omnibus: switch to flash-based params

Not all boards have an SD card.

This is a *breaking* change and requires a bootloader change.

boards/omnibus/f4sd/nuttx-config/scripts/ld.script

@@ -44,12 +44,13 @@
  * where the code expects to begin execution by jumping to the entry point in
  * the 0x0800:0000 address range.
  *
- * The first 0x4000 of flash is reserved for the bootloader.
+ * The first 16 KiB of flash is reserved for the bootloader.
+ * Paramater storage will use the next 16KiB Sector.
  */
 
 MEMORY
 {
-    flash (rx)   : ORIGIN = 0x08004000, LENGTH = 1008K
+    flash (rx)   : ORIGIN = 0x08008000, LENGTH = 992K
     sram (rwx)   : ORIGIN = 0x20000000, LENGTH = 128K
     ccsram (rwx) : ORIGIN = 0x10000000, LENGTH = 64K
 }

boards/omnibus/f4sd/src/board_config.h

@@ -61,6 +61,8 @@
 
 #define BOARD_OVERLOAD_LED     LED_BLUE
 
+#define  FLASH_BASED_PARAMS
+
 /*
  * ADC channels
  *

boards/omnibus/f4sd/src/init.c

@@ -78,6 +78,10 @@
 
 #include <parameters/param.h>
 
+# if defined(FLASH_BASED_PARAMS)
+#  include <parameters/flashparams/flashfs.h>
+#endif
+
 /****************************************************************************
  * Pre-Processor Definitions
  ****************************************************************************/
@@ -373,5 +377,23 @@ __EXPORT int board_app_initialize(uintptr_t arg)
 	SPI_SELECT(spi3, PX4_SPIDEV_BARO, false);
 	up_udelay(20);
 
+#if defined(FLASH_BASED_PARAMS)
+	static sector_descriptor_t params_sector_map[] = {
+		{1, 16 * 1024, 0x08004000},
+		{0, 0, 0},
+	};
+
+	/* Initialize the flashfs layer to use heap allocated memory */
+	result = parameter_flashfs_init(params_sector_map, NULL, 0);
+
+	if (result != OK) {
+		message("[boot] FAILED to init params in FLASH %d\n", result);
+		led_on(LED_AMBER);
+		return -ENODEV;
+	}
+
+#endif
+
+
 	return OK;
 }