HAL_ChibiOS: save more space in the bootloader

libraries/AP_HAL_ChibiOS/HAL_ChibiOS_Class.cpp

@@ -28,12 +28,21 @@
 
 #include <hwdef.h>
 
+#ifndef HAL_NO_UARTDRIVER
 static HAL_UARTA_DRIVER;
 static HAL_UARTB_DRIVER;
 static HAL_UARTC_DRIVER;
 static HAL_UARTD_DRIVER;
 static HAL_UARTE_DRIVER;
 static HAL_UARTF_DRIVER;
+#else
+static Empty::UARTDriver uartADriver;
+static Empty::UARTDriver uartBDriver;
+static Empty::UARTDriver uartCDriver;
+static Empty::UARTDriver uartDDriver;
+static Empty::UARTDriver uartEDriver;
+static Empty::UARTDriver uartFDriver;
+#endif
 
 #if HAL_USE_I2C == TRUE
 static ChibiOS::I2CDeviceManager i2cDeviceManager;

libraries/AP_HAL_ChibiOS/UARTDriver.cpp

@@ -16,7 +16,7 @@
  */
 #include <AP_HAL/AP_HAL.h>
 
-#if CONFIG_HAL_BOARD == HAL_BOARD_CHIBIOS
+#if CONFIG_HAL_BOARD == HAL_BOARD_CHIBIOS && !defined(HAL_NO_UARTDRIVER)
 #include "UARTDriver.h"
 #include "GPIO.h"
 #include <usbcfg.h>

libraries/AP_HAL_ChibiOS/hwdef/common/chconf.h

@@ -119,7 +119,9 @@
  *          function becomes the idle thread and must implement an
  *          infinite loop.
  */
+#ifndef CH_CFG_NO_IDLE_THREAD
 #define CH_CFG_NO_IDLE_THREAD               FALSE
+#endif
 
 /** @} */
 
@@ -166,7 +168,9 @@
  *
  * @note    The default is @p TRUE.
  */
+#ifndef CH_CFG_USE_REGISTRY
 #define CH_CFG_USE_REGISTRY                 TRUE
+#endif
 
 /**
  * @brief   Threads synchronization APIs.
@@ -250,7 +254,9 @@
  *
  * @note    The default is @p TRUE.
  */
+#ifndef CH_CFG_USE_EVENTS
 #define CH_CFG_USE_EVENTS                   TRUE
+#endif
 
 /**
  * @brief   Events Flags APIs with timeout.
@@ -260,7 +266,9 @@
  * @note    The default is @p TRUE.
  * @note    Requires @p CH_CFG_USE_EVENTS.
  */
+#ifndef CH_CFG_USE_EVENTS_TIMEOUT
 #define CH_CFG_USE_EVENTS_TIMEOUT           TRUE
+#endif
 
 /**
  * @brief   Synchronous Messages APIs.

libraries/AP_HAL_ChibiOS/hwdef/common/malloc.c

@@ -35,6 +35,10 @@
 
 #define MIN_ALIGNMENT 8
 
+#ifdef HAL_NO_CCM
+#undef CCM_RAM_SIZE_KB
+#endif
+
 #if defined(CCM_RAM_SIZE_KB)
 static memory_heap_t ccm_heap;
 static bool ccm_heap_initialised = false;

libraries/AP_HAL_ChibiOS/hwdef/common/stdio.c

@@ -33,10 +33,11 @@
 
 int vsnprintf(char *str, size_t size, const char *fmt, va_list ap)
 {
+  int retval = 0;
+#ifndef HAL_NO_PRINTF
   MemoryStream ms;
   BaseSequentialStream *chp;
   size_t size_wo_nul;
-  int retval;
 
   if (size > 0)
     size_wo_nul = size - 1;
@@ -58,11 +59,13 @@ int vsnprintf(char *str, size_t size, const char *fmt, va_list ap)
       str[ms.eos] = 0;
 
   /* Return number of bytes that would have been written.*/
+#endif
   return retval;
 }
 
 int snprintf(char *str, size_t size, const char *fmt, ...)
 {
+#ifndef HAL_NO_PRINTF
    va_list arg;
    int done;
  
