forked from Archive/PX4-Autopilot
ROMFS handle bl_update generically
- include all available legacy bootloaders
This commit is contained in:
Daniel Agar
Lorenz Meier
parent
3ad0da51c4
commit
f8eaa6e46b
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@ -258,6 +258,7 @@ pipeline {
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set CBRK_BUZZER 782097"' // disable buzzer
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOCONFIG 2"'
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOSTART 13000"' // generic vtol standard
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_BL_UPDATE 1"' // update bootloader
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param save"'
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "px4io forceupdate 14662 /etc/extras/px4_io-v2_default.bin" || true' // force px4io update
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "reboot" || true' // reboot to apply
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@ -333,6 +334,7 @@ pipeline {
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set CBRK_BUZZER 782097"' // disable buzzer
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOCONFIG 2"'
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOSTART 4001"' // generic multicopter
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_BL_UPDATE 1"' // update bootloader
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param save"'
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "reboot" || true' // reboot to apply
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}
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@ -407,6 +409,7 @@ pipeline {
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set CBRK_BUZZER 782097"' // disable buzzer
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOCONFIG 2"'
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOSTART 13000"' // generic vtol standard
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_BL_UPDATE 1"' // update bootloader
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param save"'
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "px4io forceupdate 14662 /etc/extras/px4_io-v2_default.bin" || true' // force px4io update
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "reboot" || true' // reboot to apply
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@ -482,6 +485,7 @@ pipeline {
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set CBRK_BUZZER 782097"' // disable buzzer
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOCONFIG 2"'
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOSTART 4001"' // generic quadcopter
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_BL_UPDATE 1"' // update bootloader
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param save"'
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "px4io forceupdate 14662 /etc/extras/px4_io-v2_default.bin" || true' // force px4io update
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "reboot" || true' // reboot to apply
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@ -560,6 +564,7 @@ pipeline {
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set CBRK_BUZZER 782097"' // disable buzzer
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set IMU_GYRO_RATEMAX 250"' // limit cpu usage
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOSTART 4001"' // generic multicopter
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_BL_UPDATE 1"' // update bootloader
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param save"'
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "px4io forceupdate 14662 /etc/extras/px4_io-v2_default.bin" || true' // force px4io update
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "reboot" || true' // reboot to apply
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@ -635,6 +640,7 @@ pipeline {
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set CBRK_BUZZER 782097"' // disable buzzer
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOCONFIG 2"'
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOSTART 4001"' // generic quadcopter
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_BL_UPDATE 1"' // update bootloader
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param save"'
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "reboot" || true' // reboot to apply
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}
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@ -713,6 +719,7 @@ pipeline {
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set IMU_GYRO_RATEMAX 250"' // limit cpu usage
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set MAV_0_CONFIG 0"' // limit cpu usage
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOSTART 4001"' // generic multicopter
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_BL_UPDATE 1"' // update bootloader
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param save"'
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "reboot" || true' // reboot to apply
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}
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@ -787,6 +794,7 @@ pipeline {
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set CBRK_BUZZER 782097"' // disable buzzer
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOCONFIG 2"'
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOSTART 4001"' // generic vtol standardulticopter
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_BL_UPDATE 1"' // update bootloader
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param save"'
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "reboot" || true' // reboot to apply
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}
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@ -941,6 +949,7 @@ pipeline {
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set CBRK_BUZZER 782097"' // disable buzzer
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOCONFIG 2"'
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOSTART 4001"' // generic multicopter
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_BL_UPDATE 1"' // update bootloader
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param save"'
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "reboot" || true' // reboot to apply
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}
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@ -31,11 +31,12 @@
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#
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############################################################################
