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dagardagar
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ROMFS: only copy bootloader binary if systemcmds/bl_update included
1 parent d5e1f0f commit 6ec2b90

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21 files changed

+21
-35
lines changed

21 files changed

+21
-35
lines changed

‎ROMFS/CMakeLists.txt

+18-5
Original file line numberDiff line numberDiff line change
@@ -137,11 +137,6 @@ add_custom_command(
137137
COMMENT "ROMFS: copying, generating airframes"
138138
)
139139

140-
if(EXISTS ${PX4_BOARD_DIR}/extras/${PX4_BOARD_VENDOR}_${PX4_BOARD_MODEL}_bootloader.bin)
141-
set(BOARD_FIRMWARE_BIN "${PX4_BOARD_VENDOR}_${PX4_BOARD_MODEL}_bootloader.bin")
142-
configure_file(${PX4_SOURCE_DIR}/platforms/nuttx/init/rc.board_bootloader_upgrade.in ${romfs_gen_root_dir}/init.d/rc.board_bootloader_upgrade @ONLY)
143-
endif()
144-
145140
# copy extras into ROMFS
146141
set(extras_dependencies)
147142

@@ -208,6 +203,24 @@ endforeach()
208203
set(OPTIONAL_BOARD_EXTRAS)
209204
file(GLOB OPTIONAL_BOARD_EXTRAS ${PX4_BOARD_DIR}/extras/*)
210205

206+
# bootloader (optional)
207+
# - if systemcmds/bl_update included and board bootloader available then generate rc.board_bootloader_upgrade and copy bootloader binary
208+
# - otherwise remove bootloader binary from extras in final ROMFS
209+
foreach(board_extra_file ${OPTIONAL_BOARD_EXTRAS})
210+
file(RELATIVE_PATH extra_file_base_name ${PX4_BOARD_DIR}/extras/ ${board_extra_file})
211+
if(${extra_file_base_name} MATCHES "${PX4_BOARD_VENDOR}_${PX4_BOARD_MODEL}_bootloader.bin")
212+
if(CONFIG_SYSTEMCMDS_BL_UPDATE)
213+
# generate rc.board_bootloader_upgrade
214+
set(BOARD_FIRMWARE_BIN "${PX4_BOARD_VENDOR}_${PX4_BOARD_MODEL}_bootloader.bin")
215+
configure_file(${PX4_SOURCE_DIR}/platforms/nuttx/init/rc.board_bootloader_upgrade.in ${romfs_gen_root_dir}/init.d/rc.board_bootloader_upgrade @ONLY)
216+
else()
217+
# remove bootloader from extras
218+
list(REMOVE_ITEM OPTIONAL_BOARD_EXTRAS ${board_extra_file})
219+
endif()
220+
221+
endif()
222+
endforeach()
223+
211224
foreach(board_extra_file ${OPTIONAL_BOARD_EXTRAS})
212225

213226
if(EXISTS "${board_extra_file}")

‎boards/ark/fmu-v6x/default.px4board

-1
Original file line numberDiff line numberDiff line change
@@ -67,7 +67,6 @@ CONFIG_MODULES_ROVER_POS_CONTROL=y
6767
CONFIG_MODULES_SENSORS=y
6868
CONFIG_MODULES_VTOL_ATT_CONTROL=y
6969
CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
70-
CONFIG_SYSTEMCMDS_BL_UPDATE=y
7170
CONFIG_SYSTEMCMDS_BSONDUMP=y
7271
CONFIG_SYSTEMCMDS_DMESG=y
7372
CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y

‎boards/cuav/nora/default.px4board

-2
Original file line numberDiff line numberDiff line change
@@ -30,7 +30,6 @@ CONFIG_DRIVERS_PCA9685_PWM_OUT=y
3030
CONFIG_DRIVERS_POWER_MONITOR_INA226=y
3131
CONFIG_DRIVERS_PWM_OUT=y
3232
CONFIG_DRIVERS_RC_INPUT=y
33-
CONFIG_DRIVERS_ROBOCLAW=y
3433
CONFIG_DRIVERS_SAFETY_BUTTON=y
3534
CONFIG_DRIVERS_SMART_BATTERY_BATMON=y
3635
CONFIG_COMMON_TELEMETRY=y
@@ -76,7 +75,6 @@ CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
7675
CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
7776
CONFIG_MODULES_VTOL_ATT_CONTROL=y
7877
CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
79-
CONFIG_SYSTEMCMDS_BL_UPDATE=y
8078
CONFIG_SYSTEMCMDS_BSONDUMP=y
8179
CONFIG_SYSTEMCMDS_DMESG=y
8280
CONFIG_SYSTEMCMDS_DUMPFILE=y

