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waf: added --use-nuttx-iofw configure option 

this allows building with the old NuttX based IO firmware. The default
is the ChibiOS based firmware
This commit is contained in:
Andrew Tridgell 2018-10-29 19:48:25 +11:00
parent 58435ad506
commit b3b5415081
2 changed files with 14 additions and 0 deletions
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8
Tools/ardupilotwaf/boards.py
View File

@ -225,6 +225,14 @@ class Board:
def embed_ROMFS_files(self, ctx): def embed_ROMFS_files(self, ctx):
'''embed some files using AP_ROMFS''' '''embed some files using AP_ROMFS'''
import embed import embed
if ctx.env.USE_NUTTX_IOFW:
# use fmuv2_IO_NuttX.bin instead of fmuv2_IO.bin
for i in range(len(ctx.env.ROMFS_FILES)):
(name,filename) = ctx.env.ROMFS_FILES[i]
if name == 'io_firmware.bin':
filename = 'Tools/IO_Firmware/fmuv2_IO_NuttX.bin'
print("Using IO firmware %s" % filename)
ctx.env.ROMFS_FILES[i] = (name,filename);
header = ctx.bldnode.make_node('ap_romfs_embedded.h').abspath() header = ctx.bldnode.make_node('ap_romfs_embedded.h').abspath()
if not embed.create_embedded_h(header, ctx.env.ROMFS_FILES): if not embed.create_embedded_h(header, ctx.env.ROMFS_FILES):
bld.fatal("Failed to created ap_romfs_embedded.h") bld.fatal("Failed to created ap_romfs_embedded.h")

6
wscript
View File

@ -71,6 +71,11 @@ def options(opt):
action='store_true', action='store_true',
default=False, default=False,
help='enable OS level asserts.') help='enable OS level asserts.')
g.add_option('--use-nuttx-iofw',
action='store_true',
default=False,
help='use old NuttX IO firmware for IOMCU')
g.add_option('--bootloader', g.add_option('--bootloader',
action='store_true', action='store_true',
@ -193,6 +198,7 @@ def configure(cfg):
cfg.env.DEBUG = cfg.options.debug cfg.env.DEBUG = cfg.options.debug
cfg.env.ENABLE_ASSERTS = cfg.options.enable_asserts cfg.env.ENABLE_ASSERTS = cfg.options.enable_asserts
cfg.env.BOOTLOADER = cfg.options.bootloader cfg.env.BOOTLOADER = cfg.options.bootloader
cfg.env.USE_NUTTX_IOFW = cfg.options.use_nuttx_iofw
# Allow to differentiate our build from the make build # Allow to differentiate our build from the make build
cfg.define('WAF_BUILD', 1) cfg.define('WAF_BUILD', 1)