HAL_ChibiOS: create ap_romfs_embedded.h

use ROMFS keywork for romfs files

libraries/AP_HAL_ChibiOS/hwdef/fmuv3/hwdef.dat

@@ -487,3 +487,9 @@ define HAL_I2C_MAX_CLOCK 100000
 # we can't share IO UART (USART6)
 DMA_NOSHARE USART6_TX USART6_RX
 DMA_PRIORITY USART6* TIM* SPI*
+
+# list of files to put in ROMFS. For fmuv3 we need an IO firmware so
+# we can automatically update the IOMCU firmware on boot. The format
+# is "ROMFS ROMFS-filename source-filename". Paths are relative to the
+# ardupilot root
+ROMFS io_firmware.bin Tools/IO_Firmware/fmuv2_IO.bin

libraries/AP_HAL_ChibiOS/hwdef/scripts/chibios_hwdef.py

@@ -51,6 +51,9 @@ bylabel = {}
 # list of SPI devices
 spidev = []
 
+# list of ROMFS files
+romfs = []
+
 # SPI bus list
 spi_list = []
 
@@ -803,6 +806,10 @@ def write_GPIO_config(f):
                 (label, p.port, p.pin))
     f.write('\n')
 
+def write_ROMFS(outdir):
+    '''create ROMFS embedded header'''
+    from embed import create_embedded_h
+    create_embedded_h(os.path.join(outdir, 'ap_romfs_embedded.h'), romfs)
 
 def write_prototype_file():
     '''write the prototype file for apj generation'''
@@ -879,6 +886,9 @@ def write_hwdef_header(outfilename):
     
     write_UART_config(f)
 
+    if len(romfs) > 0:
+        f.write('#define HAL_HAVE_AP_ROMFS_EMBEDDED_H 1\n')
+
     f.write('''
 /*
  * I/O ports initial setup, this configuration is established soon after reset
@@ -1022,6 +1032,8 @@ def process_line(line):
             p.af = af
     if a[0] == 'SPIDEV':
         spidev.append(a[1:])
+    if a[0] == 'ROMFS':
+        romfs.append((a[1],a[2]))
     if a[0] == 'undef':
         print("Removing %s" % a[1])
         config.pop(a[1], '')
@@ -1093,9 +1105,10 @@ write_hwdef_header(os.path.join(outdir, "hwdef.h"))
 # write out ldscript.ld
 write_ldscript(os.path.join(outdir, "ldscript.ld"))
 
+write_ROMFS(outdir)
+
 # copy the shared linker script into the build directory; it must
 # exist in the same directory as the ldscript.ld file we generate.
 copy_common_linkerscript(outdir, args.hwdef)
 
 write_env_py(os.path.join(outdir, "env.py"))
-

libraries/AP_HAL_ChibiOS/hwdef/scripts/embed.py

@@ -0,0 +1,52 @@
+#!/usr/bin/env python
+
+'''
+script to create embedded.c from a set of static files
+
+Andrew Tridgell
+May 2017
+'''
+
+import os
+
+def embed_file(out, f, idx):
+    '''embed one file'''
+    contents = open(f).read()
+    out.write('''
+// %s
+static const uint8_t ap_romfs_%u[] = {''' % (f, idx))
+
+    for c in contents:
+        out.write('%u,' % ord(c))
+    out.write('};\n\n');
+
+def create_embedded_h(filename, files):
+    '''create a ap_romfs_embedded.h file'''
+
+    this_dir = os.path.realpath(__file__)
+    rootdir = os.path.relpath(os.path.join(this_dir, "../../../../.."))
+
+    out = open(filename, "w")
+    out.write('''// generated embedded files for AP_ROMFS\n\n''')
+
+    for i in range(len(files)):
+        (name, filename) = files[i]
+        filename = os.path.join(rootdir, filename)
+        embed_file(out, filename, i)
+
+    out.write('''const AP_ROMFS::embedded_file AP_ROMFS::files[] = {\n''')
+
+    for i in range(len(files)):
+        (name, filename) = files[i]
+        print("Embedding file %s:%s" % (name, filename))
+        out.write('{ "%s", sizeof(ap_romfs_%u), ap_romfs_%u },\n' % (name, i, i))
+    out.write('};\n')
+    out.close()
+
+if __name__ == '__main__':
+    import sys
+    flist = []
+    for i in range(1, len(sys.argv)):
+        f = sys.argv[i]
+        flist.append((f, f))
+    create_embedded_h("/tmp/ap_romfs_embedded.h", flist)