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message(STATUS "ROMFS: ${config_romfs_root}")
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set(romfs_src_dir ${PX4_SOURCE_DIR}/ROMFS/${config_romfs_root})
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set(romfs_gen_root_dir ${PX4_BINARY_DIR}/etc)
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file(RELATIVE_PATH romfs_path_relative ${PX4_SOURCE_DIR} ${romfs_src_dir})
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message(STATUS "ROMFS: ${romfs_path_relative}")
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set_property(GLOBAL PROPERTY PX4_ROMFS_FILES)
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set_property(GLOBAL PROPERTY PX4_ROMFS_CMAKE_FILES)
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@ -149,9 +150,22 @@ if(config_io_board)
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copy_px4io_bin
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${fw_io_bin}
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)
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file(RELATIVE_PATH iofw_file_relative ${PX4_SOURCE_DIR} ${fw_io_bin})
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message(STATUS "ROMFS: Adding ${iofw_file_relative} -> /etc/extras/${config_io_board}.bin")
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endif()
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if(config_build_bootloader)
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# board bootloader (built or included)
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if(TARGET copy_bootloader_bin)
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if(board_bootloader_firmware)
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file(RELATIVE_PATH bl_file_relative ${PX4_SOURCE_DIR} ${board_bootloader_firmware})
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message(STATUS "ROMFS: Adding ${bl_file_relative} -> /etc/extras/bootloader.bin")
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else()
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file(RELATIVE_PATH bl_file_relative ${PX4_SOURCE_DIR} ${bootloader_bin})
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message(STATUS "ROMFS: Adding ${bl_file_relative} -> /etc/extras/bootloader.bin")
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endif()
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list(APPEND extras_dependencies
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copy_bootloader_bin
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${bootloader_bin}
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@ -162,7 +176,8 @@ endif()
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# optional board architecture defaults
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set(board_arch_rc_file "rc.board_arch_defaults")
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if(EXISTS "${PX4_SOURCE_DIR}/platforms/${PX4_PLATFORM}/init/${CONFIG_ARCH_CHIP}/${board_arch_rc_file}")
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message(STATUS "ROMFS: Adding ${board_arch_rc_file}")
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file(RELATIVE_PATH rc_file_relative ${PX4_SOURCE_DIR} ${PX4_SOURCE_DIR}/platforms/${PX4_PLATFORM}/init/${CONFIG_ARCH_CHIP}/${board_arch_rc_file})
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message(STATUS "ROMFS: Adding ${rc_file_relative} -> /etc/init.d/${board_arch_rc_file}")
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add_custom_command(
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OUTPUT
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@ -193,7 +208,8 @@ list(APPEND OPTIONAL_BOARD_RC
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foreach(board_rc_file ${OPTIONAL_BOARD_RC})
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if(EXISTS "${PX4_BOARD_DIR}/init/${board_rc_file}")
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message(STATUS "ROMFS: Adding ${board_rc_file}")
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file(RELATIVE_PATH rc_file_relative ${PX4_SOURCE_DIR} ${PX4_BOARD_DIR}/init/${board_rc_file})
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message(STATUS "ROMFS: Adding ${rc_file_relative} -> /etc/init.d/${board_rc_file}")
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add_custom_command(
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OUTPUT
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@ -221,7 +237,7 @@ if(config_uavcan_peripheral_firmware)
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foreach(uavcan_peripheral_config ${config_uavcan_peripheral_firmware})
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# include the px4io binary in ROMFS
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message(STATUS "ROMFS: Building and including UAVCAN peripheral ${uavcan_peripheral_config}")
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message(STATUS "ROMFS: Adding UAVCAN peripheral ${uavcan_peripheral_config} -> /etc/uavcan/fw/")
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ExternalProject_Add(build_${uavcan_peripheral_config}
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SOURCE_DIR ${CMAKE_SOURCE_DIR}
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DOWNLOAD_COMMAND ""
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@ -1,5 +0,0 @@
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px4fmuv3_bl.bin: Bootloader binary of the PX4 Bootloader
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(https://github.com/PX4/Bootloader)
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based on commit 184b813699a9cfd6f43a5a21556a06b4372baf5f
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for the target px4fmuv3_bl
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@ -549,6 +549,22 @@ else
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. ${R}etc/init.d/rc.autostart.post
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fi
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#
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# Bootloader upgrade
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#
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if param compare -s SYS_BL_UPDATE 1
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then
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if [ -f "/etc/extras/bootloader.bin" ]
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then
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param set SYS_BL_UPDATE 0
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param save
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echo "bootloader update..."
