canbootloder:Make support for ALT Bootloader an Option

platforms/common/include/px4_platform_common/board_common.h

@@ -616,6 +616,7 @@ typedef enum  reset_mode_e {
 int board_configure_reset(reset_mode_e mode, uint32_t arg);
 #endif
 
+#if defined(SUPPORT_ALT_CAN_BOOTLOADER)
 /****************************************************************************
  * Name: board_booted_by_px4
  *
@@ -631,7 +632,7 @@ int board_configure_reset(reset_mode_e mode, uint32_t arg);
  ****************************************************************************/
 
 bool board_booted_by_px4(void);
-
+#endif
 /************************************************************************************
  * Name: board_query_manifest
  *

platforms/nuttx/src/canbootloader/uavcan/main.c

@@ -84,8 +84,6 @@
 #pragma message "******** DANGER DEBUG_APPLICATION_INPLACE is DEFINED ******"
 #endif
 
-extern bootloader_alt_app_shared_t _sapp_bl_shared;
-
 typedef volatile struct bootloader_t {
 	can_speed_t bus_speed;
 	volatile uint8_t health;
@@ -1104,7 +1102,7 @@ __EXPORT int main(int argc, char *argv[])
 	bootloader.app_bl_request = (OK == bootloader_app_shared_read(&common, App)) &&
 				    common.bus_speed && common.node_id;
 
-
+#if defined(SUPPORT_ALT_CAN_BOOTLOADER)
 	/* Was this boot a result of An Alternate Application being told it has a FW update ? */
 
 	bootloader_alt_app_shared_t *ps = (bootloader_alt_app_shared_t *) &_sapp_bl_shared;
@@ -1117,6 +1115,7 @@ __EXPORT int main(int argc, char *argv[])
 		ps->signature = 0;
 	}
 
+#endif
 	/*
 	 * Mark CRC to say this is not from
 	 * auto baud and Node Allocation

platforms/nuttx/src/px4/stm/stm32_common/board_reset/board_reset.cpp

@@ -131,6 +131,7 @@ int board_reset(int status)
 
 #endif /* CONFIG_BOARDCTL_RESET */
 
+#if defined(SUPPORT_ALT_CAN_BOOTLOADER)
 /****************************************************************************
  * Name: board_booted_by_px4
  *
@@ -152,3 +153,4 @@ bool board_booted_by_px4(void)
 
 	return (vectors[2] == vectors[3]) && (vectors[4] == vectors[5]);
 }
+#endif