‎boards/cuav/x7pro/default.px4board

-2
Original file line numberDiff line numberDiff line change
@@ -31,7 +31,6 @@ CONFIG_DRIVERS_PCA9685_PWM_OUT=y
3131
CONFIG_DRIVERS_POWER_MONITOR_INA226=y
3232
CONFIG_DRIVERS_PWM_OUT=y
3333
CONFIG_DRIVERS_RC_INPUT=y
34-
CONFIG_DRIVERS_ROBOCLAW=y
3534
CONFIG_DRIVERS_SAFETY_BUTTON=y
3635
CONFIG_DRIVERS_SMART_BATTERY_BATMON=y
3736
CONFIG_COMMON_TELEMETRY=y
@@ -77,7 +76,6 @@ CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
7776
CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
7877
CONFIG_MODULES_VTOL_ATT_CONTROL=y
7978
CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
80-
CONFIG_SYSTEMCMDS_BL_UPDATE=y
8179
CONFIG_SYSTEMCMDS_BSONDUMP=y
8280
CONFIG_SYSTEMCMDS_DMESG=y
8381
CONFIG_SYSTEMCMDS_DUMPFILE=y

‎boards/cuav/x7pro/test.px4board

+1
Original file line numberDiff line numberDiff line change
@@ -9,4 +9,5 @@ CONFIG_MODULES_LOCAL_POSITION_ESTIMATOR=n
99
CONFIG_MODULES_ROVER_POS_CONTROL=n
1010
CONFIG_BOARD_TESTING=y
1111
CONFIG_DRIVERS_TEST_PPM=y
12+
CONFIG_SYSTEMCMDS_BL_UPDATE=y
1213
CONFIG_SYSTEMCMDS_MICROBENCH=y

‎boards/cubepilot/cubeorange/default.px4board

-1
Original file line numberDiff line numberDiff line change
@@ -69,7 +69,6 @@ CONFIG_MODULES_SENSORS=y
6969
CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
7070
CONFIG_MODULES_VTOL_ATT_CONTROL=y
7171
CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
72-
CONFIG_SYSTEMCMDS_BL_UPDATE=y
7372
CONFIG_SYSTEMCMDS_BSONDUMP=y
7473
CONFIG_SYSTEMCMDS_DMESG=y
7574
CONFIG_SYSTEMCMDS_GPIO=y

‎boards/cubepilot/cubeorange/test.px4board

+1
Original file line numberDiff line numberDiff line change
@@ -6,6 +6,7 @@ CONFIG_DRIVERS_UAVCAN=n
66
CONFIG_MODULES_TEMPERATURE_COMPENSATION=n
77
CONFIG_BOARD_TESTING=y
88
CONFIG_DRIVERS_TEST_PPM=y
9+
CONFIG_SYSTEMCMDS_BL_UPDATE=y
910
CONFIG_SYSTEMCMDS_MICROBENCH=y
1011
CONFIG_SYSTEMCMDS_SD_BENCH=y
1112
CONFIG_SYSTEMCMDS_SD_STRESS=y

‎boards/cubepilot/cubeorangeplus/default.px4board

-1
Original file line numberDiff line numberDiff line change
@@ -69,7 +69,6 @@ CONFIG_MODULES_SENSORS=y
6969
CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
7070
CONFIG_MODULES_VTOL_ATT_CONTROL=y
7171
CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
72-
CONFIG_SYSTEMCMDS_BL_UPDATE=y
7372
CONFIG_SYSTEMCMDS_BSONDUMP=y
7473
CONFIG_SYSTEMCMDS_DMESG=y
7574
CONFIG_SYSTEMCMDS_GPIO=y

‎boards/cubepilot/cubeorangeplus/test.px4board

+1-1
Original file line numberDiff line numberDiff line change
@@ -3,9 +3,9 @@ CONFIG_DRIVERS_IMU_ANALOG_DEVICES_ADIS16448=n
33
CONFIG_DRIVERS_IRLOCK=n
44
CONFIG_DRIVERS_PCA9685_PWM_OUT=n
55
CONFIG_DRIVERS_UAVCAN=n
6-
CONFIG_MODULES_ROVER_POS_CONTROL=n
76
CONFIG_MODULES_TEMPERATURE_COMPENSATION=n
87
CONFIG_BOARD_TESTING=y
98
CONFIG_DRIVERS_TEST_PPM=y
9+
CONFIG_SYSTEMCMDS_BL_UPDATE=y
1010
CONFIG_SYSTEMCMDS_MICROBENCH=y
1111
CONFIG_SYSTEMCMDS_SD_STRESS=y

