zrzk
/
px4_autopilot
1
0
Fork 0
Code Issues Pull Requests Projects Releases Wiki Activity
Browse Source

Jenkins: HIL flash bootloaders 

- add new jlink_upload_bootloader helper target
master
Daniel Agar 4 years ago committed by GitHub
parent
4c59997ff4
commit
d79eea0c41
No known key found for this signature in database
GPG Key ID: 4AEE18F83AFDEB23
7 changed files with 80 additions and 24 deletions
Whitespace
Show all changes Ignore whitespace when comparing lines Ignore changes in amount of whitespace Ignore changes in whitespace at EOL
Split View
Diff Options
Show Stats Download Patch File Download Diff File
  1. 44
      .ci/Jenkinsfile-hardware
  2. 2
      boards/px4/fmu-v5/debug.cmake
  3. 2
      boards/px4/fmu-v5/optimized.cmake
  4. 2
      boards/px4/fmu-v5/stackcheck.cmake
  5. 4
      platforms/nuttx/CMakeLists.txt
  6. 32
      platforms/nuttx/cmake/jlink.cmake
  7. 18
      src/systemcmds/bl_update/CMakeLists.txt

44
.ci/Jenkinsfile-hardware
Unescape View File

@ -23,6 +23,7 @@ pipeline { @@ -23,6 +23,7 @@ pipeline {
sh 'ccache -s'
sh 'git fetch --tags'
sh 'make cubepilot_cubeorange_test'
sh 'make cubepilot_cubeorange_test bootloader_elf'
sh 'ccache -s'
stash includes: 'build/*/*.elf, platforms/nuttx/Debug/upload_jlink_gdb.sh, Tools/HIL/*.py', name: 'cubepilot_cubeorange_test'
}
@ -32,7 +33,7 @@ pipeline { @@ -32,7 +33,7 @@ pipeline {
}
}
} // stage build
stage("test") {
stage("hardware") {
agent {
label 'cubepilot_cubeorange'
}
@ -42,6 +43,7 @@ pipeline { @@ -42,6 +43,7 @@ pipeline {
sh 'export'
sh 'find /dev/serial'
unstash 'cubepilot_cubeorange_test'
sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/cubepilot_cubeorange_test/cubepilot_cubeorange_bootloader.elf'
// flash board and watch bootup
sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/cubepilot_cubeorange_test/cubepilot_cubeorange_test.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
}
@ -91,6 +93,7 @@ pipeline { @@ -91,6 +93,7 @@ pipeline {
sh 'ccache -s'
sh 'git fetch --tags'
sh 'make cuav_x7pro_test'
sh 'make cuav_x7pro_test bootloader_elf'
sh 'ccache -s'
stash includes: 'build/*/*.elf, platforms/nuttx/Debug/upload_jlink_gdb.sh, Tools/HIL/*.py', name: 'cuav_x7pro_test'
}
@ -100,7 +103,7 @@ pipeline { @@ -100,7 +103,7 @@ pipeline {
}
}
} // stage build
stage("test") {
stage("hardware") {
agent {
label 'cuav_x7pro'
}
@ -110,6 +113,7 @@ pipeline { @@ -110,6 +113,7 @@ pipeline {
sh 'export'
sh 'find /dev/serial'
unstash 'cuav_x7pro_test'
sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/cuav_x7pro_test/cuav_x7pro_bootloader.elf'
// flash board and watch bootup
sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/cuav_x7pro_test/cuav_x7pro_test.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
}
@ -157,6 +161,7 @@ pipeline { @@ -157,6 +161,7 @@ pipeline {
sh 'ccache -s'
sh 'git fetch --tags'
sh 'make px4_fmu-v3_test'
sh 'make px4_fmu-v3_test bootloader_elf'
sh 'ccache -s'
stash includes: 'build/*/*.elf, platforms/nuttx/Debug/upload_jlink_gdb.sh, Tools/HIL/*.py', name: 'px4_fmu-v3_test'
}
@ -166,7 +171,7 @@ pipeline { @@ -166,7 +171,7 @@ pipeline {
}
}
} // stage build
stage("test") {
stage("hardware") {
agent {
label 'px4_fmu-v3'
}
@ -176,6 +181,7 @@ pipeline { @@ -176,6 +181,7 @@ pipeline {
sh 'export'
sh 'find /dev/serial'
unstash 'px4_fmu-v3_test'
sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v3_test/px4_fmu-v3_bootloader.elf'
// flash board and watch bootup
sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v3_test/px4_fmu-v3_test.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
}
