fix(bootloader): remove broken PROTO_SET_DELAY boot-delay feature (#27081)

The bootloader boot-delay feature has been mechanically broken on
every modern FMU board since the STM32F7/H7 transition. It has three
independent bugs that prevent it from ever working:

1. Offset mismatch: BOOT_DELAY_ADDRESS is hardcoded to 0x1a0, but the
   NuttX vector table is 504 B (F76x) to 664 B (H743) long. The
   linker places _bootdelay_signature at ALIGN(32) past end of
   vectors (e.g. 0x2a0 on CubeOrange), never at 0x1a0. The bootloader
   reads random exception_common pointers in place of the magic and
   never matches BOOT_DELAY_SIGNATURE1/2. Verified on CubeOrange with
   objdump of cubepilot_cubeorange_default.elf.

2. Flash cache never flushes: fc_write() stores arbitrary writes in
   cache line 1 and only flushes on a very specific condition tied
   to the sequential firmware upload flow. A standalone write during
   PROTO_SET_DELAY is cached forever. fc_read() then returns the
   cached value, so the post-write verify lies and the bootloader
   reports success. Nothing ever reaches flash.

3. H7 write granularity: the STM32H7 flash controller requires a
   full 32-byte program cycle per write. Single 32-bit writes from
   flash_func_write_word() would not be accepted by the controller
   even if they reached it.

The feature has been silently dead on every H7/F7 FMU board for
years and no one noticed, which is strong evidence nothing actually
depends on it. Rather than fix it (which would mean rewriting
PROTO_SET_DELAY, the flash cache path, and the H7 flash programming
path), remove it.

Changes:
- bl.c: PROTO_SET_DELAY case now immediately NACKs (goto cmd_bad)
  so clients that still send the command get a clear rejection
  instead of the previous silent fake-success. The opcode stays in
  the protocol enum for backwards compatibility.
- bl.h: drop BOOT_DELAY_SIGNATURE1/2 and BOOT_DELAY_MAX.
- stm/stm32_common/main.c, nxp/imxrt_common/main.c: drop the
  startup boot-delay sig check block.
- image_toc.c: decouple find_toc() from BOOT_DELAY_ADDRESS.
  BOARD_IMAGE_TOC_OFFSET is now the required define when
  BOOTLOADER_USE_TOC is enabled. The body is wrapped in #ifdef
  BOOTLOADER_USE_TOC and falls back to a stub returning false when
  the TOC is not in use (no upstream board currently enables it).
- Linker scripts: strip EXTERN(_bootdelay_signature) and the
  FILL/. += 8 block from all 142 affected .ld files across boards/.
- hw_config.h: strip the #define BOOT_DELAY_ADDRESS and its comment
  block entry from all 48 affected boards.
- Tools/px4_uploader.py, Tools/teensy_uploader.py: remove --boot-delay,
  set_boot_delay(), and SET_BOOT_DELAY client-side counterpart.

Smoke-built on cubepilot_cubeorange_default and
cubepilot_cubeorange_bootloader; no link errors, no unresolved
symbols, flash usage unchanged.

Tested:
- New BL, new FW
- Old BL, old FW
- Old BL, new FW
- New BL, old FW

Tools/px4_uploader.py

@@ -198,7 +198,6 @@ class BootloaderCommand(IntEnum):
     GET_OTP = 0x2A  # rev4+, get a word from OTP area
     GET_SN = 0x2B  # rev4+, get a word from SN area
     GET_CHIP = 0x2C  # rev5+, get chip version
-    SET_BOOT_DELAY = 0x2D  # rev5+, set boot delay
     GET_CHIP_DES = 0x2E  # rev5+, get chip description in ASCII
     GET_VERSION = 0x2F  # rev5+, get bootloader version in ASCII
     REBOOT = 0x30
@@ -1148,20 +1147,6 @@ class BootloaderProtocol:
         else:
             self.verify_read(firmware, progress_callback)
 
-    def set_boot_delay(self, delay_ms: int) -> None:
-        """Set boot delay in flash (v5+).
-
-        Args:
-            delay_ms: Boot delay in milliseconds
-        """
-        if self.bl_rev < 5:
-            logger.warning("Boot delay requires bootloader v5+")
-            return
-
-        self._send_command(BootloaderCommand.SET_BOOT_DELAY, struct.pack("b", delay_ms))
-        self._get_sync()
-        logger.info(f"Boot delay set to {delay_ms}ms")
-
     def reboot(self) -> None:
         """Reboot into the application.
 
@@ -1569,7 +1554,6 @@ class UploaderConfig:
     baud_flightstack: list[int] = field(default_factory=lambda: [57600])
     force: bool = False
     force_erase: bool = False
-    boot_delay: Optional[int] = None
     use_protocol_splitter: bool = False
     retry_count: int = 3
     windowed: bool = False
@@ -1924,10 +1908,6 @@ class Uploader:
         # Verify
         protocol.verify(firmware, progress_callback=progress.update_verify)
 
-        # Set boot delay if requested
-        if self.config.boot_delay is not None:
-            protocol.set_boot_delay(self.config.boot_delay)
-
         # Reboot and show summary
         protocol.reboot()
         progress.finish()
@@ -2009,9 +1989,6 @@ Examples:
         action="store_true",
         help="Force full chip erase (v6+ bootloader)",
     )
-    parser.add_argument(
-        "--boot-delay", type=int, help="Boot delay in milliseconds to store in flash"
-    )
     parser.add_argument(
         "--use-protocol-splitter-format",
         action="store_true",
@@ -2068,7 +2045,6 @@ Examples:
         baud_flightstack=baud_flightstack,
         force=args.force,
         force_erase=args.force_erase,
-        boot_delay=args.boot_delay,
         use_protocol_splitter=args.use_protocol_splitter_format,
         windowed=args.windowed,
         noninteractive=args.noninteractive or args.noninteractive_json,

