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px4-firmware
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Use _ prefix o uavcan files in ROMFS , simplify upgrade

This commit is contained in:
David Sidrane 2015-11-21 06:17:27 -10:00
parent c0ef1a9dcb
commit 31a773e3ce
3 changed files with 21 additions and 21 deletions
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7
Tools/uavcan_copy.sh
View File

@ -1,20 +1,21 @@
#!/bin/bash
UAVCANFW=../ROMFS/px4fmu_common/uavcan/fw
ROMFS_REFIX=_
echo Removing : $UAVCANFW
rm -fr $UAVCANFW
for f in $(find firmware -type f -name "*.*.bin")
do
UAVCAN_NAME=$(echo $f | cut -d"/" -f2 | cut -d. -f1-4 | cut -d- -f1-2)
UAVCAN_HW=$(echo $f cut -d/ -f2 | cut -d. -f1-4 | cut -d- -f3)
DST=$(echo $f | cut -d. -f3-7 | cut -d- -f1,2,3).$(echo $f | cut -d. -f6,7)
DST=${ROMFS_REFIX}$(echo $f | cut -d. -f3-7 | cut -d- -f1,2,3).$(echo $f | cut -d. -f6,7)
# deal with legacy non conforming naming
if [[ ${DST:(-7)} == bin.bin ]]
then
echo " WARNING: Improper name format!!!!!!!!! $f see should be <uavcan_name>-<HW_MAJOR>.<HW_MINOR)-<HW_MAJOR>.<HW_MINOR).<git hash[8]>.bin"
DST=${DST%???}
DST=${DST%????}
fi
echo Processing file: $f Length:${#DST}
if [ ${#DST} -le 28 ]
echo Processing file: $f
then
if [ -d "${UAVCANFW}/${UAVCAN_NAME}/${UAVCAN_HW}" ]
then

