restore UAVCAN bootloader support

 - essentially reverting PX4#7878 minus the obsolete board support

platforms/CMakeLists.txt

@@ -32,5 +32,3 @@
 ############################################################################
 
 add_subdirectory(common)
-
-

platforms/common/CMakeLists.txt

@@ -33,7 +33,7 @@
 
 set(SRCS)
 
-if (NOT "${PX4_PLATFORM}" MATCHES "qurt" AND NOT "${PX4_BOARD}" MATCHES "io-v2")
+if (NOT "${PX4_PLATFORM}" MATCHES "qurt" AND NOT "${PX4_BOARD}" MATCHES "io-v2" AND NOT "${PX4_BOARD_LABEL}" MATCHES "bootloader")
 	list(APPEND SRCS
 		px4_log.cpp
 		)

platforms/nuttx/CMakeLists.txt

@@ -60,6 +60,17 @@ if("${PX4_BOARD_LABEL}" STREQUAL "bootloader")
 		bootloader_lib
 		drivers_board
 	)
+elseif("${PX4_BOARD_LABEL}" STREQUAL "canbootloader")
+	set(SCRIPT_PREFIX ${PX4_BOARD_LABEL}_)
+	add_subdirectory(src/canbootloader)
+	list(APPEND nuttx_libs
+		canbootloader
+		drivers_board
+	)
+
+	target_link_libraries(px4 PRIVATE
+		-Wl,-wrap,sched_process_timer -Wl,-wrap,sem_post -Wl,-wrap,sem_wait
+	)
 else()
 	if(NOT "${PX4_BOARD_LINKER_PREFIX}" STREQUAL "")
 		set(SCRIPT_PREFIX ${PX4_BOARD_LINKER_PREFIX}-)

platforms/nuttx/src/canbootloader/CMakeLists.txt

@@ -0,0 +1,48 @@
+############################################################################
+#
+#   Copyright (c) 2020 PX4 Development Team. All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# 1. Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+# 2. Redistributions in binary form must reproduce the above copyright
+#    notice, this list of conditions and the following disclaimer in
+#    the documentation and/or other materials provided with the
+#    distribution.
+# 3. Neither the name PX4 nor the names of its contributors may be
+#    used to endorse or promote products derived from this software
+#    without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+############################################################################
+
+px4_add_library(canbootloader
+	arch/stm32/board_identity.c
+	arch/stm32/drivers/can/driver.c
+	common/boot_app_shared.c
+	fs/flash.c
+	protocol/uavcan.c
+	sched/timer.c
+	uavcan/main.c
+	util/crc.c
+	util/random.c
+)
+
+include_directories(include)
+target_include_directories(canbootloader INTERFACE include)
+target_compile_options(canbootloader PRIVATE -Wno-error)

platforms/nuttx/src/canbootloader/arch/stm32/board_identity.c

@@ -0,0 +1,56 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2017 PX4 Development Team. All rights reserved.
+ *   Author: @author David Sidrane <[email protected]>
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file board_identity.c
+ * Implementation of STM32 based Board identity API
+ */
+
+#include <px4_config.h>
+#include <stdio.h>
+#include <string.h>
+
+#define SWAP_UINT32(x) (((x) >> 24) | (((x) & 0x00ff0000) >> 8) | (((x) & 0x0000ff00) << 8) | ((x) << 24))
+
+int board_get_mfguid(mfguid_t mfgid)
+{
+	uint32_t *chip_uuid = (uint32_t *) STM32_SYSMEM_UID;
+	uint32_t  *rv = (uint32_t *) &mfgid[0];
+
+	for (int i = 0; i < PX4_CPU_UUID_WORD32_LENGTH; i++) {
+		*rv++ = SWAP_UINT32(chip_uuid[(PX4_CPU_UUID_WORD32_LENGTH - 1) - i]);
+	}
+
+	return PX4_CPU_MFGUID_BYTE_LENGTH;
+}