waf: automatically build intel hex fw when possible

this combines the bootloader and application code into a single binary

Tools/ardupilotwaf/chibios.py

@@ -82,10 +82,18 @@ class set_default_parameters(Task.Task):
         defaults.save()
 
 
-class generate_fw(Task.Task):
+class generate_bin(Task.Task):
     color='CYAN'
-    run_str="${OBJCOPY} -O binary ${SRC} ${SRC}.bin && \
+    run_str="${OBJCOPY} -O binary ${SRC} ${TGT}"
-    python '${UPLOAD_TOOLS}/px_mkfw.py' --image '${SRC}.bin' --prototype '${BUILDROOT}/apj.prototype' > '${TGT}'"
+    always_run = True
+    def keyword(self):
+        return "Generating"
+    def __str__(self):
+        return self.outputs[0].path_from(self.generator.bld.bldnode)
+
+class generate_apj(Task.Task):
+    color='CYAN'
+    run_str="python '${UPLOAD_TOOLS}/px_mkfw.py' --image '${SRC}' --prototype '${BUILDROOT}/apj.prototype' > '${TGT}'"
     always_run = True
     def keyword(self):
         return "Generating"
@@ -102,34 +110,53 @@ class build_abin(Task.Task):
     def __str__(self):
         return self.outputs[0].path_from(self.generator.bld.bldnode)
 
+class build_intel_hex(Task.Task):
+    '''build an intel hex file for upload with DFU'''
+    color='CYAN'
+    run_str='${TOOLS_SCRIPTS}/make_intel_hex.sh ${SRC} ${FLASH_RESERVE_START_KB} ${TGT}'
+    always_run = True
+    def keyword(self):
+        return "Generating"
+    def __str__(self):
+        return self.outputs[0].path_from(self.generator.bld.bldnode)
+
 @feature('ch_ap_program')
 @after_method('process_source')
 def chibios_firmware(self):
     self.link_task.always_run = True
 
     link_output = self.link_task.outputs[0]
-    self.objcopy_target = self.bld.bldnode.find_or_declare('bin/' + link_output.change_ext('.apj').name)
 
-    generate_fw_task = self.create_task('generate_fw',
+    bin_target = self.bld.bldnode.find_or_declare('bin/' + link_output.change_ext('.bin').name)
-                                        src=link_output,
+    apj_target = self.bld.bldnode.find_or_declare('bin/' + link_output.change_ext('.apj').name)
-                                        tgt=self.objcopy_target)
+
-    generate_fw_task.set_run_after(self.link_task)
+    generate_bin_task = self.create_task('generate_bin', src=link_output, tgt=bin_target)
+    generate_bin_task.set_run_after(self.link_task)
+
+    generate_apj_task = self.create_task('generate_apj', src=bin_target, tgt=apj_target)
+    generate_apj_task.set_run_after(generate_bin_task)
 
     if self.env.BUILD_ABIN:
         abin_target = self.bld.bldnode.find_or_declare('bin/' + link_output.change_ext('.abin').name)
         abin_task = self.create_task('build_abin', src=link_output, tgt=abin_target)
-        abin_task.set_run_after(generate_fw_task)
+        abin_task.set_run_after(generate_apj_task)
+
+    bootloader_bin = self.bld.srcnode.make_node("Tools/bootloaders/%s_bl.bin" % self.env.BOARD)
+    if os.path.exists(bootloader_bin.abspath()):
+        hex_target = self.bld.bldnode.find_or_declare('bin/' + link_output.change_ext('.hex').name)
+        hex_task = self.create_task('build_intel_hex', src=[bin_target, bootloader_bin], tgt=hex_target)
+        hex_task.set_run_after(generate_apj_task)
 
     if self.env.DEFAULT_PARAMETERS:
         default_params_task = self.create_task('set_default_parameters',
                                                src=link_output)
         default_params_task.set_run_after(self.link_task)
-        generate_fw_task.set_run_after(default_params_task)
+        generate_apj_task.set_run_after(default_params_task)
     
     if self.bld.options.upload:
         _upload_task = self.create_task('upload_fw',
                                 src=self.objcopy_target)
-        _upload_task.set_run_after(generate_fw_task)
+        _upload_task.set_run_after(generate_apj_task)
 
 def setup_can_build(cfg):
     '''enable CAN build. By doing this here we can auto-enable CAN in