Tools/teensy_uploader.py

@@ -80,7 +80,6 @@ def main():
     parser = argparse.ArgumentParser(description="Firmware uploader for the PX autopilot system.")
     parser.add_argument('--port', action="store", required=True, help="Comma-separated list of serial port(s) to which the FMU may be attached")
     parser.add_argument('--force', action='store_true', default=False, help='Override board type check, or silicon errata checks and continue loading')
-    parser.add_argument('--boot-delay', type=int, default=None, help='minimum boot delay to store in flash')
     parser.add_argument('--vendor-id', type=lambda x: int(x,0), default=None, help='PX4 USB vendorid')
     parser.add_argument('--product-id', type=lambda x: int(x,0), default=None, help='PX4 USB productid')
     parser.add_argument('firmware', action="store", nargs='+', help="Firmware file(s)")

boards/3dr/ctrl-zero-h7-oem-revg/nuttx-config/scripts/bootloader_script.ld

@@ -130,20 +130,12 @@ ENTRY(_stext)
  * code pulled in by libgcc.a requires it (and that code cannot be easily avoided).
  */
 EXTERN(abort)
-EXTERN(_bootdelay_signature)
-
 SECTIONS
 {
 	.text : {
 		_stext = ABSOLUTE(.);
 		*(.vectors)
 		. = ALIGN(32);
-		/*
-		This signature provides the bootloader with a way to delay booting
-		*/
-		_bootdelay_signature = ABSOLUTE(.);
-		FILL(0xffecc2925d7d05c5)
-		. += 8;
 		*(.text .text.*)
 		*(.fixup)
 		*(.gnu.warning)

boards/3dr/ctrl-zero-h7-oem-revg/nuttx-config/scripts/script.ld

@@ -131,20 +131,12 @@ ENTRY(_stext)
  * code pulled in by libgcc.a requires it (and that code cannot be easily avoided).
  */
 EXTERN(abort)
-EXTERN(_bootdelay_signature)
-
 SECTIONS
 {
 	.text : {
 		_stext = ABSOLUTE(.);
 		*(.vectors)
 		. = ALIGN(32);
-		/*
-		This signature provides the bootloader with a way to delay booting
-		*/
-		_bootdelay_signature = ABSOLUTE(.);
-		FILL(0xffecc2925d7d05c5)
-		. += 8;
 		*(.text .text.*)
 		*(.fixup)
 		*(.gnu.warning)

boards/3dr/ctrl-zero-h7-oem-revg/src/hw_config.h

@@ -53,8 +53,6 @@
  * INTERFACE_USART      1                     - (Optional) Scan and use the Serial interface for bootloading
  * USBDEVICESTRING      "PX4 BL FMU v2.x"     - USB id string
  * USBPRODUCTID         0x0011                - PID Should match defconfig
- * BOOT_DELAY_ADDRESS   0x000001a0            - (Optional) From the linker script from Linker Script to get a custom
- *                                               delay provided by an APP FW
  * BOARD_TYPE           9                     - Must match .prototype boad_id
  * _FLASH_KBYTES        (*(uint16_t *)0x1fff7a22) - Run time flash size detection
  * BOARD_FLASH_SECTORS  ((_FLASH_KBYTES == 0x400) ? 11 : 23) - Run time determine the physical last sector
@@ -95,7 +93,6 @@
 //#define USE_VBUS_PULL_DOWN
 #define INTERFACE_USART                1
 #define INTERFACE_USART_CONFIG         "/dev/ttyS0,115200"
-#define BOOT_DELAY_ADDRESS             0x000001a0
 #define BOARD_TYPE                     1124
 #define _FLASH_KBYTES                  (*(uint32_t *)0x1FF1E880)
 #define BOARD_FLASH_SECTORS            (15)

boards/accton-godwit/ga1/nuttx-config/scripts/bootloader_script.ld

@@ -132,20 +132,12 @@ ENTRY(_stext)
  * code pulled in by libgcc.a requires it (and that code cannot be easily avoided).
  */
 EXTERN(abort)
-EXTERN(_bootdelay_signature)
-
 SECTIONS
 {
 	.text : {
 		_stext = ABSOLUTE(.);
 		*(.vectors)
 		. = ALIGN(32);
-		/*
-		This signature provides the bootloader with a way to delay booting
-		*/
-		_bootdelay_signature = ABSOLUTE(.);
-		FILL(0xffecc2925d7d05c5)
-		. += 8;
 		*(.text .text.*)
 		*(.fixup)
 		*(.gnu.warning)

boards/accton-godwit/ga1/nuttx-config/scripts/script.ld

@@ -131,7 +131,6 @@ ENTRY(_stext)
  * code pulled in by libgcc.a requires it (and that code cannot be easily avoided).
  */
 EXTERN(abort)
-EXTERN(_bootdelay_signature)
 EXTERN(board_get_manifest)
 
