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Decouple filepaths from rcS/MTD

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This commit is contained in:
Peter van der Perk
2023-07-26 18:55:38 +02:00
committed by Daniel Agar
parent 79e0e00d8c
commit 46e43ec725
13 changed files with 101 additions and 32 deletions
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Kconfig
+12
View File
@@ -185,6 +185,18 @@ menu "Serial ports"
string "EXT2 tty port"
endmenu
menu "File paths"
config BOARD_ROOT_PATH
string "PX4 Root file path"
depends on MODULES_LOGGER
default "/fs/microsd"
config BOARD_PARAM_FILE
string "Parameter file"
default "/fs/mtd_params"
endmenu
menu "drivers"
source "src/drivers/Kconfig"
endmenu
ROMFS/CMakeLists.txt
+5
View File
@@ -120,6 +120,7 @@ add_custom_command(
${romfs_gen_root_dir}/init.d/rc.serial
${romfs_gen_root_dir}/init.d/rc.autostart
${romfs_gen_root_dir}/init.d/rc.autostart.post
${romfs_gen_root_dir}/init.d/rc.filepaths
${romfs_copy_stamp}
COMMAND ${CMAKE_COMMAND} -E remove_directory ${romfs_gen_root_dir}/*
COMMAND ${CMAKE_COMMAND} -E tar xf ${romfs_tar_file}
@@ -131,6 +132,9 @@ add_custom_command(
--rc-dir ${romfs_gen_root_dir}/init.d
--serial-ports ${board_serial_ports} ${added_arguments}
--config-files ${module_config_files} #--verbose
COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/filepaths/generate_config.py
--rc-dir ${romfs_gen_root_dir}/init.d
--params-file ${CONFIG_BOARD_PARAM_FILE}
COMMAND ${CMAKE_COMMAND} -E touch ${romfs_copy_stamp}
WORKING_DIRECTORY ${romfs_gen_root_dir}
DEPENDS ${romfs_tar_file}
@@ -320,6 +324,7 @@ add_custom_target(romfs_gen_files_target
DEPENDS
${romfs_copy_stamp}
${romfs_gen_root_dir}/init.d/rc.serial
${romfs_gen_root_dir}/init.d/rc.filepaths
romfs_extras.stamp
)
ROMFS/cannode/init.d/rcS
+3 -14
View File
@@ -21,25 +21,14 @@ set R /
#
ver all
if mft query -q -k MTD -s MTD_PARAMETERS -v /fs/mtd_params
then
set PARAM_FILE /fs/mtd_params
fi
if mft query -q -k MTD -s MTD_PARAMETERS -v /dev/eeeprom0
then
set PARAM_FILE /dev/eeeprom0
fi
if mft query -q -k MTD -s MTD_PARAMETERS -v /mnt/qspi/params
then
set PARAM_FILE /mnt/qspi/params
fi
# Load param file location from kconfig
. ${R}etc/init.d/rc.filepaths
#
# Load parameters.
#
param select $PARAM_FILE
if ! param load
then
param reset_all
ROMFS/px4fmu_common/init.d/rcS
+2 -8
View File
@@ -120,14 +120,8 @@ then
. $FRC
else
#
# Set the parameter file the board supports params on
# MTD device.
#
if mft query -q -k MTD -s MTD_PARAMETERS -v /fs/mtd_params
then
set PARAM_FILE /fs/mtd_params
fi
# Load param file location from kconfig
. ${R}etc/init.d/rc.filepaths
# Check if /fs/mtd_params is a valid BSON file
if ! bsondump docsize /fs/mtd_caldata
Tools/filepaths/generate_config.py
Executable
+61
View File
@@ -0,0 +1,61 @@
#!/usr/bin/env python3
""" Script to generate Serial rc.filepaths for the ROMFS startup script """
import argparse
import os
import sys
try:
from jinja2 import Environment, FileSystemLoader
except ImportError as e:
print("Failed to import jinja2: " + str(e))
print("")
print("You may need to install it using:")
print(" pip3 install --user jinja2")
print("")
sys.exit(1)
try:
import yaml
except ImportError as e:
print("Failed to import yaml: " + str(e))
print("")
print("You may need to install it using:")
print(" pip3 install --user pyyaml")
print("")
sys.exit(1)
parser = argparse.ArgumentParser(description='Generate PX4 ROMFS filepaths')
parser.add_argument('--config-files', type=str, nargs='*', default=[],
help='YAML module config file(s)')
parser.add_argument('--constrained-flash', action='store_true',
help='Reduce verbosity in ROMFS scripts to reduce flash size')
parser.add_argument('--rc-dir', type=str, action='store',
help='ROMFS output directory', default=None)
parser.add_argument('--params-file', type=str, action='store',
help='Parameter output file', default=None)
parser.add_argument('-v', '--verbose', dest='verbose', action='store_true',
