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

@@ -114,8 +114,8 @@ $(FIRMWARES): $(BUILD_DIR)%.build/firmware.px4:
 	@$(ECHO) %%%%
 	@$(ECHO) %%%% Building $(config) in $(work_dir)
 	@$(ECHO) %%%%
-	$(Q) mkdir -p $(work_dir)
+	$(Q) $(MKDIR) -p $(work_dir)
-	$(Q) make -r -C $(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) $(MAKE) -r -j1 -C $(NUTTX_SRC) -r $(MQUIET) CONFIG_ARCH_BOARD=$(board) export
-	$(Q) mkdir -p $(dir $@)
+	$(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) $(MAKE) -C $(NUTTX_SRC) -r $(MQUIET) distclean
-	$(Q) (cd $(NUTTX_SRC)/configs && find . -maxdepth 1 -type l -delete)
+	$(Q) (cd $(NUTTX_SRC)/configs && $(FIND) . -maxdepth 1 -type l -delete)
 
 #
 # Print some help text
@@ -229,9 +229,9 @@ help:
 	@$(ECHO) "    A limited set of configs can be built with CONFIGS=<list-of-configs>"
 	@$(ECHO) ""
 	@for config in $(CONFIGS); do \
-		echo "  $$config"; \
+		$(ECHO) "  $$config"; \
-		echo "    Build just the $$config firmware configuration."; \
+		$(ECHO) "    Build just the $$config firmware configuration."; \
-		echo ""; \
+		$(ECHO) ""; \
 	done
 	@$(ECHO) "  clean"
 	@$(ECHO) "    Remove all firmware build pieces."

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

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

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)
 

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