canbootloder:Make support for ALT Bootloader an Option

platforms/common/include/px4_platform_common/board_common.h

@@ -616,6 +616,7 @@ typedef enum  reset_mode_e {
 int board_configure_reset(reset_mode_e mode, uint32_t arg);
 #endif
 
+#if defined(SUPPORT_ALT_CAN_BOOTLOADER)
 /****************************************************************************
  * Name: board_booted_by_px4
  *
@@ -631,7 +632,7 @@ int board_configure_reset(reset_mode_e mode, uint32_t arg);
  ****************************************************************************/
 
 bool board_booted_by_px4(void);
-
+#endif
 /************************************************************************************
  * Name: board_query_manifest
  *

platforms/nuttx/src/canbootloader/uavcan/main.c

@@ -84,8 +84,6 @@
 #pragma message "******** DANGER DEBUG_APPLICATION_INPLACE is DEFINED ******"
 #endif
 
-extern bootloader_alt_app_shared_t _sapp_bl_shared;
-
 typedef volatile struct bootloader_t {
 	can_speed_t bus_speed;
 	volatile uint8_t health;
@@ -1104,7 +1102,7 @@ __EXPORT int main(int argc, char *argv[])
 	bootloader.app_bl_request = (OK == bootloader_app_shared_read(&common, App)) &&
 				    common.bus_speed && common.node_id;
 
-
+#if defined(SUPPORT_ALT_CAN_BOOTLOADER)
 	/* Was this boot a result of An Alternate Application being told it has a FW update ? */
 
 	bootloader_alt_app_shared_t *ps = (bootloader_alt_app_shared_t *) &_sapp_bl_shared;
@@ -1117,6 +1115,7 @@ __EXPORT int main(int argc, char *argv[])
 		ps->signature = 0;
 	}
 
+#endif
 	/*
 	 * Mark CRC to say this is not from
 	 * auto baud and Node Allocation

platforms/nuttx/src/px4/stm/stm32_common/board_reset/board_reset.cpp

@@ -131,6 +131,7 @@ int board_reset(int status)
 
 #endif /* CONFIG_BOARDCTL_RESET */
 
+#if defined(SUPPORT_ALT_CAN_BOOTLOADER)
 /****************************************************************************
  * Name: board_booted_by_px4
  *
@@ -152,3 +153,4 @@ bool board_booted_by_px4(void)
 
 	return (vectors[2] == vectors[3]) && (vectors[4] == vectors[5]);
 }
+#endif

src/drivers/bootloaders/boot_alt_app_shared.c

@@ -34,6 +34,7 @@
 
 #include <nuttx/config.h>
 
+#if defined(SUPPORT_ALT_CAN_BOOTLOADER)
 #include <stdint.h>
 #include <string.h>
 
@@ -46,8 +47,6 @@
 
 #include <lib/systemlib/crc.h>
 
-extern void *_sapp_bl_shared;
-
 /****************************************************************************
  * Name: bootloader_alt_app_shared_read
  *
@@ -142,3 +141,4 @@ __EXPORT void bootloader_alt_app_shared_invalidate(void)
 	bootloader_alt_app_shared->signature = 0;
 
 }
+#endif

src/drivers/bootloaders/boot_alt_app_shared.h

@@ -35,7 +35,7 @@
 #pragma once
 
 #include <nuttx/compiler.h>
-
+#if defined(SUPPORT_ALT_CAN_BOOTLOADER)
 __BEGIN_DECLS
 
 /****************************************************************************
@@ -73,6 +73,7 @@ typedef begin_packed_struct struct bootloader_alt_app_shared_t {
 } end_packed_struct bootloader_alt_app_shared_t;
 #pragma GCC diagnostic pop
 
+extern bootloader_alt_app_shared_t _sapp_bl_shared;
 
 /****************************************************************************
  * Name: bootloader_alt_app_shared_read
@@ -144,3 +145,4 @@ void bootloader_alt_app_shared_write(bootloader_alt_app_shared_t *alt_shared);
 void bootloader_alt_app_shared_invalidate(void);
 
 __END_DECLS
+#endif

src/drivers/uavcannode/UavcanNode.cpp

@@ -251,17 +251,19 @@ void UavcanNode::cb_beginfirmware_update(const uavcan::ReceivedDataStructure<Uav
 
 		if (!inprogress) {
 			inprogress = true;
+#if defined(SUPPORT_ALT_CAN_BOOTLOADER)
 
 			if (!board_booted_by_px4()) {
 				bootloader_alt_app_shared_t shared_alt{0};
 				shared_alt.fw_server_node_id = req.source_node_id;
 				shared_alt.node_id = _node.getNodeID().get();
-				shared_alt.path[0] = '\0';
 				strncat((char *)shared_alt.path, (const char *)req.image_file_remote_path.path.c_str(), sizeof(shared_alt.path) - 1);
 				bootloader_alt_app_shared_write(&shared_alt);
 				board_configure_reset(BOARD_RESET_MODE_CAN_BL, shared_alt.node_id);
 			}
 
+#endif
+
 			bootloader_app_shared_t shared;
 			shared.bus_speed = active_bitrate;
 			shared.node_id = _node.getNodeID().get();
@@ -527,17 +529,24 @@ extern "C" int uavcannode_start(int argc, char *argv[])
 
 	} else {
 		// Node ID
+#if defined(SUPPORT_ALT_CAN_BOOTLOADER)
 		if (!board_booted_by_px4()) {
 			node_id = 0;
 			bitrate = 1000000;
 
-		} else {
+		} else
+#endif
+		{
 			(void)param_get(param_find("CANNODE_NODE_ID"), &node_id);
 			(void)param_get(param_find("CANNODE_BITRATE"), &bitrate);
 		}
 	}
 
-	if (board_booted_by_px4() && (node_id < 0 || node_id > uavcan::NodeID::Max || !uavcan::NodeID(node_id).isUnicast())) {
+	if (
+#if defined(SUPPORT_ALT_CAN_BOOTLOADER)
+		board_booted_by_px4() &&
+#endif
+		(node_id < 0 || node_id > uavcan::NodeID::Max || !uavcan::NodeID(node_id).isUnicast())) {
 		PX4_ERR("Invalid Node ID %i", node_id);
 		return 1;
 	}