help='Verbose Output')
args = parser.parse_args()
verbose = args.verbose
constrained_flash = args.constrained_flash
rc_filepaths_output_dir = args.rc_dir
rc_filepaths_template = 'rc.filepaths.jinja'
jinja_env = Environment(loader=FileSystemLoader(
os.path.dirname(os.path.realpath(__file__))))
# generate the ROMFS script using a jinja template
if rc_filepaths_output_dir is not None:
rc_filepath_output_file = os.path.join(rc_filepaths_output_dir, "rc.filepaths")
if verbose: print("Generating {:}".format(rc_filepath_output_file))
template = jinja_env.get_template(rc_filepaths_template)
with open(rc_filepath_output_file, 'w') as fid:
fid.write(template.render(constrained_flash=constrained_flash, params_file=args.params_file))
else:
raise Exception("--rc-dir needs to be specified")
Tools/filepaths/rc.filepaths.jinja
+6
View File
@@ -0,0 +1,6 @@
{# jinja template to generate the serial autostart script. #}
# serial autostart script generated with generate_serial_config.py
set PARAM_FILE {{ params_file }}
boards/nxp/mr-canhubk3/default.px4board
+1
View File
@@ -2,6 +2,7 @@ CONFIG_BOARD_TOOLCHAIN="arm-none-eabi"
CONFIG_BOARD_ARCHITECTURE="cortex-m7"
CONFIG_BOARD_ROMFSROOT="cannode"
CONFIG_BOARD_ETHERNET=y
CONFIG_BOARD_PARAM_FILE="/mnt/qspi/params"
CONFIG_DRIVERS_BAROMETER_BMP388=y
CONFIG_DRIVERS_IMU_INVENSENSE_ICM20649=y
CONFIG_DRIVERS_IMU_INVENSENSE_ICM42688P=y
boards/nxp/ucans32k146/default.px4board
+1
View File
@@ -3,6 +3,7 @@ CONFIG_BOARD_ARCHITECTURE="cortex-m4"
CONFIG_BOARD_ROMFSROOT="cannode"
CONFIG_BOARD_CONSTRAINED_MEMORY=y
CONFIG_BOARD_SERIAL_GPS1="/dev/ttyS1"
CONFIG_BOARD_PARAM_FILE="/dev/eeeprom0"
CONFIG_DRIVERS_BOOTLOADERS=y
CONFIG_COMMON_DISTANCE_SENSOR=y
CONFIG_DRIVERS_GPS=y
boards/px4/sitl/default.px4board
+1
View File
@@ -1,6 +1,7 @@
CONFIG_PLATFORM_POSIX=y
CONFIG_BOARD_TESTING=y
CONFIG_BOARD_ETHERNET=y
CONFIG_BOARD_ROOT_PATH="./"
CONFIG_DRIVERS_CAMERA_TRIGGER=y
CONFIG_DRIVERS_GPS=y
CONFIG_DRIVERS_OSD_MSP_OSD=y
boards/px4/sitl/zenoh.px4board
-1
View File
@@ -1,3 +1,2 @@
CONFIG_MODULES_UXRCE_DDS_CLIENT=n
CONFIG_MODULES_ZENOH=y
CONFIG_ZENOH_CONFIG_PATH="./zenoh"
src/modules/logger/logger.h
+2 -2
View File
@@ -158,8 +158,8 @@ private:
static constexpr int MAX_MISSION_TOPICS_NUM = 5; /**< Maximum number of mission topics */
static constexpr unsigned MAX_NO_LOGFILE = 999; /**< Maximum number of log files */
static constexpr const char *LOG_ROOT[(int)LogType::Count] = {
PX4_STORAGEDIR "/log",
PX4_STORAGEDIR "/mission_log"
CONFIG_BOARD_ROOT_PATH "/log",
CONFIG_BOARD_ROOT_PATH "/mission_log"
};
struct LogFileName {
src/modules/zenoh/zenoh_config.cpp
+3 -3
View File
@@ -58,7 +58,7 @@ const char *default_sub_config = ""; //TODO maybe use YAML
Zenoh_Config::Zenoh_Config()
{
bool correct_config = true;
DIR *dir = opendir(ZENOH_SD_ROOT_PATH);
DIR *dir = opendir(ZENOH_ROOT_PATH);
fp_mapping = NULL;
if (dir) {
@@ -342,14 +342,14 @@ void Zenoh_Config::generate_clean_config()
printf("Generate clean\n");
FILE *fp;
DIR *dir = opendir(ZENOH_SD_ROOT_PATH);
DIR *dir = opendir(ZENOH_ROOT_PATH);
if (dir) {
printf("Zenoh directory exists\n");
} else {
/* Create zenoh dir. */
if (mkdir(ZENOH_SD_ROOT_PATH, 0700) < 0) {
if (mkdir(ZENOH_ROOT_PATH, 0700) < 0) {
printf("Failed to create Zenoh directory\n");
return;
}
src/modules/zenoh/zenoh_config.hpp
+4 -4
View File
@@ -49,10 +49,10 @@
#include <zenoh-pico.h>
#define ZENOH_MAX_PATH_LENGTH (128 + 40)
#define ZENOH_SD_ROOT_PATH CONFIG_ZENOH_CONFIG_PATH
#define ZENOH_PUB_CONFIG_PATH ZENOH_SD_ROOT_PATH"/pub.csv"
#define ZENOH_SUB_CONFIG_PATH ZENOH_SD_ROOT_PATH"/sub.csv"
#define ZENOH_NET_CONFIG_PATH ZENOH_SD_ROOT_PATH"/net.txt"
#define ZENOH_ROOT_PATH CONFIG_BOARD_ROOT_PATH"/zenoh"
#define ZENOH_PUB_CONFIG_PATH ZENOH_ROOT_PATH"/pub.csv"
#define ZENOH_SUB_CONFIG_PATH ZENOH_ROOT_PATH"/sub.csv"
#define ZENOH_NET_CONFIG_PATH ZENOH_ROOT_PATH"/net.txt"
#define NET_MODE_SIZE sizeof("client")
#define NET_LOCATOR_SIZE 64