‎boards/holybro/durandal-v1/default.px4board

-2
Original file line numberDiff line numberDiff line change
@@ -27,7 +27,6 @@ CONFIG_DRIVERS_PCA9685_PWM_OUT=y
2727
CONFIG_DRIVERS_POWER_MONITOR_INA226=y
2828
CONFIG_DRIVERS_PWM_OUT=y
2929
CONFIG_DRIVERS_PX4IO=y
30-
CONFIG_DRIVERS_ROBOCLAW=y
3130
CONFIG_DRIVERS_SMART_BATTERY_BATMON=y
3231
CONFIG_COMMON_TELEMETRY=y
3332
CONFIG_DRIVERS_TONE_ALARM=y
@@ -69,7 +68,6 @@ CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
6968
CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
7069
CONFIG_MODULES_VTOL_ATT_CONTROL=y
7170
CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
72-
CONFIG_SYSTEMCMDS_BL_UPDATE=y
7371
CONFIG_SYSTEMCMDS_BSONDUMP=y
7472
CONFIG_SYSTEMCMDS_DMESG=y
7573
CONFIG_SYSTEMCMDS_GPIO=y

‎boards/holybro/kakuteh7/default.px4board

-2
Original file line numberDiff line numberDiff line change
@@ -22,7 +22,6 @@ CONFIG_COMMON_OPTICAL_FLOW=y
2222
CONFIG_DRIVERS_POWER_MONITOR_INA226=y
2323
CONFIG_DRIVERS_PWM_OUT=y
2424
CONFIG_DRIVERS_RC_INPUT=y
25-
CONFIG_DRIVERS_ROBOCLAW=y
2625
CONFIG_DRIVERS_SMART_BATTERY_BATMON=y
2726
CONFIG_COMMON_TELEMETRY=y
2827
CONFIG_DRIVERS_TONE_ALARM=y
@@ -66,7 +65,6 @@ CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
6665
CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
6766
CONFIG_MODULES_VTOL_ATT_CONTROL=y
6867
CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
69-
CONFIG_SYSTEMCMDS_BL_UPDATE=y
7068
CONFIG_SYSTEMCMDS_BSONDUMP=y
7169
CONFIG_SYSTEMCMDS_DMESG=y
7270
CONFIG_SYSTEMCMDS_DUMPFILE=y

‎boards/holybro/kakuteh7mini/default.px4board

-2
Original file line numberDiff line numberDiff line change
@@ -21,7 +21,6 @@ CONFIG_COMMON_OPTICAL_FLOW=y
2121
CONFIG_DRIVERS_POWER_MONITOR_INA226=y
2222
CONFIG_DRIVERS_PWM_OUT=y
2323
CONFIG_DRIVERS_RC_INPUT=y
24-
CONFIG_DRIVERS_ROBOCLAW=y
2524
CONFIG_DRIVERS_SMART_BATTERY_BATMON=y
2625
CONFIG_COMMON_TELEMETRY=y
2726
CONFIG_DRIVERS_TONE_ALARM=y
@@ -64,7 +63,6 @@ CONFIG_MODULES_SIMULATION_PWM_OUT_SIM=y
6463
CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
6564
CONFIG_MODULES_VTOL_ATT_CONTROL=y
6665
CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
67-
CONFIG_SYSTEMCMDS_BL_UPDATE=y
6866
CONFIG_SYSTEMCMDS_DMESG=y
6967
CONFIG_SYSTEMCMDS_DUMPFILE=y
7068
CONFIG_SYSTEMCMDS_GPIO=y

‎boards/holybro/kakuteh7v2/default.px4board

-2
Original file line numberDiff line numberDiff line change
@@ -22,7 +22,6 @@ CONFIG_COMMON_OPTICAL_FLOW=y
2222
CONFIG_DRIVERS_POWER_MONITOR_INA226=y
2323
CONFIG_DRIVERS_PWM_OUT=y
2424
CONFIG_DRIVERS_RC_INPUT=y
25-
CONFIG_DRIVERS_ROBOCLAW=y
2625
CONFIG_DRIVERS_SMART_BATTERY_BATMON=y
2726
CONFIG_COMMON_TELEMETRY=y
2827
CONFIG_DRIVERS_TONE_ALARM=y
@@ -66,7 +65,6 @@ CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
6665
CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
6766
CONFIG_MODULES_VTOL_ATT_CONTROL=y
6867
CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
69-
CONFIG_SYSTEMCMDS_BL_UPDATE=y
7068
CONFIG_SYSTEMCMDS_DMESG=y
7169
CONFIG_SYSTEMCMDS_DUMPFILE=y
7270
CONFIG_SYSTEMCMDS_GPIO=y

