From f5d9b01f5c73c850267b5839edd5ebe89735238f Mon Sep 17 00:00:00 2001 From: Daniel Agar Date: Mon, 15 Nov 2021 18:47:38 -0500 Subject: [PATCH] NuttX build in place - cmake NuttX build wrapper compile in place instead of copying source tree to build directory - slightly faster skipping necessary copying (depending on system) - allows debugging in place - easier to work directly in NuttX following official documentation - simplifies overall build which should make it easier to resolve any remaining NuttX dependency issues in the build system - the downside is switching back and forth between different builds always require rebuilding NuttX, but I think this is worth the improved developer experience - also no longer builds px4io and bootloader in every single build, for most users these rarely change and we're wasting a lot of build time --- .ci/Jenkinsfile-hardware | 8 +- .vscode/settings.json | 1 - CMakeLists.txt | 6 +- Kconfig | 7 +- Makefile | 18 + ROMFS/CMakeLists.txt | 83 +++-- ROMFS/px4fmu_common/init.d/rcS | 18 +- Tools/setup/ubuntu.sh | 1 + .../airmind_mindpx-v2_bootloader.bin | Bin .../mindpx-v2/nuttx-config/nsh/defconfig | 3 +- .../nuttx-config/canbootloader/defconfig | 9 +- .../ark/can-flow/nuttx-config/nsh/defconfig | 3 +- .../nuttx-config/canbootloader/defconfig | 9 +- boards/ark/can-gps/nuttx-config/nsh/defconfig | 3 +- .../nuttx-config/canbootloader/defconfig | 9 +- .../can-rtk-gps/nuttx-config/nsh/defconfig | 3 +- .../atl_mantis-edu_bootloader.bin | Bin .../atl/mantis-edu/nuttx-config/nsh/defconfig | 3 +- .../av_x-v1_bootloader.bin | Bin boards/av/x-v1/nuttx-config/nsh/defconfig | 3 +- .../bitcraze_crazyflie_bootloader.bin | Bin .../crazyflie/nuttx-config/nsh/defconfig | 3 +- .../bitcraze_crazyflie21_bootloader.bin | Bin .../crazyflie21/nuttx-config/nsh/defconfig | 3 +- .../nuttx-config/canbootloader/defconfig | 9 +- .../can-gps-v1/nuttx-config/nsh/defconfig | 3 +- boards/cuav/nora/default.px4board | 1 - .../cuav/nora/extras/cuav_nora_bootloader.bin | Bin 0 -> 42684 bytes .../nora/nuttx-config/bootloader/defconfig | 2 +- boards/cuav/nora/nuttx-config/nsh/defconfig | 3 +- boards/cuav/x7pro/default.px4board | 1 - .../x7pro/extras/cuav_x7pro_bootloader.bin | Bin 0 -> 42684 bytes .../x7pro/nuttx-config/bootloader/defconfig | 2 +- boards/cuav/x7pro/nuttx-config/nsh/defconfig | 3 +- boards/cubepilot/cubeorange/default.px4board | 1 - .../cubepilot_cubeorange_bootloader.bin | Bin 0 -> 42648 bytes .../extras/cubepilot_io-v2_default.bin | Bin 0 -> 39388 bytes .../nuttx-config/bootloader/defconfig | 2 +- .../cubeorange/nuttx-config/nsh/defconfig | 3 +- .../cubeorange/nuttx-config/test/defconfig | 3 +- .../extras/cubepilot_io-v2_default.bin | Bin 0 -> 39388 bytes .../cubeyellow/nuttx-config/nsh/defconfig | 3 +- .../cubepilot_io-v2_bootloader.bin | Bin .../io-v2/nuttx-config/nsh/defconfig | 2 +- .../nuttx-config/canbootloader/defconfig | 2 +- .../can-rtk-gps/nuttx-config/nsh/defconfig | 3 +- .../nuttx-config/canbootloader/defconfig | 9 +- .../can-gps-v1/nuttx-config/nsh/defconfig | 3 +- boards/holybro/durandal-v1/default.px4board | 2 - .../extras/holybro_durandal-v1_bootloader.bin | Bin 0 -> 42700 bytes .../durandal-v1/extras/px4_io-v2_default.bin | Bin 0 -> 39388 bytes .../nuttx-config/bootloader/defconfig | 2 +- .../durandal-v1/nuttx-config/nsh/defconfig | 3 +- .../holybro_kakutef7_bootloader.bin | Bin .../kakutef7/nuttx-config/nsh/defconfig | 3 +- .../holybro_pix32v5_bootloader.bin | Bin .../pix32v5/extras/px4_io-v2_default.bin | Bin 0 -> 39388 bytes .../pix32v5/nuttx-config/nsh/defconfig | 3 +- .../extras/matek_h743-slim_bootloader.bin | Bin 0 -> 42684 bytes .../nuttx-config/bootloader/defconfig | 2 +- .../h743-slim/nuttx-config/nsh/defconfig | 3 +- .../modalai_fc-v1_bootloader.bin | Bin .../modalai/fc-v1/nuttx-config/nsh/defconfig | 3 +- boards/modalai/fc-v2/default.px4board | 1 - .../fc-v2/extras/modalai_fc-v2_bootloader.bin | Bin 0 -> 42704 bytes .../fc-v2/nuttx-config/bootloader/defconfig | 2 +- .../modalai/fc-v2/nuttx-config/nsh/defconfig | 3 +- .../nuttx-config/nsh/defconfig | 3 +- .../ctrl-zero-f7/nuttx-config/nsh/defconfig | 3 +- boards/mro/ctrl-zero-h7-oem/default.px4board | 1 - .../mro_ctrl-zero-h7-oem_bootloader.bin | Bin 0 -> 42652 bytes .../nuttx-config/bootloader/defconfig | 2 +- .../nuttx-config/nsh/defconfig | 3 +- boards/mro/ctrl-zero-h7/default.px4board | 1 - .../extras/mro_ctrl-zero-h7_bootloader.bin | Bin 0 -> 42632 bytes .../nuttx-config/bootloader/defconfig | 2 +- .../ctrl-zero-h7/nuttx-config/nsh/defconfig | 3 +- boards/mro/pixracerpro/default.px4board | 1 - .../extras/mro_pixracerpro_bootloader.bin | Bin 0 -> 42624 bytes .../nuttx-config/bootloader/defconfig | 2 +- .../pixracerpro/nuttx-config/nsh/defconfig | 3 +- boards/mro/x21-777/default.px4board | 1 - .../mro/x21-777/extras/px4_io-v2_default.bin | Bin 0 -> 39388 bytes boards/mro/x21-777/nuttx-config/nsh/defconfig | 3 +- boards/mro/x21/default.px4board | 1 - .../mro_x21_bootloader.bin | Bin boards/mro/x21/nuttx-config/nsh/defconfig | 3 +- .../nxp_fmuk66-e_bootloader.bin | Bin .../nxp/fmuk66-e/nuttx-config/nsh/defconfig | 3 +- .../fmuk66-e/nuttx-config/socketcan/defconfig | 3 +- boards/nxp/fmuk66-v3/default.px4board | 1 - .../nxp_fmuk66-v3_bootloader.bin | Bin .../nxp/fmuk66-v3/nuttx-config/nsh/defconfig | 3 +- .../nuttx-config/socketcan/defconfig | 3 +- .../fmurt1062-v1/nuttx-config/nsh/defconfig | 3 +- .../nuttx-config/canbootloader/defconfig | 9 +- .../ucans32k146/nuttx-config/nsh/defconfig | 3 +- .../omnibus_f4sd_bootloader.bin | Bin .../omnibus/f4sd/nuttx-config/nsh/defconfig | 3 +- boards/px4/fmu-v2/default.px4board | 1 - .../px4_fmu-v2_bootloader.bin | Bin .../px4/fmu-v2/extras/px4_io-v2_default.bin | Bin 0 -> 39388 bytes boards/px4/fmu-v2/multicopter.px4board | 9 +- boards/px4/fmu-v2/nuttx-config/nsh/defconfig | 3 +- boards/px4/fmu-v3/default.px4board | 1 - .../px4_fmu-v3_bootloader.bin | Bin .../px4/fmu-v3/extras/px4_io-v2_default.bin | Bin 0 -> 39388 bytes boards/px4/fmu-v3/nuttx-config/nsh/defconfig | 3 +- .../px4_fmu-v4_bootloader.bin | Bin .../px4/fmu-v4/nuttx-config/drivers/Kconfig | 0 boards/px4/fmu-v4/nuttx-config/nsh/defconfig | 3 +- boards/px4/fmu-v4pro/default.px4board | 1 - .../px4_fmu-v4pro_bootloader.bin | Bin .../fmu-v4pro/extras/px4_io-v2_default.bin | Bin 0 -> 39388 bytes .../px4/fmu-v4pro/nuttx-config/nsh/defconfig | 3 +- boards/px4/fmu-v5/default.px4board | 1 - .../px4_fmu-v5_bootloader.bin | Bin .../px4/fmu-v5/extras/px4_io-v2_default.bin | Bin 0 -> 39388 bytes .../fmu-v5/nuttx-config/cryptotest/defconfig | 3 +- .../px4/fmu-v5/nuttx-config/debug/defconfig | 3 +- boards/px4/fmu-v5/nuttx-config/nsh/defconfig | 3 +- .../fmu-v5/nuttx-config/stackcheck/defconfig | 3 +- .../fmu-v5/nuttx-config/uavcanv1/defconfig | 3 +- boards/px4/fmu-v5/uavcanv0periph.px4board | 3 + boards/px4/fmu-v5x/default.px4board | 1 - .../px4_fmu-v5x_bootloader.bin | Bin .../px4/fmu-v5x/extras/px4_io-v2_default.bin | Bin 0 -> 39388 bytes .../nuttx-config/base_phy_DP83848C/defconfig | 3 +- boards/px4/fmu-v5x/nuttx-config/nsh/defconfig | 3 +- boards/px4/fmu-v6u/default.px4board | 1 - .../fmu-v6u/extras/px4_fmu-v6u_bootloader.bin | Bin 0 -> 42684 bytes .../fmu-v6u/nuttx-config/bootloader/defconfig | 2 +- boards/px4/fmu-v6u/nuttx-config/nsh/defconfig | 3 +- boards/px4/fmu-v6x/default.px4board | 2 - .../fmu-v6x/extras/px4_fmu-v6x_bootloader.bin | Bin 0 -> 42700 bytes .../px4/fmu-v6x/extras/px4_io-v2_default.bin | Bin 0 -> 39388 bytes .../fmu-v6x/nuttx-config/bootloader/defconfig | 2 +- boards/px4/fmu-v6x/nuttx-config/nsh/defconfig | 3 +- .../px4_io-v2_bootloader.bin | Bin boards/px4/io-v2/nuttx-config/nsh/defconfig | 2 +- .../pico/nuttx-config/nsh/defconfig | 3 +- .../h7extreme/nuttx-config/nsh/defconfig | 3 +- .../uvify_core_bootloader.bin | Bin boards/uvify/core/nuttx-config/nsh/defconfig | 3 +- cmake/bloaty.cmake | 2 +- cmake/kconfig.cmake | 10 - platforms/nuttx/CMakeLists.txt | 35 +- platforms/nuttx/NuttX/CMakeLists.txt | 330 +++++------------- platforms/nuttx/NuttX/Make.defs.in | 1 + .../nuttx/NuttX/{ => include}/nsh_romfsimg.h | 0 platforms/nuttx/NuttX/px4.bdat.in | 1 + platforms/nuttx/NuttX/px4.pdat.in | 1 + platforms/nuttx/NuttX/tools/kconfig-conf | 1 - .../tools/px4_nuttx_make_olddefconfig.sh | 2 +- platforms/nuttx/cmake/init.cmake | 114 +----- platforms/nuttx/cmake/jlink.cmake | 23 +- platforms/nuttx/cmake/px4_impl_os.cmake | 14 +- .../nuttx/init/rc.board_bootloader_upgrade.in | 17 + src/drivers/bootloaders/CMakeLists.txt | 4 +- src/drivers/px4io/CMakeLists.txt | 48 +-- src/drivers/px4io/Kconfig | 2 +- src/lib/parameters/CMakeLists.txt | 8 +- src/lib/version/px_update_git_header.py | 6 +- src/systemcmds/bl_update/CMakeLists.txt | 71 ---- 164 files changed, 351 insertions(+), 751 deletions(-) rename boards/airmind/mindpx-v2/{bootloader => extras}/airmind_mindpx-v2_bootloader.bin (100%) rename boards/atl/mantis-edu/{bootloader => extras}/atl_mantis-edu_bootloader.bin (100%) rename boards/av/x-v1/{bootloader => extras}/av_x-v1_bootloader.bin (100%) rename boards/bitcraze/crazyflie/{bootloader => extras}/bitcraze_crazyflie_bootloader.bin (100%) rename boards/bitcraze/crazyflie21/{bootloader => extras}/bitcraze_crazyflie21_bootloader.bin (100%) create mode 100755 boards/cuav/nora/extras/cuav_nora_bootloader.bin create mode 100755 boards/cuav/x7pro/extras/cuav_x7pro_bootloader.bin create mode 100755 boards/cubepilot/cubeorange/extras/cubepilot_cubeorange_bootloader.bin create mode 100755 boards/cubepilot/cubeorange/extras/cubepilot_io-v2_default.bin create mode 100755 boards/cubepilot/cubeyellow/extras/cubepilot_io-v2_default.bin rename boards/cubepilot/io-v2/{bootloader => extras}/cubepilot_io-v2_bootloader.bin (100%) create mode 100755 boards/holybro/durandal-v1/extras/holybro_durandal-v1_bootloader.bin create mode 100755 boards/holybro/durandal-v1/extras/px4_io-v2_default.bin rename boards/holybro/kakutef7/{bootloader => extras}/holybro_kakutef7_bootloader.bin (100%) rename boards/holybro/pix32v5/{bootloader => extras}/holybro_pix32v5_bootloader.bin (100%) create mode 100755 boards/holybro/pix32v5/extras/px4_io-v2_default.bin create mode 100755 boards/matek/h743-slim/extras/matek_h743-slim_bootloader.bin rename boards/modalai/fc-v1/{bootloader => extras}/modalai_fc-v1_bootloader.bin (100%) create mode 100755 boards/modalai/fc-v2/extras/modalai_fc-v2_bootloader.bin create mode 100755 boards/mro/ctrl-zero-h7-oem/extras/mro_ctrl-zero-h7-oem_bootloader.bin create mode 100755 boards/mro/ctrl-zero-h7/extras/mro_ctrl-zero-h7_bootloader.bin create mode 100755 boards/mro/pixracerpro/extras/mro_pixracerpro_bootloader.bin create mode 100755 boards/mro/x21-777/extras/px4_io-v2_default.bin rename boards/mro/x21/{bootloader => extras}/mro_x21_bootloader.bin (100%) rename boards/nxp/fmuk66-e/{bootloader => extras}/nxp_fmuk66-e_bootloader.bin (100%) rename boards/nxp/fmuk66-v3/{bootloader => extras}/nxp_fmuk66-v3_bootloader.bin (100%) rename boards/omnibus/f4sd/{bootloader => extras}/omnibus_f4sd_bootloader.bin (100%) rename boards/px4/fmu-v2/{bootloader => extras}/px4_fmu-v2_bootloader.bin (100%) create mode 100755 boards/px4/fmu-v2/extras/px4_io-v2_default.bin rename boards/px4/fmu-v3/{bootloader => extras}/px4_fmu-v3_bootloader.bin (100%) create mode 100755 boards/px4/fmu-v3/extras/px4_io-v2_default.bin rename boards/px4/fmu-v4/{bootloader => extras}/px4_fmu-v4_bootloader.bin (100%) create mode 100644 boards/px4/fmu-v4/nuttx-config/drivers/Kconfig rename boards/px4/fmu-v4pro/{bootloader => extras}/px4_fmu-v4pro_bootloader.bin (100%) create mode 100755 boards/px4/fmu-v4pro/extras/px4_io-v2_default.bin rename boards/px4/fmu-v5/{bootloader => extras}/px4_fmu-v5_bootloader.bin (100%) create mode 100755 boards/px4/fmu-v5/extras/px4_io-v2_default.bin rename boards/px4/fmu-v5x/{bootloader => extras}/px4_fmu-v5x_bootloader.bin (100%) create mode 100755 boards/px4/fmu-v5x/extras/px4_io-v2_default.bin create mode 100755 boards/px4/fmu-v6u/extras/px4_fmu-v6u_bootloader.bin create mode 100755 boards/px4/fmu-v6x/extras/px4_fmu-v6x_bootloader.bin create mode 100755 boards/px4/fmu-v6x/extras/px4_io-v2_default.bin rename boards/px4/io-v2/{bootloader => extras}/px4_io-v2_bootloader.bin (100%) rename boards/uvify/core/{bootloader => extras}/uvify_core_bootloader.bin (100%) rename platforms/nuttx/NuttX/{ => include}/nsh_romfsimg.h (100%) create mode 100644 platforms/nuttx/NuttX/px4.bdat.in create mode 100644 platforms/nuttx/NuttX/px4.pdat.in create mode 100644 platforms/nuttx/init/rc.board_bootloader_upgrade.in diff --git a/.ci/Jenkinsfile-hardware b/.ci/Jenkinsfile-hardware index 5488e6c0ae..56465f64c2 100644 --- a/.ci/Jenkinsfile-hardware +++ b/.ci/Jenkinsfile-hardware @@ -18,8 +18,8 @@ pipeline { } steps { checkoutSCM() + sh 'make cubepilot_cubeorange_bootloader' sh 'make cubepilot_cubeorange_test' - sh 'make cubepilot_cubeorange_test bootloader_elf' sh 'ccache -s' stash includes: 'build/*/*.elf, platforms/nuttx/Debug/*, Tools/HIL/*.py', name: 'cubepilot_cubeorange_test' } @@ -39,7 +39,7 @@ pipeline { sh 'export' sh 'find /dev/serial' unstash 'cubepilot_cubeorange_test' - sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/cubepilot_cubeorange_test/cubepilot_cubeorange_bootloader.elf' + sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/cubepilot_cubeorange_bootloader/cubepilot_cubeorange_bootloader.elf' // flash board and watch bootup sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/cubepilot_cubeorange_test/cubepilot_cubeorange_test.