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bl_update "/etc/extras/bootloader.bin"
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echo "bootloader update done, rebooting"
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reboot
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fi
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fi
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if ! param compare SYS_PARAM_VER ${PARAM_DEFAULTS_VER}
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then
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echo "Switched to different parameter version. Resetting parameters."
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Binary file not shown.
Binary file not shown.
Binary file not shown.
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@ -14,8 +14,8 @@ px4_add_board(
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barometer/lps25h
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distance_sensor/vl53l0x
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gps
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magnetometer/akm/ak8963
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imu/invensense/mpu9250
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magnetometer/akm/ak8963
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optical_flow/pmw3901
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pwm_out
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MODULES
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@ -45,7 +45,7 @@ px4_add_board(
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#bl_update
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dmesg
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dumpfile
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esc_calib
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#esc_calib
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hardfault_log
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i2cdetect
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led_control
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Binary file not shown.
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@ -11,12 +11,12 @@ px4_add_board(
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ROMFSROOT px4fmu_common
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CONSTRAINED_FLASH
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DRIVERS
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barometer/bmp388
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distance_sensor/vl53l1x
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gps
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imu/bosch/bmi088/bmi088_i2c
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optical_flow/pmw3901
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pwm_out
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imu/bosch/bmi088/bmi088_i2c
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barometer/bmp388
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MODULES
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attitude_estimator_q
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#camera_feedback
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@ -24,7 +24,8 @@ px4_add_board(
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dataman
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ekf2
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events
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gyro_fft
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flight_mode_manager
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#gyro_fft
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land_detector
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landing_target_estimator
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load_mon
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@ -40,10 +41,10 @@ px4_add_board(
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sensors
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#temperature_compensation
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SYSTEMCMDS
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bl_update
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#bl_update
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dmesg
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dumpfile
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esc_calib
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#esc_calib
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hardfault_log
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i2cdetect
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led_control
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@ -49,15 +49,14 @@
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#include <stm32_gpio.h>
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#include "board_config.h"
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#include <px4_arch/spi_hw_description.h>
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#include <drivers/drv_sensor.h>
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#include <nuttx/spi/spi.h>
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constexpr px4_spi_bus_t px4_spi_buses[SPI_BUS_MAX_BUS_ITEMS] = {
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initSPIBus(SPI::Bus::SPI1, {
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initSPIDevice(DRV_FLOW_DEVTYPE_PMW3901, SPI::CS{GPIO::PortB, GPIO::Pin4}),
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initSPIDevice(SPIDEV_MMCSD(0), SPI::CS{GPIO::PortC, GPIO::Pin12}),
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initSPIDevice(DRV_FLOW_DEVTYPE_PMW3901, SPI::CS{GPIO::PortB, GPIO::Pin4}),
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initSPIDevice(DRV_DEVTYPE_UNUSED, SPI::CS{GPIO::PortB, GPIO::Pin5}),
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}),
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};
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@ -3,25 +3,6 @@
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# board specific defaults
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#------------------------------------------------------------------------------
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#
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# Bootloader upgrade
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#
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set BL_FILE /etc/extras/cuav_nora_bootloader.bin
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if [ -f $BL_FILE ]
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then
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if param compare SYS_BL_UPDATE 1
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then
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param set SYS_BL_UPDATE 0
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param save
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echo "BL update..."
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bl_update $BL_FILE
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echo "BL update done"
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reboot
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fi
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fi
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unset BL_FILE
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param set-default BAT_V_DIV 18
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param set-default BAT1_V_DIV 18
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param set-default BAT2_V_DIV 18
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@ -3,25 +3,6 @@
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# board specific defaults
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#------------------------------------------------------------------------------
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#
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# Bootloader upgrade
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#
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set BL_FILE /etc/extras/cuav_x7pro_bootloader.bin
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if [ -f $BL_FILE ]
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then
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if param compare SYS_BL_UPDATE 1
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then
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param set SYS_BL_UPDATE 0
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param save
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echo "BL update..."
