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Enforce bootloader present or specified as not present in ChibiOS builds #24573

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merged 2 commits into from Aug 16, 2023
Merged

Enforce bootloader present or specified as not present in ChibiOS builds #24573

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1f8e02c
chibios_hwdef.py: enforce presence of bootloader if embedding desired
peterbarker Aug 10, 2023
b254efc
hwdef: explicitly state no-bootloader-embedding on some boards
peterbarker Aug 10, 2023
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3 changes: 3 additions & 0 deletions libraries/AP_HAL_ChibiOS/hwdef/ARKV6X/hwdef.dat
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Expand Up @@ -321,3 +321,6 @@ ROMFS io_firmware.bin Tools/IO_Firmware/iofirmware_lowpolh.bin
# note that if firmware is build with --secure-bl then DFU is
# disabled
ENABLE_DFU_BOOT 1

# bootloader embedding / bootloader flashing not available
define AP_BOOTLOADER_FLASHING_ENABLED 0
3 changes: 3 additions & 0 deletions libraries/AP_HAL_ChibiOS/hwdef/CubeBlack-periph/hwdef.dat
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Expand Up @@ -60,3 +60,6 @@ MAIN_STACK 0x2000
PROCESS_STACK 0x6000

define HAL_CAN_DRIVER_DEFAULT 1

# bootloader embedding / bootloader flashing not available
define AP_BOOTLOADER_FLASHING_ENABLED 0
3 changes: 3 additions & 0 deletions libraries/AP_HAL_ChibiOS/hwdef/CubeOrange-SimOnHardWare/hwdef.dat
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Expand Up @@ -6,4 +6,7 @@ include ../include/SimOnHW.inc
# short board name override (23 chars)
define CHIBIOS_SHORT_BOARD_NAME "CubeOrangeSimOnHardWare"

# bootloader embedding / bootloader flashing not available
define AP_BOOTLOADER_FLASHING_ENABLED 0

AUTOBUILD_TARGETS Copter
3 changes: 3 additions & 0 deletions libraries/AP_HAL_ChibiOS/hwdef/CubeOrangePlus-SimOnHardWare/hwdef.dat
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Expand Up @@ -6,4 +6,7 @@ include ../include/SimOnHW.inc
# short board name override (23 chars)
define CHIBIOS_SHORT_BOARD_NAME "CubeOrange+SimOnHW"

# bootloader embedding / bootloader flashing not available
define AP_BOOTLOADER_FLASHING_ENABLED 0

AUTOBUILD_TARGETS Copter
3 changes: 3 additions & 0 deletions libraries/AP_HAL_ChibiOS/hwdef/H757I_EVAL/hwdef.dat
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Expand Up @@ -84,3 +84,6 @@ PB2 QUADSPI_CLK QUADSPI1
define CAN_APP_NODE_NAME "org.cubepilot.H757"

EXT_FLASH_SIZE_MB 32

# bootloader embedding / bootloader flashing not available
define AP_BOOTLOADER_FLASHING_ENABLED 0
3 changes: 3 additions & 0 deletions libraries/AP_HAL_ChibiOS/hwdef/H757I_EVAL_intf/hwdef.dat
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Expand Up @@ -84,3 +84,6 @@ PB2 QUADSPI_CLK QUADSPI1
define CAN_APP_NODE_NAME "org.cubepilot.H757"

# EXT_FLASH_SIZE_MB 32

# bootloader embedding / bootloader flashing not available
define AP_BOOTLOADER_FLASHING_ENABLED 0
3 changes: 3 additions & 0 deletions libraries/AP_HAL_ChibiOS/hwdef/HerePro/hwdef.dat
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Expand Up @@ -216,3 +216,6 @@ define AP_RC_CHANNEL_ENABLED 1

define AP_RELAY_ENABLED 1
define AP_SERVORELAYEVENTS_ENABLED 1

# bootloader embedding / bootloader flashing not available
define AP_BOOTLOADER_FLASHING_ENABLED 0
3 changes: 3 additions & 0 deletions libraries/AP_HAL_ChibiOS/hwdef/MatekH743-periph/hwdef.dat
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Expand Up @@ -62,3 +62,6 @@ define HAL_PERIPH_LISTEN_FOR_SERIAL_UART_REBOOT_CMD_PORT 0