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600' } @@ -89,8 +89,8 @@ pipeline { } steps { checkoutSCM() + sh 'make cuav_x7pro_bootloader' sh 'make cuav_x7pro_test' - sh 'make cuav_x7pro_test bootloader_elf' sh 'ccache -s' stash includes: 'build/*/*.elf, platforms/nuttx/Debug/*, Tools/HIL/*.py', name: 'cuav_x7pro_test' } @@ -110,7 +110,7 @@ pipeline { sh 'export' sh 'find /dev/serial' unstash 'cuav_x7pro_test' - sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/cuav_x7pro_test/cuav_x7pro_bootloader.elf' + sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/cuav_x7pro_bootloader/cuav_x7pro_bootloader.elf' // flash board and watch bootup sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/cuav_x7pro_test/cuav_x7pro_test.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600' } diff --git a/.vscode/settings.json b/.vscode/settings.json index 1d35607955..1bf4e6eb2f 100644 --- a/.vscode/settings.json +++ b/.vscode/settings.json @@ -14,7 +14,6 @@ "C_Cpp.workspaceParsingPriority": "low", "cmake.buildBeforeRun": true, "cmake.buildDirectory": "${workspaceFolder}/build/${variant:CONFIG}", - "cmake.buildTask": true, "cmake.configureOnOpen": true, "cmake.ctest.parallelJobs": 1, "cmake.skipConfigureIfCachePresent": true, diff --git a/CMakeLists.txt b/CMakeLists.txt index c8ea0dfa4c..8a6c30cd56 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -40,7 +40,7 @@ # * Common functions should be included in px_base.cmake. # # * OS/ board specific fucntions should be include in -# px_impl_${PX4_PLATFORM}.cmake or px4_impl_${PX4_PLATFORM}_${PX4_BOARD}.cmake. +# px_impl_${PX4_PLATFORM}.cmake # # Formatting # --------------------------------------------------------------------------- @@ -101,8 +101,8 @@ cmake_minimum_required(VERSION 3.2 FATAL_ERROR) -set(PX4_SOURCE_DIR "${CMAKE_CURRENT_SOURCE_DIR}") -set(PX4_BINARY_DIR "${CMAKE_CURRENT_BINARY_DIR}") +set(PX4_SOURCE_DIR "${CMAKE_CURRENT_SOURCE_DIR}" CACHE FILEPATH "PX4 source directory" FORCE) +set(PX4_BINARY_DIR "${CMAKE_CURRENT_BINARY_DIR}" CACHE FILEPATH "PX4 binary directory" FORCE) list(APPEND CMAKE_MODULE_PATH ${PX4_SOURCE_DIR}/cmake) include(px4_parse_function_args) diff --git a/Kconfig b/Kconfig index dbcb75e55a..36ef7c4746 100644 --- a/Kconfig +++ b/Kconfig @@ -63,13 +63,10 @@ menu "Toolchain" help relative path to the ROMFS root directory - config BOARD_BUILD_BOOTLOADER - bool "Enable bootloader" - help - flag to enable building and including the bootloader config - config BOARD_IO string "IO board name" + default "px4_io-v2_default" + depends on DRIVERS_PX4IO help name of IO board to be built and included in the ROMFS (requires a valid ROMFSROOT) diff --git a/Makefile b/Makefile index 6b1befbc1f..6af34c3ce7 100644 --- a/Makefile +++ b/Makefile @@ -309,6 +309,24 @@ uorb_graphs: @$(MAKE) --no-print-directory px4_fmu-v5_default uorb_graph @$(MAKE) --no-print-directory px4_sitl_default uorb_graph +px4io_update: px4_io-v2_default cubepilot_io-v2_default + # px4_io-v2_default + cp build/px4_io-v2_default/px4_io-v2_default.bin boards/holybro/durandal-v1/extras/px4_io-v2_default.bin + cp build/px4_io-v2_default/px4_io-v2_default.bin boards/holybro/pix32v5/extras/px4_io-v2_default.bin + cp build/px4_io-v2_default/px4_io-v2_default.bin boards/mro/x21-777/extras/px4_io-v2_default.bin + cp build/px4_io-v2_default/px4_io-v2_default.bin boards/px4/fmu-v2/extras/px4_io-v2_default.bin + cp build/px4_io-v2_default/px4_io-v2_default.bin boards/px4/fmu-v3/extras/px4_io-v2_default.bin + cp build/px4_io-v2_default/px4_io-v2_default.bin boards/px4/fmu-v4pro/extras/px4_io-v2_default.bin + cp build/px4_io-v2_default/px4_io-v2_default.bin boards/px4/fmu-v5/extras/px4_io-v2_default.bin + cp build/px4_io-v2_default/px4_io-v2_default.bin boards/px4/fmu-v5x/extras/px4_io-v2_default.bin + cp build/px4_io-v2_default/px4_io-v2_default.bin boards/px4/fmu-v6x/extras/px4_io-v2_default.bin + # cubepilot_io-v2_default + cp build/cubepilot_io-v2_default/cubepilot_io-v2_default.bin boards/cubepilot/cubeorange/extras/cubepilot_io-v2_default.bin + cp build/cubepilot_io-v2_default/cubepilot_io-v2_default.bin boards/cubepilot/cubeyellow/extras/cubepilot_io-v2_default.bin + git status + +bootloaders_update: cuav_nora_bootloader cuav_x7pro_bootloader cubepilot_cubeorange_bootloader holybro_durandal-v1_bootloader matek_h743-slim_bootloader modalai_fc-v2_bootloader mro_ctrl-zero-h7_bootloader mro_ctrl-zero-h7-oem_bootloader mro_pixracerpro_bootloader px4_fmu-v6u_bootloader px4_fmu-v6x_bootloader + git status .PHONY: coverity_scan diff --git a/ROMFS/CMakeLists.txt b/ROMFS/CMakeLists.txt index 193c2faa5e..2b2a75f888 100644 --- a/ROMFS/CMakeLists.txt +++ b/ROMFS/CMakeLists.txt @@ -143,38 +143,14 @@ add_custom_command( COMMENT "ROMFS: copying, generating airframes" ) +if(EXISTS ${PX4_BOARD_DIR}/extras/${PX4_BOARD_VENDOR}_${PX4_BOARD_MODEL}_bootloader.bin) + set(BOARD_FIRMWARE_BIN "${PX4_BOARD_VENDOR}_${PX4_BOARD_MODEL}_bootloader.bin") + configure_file(${PX4_SOURCE_DIR}/platforms/nuttx/init/rc.board_bootloader_upgrade.in ${romfs_gen_root_dir}/init.d/rc.board_bootloader_upgrade @ONLY) +endif() + # copy extras into ROMFS set(extras_dependencies) -# copy px4io binary if configured -if(config_io_board) - list(APPEND extras_dependencies - copy_px4io_bin - ${fw_io_bin} - ) - file(RELATIVE_PATH iofw_file_relative ${PX4_SOURCE_DIR} ${fw_io_bin}) - message(STATUS "ROMFS: Adding ${iofw_file_relative} -> /etc/extras/${config_io_board}.bin") -endif() - - -# board bootloader (built or included) -if(TARGET copy_bootloader_bin) - - if(board_bootloader_firmware) - file(RELATIVE_PATH bl_file_relative ${PX4_SOURCE_DIR} ${board_bootloader_firmware}) - message(STATUS "ROMFS: Adding ${bl_file_relative} -> /etc/extras/bootloader.bin") - else() - file(RELATIVE_PATH bl_file_relative ${PX4_SOURCE_DIR} ${bootloader_bin}) - message(STATUS "ROMFS: Adding ${bl_file_relative} -> /etc/extras/bootloader.bin") - endif() - - list(APPEND extras_dependencies - copy_bootloader_bin - ${bootloader_bin} - ) -endif() - - # optional board architecture defaults set(board_arch_rc_file "rc.board_arch_defaults") if(EXISTS "${PX4_SOURCE_DIR}/platforms/${PX4_PLATFORM}/init/${CONFIG_ARCH_CHIP}/${board_arch_rc_file}") @@ -199,6 +175,7 @@ if(EXISTS "${PX4_SOURCE_DIR}/platforms/${PX4_PLATFORM}/init/${CONFIG_ARCH_CHIP}/ endif() +# board custom init files set(OPTIONAL_BOARD_RC) list(APPEND OPTIONAL_BOARD_RC rc.board_defaults @@ -233,21 +210,59 @@ foreach(board_rc_file ${OPTIONAL_BOARD_RC}) endforeach() +# board extras +set(OPTIONAL_BOARD_EXTRAS) +file(GLOB OPTIONAL_BOARD_EXTRAS ${PX4_BOARD_DIR}/extras/*) + +foreach(board_extra_file ${OPTIONAL_BOARD_EXTRAS}) + + if(EXISTS "${board_extra_file}") + file(RELATIVE_PATH extra_file_base_name ${PX4_BOARD_DIR}/extras/ ${board_extra_file}) + file(RELATIVE_PATH extra_file_relative_source ${PX4_SOURCE_DIR} ${board_extra_file}) + message(STATUS "ROMFS: Adding ${extra_file_relative_source} -> /etc/extras/${extra_file_base_name}") + + add_custom_command( + OUTPUT + ${romfs_gen_root_dir}/extras/${extra_file_base_name} + ${extra_file_base_name}.stamp + COMMAND ${CMAKE_COMMAND} -E copy_if_different ${PX4_BOARD_DIR}/extras/${extra_file_base_name} ${romfs_gen_root_dir}/extras/${extra_file_base_name} + COMMAND ${CMAKE_COMMAND} -E touch ${extra_file_base_name}.stamp + DEPENDS + ${board_extra_file} + romfs_copy.stamp + COMMENT "ROMFS: copying ${board_extra_file}" + ) + + list(APPEND extras_dependencies + ${extra_file_base_name}.stamp + ) + endif() + +endforeach() + + + if(config_uavcan_peripheral_firmware) include(ExternalProject) foreach(uavcan_peripheral_config ${config_uavcan_peripheral_firmware}) - # include the px4io binary in ROMFS + # include the UAVCAN peripheral binaries in ROMFS message(STATUS "ROMFS: Adding UAVCAN peripheral ${uavcan_peripheral_config} -> /etc/uavcan/fw/") + + # ExternalProject_Add() with GIT_SUBMODULES "" initializes no submodules. + cmake_policy(SET CMP0097 NEW) + + include(ExternalProject) + ExternalProject_Add(build_${uavcan_peripheral_config} - SOURCE_DIR ${CMAKE_SOURCE_DIR} - DOWNLOAD_COMMAND "" - UPDATE_COMMAND "" + GIT_REPOSITORY ${CMAKE_SOURCE_DIR} + GIT_TAG ${PX4_GIT_TAG} + GIT_SUBMODULES "" + DOWNLOAD_NO_PROGRESS true CMAKE_ARGS -DCONFIG=${uavcan_peripheral_config} INSTALL_COMMAND "" USES_TERMINAL_BUILD true - DEPENDS git_nuttx git_nuttx_apps BUILD_ALWAYS 1 ) diff --git a/ROMFS/px4fmu_common/init.d/rcS b/ROMFS/px4fmu_common/init.d/rcS index 247a880ea5..9b9a354ea6 100644 --- a/ROMFS/px4fmu_common/init.d/rcS +++ b/ROMFS/px4fmu_common/init.d/rcS @@ -507,21 +507,13 @@ else . ${R}etc/init.d/rc.autostart.post fi - # - # Bootloader upgrade - # - if param compare -s SYS_BL_UPDATE 1 + + set BOARD_BOOTLOADER_UPGRADE ${R}etc/init.d/rc.board_bootloader_upgrade + if [ -f $BOARD_BOOTLOADER_UPGRADE ] then - if [ -f "/etc/extras/bootloader.bin" ] - then - param set SYS_BL_UPDATE 0 - param save - echo "bootloader update..." - bl_update "/etc/extras/bootloader.bin" - echo "bootloader update done, rebooting" - reboot - fi + sh $BOARD_BOOTLOADER_UPGRADE fi + unset BOARD_BOOTLOADER_UPGRADE # # End of autostart. diff --git a/Tools/setup/ubuntu.sh b/Tools/setup/ubuntu.sh index 6223018f6d..ffc88f19ab 100755 --- a/Tools/setup/ubuntu.sh +++ b/Tools/setup/ubuntu.sh @@ -143,6 +143,7 @@ if [[ $INSTALL_NUTTX == "true" ]]; then libisl-dev \ libmpc-dev \ libmpfr-dev \ + libncurses5 \ libncurses5-dev \ libncursesw5-dev \ libtool \ diff --git a/boards/airmind/mindpx-v2/bootloader/airmind_mindpx-v2_bootloader.bin b/boards/airmind/mindpx-v2/extras/airmind_mindpx-v2_bootloader.bin similarity index 100% rename from boards/airmind/mindpx-v2/bootloader/airmind_mindpx-v2_bootloader.bin rename to boards/airmind/mindpx-v2/extras/airmind_mindpx-v2_bootloader.bin diff --git a/boards/airmind/mindpx-v2/nuttx-config/nsh/defconfig b/boards/airmind/mindpx-v2/nuttx-config/nsh/defconfig index e7408cc5ee..a5553de562 100644 --- a/boards/airmind/mindpx-v2/nuttx-config/nsh/defconfig +++ b/boards/airmind/mindpx-v2/nuttx-config/nsh/defconfig @@ -25,7 +25,7 @@ # CONFIG_STM32_CCMEXCLUDE is not set CONFIG_ARCH="arm" CONFIG_ARCH_BOARD_CUSTOM=y -CONFIG_ARCH_BOARD_CUSTOM_DIR="../nuttx-config" +CONFIG_ARCH_BOARD_CUSTOM_DIR="../../../../boards/airmind/mindpx-v2/nuttx-config" CONFIG_ARCH_BOARD_CUSTOM_DIR_RELPATH=y CONFIG_ARCH_BOARD_CUSTOM_NAME="px4" CONFIG_ARCH_CHIP="stm32" @@ -92,7 +92,6 @@ CONFIG_MTD_PARTITION=y CONFIG_MTD_RAMTRON=y CONFIG_NAME_MAX=40 CONFIG_NSH_ARCHINIT=y -CONFIG_NSH_ARCHROMFS=y CONFIG_NSH_ARGCAT=y CONFIG_NSH_BUILTIN_APPS=y CONFIG_NSH_CMDPARMS=y diff --git a/boards/ark/can-flow/nuttx-config/canbootloader/defconfig b/boards/ark/can-flow/nuttx-config/canbootloader/defconfig index 6ce4a95b09..75230422cf 100644 --- a/boards/ark/can-flow/nuttx-config/canbootloader/defconfig +++ b/boards/ark/can-flow/nuttx-config/canbootloader/defconfig @@ -7,7 +7,7 @@ # CONFIG_ARCH="arm" CONFIG_ARCH_BOARD_CUSTOM=y -CONFIG_ARCH_BOARD_CUSTOM_DIR="../nuttx-config" +CONFIG_ARCH_BOARD_CUSTOM_DIR="../../../../boards/ark/can-flow/nuttx-config" CONFIG_ARCH_BOARD_CUSTOM_DIR_RELPATH=y CONFIG_ARCH_BOARD_CUSTOM_NAME="px4" CONFIG_ARCH_CHIP="stm32" @@ -40,13 +40,6 @@ CONFIG_FS_PROCFS_MAX_TASKS=0 CONFIG_MM_REGIONS=2 CONFIG_NAME_MAX=0 CONFIG_NUNGET_CHARS=0 -CONFIG_NXFONTS_DISABLE_16BPP=y -CONFIG_NXFONTS_DISABLE_1BPP=y -CONFIG_NXFONTS_DISABLE_24BPP=y -CONFIG_NXFONTS_DISABLE_2BPP=y -CONFIG_NXFONTS_DISABLE_32BPP=y -CONFIG_NXFONTS_DISABLE_4BPP=y -CONFIG_NXFONTS_DISABLE_8BPP=y CONFIG_PREALLOC_TIMERS=0 CONFIG_PTHREAD_STACK_MIN=512 CONFIG_RAM_SIZE=262144 diff --git a/boards/ark/can-flow/nuttx-config/nsh/defconfig b/boards/ark/can-flow/nuttx-config/nsh/defconfig index 60f52681a7..24b1f7b069 100644 --- a/boards/ark/can-flow/nuttx-config/nsh/defconfig +++ b/boards/ark/can-flow/nuttx-config/nsh/defconfig @@ -21,7 +21,7 @@ # CONFIG_STM32_DMACAPABLE is not set CONFIG_ARCH="arm" CONFIG_ARCH_BOARD_CUSTOM=y -CONFIG_ARCH_BOARD_CUSTOM_DIR="../nuttx-config" +CONFIG_ARCH_BOARD_CUSTOM_DIR="../../../../boards/ark/can-flow/nuttx-config" CONFIG_ARCH_BOARD_CUSTOM_DIR_RELPATH=y CONFIG_ARCH_BOARD_CUSTOM_NAME="px4" CONFIG_ARCH_CHIP="stm32" @@ -70,7 +70,6 @@ CONFIG_MTD_PARTITION=y