mirror of https://github.com/ArduPilot/ardupilot
waf: automatically build intel hex fw when possible
this combines the bootloader and application code into a single binary
This commit is contained in:
Andrew Tridgell
parent
e868a4fe8b
commit
338ff6ae64
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@ -82,10 +82,18 @@ class set_default_parameters(Task.Task):
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defaults.save()
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class generate_fw(Task.Task):
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class generate_bin(Task.Task):
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color='CYAN'
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run_str="${OBJCOPY} -O binary ${SRC} ${SRC}.bin && \
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python '${UPLOAD_TOOLS}/px_mkfw.py' --image '${SRC}.bin' --prototype '${BUILDROOT}/apj.prototype' > '${TGT}'"
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run_str="${OBJCOPY} -O binary ${SRC} ${TGT}"
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always_run = True
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def keyword(self):
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return "Generating"
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def __str__(self):
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return self.outputs[0].path_from(self.generator.bld.bldnode)
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class generate_apj(Task.Task):
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color='CYAN'
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run_str="python '${UPLOAD_TOOLS}/px_mkfw.py' --image '${SRC}' --prototype '${BUILDROOT}/apj.prototype' > '${TGT}'"
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always_run = True
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def keyword(self):
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return "Generating"
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@ -102,34 +110,53 @@ class build_abin(Task.Task):
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def __str__(self):
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return self.outputs[0].path_from(self.generator.bld.bldnode)
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class build_intel_hex(Task.Task):
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'''build an intel hex file for upload with DFU'''
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color='CYAN'
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run_str='${TOOLS_SCRIPTS}/make_intel_hex.sh ${SRC} ${FLASH_RESERVE_START_KB} ${TGT}'
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always_run = True
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def keyword(self):
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return "Generating"
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def __str__(self):
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return self.outputs[0].path_from(self.generator.bld.bldnode)
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@feature('ch_ap_program')
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@after_method('process_source')
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def chibios_firmware(self):
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self.link_task.always_run = True
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link_output = self.link_task.outputs[0]
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self.objcopy_target = self.bld.bldnode.find_or_declare('bin/' + link_output.change_ext('.apj').name)
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generate_fw_task = self.create_task('generate_fw',
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src=link_output,
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tgt=self.objcopy_target)
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generate_fw_task.set_run_after(self.link_task)
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bin_target = self.bld.bldnode.find_or_declare('bin/' + link_output.change_ext('.bin').name)
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apj_target = self.bld.bldnode.find_or_declare('bin/' + link_output.change_ext('.apj').name)
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generate_bin_task = self.create_task('generate_bin', src=link_output, tgt=bin_target)
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generate_bin_task.set_run_after(self.link_task)
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generate_apj_task = self.create_task('generate_apj', src=bin_target, tgt=apj_target)
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generate_apj_task.set_run_after(generate_bin_task)
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if self.env.BUILD_ABIN:
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abin_target = self.bld.bldnode.find_or_declare('bin/' + link_output.change_ext('.abin').name)
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abin_task = self.create_task('build_abin', src=link_output, tgt=abin_target)
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abin_task.set_run_after(generate_fw_task)
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abin_task.set_run_after(generate_apj_task)
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bootloader_bin = self.bld.srcnode.make_node("Tools/bootloaders/%s_bl.bin" % self.env.BOARD)
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if os.path.exists(bootloader_bin.abspath()):
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hex_target = self.bld.bldnode.find_or_declare('bin/' + link_output.change_ext('.hex').name)
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hex_task = self.create_task('build_intel_hex', src=[bin_target, bootloader_bin], tgt=hex_target)
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hex_task.set_run_after(generate_apj_task)
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if self.env.DEFAULT_PARAMETERS:
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default_params_task = self.create_task('set_default_parameters',
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src=link_output)
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default_params_task.set_run_after(self.link_task)
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generate_fw_task.set_run_after(default_params_task)
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generate_apj_task.set_run_after(default_params_task)
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if self.bld.options.upload:
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_upload_task = self.create_task('upload_fw',
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src=self.objcopy_target)
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_upload_task.set_run_after(generate_fw_task)
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_upload_task.set_run_after(generate_apj_task)
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def setup_can_build(cfg):
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'''enable CAN build. By doing this here we can auto-enable CAN in
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@ -0,0 +1,125 @@
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#!/usr/bin/python
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# Copyright (c) 2008,2010,2011,2012,2013 Alexander Belchenko
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# All rights reserved.
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#
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# Redistribution and use in source and binary forms,
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# with or without modification, are permitted provided
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# that the following conditions are met:
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#
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# * Redistributions of source code must retain
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# the above copyright notice, this list of conditions
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# and the following disclaimer.
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# * Redistributions in binary form must reproduce
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# the above copyright notice, this list of conditions
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# and the following disclaimer in the documentation
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# and/or other materials provided with the distribution.
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# * Neither the name of the author nor the names
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# of its contributors may be used to endorse
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# or promote products derived from this software
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# without specific prior written permission.