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bl_update $BL_FILE
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echo "BL update done"
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reboot
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fi
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fi
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unset BL_FILE
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param set-default BAT_V_DIV 18
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param set-default BAT1_V_DIV 18
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param set-default BAT2_V_DIV 18
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@ -3,24 +3,6 @@
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# board specific defaults
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#------------------------------------------------------------------------------
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#
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# Bootloader upgrade
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#
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set BL_FILE /etc/extras/cubepilot_cubeorange_bootloader.bin
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if [ -f $BL_FILE ]
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then
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if param compare SYS_BL_UPDATE 1
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then
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param set SYS_BL_UPDATE 0
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param save
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echo "BL update..."
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bl_update $BL_FILE
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echo "BL update done"
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reboot
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fi
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fi
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unset BL_FILE
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param set-default BAT_V_DIV 10.1
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param set-default BAT1_V_DIV 10.1
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Binary file not shown.
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@ -3,25 +3,5 @@
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# Holybro Durandal V1 specific board defaults
|
||||
#------------------------------------------------------------------------------
|
||||
|
||||
|
||||
#
|
||||
# Bootloader upgrade
|
||||
#
|
||||
set BL_FILE /etc/extras/holybro_durandal-v1_bootloader.bin
|
||||
if [ -f $BL_FILE ]
|
||||
then
|
||||
if param compare SYS_BL_UPDATE 1
|
||||
then
|
||||
param set SYS_BL_UPDATE 0
|
||||
param save
|
||||
echo "BL update..."
|
||||
bl_update $BL_FILE
|
||||
echo "BL update done"
|
||||
reboot
|
||||
fi
|
||||
fi
|
||||
unset BL_FILE
|
||||
|
||||
|
||||
# Enable IMU thermal control
|
||||
param set-default SENS_EN_THERMAL 1
|
||||
|
|
|
|||
Binary file not shown.
Binary file not shown.
Binary file not shown.
|
|
@ -3,25 +3,6 @@
|
|||
# board specific defaults
|
||||
#------------------------------------------------------------------------------
|
||||
|
||||
#
|
||||
# Bootloader upgrade
|
||||
#
|
||||
set BL_FILE /etc/extras/mro_ctrl-zero-h7-oem_bootloader.bin
|
||||
if [ -f $BL_FILE ]
|
||||
then
|
||||
if param compare SYS_BL_UPDATE 1
|
||||
then
|
||||
param set SYS_BL_UPDATE 0
|
||||
param save
|
||||
echo "BL update..."
|
||||
bl_update $BL_FILE
|
||||
echo "BL update done"
|
||||
reboot
|
||||
fi
|
||||
fi
|
||||
unset BL_FILE
|
||||
|
||||
|
||||
param set-default BAT_V_DIV 10.1
|
||||
param set-default BAT1_V_DIV 10.1
|
||||
|
||||
|
|
|
|||
|
|
@ -3,25 +3,6 @@
|
|||
# board specific defaults
|
||||
#------------------------------------------------------------------------------
|
||||
|
||||
#
|
||||
# Bootloader upgrade
|
||||
#
|
||||
set BL_FILE /etc/extras/mro_ctrl-zero-h7_bootloader.bin
|
||||
if [ -f $BL_FILE ]
|
||||
then
|
||||
if param compare SYS_BL_UPDATE 1
|
||||
then
|
||||
param set SYS_BL_UPDATE 0
|
||||
param save
|
||||
echo "BL update..."
