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px4-firmware
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cmake cleanup jlink flashing helpers

This commit is contained in:
Daniel Agar 2021-07-23 11:19:27 -04:00
parent 7846771c68
commit fe1eb8cd62
5 changed files with 84 additions and 61 deletions
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14
platforms/nuttx/CMakeLists.txt
View File

@ -206,6 +206,20 @@ add_custom_target(weak_symbols
USES_TERMINAL
)
# generate bootloader.elf and copy to top level build directory
if(EXISTS "${PX4_BOARD_DIR}/bootloader/${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
${PX4_BINARY_DIR}/${PX4_BOARD_VENDOR}_${PX4_BOARD_MODEL}_bootloader.elf
DEPENDS ${PX4_BOARD_DIR}/bootloader/${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}_${PX4_BOARD_MODEL}_bootloader.elf)
endif()
# debugger helpers
configure_file(${CMAKE_CURRENT_SOURCE_DIR}/Debug/gdbinit.in ${PX4_BINARY_DIR}/.gdbinit)

9
platforms/nuttx/Debug/flash_bootloader.jlink.in
View File

@ -1,9 +0,0 @@
Device @DEBUG_DEVICE@
eoe 1
si SWD
speed auto
r
h
loadbin @BOARD_BL_FIRMWARE_BIN@,0x08000000
go
qc

101
platforms/nuttx/cmake/jlink.cmake
View File

@ -31,11 +31,11 @@
#
############################################################################
# jlink_upload (flash binary)
find_program(JLinkGDBServerCLExe_PATH JLinkGDBServerCLExe
HINTS /Applications/SEGGER/JLink
)
if(JLinkGDBServerCLExe_PATH)
# jlink_upload (flash binary)
configure_file(${CMAKE_CURRENT_SOURCE_DIR}/Debug/jlink_gdb_start.sh.in ${PX4_BINARY_DIR}/jlink_gdb_start.sh @ONLY)
add_custom_target(jlink_upload
COMMAND ${PX4_BINARY_DIR}/jlink_gdb_start.sh
@ -47,6 +47,24 @@ if(JLinkGDBServerCLExe_PATH)
WORKING_DIRECTORY ${PX4_BINARY_DIR}
USES_TERMINAL
)
# jlink_upload_bootloader
# board directory supplied bootloader.bin
if(TARGET bootloader_elf)
# jlink_upload_bootloader
add_custom_target(jlink_upload_bootloader
COMMAND ${PX4_BINARY_DIR}/jlink_gdb_start.sh
COMMAND ${CMAKE_CURRENT_SOURCE_DIR}/Debug/upload_jlink_gdb.sh ${PX4_BINARY_DIR}/${PX4_BOARD_VENDOR}_${PX4_BOARD_MODEL}_bootloader.elf
DEPENDS
${PX4_BINARY_DIR}/${PX4_BOARD_VENDOR}_${PX4_BOARD_MODEL}_bootloader.elf
${PX4_BINARY_DIR}/jlink_gdb_start.sh
${CMAKE_CURRENT_SOURCE_DIR}/Debug/upload_jlink_gdb.sh
WORKING_DIRECTORY ${PX4_BINARY_DIR}
USES_TERMINAL
)
endif()
endif()
# jlink_debug_gdb (flash binary and run with gdb attached)
@ -82,54 +100,47 @@ if(Ozone_PATH)
)
endif()
if(bootloader_bin OR (EXISTS "${PX4_BOARD_DIR}/bootloader/${PX4_BOARD_VENDOR}_${PX4_BOARD_MODEL}_bootloader.bin"))
if(bootloader_bin)
set(BOARD_BL_FIRMWARE_BIN ${bootloader_bin})
else()
set(BOARD_BL_FIRMWARE_BIN ${PX4_BOARD_DIR}/bootloader/${PX4_BOARD_VENDOR}_${PX4_BOARD_MODEL}_bootloader.bin)
endif()
# jlink_upload_bootloader
if(JLinkGDBServerCLExe_PATH)
add_custom_target(jlink_upload_bootloader
COMMAND ${PX4_BINARY_DIR}/jlink_gdb_start.sh
COMMAND ${CMAKE_CURRENT_SOURCE_DIR}/Debug/upload_jlink_gdb.sh ${PX4_BINARY_DIR}/${PX4_BOARD_VENDOR}_${PX4_BOARD_MODEL}_bootloader.elf
DEPENDS
${PX4_BINARY_DIR}/${PX4_BOARD_VENDOR}_${PX4_BOARD_MODEL}_bootloader.elf
${PX4_BINARY_DIR}/jlink_gdb_start.sh
${CMAKE_CURRENT_SOURCE_DIR}/Debug/upload_jlink_gdb.sh
WORKING_DIRECTORY ${PX4_BINARY_DIR}
USES_TERMINAL
)
endif()
# .bin flashing
find_program(JLinkExe_PATH JLinkExe)
if(JLinkExe_PATH)
# jlink_flash_bootloader_bin
find_program(JLinkExe_PATH JLinkExe)
if(JLinkExe_PATH)
file(RELATIVE_PATH BOARD_BL_FIRMWARE_BIN ${PX4_BINARY_DIR} ${BOARD_BL_FIRMWARE_BIN})
if(bootloader_bin OR (EXISTS ${PX4_BOARD_DIR}/bootloader/${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}_${PX4_BOARD_MODEL}_bootloader.bin
)
endif()
configure_file(${CMAKE_CURRENT_SOURCE_DIR}/Debug/flash_bootloader.jlink.in ${PX4_BINARY_DIR}/flash_bootloader.jlink @ONLY)
add_custom_target(jlink_flash_bootloader_bin
COMMAND ${JLinkExe_PATH} -CommandFile ${PX4_BINARY_DIR}/flash_bootloader.jlink
COMMAND ${JLinkExe_PATH} -CommandFile ${PX4_BINARY_DIR}/flash_bootloader_bin.jlink
DEPENDS
px4
${CMAKE_CURRENT_SOURCE_DIR}/Debug/flash_bootloader.jlink.in
${PX4_BINARY_DIR}/${BOARD_FIRMWARE_BIN}
${PX4_SOURCE_DIR}/platforms/nuttx/Debug/flash_bin.jlink.in
WORKING_DIRECTORY ${PX4_BINARY_DIR}
USES_TERMINAL
)
endif()
endif()
if(uavcan_bl_image_name)
# jlink_flash_bootloader
find_program(JLinkExe_PATH JLinkExe)
if(JLinkExe_PATH)
set(BOARD_FIRMWARE_BIN ${PX4_BINARY_DIR}/${uavcan_bl_image_name})
# jlink_flash_bin
if(uavcan_bl_image_name)
# uavcan signed firmware
set(BOARD_FIRMWARE_BIN ${uavcan_bl_image_name})
set(BOARD_FIRMWARE_APP_OFFSET "0x08010000")
configure_file(${PX4_SOURCE_DIR}/platforms/nuttx/Debug/flash_bin.jlink.in ${PX4_BINARY_DIR}/flash_bin.jlink @ONLY)
add_custom_target(jlink_flash_uavcan_bin
add_custom_target(jlink_flash_bin
COMMAND ${JLinkExe_PATH} -CommandFile ${PX4_BINARY_DIR}/flash_bin.jlink
DEPENDS
${PX4_SOURCE_DIR}/platforms/nuttx/Debug/flash_bin.jlink.in
@ -137,5 +148,21 @@ if(uavcan_bl_image_name)
WORKING_DIRECTORY ${PX4_BINARY_DIR}
USES_TERMINAL
)
else()
# regular firmware ${PX4_BINARY_DIR}/${PX4_BOARD}.bin
set(BOARD_FIRMWARE_BIN ${PX4_BOARD}.bin)
set(BOARD_FIRMWARE_APP_OFFSET "0x08008000") # TODO: get from board
configure_file(${PX4_SOURCE_DIR}/platforms/nuttx/Debug/flash_bin.jlink.in ${PX4_BINARY_DIR}/flash_bin.jlink @ONLY)
add_custom_target(jlink_flash_bin
COMMAND ${CMAKE_COMMAND} -E echo "WARNING jlink_flash_bin currently assumes starting address ${BOARD_FIRMWARE_APP_OFFSET}"
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
WORKING_DIRECTORY ${PX4_BINARY_DIR}
USES_TERMINAL
)
endif()
endif()