# setup for MSP
define HAL_MSP_ENABLED 1

# bootloader embedding / bootloader flashing not available
define AP_BOOTLOADER_FLASHING_ENABLED 0
2 changes: 2 additions & 0 deletions libraries/AP_HAL_ChibiOS/hwdef/MatekL431-HWTelem/hwdef.dat
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Expand Up @@ -9,3 +9,5 @@ define HAL_DISABLE_ADC_DRIVER TRUE
define HAL_PERIPH_ENABLE_HWESC
define HAL_PERIPH_HWESC_SERIAL_PORT 2

# bootloader embedding / bootloader flashing not available
define AP_BOOTLOADER_FLASHING_ENABLED 0
2 changes: 2 additions & 0 deletions libraries/AP_HAL_ChibiOS/hwdef/Nucleo-L476/hwdef.dat
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Expand Up @@ -109,3 +109,5 @@ define HAL_I2C_INTERNAL_MASK 0
define HAL_PERIPH_ENABLE_BARO
define HAL_PERIPH_ENABLE_AIRSPEED

# bootloader embedding / bootloader flashing not available
define AP_BOOTLOADER_FLASHING_ENABLED 0
3 changes: 3 additions & 0 deletions libraries/AP_HAL_ChibiOS/hwdef/Nucleo-L496/hwdef.dat
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Expand Up @@ -115,3 +115,6 @@ BARO MS56XX SPI:ms5611
BARO BMP388 I2C:0:0x76

# define HAL_SPI_CHECK_CLOCK_FREQ

# bootloader embedding / bootloader flashing not available
define AP_BOOTLOADER_FLASHING_ENABLED 0
3 changes: 3 additions & 0 deletions libraries/AP_HAL_ChibiOS/hwdef/NucleoH755/hwdef.dat
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Expand Up @@ -142,3 +142,6 @@ IMU Invensensev2 SPI:icm20948 ROTATION_YAW_270

# compass as part of ICM20948 on newer cubes
COMPASS AK09916:probe_ICM20948 0 ROTATION_ROLL_180_YAW_90

# bootloader embedding / bootloader flashing not available
define AP_BOOTLOADER_FLASHING_ENABLED 0
3 changes: 3 additions & 0 deletions libraries/AP_HAL_ChibiOS/hwdef/Pixhawk1-1M-bdshot/hwdef.dat
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Expand Up @@ -38,3 +38,6 @@ define HAL_PROBE_EXTERNAL_I2C_COMPASSES
FLASH_SIZE_KB 1024
include ../include/minimize_features.inc
undef STORAGE_FLASH_PAGE

# bootloader embedding / bootloader flashing not available
define AP_BOOTLOADER_FLASHING_ENABLED 0
3 changes: 3 additions & 0 deletions libraries/AP_HAL_ChibiOS/hwdef/RADIX2HD/hwdef.dat
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Expand Up @@ -173,3 +173,6 @@ DMA_PRIORITY SPI1*
DMA_NOSHARE SPI1* TIM1* TIM2* TIM3* TIM4*
NODMA I2C*
define STM32_I2C_USE_DMA FALSE

# bootloader embedding / bootloader flashing not available
define AP_BOOTLOADER_FLASHING_ENABLED 0
2 changes: 2 additions & 0 deletions libraries/AP_HAL_ChibiOS/hwdef/Sierra-F405/hwdef.dat
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Expand Up @@ -131,3 +131,5 @@ define HAL_PERIPH_LISTEN_FOR_SERIAL_UART_REBOOT_CMD_PORT 0

define DEFAULT_NTF_LED_TYPES 455

# bootloader embedding / bootloader flashing not available
define AP_BOOTLOADER_FLASHING_ENABLED 0
2 changes: 2 additions & 0 deletions libraries/AP_HAL_ChibiOS/hwdef/Sierra-F412/hwdef.dat
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Expand Up @@ -134,3 +134,5 @@ PC7 M9SB INPUT

define DEFAULT_NTF_LED_TYPES 455

# bootloader embedding / bootloader flashing not available
define AP_BOOTLOADER_FLASHING_ENABLED 0
3 changes: 3 additions & 0 deletions libraries/AP_HAL_ChibiOS/hwdef/Sierra-F9P/hwdef.dat
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Expand Up @@ -152,3 +152,6 @@ define HAL_PERIPH_LISTEN_FOR_SERIAL_UART_REBOOT_CMD_PORT 0
#Sensors Enable & ESP Enable
PB0 VDD_3V3_SENSORS_EN OUTPUT HIGH
PC2 ESP_PWR_EN OUTPUT LOW

