forked from Archive/PX4-Autopilot
bl_update: build and include board bootloader if config available
This commit is contained in:
Daniel Agar
Lorenz Meier
parent
850821f47f
commit
a694f0bbdd
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@ -120,15 +120,6 @@ add_custom_command(
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# copy extras into ROMFS
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set(extras_dependencies)
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# copy px4io binary if configured
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if(config_io_board)
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list(APPEND extras_dependencies
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copy_px4io_bin
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${fw_io_bin}
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)
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endif()
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if(config_bl_file)
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file(MAKE_DIRECTORY ${PX4_BINARY_DIR}/romfs_extras)
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configure_file(${config_bl_file} ${PX4_BINARY_DIR}/romfs_extras COPYONLY)
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@ -138,6 +129,21 @@ if(config_bl_file)
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)
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endif()
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# copy px4io binary if configured
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if(config_io_board)
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list(APPEND extras_dependencies
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copy_px4io_bin
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${fw_io_bin}
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)
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endif()
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if(config_build_bootloader)
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list(APPEND extras_dependencies
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copy_bootloader_bin
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${bootloader_bin}
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)
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endif()
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set(OPTIONAL_BOARD_RC)
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list(APPEND OPTIONAL_BOARD_RC
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rc.board_defaults
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@ -7,6 +7,7 @@ px4_add_board(
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TOOLCHAIN arm-none-eabi
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ARCHITECTURE cortex-m7
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ROMFSROOT px4fmu_common
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BUILD_BOOTLOADER
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IO px4_io-v2_default
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TESTING
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# UAVCAN_INTERFACES 2 - No H7 or FD can support in UAVCAN
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@ -4,6 +4,24 @@
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#------------------------------------------------------------------------------
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#
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# Bootloader upgrade
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#
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set BL_FILE /etc/extras/holybro_durandal-v1_bootloader.bin
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if [ -f $BL_FILE ]
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then
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if param compare SYS_BL_UPDATE 1
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then
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param set SYS_BL_UPDATE 0
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param save
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echo "BL update..." >> $LOG_FILE
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bl_update $BL_FILE
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echo "BL update done" >> $LOG_FILE
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reboot
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fi
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fi
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unset BL_FILE
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if [ $AUTOCNF = yes ]
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then
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# Enable IMU thermal control
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@ -46,6 +46,7 @@
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# [ TOOLCHAIN <string> ]
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# [ ARCHITECTURE <string> ]
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# [ ROMFSROOT <string> ]
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# [ BUILD_BOOTLOADER ]
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# [ IO <string> ]
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# [ BOOTLOADER <string> ]
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# [ UAVCAN_INTERFACES <string> ]
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@ -67,6 +68,7 @@
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# TOOLCHAIN : cmake toolchain
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# ARCHITECTURE : name of the CPU CMake is building for (used by the toolchain)
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# ROMFSROOT : relative path to the ROMFS root directory (currently NuttX only)
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# BUILD_BOOTLOADER : flag to enable building and including the bootloader config
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# IO : name of IO board to be built and included in the ROMFS (requires a valid ROMFSROOT)
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# BOOTLOADER : bootloader file to include for flashing via bl_update (currently NuttX only)
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# UAVCAN_INTERFACES : number of interfaces for UAVCAN
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@ -148,6 +150,7 @@ function(px4_add_board)
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SERIAL_PORTS
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DF_DRIVERS
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OPTIONS
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BUILD_BOOTLOADER
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CONSTRAINED_FLASH
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TESTING
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REQUIRED
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@ -204,6 +207,10 @@ function(px4_add_board)
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if(ROMFSROOT)
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set(config_romfs_root ${ROMFSROOT} CACHE INTERNAL "ROMFS root" FORCE)
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if(BUILD_BOOTLOADER)
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set(config_build_bootloader "1" CACHE INTERNAL "build bootloader" FORCE)
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endif()
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# IO board (placed in ROMFS)
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if(IO)
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set(config_io_board ${IO} CACHE INTERNAL "IO" FORCE)
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@ -38,4 +38,43 @@ px4_add_module(
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-Wno-cast-align # TODO: fix and enable
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SRCS
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bl_update.c
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)
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if(config_build_bootloader)
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# include the bootloader binary in ROMFS
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set(bootloader_config "${PX4_BOARD_VENDOR}_${PX4_BOARD_MODEL}_bootloader")
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if(NOT EXISTS ${PX4_BOARD_DIR}/nuttx-config/bootloader)
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message(FATAL_ERROR "${bootloader_config} does not exist")
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endif()
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message(STATUS "Building and including bootloader ${bootloader_config}")
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include(ExternalProject)
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ExternalProject_Add(bootloader_firmware
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SOURCE_DIR ${CMAKE_SOURCE_DIR}
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DOWNLOAD_COMMAND ""
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UPDATE_COMMAND ""
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CMAKE_ARGS -DCONFIG=${bootloader_config}
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INSTALL_COMMAND ""
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USES_TERMINAL_BUILD true
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DEPENDS git_nuttx git_nuttx_apps
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BUILD_ALWAYS 1
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)
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ExternalProject_Get_Property(bootloader_firmware BINARY_DIR)
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set(bootloader_exe "${BINARY_DIR}/${bootloader_config}.elf")
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set(bootloader_bin "${PX4_BINARY_DIR}/romfs_extras/${bootloader_config}.bin" CACHE FILEPATH "bootloader binary path")
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file(RELATIVE_PATH bootloader_exe_relative ${CMAKE_CURRENT_BINARY_DIR} ${bootloader_exe})
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file(RELATIVE_PATH bootloader_bin_relative ${CMAKE_CURRENT_BINARY_DIR} ${bootloader_bin})
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add_custom_command(OUTPUT ${bootloader_bin}
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COMMAND ${CMAKE_COMMAND} -E make_directory ${PX4_BINARY_DIR}/romfs_extras
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COMMAND ${CMAKE_OBJCOPY} -O binary ${bootloader_exe_relative} ${bootloader_bin_relative}
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DEPENDS bootloader_firmware
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COMMENT "Copying ${bootloader_config} to ROMFS extras"
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)
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add_custom_target(copy_bootloader_bin DEPENDS ${bootloader_bin})
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endif()
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