6
src/drivers/px4io/CMakeLists.txt
View File

@ -58,12 +58,10 @@ ExternalProject_Add(px4io_firmware
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"
BUILD_BYPRODUCTS ${PX4_BINARY_DIR}/external/Build/px4io_firmware/${config_io_board}.elf
)
ExternalProject_Get_Property(px4io_firmware BINARY_DIR)
set(fw_io_exe "${BINARY_DIR}/${config_io_board}.elf")
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")
file(RELATIVE_PATH fw_io_exe_relative ${CMAKE_CURRENT_BINARY_DIR} ${fw_io_exe})

15
src/systemcmds/bl_update/CMakeLists.txt
View File

@ -70,7 +70,8 @@ if(config_build_bootloader)
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}
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} ${bootloader_bin_relative}
DEPENDS bootloader_firmware
@ -93,7 +94,8 @@ elseif(EXISTS "${PX4_BOARD_DIR}/bootloader/")
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}
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 ${board_bootloader_firmware}
@ -101,15 +103,6 @@ elseif(EXISTS "${PX4_BOARD_DIR}/bootloader/")
)
add_custom_target(copy_bootloader_bin DEPENDS ${bootloader_bin})
# generate bootloader.elf and copy to top level build directory
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 ${board_bootloader_firmware} ${PX4_BINARY_DIR}/${PX4_BOARD_VENDOR}_${PX4_BOARD_MODEL}_bootloader.elf
DEPENDS ${board_bootloader_firmware}
WORKING_DIRECTORY ${PX4_BINARY_DIR}
)
add_custom_target(bootloader_elf DEPENDS ${PX4_BINARY_DIR}/${PX4_BOARD_VENDOR}_${PX4_BOARD_MODEL}_bootloader.elf)
else()
file(GLOB bootloader_bin_files ${PX4_BOARD_DIR}/bootloader/*.bin)
foreach(bin_file ${bootloader_bin_files})