From fe1eb8cd6267de5920e64da02cf907a19c1c5fe5 Mon Sep 17 00:00:00 2001
From: Daniel Agar <daniel@agar.ca>
Date: Fri, 23 Jul 2021 11:19:27 -0400
Subject: [PATCH] cmake cleanup jlink flashing helpers

---
 platforms/nuttx/CMakeLists.txt                | 14 +++
 .../nuttx/Debug/flash_bootloader.jlink.in     |  9 --
 platforms/nuttx/cmake/jlink.cmake             | 99 ++++++++++++-------
 src/drivers/px4io/CMakeLists.txt              |  6 +-
 src/systemcmds/bl_update/CMakeLists.txt       | 15 +--
 5 files changed, 83 insertions(+), 60 deletions(-)
 delete mode 100644 platforms/nuttx/Debug/flash_bootloader.jlink.in

diff --git a/platforms/nuttx/CMakeLists.txt b/platforms/nuttx/CMakeLists.txt
index eb5f8fe212..24eae89466 100644
--- a/platforms/nuttx/CMakeLists.txt
+++ b/platforms/nuttx/CMakeLists.txt
@@ -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)
diff --git a/platforms/nuttx/Debug/flash_bootloader.jlink.in b/platforms/nuttx/Debug/flash_bootloader.jlink.in
deleted file mode 100644
index f47e0cad53..0000000000
--- a/platforms/nuttx/Debug/flash_bootloader.jlink.in
+++ /dev/null
@@ -1,9 +0,0 @@
-Device @DEBUG_DEVICE@
-eoe 1
-si SWD
-speed auto
-r
-h
-loadbin @BOARD_BL_FIRMWARE_BIN@,0x08000000
-go
-qc
diff --git a/platforms/nuttx/cmake/jlink.cmake b/platforms/nuttx/cmake/jlink.cmake
index 517a8e0226..f141e776c2 100644
--- a/platforms/nuttx/cmake/jlink.cmake
+++ b/platforms/nuttx/cmake/jlink.cmake
@@ -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"))
+# .bin flashing
+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()
+	# jlink_flash_bootloader_bin
+	if(bootloader_bin OR (EXISTS ${PX4_BOARD_DIR}/bootloader/${PX4_BOARD_VENDOR}_${PX4_BOARD_MODEL}_bootloader.bin))
 
-	# 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 ${PX4_BINARY_DIR}
-			USES_TERMINAL
-		)
-	endif()
+		set(BOARD_FIRMWARE_BIN "${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)
 
-	# 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)
+			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 ${PX4_BINARY_DIR}
+			USES_TERMINAL
+		)
 	endif()
+
 endif()
diff --git a/src/drivers/px4io/CMakeLists.txt b/src/drivers/px4io/CMakeLists.txt
index df9dbdde43..d4af0602c8 100644
--- a/src/drivers/px4io/CMakeLists.txt
+++ b/src/drivers/px4io/CMakeLists.txt
@@ -58,12 +58,10 @@ ExternalProject_Add(px4io_firmware
 	USES_TERMINAL_BUILD true
 	DEPENDS git_nuttx git_nuttx_apps
 	BUILD_ALWAYS 1
-	BUILD_BYPRODUCTS "${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})
diff --git a/src/systemcmds/bl_update/CMakeLists.txt b/src/systemcmds/bl_update/CMakeLists.txt
index 3747807a8f..437699c7a8 100644
--- a/src/systemcmds/bl_update/CMakeLists.txt
+++ b/src/systemcmds/bl_update/CMakeLists.txt
@@ -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})