@ -224,6 +230,7 @@ pipeline { @@ -224,6 +230,7 @@ pipeline {
sh 'ccache -s'
sh 'git fetch --tags'
sh 'make px4_fmu-v4_test'
sh 'make px4_fmu-v4_test bootloader_elf'
sh 'ccache -s'
stash includes: 'build/*/*.elf, platforms/nuttx/Debug/upload_jlink_gdb.sh, Tools/HIL/*.py', name: 'px4_fmu-v4_test'
}
@ -233,7 +240,7 @@ pipeline { @@ -233,7 +240,7 @@ pipeline {
}
}
} // stage build
stage("test") {
stage("hardware") {
agent {
label 'px4_fmu-v4'
}
@ -243,6 +250,7 @@ pipeline { @@ -243,6 +250,7 @@ pipeline {
sh 'export'
sh 'find /dev/serial'
unstash 'px4_fmu-v4_test'
sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v4_test/px4_fmu-v4_bootloader.elf'
// flash board and watch bootup
sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v4_test/px4_fmu-v4_test.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
}
@ -289,6 +297,7 @@ pipeline { @@ -289,6 +297,7 @@ pipeline {
sh 'ccache -s'
sh 'git fetch --tags'
sh 'make px4_fmu-v4pro_test'
sh 'make px4_fmu-v4pro_test bootloader_elf'
sh 'ccache -s'
stash includes: 'build/*/*.elf, platforms/nuttx/Debug/upload_jlink_gdb.sh, Tools/HIL/*.py', name: 'px4_fmu-v4pro_test'
}
@ -298,7 +307,7 @@ pipeline { @@ -298,7 +307,7 @@ pipeline {
}
}
} // stage build
stage("test") {
stage("hardware") {
agent {
label 'px4_fmu-v4pro'
}
@ -308,6 +317,7 @@ pipeline { @@ -308,6 +317,7 @@ pipeline {
sh 'export'
sh 'find /dev/serial'
unstash 'px4_fmu-v4pro_test'
sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v4pro_test/px4_fmu-v4pro_bootloader.elf'
// flash board and watch bootup
sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v4pro_test/px4_fmu-v4pro_test.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
}
@ -355,6 +365,7 @@ pipeline { @@ -355,6 +365,7 @@ pipeline {
sh 'ccache -s'
sh 'git fetch --tags'
sh 'make px4_fmu-v5_debug'
sh 'make px4_fmu-v5_debug bootloader_elf'
sh 'ccache -s'
stash includes: 'build/*/*.elf, platforms/nuttx/Debug/upload_jlink_gdb.sh, Tools/HIL/*.py', name: 'px4_fmu-v5_debug'
}
@ -364,7 +375,7 @@ pipeline { @@ -364,7 +375,7 @@ pipeline {
}
}
} // stage build
stage("test") {
stage("hardware") {
agent {
label 'px4_fmu-v5'
}
@ -379,6 +390,7 @@ pipeline { @@ -379,6 +390,7 @@ pipeline {
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set MAV_0_CONFIG 0" || true' // limit cpu usage
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set MAV_1_CONFIG 0" || true' // limit cpu usage
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param save" || true'
sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v5_debug/px4_fmu-v5_bootloader.elf'
// flash board and watch bootup
sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v5_debug/px4_fmu-v5_debug.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
}
@ -430,6 +442,7 @@ pipeline { @@ -430,6 +442,7 @@ pipeline {
sh 'ccache -s'
sh 'git fetch --tags'
sh 'make px4_fmu-v5_optimized'
sh 'make px4_fmu-v5_optimized bootloader_elf'
sh 'ccache -s'
stash includes: 'build/*/*.elf, platforms/nuttx/Debug/upload_jlink_gdb.sh, Tools/HIL/*.py', name: 'px4_fmu-v5_optimized'
}
@ -439,7 +452,7 @@ pipeline { @@ -439,7 +452,7 @@ pipeline {
}
}
} // stage build
stage("test") {
stage("hardware") {
agent {
label 'px4_fmu-v5'
}
@ -449,6 +462,7 @@ pipeline { @@ -449,6 +462,7 @@ pipeline {
sh 'export'
sh 'find /dev/serial'
unstash 'px4_fmu-v5_optimized'
sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v5_optimized/px4_fmu-v5_bootloader.elf'
// flash board and watch bootup
sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v5_optimized/px4_fmu-v5_optimized.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
}
@ -496,6 +510,7 @@ pipeline { @@ -496,6 +510,7 @@ pipeline {
