mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-31 07:41:36 +08:00
Julian Oes
81e4e33811
This pushes the metadata files as well as the IO firmware and the bootloader binary to the SD card. That way, the files are don't have to be added to the firmware binary or served via s3 for FLASH_CONSTRAINED targets. The files are pushed after upload and verified in commander as part of the preflight checks. If missing, a warning is displayed and arming is prevented. This means that an SD card can't be swapped out without reflashing (or copying over the contents).
107 lines
3.8 KiB
CMake
107 lines
3.8 KiB
CMake
############################################################################
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#
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# Copyright (c) 2019 PX4 Development Team. All rights reserved.
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#
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# Redistribution and use in source and binary forms, with or without
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# modification, are permitted provided that the following conditions
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# are met:
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#
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# 1. Redistributions of source code must retain the above copyright
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# notice, this list of conditions and the following disclaimer.
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# 2. Redistributions in binary form must reproduce the above copyright
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# notice, this list of conditions and the following disclaimer in
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# the documentation and/or other materials provided with the
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# distribution.
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# 3. Neither the name PX4 nor the names of its contributors may be
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# used to endorse or promote products derived from this software
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# without specific prior written permission.
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#
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# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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# POSSIBILITY OF SUCH DAMAGE.
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#
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############################################################################
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# Uploader script auto-detects PX4 devices by USB VID/PID
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set(PX4_UPLOADER_SCRIPT "${PX4_SOURCE_DIR}/Tools/px4_uploader.py")
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set(PX4_SDCARD_UPLOAD_SCRIPT "${PX4_SOURCE_DIR}/Tools/px4_sdcard_upload.py")
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if(CONFIG_BOARD_ROOT_PATH)
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# Flash firmware, then push SD card files (metadata, bootloader, IO binary)
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add_custom_target(upload
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COMMAND ${PYTHON_EXECUTABLE} ${PX4_UPLOADER_SCRIPT} ${fw_package}
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COMMAND ${PYTHON_EXECUTABLE} ${PX4_SDCARD_UPLOAD_SCRIPT}
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--sdcard-dir ${PX4_BINARY_DIR}/sdcard
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--device-root ${CONFIG_BOARD_ROOT_PATH}
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DEPENDS ${fw_package} sdcard_files
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COMMENT "uploading px4 and SD card files"
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VERBATIM
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USES_TERMINAL
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WORKING_DIRECTORY ${PX4_BINARY_DIR}
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)
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add_custom_target(force-upload
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COMMAND ${PYTHON_EXECUTABLE} ${PX4_UPLOADER_SCRIPT} --force ${fw_package}
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COMMAND ${PYTHON_EXECUTABLE} ${PX4_SDCARD_UPLOAD_SCRIPT}
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--sdcard-dir ${PX4_BINARY_DIR}/sdcard
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--device-root ${CONFIG_BOARD_ROOT_PATH}
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DEPENDS ${fw_package} sdcard_files
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COMMENT "uploading px4 with --force and SD card files"
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VERBATIM
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USES_TERMINAL
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WORKING_DIRECTORY ${PX4_BINARY_DIR}
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)
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# Standalone target: upload only SD card files (e.g. with --port)
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add_custom_target(upload_sdcard
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COMMAND ${PYTHON_EXECUTABLE} ${PX4_SDCARD_UPLOAD_SCRIPT}
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--sdcard-dir ${PX4_BINARY_DIR}/sdcard
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--device-root ${CONFIG_BOARD_ROOT_PATH}
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DEPENDS sdcard_files
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COMMENT "uploading SD card files via MAVLink FTP"
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VERBATIM
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USES_TERMINAL
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WORKING_DIRECTORY ${PX4_BINARY_DIR}
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)
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else()
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add_custom_target(upload
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COMMAND ${PYTHON_EXECUTABLE} ${PX4_UPLOADER_SCRIPT} ${fw_package}
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DEPENDS ${fw_package}
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COMMENT "uploading px4"
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VERBATIM
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USES_TERMINAL
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WORKING_DIRECTORY ${PX4_BINARY_DIR}
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)
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add_custom_target(force-upload
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COMMAND ${PYTHON_EXECUTABLE} ${PX4_UPLOADER_SCRIPT} --force ${fw_package}
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DEPENDS ${fw_package}
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COMMENT "uploading px4 with --force"
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VERBATIM
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USES_TERMINAL
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WORKING_DIRECTORY ${PX4_BINARY_DIR}
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)
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endif()
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add_custom_target(upload-verbose
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COMMAND ${PYTHON_EXECUTABLE} ${PX4_UPLOADER_SCRIPT} --verbose ${fw_package}
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DEPENDS ${fw_package}
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COMMENT "uploading px4 with verbose output"
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VERBATIM
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USES_TERMINAL
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WORKING_DIRECTORY ${PX4_BINARY_DIR}
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)
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