 SECTIONS
@@ -140,12 +139,6 @@ SECTIONS
 		_stext = ABSOLUTE(.);
 		*(.vectors)
 		. = ALIGN(32);
-		/*
-		This signature provides the bootloader with a way to delay booting
-		*/
-		_bootdelay_signature = ABSOLUTE(.);
-		FILL(0xffecc2925d7d05c5)
-		. += 8;
 		*(.text .text.*)
 		*(.fixup)
 		*(.gnu.warning)

boards/accton-godwit/ga1/src/hw_config.h

@@ -28,8 +28,6 @@
  * INTERFACE_USART      1                     - (Optional) Scan and use the Serial interface for bootloading
  * USBDEVICESTRING      "PX4 BL FMU v2.x"     - USB id string
  * USBPRODUCTID         0x0011                - PID Should match defconfig
- * BOOT_DELAY_ADDRESS   0x000001a0            - (Optional) From the linker script from Linker Script to get a custom
- *                                               delay provided by an APP FW
  * BOARD_TYPE           9                     - Must match .prototype boad_id
  * _FLASH_KBYTES        (*(uint16_t *)0x1fff7a22) - Run time flash size detection
  * BOARD_FLASH_SECTORS  ((_FLASH_KBYTES == 0x400) ? 11 : 23) - Run time determine the physical last sector
@@ -70,7 +68,6 @@
 //#define USE_VBUS_PULL_DOWN
 #define INTERFACE_USART                1
 #define INTERFACE_USART_CONFIG         "/dev/ttyS0,1500000"
-#define BOOT_DELAY_ADDRESS             0x000001a0
 #define BOARD_TYPE                     7120
 #define _FLASH_KBYTES                  (*(uint32_t *)0x1FF1E880)
 #define BOARD_FLASH_SECTORS            (15)

boards/airmind/mindpx-v2/nuttx-config/scripts/script.ld

@@ -65,20 +65,12 @@ EXTERN(_vectors)	/* force the vectors to be included in the output */
  * code pulled in by libgcc.a requires it (and that code cannot be easily avoided).
  */
 EXTERN(abort)
-EXTERN(_bootdelay_signature)
-
 SECTIONS
 {
 	.text : {
 		_stext = ABSOLUTE(.);
 		*(.vectors)
 		. = ALIGN(32);
-		/*
-		This signature provides the bootloader with a way to delay booting
-		*/
-		_bootdelay_signature = ABSOLUTE(.);
-		FILL(0xffecc2925d7d05c5)
-		. += 8;
 		*(.text .text.*)
 		*(.fixup)
 		*(.gnu.warning)

boards/ark/can-flow-mr/nuttx-config/scripts/script.ld

@@ -64,8 +64,6 @@ EXTERN(_vectors)	/* force the vectors to be included in the output */
  * code pulled in by libgcc.a requires it (and that code cannot be easily avoided).
  */
 EXTERN(abort)
-EXTERN(_bootdelay_signature)
-
 SECTIONS
 {
 	.text : {

boards/ark/can-flow/nuttx-config/scripts/script.ld

@@ -64,8 +64,6 @@ EXTERN(_vectors)	/* force the vectors to be included in the output */
  * code pulled in by libgcc.a requires it (and that code cannot be easily avoided).
  */
 EXTERN(abort)
-EXTERN(_bootdelay_signature)
-
 SECTIONS
 {
 	.text : {

boards/ark/can-gps/nuttx-config/scripts/script.ld

@@ -64,8 +64,6 @@ EXTERN(_vectors)	/* force the vectors to be included in the output */
  * code pulled in by libgcc.a requires it (and that code cannot be easily avoided).
  */
 EXTERN(abort)
-EXTERN(_bootdelay_signature)
-
 SECTIONS
 {
 	.text : {

boards/ark/can-rtk-gps/nuttx-config/scripts/script.ld

@@ -64,8 +64,6 @@ EXTERN(_vectors)	/* force the vectors to be included in the output */
  * code pulled in by libgcc.a requires it (and that code cannot be easily avoided).
  */
 EXTERN(abort)
-EXTERN(_bootdelay_signature)
-
 SECTIONS
 {
 	.text : {

boards/ark/cannode/nuttx-config/scripts/script.ld

@@ -64,8 +64,6 @@ EXTERN(_vectors)	/* force the vectors to be included in the output */
  * code pulled in by libgcc.a requires it (and that code cannot be easily avoided).
  */
 EXTERN(abort)
-EXTERN(_bootdelay_signature)
-
 SECTIONS
 {
 	.text : {

boards/ark/dist/nuttx-config/scripts/script.ld

@@ -64,8 +64,6 @@ EXTERN(_vectors)	/* force the vectors to be included in the output */
  * code pulled in by libgcc.a requires it (and that code cannot be easily avoided).
  */
 EXTERN(abort)
-EXTERN(_bootdelay_signature)
-
 SECTIONS
 {
 	.text : {

boards/ark/f9p-gps/nuttx-config/scripts/script.ld

@@ -64,8 +64,6 @@ EXTERN(_vectors)	/* force the vectors to be included in the output */
  * code pulled in by libgcc.a requires it (and that code cannot be easily avoided).
  */
 EXTERN(abort)
-EXTERN(_bootdelay_signature)
-
 SECTIONS
 {
 	.text : {

boards/ark/fmu-v6x/nuttx-config/scripts/bootloader_script.ld

@@ -132,20 +132,12 @@ ENTRY(_stext)
  * code pulled in by libgcc.a requires it (and that code cannot be easily avoided).
  */
 EXTERN(abort)
-EXTERN(_bootdelay_signature)
-
 SECTIONS
 {
 	.text : {
 		_stext = ABSOLUTE(.);
 		*(.vectors)
 		. = ALIGN(32);
-		/*
-		This signature provides the bootloader with a way to delay booting
-		*/
-		_bootdelay_signature = ABSOLUTE(.);
-		FILL(0xffecc2925d7d05c5)
-		. += 8;
 		*(.text .text.*)
 		*(.fixup)
 		*(.gnu.warning)

boards/ark/fmu-v6x/nuttx-config/scripts/script.ld

@@ -131,7 +131,6 @@ ENTRY(_stext)
  * code pulled in by libgcc.a requires it (and that code cannot be easily avoided).
  */
 EXTERN(abort)
-EXTERN(_bootdelay_signature)
 EXTERN(board_get_manifest)
 