sh 'ccache -s'
sh 'git fetch --tags'
sh 'make px4_fmu-v5_stackcheck'
sh 'make px4_fmu-v5_stackcheck bootloader_elf'
sh 'ccache -s'
stash includes: 'build/*/*.elf, platforms/nuttx/Debug/upload_jlink_gdb.sh, Tools/HIL/*.py', name: 'px4_fmu-v5_stackcheck'
}
@ -505,7 +520,7 @@ pipeline { @@ -505,7 +520,7 @@ pipeline {
}
}
} // stage build
stage("test") {
stage("hardware") {
agent {
label 'px4_fmu-v5'
}
@ -520,6 +535,7 @@ pipeline { @@ -520,6 +535,7 @@ pipeline {
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set MAV_0_CONFIG 0" || true' // limit cpu usage
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set MAV_1_CONFIG 0" || true' // limit cpu usage
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param save" || true'
sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v5_stackcheck/px4_fmu-v5_bootloader.elf'
// flash board and watch bootup
sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v5_stackcheck/px4_fmu-v5_stackcheck.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
}
@ -571,6 +587,7 @@ pipeline { @@ -571,6 +587,7 @@ pipeline {
sh 'ccache -s'
sh 'git fetch --tags'
sh 'make px4_fmu-v5_test'
sh 'make px4_fmu-v5_test bootloader_elf'
sh 'ccache -s'
stash includes: 'build/*/*.elf, platforms/nuttx/Debug/upload_jlink_gdb.sh, Tools/HIL/*.py', name: 'px4_fmu-v5_test'
}
@ -580,7 +597,7 @@ pipeline { @@ -580,7 +597,7 @@ pipeline {
}
}
} // stage build
stage("test") {
stage("hardware") {
agent {
label 'px4_fmu-v5'
}
@ -590,6 +607,7 @@ pipeline { @@ -590,6 +607,7 @@ pipeline {
sh 'export'
sh 'find /dev/serial'
unstash 'px4_fmu-v5_test'
sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v5_test/px4_fmu-v5_bootloader.elf'
// flash board and watch bootup
sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v5_test/px4_fmu-v5_test.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
}
@ -637,6 +655,7 @@ pipeline { @@ -637,6 +655,7 @@ pipeline {
sh 'ccache -s'
sh 'git fetch --tags'
sh 'make modalai_fc-v1_test'
sh 'make modalai_fc-v1_test bootloader_elf'
sh 'ccache -s'
stash includes: 'build/*/*.elf, platforms/nuttx/Debug/upload_jlink_gdb.sh, Tools/HIL/*.py', name: 'modalai_fc-v1_test'
}
@ -646,7 +665,7 @@ pipeline { @@ -646,7 +665,7 @@ pipeline {
}
}
} // stage build
stage("test") {
stage("hardware") {
agent {
label 'modalai_fc-v1'
}
@ -656,6 +675,7 @@ pipeline { @@ -656,6 +675,7 @@ pipeline {
sh 'export'
sh 'find /dev/serial'
unstash 'modalai_fc-v1_test'
sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/modalai_fc-v1_test/modalai_fc-v1_bootloader.elf'
// flash board and watch bootup
sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/modalai_fc-v1_test/modalai_fc-v1_test.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
}
@ -702,6 +722,7 @@ pipeline { @@ -702,6 +722,7 @@ pipeline {
sh 'ccache -s'
sh 'git fetch --tags'
sh 'make nxp_fmuk66-v3_test'
//sh 'make nxp_fmuk66-v3_test bootloader_elf'
sh 'ccache -s'
stash includes: 'build/*/*.elf, platforms/nuttx/Debug/upload_jlink_gdb.sh, Tools/HIL/*.py', name: 'nxp_fmuk66-v3_test'
}
@ -711,7 +732,7 @@ pipeline { @@ -711,7 +732,7 @@ pipeline {
}
}
} // stage build
stage("test") {
stage("hardware") {
agent {
label 'nxp_fmuk66-v3'
}
@ -721,6 +742,7 @@ pipeline { @@ -721,6 +742,7 @@ pipeline {
sh 'export'
sh 'find /dev/serial'
unstash 'nxp_fmuk66-v3_test'
//sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/nxp_fmuk66-v3_test/nxp_fmuk66-v3_bootloader.elf'
// flash board and watch bootup
sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/nxp_fmuk66-v3_test/nxp_fmuk66-v3_test.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
}

