HAL_ChibiOS: support having no flash storage option

libraries/AP_HAL_ChibiOS/Storage.cpp

@@ -128,6 +128,7 @@ void Storage::_timer_tick(void)
  */
 void Storage::_flash_load(void)
 {
+#ifdef STORAGE_FLASH_PAGE
     _flash_page = STORAGE_FLASH_PAGE;
 
     hal.console->printf("Storage: Using flash pages %u and %u\n", _flash_page, _flash_page+1);
@@ -135,6 +136,9 @@ void Storage::_flash_load(void)
     if (!_flash.init()) {
         AP_HAL::panic("unable to init flash storage");
     }
+#else
+    AP_HAL::panic("unable to init storage");
+#endif
 }
 
 /*
@@ -142,10 +146,12 @@ void Storage::_flash_load(void)
 */
 void Storage::_flash_write(uint16_t line)
 {
+#ifdef STORAGE_FLASH_PAGE
     if (_flash.write(line*CH_STORAGE_LINE_SIZE, CH_STORAGE_LINE_SIZE)) {
         // mark the line clean
         _dirty_mask.clear(line);
     }
+#endif
 }
 
 /*
@@ -153,6 +159,7 @@ void Storage::_flash_write(uint16_t line)
  */
 bool Storage::_flash_write_data(uint8_t sector, uint32_t offset, const uint8_t *data, uint16_t length)
 {
+#ifdef STORAGE_FLASH_PAGE
     size_t base_address = stm32_flash_getpageaddr(_flash_page+sector);
     bool ret = stm32_flash_write(base_address+offset, data, length) == length;
     if (!ret && _flash_erase_ok()) {
@@ -167,6 +174,9 @@ bool Storage::_flash_write_data(uint8_t sector, uint32_t offset, const uint8_t *
         }
     }
     return ret;
+#else
+    return false;
+#endif
 }
 
 /*

libraries/AP_HAL_ChibiOS/Storage.h

@@ -57,13 +57,15 @@ private:
     uint8_t _flash_page;
     bool _flash_failed;
     uint32_t _last_re_init_ms;
-    
+
+#ifdef STORAGE_FLASH_PAGE
     AP_FlashStorage _flash{_buffer,
             stm32_flash_getpagesize(STORAGE_FLASH_PAGE),
             FUNCTOR_BIND_MEMBER(&Storage::_flash_write_data, bool, uint8_t, uint32_t, const uint8_t *, uint16_t),
             FUNCTOR_BIND_MEMBER(&Storage::_flash_read_data, bool, uint8_t, uint32_t, uint8_t *, uint16_t),
             FUNCTOR_BIND_MEMBER(&Storage::_flash_erase_sector, bool, uint8_t),
             FUNCTOR_BIND_MEMBER(&Storage::_flash_erase_ok, bool)};
+#endif
     
     void _flash_load(void);
     void _flash_write(uint16_t line);