 SECTIONS
@@ -140,12 +139,6 @@ SECTIONS
 		_stext = ABSOLUTE(.);
 		*(.vectors)
 		. = ALIGN(32);
-		/*
-		This signature provides the bootloader with a way to delay booting
-		*/
-		_bootdelay_signature = ABSOLUTE(.);
-		FILL(0xffecc2925d7d05c5)
-		. += 8;
 		*(.text .text.*)
 		*(.fixup)
 		*(.gnu.warning)

boards/ark/fmu-v6x/src/hw_config.h

@@ -28,8 +28,6 @@
  * INTERFACE_USART      1                     - (Optional) Scan and use the Serial interface for bootloading
  * USBDEVICESTRING      "PX4 BL FMU v2.x"     - USB id string
  * USBPRODUCTID         0x0011                - PID Should match defconfig
- * BOOT_DELAY_ADDRESS   0x000001a0            - (Optional) From the linker script from Linker Script to get a custom
- *                                               delay provided by an APP FW
  * BOARD_TYPE           9                     - Must match .prototype boad_id
  * _FLASH_KBYTES        (*(uint16_t *)0x1fff7a22) - Run time flash size detection
  * BOARD_FLASH_SECTORS  ((_FLASH_KBYTES == 0x400) ? 11 : 23) - Run time determine the physical last sector
@@ -70,7 +68,6 @@
 //#define USE_VBUS_PULL_DOWN
 #define INTERFACE_USART                1
 #define INTERFACE_USART_CONFIG         "/dev/ttyS0,115200"
-#define BOOT_DELAY_ADDRESS             0x000001a0
 #define BOARD_TYPE                     57
 #define _FLASH_KBYTES                  (*(uint32_t *)0x1FF1E880)
 #define BOARD_FLASH_SECTORS            (15)

boards/ark/fpv/nuttx-config/scripts/bootloader_script.ld

@@ -132,20 +132,12 @@ ENTRY(_stext)
  * code pulled in by libgcc.a requires it (and that code cannot be easily avoided).
  */
 EXTERN(abort)
-EXTERN(_bootdelay_signature)
-
 SECTIONS
 {
 	.text : {
 		_stext = ABSOLUTE(.);
 		*(.vectors)
 		. = ALIGN(32);
-		/*
-		This signature provides the bootloader with a way to delay booting
-		*/
-		_bootdelay_signature = ABSOLUTE(.);
-		FILL(0xffecc2925d7d05c5)
-		. += 8;
 		*(.text .text.*)
 		*(.fixup)
 		*(.gnu.warning)

boards/ark/fpv/nuttx-config/scripts/script.ld

@@ -131,7 +131,6 @@ ENTRY(_stext)
  * code pulled in by libgcc.a requires it (and that code cannot be easily avoided).
  */
 EXTERN(abort)
-EXTERN(_bootdelay_signature)
 EXTERN(board_get_manifest)
 
 SECTIONS
@@ -140,12 +139,6 @@ SECTIONS
 		_stext = ABSOLUTE(.);
 		*(.vectors)
 		. = ALIGN(32);
-		/*
-		This signature provides the bootloader with a way to delay booting
-		*/
-		_bootdelay_signature = ABSOLUTE(.);
-		FILL(0xffecc2925d7d05c5)
-		. += 8;
 		*(.text .text.*)
 		*(.fixup)
 		*(.gnu.warning)

boards/ark/fpv/src/hw_config.h

@@ -28,8 +28,6 @@
  * INTERFACE_USART      1                     - (Optional) Scan and use the Serial interface for bootloading
  * USBDEVICESTRING      "PX4 BL FMU v2.x"     - USB id string
  * USBPRODUCTID         0x0011                - PID Should match defconfig
- * BOOT_DELAY_ADDRESS   0x000001a0            - (Optional) From the linker script from Linker Script to get a custom
- *                                               delay provided by an APP FW
  * BOARD_TYPE           9                     - Must match .prototype boad_id
  * _FLASH_KBYTES        (*(uint16_t *)0x1fff7a22) - Run time flash size detection
  * BOARD_FLASH_SECTORS  ((_FLASH_KBYTES == 0x400) ? 11 : 23) - Run time determine the physical last sector
@@ -70,7 +68,6 @@
 //#define USE_VBUS_PULL_DOWN
 #define INTERFACE_USART                1
 #define INTERFACE_USART_CONFIG         "/dev/ttyS0,921600"
-#define BOOT_DELAY_ADDRESS             0x000001a0
 #define BOARD_TYPE                     59
 #define _FLASH_KBYTES                  (*(uint32_t *)0x1FF1E880)
 #define BOARD_FLASH_SECTORS            (14)

boards/ark/mag/nuttx-config/scripts/script.ld

@@ -64,8 +64,6 @@ EXTERN(_vectors)	/* force the vectors to be included in the output */
  * code pulled in by libgcc.a requires it (and that code cannot be easily avoided).
  */
 EXTERN(abort)
-EXTERN(_bootdelay_signature)
-
 SECTIONS
 {
 	.text : {

