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waf: add defaults.parm support to esp32 using ROMFS

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And drop broken remnants of code using apj_tool to do it.
This commit is contained in:
Thomas Watson 2024-12-14 22:01:18 -06:00 committed by Peter Barker
parent 5de8da421d
commit f964d3aed3
2 changed files with 8 additions and 80 deletions
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8
Tools/ardupilotwaf/boards.py
View File

@ -1064,6 +1064,14 @@ class esp32(Board):
# wrap malloc to ensure memory is zeroed # wrap malloc to ensure memory is zeroed
env.LINKFLAGS += ['-Wl,--wrap,malloc'] env.LINKFLAGS += ['-Wl,--wrap,malloc']
# TODO: remove once hwdef.dat support is in place
defaults_file = 'libraries/AP_HAL_ESP32/hwdef/%s/defaults.parm' % self.get_name()
if os.path.exists(defaults_file):
env.ROMFS_FILES += [('defaults.parm', defaults_file)]
env.DEFINES.update(
HAL_PARAM_DEFAULTS_PATH='"@ROMFS/defaults.parm"',
)
env.INCLUDES += [ env.INCLUDES += [
cfg.srcnode.find_dir('libraries/AP_HAL_ESP32/boards').abspath(), cfg.srcnode.find_dir('libraries/AP_HAL_ESP32/boards').abspath(),
] ]

80
Tools/ardupilotwaf/esp32.py
View File

@ -49,12 +49,6 @@ def configure(cfg):
env.IDF = cfg.srcnode.abspath()+"/modules/esp_idf" env.IDF = cfg.srcnode.abspath()+"/modules/esp_idf"
print("USING EXPRESSIF IDF:"+str(env.IDF)) print("USING EXPRESSIF IDF:"+str(env.IDF))
try:
env.DEFAULT_PARAMETERS = os.environ['DEFAULT_PARAMETERS']
except:
env.DEFAULT_PARAMETERS = cfg.srcnode.abspath()+"/libraries/AP_HAL_ESP32/boards/defaults.parm"
print("USING DEFAULT_PARAMETERS:"+str(env.DEFAULT_PARAMETERS))
#env.append_value('GIT_SUBMODULES', 'esp_idf') #env.append_value('GIT_SUBMODULES', 'esp_idf')
# delete the output sdkconfig file when the input defaults changes. we take the # delete the output sdkconfig file when the input defaults changes. we take the
@ -133,81 +127,7 @@ def esp32_firmware(self):
build.cmake_build_task.set_run_after(self.link_task) build.cmake_build_task.set_run_after(self.link_task)
# tool that can update the default params in a .bin or .apj
#self.default_params_task = self.create_task('set_default_parameters',
# src='esp-idf_build/ardupilot.bin')
#self.default_params_task.set_run_after(self.generate_bin_task)
# optional upload is last # optional upload is last
if self.bld.options.upload: if self.bld.options.upload:
flasher = esp_idf.build('flash') flasher = esp_idf.build('flash')
flasher.post() flasher.post()
class set_default_parameters(Task.Task):
color='CYAN'
always_run = True
def keyword(self):
return "setting default params"
def run(self):
# TODO: disabled this task outright as apjtool appears to destroy checksums and/or the esp32 partition table
# TIP: if u do try this, afterwards, be sure to 'rm -rf build/esp32buzz/idf-plane/*.bin' and re-run waf
return
# (752) esp_image: Checksum failed. Calculated 0xd3 read 0xa3
# (752) boot: OTA app partition slot 0 is not bootable
# (753) esp_image: image at 0x200000 has invalid magic byte
# (759) boot_comm: mismatch chip ID, expected 0, found 65535
# (766) boot_comm: can't run on lower chip revision, expected 1, found 255
# (773) esp_image: image at 0x200000 has invalid SPI mode 255
# (779) esp_image: image at 0x200000 has invalid SPI size 15
# (786) boot: OTA app partition slot 1 is not bootable
# (792) boot: No bootable app partitions in the partition table
# skip task if nothing to do.
if not self.env.DEFAULT_PARAMETERS:
return
default_parameters = self.env.get_flat('DEFAULT_PARAMETERS').replace("'", "")
#print("apj defaults file:"+str(default_parameters))
_bin = str(self.inputs[0])
# paranoia check before and after apj_tool to see if file hash has changed...
cmd = "shasum -b {0}".format( _bin )
result = subprocess.check_output(cmd, shell=True)
prehash = str(result).split(' ')[0][2:]
cmd = "{1} {2} --set-file {3}".format(self.env.SRCROOT, self.env.APJ_TOOL, _bin, default_parameters )
print(cmd)
result = subprocess.check_output(cmd, shell=True)
if not isinstance(result, str):
result = result.decode()
for i in str(result).split('\n'):
print("\t"+i)
# paranoia check before and after apj_tool to see if file hash has changed...
cmd = "shasum -b {0}".format( _bin )
result = subprocess.check_output(cmd, shell=True)
posthash = str(result).split(' ')[0][2:]
# display --show output, helpful.
cmd = "{1} {2} --show ".format(self.env.SRCROOT, self.env.APJ_TOOL, _bin )
print(cmd)
result = subprocess.check_output(cmd, shell=True)
if not isinstance(result, str):
result = result.decode()
for i in str(result).split('\n'):
print("\t"+i)
# were embedded params updated in .bin?
if prehash == posthash:
print("Embedded params in .bin unchanged (probably already up-to-date)")
else:
print("Embedded params in .bin UPDATED")