From 4ca0f35943ca344085309856e77a069c55ccfb58 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Mon, 15 Aug 2022 17:22:48 +1000
Subject: [PATCH] AP_HAL_ChibiOS: do not gate AP_CRASHDUMP_ENABLED on
 bootloader

Also rename from HAL_CRASHDUMP_ENABLE

Removes code based on define rather than creating empty functions.  Makes it clearer what's going on in the callers.
---
 libraries/AP_HAL_ChibiOS/Util.cpp                     | 11 ++---------
 libraries/AP_HAL_ChibiOS/Util.h                       |  2 +-
 .../AP_HAL_ChibiOS/hwdef/scripts/chibios_hwdef.py     |  4 ++--
 libraries/AP_HAL_ChibiOS/system.cpp                   |  4 ++--
 4 files changed, 7 insertions(+), 14 deletions(-)

diff --git a/libraries/AP_HAL_ChibiOS/Util.cpp b/libraries/AP_HAL_ChibiOS/Util.cpp
index 9f7eede326..f8b9a2218e 100644
--- a/libraries/AP_HAL_ChibiOS/Util.cpp
+++ b/libraries/AP_HAL_ChibiOS/Util.cpp
@@ -722,10 +722,9 @@ void Util::log_stack_info(void)
 #endif
 }
 
-#if !defined(HAL_BOOTLOADER_BUILD)
+#if AP_CRASHDUMP_ENABLED
 size_t Util::last_crash_dump_size() const
 {
-#if HAL_CRASHDUMP_ENABLE
     // get dump size
     uint32_t size = stm32_crash_dump_size();
     char* dump_start = (char*)stm32_crash_dump_addr();
@@ -738,22 +737,16 @@ size_t Util::last_crash_dump_size() const
         size = stm32_crash_dump_max_size();
     }
     return size;
-#endif
-    return 0;
 }
 
 void* Util::last_crash_dump_ptr() const
 {
-#if HAL_CRASHDUMP_ENABLE
     if (last_crash_dump_size() == 0) {
         return nullptr;
     }
     return (void*)stm32_crash_dump_addr();
-#else
-    return nullptr;
-#endif
 }
-#endif // HAL_BOOTLOADER_BUILD
+#endif // AP_CRASHDUMP_ENABLED
 
 // set armed state
 void Util::set_soft_armed(const bool b)
diff --git a/libraries/AP_HAL_ChibiOS/Util.h b/libraries/AP_HAL_ChibiOS/Util.h
index d5072477e2..66bd560984 100644
--- a/libraries/AP_HAL_ChibiOS/Util.h
+++ b/libraries/AP_HAL_ChibiOS/Util.h
@@ -146,7 +146,7 @@ private:
     // log info on stack usage
     void log_stack_info(void) override;
 
-#if !defined(HAL_BOOTLOADER_BUILD)
+#if AP_CRASHDUMP_ENABLED
     // get last crash dump
     size_t last_crash_dump_size() const override;
     void* last_crash_dump_ptr() const override;
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/scripts/chibios_hwdef.py b/libraries/AP_HAL_ChibiOS/hwdef/scripts/chibios_hwdef.py
index 869148a932..a63d61841f 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/scripts/chibios_hwdef.py
+++ b/libraries/AP_HAL_ChibiOS/hwdef/scripts/chibios_hwdef.py
@@ -972,10 +972,10 @@ def write_mcu_config(f):
 
     if flash_size >= 2048 and not args.bootloader:
         # lets pick a flash sector for Crash log
-        f.write('#define HAL_CRASHDUMP_ENABLE 1\n')
+        f.write('#define AP_CRASHDUMP_ENABLED 1\n')
         env_vars['ENABLE_CRASHDUMP'] = 1
     else:
-        f.write('#define HAL_CRASHDUMP_ENABLE 0\n')
+        f.write('#define AP_CRASHDUMP_ENABLED 0\n')
         env_vars['ENABLE_CRASHDUMP'] = 0
 
     if args.bootloader:
diff --git a/libraries/AP_HAL_ChibiOS/system.cpp b/libraries/AP_HAL_ChibiOS/system.cpp
index b4b3b3b4c7..c1f943921e 100644
--- a/libraries/AP_HAL_ChibiOS/system.cpp
+++ b/libraries/AP_HAL_ChibiOS/system.cpp
@@ -23,7 +23,7 @@
 #include "hwdef/common/watchdog.h"
 #include "hwdef/common/stm32_util.h"
 #include <AP_Vehicle/AP_Vehicle_Type.h>
-#if HAL_CRASHDUMP_ENABLE
+#if AP_CRASHDUMP_ENABLED
 #include <CrashCatcher.h>
 #endif
 #include <ch.h>
@@ -52,7 +52,7 @@ extern "C"
 {
 #define bkpt() __asm volatile("BKPT #0\n")
 
-#if !HAL_CRASHDUMP_ENABLE
+#if !AP_CRASHDUMP_ENABLED
 // do legacy hardfault handling
 void HardFault_Handler(void);
 void HardFault_Handler(void) {