boards/ark/pi6x/nuttx-config/scripts/bootloader_script.ld

@@ -132,20 +132,12 @@ ENTRY(_stext)
  * code pulled in by libgcc.a requires it (and that code cannot be easily avoided).
  */
 EXTERN(abort)
-EXTERN(_bootdelay_signature)
-
 SECTIONS
 {
 	.text : {
 		_stext = ABSOLUTE(.);
 		*(.vectors)
 		. = ALIGN(32);
-		/*
-		This signature provides the bootloader with a way to delay booting
-		*/
-		_bootdelay_signature = ABSOLUTE(.);
-		FILL(0xffecc2925d7d05c5)
-		. += 8;
 		*(.text .text.*)
 		*(.fixup)
 		*(.gnu.warning)

boards/ark/pi6x/nuttx-config/scripts/script.ld

@@ -131,7 +131,6 @@ ENTRY(_stext)
  * code pulled in by libgcc.a requires it (and that code cannot be easily avoided).
  */
 EXTERN(abort)
-EXTERN(_bootdelay_signature)
 EXTERN(board_get_manifest)
 
 SECTIONS
@@ -140,12 +139,6 @@ SECTIONS
 		_stext = ABSOLUTE(.);
 		*(.vectors)
 		. = ALIGN(32);
-		/*
-		This signature provides the bootloader with a way to delay booting
-		*/
-		_bootdelay_signature = ABSOLUTE(.);
-		FILL(0xffecc2925d7d05c5)
-		. += 8;
 		*(.text .text.*)
 		*(.fixup)
 		*(.gnu.warning)

boards/ark/pi6x/src/hw_config.h

@@ -28,8 +28,6 @@
  * INTERFACE_USART      1                     - (Optional) Scan and use the Serial interface for bootloading
  * USBDEVICESTRING      "PX4 BL FMU v2.x"     - USB id string
  * USBPRODUCTID         0x0011                - PID Should match defconfig
- * BOOT_DELAY_ADDRESS   0x000001a0            - (Optional) From the linker script from Linker Script to get a custom
- *                                               delay provided by an APP FW
  * BOARD_TYPE           9                     - Must match .prototype boad_id
  * _FLASH_KBYTES        (*(uint16_t *)0x1fff7a22) - Run time flash size detection
  * BOARD_FLASH_SECTORS  ((_FLASH_KBYTES == 0x400) ? 11 : 23) - Run time determine the physical last sector
@@ -70,7 +68,6 @@
 //#define USE_VBUS_PULL_DOWN
 #define INTERFACE_USART                1
 #define INTERFACE_USART_CONFIG         "/dev/ttyS5,921600"
-#define BOOT_DELAY_ADDRESS             0x000001a0
 #define BOARD_TYPE                     58
 #define _FLASH_KBYTES                  (*(uint32_t *)0x1FF1E880)
 #define BOARD_FLASH_SECTORS            (14)

boards/ark/septentrio-gps/nuttx-config/scripts/script.ld

@@ -64,8 +64,6 @@ EXTERN(_vectors)	/* force the vectors to be included in the output */
  * code pulled in by libgcc.a requires it (and that code cannot be easily avoided).
  */
 EXTERN(abort)
-EXTERN(_bootdelay_signature)
-
 SECTIONS
 {
 	.text : {

boards/ark/teseo-gps/nuttx-config/scripts/script.ld

@@ -64,8 +64,6 @@ EXTERN(_vectors)	/* force the vectors to be included in the output */
  * code pulled in by libgcc.a requires it (and that code cannot be easily avoided).
  */
 EXTERN(abort)
-EXTERN(_bootdelay_signature)
-
 SECTIONS
 {
 	.text : {

boards/ark/x20-gps/nuttx-config/scripts/script.ld

@@ -64,8 +64,6 @@ EXTERN(_vectors)	/* force the vectors to be included in the output */
  * code pulled in by libgcc.a requires it (and that code cannot be easily avoided).
  */
 EXTERN(abort)
-EXTERN(_bootdelay_signature)
-
 SECTIONS
 {
 	.text : {

boards/atl/mantis-edu/nuttx-config/scripts/script.ld

@@ -90,7 +90,6 @@ ENTRY(_stext)
  * code pulled in by libgcc.a requires it (and that code cannot be easily avoided).
  */
 EXTERN(abort)
-EXTERN(_bootdelay_signature)
 EXTERN(_main_toc)
 
 SECTIONS
@@ -99,12 +98,6 @@ SECTIONS
 		_stext = ABSOLUTE(.);
 		*(.vectors)
 		. = ALIGN(32);
-		/*
-		This signature provides the bootloader with a way to delay booting
-		*/
-		_bootdelay_signature = ABSOLUTE(.);
-		FILL(0xb4ecc2925d7d05c5)
-		. += 8;
 		*(.main_toc)
 		*(.text .text.*)
 		*(.fixup)

boards/auterion/fmu-v6s/nuttx-config/scripts/bootloader_script.ld

@@ -132,20 +132,12 @@ ENTRY(_stext)
  * code pulled in by libgcc.a requires it (and that code cannot be easily avoided).
  */
 EXTERN(abort)
-EXTERN(_bootdelay_signature)
-
 SECTIONS
 {
 	.text : {
 		_stext = ABSOLUTE(.);
 		*(.vectors)
 		. = ALIGN(32);
-		/*
-		This signature provides the bootloader with a way to delay booting
-		*/
-		_bootdelay_signature = ABSOLUTE(.);
-		FILL(0xffecc2925d7d05c5)
-		. += 8;
 		*(.text .text.*)
 		*(.fixup)
 		*(.gnu.warning)

boards/auterion/fmu-v6s/nuttx-config/scripts/script.ld

@@ -131,7 +131,6 @@ ENTRY(_stext)
  * code pulled in by libgcc.a requires it (and that code cannot be easily avoided).
  */
 EXTERN(abort)
-EXTERN(_bootdelay_signature)
 EXTERN(board_get_manifest)
 
