Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-03-03 04:03:59 -04:00
Code Issues Packages Projects Releases Wiki Activity

Tools: fixed call to apj_tool in skyviper build

Browse Source
This commit is contained in:
Andrew Tridgell 2018-03-24 16:11:50 +11:00
parent c39a802655
commit 98ab1c13db
2 changed files with 40 additions and 31 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

16
Tools/ardupilotwaf/chibios.py
View File

@ -70,10 +70,16 @@ class set_default_parameters(Task.Task):
return "apj_tool" return "apj_tool"
def run(self): def run(self):
rel_default_parameters = self.env.get_flat('DEFAULT_PARAMETERS') rel_default_parameters = self.env.get_flat('DEFAULT_PARAMETERS')
abs_default_parameters = os.path.join(self.env.STANDARD_BUILDDIR, abs_default_parameters = os.path.join(self.env.SRCROOT, rel_default_parameters)
rel_default_parameters) apj_tool = self.env.APJ_TOOL
run_str = ("python ${APJ_TOOL} --set-file %s ${SRC}" % sys.path.append(os.path.dirname(apj_tool))
(abs_default_parameters,)) from apj_tool import embedded_defaults
defaults = embedded_defaults(self.inputs[0].abspath())
if not defaults.find():
print("Error: Param defaults support not found in firmware")
sys.exit(1)
defaults.set_file(abs_default_parameters)
defaults.save()
class generate_fw(Task.Task): class generate_fw(Task.Task):
@ -188,13 +194,13 @@ def configure(cfg):
env.AP_HAL_ROOT = srcpath('libraries/AP_HAL_ChibiOS') env.AP_HAL_ROOT = srcpath('libraries/AP_HAL_ChibiOS')
env.BUILDDIR = bldpath('modules/ChibiOS') env.BUILDDIR = bldpath('modules/ChibiOS')
env.BUILDROOT = bldpath('') env.BUILDROOT = bldpath('')
env.SRCROOT = srcpath('')
env.PT_DIR = srcpath('Tools/ardupilotwaf/chibios/image') env.PT_DIR = srcpath('Tools/ardupilotwaf/chibios/image')
env.UPLOAD_TOOLS = srcpath('Tools/ardupilotwaf') env.UPLOAD_TOOLS = srcpath('Tools/ardupilotwaf')
env.CHIBIOS_SCRIPTS = srcpath('libraries/AP_HAL_ChibiOS/hwdef/scripts') env.CHIBIOS_SCRIPTS = srcpath('libraries/AP_HAL_ChibiOS/hwdef/scripts')
env.TOOLS_SCRIPTS = srcpath('Tools/scripts') env.TOOLS_SCRIPTS = srcpath('Tools/scripts')
env.APJ_TOOL = srcpath('Tools/scripts/apj_tool.py') env.APJ_TOOL = srcpath('Tools/scripts/apj_tool.py')
env.SERIAL_PORT = srcpath('/dev/serial/by-id/*_STLink*') env.SERIAL_PORT = srcpath('/dev/serial/by-id/*_STLink*')
env.STANDARD_BUILDDIR = srcpath("build/some-board")
# relative paths to pass to make, relative to directory that make is run from # relative paths to pass to make, relative to directory that make is run from
env.CH_ROOT_REL = os.path.relpath(env.CH_ROOT, env.BUILDROOT) env.CH_ROOT_REL = os.path.relpath(env.CH_ROOT, env.BUILDROOT)

55
Tools/scripts/apj_tool.py
View File

@ -12,6 +12,7 @@ class embedded_defaults(object):
def __init__(self, filename): def __init__(self, filename):
self.filename = filename self.filename = filename
self.offset = 0 self.offset = 0
self.max_len = 0
self.extension = os.path.splitext(filename)[1] self.extension = os.path.splitext(filename)[1]
if self.extension.lower() in ['.apj', '.px4']: if self.extension.lower() in ['.apj', '.px4']:
self.load_apj() self.load_apj()
@ -22,7 +23,7 @@ class embedded_defaults(object):
def load_binary(self): def load_binary(self):
'''load firmware from binary file''' '''load firmware from binary file'''
f = open(self.filename,'r') f = open(self.filename,'rb')
self.firmware = f.read() self.firmware = f.read()
f.close() f.close()
print("Loaded binary file of length %u" % len(self.firmware)) print("Loaded binary file of length %u" % len(self.firmware))
@ -91,6 +92,7 @@ class embedded_defaults(object):
while True: while True:
i = self.firmware[self.offset:].find(magic_str) i = self.firmware[self.offset:].find(magic_str)
if i == -1: if i == -1:
print("No param area found")
return None return None
matched = True matched = True
for j in range(len(param_magic)): for j in range(len(param_magic)):
@ -195,37 +197,38 @@ def defaults_contents(firmware, ofs, length):
'''return current defaults contents''' '''return current defaults contents'''
return firmware return firmware
parser = argparse.ArgumentParser(description='manipulate parameter defaults in an ArduPilot firmware') if __name__ == '__main__':
parser = argparse.ArgumentParser(description='manipulate parameter defaults in an ArduPilot firmware')
parser.add_argument('firmware_file') parser.add_argument('firmware_file')
parser.add_argument('--set-file', type=str, default=None, help='replace parameter defaults from a file') parser.add_argument('--set-file', type=str, default=None, help='replace parameter defaults from a file')
parser.add_argument('--set', type=str, default=None, help='replace one parameter default, in form NAME=VALUE') parser.add_argument('--set', type=str, default=None, help='replace one parameter default, in form NAME=VALUE')
parser.add_argument('--show', action='store_true', default=False, help='show current parameter defaults') parser.add_argument('--show', action='store_true', default=False, help='show current parameter defaults')
parser.add_argument('--extract', action='store_true', default=False, help='extract firmware image to *.bin') parser.add_argument('--extract', action='store_true', default=False, help='extract firmware image to *.bin')
args = parser.parse_args() args = parser.parse_args()
defaults = embedded_defaults(args.firmware_file) defaults = embedded_defaults(args.firmware_file)
if not defaults.find(): if not defaults.find():
print("Error: Param defaults support not found in firmware") print("Error: Param defaults support not found in firmware")
sys.exit(1) sys.exit(1)
print("Found param defaults max_length=%u length=%u" % (defaults.max_len, defaults.length)) print("Found param defaults max_length=%u length=%u" % (defaults.max_len, defaults.length))
if args.set_file: if args.set_file:
# load new defaults from a file # load new defaults from a file
defaults.set_file(args.set_file) defaults.set_file(args.set_file)
defaults.save() defaults.save()
if args.set: if args.set:
# set a single parameter # set a single parameter
defaults.set_one(args.set) defaults.set_one(args.set)
defaults.save() defaults.save()
if args.show: if args.show:
# show all defaults # show all defaults
print(defaults.contents()) print(defaults.contents())
if args.extract: if args.extract:
defaults.extract() defaults.extract()