CONFIG_MTD_RAMTRON=y CONFIG_NAME_MAX=40 CONFIG_NSH_ARCHINIT=y -CONFIG_NSH_ARCHROMFS=y CONFIG_NSH_ARGCAT=y CONFIG_NSH_BUILTIN_APPS=y CONFIG_NSH_CMDPARMS=y diff --git a/boards/ark/can-gps/nuttx-config/canbootloader/defconfig b/boards/ark/can-gps/nuttx-config/canbootloader/defconfig index 6ce4a95b09..8d495caa8d 100644 --- a/boards/ark/can-gps/nuttx-config/canbootloader/defconfig +++ b/boards/ark/can-gps/nuttx-config/canbootloader/defconfig @@ -7,7 +7,7 @@ # CONFIG_ARCH="arm" CONFIG_ARCH_BOARD_CUSTOM=y -CONFIG_ARCH_BOARD_CUSTOM_DIR="../nuttx-config" +CONFIG_ARCH_BOARD_CUSTOM_DIR="../../../../boards/ark/can-gps/nuttx-config" CONFIG_ARCH_BOARD_CUSTOM_DIR_RELPATH=y CONFIG_ARCH_BOARD_CUSTOM_NAME="px4" CONFIG_ARCH_CHIP="stm32" @@ -40,13 +40,6 @@ CONFIG_FS_PROCFS_MAX_TASKS=0 CONFIG_MM_REGIONS=2 CONFIG_NAME_MAX=0 CONFIG_NUNGET_CHARS=0 -CONFIG_NXFONTS_DISABLE_16BPP=y -CONFIG_NXFONTS_DISABLE_1BPP=y -CONFIG_NXFONTS_DISABLE_24BPP=y -CONFIG_NXFONTS_DISABLE_2BPP=y -CONFIG_NXFONTS_DISABLE_32BPP=y -CONFIG_NXFONTS_DISABLE_4BPP=y -CONFIG_NXFONTS_DISABLE_8BPP=y CONFIG_PREALLOC_TIMERS=0 CONFIG_PTHREAD_STACK_MIN=512 CONFIG_RAM_SIZE=262144 diff --git a/boards/ark/can-gps/nuttx-config/nsh/defconfig b/boards/ark/can-gps/nuttx-config/nsh/defconfig index 9c83b3001e..fed3c49605 100644 --- a/boards/ark/can-gps/nuttx-config/nsh/defconfig +++ b/boards/ark/can-gps/nuttx-config/nsh/defconfig @@ -21,7 +21,7 @@ # CONFIG_STM32_DMACAPABLE is not set CONFIG_ARCH="arm" CONFIG_ARCH_BOARD_CUSTOM=y -CONFIG_ARCH_BOARD_CUSTOM_DIR="../nuttx-config" +CONFIG_ARCH_BOARD_CUSTOM_DIR="../../../../boards/ark/can-gps/nuttx-config" CONFIG_ARCH_BOARD_CUSTOM_DIR_RELPATH=y CONFIG_ARCH_BOARD_CUSTOM_NAME="px4" CONFIG_ARCH_CHIP="stm32" @@ -72,7 +72,6 @@ CONFIG_MTD_PARTITION=y CONFIG_MTD_RAMTRON=y CONFIG_NAME_MAX=40 CONFIG_NSH_ARCHINIT=y -CONFIG_NSH_ARCHROMFS=y CONFIG_NSH_ARGCAT=y CONFIG_NSH_BUILTIN_APPS=y CONFIG_NSH_CMDPARMS=y diff --git a/boards/ark/can-rtk-gps/nuttx-config/canbootloader/defconfig b/boards/ark/can-rtk-gps/nuttx-config/canbootloader/defconfig index 6ce4a95b09..1ce0048f92 100644 --- a/boards/ark/can-rtk-gps/nuttx-config/canbootloader/defconfig +++ b/boards/ark/can-rtk-gps/nuttx-config/canbootloader/defconfig @@ -7,7 +7,7 @@ # CONFIG_ARCH="arm" CONFIG_ARCH_BOARD_CUSTOM=y -CONFIG_ARCH_BOARD_CUSTOM_DIR="../nuttx-config" +CONFIG_ARCH_BOARD_CUSTOM_DIR="../../../../boards/ark/can-rtk-gps/nuttx-config" CONFIG_ARCH_BOARD_CUSTOM_DIR_RELPATH=y CONFIG_ARCH_BOARD_CUSTOM_NAME="px4" CONFIG_ARCH_CHIP="stm32" @@ -40,13 +40,6 @@ CONFIG_FS_PROCFS_MAX_TASKS=0 CONFIG_MM_REGIONS=2 CONFIG_NAME_MAX=0 CONFIG_NUNGET_CHARS=0 -CONFIG_NXFONTS_DISABLE_16BPP=y -CONFIG_NXFONTS_DISABLE_1BPP=y -CONFIG_NXFONTS_DISABLE_24BPP=y -CONFIG_NXFONTS_DISABLE_2BPP=y -CONFIG_NXFONTS_DISABLE_32BPP=y -CONFIG_NXFONTS_DISABLE_4BPP=y -CONFIG_NXFONTS_DISABLE_8BPP=y CONFIG_PREALLOC_TIMERS=0 CONFIG_PTHREAD_STACK_MIN=512 CONFIG_RAM_SIZE=262144 diff --git a/boards/ark/can-rtk-gps/nuttx-config/nsh/defconfig b/boards/ark/can-rtk-gps/nuttx-config/nsh/defconfig index 706ed52544..ddaab6a598 100644 --- a/boards/ark/can-rtk-gps/nuttx-config/nsh/defconfig +++ b/boards/ark/can-rtk-gps/nuttx-config/nsh/defconfig @@ -21,7 +21,7 @@ # CONFIG_STM32_DMACAPABLE is not set CONFIG_ARCH="arm" CONFIG_ARCH_BOARD_CUSTOM=y -CONFIG_ARCH_BOARD_CUSTOM_DIR="../nuttx-config" +CONFIG_ARCH_BOARD_CUSTOM_DIR="../../../../boards/ark/can-rtk-gps/nuttx-config" CONFIG_ARCH_BOARD_CUSTOM_DIR_RELPATH=y CONFIG_ARCH_BOARD_CUSTOM_NAME="px4" CONFIG_ARCH_CHIP="stm32" @@ -72,7 +72,6 @@ CONFIG_MTD_PARTITION=y CONFIG_MTD_RAMTRON=y CONFIG_NAME_MAX=40 CONFIG_NSH_ARCHINIT=y -CONFIG_NSH_ARCHROMFS=y CONFIG_NSH_ARGCAT=y CONFIG_NSH_BUILTIN_APPS=y CONFIG_NSH_CMDPARMS=y diff --git a/boards/atl/mantis-edu/bootloader/atl_mantis-edu_bootloader.bin b/boards/atl/mantis-edu/extras/atl_mantis-edu_bootloader.bin similarity index 100% rename from boards/atl/mantis-edu/bootloader/atl_mantis-edu_bootloader.bin rename to boards/atl/mantis-edu/extras/atl_mantis-edu_bootloader.bin diff --git a/boards/atl/mantis-edu/nuttx-config/nsh/defconfig b/boards/atl/mantis-edu/nuttx-config/nsh/defconfig index ed3aa81f64..a7b260c319 100644 --- a/boards/atl/mantis-edu/nuttx-config/nsh/defconfig +++ b/boards/atl/mantis-edu/nuttx-config/nsh/defconfig @@ -25,7 +25,7 @@ # CONFIG_NSH_DISABLE_TIME is not set CONFIG_ARCH="arm" CONFIG_ARCH_BOARD_CUSTOM=y -CONFIG_ARCH_BOARD_CUSTOM_DIR="../nuttx-config" +CONFIG_ARCH_BOARD_CUSTOM_DIR="../../../../boards/atl/mantis-edu/nuttx-config" CONFIG_ARCH_BOARD_CUSTOM_DIR_RELPATH=y CONFIG_ARCH_BOARD_CUSTOM_NAME="px4" CONFIG_ARCH_CHIP="stm32f7" @@ -97,7 +97,6 @@ CONFIG_MTD_PARTITION=y CONFIG_MTD_RAMTRON=y CONFIG_NAME_MAX=40 CONFIG_NSH_ARCHINIT=y -CONFIG_NSH_ARCHROMFS=y CONFIG_NSH_ARGCAT=y CONFIG_NSH_BUILTIN_APPS=y CONFIG_NSH_CMDPARMS=y diff --git a/boards/av/x-v1/bootloader/av_x-v1_bootloader.bin b/boards/av/x-v1/extras/av_x-v1_bootloader.bin similarity index 100% rename from boards/av/x-v1/bootloader/av_x-v1_bootloader.bin rename to boards/av/x-v1/extras/av_x-v1_bootloader.bin diff --git a/boards/av/x-v1/nuttx-config/nsh/defconfig b/boards/av/x-v1/nuttx-config/nsh/defconfig index 298b41e4cf..f7b9ab5c51 100644 --- a/boards/av/x-v1/nuttx-config/nsh/defconfig +++ b/boards/av/x-v1/nuttx-config/nsh/defconfig @@ -37,7 +37,7 @@ # CONFIG_NSH_DISABLE_XD is not set CONFIG_ARCH="arm" CONFIG_ARCH_BOARD_CUSTOM=y -CONFIG_ARCH_BOARD_CUSTOM_DIR="../nuttx-config" +CONFIG_ARCH_BOARD_CUSTOM_DIR="../../../../boards/av/x-v1/nuttx-config" CONFIG_ARCH_BOARD_CUSTOM_DIR_RELPATH=y CONFIG_ARCH_BOARD_CUSTOM_NAME="px4" CONFIG_ARCH_CHIP="stm32f7" @@ -123,7 +123,6 @@ CONFIG_NET_UDP=y CONFIG_NET_UDP_CHECKSUMS=y CONFIG_NET_UDP_WRITE_BUFFERS=y CONFIG_NSH_ARCHINIT=y -CONFIG_NSH_ARCHROMFS=y CONFIG_NSH_ARGCAT=y CONFIG_NSH_BUILTIN_APPS=y CONFIG_NSH_CMDPARMS=y diff --git a/boards/bitcraze/crazyflie/bootloader/bitcraze_crazyflie_bootloader.bin b/boards/bitcraze/crazyflie/extras/bitcraze_crazyflie_bootloader.bin similarity index 100% rename from boards/bitcraze/crazyflie/bootloader/bitcraze_crazyflie_bootloader.bin rename to boards/bitcraze/crazyflie/extras/bitcraze_crazyflie_bootloader.bin diff --git a/boards/bitcraze/crazyflie/nuttx-config/nsh/defconfig b/boards/bitcraze/crazyflie/nuttx-config/nsh/defconfig index c1cf1464bb..750756e3bc 100644 --- a/boards/bitcraze/crazyflie/nuttx-config/nsh/defconfig +++ b/boards/bitcraze/crazyflie/nuttx-config/nsh/defconfig @@ -25,7 +25,7 @@ # CONFIG_STM32_CCMEXCLUDE is not set CONFIG_ARCH="arm" CONFIG_ARCH_BOARD_CUSTOM=y -CONFIG_ARCH_BOARD_CUSTOM_DIR="../nuttx-config" +CONFIG_ARCH_BOARD_CUSTOM_DIR="../../../../boards/bitcraze/crazyflie/nuttx-config" CONFIG_ARCH_BOARD_CUSTOM_DIR_RELPATH=y CONFIG_ARCH_BOARD_CUSTOM_NAME="px4" CONFIG_ARCH_CHIP="stm32" @@ -88,7 +88,6 @@ CONFIG_MTD_AT24XX=y CONFIG_MTD_BYTE_WRITE=y CONFIG_MTD_PARTITION=y CONFIG_NSH_ARCHINIT=y -CONFIG_NSH_ARCHROMFS=y CONFIG_NSH_ARGCAT=y CONFIG_NSH_BUILTIN_APPS=y CONFIG_NSH_CMDPARMS=y diff --git a/boards/bitcraze/crazyflie21/bootloader/bitcraze_crazyflie21_bootloader.bin b/boards/bitcraze/crazyflie21/extras/bitcraze_crazyflie21_bootloader.bin similarity index 100% rename from boards/bitcraze/crazyflie21/bootloader/bitcraze_crazyflie21_bootloader.bin rename to boards/bitcraze/crazyflie21/extras/bitcraze_crazyflie21_bootloader.bin diff --git a/boards/bitcraze/crazyflie21/nuttx-config/nsh/defconfig b/boards/bitcraze/crazyflie21/nuttx-config/nsh/defconfig index 693bd803b2..e2fd5b722b 100644 --- a/boards/bitcraze/crazyflie21/nuttx-config/nsh/defconfig +++ b/boards/bitcraze/crazyflie21/nuttx-config/nsh/defconfig @@ -24,7 +24,7 @@ # CONFIG_STM32_CCMEXCLUDE is not set CONFIG_ARCH="arm" CONFIG_ARCH_BOARD_CUSTOM=y -CONFIG_ARCH_BOARD_CUSTOM_DIR="../nuttx-config" +CONFIG_ARCH_BOARD_CUSTOM_DIR="../../../../boards/bitcraze/crazyflie21/nuttx-config" CONFIG_ARCH_BOARD_CUSTOM_DIR_RELPATH=y CONFIG_ARCH_BOARD_CUSTOM_NAME="px4" CONFIG_ARCH_CHIP="stm32" @@ -86,7 +86,6 @@ CONFIG_MTD_AT24XX=y CONFIG_MTD_BYTE_WRITE=y CONFIG_MTD_PARTITION=y CONFIG_NSH_ARCHINIT=y -CONFIG_NSH_ARCHROMFS=y CONFIG_NSH_ARGCAT=y CONFIG_NSH_BUILTIN_APPS=y CONFIG_NSH_CMDPARMS=y diff --git a/boards/cuav/can-gps-v1/nuttx-config/canbootloader/defconfig b/boards/cuav/can-gps-v1/nuttx-config/canbootloader/defconfig index b37c029a83..01f7bafa11 100644 --- a/boards/cuav/can-gps-v1/nuttx-config/canbootloader/defconfig +++ b/boards/cuav/can-gps-v1/nuttx-config/canbootloader/defconfig @@ -7,7 +7,7 @@ # CONFIG_ARCH="arm" CONFIG_ARCH_BOARD_CUSTOM=y -CONFIG_ARCH_BOARD_CUSTOM_DIR="../nuttx-config" +CONFIG_ARCH_BOARD_CUSTOM_DIR="../../../../boards/cuav/can-gps-v1/nuttx-config" CONFIG_ARCH_BOARD_CUSTOM_DIR_RELPATH=y CONFIG_ARCH_BOARD_CUSTOM_NAME="px4" CONFIG_ARCH_CHIP="stm32" @@ -40,13 +40,6 @@ CONFIG_FS_PROCFS_MAX_TASKS=0 CONFIG_MM_REGIONS=2 CONFIG_NAME_MAX=0 CONFIG_NUNGET_CHARS=0 -CONFIG_NXFONTS_DISABLE_16BPP=y -CONFIG_NXFONTS_DISABLE_1BPP=y -CONFIG_NXFONTS_DISABLE_24BPP=y -CONFIG_NXFONTS_DISABLE_2BPP=y -CONFIG_NXFONTS_DISABLE_32BPP=y -CONFIG_NXFONTS_DISABLE_4BPP=y -CONFIG_NXFONTS_DISABLE_8BPP=y CONFIG_PREALLOC_TIMERS=0 CONFIG_PTHREAD_STACK_MIN=512 CONFIG_RAM_SIZE=262144 diff --git a/boards/cuav/can-gps-v1/nuttx-config/nsh/defconfig b/boards/cuav/can-gps-v1/nuttx-config/nsh/defconfig index 9f4797288c..011bd10285 100644 --- a/boards/cuav/can-gps-v1/nuttx-config/nsh/defconfig +++ b/boards/cuav/can-gps-v1/nuttx-config/nsh/defconfig @@ -21,7 +21,7 @@ # CONFIG_STM32_DMACAPABLE is not set CONFIG_ARCH="arm" CONFIG_ARCH_BOARD_CUSTOM=y -CONFIG_ARCH_BOARD_CUSTOM_DIR="../nuttx-config" +CONFIG_ARCH_BOARD_CUSTOM_DIR="../../../../boards/cuav/can-gps-v1/nuttx-config" CONFIG_ARCH_BOARD_CUSTOM_DIR_RELPATH=y CONFIG_ARCH_BOARD_CUSTOM_NAME="px4" CONFIG_ARCH_CHIP="stm32" @@ -72,7 +72,6 @@ CONFIG_MTD_PARTITION=y CONFIG_MTD_RAMTRON=y CONFIG_NAME_MAX=40 CONFIG_NSH_ARCHINIT=y -CONFIG_NSH_ARCHROMFS=y CONFIG_NSH_ARGCAT=y CONFIG_NSH_BUILTIN_APPS=y CONFIG_NSH_CMDPARMS=y diff --git a/boards/cuav/nora/default.px4board b/boards/cuav/nora/default.px4board index ecfee0997a..6e84c58c40 100644 --- a/boards/cuav/nora/default.px4board +++ b/boards/cuav/nora/default.px4board @@ -1,6 +1,5 @@ CONFIG_BOARD_TOOLCHAIN="arm-none-eabi" CONFIG_BOARD_ARCHITECTURE="cortex-m7" -CONFIG_BOARD_BUILD_BOOTLOADER=y CONFIG_BOARD_SERIAL_GPS1="/dev/ttyS0" CONFIG_BOARD_SERIAL_GPS2="/dev/ttyS2" CONFIG_BOARD_SERIAL_TEL1="/dev/ttyS1" diff --git a/boards/cuav/nora/extras/cuav_nora_bootloader.bin b/boards/cuav/nora/extras/cuav_nora_bootloader.bin new file mode 100755 index 0000000000000000000000000000000000000000..bac73e04db2c34cc7fff313f5d2e895a895c7fe8 GIT binary patch literal 42684 zcmeFZdwdkt{WpHj%1`87j39C zECe+IDiGQN(UuZxRjjgs_!w+V6t%V1c2}TZAgEEO0}0A33GC#$zxUY%+baFNp69>k 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eb999ef4d2..4d131d9ebe 100644 --- a/boards/cuav/nora/nuttx-config/nsh/defconfig +++ b/boards/cuav/nora/nuttx-config/nsh/defconfig @@ -24,7 +24,7 @@ # CONFIG_NSH_DISABLE_TIME is not set CONFIG_ARCH="arm" CONFIG_ARCH_BOARD_CUSTOM=y -CONFIG_ARCH_BOARD_CUSTOM_DIR="../nuttx-config" +CONFIG_ARCH_BOARD_CUSTOM_DIR="../../../../boards/cuav/nora/nuttx-config" CONFIG_ARCH_BOARD_CUSTOM_DIR_RELPATH=y CONFIG_ARCH_BOARD_CUSTOM_NAME="px4" CONFIG_ARCH_CHIP="stm32h7" @@ -98,7 +98,6 @@ CONFIG_MTD_PROGMEM=y CONFIG_MTD_RAMTRON=y CONFIG_NAME_MAX=40 CONFIG_NSH_ARCHINIT=y -CONFIG_NSH_ARCHROMFS=y CONFIG_NSH_ARGCAT=y CONFIG_NSH_BUILTIN_APPS=y CONFIG_NSH_CMDPARMS=y diff --git a/boards/cuav/x7pro/default.px4board b/boards/cuav/x7pro/default.px4board index c16d37046c..0fd6b50fae 100644 --- a/boards/cuav/x7pro/default.px4board +++ b/boards/cuav/x7pro/default.px4board @@ -1,6 +1,5 @@ CONFIG_BOARD_TOOLCHAIN="arm-none-eabi" CONFIG_BOARD_ARCHITECTURE="cortex-m7" -CONFIG_BOARD_BUILD_BOOTLOADER=y 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za=8lq%{c_4EQ)1(`I1`ppPpBQq55JRO{VN)#_7oSdE{e}EDA>j=<^Ne6!iWuu52i@ s{YS;<94gphq??KR3oxGlI&@A^YP69p#Oe3#s@_YZdj?Ux>16Ex0*ChS5dZ)H literal 0 HcmV?d00001 diff --git a/boards/matek/h743-slim/nuttx-config/bootloader/defconfig b/boards/matek/h743-slim/nuttx-config/bootloader/defconfig index 977dd91f78..ae0dd4e10d 100644 --- a/boards/matek/h743-slim/nuttx-config/bootloader/defconfig +++ b/boards/matek/h743-slim/nuttx-config/bootloader/defconfig @@ -11,7 +11,7 @@ # CONFIG_STM32H7_SYSCFG is not set CONFIG_ARCH="arm" CONFIG_ARCH_BOARD_CUSTOM=y -CONFIG_ARCH_BOARD_CUSTOM_DIR="../nuttx-config" +CONFIG_ARCH_BOARD_CUSTOM_DIR="../../../../boards/matek/h743-slim/nuttx-config" CONFIG_ARCH_BOARD_CUSTOM_DIR_RELPATH=y CONFIG_ARCH_BOARD_CUSTOM_NAME="px4" CONFIG_ARCH_CHIP="stm32h7" diff --git a/boards/matek/h743-slim/nuttx-config/nsh/defconfig b/boards/matek/h743-slim/nuttx-config/nsh/defconfig index 6d327f562b..dead512db6 100644 --- a/boards/matek/h743-slim/nuttx-config/nsh/defconfig +++ b/boards/matek/h743-slim/nuttx-config/nsh/defconfig @@ -23,7 +23,7 @@ # CONFIG_NSH_DISABLE_TIME is not set CONFIG_ARCH="arm" CONFIG_ARCH_BOARD_CUSTOM=y -CONFIG_ARCH_BOARD_CUSTOM_DIR="../nuttx-config" +CONFIG_ARCH_BOARD_CUSTOM_DIR="../../../../boards/matek/h743-slim/nuttx-config" CONFIG_ARCH_BOARD_CUSTOM_DIR_RELPATH=y CONFIG_ARCH_BOARD_CUSTOM_NAME="px4" CONFIG_ARCH_CHIP="stm32h7" @@ -92,7 +92,6 @@ CONFIG_MMCSD_SDIOWAIT_WRCOMPLETE=y CONFIG_MM_REGIONS=4 CONFIG_NAME_MAX=40 CONFIG_NSH_ARCHINIT=y -CONFIG_NSH_ARCHROMFS=y CONFIG_NSH_ARGCAT=y CONFIG_NSH_BUILTIN_APPS=y CONFIG_NSH_CMDPARMS=y diff --git a/boards/modalai/fc-v1/bootloader/modalai_fc-v1_bootloader.bin b/boards/modalai/fc-v1/extras/modalai_fc-v1_bootloader.bin similarity index 100% rename from boards/modalai/fc-v1/bootloader/modalai_fc-v1_bootloader.bin rename to boards/modalai/fc-v1/extras/modalai_fc-v1_bootloader.bin diff --git a/boards/modalai/fc-v1/nuttx-config/nsh/defconfig b/boards/modalai/fc-v1/nuttx-config/nsh/defconfig index 2b9686b6b7..c75363b77f 100644 --- a/boards/modalai/fc-v1/nuttx-config/nsh/defconfig +++ b/boards/modalai/fc-v1/nuttx-config/nsh/defconfig @@ -24,7 +24,7 @@ # CONFIG_NSH_DISABLE_TIME is not set CONFIG_ARCH="arm" CONFIG_ARCH_BOARD_CUSTOM=y -CONFIG_ARCH_BOARD_CUSTOM_DIR="../nuttx-config" +CONFIG_ARCH_BOARD_CUSTOM_DIR="../../../../boards/modalai/fc-v1/nuttx-config" CONFIG_ARCH_BOARD_CUSTOM_DIR_RELPATH=y CONFIG_ARCH_BOARD_CUSTOM_NAME="px4" CONFIG_ARCH_CHIP="stm32f7" @@ -96,7 +96,6 @@ CONFIG_MTD_PARTITION=y CONFIG_MTD_RAMTRON=y CONFIG_NAME_MAX=40 CONFIG_NSH_ARCHINIT=y -CONFIG_NSH_ARCHROMFS=y CONFIG_NSH_ARGCAT=y CONFIG_NSH_BUILTIN_APPS=y CONFIG_NSH_CMDPARMS=y diff --git a/boards/modalai/fc-v2/default.px4board b/boards/modalai/fc-v2/default.px4board index 63024ca9f2..1c7b54ce0c 100644 --- a/boards/modalai/fc-v2/default.px4board +++ b/boards/modalai/fc-v2/default.px4board @@ -1,6 +1,5 @@ CONFIG_BOARD_TOOLCHAIN="arm-none-eabi" CONFIG_BOARD_ARCHITECTURE="cortex-m7" 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literal 0 HcmV?d00001 diff --git a/boards/modalai/fc-v2/nuttx-config/bootloader/defconfig b/boards/modalai/fc-v2/nuttx-config/bootloader/defconfig index 55c0470a5a..07cbb34cf3 100644 --- a/boards/modalai/fc-v2/nuttx-config/bootloader/defconfig +++ b/boards/modalai/fc-v2/nuttx-config/bootloader/defconfig @@ -11,7 +11,7 @@ # CONFIG_STM32H7_SYSCFG is not set CONFIG_ARCH="arm" CONFIG_ARCH_BOARD_CUSTOM=y -CONFIG_ARCH_BOARD_CUSTOM_DIR="../nuttx-config" +CONFIG_ARCH_BOARD_CUSTOM_DIR="../../../../boards/modalai/fc-v2/nuttx-config" CONFIG_ARCH_BOARD_CUSTOM_DIR_RELPATH=y CONFIG_ARCH_BOARD_CUSTOM_NAME="px4" CONFIG_ARCH_CHIP="stm32h7" diff --git a/boards/modalai/fc-v2/nuttx-config/nsh/defconfig b/boards/modalai/fc-v2/nuttx-config/nsh/defconfig index 9302a70cd5..aa27b577c7 100644 --- a/boards/modalai/fc-v2/nuttx-config/nsh/defconfig +++ b/boards/modalai/fc-v2/nuttx-config/nsh/defconfig @@ -24,7 +24,7 @@ # CONFIG_NSH_DISABLE_TIME is not set CONFIG_ARCH="arm" CONFIG_ARCH_BOARD_CUSTOM=y -CONFIG_ARCH_BOARD_CUSTOM_DIR="../nuttx-config" +CONFIG_ARCH_BOARD_CUSTOM_DIR="../../../../boards/modalai/fc-v2/nuttx-config" CONFIG_ARCH_BOARD_CUSTOM_DIR_RELPATH=y CONFIG_ARCH_BOARD_CUSTOM_NAME="px4" CONFIG_ARCH_CHIP="stm32h7" @@ -101,7 +101,6 @@ CONFIG_MTD_PROGMEM=y CONFIG_MTD_RAMTRON=y CONFIG_NAME_MAX=40 CONFIG_NSH_ARCHINIT=y -CONFIG_NSH_ARCHROMFS=y CONFIG_NSH_ARGCAT=y CONFIG_NSH_BUILTIN_APPS=y CONFIG_NSH_CMDPARMS=y diff --git a/boards/mro/ctrl-zero-f7-oem/nuttx-config/nsh/defconfig b/boards/mro/ctrl-zero-f7-oem/nuttx-config/nsh/defconfig index 5cab63076d..6a2c3eafcc 100644 --- a/boards/mro/ctrl-zero-f7-oem/nuttx-config/nsh/defconfig +++ b/boards/mro/ctrl-zero-f7-oem/nuttx-config/nsh/defconfig @@ -24,7 +24,7 @@ # CONFIG_NSH_DISABLE_TIME is not set CONFIG_ARCH="arm" CONFIG_ARCH_BOARD_CUSTOM=y -CONFIG_ARCH_BOARD_CUSTOM_DIR="../nuttx-config" +CONFIG_ARCH_BOARD_CUSTOM_DIR="../../../../boards/mro/ctrl-zero-f7-oem/nuttx-config" CONFIG_ARCH_BOARD_CUSTOM_DIR_RELPATH=y CONFIG_ARCH_BOARD_CUSTOM_NAME="px4" CONFIG_ARCH_CHIP="stm32f7" @@ -96,7 +96,6 @@ CONFIG_MTD_PARTITION=y CONFIG_MTD_RAMTRON=y CONFIG_NAME_MAX=40 CONFIG_NSH_ARCHINIT=y -CONFIG_NSH_ARCHROMFS=y CONFIG_NSH_ARGCAT=y CONFIG_NSH_BUILTIN_APPS=y CONFIG_NSH_CMDPARMS=y diff --git a/boards/mro/ctrl-zero-f7/nuttx-config/nsh/defconfig b/boards/mro/ctrl-zero-f7/nuttx-config/nsh/defconfig index d6f9ed1d16..43aba4e540 100644 --- a/boards/mro/ctrl-zero-f7/nuttx-config/nsh/defconfig +++ b/boards/mro/ctrl-zero-f7/nuttx-config/nsh/defconfig @@ -24,7 +24,7 @@ # CONFIG_NSH_DISABLE_TIME is not set CONFIG_ARCH="arm" CONFIG_ARCH_BOARD_CUSTOM=y -CONFIG_ARCH_BOARD_CUSTOM_DIR="../nuttx-config" +CONFIG_ARCH_BOARD_CUSTOM_DIR="../../../../boards/mro/ctrl-zero-f7/nuttx-config" CONFIG_ARCH_BOARD_CUSTOM_DIR_RELPATH=y CONFIG_ARCH_BOARD_CUSTOM_NAME="px4" CONFIG_ARCH_CHIP="stm32f7" @@ -96,7 +96,6 @@ CONFIG_MTD_PARTITION=y CONFIG_MTD_RAMTRON=y CONFIG_NAME_MAX=40 CONFIG_NSH_ARCHINIT=y -CONFIG_NSH_ARCHROMFS=y CONFIG_NSH_ARGCAT=y CONFIG_NSH_BUILTIN_APPS=y CONFIG_NSH_CMDPARMS=y diff --git a/boards/mro/ctrl-zero-h7-oem/default.px4board b/boards/mro/ctrl-zero-h7-oem/default.px4board index 633608ece1..80dcb688cb 100644 --- a/boards/mro/ctrl-zero-h7-oem/default.px4board +++ b/boards/mro/ctrl-zero-h7-oem/default.px4board @@ -1,6 +1,5 @@ CONFIG_BOARD_TOOLCHAIN="arm-none-eabi" CONFIG_BOARD_ARCHITECTURE="cortex-m7" -CONFIG_BOARD_BUILD_BOOTLOADER=y CONFIG_BOARD_SERIAL_GPS1="/dev/ttyS2" CONFIG_BOARD_SERIAL_TEL1="/dev/ttyS0" CONFIG_BOARD_SERIAL_TEL2="/dev/ttyS1" diff --git a/boards/mro/ctrl-zero-h7-oem/extras/mro_ctrl-zero-h7-oem_bootloader.bin b/boards/mro/ctrl-zero-h7-oem/extras/mro_ctrl-zero-h7-oem_bootloader.bin new file mode 100755 index 0000000000000000000000000000000000000000..0123f109b1280b653d49e5b0537987127188416a GIT binary patch literal 42652 zcmeFZdwdkt{WpHj%haM6ZJ z!$MFapanu(AX<^wdcg}Dh>yX>MA25Owz~rT0s)OeT}V)7Nnj_}{k_jF*jDN9^*sMQ 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+CONFIG_ARCH_BOARD_CUSTOM_DIR="../../../../boards/mro/ctrl-zero-h7-oem/nuttx-config" CONFIG_ARCH_BOARD_CUSTOM_DIR_RELPATH=y CONFIG_ARCH_BOARD_CUSTOM_NAME="px4" CONFIG_ARCH_CHIP="stm32h7" diff --git a/boards/mro/ctrl-zero-h7-oem/nuttx-config/nsh/defconfig b/boards/mro/ctrl-zero-h7-oem/nuttx-config/nsh/defconfig index 17fd6cea81..efd63a7382 100644 --- a/boards/mro/ctrl-zero-h7-oem/nuttx-config/nsh/defconfig +++ b/boards/mro/ctrl-zero-h7-oem/nuttx-config/nsh/defconfig @@ -24,7 +24,7 @@ # CONFIG_NSH_DISABLE_TIME is not set CONFIG_ARCH="arm" CONFIG_ARCH_BOARD_CUSTOM=y -CONFIG_ARCH_BOARD_CUSTOM_DIR="../nuttx-config" +CONFIG_ARCH_BOARD_CUSTOM_DIR="../../../../boards/mro/ctrl-zero-h7-oem/nuttx-config" CONFIG_ARCH_BOARD_CUSTOM_DIR_RELPATH=y CONFIG_ARCH_BOARD_CUSTOM_NAME="px4" CONFIG_ARCH_CHIP="stm32h7" @@ -100,7 +100,6 @@ CONFIG_MTD_PROGMEM=y CONFIG_MTD_RAMTRON=y CONFIG_NAME_MAX=40 CONFIG_NSH_ARCHINIT=y -CONFIG_NSH_ARCHROMFS=y CONFIG_NSH_ARGCAT=y CONFIG_NSH_BUILTIN_APPS=y CONFIG_NSH_CMDPARMS=y diff --git a/boards/mro/ctrl-zero-h7/default.px4board b/boards/mro/ctrl-zero-h7/default.px4board index 0ccd772098..fa977239d5 100644 --- a/boards/mro/ctrl-zero-h7/default.px4board +++ b/boards/mro/ctrl-zero-h7/default.px4board @@ -1,6 +1,5 @@ CONFIG_BOARD_TOOLCHAIN="arm-none-eabi" CONFIG_BOARD_ARCHITECTURE="cortex-m7" -CONFIG_BOARD_BUILD_BOOTLOADER=y CONFIG_BOARD_SERIAL_GPS1="/dev/ttyS2" CONFIG_BOARD_SERIAL_TEL1="/dev/ttyS0" CONFIG_BOARD_SERIAL_TEL2="/dev/ttyS1" diff --git a/boards/mro/ctrl-zero-h7/extras/mro_ctrl-zero-h7_bootloader.bin b/boards/mro/ctrl-zero-h7/extras/mro_ctrl-zero-h7_bootloader.bin new file mode 100755 index 0000000000000000000000000000000000000000..9ccc4a9736a841fa40fb5442d3b65a34f642d7e0 GIT binary patch literal 42632 zcmeFZdw3Mp9Y1`|%haM6ZJ z!$MFapaP*S5N(mzdci6ih%dp$MA5cZZFdz~AgEEO3kk|B3GC#$@8|4-ZI!;y@BQ!n zuJ2Pj_{d~{&{+&x>Ncsexh_7(}fBOH|;Qu=?K(78m7vA0RlV51wzu2R3k5_~^ z&U>*ZYQxjgLlPH|xr;sVwUfUwY@U36u&hFQSo%Vp<0Z;KpGm5-CwfWXVd^=j#Ca|l 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a/boards/mro/ctrl-zero-h7/nuttx-config/bootloader/defconfig b/boards/mro/ctrl-zero-h7/nuttx-config/bootloader/defconfig index 54b931d4fb..6f9bd3dd4e 100644 --- a/boards/mro/ctrl-zero-h7/nuttx-config/bootloader/defconfig +++ b/boards/mro/ctrl-zero-h7/nuttx-config/bootloader/defconfig @@ -11,7 +11,7 @@ # CONFIG_STM32H7_SYSCFG is not set CONFIG_ARCH="arm" CONFIG_ARCH_BOARD_CUSTOM=y -CONFIG_ARCH_BOARD_CUSTOM_DIR="../nuttx-config" +CONFIG_ARCH_BOARD_CUSTOM_DIR="../../../../boards/mro/ctrl-zero-h7/nuttx-config" CONFIG_ARCH_BOARD_CUSTOM_DIR_RELPATH=y CONFIG_ARCH_BOARD_CUSTOM_NAME="px4" CONFIG_ARCH_CHIP="stm32h7" diff --git a/boards/mro/ctrl-zero-h7/nuttx-config/nsh/defconfig b/boards/mro/ctrl-zero-h7/nuttx-config/nsh/defconfig index 1483a08c76..6de0844627 100644 --- a/boards/mro/ctrl-zero-h7/nuttx-config/nsh/defconfig +++ b/boards/mro/ctrl-zero-h7/nuttx-config/nsh/defconfig @@ -24,7 +24,7 @@ # CONFIG_NSH_DISABLE_TIME is not set CONFIG_ARCH="arm" CONFIG_ARCH_BOARD_CUSTOM=y -CONFIG_ARCH_BOARD_CUSTOM_DIR="../nuttx-config" +CONFIG_ARCH_BOARD_CUSTOM_DIR="../../../../boards/mro/ctrl-zero-h7/nuttx-config" CONFIG_ARCH_BOARD_CUSTOM_DIR_RELPATH=y CONFIG_ARCH_BOARD_CUSTOM_NAME="px4" CONFIG_ARCH_CHIP="stm32h7" @@ -100,7 +100,6 @@ CONFIG_MTD_PROGMEM=y CONFIG_MTD_RAMTRON=y CONFIG_NAME_MAX=40 CONFIG_NSH_ARCHINIT=y -CONFIG_NSH_ARCHROMFS=y CONFIG_NSH_ARGCAT=y CONFIG_NSH_BUILTIN_APPS=y CONFIG_NSH_CMDPARMS=y diff --git a/boards/mro/pixracerpro/default.px4board b/boards/mro/pixracerpro/default.px4board index 0c70fe2c96..fcbdc1a702 100644 --- a/boards/mro/pixracerpro/default.px4board +++ b/boards/mro/pixracerpro/default.px4board @@ -1,6 +1,5 @@ CONFIG_BOARD_TOOLCHAIN="arm-none-eabi" CONFIG_BOARD_ARCHITECTURE="cortex-m7" -CONFIG_BOARD_BUILD_BOOTLOADER=y CONFIG_BOARD_SERIAL_GPS1="/dev/ttyS3" CONFIG_BOARD_SERIAL_TEL1="/dev/ttyS1" CONFIG_BOARD_SERIAL_TEL2="/dev/ttyS2" diff --git a/boards/mro/pixracerpro/extras/mro_pixracerpro_bootloader.bin 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a/boards/mro/pixracerpro/nuttx-config/bootloader/defconfig b/boards/mro/pixracerpro/nuttx-config/bootloader/defconfig index 06fcf69561..cb6c7300ac 100644 --- a/boards/mro/pixracerpro/nuttx-config/bootloader/defconfig +++ b/boards/mro/pixracerpro/nuttx-config/bootloader/defconfig @@ -11,7 +11,7 @@ # CONFIG_STM32H7_SYSCFG is not set CONFIG_ARCH="arm" CONFIG_ARCH_BOARD_CUSTOM=y -CONFIG_ARCH_BOARD_CUSTOM_DIR="../nuttx-config" +CONFIG_ARCH_BOARD_CUSTOM_DIR="../../../../boards/mro/pixracerpro/nuttx-config" CONFIG_ARCH_BOARD_CUSTOM_DIR_RELPATH=y CONFIG_ARCH_BOARD_CUSTOM_NAME="px4" CONFIG_ARCH_CHIP="stm32h7" diff --git a/boards/mro/pixracerpro/nuttx-config/nsh/defconfig b/boards/mro/pixracerpro/nuttx-config/nsh/defconfig index 1b61501607..a203e0c157 100644 --- a/boards/mro/pixracerpro/nuttx-config/nsh/defconfig +++ b/boards/mro/pixracerpro/nuttx-config/nsh/defconfig @@ -24,7 +24,7 @@ # CONFIG_NSH_DISABLE_TIME is not set CONFIG_ARCH="arm" CONFIG_ARCH_BOARD_CUSTOM=y -CONFIG_ARCH_BOARD_CUSTOM_DIR="../nuttx-config" +CONFIG_ARCH_BOARD_CUSTOM_DIR="../../../../boards/mro/pixracerpro/nuttx-config" CONFIG_ARCH_BOARD_CUSTOM_DIR_RELPATH=y CONFIG_ARCH_BOARD_CUSTOM_NAME="px4" CONFIG_ARCH_CHIP="stm32h7" @@ -98,7 +98,6 @@ CONFIG_MTD_PROGMEM=y CONFIG_MTD_RAMTRON=y CONFIG_NAME_MAX=40 CONFIG_NSH_ARCHINIT=y -CONFIG_NSH_ARCHROMFS=y CONFIG_NSH_ARGCAT=y CONFIG_NSH_BUILTIN_APPS=y CONFIG_NSH_CMDPARMS=y diff --git a/boards/mro/x21-777/default.px4board b/boards/mro/x21-777/default.px4board index da0515d7af..6ec215cfa0 100644 --- a/boards/mro/x21-777/default.px4board +++ b/boards/mro/x21-777/default.px4board @@ -1,6 +1,5 @@ CONFIG_BOARD_TOOLCHAIN="arm-none-eabi" CONFIG_BOARD_ARCHITECTURE="cortex-m7" -CONFIG_BOARD_IO="px4_io-v2_default" CONFIG_BOARD_SERIAL_GPS1="/dev/ttyS3" CONFIG_BOARD_SERIAL_TEL1="/dev/ttyS1" CONFIG_BOARD_SERIAL_TEL2="/dev/ttyS2" diff --git a/boards/mro/x21-777/extras/px4_io-v2_default.bin b/boards/mro/x21-777/extras/px4_io-v2_default.bin new file mode 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a/boards/px4/fmu-v6u/nuttx-config/nsh/defconfig b/boards/px4/fmu-v6u/nuttx-config/nsh/defconfig index f00be1dc29..c5898c3bcb 100644 --- a/boards/px4/fmu-v6u/nuttx-config/nsh/defconfig +++ b/boards/px4/fmu-v6u/nuttx-config/nsh/defconfig @@ -24,7 +24,7 @@ # CONFIG_NSH_DISABLE_TIME is not set CONFIG_ARCH="arm" CONFIG_ARCH_BOARD_CUSTOM=y -CONFIG_ARCH_BOARD_CUSTOM_DIR="../nuttx-config" +CONFIG_ARCH_BOARD_CUSTOM_DIR="../../../../boards/px4/fmu-v6u/nuttx-config" CONFIG_ARCH_BOARD_CUSTOM_DIR_RELPATH=y CONFIG_ARCH_BOARD_CUSTOM_NAME="px4" CONFIG_ARCH_CHIP="stm32h7" @@ -101,7 +101,6 @@ CONFIG_MTD_PROGMEM=y CONFIG_MTD_RAMTRON=y CONFIG_NAME_MAX=40 CONFIG_NSH_ARCHINIT=y -CONFIG_NSH_ARCHROMFS=y CONFIG_NSH_ARGCAT=y CONFIG_NSH_BUILTIN_APPS=y CONFIG_NSH_CMDPARMS=y diff --git a/boards/px4/fmu-v6x/default.px4board b/boards/px4/fmu-v6x/default.px4board index 648dd8fa6d..cfbcafa472 100644 --- a/boards/px4/fmu-v6x/default.px4board +++ b/boards/px4/fmu-v6x/default.px4board @@ -1,7 +1,5 @@ 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zKm7PR!q>jHyp($3#80n$A~KEbCbFjvdOsJk$M2g)-xZq^C#@1cUsm!Av#9vTt{E#= z78RC7v?P^on?