 SECTIONS
@@ -140,12 +139,6 @@ SECTIONS
 		_stext = ABSOLUTE(.);
 		*(.vectors)
 		. = ALIGN(32);
-		/*
-		This signature provides the bootloader with a way to delay booting
-		*/
-		_bootdelay_signature = ABSOLUTE(.);
-		FILL(0xffecc2925d7d05c5)
-		. += 8;
 		*(.text .text.*)
 		*(.fixup)
 		*(.gnu.warning)

boards/auterion/fmu-v6s/src/hw_config.h

@@ -28,8 +28,6 @@
  * INTERFACE_USART      1                     - (Optional) Scan and use the Serial interface for bootloading
  * USBDEVICESTRING      "PX4 BL FMU v2.x"     - USB id string
  * USBPRODUCTID         0x0011                - PID Should match defconfig
- * BOOT_DELAY_ADDRESS   0x000001a0            - (Optional) From the linker script from Linker Script to get a custom
- *                                               delay provided by an APP FW
  * BOARD_TYPE           9                     - Must match .prototype boad_id
  * _FLASH_KBYTES        (*(uint16_t *)0x1fff7a22) - Run time flash size detection
  * BOARD_FLASH_SECTORS  ((_FLASH_KBYTES == 0x400) ? 11 : 23) - Run time determine the physical last sector
@@ -64,7 +62,6 @@
 #define INTERFACE_USB                  0
 #define INTERFACE_USART                1
 #define INTERFACE_USART_CONFIG         "/dev/ttyS0,1500000"
-#define BOOT_DELAY_ADDRESS             0x000001a0
 #define BOARD_TYPE                     60
 #define _FLASH_KBYTES                  (*(uint32_t *)0x1FF1E880)
 #define BOARD_FLASH_SECTORS            (15)

boards/auterion/fmu-v6x/nuttx-config/scripts/bootloader_script.ld

@@ -132,20 +132,12 @@ ENTRY(_stext)
  * code pulled in by libgcc.a requires it (and that code cannot be easily avoided).
  */
 EXTERN(abort)
-EXTERN(_bootdelay_signature)
-
 SECTIONS
 {
 	.text : {
 		_stext = ABSOLUTE(.);
 		*(.vectors)
 		. = ALIGN(32);
-		/*
-		This signature provides the bootloader with a way to delay booting
-		*/
-		_bootdelay_signature = ABSOLUTE(.);
-		FILL(0xffecc2925d7d05c5)
-		. += 8;
 		*(.text .text.*)
 		*(.fixup)
 		*(.gnu.warning)

boards/auterion/fmu-v6x/nuttx-config/scripts/script.ld

@@ -131,7 +131,6 @@ ENTRY(_stext)
  * code pulled in by libgcc.a requires it (and that code cannot be easily avoided).
  */
 EXTERN(abort)
-EXTERN(_bootdelay_signature)
 EXTERN(board_get_manifest)
 
 SECTIONS
@@ -140,12 +139,6 @@ SECTIONS
 		_stext = ABSOLUTE(.);
 		*(.vectors)
 		. = ALIGN(32);
-		/*
-		This signature provides the bootloader with a way to delay booting
-		*/
-		_bootdelay_signature = ABSOLUTE(.);
-		FILL(0xffecc2925d7d05c5)
-		. += 8;
 		*(.text .text.*)
 		*(.fixup)
 		*(.gnu.warning)

boards/auterion/fmu-v6x/src/hw_config.h

@@ -28,8 +28,6 @@
  * INTERFACE_USART      1                     - (Optional) Scan and use the Serial interface for bootloading
  * USBDEVICESTRING      "PX4 BL FMU v2.x"     - USB id string
  * USBPRODUCTID         0x0011                - PID Should match defconfig
- * BOOT_DELAY_ADDRESS   0x000001a0            - (Optional) From the linker script from Linker Script to get a custom
- *                                               delay provided by an APP FW
  * BOARD_TYPE           9                     - Must match .prototype boad_id
  * _FLASH_KBYTES        (*(uint16_t *)0x1fff7a22) - Run time flash size detection
  * BOARD_FLASH_SECTORS  ((_FLASH_KBYTES == 0x400) ? 11 : 23) - Run time determine the physical last sector
@@ -65,7 +63,6 @@
 #define INTERFACE_USB                  0
 #define INTERFACE_USART                1
 #define INTERFACE_USART_CONFIG         "/dev/ttyS0,1500000"
-#define BOOT_DELAY_ADDRESS             0x000001a0
 #define BOARD_TYPE                     53
 #define _FLASH_KBYTES                  (*(uint32_t *)0x1FF1E880)
 #define BOARD_FLASH_SECTORS            (15)

boards/av/x-v1/nuttx-config/scripts/script.ld

@@ -89,20 +89,12 @@ ENTRY(_stext)
  * code pulled in by libgcc.a requires it (and that code cannot be easily avoided).
  */
 EXTERN(abort)
-EXTERN(_bootdelay_signature)
-
 SECTIONS
 {
 	.text : {
 		_stext = ABSOLUTE(.);
 		*(.vectors)
 		. = ALIGN(32);
-		/*
-		This signature provides the bootloader with a way to delay booting
-		*/
-		_bootdelay_signature = ABSOLUTE(.);
-		FILL(0xffecc2925d7d05c5)
-		. += 8;
 		*(.text .text.*)
 		*(.fixup)
 		*(.gnu.warning)

