Jenkins: HIL flash bootloaders

- add new jlink_upload_bootloader helper target

.ci/Jenkinsfile-hardware

@@ -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 {
                 }
               }
             } // stage build
-            stage("test") {
+            stage("hardware") {
               agent {
                 label 'cubepilot_cubeorange'
               }
@@ -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 {
                 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 {
                 }
               }
             } // stage build
-            stage("test") {
+            stage("hardware") {
               agent {
                 label 'cuav_x7pro'
               }
@@ -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 {
                 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 {
                 }
               }
             } // stage build
-            stage("test") {
+            stage("hardware") {
               agent {
                 label 'px4_fmu-v3'
               }
@@ -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 {
                 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 {
                 }
               }
             } // stage build
-            stage("test") {
+            stage("hardware") {
               agent {
                 label 'px4_fmu-v4'
               }
@@ -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 {
                 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 {
                 }
               }
             } // stage build
-            stage("test") {
+            stage("hardware") {
               agent {
                 label 'px4_fmu-v4pro'
               }
@@ -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 {
                 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 {
                 }
               }
             } // stage build
-            stage("test") {
+            stage("hardware") {
               agent {
                 label 'px4_fmu-v5'
               }
@@ -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 {
                 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 {
                 }
               }
             } // stage build
-            stage("test") {
+            stage("hardware") {
               agent {
                 label 'px4_fmu-v5'
               }
@@ -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 {
                 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 {
                 }
               }
             } // stage build
-            stage("test") {
+            stage("hardware") {
               agent {
                 label 'px4_fmu-v5'
               }
@@ -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 {
                 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 {
                 }
               }
             } // stage build
-            stage("test") {
+            stage("hardware") {
               agent {
                 label 'px4_fmu-v5'
               }
@@ -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 {
                 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 {
                 }
               }
             } // stage build
-            stage("test") {
+            stage("hardware") {
               agent {
                 label 'modalai_fc-v1'
               }
@@ -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 {
                 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 {
                 }
               }
             } // stage build
-            stage("test") {
+            stage("hardware") {
               agent {
                 label 'nxp_fmuk66-v3'
               }
@@ -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'
                   }

boards/px4/fmu-v5/debug.cmake

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

boards/px4/fmu-v5/optimized.cmake

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

boards/px4/fmu-v5/stackcheck.cmake

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

platforms/nuttx/cmake/jlink.cmake

@@ -83,9 +83,6 @@ if(Ozone_PATH)
 endif()
 
 if(bootloader_bin OR (EXISTS "${PX4_BOARD_DIR}/bootloader/${PX4_BOARD_VENDOR}_${PX4_BOARD_MODEL}_bootloader.bin"))
-	# jlink_flash_bootloader
-	find_program(JLinkExe_PATH JLinkExe)
-	if(JLinkExe_PATH)
 
 	if(bootloader_bin)
 		set(BOARD_BL_FIRMWARE_BIN ${bootloader_bin})
@@ -93,8 +90,27 @@ if(bootloader_bin OR (EXISTS "${PX4_BOARD_DIR}/bootloader/${PX4_BOARD_VENDOR}_${
 		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)
+		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

src/systemcmds/bl_update/CMakeLists.txt

@@ -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/")
 		)
 		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})