Tools/scripts/bin2hex.py

@@ -0,0 +1,125 @@
+#!/usr/bin/python
+
+# Copyright (c) 2008,2010,2011,2012,2013 Alexander Belchenko
+# All rights reserved.
+#
+# Redistribution and use in source and binary forms,
+# with or without modification, are permitted provided
+# that the following conditions are met:
+#
+# * Redistributions of source code must retain
+#   the above copyright notice, this list of conditions
+#   and the following disclaimer.
+# * Redistributions in binary form must reproduce
+#   the above copyright notice, this list of conditions
+#   and the following disclaimer in the documentation
+#   and/or other materials provided with the distribution.
+# * Neither the name of the author nor the names
+#   of its contributors may be used to endorse
+#   or promote products derived from this software
+#   without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING,
+# BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY
+# AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED.
+# IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE
+# FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY,
+# OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
+# PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA,
+# OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT,
+# STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE,
+# EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+
+'''Intel HEX file format bin2hex convertor utility.'''
+
+VERSION = '1.5'
+
+if __name__ == '__main__':
+    import getopt
+    import os
+    import sys
+
+    from intelhex import bin2hex
+
+    usage = '''Bin2Hex convertor utility.
+Usage:
+    python bin2hex.py [options] INFILE [OUTFILE]
+
+Arguments:
+    INFILE      name of bin file for processing.
+                Use '-' for reading from stdin.
+
+    OUTFILE     name of output file. If omitted then output
+                will be writing to stdout.
+
+Options:
+    -h, --help              this help message.
+    -v, --version           version info.
+    --offset=N              offset for loading bin file (default: 0).
+'''
+
+    offset = 0
+
+    try:
+        opts, args = getopt.getopt(sys.argv[1:], "hv",
+                                  ["help", "version", "offset="])
+
+        for o, a in opts:
+            if o in ("-h", "--help"):
+                print(usage)
+                sys.exit(0)
+            elif o in ("-v", "--version"):
+                print(VERSION)
+                sys.exit(0)
+            elif o in ("--offset"):
+                base = 10
+                if a[:2].lower() == '0x':
+                    base = 16
+                try:
+                    offset = int(a, base)
+                except:
+                    raise getopt.GetoptError('Bad offset value')
+
+        if not args:
+            raise getopt.GetoptError('Input file is not specified')
+
+        if len(args) > 2:
+            raise getopt.GetoptError('Too many arguments')
+
+    except getopt.GetoptError, msg:
+        txt = 'ERROR: '+str(msg)    # that's required to get not-so-dumb result from 2to3 tool
+        print(txt)
+        print(usage)
+        sys.exit(2)
+
+    def force_stream_binary(stream):
+        """Force binary mode for stream on Windows."""
+        if os.name == 'nt':
+            f_fileno = getattr(stream, 'fileno', None)
+            if f_fileno:
+                fileno = f_fileno()
+                if fileno >= 0:
+                    import msvcrt
+                    msvcrt.setmode(fileno, os.O_BINARY)
+
+    fin = args[0]
+    if fin == '-':
+        # read from stdin
+        fin = sys.stdin
+        force_stream_binary(fin)
+    elif not os.path.isfile(fin):
+        txt = "ERROR: File not found: %s" % fin   # that's required to get not-so-dumb result from 2to3 tool
+        print(txt)
+        sys.exit(1)
+
+    if len(args) == 2:
+        fout = args[1]
+    else:
+        # write to stdout
+        fout = sys.stdout
+        force_stream_binary(fout)
+
+    sys.exit(bin2hex(fin, fout, offset))

Tools/scripts/build_binaries.py

@@ -393,7 +393,7 @@ is bob we will attempt to checkout bob-AVR'''
                                          "bin",
                                          "".join([binaryname, framesuffix]))
                 files_to_copy = []
-                for extension in [".px4", ".apj", ".abin"]:
+                for extension in [".px4", ".apj", ".abin", ".hex"]:
                     filepath = "".join([bare_path, extension])
                     if os.path.exists(filepath):
                         files_to_copy.append(filepath)

Tools/scripts/build_bootloaders.py

@@ -33,5 +33,6 @@ for board in get_board_list():
     run_program(["./waf", "configure", "--board", board, "--bootloader"])
     run_program(["./waf", "clean"])
     run_program(["./waf", "bootloader"])
-    shutil.copy('build/%s/bootloader/AP_Bootloader.bin' % board, 'Tools/bootloaders/%s_bl.bin' % board)
+    shutil.copy('build/%s/bin/AP_Bootloader.bin' % board, 'Tools/bootloaders/%s_bl.bin' % board)
+    run_program(["Tools/scripts/bin2hex.py", "--offset", "0x08000000", 'Tools/bootloaders/%s_bl.bin' % board, 'Tools/bootloaders/%s_bl.hex' % board])
     shutil.copy('build/%s/bootloader/AP_Bootloader' % board, 'Tools/bootloaders/%s_bl.elf' % board)

Tools/scripts/make_intel_hex.sh

@@ -0,0 +1,30 @@
+#!/bin/sh
+# make an intel hex file including bootloader, for loading with DFU
+
+if [ $# -lt 4 ]; then
+    echo "Usage: make_intel_hex.sh BINFILE BOOTLOADER RESERVE_KB HEXFILEOUT"
+    exit 1
+fi
+
+SCRIPTS=$(dirname $0)
+
+BINFILE="$1"
+BOOTLOADERFILE="$2"
+RESERVE_KB="$3"
+HEXFILE="$4"
+
+[ -f "$BINFILE" ] || {
+    echo "Can't find bin file $BINFILE"
+    exit 1
+}
+
+[ -f "$BOOTLOADERFILE" ] || {
+    echo "Can't find bootloader file $BOOTLOADERFILE"
+    exit 1
+}
+
+cat "$BOOTLOADERFILE" > "$HEXFILE".tmp
+dd bs=1024 seek=$RESERVE_KB if="$BINFILE" of="$HEXFILE".tmp 2>&1
+"$SCRIPTS"/bin2hex.py --offset 0x08000000 "$HEXFILE".tmp "$HEXFILE"
+rm -f "$HEXFILE".tmp
+echo "Created $HEXFILE"