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#
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# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING,
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# BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY
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# AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED.
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# IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE
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# FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY,
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# OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
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# PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA,
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# OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT,
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# STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
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# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE,
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# EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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'''Intel HEX file format bin2hex convertor utility.'''
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VERSION = '1.5'
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if __name__ == '__main__':
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import getopt
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import os
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import sys
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from intelhex import bin2hex
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usage = '''Bin2Hex convertor utility.
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Usage:
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python bin2hex.py [options] INFILE [OUTFILE]
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Arguments:
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INFILE name of bin file for processing.
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Use '-' for reading from stdin.
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OUTFILE name of output file. If omitted then output
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will be writing to stdout.
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Options:
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-h, --help this help message.
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-v, --version version info.
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--offset=N offset for loading bin file (default: 0).
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'''
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offset = 0
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try:
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opts, args = getopt.getopt(sys.argv[1:], "hv",
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["help", "version", "offset="])
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for o, a in opts:
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if o in ("-h", "--help"):
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print(usage)
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sys.exit(0)
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elif o in ("-v", "--version"):
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print(VERSION)
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sys.exit(0)
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elif o in ("--offset"):
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base = 10
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if a[:2].lower() == '0x':
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base = 16
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try:
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offset = int(a, base)
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except:
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raise getopt.GetoptError('Bad offset value')
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if not args:
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raise getopt.GetoptError('Input file is not specified')
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if len(args) > 2:
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raise getopt.GetoptError('Too many arguments')
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except getopt.GetoptError, msg:
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txt = 'ERROR: '+str(msg) # that's required to get not-so-dumb result from 2to3 tool
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print(txt)
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print(usage)
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sys.exit(2)
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def force_stream_binary(stream):
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"""Force binary mode for stream on Windows."""
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if os.name == 'nt':
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f_fileno = getattr(stream, 'fileno', None)
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if f_fileno:
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fileno = f_fileno()
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if fileno >= 0:
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import msvcrt
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msvcrt.setmode(fileno, os.O_BINARY)
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fin = args[0]
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if fin == '-':
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# read from stdin
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fin = sys.stdin
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force_stream_binary(fin)
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elif not os.path.isfile(fin):
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txt = "ERROR: File not found: %s" % fin # that's required to get not-so-dumb result from 2to3 tool
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print(txt)
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sys.exit(1)
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if len(args) == 2:
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fout = args[1]
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else:
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# write to stdout
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fout = sys.stdout
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force_stream_binary(fout)
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sys.exit(bin2hex(fin, fout, offset))
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@ -393,7 +393,7 @@ is bob we will attempt to checkout bob-AVR'''
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"bin",
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"".join([binaryname, framesuffix]))
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files_to_copy = []
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for extension in [".px4", ".apj", ".abin"]:
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for extension in [".px4", ".apj", ".abin", ".hex"]:
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filepath = "".join([bare_path, extension])
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if os.path.exists(filepath):
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files_to_copy.append(filepath)
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@ -33,5 +33,6 @@ for board in get_board_list():
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run_program(["./waf", "configure", "--board", board, "--bootloader"])
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run_program(["./waf", "clean"])
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run_program(["./waf", "bootloader"])
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shutil.copy('build/%s/bootloader/AP_Bootloader.bin' % board, 'Tools/bootloaders/%s_bl.bin' % board)
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shutil.copy('build/%s/bin/AP_Bootloader.bin' % board, 'Tools/bootloaders/%s_bl.bin' % board)
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run_program(["Tools/scripts/bin2hex.py", "--offset", "0x08000000", 'Tools/bootloaders/%s_bl.bin' % board, 'Tools/bootloaders/%s_bl.hex' % board])
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shutil.copy('build/%s/bootloader/AP_Bootloader' % board, 'Tools/bootloaders/%s_bl.elf' % board)
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@ -0,0 +1,30 @@
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#!/bin/sh
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# make an intel hex file including bootloader, for loading with DFU
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if [ $# -lt 4 ]; then
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echo "Usage: make_intel_hex.sh BINFILE BOOTLOADER RESERVE_KB HEXFILEOUT"
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exit 1
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fi
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SCRIPTS=$(dirname $0)
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BINFILE="$1"
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BOOTLOADERFILE="$2"
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RESERVE_KB="$3"
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HEXFILE="$4"
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[ -f "$BINFILE" ] || {
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echo "Can't find bin file $BINFILE"
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exit 1
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}
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[ -f "$BOOTLOADERFILE" ] || {
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echo "Can't find bootloader file $BOOTLOADERFILE"
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exit 1
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}
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cat "$BOOTLOADERFILE" > "$HEXFILE".tmp
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dd bs=1024 seek=$RESERVE_KB if="$BINFILE" of="$HEXFILE".tmp 2>&1
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"$SCRIPTS"/bin2hex.py --offset 0x08000000 "$HEXFILE".tmp "$HEXFILE"
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rm -f "$HEXFILE".tmp
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echo "Created $HEXFILE"
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