From f70a4b3b7045a24baf70e642e9a354a13e5fa7d1 Mon Sep 17 00:00:00 2001 From: px4dev Date: Thu, 22 Aug 2013 23:47:55 -0700 Subject: [PATCH] Add support for adding extra files to the ROMFS from the config. If there is an IO firmware image already built when we build the corresponding FMU ROMFS, copy it into the ROMFS. Note - due to there being no fixed build ordering, to be certain that you have the most current IO firmware, you must build the IO firmware explicitly first. --- Makefile | 26 +++++++++++++------------- makefiles/config_px4fmu-v1_default.mk | 1 + makefiles/config_px4fmu-v2_default.mk | 4 +++- makefiles/firmware.mk | 22 +++++++++++++++++++--- makefiles/setup.mk | 1 + 5 files changed, 37 insertions(+), 17 deletions(-) diff --git a/Makefile b/Makefile index f7cab05c86..c34945ecab 100644 --- a/Makefile +++ b/Makefile @@ -114,8 +114,8 @@ $(FIRMWARES): $(BUILD_DIR)%.build/firmware.px4: @$(ECHO) %%%% @$(ECHO) %%%% Building $(config) in $(work_dir) @$(ECHO) %%%% - $(Q) mkdir -p $(work_dir) - $(Q) make -r -C $(work_dir) \ + $(Q) $(MKDIR) -p $(work_dir) + $(Q) $(MAKE) -r -C $(work_dir) \ -f $(PX4_MK_DIR)firmware.mk \ CONFIG=$(config) \ WORK_DIR=$(work_dir) \ @@ -147,12 +147,12 @@ $(ARCHIVE_DIR)%.export: configuration = nsh $(NUTTX_ARCHIVES): $(ARCHIVE_DIR)%.export: $(NUTTX_SRC) @$(ECHO) %% Configuring NuttX for $(board) $(Q) (cd $(NUTTX_SRC) && $(RMDIR) nuttx-export) - $(Q) make -r -j1 -C $(NUTTX_SRC) -r $(MQUIET) distclean + $(Q) $(MAKE) -r -j1 -C $(NUTTX_SRC) -r $(MQUIET) distclean $(Q) (cd $(NUTTX_SRC)/configs && $(COPYDIR) $(PX4_BASE)nuttx-configs/$(board) .) $(Q) (cd $(NUTTX_SRC)tools && ./configure.sh $(board)/$(configuration)) @$(ECHO) %% Exporting NuttX for $(board) - $(Q) make -r -j1 -C $(NUTTX_SRC) -r $(MQUIET) CONFIG_ARCH_BOARD=$(board) export - $(Q) mkdir -p $(dir $@) + $(Q) $(MAKE) -r -j1 -C $(NUTTX_SRC) -r $(MQUIET) CONFIG_ARCH_BOARD=$(board) export + $(Q) $(MKDIR) -p $(dir $@) $(Q) $(COPY) $(NUTTX_SRC)nuttx-export.zip $@ $(Q) (cd $(NUTTX_SRC)/configs && $(RMDIR) $(board)) @@ -168,11 +168,11 @@ BOARD = $(BOARDS) menuconfig: $(NUTTX_SRC) @$(ECHO) %% Configuring NuttX for $(BOARD) $(Q) (cd $(NUTTX_SRC) && $(RMDIR) nuttx-export) - $(Q) make -r -j1 -C $(NUTTX_SRC) -r $(MQUIET) distclean + $(Q) $(MAKE) -r -j1 -C $(NUTTX_SRC) -r $(MQUIET) distclean $(Q) (cd $(NUTTX_SRC)/configs && $(COPYDIR) $(PX4_BASE)nuttx-configs/$(BOARD) .) $(Q) (cd $(NUTTX_SRC)tools && ./configure.sh $(BOARD)/nsh) @$(ECHO) %% Running menuconfig for $(BOARD) - $(Q) make -r -j1 -C $(NUTTX_SRC) -r $(MQUIET) menuconfig + $(Q) $(MAKE) -r -j1 -C $(NUTTX_SRC) -r $(MQUIET) menuconfig @$(ECHO) %% Saving configuration file $(Q)$(COPY) $(NUTTX_SRC).config $(PX4_BASE)nuttx-configs/$(BOARD)/nsh/defconfig else @@ -191,7 +191,7 @@ $(NUTTX_SRC): # Testing targets # testbuild: - $(Q) (cd $(PX4_BASE) && make distclean && make archives && make -j8) + $(Q) (cd $(PX4_BASE) && $(MAKE) distclean && $(MAKE) archives && $(MAKE) -j8) # # Cleanup targets. 