{N{f7vZ8d+0SL{Jk#mqjNuy-TLryZRzwI?*`aUoOxnXMMK~9q1TFX z6R!l_+;o0tY5s-Yd4=^;|2^aQ#C7CU&9_O77cySEp7+)6mPxBVXnM7`>(coZHw)g*b;oTJiw>;yRGRZ&)&0QmG8j?D>nLk>G%DM zF7K*QZxTt}e$m5ORWe6&jd;7ElNr{3PPqKOxkb*;mX(_CA6FJ?6RuqSK=_6Jw)pcq z7HqsC|2*&7vNhKmy1Rcn^OWYyyF)HMRjdE0=F+8qR5iW)!MT>SnVr`QI+isyEt`Al z^=rc8lXc_jbFReuw&aIP-nyN~jni)wWW4{I{`#Ej%MSkb)av97XO?Ss9xMDTY|GM9 z2b$MJkNegzbN7SN&$%f+jSazU)R>W8bIzon{8x<6>H1v@-i{ZnIJW4YuCLA|e`!7b z#Qw_(L*M**VePq+>XDtrKfh43V!fnl6?;hN{lesNe(l?qiPkFS60b+|EV~0Yp7{37 z__~ME!rzfrKh?a;_sqo~-u>i+<^=Z0r=^`JViv`m-<{+JJMUm&wBIJp?~df{Ce}3 z^;2%RjweNQo<9Bfxs#tJRUMo4dd=G-yvA8iRtdlQB6jZAvn|Umt442JdhA4A;RkHE z;l5|%*TjuK -- master.elf DEPENDS px4 WORKING_DIRECTORY ${PX4_BINARY_DIR} diff --git a/cmake/kconfig.cmake b/cmake/kconfig.cmake index d10b67979e..0918c6e84e 100644 --- a/cmake/kconfig.cmake +++ b/cmake/kconfig.cmake @@ -258,16 +258,6 @@ if(EXISTS ${BOARD_DEFCONFIG}) if(ROMFSROOT) set(config_romfs_root ${ROMFSROOT} CACHE INTERNAL "ROMFS root" FORCE) - if(BUILD_BOOTLOADER) - set(config_build_bootloader "1" CACHE INTERNAL "build bootloader" FORCE) - endif() - - # IO board (placed in ROMFS) - if(IO) - set(config_io_board ${IO} CACHE INTERNAL "IO" FORCE) - add_definitions(-DBOARD_WITH_IO) - endif() - if(UAVCAN_PERIPHERALS) set(config_uavcan_peripheral_firmware ${UAVCAN_PERIPHERALS} CACHE INTERNAL "UAVCAN peripheral firmware" FORCE) endif() diff --git a/platforms/nuttx/CMakeLists.txt b/platforms/nuttx/CMakeLists.txt index f3d13f83b2..46be3f85e5 100644 --- a/platforms/nuttx/CMakeLists.txt +++ b/platforms/nuttx/CMakeLists.txt @@ -37,13 +37,10 @@ endif() include(cygwin_cygpath) -set(NUTTX_DIR ${PX4_BINARY_DIR}/NuttX/nuttx) -set(NUTTX_APPS_DIR ${PX4_BINARY_DIR}/NuttX/apps) - add_executable(px4 ${PX4_SOURCE_DIR}/platforms/common/empty.c) set(FW_NAME ${PX4_BOARD_VENDOR}_${PX4_BOARD_MODEL}_${PX4_BOARD_LABEL}.elf) set_target_properties(px4 PROPERTIES OUTPUT_NAME ${FW_NAME}) -add_dependencies(px4 git_nuttx nuttx_build) +add_dependencies(px4 git_nuttx) get_property(module_libraries GLOBAL PROPERTY PX4_MODULE_LIBRARIES) @@ -97,7 +94,7 @@ list(APPEND nuttx_libs nuttx_crypto ) -if (CONFIG_NET) +if(CONFIG_NET) list(APPEND nuttx_libs nuttx_net) target_link_libraries(nuttx_fs INTERFACE nuttx_net) endif() @@ -127,7 +124,7 @@ target_link_libraries(px4 PRIVATE -fno-exceptions -fno-rtti - -Wl,--script=${PX4_BINARY_DIR_CYG}/NuttX/nuttx-config/scripts/${SCRIPT_PREFIX}script.ld + -Wl,--script=${NUTTX_CONFIG_DIR}/scripts/${SCRIPT_PREFIX}script.ld -Wl,-Map=${PX4_CONFIG}.map -Wl,--warn-common -Wl,--gc-sections @@ -152,15 +149,15 @@ if(config_romfs_root) endif() if((DEFINED ENV{SIGNING_TOOL}) AND (NOT NUTTX_DIR MATCHES "external")) - set(PX4_BINARY_OUTPUT ${PX4_BINARY_DIR}/${PX4_BOARD}_unsigned.bin) + set(PX4_BINARY_OUTPUT ${PX4_BINARY_DIR}/${PX4_CONFIG}_unsigned.bin) - add_custom_command(OUTPUT ${PX4_BINARY_DIR_REL}/${PX4_BOARD}.bin - COMMAND $ENV{SIGNING_TOOL} $ENV{SIGNING_ARGS} ${PX4_BINARY_OUTPUT} ${PX4_BINARY_DIR}/${PX4_BOARD}.bin + add_custom_command(OUTPUT ${PX4_BINARY_DIR_REL}/${PX4_CONFIG}.bin + COMMAND $ENV{SIGNING_TOOL} $ENV{SIGNING_ARGS} ${PX4_BINARY_OUTPUT} ${PX4_BINARY_DIR}/${PX4_CONFIG}.bin DEPENDS ${PX4_BINARY_OUTPUT} WORKING_DIRECTORY ${PX4_SOURCE_DIR} ) else() - set(PX4_BINARY_OUTPUT ${PX4_BINARY_DIR_REL}/${PX4_BOARD}.bin) + set(PX4_BINARY_OUTPUT ${PX4_BINARY_DIR_REL}/${PX4_CONFIG}.bin) endif() add_custom_command(OUTPUT ${PX4_BINARY_OUTPUT} @@ -181,9 +178,9 @@ if (TARGET parameters_xml AND TARGET airframes_xml) --git_identity ${PX4_SOURCE_DIR} --parameter_xml ${PX4_BINARY_DIR}/parameters.xml --airframe_xml ${PX4_BINARY_DIR}/airframes.xml - --image ${PX4_BINARY_DIR}/${PX4_BOARD}.bin > ${fw_package} + --image ${PX4_BINARY_DIR}/${PX4_CONFIG}.bin > ${fw_package} DEPENDS - ${PX4_BINARY_DIR}/${PX4_BOARD}.bin + ${PX4_BINARY_DIR}/${PX4_CONFIG}.bin airframes_xml parameters_xml COMMENT "Creating ${fw_package}" @@ -200,6 +197,14 @@ if (TARGET parameters_xml AND TARGET airframes_xml) endif() +if("${PX4_BOARD_LABEL}" STREQUAL "bootloader") + add_custom_command(OUTPUT ${PX4_BOARD_DIR}/extras/${PX4_BOARD}_bootloader.bin + COMMAND ${CMAKE_OBJCOPY} -O binary ${PX4_BINARY_DIR_REL}/${FW_NAME} ${PX4_BOARD_DIR}/extras/${PX4_BOARD}_bootloader.bin + DEPENDS px4 + ) + add_custom_target(px4_bootloader_keep ALL DEPENDS ${PX4_BOARD_DIR}/extras/${PX4_BOARD}_bootloader.bin) +endif() + # print weak symbols add_custom_target(weak_symbols COMMAND ${CMAKE_NM} $ | ${GREP} " w " | cat @@ -209,14 +214,14 @@ add_custom_target(weak_symbols ) # generate bootloader.elf and copy to top level build directory -if(EXISTS "${PX4_BOARD_DIR}/bootloader/${PX4_BOARD_VENDOR}_${PX4_BOARD_MODEL}_bootloader.bin") +if(NOT ("${PX4_BOARD_LABEL}" STREQUAL "bootloader") AND (EXISTS "${PX4_BOARD_DIR}/extras/${PX4_BOARD_VENDOR}_${PX4_BOARD_MODEL}_bootloader.bin")) add_custom_command( OUTPUT ${PX4_BINARY_DIR}/${PX4_BOARD_VENDOR}_${PX4_BOARD_MODEL}_bootloader.elf COMMAND ${CMAKE_OBJCOPY} -I binary -O elf32-little --change-section-address .data=0x08000000 - ${PX4_BOARD_DIR}/bootloader/${PX4_BOARD_VENDOR}_${PX4_BOARD_MODEL}_bootloader.bin + ${PX4_BOARD_DIR}/extras/${PX4_BOARD_VENDOR}_${PX4_BOARD_MODEL}_bootloader.bin ${PX4_BINARY_DIR}/${PX4_BOARD_VENDOR}_${PX4_BOARD_MODEL}_bootloader.elf - DEPENDS ${PX4_BOARD_DIR}/bootloader/${PX4_BOARD_VENDOR}_${PX4_BOARD_MODEL}_bootloader.bin + DEPENDS ${PX4_BOARD_DIR}/extras/${PX4_BOARD_VENDOR}_${PX4_BOARD_MODEL}_bootloader.bin WORKING_DIRECTORY ${PX4_BINARY_DIR} ) add_custom_target(bootloader_elf DEPENDS ${PX4_BINARY_DIR}/${PX4_BOARD_VENDOR}_${PX4_BOARD_MODEL}_bootloader.elf) diff --git a/platforms/nuttx/NuttX/CMakeLists.txt b/platforms/nuttx/NuttX/CMakeLists.txt index b923a79b95..98c98f13b4 100644 --- a/platforms/nuttx/NuttX/CMakeLists.txt +++ b/platforms/nuttx/NuttX/CMakeLists.txt @@ -1,6 +1,6 @@ ############################################################################ # -# Copyright (c) 2019 PX4 Development Team. All rights reserved. +# Copyright (c) 2019-2021 PX4 Development Team. All rights reserved. # # Redistribution and use in source and binary forms, with or without # modification, are permitted provided that the following conditions @@ -31,282 +31,110 @@ # ############################################################################ -if (CMAKE_HOST_APPLE OR CMAKE_HOST_WIN32) - # copy with rsync and create file dependencies - set(NUTTX_COPY_CMD "rsync") - set(NUTTX_COPY_CMD_OPTS) - list(APPEND NUTTX_COPY_CMD_OPTS - -rp - --inplace - ) -else() - # copy with hard links - # archive, recursive, force, link (hardlinks) - set(NUTTX_COPY_CMD "cp") - set(NUTTX_COPY_CMD_OPTS "-aRfl") -endif() - set(NUTTX_CONFIG_DIR ${PX4_BOARD_DIR}/nuttx-config) - -############################################################################### -# NuttX: copy to build directory -############################################################################### -file(RELATIVE_PATH CP_SRC ${CMAKE_SOURCE_DIR} ${NUTTX_SRC_DIR}/nuttx) -file(RELATIVE_PATH CP_DST ${CMAKE_SOURCE_DIR} ${PX4_BINARY_DIR}/NuttX) - -execute_process( - COMMAND git rev-parse --absolute-git-dir - OUTPUT_VARIABLE nuttx_git_dir - WORKING_DIRECTORY ${NUTTX_SRC_DIR}/nuttx - OUTPUT_STRIP_TRAILING_WHITESPACE -) - -# setup custom command to copy changes later -file(GLOB_RECURSE copy_nuttx_files LIST_DIRECTORIES false ${NUTTX_SRC_DIR}/nuttx/*) -list(REMOVE_ITEM copy_nuttx_files ${NUTTX_SRC_DIR}/nuttx/.git) - -add_custom_command( - OUTPUT ${PX4_BINARY_DIR}/NuttX/nuttx_copy.stamp - COMMAND ${NUTTX_COPY_CMD} ${NUTTX_COPY_CMD_OPTS} ${CP_SRC} ${CP_DST} - COMMAND ${CMAKE_COMMAND} -E remove -f ${PX4_BINARY_DIR}/NuttX/nuttx/.git - COMMAND echo "gitdir: ${nuttx_git_dir}" > ${PX4_BINARY_DIR}/NuttX/nuttx/.git - COMMAND ${CMAKE_COMMAND} -E touch ${PX4_BINARY_DIR}/NuttX/nuttx_copy.stamp - DEPENDS - git_nuttx - ${copy_nuttx_files} - COMMENT "Copying NuttX/nuttx to ${CP_DST}" - WORKING_DIRECTORY ${CMAKE_SOURCE_DIR} -) - -############################################################################### -# NuttX apps: copy to build directory -############################################################################### -file(RELATIVE_PATH CP_SRC ${CMAKE_SOURCE_DIR} ${NUTTX_SRC_DIR}/apps) -file(RELATIVE_PATH CP_DST ${CMAKE_SOURCE_DIR} ${PX4_BINARY_DIR}/NuttX) - -# setup custom command to copy changes later -file(GLOB_RECURSE copy_apps_files LIST_DIRECTORIES false ${NUTTX_SRC_DIR}/apps/*) -add_custom_command( - OUTPUT ${PX4_BINARY_DIR}/NuttX/apps_copy.stamp - COMMAND ${NUTTX_COPY_CMD} ${NUTTX_COPY_CMD_OPTS} ${CP_SRC} ${CP_DST} - COMMAND ${CMAKE_COMMAND} -E touch ${PX4_BINARY_DIR}/NuttX/apps_copy.stamp - DEPENDS - git_nuttx_apps - ${copy_apps_files} - COMMENT "Copying NuttX/apps to ${CP_DST}" - WORKING_DIRECTORY ${CMAKE_SOURCE_DIR} -) -set(APPS_DIR ${CMAKE_CURRENT_BINARY_DIR}/apps) - - -# For any dependencies of commands on files we need to create a target. -# Otherwise, if "Unix Makefiles" are used as the generator the commands are run in -# parallel on the different files which often can lead to races or redundancies -# in our build. -# A nice write-up can be found here: -# https://samthursfield.wordpress.com/2015/11/21/cmake-dependencies-between-targets-and-files-and-custom-commands/#custom-commands-and-parallel-make -add_custom_target(nuttx_copy_and_apps_target - DEPENDS - ${PX4_BINARY_DIR}/NuttX/nuttx_copy.stamp - ${PX4_BINARY_DIR}/NuttX/apps_copy.stamp -) - -# If the board provides a Kconfig Use it or create an empty one -if(EXISTS ${NUTTX_CONFIG_DIR}/Kconfig) - add_custom_command( - OUTPUT ${PX4_BINARY_DIR}/NuttX/nuttx_config_kconfig.stamp - COMMAND ${CMAKE_COMMAND} -E copy_if_different ${NUTTX_CONFIG_DIR}/Kconfig ${NUTTX_DIR}/boards/dummy/Kconfig - COMMAND ${CMAKE_COMMAND} -E touch ${PX4_BINARY_DIR}/NuttX/nuttx_config_kconfig.stamp - DEPENDS - nuttx_copy_and_apps_target ${PX4_BINARY_DIR}/NuttX/nuttx_copy.stamp ${PX4_BINARY_DIR}/NuttX/apps_copy.stamp - ) -else() - add_custom_command( - OUTPUT ${PX4_BINARY_DIR}/NuttX/nuttx_config_kconfig.stamp - COMMAND ${CMAKE_COMMAND} -E touch ${NUTTX_DIR}/boards/dummy/Kconfig - COMMAND ${CMAKE_COMMAND} -E touch ${PX4_BINARY_DIR}/NuttX/nuttx_config_kconfig.stamp - DEPENDS - nuttx_copy_and_apps_target ${PX4_BINARY_DIR}/NuttX/nuttx_copy.stamp ${PX4_BINARY_DIR}/NuttX/apps_copy.stamp - ) -endif() - -add_custom_target(nuttx_config_kconfig_target DEPENDS ${PX4_BINARY_DIR}/NuttX/nuttx_config_kconfig.stamp) - -############################################################################### -# NuttX configure -############################################################################### - -# copy NuttX config directory -file(RELATIVE_PATH CP_SRC ${NUTTX_DIR} ${PX4_BOARD_DIR}/nuttx-config) -file(RELATIVE_PATH CP_DST ${NUTTX_DIR} ${PX4_BINARY_DIR}/NuttX) -add_custom_command( - OUTPUT ${PX4_BINARY_DIR}/NuttX/nuttx_copy_config_dir.stamp - COMMAND ${NUTTX_COPY_CMD} ${NUTTX_COPY_CMD_OPTS} ${CP_SRC} ${CP_DST} - COMMAND ${CMAKE_COMMAND} -E make_directory ${PX4_BINARY_DIR}/NuttX/nuttx-config/drivers - COMMAND ${CMAKE_COMMAND} -E touch ${PX4_BINARY_DIR}/NuttX/nuttx-config/drivers/Kconfig - COMMAND ${CMAKE_COMMAND} -E make_directory ${PX4_BINARY_DIR}/NuttX/nuttx-config/src - COMMAND ${CMAKE_COMMAND} -E copy_if_different ${NUTTX_SRC_DIR}/nsh_romfsimg.h ${PX4_BINARY_DIR}/NuttX/nuttx-config/include/nsh_romfsimg.h - COMMAND ${CMAKE_COMMAND} -E touch ${PX4_BINARY_DIR}/NuttX/nuttx_copy_config_dir.stamp - DEPENDS - ${NUTTX_CONFIG_DIR}/include/board.h - ${NUTTX_CONFIG_DIR}/scripts/script.ld - ${NUTTX_SRC_DIR}/nsh_romfsimg.h - nuttx_config_kconfig_target ${PX4_BINARY_DIR}/NuttX/nuttx_config_kconfig.stamp - WORKING_DIRECTORY ${NUTTX_DIR} - COMMENT "Copying NuttX config ${NUTTX_CONFIG}" -) -add_custom_target(nuttx_copy_config_dir_target DEPENDS ${PX4_BINARY_DIR}/NuttX/nuttx_copy_config_dir.stamp) - -if(CMAKE_CXX_COMPILER_VERSION VERSION_GREATER 9.3) - set(CMAKE_C_COMP_DEP_FLAGS -Wno-stringop-truncation) -endif() - -configure_file(${CMAKE_CURRENT_SOURCE_DIR}/Make.defs.in ${NUTTX_DIR}/Make.defs) - -# copy compressed PX4 defconfig into nuttx and inflate -add_custom_command( - OUTPUT - ${NUTTX_DIR}/.config - ${PX4_BINARY_DIR}/NuttX/nuttx_olddefconfig.stamp - COMMAND ${CMAKE_COMMAND} -E copy_if_different ${NUTTX_DEFCONFIG} ${NUTTX_DIR}/.config - COMMAND ${CMAKE_CURRENT_SOURCE_DIR}/tools/px4_nuttx_make_olddefconfig.sh > nuttx_olddefconfig.log - COMMAND ${CMAKE_COMMAND} -E touch ${PX4_BINARY_DIR}/NuttX/nuttx_olddefconfig.stamp - DEPENDS - ${NUTTX_DIR}/Make.defs - ${NUTTX_DEFCONFIG} - nuttx_copy_config_dir_target ${PX4_BINARY_DIR}/NuttX/nuttx_copy_config_dir.stamp - ${CMAKE_CURRENT_SOURCE_DIR}/tools/px4_nuttx_make_olddefconfig.sh - WORKING_DIRECTORY ${NUTTX_DIR} - COMMENT "Copying NuttX compressed config ${NUTTX_CONFIG} and inflating (make olddefconfig)" -) -add_custom_target(nuttx_config_target DEPENDS ${NUTTX_DIR}/.config ${PX4_BINARY_DIR}/NuttX/nuttx_olddefconfig.stamp) +set(APPS_DIR ${NUTTX_SRC_DIR}/apps) ############################################################################### # NuttX build ############################################################################### -# verbose build settings (V=1 or VERBOSE=1) -option(PX4_NUTTX_VERBOSE "PX4 NuttX verbose build" off) +configure_file(${PX4_SOURCE_DIR}/platforms/nuttx/NuttX/Make.defs.in ${CMAKE_CURRENT_BINARY_DIR}/nuttx/Make.defs) -if(($ENV{V} MATCHES "1") OR ($ENV{VERBOSE} MATCHES "1") OR ($ENV{VERBOSE} MATCHES "True")) - message(STATUS "NuttX verbose build enabled") - set(PX4_NUTTX_VERBOSE on) -endif() - -if(PX4_NUTTX_VERBOSE) - set(nuttx_build_options "V=1") - set(nuttx_build_uses_terminal "USES_TERMINAL") -else() - set(nuttx_build_options "--quiet" "--no-print-directory") - set(nuttx_build_uses_terminal) -endif() - -# context +# inflate .config add_custom_command( - OUTPUT - ${NUTTX_DIR}/include/nuttx/config.h - ${NUTTX_DIR}/include/nuttx/version.h - COMMAND - make ${nuttx_build_options} --no-print-directory CONFIG_ARCH_BOARD_CUSTOM=y pass1dep > nuttx_context.log + OUTPUT ${NUTTX_DIR}/.config + COMMAND ${CMAKE_COMMAND} -E copy_if_different ${CMAKE_CURRENT_BINARY_DIR}/nuttx/Make.defs ${NUTTX_DIR}/Make.defs + COMMAND ${CMAKE_COMMAND} -E copy_if_different ${NUTTX_DEFCONFIG} ${NUTTX_DIR}/.config + COMMAND ${CMAKE_COMMAND} -E copy_if_different ${NUTTX_DEFCONFIG} ${NUTTX_DIR}/defconfig + COMMAND ${NUTTX_SRC_DIR}/tools/px4_nuttx_make_olddefconfig.sh > ${CMAKE_CURRENT_BINARY_DIR}/nuttx_olddefconfig.log + COMMAND ${CMAKE_COMMAND} -E copy_if_different ${NUTTX_DIR}/.config ${CMAKE_CURRENT_BINARY_DIR}/nuttx/.config DEPENDS - ${NUTTX_DIR}/Make.defs - nuttx_config_target ${NUTTX_DIR}/.config ${PX4_BINARY_DIR}/NuttX/nuttx_olddefconfig.stamp + ${NUTTX_DEFCONFIG} + ${NUTTX_DIR}/defconfig + ${CMAKE_CURRENT_BINARY_DIR}/nuttx/Make.defs WORKING_DIRECTORY ${NUTTX_DIR} - ${nuttx_build_uses_terminal} + #USES_TERMINAL ) -add_custom_target(nuttx_context DEPENDS ${NUTTX_DIR}/include/nuttx/config.h ${NUTTX_DIR}/include/nuttx/version.h) -# library of NuttX libraries -add_library(nuttx_build INTERFACE) +# context (.config -> include/nuttx/config.h, include/nuttx/version.h, dirlinks) +add_custom_command( + OUTPUT ${NUTTX_DIR}/include/nuttx/config.h ${NUTTX_DIR}/include/arch/chip + COMMAND ${CMAKE_COMMAND} -E copy_if_different ${CMAKE_CURRENT_BINARY_DIR}/nuttx/.config ${NUTTX_DIR}/.config + COMMAND ${CMAKE_COMMAND} -E copy_if_different ${CMAKE_CURRENT_BINARY_DIR}/nuttx/Make.defs ${NUTTX_DIR}/Make.defs + COMMAND make --no-print-directory --silent clean_context + COMMAND make --no-print-directory --silent pass1dep > ${CMAKE_CURRENT_BINARY_DIR}/nuttx_context.log + DEPENDS + ${CMAKE_CURRENT_BINARY_DIR}/nuttx/Make.defs + ${NUTTX_DIR}/.config + WORKING_DIRECTORY ${NUTTX_DIR} + #USES_TERMINAL +) +add_custom_target(nuttx_context DEPENDS ${NUTTX_DIR}/include/nuttx/config.h) -add_custom_target(px4_config_file_target DEPENDS ${PX4_CONFIG_FILE}) # builtins -set(nuttx_builtin_list) +set(builtin_apps_string) +set(builtin_apps_decl_string) if(CONFIG_NSH_LIBRARY) - # force builtins regeneration and apps rebuild if nuttx or px4 configuration have changed - add_custom_command(OUTPUT ${PX4_BINARY_DIR}/NuttX/builtins_clean.stamp - COMMAND find ${APPS_DIR}/builtin/registry -name px4_\*.bdat -delete - COMMAND find ${APPS_DIR}/builtin/registry -name px4_\*.pdat -delete - COMMAND rm -f ${APPS_DIR}/builtin/builtin_list.h - COMMAND ${CMAKE_COMMAND} -E touch ${PX4_BINARY_DIR}/NuttX/builtins_clean.stamp - DEPENDS - nuttx_context ${NUTTX_DIR}/include/nuttx/config.h ${NUTTX_DIR}/include/nuttx/version.h - px4_config_file_target ${PX4_CONFIG_FILE} - ) - - add_custom_target(builtins_clean_target DEPENDS ${PX4_BINARY_DIR}/NuttX/builtins_clean.stamp) - + list(SORT module_libraries) foreach(module ${module_libraries}) get_target_property(MAIN ${module} MAIN) get_target_property(STACK_MAIN ${module} STACK_MAIN) get_target_property(PRIORITY ${module} PRIORITY) if(MAIN) - add_custom_command(OUTPUT ${APPS_DIR}/builtin/registry/px4_${MAIN}_main.bdat - COMMAND echo "{ \"${MAIN}\", ${PRIORITY}, ${STACK_MAIN}, ${MAIN}_main }," > ${APPS_DIR}/builtin/registry/px4_${MAIN}_main.bdat - COMMAND ${CMAKE_COMMAND} -E touch ${APPS_DIR}/builtin/registry/.updated - DEPENDS - builtins_clean_target ${PX4_BINARY_DIR}/NuttX/builtins_clean.stamp - nuttx_context ${NUTTX_DIR}/include/nuttx/config.h ${NUTTX_DIR}/include/nuttx/version.h - VERBATIM - ) - list(APPEND nuttx_builtin_list ${APPS_DIR}/builtin/registry/px4_${MAIN}_main.bdat) - - add_custom_command(OUTPUT ${APPS_DIR}/builtin/registry/px4_${MAIN}_main.pdat - COMMAND echo "int ${MAIN}_main(int argc, char *argv[]);" > ${APPS_DIR}/builtin/registry/px4_${MAIN}_main.pdat - COMMAND ${CMAKE_COMMAND} -E touch ${APPS_DIR}/builtin/registry/.updated - DEPENDS - builtins_clean_target ${PX4_BINARY_DIR}/NuttX/builtins_clean.stamp - nuttx_context ${NUTTX_DIR}/include/nuttx/config.h ${NUTTX_DIR}/include/nuttx/version.h - VERBATIM - ) - list(APPEND nuttx_builtin_list ${APPS_DIR}/builtin/registry/px4_${MAIN}_main.pdat) - + set(builtin_apps_string "${builtin_apps_string}{ \"${MAIN}\", ${PRIORITY}, ${STACK_MAIN}, ${MAIN}_main },\n") + set(builtin_apps_decl_string "${builtin_apps_decl_string}int ${MAIN}_main(int argc, char *argv[]);\n") endif() endforeach() endif() -add_custom_target(nuttx_builtin_list_target DEPENDS ${nuttx_builtin_list}) +configure_file(${CMAKE_CURRENT_SOURCE_DIR}/px4.bdat.in ${CMAKE_CURRENT_BINARY_DIR}/px4.bdat) +configure_file(${CMAKE_CURRENT_SOURCE_DIR}/px4.pdat.in ${CMAKE_CURRENT_BINARY_DIR}/px4.pdat) # APPS # libapps.a -add_custom_command(OUTPUT ${APPS_DIR}/libapps.a - COMMAND find ${APPS_DIR} -name \*.o -delete - COMMAND make ${nuttx_build_options} --no-print-directory TOPDIR="${NUTTX_DIR}" > nuttx_apps.log - DEPENDS - nuttx_builtin_list_target ${nuttx_builtin_list} - nuttx_context ${NUTTX_DIR}/include/nuttx/config.h ${NUTTX_DIR}/include/nuttx/version.h +add_custom_command(OUTPUT ${CMAKE_CURRENT_BINARY_DIR}/apps/libapps.a + COMMAND ${CMAKE_COMMAND} -E remove -f ${APPS_DIR}/libapps.a ${APPS_DIR}/builtin/builtin_list.h ${APPS_DIR}/builtin/builtin_proto.h + COMMAND find ${APPS_DIR} -type f -name \*.o -delete + COMMAND ${CMAKE_COMMAND} -E copy_if_different ${CMAKE_CURRENT_BINARY_DIR}/px4.bdat ${APPS_DIR}/builtin/registry/px4.bdat + COMMAND ${CMAKE_COMMAND} -E copy_if_different ${CMAKE_CURRENT_BINARY_DIR}/px4.pdat ${APPS_DIR}/builtin/registry/px4.pdat + COMMAND ${CMAKE_COMMAND} -E touch_nocreate ${APPS_DIR}/builtin/registry/.updated + COMMAND make --no-print-directory --silent TOPDIR="${NUTTX_DIR}" > ${CMAKE_CURRENT_BINARY_DIR}/nuttx_apps.log + COMMAND ${CMAKE_COMMAND} -E copy_if_different ${APPS_DIR}/libapps.a ${CMAKE_CURRENT_BINARY_DIR}/apps/libapps.a + DEPENDS nuttx_context ${NUTTX_DIR}/include/nuttx/config.h WORKING_DIRECTORY ${APPS_DIR} - ${nuttx_build_uses_terminal} + #USES_TERMINAL ) -add_custom_target(nuttx_apps_build DEPENDS ${APPS_DIR}/libapps.a) +add_custom_target(nuttx_apps_build DEPENDS ${CMAKE_CURRENT_BINARY_DIR}/apps/libapps.a) add_library(nuttx_apps STATIC IMPORTED GLOBAL) -set_property(TARGET nuttx_apps PROPERTY IMPORTED_LOCATION ${APPS_DIR}/libapps.a) -add_dependencies(nuttx_build nuttx_apps_build) -target_link_libraries(nuttx_build INTERFACE nuttx_apps) +set_property(TARGET nuttx_apps PROPERTY IMPORTED_LOCATION ${CMAKE_CURRENT_BINARY_DIR}/apps/libapps.a) +add_dependencies(nuttx_apps nuttx_apps_build) # helper for all targets function(add_nuttx_dir nuttx_lib nuttx_lib_dir kernel extra) - file(GLOB_RECURSE nuttx_lib_files - LIST_DIRECTORIES false - ${CMAKE_CURRENT_SOURCE_DIR}/nuttx/${nuttx_lib_dir}/*) + file(GLOB_RECURSE nuttx_lib_files LIST_DIRECTORIES false + ${CMAKE_CURRENT_SOURCE_DIR}/nuttx/${nuttx_lib_dir}/*.c + ${CMAKE_CURRENT_SOURCE_DIR}/nuttx/${nuttx_lib_dir}/*.h + ) - add_custom_command(OUTPUT ${NUTTX_DIR}/${nuttx_lib_dir}/lib${nuttx_lib}.a - COMMAND find ${nuttx_lib_dir} -type f -name *.o -delete - COMMAND make -C ${nuttx_lib_dir} ${nuttx_build_options} all TOPDIR=${NUTTX_DIR} KERNEL=${kernel} EXTRAFLAGS=${extra} >> nuttx_build.log + add_custom_command(OUTPUT ${CMAKE_CURRENT_BINARY_DIR}/nuttx/${nuttx_lib_dir}/lib${nuttx_lib}.a + COMMAND ${CMAKE_COMMAND} -E remove -f ${NUTTX_DIR}/${nuttx_lib_dir}/lib${nuttx_lib}.a + COMMAND find ${nuttx_lib_dir} -type f -name \*.o -delete + COMMAND make -C ${nuttx_lib_dir} --no-print-directory --silent all TOPDIR="${NUTTX_DIR}" KERNEL=${kernel} EXTRAFLAGS=${extra} + COMMAND ${CMAKE_COMMAND} -E copy_if_different ${NUTTX_DIR}/${nuttx_lib_dir}/lib${nuttx_lib}.a ${CMAKE_CURRENT_BINARY_DIR}/nuttx/${nuttx_lib_dir}/lib${nuttx_lib}.a DEPENDS ${nuttx_lib_files} - nuttx_context ${NUTTX_DIR}/include/nuttx/config.h ${NUTTX_DIR}/include/nuttx/version.h + nuttx_context ${NUTTX_DIR}/include/nuttx/config.h WORKING_DIRECTORY ${NUTTX_DIR} - ${nuttx_build_uses_terminal} + #USES_TERMINAL ) - add_custom_target(nuttx_${nuttx_lib}_build DEPENDS ${NUTTX_DIR}/${nuttx_lib_dir}/lib${nuttx_lib}.a) + add_custom_target(nuttx_${nuttx_lib}_build DEPENDS ${CMAKE_CURRENT_BINARY_DIR}/nuttx/${nuttx_lib_dir}/lib${nuttx_lib}.a) + add_library(nuttx_${nuttx_lib} STATIC IMPORTED GLOBAL) - set_property(TARGET nuttx_${nuttx_lib} PROPERTY IMPORTED_LOCATION ${NUTTX_DIR}/${nuttx_lib_dir}/lib${nuttx_lib}.a) - add_dependencies(nuttx_build nuttx_${nuttx_lib}_build) - target_link_libraries(nuttx_build INTERFACE nuttx_${nuttx_lib}) + set_property(TARGET nuttx_${nuttx_lib} PROPERTY IMPORTED_LOCATION ${CMAKE_CURRENT_BINARY_DIR}/nuttx/${nuttx_lib_dir}/lib${nuttx_lib}.a) + add_dependencies(nuttx_${nuttx_lib} nuttx_${nuttx_lib}_build) endfunction() # add_nuttx_dir(NAME DIRECTORY KERNEL EXTRA) @@ -326,10 +154,10 @@ if(CONFIG_NET) endif() ############################################################################### -# NuttX oldconfig +# NuttX oldconfig: Update a configuration using a provided .config as base add_custom_target(oldconfig_nuttx - COMMAND make --no-print-directory --silent -C ${NUTTX_DIR} CONFIG_ARCH_BOARD_CUSTOM=y oldconfig - DEPENDS nuttx_config_target ${NUTTX_DIR}/.config + COMMAND make --no-print-directory --silent oldconfig + DEPENDS ${NUTTX_DIR}/.config WORKING_DIRECTORY ${NUTTX_DIR} COMMENT "Running NuttX make oldconfig for ${NUTTX_CONFIG}" USES_TERMINAL @@ -337,7 +165,7 @@ add_custom_target(oldconfig_nuttx # NuttX oldconfig + savedefconfig back to PX4 add_custom_target(oldconfig - COMMAND make --no-print-directory --silent -C ${NUTTX_DIR} CONFIG_ARCH_BOARD_CUSTOM=y savedefconfig + COMMAND make --no-print-directory --silent savedefconfig COMMAND ${CMAKE_COMMAND} -E copy ${NUTTX_DIR}/defconfig ${NUTTX_DEFCONFIG} COMMAND ${CMAKE_COMMAND} -E remove -f ${NUTTX_DIR}/.config DEPENDS oldconfig_nuttx @@ -347,10 +175,10 @@ add_custom_target(oldconfig ) ############################################################################### -# NuttX olddefconfig +# NuttX olddefconfig: same as oldconfig, but additionally update deps and sets new symbols to their default value add_custom_target(olddefconfig_nuttx - COMMAND make --no-print-directory --silent -C ${NUTTX_DIR} CONFIG_ARCH_BOARD_CUSTOM=y olddefconfig - DEPENDS nuttx_config_target ${NUTTX_DIR}/.config + COMMAND make --no-print-directory --silent olddefconfig + DEPENDS ${NUTTX_DIR}/.config WORKING_DIRECTORY ${NUTTX_DIR} COMMENT "Running NuttX make olddefconfig for ${NUTTX_CONFIG}" USES_TERMINAL @@ -358,7 +186,7 @@ add_custom_target(olddefconfig_nuttx # NuttX olddefconfig + savedefconfig back to PX4 add_custom_target(olddefconfig - COMMAND make --no-print-directory --silent -C ${NUTTX_DIR} CONFIG_ARCH_BOARD_CUSTOM=y savedefconfig + COMMAND make --no-print-directory --silent savedefconfig COMMAND ${CMAKE_COMMAND} -E copy ${NUTTX_DIR}/defconfig ${NUTTX_DEFCONFIG} COMMAND ${CMAKE_COMMAND} -E remove -f ${NUTTX_DIR}/.config DEPENDS olddefconfig_nuttx @@ -370,16 +198,16 @@ add_custom_target(olddefconfig ############################################################################### # NuttX menuconfig add_custom_target(menuconfig_nuttx - COMMAND make --no-print-directory --silent -C ${NUTTX_DIR} CONFIG_ARCH_BOARD_CUSTOM=y menuconfig - DEPENDS nuttx_config_target ${NUTTX_DIR}/.config + COMMAND make --no-print-directory --silent menuconfig + DEPENDS ${NUTTX_DIR}/.config WORKING_DIRECTORY ${NUTTX_DIR} COMMENT "Running NuttX make menuconfig for ${NUTTX_CONFIG}" USES_TERMINAL - ) +) # NuttX menuconfig + savedefconfig back to PX4 add_custom_target(menuconfig - COMMAND make --no-print-directory --silent -C ${NUTTX_DIR} CONFIG_ARCH_BOARD_CUSTOM=y savedefconfig + COMMAND make --no-print-directory --silent savedefconfig COMMAND ${CMAKE_COMMAND} -E copy ${NUTTX_DIR}/defconfig ${NUTTX_DEFCONFIG} COMMAND ${CMAKE_COMMAND} -E remove -f ${NUTTX_DIR}/.config DEPENDS menuconfig_nuttx @@ -391,16 +219,16 @@ add_custom_target(menuconfig ############################################################################### # NuttX qconfig add_custom_target(qconfig_nuttx - COMMAND make --no-print-directory --silent -C ${NUTTX_DIR} CONFIG_ARCH_BOARD_CUSTOM=y qconfig - DEPENDS nuttx_config_target ${NUTTX_DIR}/.config + COMMAND make --no-print-directory --silent qconfig + DEPENDS ${NUTTX_DIR}/.config WORKING_DIRECTORY ${NUTTX_DIR} COMMENT "Running NuttX make qconfig for ${NUTTX_CONFIG}" USES_TERMINAL - ) +) # NuttX qconfig + savedefconfig back to PX4 add_custom_target(qconfig - COMMAND make --no-print-directory --silent -C ${NUTTX_DIR} CONFIG_ARCH_BOARD_CUSTOM=y savedefconfig + COMMAND make --no-print-directory --silent savedefconfig COMMAND ${CMAKE_COMMAND} -E copy ${NUTTX_DIR}/defconfig ${NUTTX_DEFCONFIG} COMMAND ${CMAKE_COMMAND} -E remove -f ${NUTTX_DIR}/.config DEPENDS qconfig_nuttx diff --git a/platforms/nuttx/NuttX/Make.defs.in b/platforms/nuttx/NuttX/Make.defs.in index 3833f53e51..1e56ddff8f 100644 --- a/platforms/nuttx/NuttX/Make.defs.in +++ b/platforms/nuttx/NuttX/Make.defs.in @@ -109,6 +109,7 @@ FLAGS = $(MAXOPTIMIZATION) -g2 \ -Wno-format-truncation \ -Wno-maybe-uninitialized \ -Wno-missing-field-initializers \ + -Wno-stringop-truncation \ -Wno-sign-compare \ -Wno-type-limits \ -Wno-unused-parameter \ diff --git a/platforms/nuttx/NuttX/nsh_romfsimg.h b/platforms/nuttx/NuttX/include/nsh_romfsimg.h similarity index 100% rename from platforms/nuttx/NuttX/nsh_romfsimg.h rename to platforms/nuttx/NuttX/include/nsh_romfsimg.h diff --git a/platforms/nuttx/NuttX/px4.bdat.in b/platforms/nuttx/NuttX/px4.bdat.in new file mode 100644 index 0000000000..6c0675aade --- /dev/null +++ b/platforms/nuttx/NuttX/px4.bdat.in @@ -0,0 +1 @@ +@builtin_apps_string@ diff --git a/platforms/nuttx/NuttX/px4.pdat.in b/platforms/nuttx/NuttX/px4.pdat.in new file mode 100644 index 0000000000..0b9b1cbcbb --- /dev/null +++ b/platforms/nuttx/NuttX/px4.pdat.in @@ -0,0 +1 @@ +@builtin_apps_decl_string@ diff --git a/platforms/nuttx/NuttX/tools/kconfig-conf b/platforms/nuttx/NuttX/tools/kconfig-conf index 776755355c..94a6f67992 100755 --- a/platforms/nuttx/NuttX/tools/kconfig-conf +++ b/platforms/nuttx/NuttX/tools/kconfig-conf @@ -4,7 +4,6 @@ echo "DEBUG: kconfiglib kconfig-conf wrapper, arguments: ${@}" DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null 2>&1 && pwd )" export APPSDIR="`pwd`/../apps" -export CONFIG_ARCH_BOARD_CUSTOM=y if [ "command -v python3" ]; then PYTHON_EXECUTABLE=python3 diff --git a/platforms/nuttx/NuttX/tools/px4_nuttx_make_olddefconfig.sh b/platforms/nuttx/NuttX/tools/px4_nuttx_make_olddefconfig.sh index 3766d099ba..8dbcfc4c68 100755 --- a/platforms/nuttx/NuttX/tools/px4_nuttx_make_olddefconfig.sh +++ b/platforms/nuttx/NuttX/tools/px4_nuttx_make_olddefconfig.sh @@ -5,4 +5,4 @@ DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null 2>&1 && pwd )" # update PATH to include kconfiglib scripts export PATH=${DIR}:${PATH} -make --no-print-directory --silent CONFIG_ARCH_BOARD_CUSTOM=y CONFIG_APPS_DIR="../apps" olddefconfig +make --no-print-directory --silent CONFIG_APPS_DIR="../apps" olddefconfig diff --git a/platforms/nuttx/cmake/init.cmake b/platforms/nuttx/cmake/init.cmake index 5d87ff837d..f1d78db450 100644 --- a/platforms/nuttx/cmake/init.cmake +++ b/platforms/nuttx/cmake/init.cmake @@ -56,113 +56,35 @@ set(NUTTX_CONFIG_DIR ${PX4_BOARD_DIR}/nuttx-config CACHE FILEPATH "PX4 NuttX con set(NUTTX_DEFCONFIG ${NUTTX_CONFIG_DIR}/${NUTTX_CONFIG}/defconfig CACHE FILEPATH "path to defconfig" FORCE) set_property(DIRECTORY APPEND PROPERTY CMAKE_CONFIGURE_DEPENDS ${NUTTX_DEFCONFIG}) -set(NUTTX_SRC_DIR ${PX4_SOURCE_DIR}/platforms/nuttx/NuttX) -set(NUTTX_DIR ${PX4_BINARY_DIR}/NuttX/nuttx CACHE FILEPATH "NuttX directory" FORCE) -set(NUTTX_APPS_DIR ${PX4_BINARY_DIR}/NuttX/apps CACHE FILEPATH "NuttX apps directory" FORCE) +set(NUTTX_SRC_DIR ${PX4_SOURCE_DIR}/platforms/nuttx/NuttX) +set(NUTTX_DIR ${PX4_SOURCE_DIR}/platforms/nuttx/NuttX/nuttx CACHE FILEPATH "NuttX directory" FORCE) +set(NUTTX_APPS_DIR ${PX4_SOURCE_DIR}/platforms/nuttx/NuttX/apps CACHE FILEPATH "NuttX apps directory" FORCE) px4_add_git_submodule(TARGET git_nuttx PATH "${NUTTX_SRC_DIR}/nuttx") px4_add_git_submodule(TARGET git_nuttx_apps PATH "${NUTTX_SRC_DIR}/apps") -if(CMAKE_HOST_APPLE OR CMAKE_HOST_WIN32) - # copy with rsync and create file dependencies - set(NUTTX_COPY_CMD "rsync") - set(NUTTX_COPY_CMD_OPTS) - list(APPEND NUTTX_COPY_CMD_OPTS - -rp - --inplace - ) -else() - # copy with hard links - # archive, recursive, force, link (hardlinks) - set(NUTTX_COPY_CMD "cp") - set(NUTTX_COPY_CMD_OPTS "-aRfl") -endif() - -execute_process(COMMAND ${CMAKE_COMMAND} -E make_directory ${PX4_BINARY_DIR}/NuttX) - -############################################################################### -# NuttX: copy to build directory -############################################################################### -if((NOT EXISTS ${PX4_BINARY_DIR}/NuttX/nuttx_copy.stamp) OR (NOT EXISTS ${PX4_BINARY_DIR}/NuttX/nuttx/Kconfig)) - execute_process(COMMAND ${CMAKE_COMMAND} -E make_directory ${PX4_BINARY_DIR}/NuttX/nuttx) - file(RELATIVE_PATH CP_SRC ${CMAKE_SOURCE_DIR} ${NUTTX_SRC_DIR}/nuttx) - file(RELATIVE_PATH CP_DST ${CMAKE_SOURCE_DIR} ${PX4_BINARY_DIR}/NuttX) - execute_process(COMMAND ${NUTTX_COPY_CMD} ${NUTTX_COPY_CMD_OPTS} ${CP_SRC} ${CP_DST} WORKING_DIRECTORY ${CMAKE_SOURCE_DIR}) - - # replace NuttX .git with actual git repo location (absolute path) - execute_process( - COMMAND git rev-parse --absolute-git-dir - OUTPUT_VARIABLE nuttx_git_dir - WORKING_DIRECTORY ${NUTTX_SRC_DIR}/nuttx - OUTPUT_STRIP_TRAILING_WHITESPACE - ) - execute_process(COMMAND ${CMAKE_COMMAND} -E remove ${PX4_BINARY_DIR}/NuttX/nuttx/.git) - file(WRITE ${PX4_BINARY_DIR}/NuttX/nuttx/.git "gitdir: ${nuttx_git_dir}") - - execute_process(COMMAND ${CMAKE_COMMAND} -E touch ${PX4_BINARY_DIR}/NuttX/nuttx_copy.stamp) -endif() - -############################################################################### -# NuttX apps: copy to build directory -############################################################################### -if((NOT EXISTS ${PX4_BINARY_DIR}/NuttX/apps_copy.stamp) OR (NOT EXISTS ${PX4_BINARY_DIR}/NuttX/apps/Kconfig)) - execute_process(COMMAND ${CMAKE_COMMAND} -E make_directory ${PX4_BINARY_DIR}/NuttX/apps) - file(RELATIVE_PATH CP_SRC ${CMAKE_SOURCE_DIR} ${NUTTX_SRC_DIR}/apps) - file(RELATIVE_PATH CP_DST ${CMAKE_SOURCE_DIR} ${PX4_BINARY_DIR}/NuttX) - execute_process(COMMAND ${NUTTX_COPY_CMD} ${NUTTX_COPY_CMD_OPTS} ${CP_SRC} ${CP_DST} WORKING_DIRECTORY ${CMAKE_SOURCE_DIR}) - execute_process(COMMAND ${CMAKE_COMMAND} -E touch ${PX4_BINARY_DIR}/NuttX/apps_copy.stamp) -endif() - -############################################################################### -# board nuttx-config -############################################################################### - -# If the board provides a Kconfig Use it or create an empty one -if((NOT EXISTS ${PX4_BINARY_DIR}/NuttX/nuttx_config_kconfig.stamp) OR (NOT EXISTS ${NUTTX_DIR}/boards/dummy/Kconfig)) - if(EXISTS ${NUTTX_CONFIG_DIR}/Kconfig) - execute_process(COMMAND ${CMAKE_COMMAND} -E copy_if_different ${NUTTX_CONFIG_DIR}/Kconfig ${NUTTX_DIR}/boards/dummy/Kconfig) - else() - execute_process(COMMAND ${CMAKE_COMMAND} -E touch ${NUTTX_DIR}/boards/dummy/Kconfig) - endif() - - execute_process(COMMAND ${CMAKE_COMMAND} -E touch ${PX4_BINARY_DIR}/NuttX/nuttx_config_kconfig.stamp) -endif() - -if((NOT EXISTS ${PX4_BINARY_DIR}/NuttX/nuttx_copy_config_dir.stamp) OR (NOT EXISTS ${PX4_BINARY_DIR}/NuttX/nuttx-config/drivers/Kconfig)) - # copy board's nuttx-config to NuttX/nuttx-config - file(RELATIVE_PATH CP_SRC ${CMAKE_SOURCE_DIR} ${PX4_BOARD_DIR}/nuttx-config) - file(RELATIVE_PATH CP_DST ${CMAKE_SOURCE_DIR} ${PX4_BINARY_DIR}/NuttX) - execute_process(COMMAND ${NUTTX_COPY_CMD} ${NUTTX_COPY_CMD_OPTS} ${CP_SRC} ${CP_DST} WORKING_DIRECTORY ${CMAKE_SOURCE_DIR}) - - execute_process(COMMAND ${CMAKE_COMMAND} -E make_directory ${PX4_BINARY_DIR}/NuttX/nuttx-config/drivers) - execute_process(COMMAND ${CMAKE_COMMAND} -E touch ${PX4_BINARY_DIR}/NuttX/nuttx-config/drivers/Kconfig) - execute_process(COMMAND ${CMAKE_COMMAND} -E make_directory ${PX4_BINARY_DIR}/NuttX/nuttx-config/src) - execute_process(COMMAND ${CMAKE_COMMAND} -E copy_if_different ${NUTTX_SRC_DIR}/nsh_romfsimg.h ${PX4_BINARY_DIR}/NuttX/nuttx-config/include/nsh_romfsimg.h) - - execute_process(COMMAND ${CMAKE_COMMAND} -E touch ${PX4_BINARY_DIR}/NuttX/nuttx_copy_config_dir.stamp) -endif() - # make olddefconfig (inflate defconfig to full .config) -if((NOT EXISTS ${PX4_BINARY_DIR}/NuttX/nuttx_olddefconfig.stamp) OR (NOT EXISTS ${PX4_BINARY_DIR}/NuttX/nuttx/.config)) - execute_process(COMMAND ${CMAKE_COMMAND} -E copy ${NUTTX_SRC_DIR}/Make.defs.in ${NUTTX_DIR}/Make.defs) # Create a temporary Toplevel Make.defs for the oldconfig step - execute_process(COMMAND ${CMAKE_COMMAND} -E copy_if_different ${NUTTX_DEFCONFIG} ${NUTTX_DIR}/.config) - execute_process( - COMMAND ${NUTTX_SRC_DIR}/tools/px4_nuttx_make_olddefconfig.sh - WORKING_DIRECTORY ${NUTTX_DIR} - OUTPUT_FILE nuttx_olddefconfig.log - RESULT_VARIABLE ret - ) - execute_process(COMMAND ${CMAKE_COMMAND} -E touch ${PX4_BINARY_DIR}/NuttX/nuttx_olddefconfig.stamp) - # remove temporary top level Make.defs - execute_process(COMMAND ${CMAKE_COMMAND} -E remove -f ${NUTTX_DIR}/Make.defs) -endif() +execute_process(COMMAND ${CMAKE_COMMAND} -E make_directory ${NUTTX_CONFIG_DIR}/src) # needed for NuttX build +execute_process(COMMAND ${CMAKE_COMMAND} -E copy_if_different ${NUTTX_SRC_DIR}/Make.defs.in ${NUTTX_DIR}/Make.defs) # Create a temporary Toplevel Make.defs for the oldconfig step +execute_process(COMMAND ${CMAKE_COMMAND} -E copy_if_different ${NUTTX_DEFCONFIG} ${NUTTX_DIR}/.config) +execute_process(COMMAND ${CMAKE_COMMAND} -E copy_if_different ${NUTTX_DEFCONFIG} ${NUTTX_DIR}/defconfig) + +set_property(DIRECTORY APPEND PROPERTY CMAKE_CONFIGURE_DEPENDS ${NUTTX_DIR}/defconfig) + +execute_process( + COMMAND ${NUTTX_SRC_DIR}/tools/px4_nuttx_make_olddefconfig.sh + WORKING_DIRECTORY ${NUTTX_DIR} + OUTPUT_FILE ${CMAKE_CURRENT_BINARY_DIR}/nuttx_olddefconfig.log + RESULT_VARIABLE ret +) +execute_process(COMMAND ${CMAKE_COMMAND} -E copy_if_different ${NUTTX_DIR}/.config ${PX4_BINARY_DIR}/NuttX/nuttx/.config) ############################################################################### # NuttX cmake defconfig ############################################################################### # parse nuttx config options for cmake -file(STRINGS ${NUTTX_DIR}/.config ConfigContents) +file(STRINGS ${PX4_BINARY_DIR}/NuttX/nuttx/.config ConfigContents) foreach(NameAndValue ${ConfigContents}) # Strip leading spaces string(REGEX REPLACE "^[ ]+" "" NameAndValue ${NameAndValue}) diff --git a/platforms/nuttx/cmake/jlink.cmake b/platforms/nuttx/cmake/jlink.cmake index 82f57f698d..0abdfc1e53 100644 --- a/platforms/nuttx/cmake/jlink.cmake +++ b/platforms/nuttx/cmake/jlink.cmake @@ -117,32 +117,21 @@ find_program(JLinkExe_PATH JLinkExe) if(JLinkExe_PATH) # jlink_flash_bootloader_bin - if(bootloader_bin OR (EXISTS ${PX4_BOARD_DIR}/bootloader/${PX4_BOARD_VENDOR}_${PX4_BOARD_MODEL}_bootloader.bin)) + if(EXISTS ${PX4_BOARD_DIR}/extras/${PX4_BOARD_VENDOR}_${PX4_BOARD_MODEL}_bootloader.bin) set(BOARD_FIRMWARE_BIN "${PX4_BOARD_VENDOR}_${PX4_BOARD_MODEL}_bootloader.bin") set(BOARD_FIRMWARE_APP_OFFSET "0x08000000") configure_file(${PX4_SOURCE_DIR}/platforms/nuttx/Debug/flash_bin.jlink.in ${PX4_BINARY_DIR}/flash_bootloader_bin.jlink @ONLY) - if(bootloader_bin) - add_custom_command(OUTPUT ${PX4_BINARY_DIR}/${BOARD_FIRMWARE_BIN} - COMMAND ${CMAKE_COMMAND} -E copy_if_different ${bootloader_bin} ${PX4_BINARY_DIR}/${BOARD_FIRMWARE_BIN} - DEPENDS ${bootloader_bin} - ) - elseif(EXISTS ${PX4_BOARD_DIR}/bootloader/${PX4_BOARD_VENDOR}_${PX4_BOARD_MODEL}_bootloader.bin) - add_custom_command(OUTPUT ${PX4_BINARY_DIR}/${BOARD_FIRMWARE_BIN} - COMMAND ${CMAKE_COMMAND} -E copy_if_different ${PX4_BOARD_DIR}/bootloader/${PX4_BOARD_VENDOR}_${PX4_BOARD_MODEL}_bootloader.bin ${PX4_BINARY_DIR}/${BOARD_FIRMWARE_BIN} - DEPENDS ${PX4_BOARD_DIR}/bootloader/${PX4_BOARD_VENDOR}_${PX4_BOARD_MODEL}_bootloader.bin - ) - endif() - add_custom_target(jlink_flash_bootloader_bin + ${CMAKE_COMMAND} -E copy_if_different ${PX4_BOARD_DIR}/extras/${PX4_BOARD_VENDOR}_${PX4_BOARD_MODEL}_bootloader.bin ${PX4_BINARY_DIR}/${BOARD_FIRMWARE_BIN} COMMAND ${JLinkExe_PATH} -CommandFile ${PX4_BINARY_DIR}/flash_bootloader_bin.jlink DEPENDS - ${PX4_BINARY_DIR}/${BOARD_FIRMWARE_BIN} ${PX4_SOURCE_DIR}/platforms/nuttx/Debug/flash_bin.jlink.in