‎boards/modalai/fc-v2/default.px4board

-2
Original file line numberDiff line numberDiff line change
@@ -29,7 +29,6 @@ CONFIG_DRIVERS_POWER_MONITOR_INA226=y
2929
CONFIG_DRIVERS_POWER_MONITOR_VOXLPM=y
3030
CONFIG_DRIVERS_PWM_OUT=y
3131
CONFIG_DRIVERS_RC_INPUT=y
32-
CONFIG_DRIVERS_ROBOCLAW=y
3332
CONFIG_COMMON_TELEMETRY=y
3433
CONFIG_DRIVERS_UAVCAN=y
3534
CONFIG_BOARD_UAVCAN_INTERFACES=1
@@ -71,7 +70,6 @@ CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
7170
CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
7271
CONFIG_MODULES_VTOL_ATT_CONTROL=y
7372
CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
74-
CONFIG_SYSTEMCMDS_BL_UPDATE=y
7573
CONFIG_SYSTEMCMDS_BSONDUMP=y
7674
CONFIG_SYSTEMCMDS_DMESG=y
7775
CONFIG_SYSTEMCMDS_GPIO=y

‎boards/mro/ctrl-zero-classic/default.px4board

-2
Original file line numberDiff line numberDiff line change
@@ -25,7 +25,6 @@ CONFIG_DRIVERS_PCA9685_PWM_OUT=y
2525
CONFIG_DRIVERS_POWER_MONITOR_INA226=y
2626
CONFIG_DRIVERS_PWM_OUT=y
2727
CONFIG_DRIVERS_RC_INPUT=y
28-
CONFIG_DRIVERS_ROBOCLAW=y
2928
CONFIG_DRIVERS_SMART_BATTERY_BATMON=y
3029
CONFIG_COMMON_TELEMETRY=y
3130
CONFIG_DRIVERS_TONE_ALARM=y
@@ -72,7 +71,6 @@ CONFIG_MODULES_UUV_ATT_CONTROL=y
7271
CONFIG_MODULES_UUV_POS_CONTROL=y
7372
CONFIG_MODULES_VTOL_ATT_CONTROL=y
7473
CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
75-
CONFIG_SYSTEMCMDS_BL_UPDATE=y
7674
CONFIG_SYSTEMCMDS_BSONDUMP=y
7775
CONFIG_SYSTEMCMDS_DMESG=y
7876
CONFIG_SYSTEMCMDS_DUMPFILE=y

‎boards/mro/ctrl-zero-h7-oem/default.px4board

-2
Original file line numberDiff line numberDiff line change
@@ -25,7 +25,6 @@ CONFIG_DRIVERS_PCA9685_PWM_OUT=y
2525
CONFIG_DRIVERS_POWER_MONITOR_INA226=y
2626
CONFIG_DRIVERS_PWM_OUT=y
2727
CONFIG_DRIVERS_RC_INPUT=y
28-
CONFIG_DRIVERS_ROBOCLAW=y
2928
CONFIG_DRIVERS_SMART_BATTERY_BATMON=y
3029
CONFIG_COMMON_TELEMETRY=y
3130
CONFIG_DRIVERS_TONE_ALARM=y
@@ -70,7 +69,6 @@ CONFIG_MODULES_UUV_ATT_CONTROL=y
7069
CONFIG_MODULES_UUV_POS_CONTROL=y
7170
CONFIG_MODULES_VTOL_ATT_CONTROL=y
7271
CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
73-
CONFIG_SYSTEMCMDS_BL_UPDATE=y
7472
CONFIG_SYSTEMCMDS_BSONDUMP=y
7573
CONFIG_SYSTEMCMDS_DMESG=y
7674
CONFIG_SYSTEMCMDS_DUMPFILE=y