2
boards/px4/fmu-v5/debug.cmake
Unescape View File

@ -93,7 +93,7 @@ px4_add_board( @@ -93,7 +93,7 @@ px4_add_board(
#vmount
vtol_att_control
SYSTEMCMDS
#bl_update
bl_update
dmesg
dumpfile
esc_calib

2
boards/px4/fmu-v5/optimized.cmake
Unescape View File

@ -98,7 +98,7 @@ px4_add_board( @@ -98,7 +98,7 @@ px4_add_board(
#vmount
#vtol_att_control
SYSTEMCMDS
#bl_update
bl_update
dmesg
#dumpfile
#esc_calib

2
boards/px4/fmu-v5/stackcheck.cmake
Unescape View File

@ -93,7 +93,7 @@ px4_add_board( @@ -93,7 +93,7 @@ px4_add_board(
#vmount
vtol_att_control
SYSTEMCMDS
#bl_update
bl_update
dmesg
dumpfile
esc_calib

4
platforms/nuttx/CMakeLists.txt
Unescape View File

@ -156,9 +156,9 @@ if((DEFINED ENV{SIGNING_TOOL}) AND (NOT NUTTX_DIR MATCHES "external")) @@ -156,9 +156,9 @@ if((DEFINED ENV{SIGNING_TOOL}) AND (NOT NUTTX_DIR MATCHES "external"))
COMMAND $ENV{SIGNING_TOOL} $ENV{SIGNING_ARGS} ${PX4_BINARY_OUTPUT} ${PX4_BINARY_DIR}/${PX4_BOARD}.bin
DEPENDS ${PX4_BINARY_OUTPUT}
WORKING_DIRECTORY ${PX4_SOURCE_DIR}
)
)
else()
set(PX4_BINARY_OUTPUT ${PX4_BINARY_DIR_REL}/${PX4_BOARD}.bin)
set(PX4_BINARY_OUTPUT ${PX4_BINARY_DIR_REL}/${PX4_BOARD}.bin)
endif()
add_custom_command(OUTPUT ${PX4_BINARY_OUTPUT}

32
platforms/nuttx/cmake/jlink.cmake
Unescape View File

@ -83,18 +83,34 @@ if(Ozone_PATH) @@ -83,18 +83,34 @@ if(Ozone_PATH)
endif()
if(bootloader_bin OR (EXISTS "${PX4_BOARD_DIR}/bootloader/${PX4_BOARD_VENDOR}_${PX4_BOARD_MODEL}_bootloader.bin"))
# jlink_flash_bootloader
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()
# jlink_flash_bootloader_bin
find_program(JLinkExe_PATH JLinkExe)
if(JLinkExe_PATH)
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()
file(RELATIVE_PATH BOARD_BL_FIRMWARE_BIN ${PX4_BINARY_DIR} ${BOARD_BL_FIRMWARE_BIN})
configure_file(${CMAKE_CURRENT_SOURCE_DIR}/Debug/flash_bootloader.jlink.in ${PX4_BINARY_DIR}/flash_bootloader.jlink @ONLY)
add_custom_target(jlink_flash_bootloader
add_custom_target(jlink_flash_bootloader_bin
COMMAND ${JLinkExe_PATH} -CommandFile ${PX4_BINARY_DIR}/flash_bootloader.jlink
DEPENDS
px4

18
src/systemcmds/bl_update/CMakeLists.txt
Unescape View File

@ -78,6 +78,15 @@ if(config_build_bootloader) @@ -78,6 +78,15 @@ if(config_build_bootloader)
)
add_custom_target(copy_bootloader_bin DEPENDS ${bootloader_bin})
# copy bootloader.elf to top level build directory
add_custom_command(
OUTPUT ${PX4_BINARY_DIR}/${PX4_BOARD_VENDOR}_${PX4_BOARD_MODEL}_bootloader.elf
COMMAND ${CMAKE_COMMAND} -E copy ${BINARY_DIR}/${bootloader_config}.elf ${PX4_BINARY_DIR}/${PX4_BOARD_VENDOR}_${PX4_BOARD_MODEL}_bootloader.elf
DEPENDS bootloader_firmware
WORKING_DIRECTORY ${PX4_BINARY_DIR}
)
add_custom_target(bootloader_elf DEPENDS ${PX4_BINARY_DIR}/${PX4_BOARD_VENDOR}_${PX4_BOARD_MODEL}_bootloader.elf)
elseif(EXISTS "${PX4_BOARD_DIR}/bootloader/")
if(EXISTS ${PX4_BOARD_DIR}/bootloader/${PX4_BOARD_VENDOR}_${PX4_BOARD_MODEL}_bootloader.bin)
@ -92,6 +101,15 @@ elseif(EXISTS "${PX4_BOARD_DIR}/bootloader/") @@ -92,6 +101,15 @@ 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})

Write Preview
Loading…
Cancel
Save