WORKING_DIRECTORY ${PX4_BINARY_DIR} USES_TERMINAL ) + endif() # jlink_flash_bin @@ -161,8 +150,8 @@ if(JLinkExe_PATH) USES_TERMINAL ) else() - # regular firmware ${PX4_BINARY_DIR}/${PX4_BOARD}.bin - set(BOARD_FIRMWARE_BIN ${PX4_BOARD}.bin) + # regular firmware ${PX4_BINARY_DIR}/${PX4_CONFIG}.bin + set(BOARD_FIRMWARE_BIN ${PX4_CONFIG}.bin) set(BOARD_FIRMWARE_APP_OFFSET "0x08008000") # TODO: get from board configure_file(${PX4_SOURCE_DIR}/platforms/nuttx/Debug/flash_bin.jlink.in ${PX4_BINARY_DIR}/flash_bin.jlink @ONLY) @@ -171,7 +160,7 @@ if(JLinkExe_PATH) COMMAND ${JLinkExe_PATH} -CommandFile ${PX4_BINARY_DIR}/flash_bin.jlink DEPENDS ${PX4_SOURCE_DIR}/platforms/nuttx/Debug/flash_bin.jlink.in - ${PX4_BINARY_DIR}/${PX4_BOARD}.bin + ${PX4_BINARY_DIR}/${PX4_CONFIG}.bin WORKING_DIRECTORY ${PX4_BINARY_DIR} USES_TERMINAL ) diff --git a/platforms/nuttx/cmake/px4_impl_os.cmake b/platforms/nuttx/cmake/px4_impl_os.cmake index 5e92bf0a9f..bd87604219 100644 --- a/platforms/nuttx/cmake/px4_impl_os.cmake +++ b/platforms/nuttx/cmake/px4_impl_os.cmake @@ -51,17 +51,17 @@ function(px4_os_add_flags) include_directories(BEFORE SYSTEM - ${PX4_BINARY_DIR}/NuttX/nuttx/include - ${PX4_BINARY_DIR}/NuttX/nuttx/include/cxx + ${PX4_SOURCE_DIR}/platforms/nuttx/NuttX/nuttx/include + ${PX4_SOURCE_DIR}/platforms/nuttx/NuttX/nuttx/include/cxx ${PX4_SOURCE_DIR}/platforms/nuttx/NuttX/include/cxx # custom new ) include_directories( - ${PX4_BINARY_DIR}/NuttX/nuttx/arch/${CONFIG_ARCH}/src/${CONFIG_ARCH_FAMILY} - ${PX4_BINARY_DIR}/NuttX/nuttx/arch/${CONFIG_ARCH}/src/chip - ${PX4_BINARY_DIR}/NuttX/nuttx/arch/${CONFIG_ARCH}/src/common + ${PX4_SOURCE_DIR}/platforms/nuttx/NuttX/nuttx/arch/${CONFIG_ARCH}/src/${CONFIG_ARCH_FAMILY} + ${PX4_SOURCE_DIR}/platforms/nuttx/NuttX/nuttx/arch/${CONFIG_ARCH}/src/chip + ${PX4_SOURCE_DIR}/platforms/nuttx/NuttX/nuttx/arch/${CONFIG_ARCH}/src/common - ${PX4_BINARY_DIR}/NuttX/apps/include + ${PX4_SOURCE_DIR}/platforms/nuttx/NuttX/apps/include ) # prevent using the toolchain's std c++ library @@ -178,6 +178,6 @@ function(px4_os_prebuild_targets) add_library(prebuild_targets INTERFACE) target_link_libraries(prebuild_targets INTERFACE nuttx_xx nuttx_c nuttx_fs nuttx_mm nuttx_sched m gcc) - add_dependencies(prebuild_targets DEPENDS nuttx_build uorb_headers) + add_dependencies(prebuild_targets DEPENDS nuttx_context uorb_headers) endfunction() diff --git a/platforms/nuttx/init/rc.board_bootloader_upgrade.in b/platforms/nuttx/init/rc.board_bootloader_upgrade.in new file mode 100644 index 0000000000..23ea208507 --- /dev/null +++ b/platforms/nuttx/init/rc.board_bootloader_upgrade.in @@ -0,0 +1,17 @@ +#! /bin/sh + +# +# Bootloader upgrade +# +if param compare -s SYS_BL_UPDATE 1 +then + if [ -f "/etc/extras/@BOARD_FIRMWARE_BIN@" ] + then + param set SYS_BL_UPDATE 0 + param save + echo "bootloader update..." + bl_update "/etc/extras/@BOARD_FIRMWARE_BIN@" + echo "bootloader update done, rebooting" + reboot + fi +fi diff --git a/src/drivers/bootloaders/CMakeLists.txt b/src/drivers/bootloaders/CMakeLists.txt index c4724ecda5..32f514a36a 100644 --- a/src/drivers/bootloaders/CMakeLists.txt +++ b/src/drivers/bootloaders/CMakeLists.txt @@ -71,13 +71,13 @@ if(NOT "${PX4_BOARD_LABEL}" MATCHES "canbootloader") ${PX4_BINARY_DIR}/${uavcan_bl_image_name} ${PX4_BINARY_DIR}/deploy/${HWBOARD_ID}.bin COMMAND - ${PYTHON_EXECUTABLE} ${CMAKE_CURRENT_SOURCE_DIR}/make_can_boot_descriptor.py -v --padding ${uavcanbl_padding} --use-git-hash ${PX4_BOARD}.bin ${uavcan_bl_image_name} + ${PYTHON_EXECUTABLE} ${CMAKE_CURRENT_SOURCE_DIR}/make_can_boot_descriptor.py -v --padding ${uavcanbl_padding} --use-git-hash ${PX4_CONFIG}.bin ${uavcan_bl_image_name} COMMAND COMMAND ${CMAKE_COMMAND} -E make_directory deploy COMMAND ${CMAKE_COMMAND} -E copy ${uavcan_bl_image_name} deploy/${HWBOARD_ID}.bin DEPENDS - ${PX4_BINARY_DIR}/${PX4_BOARD}.bin + ${PX4_BINARY_DIR}/${PX4_CONFIG}.bin ${CMAKE_CURRENT_SOURCE_DIR}/make_can_boot_descriptor.py WORKING_DIRECTORY ${PX4_BINARY_DIR} diff --git a/src/drivers/px4io/CMakeLists.txt b/src/drivers/px4io/CMakeLists.txt index 73df21c30f..a50da35088 100644 --- a/src/drivers/px4io/CMakeLists.txt +++ b/src/drivers/px4io/CMakeLists.txt @@ -48,31 +48,31 @@ px4_add_module( ) # include the px4io binary in ROMFS -message(STATUS "Building and including ${config_io_board}") +if(CONFIG_BOARD_IO) + message(STATUS "drivers/px4io: ROMFS including ${CONFIG_BOARD_IO}") -include(ExternalProject) -ExternalProject_Add(px4io_firmware - SOURCE_DIR ${CMAKE_SOURCE_DIR} - DOWNLOAD_COMMAND "" - UPDATE_COMMAND "" - CMAKE_ARGS -DCONFIG=${config_io_board} - INSTALL_COMMAND "" - USES_TERMINAL_BUILD true - DEPENDS git_nuttx git_nuttx_apps - BUILD_ALWAYS 1 - BUILD_BYPRODUCTS ${PX4_BINARY_DIR}/external/Build/px4io_firmware/${config_io_board}.elf -) + # ExternalProject_Add() with GIT_SUBMODULES "" initializes no submodules. + cmake_policy(SET CMP0097 NEW) -set(fw_io_exe "${PX4_BINARY_DIR}/external/Build/px4io_firmware/${config_io_board}.elf") -set(fw_io_bin "${PX4_BINARY_DIR}/romfs_extras/${config_io_board}.bin" CACHE FILEPATH "px4io binary path") + include(ExternalProject) -file(RELATIVE_PATH fw_io_exe_relative ${CMAKE_CURRENT_BINARY_DIR} ${fw_io_exe}) -file(RELATIVE_PATH fw_io_bin_relative ${CMAKE_CURRENT_BINARY_DIR} ${fw_io_bin}) - -add_custom_command(OUTPUT ${fw_io_bin} - COMMAND ${CMAKE_COMMAND} -E make_directory ${PX4_BINARY_DIR}/romfs_extras - COMMAND ${CMAKE_OBJCOPY} -O binary ${fw_io_exe_relative} ${fw_io_bin_relative} - DEPENDS ${fw_io_exe} px4io_firmware - COMMENT "Copying ${config_io_board} to ROMFS extras" + ExternalProject_Add(px4io_firmware_build + DOWNLOAD_COMMAND rsync -a --safe-links --delete --exclude=build --exclude=*.o --exclude=*.a --exclude=.config ${PX4_SOURCE_DIR}/ ${PX4_BINARY_DIR}/external/Source/px4io_firmware_build/ + UPDATE_COMMAND rsync -a --safe-links --delete --exclude=build --exclude=*.o --exclude=*.a --exclude=.config ${PX4_SOURCE_DIR}/ ${PX4_BINARY_DIR}/external/Source/px4io_firmware_build/ + DEPENDS git_nuttx git_nuttx_apps + SOURCE_DIR ${PX4_BINARY_DIR}/external/Source/px4io_firmware_build/ + CMAKE_ARGS -DCONFIG=${CONFIG_BOARD_IO} + INSTALL_COMMAND "" + USES_TERMINAL_BUILD true + EXCLUDE_FROM_ALL true + BUILD_ALWAYS true ) -add_custom_target(copy_px4io_bin DEPENDS ${fw_io_bin}) + + ExternalProject_Get_Property(px4io_firmware_build BINARY_DIR) + + add_custom_target(px4io_firmware_update + COMMAND ${CMAKE_COMMAND} -E copy_if_different ${BINARY_DIR}/${CONFIG_BOARD_IO}.bin ${PX4_BOARD_DIR}/extras/${CONFIG_BOARD_IO}.bin + DEPENDS px4io_firmware_build + COMMENT "Copying ${CONFIG_BOARD_IO} to board extras" + ) +endif() diff --git a/src/drivers/px4io/Kconfig b/src/drivers/px4io/Kconfig index b55e42ac32..dd9b402249 100644 --- a/src/drivers/px4io/Kconfig +++ b/src/drivers/px4io/Kconfig @@ -2,4 +2,4 @@ menuconfig DRIVERS_PX4IO bool "px4io" default n ---help--- - Enable support for px4io \ No newline at end of file + Enable support for px4io diff --git a/src/lib/parameters/CMakeLists.txt b/src/lib/parameters/CMakeLists.txt index 1813851950..d9254c0826 100644 --- a/src/lib/parameters/CMakeLists.txt +++ b/src/lib/parameters/CMakeLists.txt @@ -79,7 +79,7 @@ endif() if(PX4_ETHERNET) set(added_arguments --ethernet) endif() -if(config_io_board) +if(CONFIG_BOARD_IO) set(board_with_io_arg --board-with-io) endif() add_custom_command(OUTPUT ${generated_serial_params_file} ${generated_module_params_file} @@ -87,13 +87,15 @@ add_custom_command(OUTPUT ${generated_serial_params_file} ${generated_module_par COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/serial/generate_config.py --params-file ${generated_serial_params_file} --serial-ports ${board_serial_ports} ${added_arguments} ${constrained_flash_arg} - --config-files ${module_config_files} #--verbose + --config-files ${module_config_files} + #--verbose COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/module_config/generate_params.py --params-file ${generated_module_params_file} ${added_arguments} ${board_with_io_arg} --timer-config ${PX4_BOARD_DIR}/src/timer_config.cpp - --config-files ${module_config_files} #--verbose + --config-files ${module_config_files} --board ${PX4_BOARD} + #--verbose DEPENDS ${module_config_files} ${jinja_templates} diff --git a/src/lib/version/px_update_git_header.py b/src/lib/version/px_update_git_header.py index 2d8da490ac..ac20036f31 100755 --- a/src/lib/version/px_update_git_header.py +++ b/src/lib/version/px_update_git_header.py @@ -148,9 +148,9 @@ if (os.path.exists('src/modules/mavlink/mavlink/.git')): # NuttX if (os.path.exists('platforms/nuttx/NuttX/nuttx/.git')): - nuttx_git_tag = subprocess.check_output('git describe --always --tags --match nuttx-* --dirty'.split(), - cwd='platforms/nuttx/NuttX/nuttx', stderr=subprocess.STDOUT).decode('utf-8').strip().replace("nuttx-","v") - nuttx_git_tag = re.sub('-.*','.0',nuttx_git_tag) + nuttx_git_tag = subprocess.check_output('git describe --always --tags --match nuttx-* --dirty'.split(), + cwd='platforms/nuttx/NuttX/nuttx', stderr=subprocess.STDOUT).decode('utf-8').strip().replace("nuttx-", "v") + nuttx_git_tag = re.sub('-.*', '.0', nuttx_git_tag) nuttx_git_version = subprocess.check_output('git rev-parse --verify HEAD'.split(), cwd='platforms/nuttx/NuttX/nuttx', stderr=subprocess.STDOUT).decode('utf-8').strip() nuttx_git_version_short = nuttx_git_version[0:16] diff --git a/src/systemcmds/bl_update/CMakeLists.txt b/src/systemcmds/bl_update/CMakeLists.txt index 437699c7a8..c3ea9ccf17 100644 --- a/src/systemcmds/bl_update/CMakeLists.txt +++ b/src/systemcmds/bl_update/CMakeLists.txt @@ -39,74 +39,3 @@ px4_add_module( SRCS bl_update.c ) - -if(config_build_bootloader) - # include the bootloader binary in ROMFS - set(bootloader_config "${PX4_BOARD_VENDOR}_${PX4_BOARD_MODEL}_bootloader") - - if(NOT EXISTS ${PX4_BOARD_DIR}/nuttx-config/bootloader) - message(FATAL_ERROR "${bootloader_config} does not exist") - endif() - - message(STATUS "Building and including bootloader ${bootloader_config}") - - include(ExternalProject) - ExternalProject_Add(bootloader_firmware - SOURCE_DIR ${CMAKE_SOURCE_DIR} - DOWNLOAD_COMMAND "" - UPDATE_COMMAND "" - CMAKE_ARGS -DCONFIG=${bootloader_config} - INSTALL_COMMAND "" - USES_TERMINAL_BUILD true - DEPENDS git_nuttx git_nuttx_apps - BUILD_ALWAYS 1 - ) - - ExternalProject_Get_Property(bootloader_firmware BINARY_DIR) - - set(board_bootloader_firmware "${BINARY_DIR}/${bootloader_config}.elf" CACHE FILEPATH "bootloader original binary path") - set(bootloader_bin "${PX4_BINARY_DIR}/romfs_extras/bootloader.bin" CACHE FILEPATH "bootloader binary path") - - file(RELATIVE_PATH bootloader_exe_relative ${CMAKE_CURRENT_BINARY_DIR} ${board_bootloader_firmware}) - file(RELATIVE_PATH bootloader_bin_relative ${CMAKE_CURRENT_BINARY_DIR} ${bootloader_bin}) - - add_custom_command( - OUTPUT ${bootloader_bin} - COMMAND ${CMAKE_COMMAND} -E make_directory ${PX4_BINARY_DIR}/romfs_extras - COMMAND ${CMAKE_OBJCOPY} -O binary ${bootloader_exe_relative} ${bootloader_bin_relative} - DEPENDS bootloader_firmware - COMMENT "Copying ${bootloader_config} to ROMFS extras" - ) - add_custom_target(copy_bootloader_bin DEPENDS ${bootloader_bin}) - - # copy bootloader.elf to top level build directory - add_custom_command( - OUTPUT ${PX4_BINARY_DIR}/${PX4_BOARD_VENDOR}_${PX4_BOARD_MODEL}_bootloader.elf - COMMAND ${CMAKE_COMMAND} -E copy ${BINARY_DIR}/${bootloader_config}.elf ${PX4_BINARY_DIR}/${PX4_BOARD_VENDOR}_${PX4_BOARD_MODEL}_bootloader.elf - DEPENDS bootloader_firmware - WORKING_DIRECTORY ${PX4_BINARY_DIR} - ) - add_custom_target(bootloader_elf DEPENDS ${PX4_BINARY_DIR}/${PX4_BOARD_VENDOR}_${PX4_BOARD_MODEL}_bootloader.elf) - -elseif(EXISTS "${PX4_BOARD_DIR}/bootloader/") - - if(EXISTS ${PX4_BOARD_DIR}/bootloader/${PX4_BOARD_VENDOR}_${PX4_BOARD_MODEL}_bootloader.bin) - set(board_bootloader_firmware ${PX4_BOARD_DIR}/bootloader/${PX4_BOARD_VENDOR}_${PX4_BOARD_MODEL}_bootloader.bin CACHE FILEPATH "bootloader original binary path") - set(bootloader_bin "${PX4_BINARY_DIR}/romfs_extras/bootloader.bin" CACHE FILEPATH "bootloader binary path") - - add_custom_command( - OUTPUT ${bootloader_bin} - COMMAND ${CMAKE_COMMAND} -E make_directory ${PX4_BINARY_DIR}/romfs_extras - COMMAND ${CMAKE_COMMAND} -E copy_if_different ${board_bootloader_firmware} ${PX4_BINARY_DIR}/romfs_extras/bootloader.bin - DEPENDS ${board_bootloader_firmware} - COMMENT "Copying ${board_bootloader_firmware} to ROMFS extras" - ) - add_custom_target(copy_bootloader_bin DEPENDS ${bootloader_bin}) - - else() - file(GLOB bootloader_bin_files ${PX4_BOARD_DIR}/bootloader/*.bin) - foreach(bin_file ${bootloader_bin_files}) - message(FATAL_ERROR "incorrect bootloader filename ${bin_file} should be ${PX4_BOARD_VENDOR}_${PX4_BOARD_MODEL}_bootloader.bin") - endforeach() - endif() -endif()