boards/bitcraze/crazyflie/nuttx-config/scripts/script.ld

@@ -72,12 +72,6 @@ SECTIONS
 		_stext = ABSOLUTE(.);
 		*(.vectors)
 		. = ALIGN(32);
-		/*
-		This signature provides the bootloader with a way to delay booting
-		*/
-		_bootdelay_signature = ABSOLUTE(.);
-		FILL(0xffecc2925d7d05c5)
-		. += 8;
 		*(.text .text.*)
 		*(.fixup)
 		*(.gnu.warning)

boards/bitcraze/crazyflie21/nuttx-config/scripts/script.ld

@@ -71,12 +71,6 @@ SECTIONS
 		_stext = ABSOLUTE(.);
 		*(.vectors)
 		. = ALIGN(32);
-		/*
-		This signature provides the bootloader with a way to delay booting
-		*/
-		_bootdelay_signature = ABSOLUTE(.);
-		FILL(0xffecc2925d7d05c5)
-		. += 8;
 		*(.text .text.*)
 		*(.fixup)
 		*(.gnu.warning)

boards/corvon/743v1/nuttx-config/scripts/bootloader_script.ld

@@ -130,20 +130,12 @@ ENTRY(_stext)
  * code pulled in by libgcc.a requires it (and that code cannot be easily avoided).
  */
 EXTERN(abort)
-EXTERN(_bootdelay_signature)
-
 SECTIONS
 {
 	.text : {
 		_stext = ABSOLUTE(.);
 		*(.vectors)
 		. = ALIGN(32);
-		/*
-		This signature provides the bootloader with a way to delay booting
-		*/
-		_bootdelay_signature = ABSOLUTE(.);
-		FILL(0xffecc2925d7d05c5)
-		. += 8;
 		*(.text .text.*)
 		*(.fixup)
 		*(.gnu.warning)

boards/corvon/743v1/nuttx-config/scripts/script.ld

@@ -131,20 +131,12 @@ ENTRY(_stext)
  * code pulled in by libgcc.a requires it (and that code cannot be easily avoided).
  */
 EXTERN(abort)
-EXTERN(_bootdelay_signature)
-
 SECTIONS
 {
 	.text : {
 		_stext = ABSOLUTE(.);
 		*(.vectors)
 		. = ALIGN(32);
-		/*
-		This signature provides the bootloader with a way to delay booting
-		*/
-		_bootdelay_signature = ABSOLUTE(.);
-		FILL(0xffecc2925d7d05c5)
-		. += 8;
 		*(.text .text.*)
 		*(.fixup)
 		*(.gnu.warning)

boards/corvon/743v1/src/hw_config.h

@@ -53,8 +53,6 @@
  * INTERFACE_USART      1                     - (Optional) Scan and use the Serial interface for bootloading
  * USBDEVICESTRING      "PX4 BL FMU v2.x"     - USB id string
  * USBPRODUCTID         0x0011                - PID Should match defconfig
- * BOOT_DELAY_ADDRESS   0x000001a0            - (Optional) From the linker script from Linker Script to get a custom
- *                                               delay provided by an APP FW
  * BOARD_TYPE           9                     - Must match .prototype boad_id
  * _FLASH_KBYTES        (*(uint16_t *)0x1fff7a22) - Run time flash size detection
  * BOARD_FLASH_SECTORS  ((_FLASH_KBYTES == 0x400) ? 11 : 23) - Run time determine the physical last sector
@@ -95,7 +93,6 @@
 //#define USE_VBUS_PULL_DOWN
 #define INTERFACE_USART                1
 #define INTERFACE_USART_CONFIG         "/dev/ttyS0,115200"
-#define BOOT_DELAY_ADDRESS             0x000001a0
 #define BOARD_TYPE                     1189
 #define BOARD_FLASH_SECTORS            (14)
 #define BOARD_FLASH_SIZE               (16 * 128 * 1024)

boards/cuav/7-nano/nuttx-config/scripts/bootloader_script.ld

@@ -132,20 +132,12 @@ ENTRY(_stext)
  * code pulled in by libgcc.a requires it (and that code cannot be easily avoided).
  */
 EXTERN(abort)
-EXTERN(_bootdelay_signature)
-
 SECTIONS
 {
 	.text : {
 		_stext = ABSOLUTE(.);
 		*(.vectors)
 		. = ALIGN(32);
-		/*
-		This signature provides the bootloader with a way to delay booting
-		*/
-		_bootdelay_signature = ABSOLUTE(.);
-		FILL(0xffecc2925d7d05c5)
-		. += 8;
 		*(.text .text.*)
 		*(.fixup)
 		*(.gnu.warning)

boards/cuav/7-nano/nuttx-config/scripts/script.ld

@@ -131,7 +131,6 @@ ENTRY(_stext)
  * code pulled in by libgcc.a requires it (and that code cannot be easily avoided).
  */
 EXTERN(abort)
-EXTERN(_bootdelay_signature)
 EXTERN(board_get_manifest)
 