# bootloader embedding / bootloader flashing not available
define AP_BOOTLOADER_FLASHING_ENABLED 0
3 changes: 3 additions & 0 deletions libraries/AP_HAL_ChibiOS/hwdef/fmuv2/hwdef.dat
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Expand Up @@ -19,3 +19,6 @@ include ../include/minimal.inc

# produce this error if we are on a 2M board and using 1M firmware
define BOARD_CHECK_F427_USE_2M "2M flash - use fmuv3 firmware"

# bootloader embedding / bootloader flashing not available
define AP_BOOTLOADER_FLASHING_ENABLED 0
3 changes: 3 additions & 0 deletions libraries/AP_HAL_ChibiOS/hwdef/kha_eth/hwdef.dat
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Expand Up @@ -154,4 +154,7 @@ define HAL_PERIPH_LISTEN_FOR_SERIAL_UART_REBOOT_CMD_PORT 0

DMA_NOSHARE USART1* USART2* CAN1*

# bootloader embedding / bootloader flashing not available
define AP_BOOTLOADER_FLASHING_ENABLED 0

AUTOBUILD_TARGETS None
3 changes: 3 additions & 0 deletions libraries/AP_HAL_ChibiOS/hwdef/luminousbee4/hwdef.dat
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Expand Up @@ -189,3 +189,6 @@ BARO MS56XX SPI:ms5611_int
define DMA_RESERVE_SIZE 32768

# .env DEFAULT_PARAMETERS 'Tools/Frame_params/LuminousBee4_outdoor.param'

# bootloader embedding / bootloader flashing not available
define AP_BOOTLOADER_FLASHING_ENABLED 0
2 changes: 2 additions & 0 deletions libraries/AP_HAL_ChibiOS/hwdef/omnibusf4pro-one/hwdef.dat
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Expand Up @@ -5,3 +5,5 @@ define HAL_COMPASS_MAX_SENSORS 1
define GPS_MAX_RECEIVERS 1
define GPS_MAX_INSTANCES 1

# bootloader embedding / bootloader flashing not available
define AP_BOOTLOADER_FLASHING_ENABLED 0
3 changes: 3 additions & 0 deletions libraries/AP_HAL_ChibiOS/hwdef/revo-mini-bdshot/hwdef.dat
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Expand Up @@ -8,3 +8,6 @@ PB0 TIM3_CH3 TIM3 PWM(1) GPIO(50)
PB1 TIM3_CH4 TIM3 PWM(2) GPIO(51) BIDIR
PA3 TIM2_CH4 TIM2 PWM(3) GPIO(52) BIDIR
PA2 TIM2_CH3 TIM2 PWM(4) GPIO(53)

# bootloader embedding / bootloader flashing not available
define AP_BOOTLOADER_FLASHING_ENABLED 0
3 changes: 3 additions & 0 deletions libraries/AP_HAL_ChibiOS/hwdef/revo-mini-i2c-bdshot/hwdef.dat
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Expand Up @@ -9,5 +9,8 @@ PB1 TIM3_CH4 TIM3 PWM(2) GPIO(51) BIDIR
PA3 TIM2_CH4 TIM2 PWM(3) GPIO(52) BIDIR
PA2 TIM2_CH3 TIM2 PWM(4) GPIO(53)