33
src/modules/uavcan/uavcan_servers.cpp
View File

@ -886,14 +886,15 @@ void UavcanServers::unpackFwFromROMFS(const char* sd_path, const char* romfs_pat
/fs/microsd/fw
- /c
- - /1a2b3c4d.bin cache file (copy of /fs/microsd/fw/org.pixhawk.nodename-v1/1.1/1a2b3c4d.bin)
- /org.pixhawk.nodename-v1 device directory for org.pixhawk.nodename-v1
- - /1.0 version directory for hardware 1.0
- - /1.1 version directory for hardware 1.1
- - - /1a2b3c4d.bin firmware file for org.pixhawk.nodename-v1 nodes, hardware version 1.1
- /com.example.othernode-v3 device directory for com.example.othernode-v3
- - /1.0 version directory for hardawre 1.0
- - - /deadbeef.bin firmware file for com.example.othernode-v3, hardware version 1.0
- /nodename-v1-1.0.25d0137d.bin cache file (copy of /fs/microsd/fw/org.pixhawk.nodename-v1/1.1/nodename-v1-1.0.25d0137d.bin)
- /othernode-v3-1.6.25d0137d.bin cache file (copy of /fs/microsd/fw/com.example.othernode-v3/1.6/othernode-v3-1.6.25d0137d.bin)
- /org.pixhawk.nodename-v1 device directory for org.pixhawk.nodename-v1
- - /1.0 version directory for hardware 1.0
- - /1.1 version directory for hardware 1.1
- - - /nodename-v1-1.0.25d0137d.bin firmware file for org.pixhawk.nodename-v1 nodes, hardware version 1.1
- /com.example.othernode-v3 device directory for com.example.othernode-v3
- - /1.0 version directory for hardawre 1.0
- - - /othernode-v3-1.6.25d0137d.bin firmware file for com.example.othernode-v3, hardware version 1.6
The ROMFS directory structure is the same, but located at /etc/uavcan/fw
@ -1037,7 +1038,7 @@ void UavcanServers::unpackFwFromROMFS(const char* sd_path, const char* romfs_pat
continue;
}
if (!memcmp(&fw_dirent->d_name[sizeof(UAVCAN_ROMFS_FW_PREFIX) - 1], src_fw_dirent->d_name, fw_len)) {
if (!memcmp(&fw_dirent->d_name, src_fw_dirent->d_name, fw_len)) {
/*
* Exact match between SD card filename and ROMFS filename; must be the same version
* so don't bother deleting and rewriting it.
@ -1048,14 +1049,13 @@ void UavcanServers::unpackFwFromROMFS(const char* sd_path, const char* romfs_pat
size_t dstpath_fw_len = dstpath_ver_len + sizeof(UAVCAN_ROMFS_FW_PREFIX) + fw_len;
if (dstpath_fw_len > maxlen) {
// sizeof(prefix) includes trailing NUL, cancelling out the +1 for the path separator
warnx("unlink: path '%s/%s%s' too long", dstpath, UAVCAN_ROMFS_FW_PREFIX, fw_dirent->d_name);
warnx("unlink: path '%s/%s' too long", dstpath, fw_dirent->d_name);
} else {
// File name starts with "romfs_", delete it.
// File name starts with "_", delete it.
dstpath[dstpath_ver_len] = '/';
memcpy(&dstpath[dstpath_ver_len + 1], fw_dirent->d_name, fw_len + 1);
unlink(dstpath);
warnx("unlink: removed '%s/%s%s'", dstpath, UAVCAN_ROMFS_FW_PREFIX, fw_dirent->d_name);
warnx("unlink: removed '%s/%s'", dstpath, fw_dirent->d_name);
}
} else {
// User file, don't copy firmware
@ -1068,20 +1068,19 @@ void UavcanServers::unpackFwFromROMFS(const char* sd_path, const char* romfs_pat
// If we need to, copy the file from ROMFS to the SD card
if (copy_fw) {
size_t srcpath_fw_len = srcpath_ver_len + 1 + fw_len;
size_t dstpath_fw_len = dstpath_ver_len + sizeof(UAVCAN_ROMFS_FW_PREFIX) + fw_len;
size_t dstpath_fw_len = dstpath_ver_len + fw_len;
if (srcpath_fw_len > maxlen) {
warnx("copy: srcpath '%s/%s' too long", srcpath, src_fw_dirent->d_name);
} else if (dstpath_fw_len > maxlen) {
warnx("copy: dstpath '%s/%s%s' too long", dstpath, UAVCAN_ROMFS_FW_PREFIX, src_fw_dirent->d_name);
warnx("copy: dstpath '%s/%s' too long", dstpath, src_fw_dirent->d_name);
} else {
// All OK, make the paths and copy the file
srcpath[srcpath_ver_len] = '/';
memcpy(&srcpath[srcpath_ver_len + 1], src_fw_dirent->d_name, fw_len + 1);
dstpath[dstpath_ver_len] = '/';
memcpy(&dstpath[dstpath_ver_len + 1], UAVCAN_ROMFS_FW_PREFIX, sizeof(UAVCAN_ROMFS_FW_PREFIX));
memcpy(&dstpath[dstpath_ver_len + sizeof(UAVCAN_ROMFS_FW_PREFIX)], src_fw_dirent->d_name, fw_len + 1);
memcpy(&dstpath[dstpath_ver_len], src_fw_dirent->d_name, fw_len + 1);
rv = copyFw(dstpath, srcpath);
if (rv != 0) {

2
src/modules/uavcan/uavcan_servers.hpp
View File

@ -70,7 +70,7 @@
#define UAVCAN_NODE_DB_PATH "/fs/microsd/uavcan.db"
#define UAVCAN_FIRMWARE_PATH "/fs/microsd/fw"
#define UAVCAN_ROMFS_FW_PATH "/etc/uavcan/fw"
#define UAVCAN_ROMFS_FW_PREFIX "romfs_"
#define UAVCAN_ROMFS_FW_PREFIX "_"
#define UAVCAN_MAX_PATH_LENGTH (128 + 40)
#define UAVCAN_LOG_FILE UAVCAN_NODE_DB_PATH"/trace.log"