|
||||
bl_update $BL_FILE
|
||||
echo "BL update done"
|
||||
reboot
|
||||
fi
|
||||
fi
|
||||
unset BL_FILE
|
||||
|
||||
|
||||
param set-default BAT_V_DIV 10.1
|
||||
param set-default BAT1_V_DIV 10.1
|
||||
|
||||
|
|
|
|||
|
|
@ -3,25 +3,6 @@
|
|||
# board specific defaults
|
||||
#------------------------------------------------------------------------------
|
||||
|
||||
#
|
||||
# Bootloader upgrade
|
||||
#
|
||||
set BL_FILE /etc/extras/mro_pixracerpro_bootloader.bin
|
||||
if [ -f $BL_FILE ]
|
||||
then
|
||||
if param compare SYS_BL_UPDATE 1
|
||||
then
|
||||
param set SYS_BL_UPDATE 0
|
||||
param save
|
||||
echo "BL update..."
|
||||
bl_update $BL_FILE
|
||||
echo "BL update done"
|
||||
reboot
|
||||
fi
|
||||
fi
|
||||
unset BL_FILE
|
||||
|
||||
|
||||
param set-default BAT_V_DIV 10.1
|
||||
param set-default BAT1_V_DIV 10.1
|
||||
|
||||
|
|
|
|||
Binary file not shown.
Binary file not shown.
|
|
@ -82,7 +82,7 @@ px4_add_board(
|
|||
vmount
|
||||
vtol_att_control
|
||||
SYSTEMCMDS
|
||||
bl_update
|
||||
#bl_update
|
||||
#dmesg
|
||||
dumpfile
|
||||
esc_calib
|
||||
|
|
|
|||
Binary file not shown.
|
|
@ -82,7 +82,7 @@ px4_add_board(
|
|||
vmount
|
||||
vtol_att_control
|
||||
SYSTEMCMDS
|
||||
bl_update
|
||||
#bl_update
|
||||
#dmesg
|
||||
dumpfile
|
||||
esc_calib
|
||||
|
|
|
|||
Binary file not shown.
Binary file not shown.
|
|
@ -8,7 +8,6 @@ px4_add_board(
|
|||
ARCHITECTURE cortex-m4
|
||||
CONSTRAINED_MEMORY
|
||||
ROMFSROOT px4fmu_common
|
||||
BOOTLOADER ${PX4_SOURCE_DIR}/ROMFS/px4fmu_common/extras/px4fmuv3_bl.bin
|
||||
IO px4_io-v2_default
|
||||
#TESTING
|
||||
#UAVCAN_INTERFACES 2
|
||||
|
|
|
|||
|
|
@ -1,23 +0,0 @@
|
|||
#!/bin/sh
|
||||
#
|
||||
# board specific defaults
|
||||
#------------------------------------------------------------------------------
|
||||
|
||||
|
||||
#
|
||||
# Bootloader upgrade
|
||||
#
|
||||
set BL_FILE /etc/extras/px4fmuv3_bl.bin
|
||||
if [ -f $BL_FILE ]
|
||||
then
|
||||
if param compare SYS_BL_UPDATE 1
|
||||
then
|
||||
param set SYS_BL_UPDATE 0
|
||||
param save
|
||||
echo "BL update..."
|
||||
bl_update $BL_FILE
|
||||
echo "BL update done"
|
||||
reboot
|
||||
fi
|
||||
fi
|
||||
unset BL_FILE
|
||||
Binary file not shown.
|
|
@ -1,23 +0,0 @@
|
|||
#!/bin/sh
|
||||
#
|
||||
# board specific defaults
|
||||
#------------------------------------------------------------------------------
|
||||
|
||||
|
||||
#
|
||||
# Bootloader upgrade
|
||||
#
|
||||
set BL_FILE /etc/extras/px4fmuv3_bl.bin
|
||||
if [ -f $BL_FILE ]
|
||||
then
|
||||
if param compare SYS_BL_UPDATE 1
|
||||
then
|
||||
param set SYS_BL_UPDATE 0
|
||||
param save
|
||||
echo "BL update..."
