From 0c00bb935a9b76bcc12007924325e2784fdc0189 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Wed, 23 Oct 2019 18:57:27 +1100
Subject: [PATCH] AP_Periph: support updating bootloader with FLASH_BOOTLOADER
 option

---
 Tools/AP_Periph/Parameters.cpp |  5 +++++
 Tools/AP_Periph/Parameters.h   |  5 +++++
 Tools/AP_Periph/can.cpp        | 11 +++++++++++
 3 files changed, 21 insertions(+)

diff --git a/Tools/AP_Periph/Parameters.cpp b/Tools/AP_Periph/Parameters.cpp
index 56cc3bfe13..8b2bde0066 100644
--- a/Tools/AP_Periph/Parameters.cpp
+++ b/Tools/AP_Periph/Parameters.cpp
@@ -29,6 +29,11 @@ const AP_Param::Info AP_Periph_FW::var_info[] = {
 
     // can node baudrate
     GSCALAR(can_baudrate,     "CAN_BAUDRATE", 1000000),
+
+#if !defined(HAL_NO_FLASH_SUPPORT) && !defined(HAL_NO_ROMFS_SUPPORT)
+    // trigger bootloader flash
+    GSCALAR(flash_bootloader,     "FLASH_BOOTLOADER", 0),
+#endif
     
 #ifdef HAL_PERIPH_ENABLE_BUZZER
     GSCALAR(buzz_volume,     "BUZZER_VOLUME", 100),
diff --git a/Tools/AP_Periph/Parameters.h b/Tools/AP_Periph/Parameters.h
index dc73d5b09b..ddabfbcd72 100644
--- a/Tools/AP_Periph/Parameters.h
+++ b/Tools/AP_Periph/Parameters.h
@@ -21,6 +21,7 @@ public:
         k_param_led_brightness,
         k_param_airspeed,
         k_param_rangefinder,
+        k_param_flash_bootloader,
     };
 
     AP_Int16 format_version;
@@ -33,6 +34,10 @@ public:
     AP_Int8 led_brightness;
 #endif
 
+#if !defined(HAL_NO_FLASH_SUPPORT) && !defined(HAL_NO_ROMFS_SUPPORT)
+    AP_Int8 flash_bootloader;
+#endif
+
     Parameters() {}
 };
 
diff --git a/Tools/AP_Periph/can.cpp b/Tools/AP_Periph/can.cpp
index 553fea2b57..174c7590d2 100644
--- a/Tools/AP_Periph/can.cpp
+++ b/Tools/AP_Periph/can.cpp
@@ -828,6 +828,17 @@ static void process1HzTasks(uint64_t timestamp_usec)
         }
     }
 
+#if !defined(HAL_NO_FLASH_SUPPORT) && !defined(HAL_NO_ROMFS_SUPPORT)
+    if (periph.g.flash_bootloader.get()) {
+        periph.g.flash_bootloader.set_and_save_ifchanged(0);
+        if (hal.util->flash_bootloader()) {
+            can_printf("Flash bootloader OK\n");
+        } else {
+            can_printf("Flash bootloader FAILED\n");
+        }
+    }
+#endif
+
     node_status.mode = UAVCAN_PROTOCOL_NODESTATUS_MODE_OPERATIONAL;
 }