cmake: add jlink_flash_uavcan_bin helper

platforms/nuttx/Debug/flash_bin.jlink.in

@@ -0,0 +1,9 @@
+Device @DEBUG_DEVICE@
+eoe 1
+si SWD
+speed auto
+r
+h
+loadbin @BOARD_FIRMWARE_BIN@,@BOARD_FIRMWARE_APP_OFFSET@
+go
+qc

platforms/nuttx/cmake/jlink.cmake

@@ -104,3 +104,22 @@ if(bootloader_bin OR (EXISTS "${PX4_BOARD_DIR}/bootloader/${PX4_BOARD_VENDOR}_${
 		)
 	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})
+		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
+			COMMAND ${JLinkExe_PATH} -CommandFile ${PX4_BINARY_DIR}/flash_bin.jlink
+			DEPENDS
+				${PX4_SOURCE_DIR}/platforms/nuttx/Debug/flash_bin.jlink.in
+				${uavcan_bl_image_name}
+			WORKING_DIRECTORY ${PX4_BINARY_DIR}
+			USES_TERMINAL
+		)
+	endif()
+endif()

src/drivers/bootloaders/CMakeLists.txt

@@ -60,21 +60,23 @@ if(NOT "${PX4_BOARD_LABEL}" MATCHES  "canbootloader")
 	if ("${uavcanbl_git_desc}" STREQUAL "")
 		set(uavcanbl_git_desc ffffffff)
 	endif()
-	set(uavcan_bl_imange_name ${HWBOARD_ID}-${SW_MAJOR}.${SW_MINOR}.${uavcanbl_git_desc}.uavcan.bin)
+	set(uavcan_bl_image_name ${HWBOARD_ID}-${SW_MAJOR}.${SW_MINOR}.${uavcanbl_git_desc}.uavcan.bin)
-	message(STATUS "Generating UAVCAN Bootable as ${uavcan_bl_imange_name}")
+	set(uavcan_bl_image_name "${uavcan_bl_image_name}" CACHE STRING "UAVCAN BL Image name" FORCE)
-	add_custom_command(OUTPUT ${uavcan_bl_imange_name} deploy/${HWBOARD_ID}.bin
+	message(STATUS "Generating UAVCAN Bootable as ${uavcan_bl_image_name}")
+	add_custom_command(OUTPUT ${uavcan_bl_image_name} deploy/${HWBOARD_ID}.bin
 		COMMAND
 			${PYTHON_EXECUTABLE} ${CMAKE_CURRENT_SOURCE_DIR}/make_can_boot_descriptor.py
-				-v --use-git-hash ${PX4_BOARD}.bin ${uavcan_bl_imange_name}
+				-v --use-git-hash ${PX4_BOARD}.bin ${uavcan_bl_image_name}
 		COMMAND
 			 COMMAND ${CMAKE_COMMAND} -E make_directory deploy
 		COMMAND
-			${CMAKE_COMMAND} -E copy ${uavcan_bl_imange_name} deploy/${HWBOARD_ID}.bin
+			${CMAKE_COMMAND} -E copy ${uavcan_bl_image_name} deploy/${HWBOARD_ID}.bin
 		DEPENDS
 			${PX4_BINARY_DIR}/${PX4_BOARD}.bin
 			${CMAKE_CURRENT_SOURCE_DIR}/make_can_boot_descriptor.py
 		WORKING_DIRECTORY
 			${PX4_BINARY_DIR}
 	)
-	add_custom_target(build_uavcan_bl ALL DEPENDS ${uavcan_bl_imange_name})
+	add_custom_target(build_uavcan_bl ALL DEPENDS ${uavcan_bl_image_name})
+
 endif()