@@ -71,10 +74,14 @@ int snprintf(char *str, size_t size, const char *fmt, ...)
    va_end (arg);
  
    return done;
+#else
+   return 0;
+#endif
 }
 
 int vasprintf(char **strp, const char *fmt, va_list ap)
 {
+#ifndef HAL_NO_PRINTF
     int len = vsnprintf(NULL, 0, fmt, ap);
     if (len <= 0) {
         return -1;
@@ -86,15 +93,22 @@ int vasprintf(char **strp, const char *fmt, va_list ap)
     vsnprintf(buf, len+1, fmt, ap);
     (*strp) = buf;
     return len;
+#else
+    return 0;
+#endif
 }
 
 int asprintf(char **strp, const char *fmt, ...)
 {
+#ifndef HAL_NO_PRINTF
     va_list ap;
     va_start(ap, fmt);
     int ret = vasprintf(strp, fmt, ap);
     va_end(ap);
     return ret;
+#else
+    return 0;
+#endif
 }
 
 int vprintf(const char *fmt, va_list arg)
@@ -112,6 +126,7 @@ int (*vprintf_console_hook)(const char *fmt, va_list arg) = vprintf;
 
 int printf(const char *fmt, ...)
 {
+#ifndef HAL_NO_PRINTF
    va_list arg;
    int done;
  
@@ -120,6 +135,9 @@ int printf(const char *fmt, ...)
    va_end (arg);
  
    return done;
+#else
+   return 0;
+#endif
 }
 
 //just a stub

libraries/AP_HAL_ChibiOS/hwdef/scripts/chibios_hwdef.py

@@ -442,7 +442,26 @@ def write_mcu_config(f):
 #define HAL_BOOTLOADER_BUILD TRUE        
 #define HAL_USE_ADC FALSE
 #define HAL_USE_EXT FALSE
+#define HAL_NO_UARTDRIVER
+#define HAL_NO_PRINTF
+#define HAL_NO_CCM
 #define CH_DBG_STATISTICS FALSE
+#define SERIAL_ADVANCED_BUFFERING_SUPPORT FALSE
+#define CH_CFG_USE_TM FALSE
+#define CH_CFG_USE_REGISTRY FALSE
+#define CH_CFG_USE_WAITEXIT FALSE
+#define CH_CFG_USE_DYNAMIC FALSE
+#define CH_CFG_USE_MEMPOOLS FALSE
+#define CH_DBG_FILL_THREADS FALSE
+#define CH_CFG_USE_SEMAPHORES TRUE
+#define CH_CFG_USE_MUTEXES FALSE
+#define CH_CFG_USE_CONDVARS FALSE
+#define CH_CFG_USE_CONDVARS_TIMEOUT FALSE
+#define CH_CFG_USE_EVENTS_TIMEOUT FALSE
+#define CH_CFG_USE_MESSAGES FALSE
+#define CH_CFG_USE_MAILBOXES FALSE
+#define HAL_USE_I2C FALSE
+#define HAL_USE_PWM FALSE
 ''')
 
 def write_ldscript(fname):
@@ -626,9 +645,22 @@ def write_UART_config(f):
             f.write("STM32_%s_RX_DMA_CONFIG, STM32_%s_TX_DMA_CONFIG, %s}\n" %
                     (dev, dev, rts_line))
     f.write('#define HAL_UART_DEVICE_LIST %s\n\n' % ','.join(devlist))
-    if not need_uart_driver:
+    if not need_uart_driver and not args.bootloader:
         f.write('#define HAL_USE_SERIAL FALSE\n')
 
+def write_UART_config_bootloader(f):
+    '''write UART config defines'''
+    get_config('UART_ORDER')
+    uart_list = config['UART_ORDER']
+    f.write('\n// UART configuration\n')
+    devlist = []
+    for u in uart_list:
+        if u.startswith('OTG'):
+            devlist.append('(BaseChannel *)&SDU1')
+        else:
+            unum = int(u[-1])
+            devlist.append('(BaseChannel *)&SD%u' % unum)
+    f.write('#define BOOTLOADER_DEV_LIST %s\n' % ','.join(devlist))
 
 def write_I2C_config(f):
     '''write I2C config defines'''
@@ -978,10 +1010,12 @@ def write_hwdef_header(outfilename):
                                   dma_priority=get_config('DMA_PRIORITY',default='TIM* SPI*', spaces=True),
                                   dma_noshare=get_config('DMA_NOSHARE',default='', spaces=True))
 
-    write_PWM_config(f)
-    
-    write_I2C_config(f)
-    write_UART_config(f)
+    if not args.bootloader:
+        write_PWM_config(f)
+        write_I2C_config(f)
+        write_UART_config(f)
+    else:
+        write_UART_config_bootloader(f)
 
     if len(romfs) > 0:
         f.write('#define HAL_HAVE_AP_ROMFS_EMBEDDED_H 1\n')