‎boards/mro/ctrl-zero-h7/default.px4board

-2
Original file line numberDiff line numberDiff line change
@@ -25,7 +25,6 @@ CONFIG_DRIVERS_PCA9685_PWM_OUT=y
2525
CONFIG_DRIVERS_POWER_MONITOR_INA226=y
2626
CONFIG_DRIVERS_PWM_OUT=y
2727
CONFIG_DRIVERS_RC_INPUT=y
28-
CONFIG_DRIVERS_ROBOCLAW=y
2928
CONFIG_DRIVERS_SMART_BATTERY_BATMON=y
3029
CONFIG_COMMON_TELEMETRY=y
3130
CONFIG_DRIVERS_TONE_ALARM=y
@@ -71,7 +70,6 @@ CONFIG_MODULES_UUV_ATT_CONTROL=y
7170
CONFIG_MODULES_UUV_POS_CONTROL=y
7271
CONFIG_MODULES_VTOL_ATT_CONTROL=y
7372
CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
74-
CONFIG_SYSTEMCMDS_BL_UPDATE=y
7573
CONFIG_SYSTEMCMDS_BSONDUMP=y
7674
CONFIG_SYSTEMCMDS_DMESG=y
7775
CONFIG_SYSTEMCMDS_DUMPFILE=y

‎boards/mro/pixracerpro/default.px4board

-2
Original file line numberDiff line numberDiff line change
@@ -25,7 +25,6 @@ CONFIG_DRIVERS_PCA9685_PWM_OUT=y
2525
CONFIG_DRIVERS_POWER_MONITOR_INA226=y
2626
CONFIG_DRIVERS_PWM_OUT=y
2727
CONFIG_DRIVERS_RC_INPUT=y
28-
CONFIG_DRIVERS_ROBOCLAW=y
2928
CONFIG_DRIVERS_SMART_BATTERY_BATMON=y
3029
CONFIG_COMMON_TELEMETRY=y
3130
CONFIG_DRIVERS_TONE_ALARM=y
@@ -70,7 +69,6 @@ CONFIG_MODULES_UUV_ATT_CONTROL=y
7069
CONFIG_MODULES_UUV_POS_CONTROL=y
7170
CONFIG_MODULES_VTOL_ATT_CONTROL=y
7271
CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
73-
CONFIG_SYSTEMCMDS_BL_UPDATE=y
7472
CONFIG_SYSTEMCMDS_BSONDUMP=y
7573
CONFIG_SYSTEMCMDS_DMESG=y
7674
CONFIG_SYSTEMCMDS_DUMPFILE=y

‎boards/px4/fmu-v6c/default.px4board

-1
Original file line numberDiff line numberDiff line change
@@ -68,7 +68,6 @@ CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
6868
CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
6969
CONFIG_MODULES_VTOL_ATT_CONTROL=y
7070
CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
71-
CONFIG_SYSTEMCMDS_BL_UPDATE=y
7271
CONFIG_SYSTEMCMDS_BSONDUMP=y
7372
CONFIG_SYSTEMCMDS_DMESG=y
7473
CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y

‎boards/px4/fmu-v6u/default.px4board

-2
Original file line numberDiff line numberDiff line change
@@ -28,7 +28,6 @@ CONFIG_DRIVERS_PCA9685_PWM_OUT=y
2828
CONFIG_DRIVERS_POWER_MONITOR_INA226=y
2929
CONFIG_DRIVERS_PWM_OUT=y
3030
CONFIG_DRIVERS_RC_INPUT=y
31-
CONFIG_DRIVERS_ROBOCLAW=y
3231
CONFIG_DRIVERS_SAFETY_BUTTON=y
3332
CONFIG_DRIVERS_SMART_BATTERY_BATMON=y
3433
CONFIG_COMMON_TELEMETRY=y
@@ -73,7 +72,6 @@ CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
7372
CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
7473
CONFIG_MODULES_VTOL_ATT_CONTROL=y
7574
CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
76-
CONFIG_SYSTEMCMDS_BL_UPDATE=y
7775
CONFIG_SYSTEMCMDS_BSONDUMP=y
7876
CONFIG_SYSTEMCMDS_DMESG=y
7977
CONFIG_SYSTEMCMDS_DUMPFILE=y

‎boards/px4/fmu-v6x/default.px4board

-1
Original file line numberDiff line numberDiff line change
@@ -73,7 +73,6 @@ CONFIG_MODULES_SENSORS=y
7373
CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
7474
CONFIG_MODULES_VTOL_ATT_CONTROL=y
7575
CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
76-
CONFIG_SYSTEMCMDS_BL_UPDATE=y
7776
CONFIG_SYSTEMCMDS_BSONDUMP=y
7877
CONFIG_SYSTEMCMDS_DMESG=y
7978
CONFIG_SYSTEMCMDS_GPIO=y

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