|
||||
bl_update $BL_FILE
|
||||
echo "BL update done"
|
||||
reboot
|
||||
fi
|
||||
fi
|
||||
unset BL_FILE
|
||||
BIN
ROMFS/px4fmu_common/extras/px4fmuv3_bl.bin → boards/px4/fmu-v4/bootloader/px4_fmu-v4_bootloader.bin
Executable file → Normal file
BIN
ROMFS/px4fmu_common/extras/px4fmuv3_bl.bin → boards/px4/fmu-v4/bootloader/px4_fmu-v4_bootloader.bin
Executable file → Normal file
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
|
|
@ -37,13 +37,13 @@ px4_add_board(
|
|||
imu/invensense/icm20602
|
||||
imu/invensense/icm42688p
|
||||
irlock
|
||||
lights/blinkm
|
||||
#lights/blinkm
|
||||
lights/rgbled
|
||||
lights/rgbled_ncp5623c
|
||||
magnetometer # all available magnetometer drivers
|
||||
optical_flow # all available optical flow drivers
|
||||
#osd
|
||||
pca9685
|
||||
#pca9685
|
||||
pca9685_pwm_out
|
||||
power_monitor/ina226
|
||||
#protocol_splitter
|
||||
|
|
|
|||
Binary file not shown.
Binary file not shown.
|
|
@ -48,7 +48,6 @@
|
|||
# [ ROMFSROOT <string> ]
|
||||
# [ BUILD_BOOTLOADER ]
|
||||
# [ IO <string> ]
|
||||
# [ BOOTLOADER <string> ]
|
||||
# [ UAVCAN_INTERFACES <string> ]
|
||||
# [ UAVCAN_PERIPHERALS <list> ]
|
||||
# [ DRIVERS <list> ]
|
||||
|
|
@ -74,7 +73,6 @@
|
|||
# ROMFSROOT : relative path to the ROMFS root directory
|
||||
# BUILD_BOOTLOADER : flag to enable building and including the bootloader config
|
||||
# IO : name of IO board to be built and included in the ROMFS (requires a valid ROMFSROOT)
|
||||
# BOOTLOADER : bootloader file to include for flashing via bl_update (currently NuttX only)
|
||||
# UAVCAN_INTERFACES : number of interfaces for UAVCAN
|
||||
# UAVCAN_PERIPHERALS : list of UAVCAN peripheral firmware to build and embed
|
||||
# DRIVERS : list of drivers to build for this board (relative to src/drivers)
|
||||
|
|
@ -148,7 +146,6 @@ function(px4_add_board)
|
|||
ARCHITECTURE
|
||||
ROMFSROOT
|
||||
IO
|
||||
BOOTLOADER
|
||||
UAVCAN_INTERFACES
|
||||
UAVCAN_TIMER_OVERRIDE
|
||||
LINKER_PREFIX
|
||||
|
|
@ -210,9 +207,6 @@ function(px4_add_board)
|
|||
|
||||
set(romfs_extra_files)
|
||||
set(config_romfs_extra_dependencies)
|
||||
if(BOOTLOADER)
|
||||
list(APPEND romfs_extra_files ${BOOTLOADER})
|
||||
endif()
|
||||
foreach(metadata ${EMBEDDED_METADATA})
|
||||
if(${metadata} STREQUAL "parameters")
|
||||
list(APPEND romfs_extra_files ${PX4_BINARY_DIR}/params.json.xz)
|
||||
|
|
|
|||
|
|
@ -64,10 +64,10 @@ if(config_build_bootloader)
|
|||
|
||||
ExternalProject_Get_Property(bootloader_firmware BINARY_DIR)
|
||||
|
||||
set(bootloader_exe "${BINARY_DIR}/${bootloader_config}.elf")
|
||||
set(bootloader_bin "${PX4_BINARY_DIR}/romfs_extras/${bootloader_config}.bin" CACHE FILEPATH "bootloader binary path")
|
||||
set(board_bootloader_firmware "${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} ${bootloader_exe})
|
||||
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}
|
||||
|
|
@ -77,4 +77,25 @@ if(config_build_bootloader)
|
|||
COMMENT "Copying ${bootloader_config} to ROMFS extras"
|
||||
)
|
||||
add_custom_target(copy_bootloader_bin DEPENDS ${bootloader_bin})
|
||||
|
||||
elseif(EXISTS "${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()
|
||||
|
|
|
|||
Loading…
Reference in New Issue