# bootloader embedding / bootloader flashing not available
define AP_BOOTLOADER_FLASHING_ENABLED 0

# save some flash
include ../include/save_some_flash.inc
3 changes: 3 additions & 0 deletions libraries/AP_HAL_ChibiOS/hwdef/revo-mini-i2c/hwdef.dat
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Expand Up @@ -150,3 +150,6 @@ SPIDEV dataflash SPI3 DEVID1 FLASH_CS MODE3 32*MHZ 32*MHZ
define HAL_LOGGING_DATAFLASH_ENABLED 1

define HAL_GYROFFT_ENABLED 0

# bootloader embedding / bootloader flashing not available
define AP_BOOTLOADER_FLASHING_ENABLED 0
32 changes: 25 additions & 7 deletions libraries/AP_HAL_ChibiOS/hwdef/scripts/chibios_hwdef.py
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Expand Up @@ -2386,9 +2386,16 @@ def embed_bootloader(self, f):
# or, you know, not...
return

if self.is_bootloader_fw():
return

if self.is_io_fw():
return

bp = self.bootloader_path()
if not os.path.exists(bp):
return
self.error("Bootloader (%s) does not exist and AP_BOOTLOADER_FLASHING_ENABLED" %
(bp,))

bp = os.path.realpath(bp)

Expand Down Expand Up @@ -3014,9 +3021,12 @@ def add_apperiph_defaults(self, f):

self.add_firmware_defaults_from_file(f, "defaults_periph.h", "AP_Periph")

def is_bootloader_fw(self):
return args.bootloader

def add_bootloader_defaults(self, f):
'''add default defines for peripherals'''
if not args.bootloader:
if not self.is_bootloader_fw():
return

self.add_firmware_defaults_from_file(f, "defaults_bootloader.h", "bootloader")
Expand All @@ -3036,9 +3046,12 @@ def add_firmware_defaults_from_file(self, f, filename, description):
// end %s defaults
''' % (description, content, description))

def is_io_fw(self):
return self.env_vars.get('IOMCU_FW', 0) != 0

def add_iomcu_firmware_defaults(self, f):
'''add default defines IO firmwares'''
if self.env_vars.get('IOMCU_FW', 0) == 0:
if not self.is_io_fw():
# not IOMCU firmware
return

Expand All @@ -3047,16 +3060,21 @@ def add_iomcu_firmware_defaults(self, f):
def is_periph_fw(self):
return self.env_vars.get('AP_PERIPH', 0) != 0

def add_normal_firmware_defaults(self, f):
'''add default defines to builds with are not bootloader, periph or IOMCU'''
def is_normal_fw(self):
if self.env_vars.get('IOMCU_FW', 0) != 0:
# IOMCU firmware
return
return False
if self.is_periph_fw():
# Periph firmware
return
return False
if args.bootloader:
# guess
return False
return True

def add_normal_firmware_defaults(self, f):
'''add default defines to builds with are not bootloader, periph or IOMCU'''
if not self.is_normal_fw():
return

self.add_firmware_defaults_from_file(f, "defaults_normal.h", "normal")
Expand Down
3 changes: 3 additions & 0 deletions libraries/AP_HAL_ChibiOS/hwdef/skyviper-f412-rev1/hwdef.dat
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Expand Up @@ -129,4 +129,7 @@ define HAL_BARO_20789_I2C_ADDR_PRESS 0x63
define HAL_WITH_ESC_TELEM 0
define AP_FETTEC_ONEWIRE_ENABLED 0

# bootloader embedding / bootloader flashing not available
define AP_BOOTLOADER_FLASHING_ENABLED 0

AUTOBUILD_TARGETS Copter
3 changes: 3 additions & 0 deletions libraries/AP_HAL_ChibiOS/hwdef/skyviper-journey/hwdef.dat
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Expand Up @@ -132,4 +132,7 @@ define AP_PARAM_MAX_EMBEDDED_PARAM 8192
define HAL_WITH_ESC_TELEM 0
define AP_FETTEC_ONEWIRE_ENABLED 0

# bootloader embedding / bootloader flashing not available
define AP_BOOTLOADER_FLASHING_ENABLED 0

AUTOBUILD_TARGETS Copter
3 changes: 3 additions & 0 deletions libraries/AP_HAL_ChibiOS/hwdef/skyviper-v2450/hwdef.dat
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Expand Up @@ -214,4 +214,7 @@ define AP_MAVLINK_BATTERY2_ENABLED 0
# SkyViper doesn't use the Plane landing library:
define HAL_LANDING_DEEPSTALL_ENABLED 0

# bootloader embedding / bootloader flashing not available
define AP_BOOTLOADER_FLASHING_ENABLED 0

AUTOBUILD_TARGETS Copter