Decouple filepaths from rcS/MTD

Kconfig

@@ -185,6 +185,18 @@ menu "Serial ports"
  string "EXT2 tty port"
 endmenu
 
+menu "File paths"
+
+ config BOARD_LOG_DIR
+ string "Logging directory"
+ 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

@@ -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 +132,10 @@ 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
+ --log-dir ${CONFIG_BOARD_LOG_DIR}
+ --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 +325,7 @@ 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

@@ -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

@@ -114,14 +114,8 @@ 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
 
  #
  # Load parameters.

Tools/filepaths/generate_config.py

@@ -0,0 +1,63 @@
+#!/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('--log-dir', type=str, action='store',
+ help='PX4 dir where flights logs are stored', 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, log_dir=args.log_dir))
+else:
+ raise Exception("--rc-dir needs to be specified")

Tools/filepaths/rc.filepaths.jinja

@@ -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

@@ -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

@@ -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

src/modules/logger/logger.h

@@ -158,8 +158,8 @@ class Logger : public ModuleBase<Logger>, public ModuleParams
  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_LOG_DIR "/log",
+ CONFIG_BOARD_LOG_DIR "/mission_log"
  };
 
  struct LogFileName {