From 350ebf5a1f93a5a068ddb731bbfa214858841f44 Mon Sep 17 00:00:00 2001
From: Daniel Agar <daniel@agar.ca>
Date: Mon, 25 Jan 2021 22:57:45 -0500
Subject: [PATCH] boards: CUAV CAN GPS flash based parameters

---
 boards/cuav/can-gps-v1/src/board_config.h |  2 ++
 boards/cuav/can-gps-v1/src/init.c         | 23 +++++++++++++++++++++--
 2 files changed, 23 insertions(+), 2 deletions(-)

diff --git a/boards/cuav/can-gps-v1/src/board_config.h b/boards/cuav/can-gps-v1/src/board_config.h
index 4b01181eda..f19d43cdf7 100644
--- a/boards/cuav/can-gps-v1/src/board_config.h
+++ b/boards/cuav/can-gps-v1/src/board_config.h
@@ -73,6 +73,8 @@
 #define HRT_TIMER                    3  /* use timer 3 for the HRT */
 #define HRT_TIMER_CHANNEL            4  /* use capture/compare channel 4 */
 
+#define FLASH_BASED_PARAMS
+
 __BEGIN_DECLS
 #define BOARD_HAS_N_S_RGB_LED       8  /* Uses 8 SK6812 digital led chip */
 #define BOARD_MAX_LEDS              BOARD_HAS_N_S_RGB_LED
diff --git a/boards/cuav/can-gps-v1/src/init.c b/boards/cuav/can-gps-v1/src/init.c
index 0e9c7c845b..46db91809a 100644
--- a/boards/cuav/can-gps-v1/src/init.c
+++ b/boards/cuav/can-gps-v1/src/init.c
@@ -71,6 +71,10 @@
 
 #include <px4_platform_common/init.h>
 
+# if defined(FLASH_BASED_PARAMS)
+#  include <parameters/flashparams/flashfs.h>
+#endif
+
 /************************************************************************************
  * Name: stm32_boardinitialize
  *
@@ -126,9 +130,24 @@ __EXPORT int board_app_initialize(uintptr_t arg)
 {
 	px4_platform_init();
 
-	/* Configure the HW based on the manifest */
+#if defined(FLASH_BASED_PARAMS)
+	static sector_descriptor_t params_sector_map[] = {
+		{2, 16 * 1024, 0x08008000},
+		{3, 16 * 1024, 0x0800C000},
+		{0, 0, 0},
+	};
 
-	px4_platform_configure();
+	/* Initialize the flashfs layer to use heap allocated memory */
+	int result = parameter_flashfs_init(params_sector_map, NULL, 0);
+
+	if (result != OK) {
+		syslog(LOG_ERR, "[boot] FAILED to init params in FLASH %d\n", result);
+		return -ENODEV;
+	}
+
+#endif // FLASH_BASED_PARAMS
+
+	//px4_platform_configure();
 
 	return OK;
 }