'clean' should remove all built products and force @@ -206,8 +206,8 @@ clean: .PHONY: distclean distclean: clean $(Q) $(REMOVE) $(ARCHIVE_DIR)*.export - $(Q) make -C $(NUTTX_SRC) -r $(MQUIET) distclean - $(Q) (cd $(NUTTX_SRC)/configs && find . -maxdepth 1 -type l -delete) + $(Q) $(MAKE) -C $(NUTTX_SRC) -r $(MQUIET) distclean + $(Q) (cd $(NUTTX_SRC)/configs && $(FIND) . -maxdepth 1 -type l -delete) # # Print some help text @@ -229,9 +229,9 @@ help: @$(ECHO) " A limited set of configs can be built with CONFIGS=" @$(ECHO) "" @for config in $(CONFIGS); do \ - echo " $$config"; \ - echo " Build just the $$config firmware configuration."; \ - echo ""; \ + $(ECHO) " $$config"; \ + $(ECHO) " Build just the $$config firmware configuration."; \ + $(ECHO) ""; \ done @$(ECHO) " clean" @$(ECHO) " Remove all firmware build pieces." diff --git a/makefiles/config_px4fmu-v1_default.mk b/makefiles/config_px4fmu-v1_default.mk index 8f2ade8dc8..0e4617f1db 100644 --- a/makefiles/config_px4fmu-v1_default.mk +++ b/makefiles/config_px4fmu-v1_default.mk @@ -6,6 +6,7 @@ # Use the configuration's ROMFS. # ROMFS_ROOT = $(PX4_BASE)/ROMFS/px4fmu_common +ROMFS_OPTIONAL_FILES = $(PX4_BASE)/Images/px4io-v1_default.bin # # Board support modules diff --git a/makefiles/config_px4fmu-v2_default.mk b/makefiles/config_px4fmu-v2_default.mk index 101b497125..61df64a78c 100644 --- a/makefiles/config_px4fmu-v2_default.mk +++ b/makefiles/config_px4fmu-v2_default.mk @@ -3,9 +3,11 @@ # # -# Use the configuration's ROMFS. +# Use the configuration's ROMFS, copy the px4iov2 firmware into +# the ROMFS if it's available # ROMFS_ROOT = $(PX4_BASE)/ROMFS/px4fmu_common +ROMFS_OPTIONAL_FILES = $(PX4_BASE)/Images/px4io-v2_default.bin # # Board support modules diff --git a/makefiles/firmware.mk b/makefiles/firmware.mk index 8a027a0a81..b3e50501c7 100644 --- a/makefiles/firmware.mk +++ b/makefiles/firmware.mk @@ -322,7 +322,7 @@ endif # a root from several templates. That would be a nice feature. # -# Add dependencies on anything in the ROMFS root +# Add dependencies on anything in the ROMFS root directory ROMFS_FILES += $(wildcard \ $(ROMFS_ROOT)/* \ $(ROMFS_ROOT)/*/* \ @@ -334,7 +334,14 @@ ifeq ($(ROMFS_FILES),) $(error ROMFS_ROOT $(ROMFS_ROOT) specifies a directory containing no files) endif ROMFS_DEPS += $(ROMFS_FILES) + +# Extra files that may be copied into the ROMFS /extras directory +# ROMFS_EXTRA_FILES are required, ROMFS_OPTIONAL_FILES are optional +ROMFS_EXTRA_FILES += $(wildcard $(ROMFS_OPTIONAL_FILES)) +ROMFS_DEPS += $(ROMFS_EXTRA_FILES) + ROMFS_IMG = romfs.img +ROMFS_SCRATCH = romfs_scratch ROMFS_CSRC = $(ROMFS_IMG:.img=.c) ROMFS_OBJ = $(ROMFS_CSRC:.c=.o) LIBS += $(ROMFS_OBJ) @@ -345,9 +352,18 @@ $(ROMFS_OBJ): $(ROMFS_IMG) $(GLOBAL_DEPS) $(call BIN_TO_OBJ,$<,$@,romfs_img) # Generate the ROMFS image from the root -$(ROMFS_IMG): $(ROMFS_DEPS) $(GLOBAL_DEPS) +$(ROMFS_IMG): $(ROMFS_SCRATCH) $(ROMFS_DEPS) $(GLOBAL_DEPS) @$(ECHO) "ROMFS: $@" - $(Q) $(GENROMFS) -f $@ -d $(ROMFS_ROOT) -V "NSHInitVol" + $(Q) $(GENROMFS) -f $@ -d $(ROMFS_SCRATCH) -V "NSHInitVol" + +# Construct the ROMFS scratch root from the canonical root +$(ROMFS_SCRATCH): $(ROMFS_DEPS) $(GLOBAL_DEPS) + $(Q) $(MKDIR) -p $(ROMFS_SCRATCH) + $(Q) $(COPYDIR) $(ROMFS_ROOT)/* $(ROMFS_SCRATCH) +ifneq ($(ROMFS_EXTRA_FILES),) + $(Q) $(MKDIR) -p $(ROMFS_SCRATCH)/extras + $(Q) $(COPY) $(ROMFS_EXTRA_FILES) $(ROMFS_SCRATCH)/extras +endif EXTRA_CLEANS += $(ROMGS_OBJ) $(ROMFS_IMG) diff --git a/makefiles/setup.mk b/makefiles/setup.mk index 168e41a5cb..51f830b6ee 100644 --- a/makefiles/setup.mk +++ b/makefiles/setup.mk @@ -71,6 +71,7 @@ export RMDIR = rm -rf export GENROMFS = genromfs export TOUCH = touch export MKDIR = mkdir +export FIND = find export ECHO = echo export UNZIP_CMD = unzip export PYTHON = python