when tcal methods can also be elided because they're no longer being called at all:
image

(e.g. PH4-mini-bdshot)

(PH4-mini-bdshot is missing its bootloader in Tools/bootloaders, so is now not compiling in the bootloader flashing code)

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MatekH743-periph is such a large diff because it is also losing the OSD files which would otherwise be embedded in the firmware:
image

MatekH743 inherits its romfs list from the main MatekH743 firnware.

@peterbarker peterbarker force-pushed the wip/bootloader-flashing-enabled branch from 2df6cb0 to 19eff00 Compare April 22, 2023 06:40
tridge
tridge requested changes Apr 25, 2023
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libraries/AP_PiccoloCAN/AP_PiccoloCAN.cpp Outdated Show resolved Hide resolved
@peterbarker peterbarker force-pushed the wip/bootloader-flashing-enabled branch from 19eff00 to 22558d7 Compare April 26, 2023 05:15
@peterbarker peterbarker merged commit 926c7d6 into ArduPilot:master Apr 26, 2023
@peterbarker peterbarker deleted the wip/bootloader-flashing-enabled branch April 26, 2023 22:32
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@peterbarker @tridge @CraigElder