 SECTIONS
@@ -140,12 +139,6 @@ SECTIONS
 		_stext = ABSOLUTE(.);
 		*(.vectors)
 		. = ALIGN(32);
-		/*
-		This signature provides the bootloader with a way to delay booting
-		*/
-		_bootdelay_signature = ABSOLUTE(.);
-		FILL(0xffecc2925d7d05c5)
-		. += 8;
 		*(.text .text.*)
 		*(.fixup)
 		*(.gnu.warning)

boards/cuav/7-nano/src/hw_config.h

@@ -28,8 +28,6 @@
  * INTERFACE_USART      1                     - (Optional) Scan and use the Serial interface for bootloading
  * USBDEVICESTRING      "PX4 BL FMU v2.x"     - USB id string
  * USBPRODUCTID         0x0011                - PID Should match defconfig
- * BOOT_DELAY_ADDRESS   0x000001a0            - (Optional) From the linker script from Linker Script to get a custom
- *                                               delay provided by an APP FW
  * BOARD_TYPE           9                     - Must match .prototype boad_id
  * _FLASH_KBYTES        (*(uint16_t *)0x1fff7a22) - Run time flash size detection
  * BOARD_FLASH_SECTORS  ((_FLASH_KBYTES == 0x400) ? 11 : 23) - Run time determine the physical last sector
@@ -70,7 +68,6 @@
 //#define USE_VBUS_PULL_DOWN
 #define INTERFACE_USART                1
 #define INTERFACE_USART_CONFIG         "/dev/ttyS0,1500000"
-#define BOOT_DELAY_ADDRESS             0x000001a0
 #define BOARD_TYPE                     7000
 #define _FLASH_KBYTES                  (*(uint32_t *)0x1FF1E880)
 #define BOARD_FLASH_SECTORS            (15)

boards/cuav/can-gps-v1/nuttx-config/scripts/script.ld

@@ -65,8 +65,6 @@ EXTERN(_vectors)	/* force the vectors to be included in the output */
  * code pulled in by libgcc.a requires it (and that code cannot be easily avoided).
  */
 EXTERN(abort)
-EXTERN(_bootdelay_signature)
-
 SECTIONS
 {
 	.text : {

boards/cuav/fmu-v6x/nuttx-config/scripts/bootloader_script.ld

@@ -132,20 +132,12 @@ ENTRY(_stext)
  * code pulled in by libgcc.a requires it (and that code cannot be easily avoided).
  */
 EXTERN(abort)
-EXTERN(_bootdelay_signature)
-
 SECTIONS
 {
 	.text : {
 		_stext = ABSOLUTE(.);
 		*(.vectors)
 		. = ALIGN(32);
-		/*
-		This signature provides the bootloader with a way to delay booting
-		*/
-		_bootdelay_signature = ABSOLUTE(.);
-		FILL(0xffecc2925d7d05c5)
-		. += 8;
 		*(.text .text.*)
 		*(.fixup)
 		*(.gnu.warning)

boards/cuav/fmu-v6x/nuttx-config/scripts/script.ld

@@ -131,7 +131,6 @@ ENTRY(_stext)
  * code pulled in by libgcc.a requires it (and that code cannot be easily avoided).
  */
 EXTERN(abort)
-EXTERN(_bootdelay_signature)
 EXTERN(board_get_manifest)
 
 SECTIONS
@@ -140,12 +139,6 @@ SECTIONS
 		_stext = ABSOLUTE(.);
 		*(.vectors)
 		. = ALIGN(32);
-		/*
-		This signature provides the bootloader with a way to delay booting
-		*/
-		_bootdelay_signature = ABSOLUTE(.);
-		FILL(0xffecc2925d7d05c5)
-		. += 8;
 		*(.text .text.*)
 		*(.fixup)
 		*(.gnu.warning)

boards/cuav/fmu-v6x/src/hw_config.h

@@ -28,8 +28,6 @@
  * INTERFACE_USART      1                     - (Optional) Scan and use the Serial interface for bootloading
  * USBDEVICESTRING      "PX4 BL FMU v2.x"     - USB id string
  * USBPRODUCTID         0x0011                - PID Should match defconfig
- * BOOT_DELAY_ADDRESS   0x000001a0            - (Optional) From the linker script from Linker Script to get a custom
- *                                               delay provided by an APP FW
  * BOARD_TYPE           9                     - Must match .prototype boad_id
  * _FLASH_KBYTES        (*(uint16_t *)0x1fff7a22) - Run time flash size detection
  * BOARD_FLASH_SECTORS  ((_FLASH_KBYTES == 0x400) ? 11 : 23) - Run time determine the physical last sector
@@ -70,7 +68,6 @@
 //#define USE_VBUS_PULL_DOWN
 #define INTERFACE_USART                1
 #define INTERFACE_USART_CONFIG         "/dev/ttyS0,1500000"
-#define BOOT_DELAY_ADDRESS             0x000001a0
 #define BOARD_TYPE                     7001
 #define _FLASH_KBYTES                  (*(uint32_t *)0x1FF1E880)
 #define BOARD_FLASH_SECTORS            (15)

boards/cuav/nora/nuttx-config/scripts/bootloader_script.ld

@@ -132,20 +132,12 @@ ENTRY(_stext)
  * code pulled in by libgcc.a requires it (and that code cannot be easily avoided).
  */
 EXTERN(abort)
-EXTERN(_bootdelay_signature)
-
 SECTIONS
 {
 	.text : {
 		_stext = ABSOLUTE(.);
 		*(.vectors)
 		. = ALIGN(32);
-		/*
-		This signature provides the bootloader with a way to delay booting
-		*/
-		_bootdelay_signature = ABSOLUTE(.);
-		FILL(0xffecc2925d7d05c5)
-		. += 8;
 		*(.text .text.*)
 		*(.fixup)
 		*(.gnu.warning)