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openocd: added script to reset devices (#399)
(cherry picked from commit 7a2aeaf)
1 parent d27b83e commit 7e804aa

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11 files changed

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11 files changed

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‎CMakeLists.txt‎

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scripts/create_firmware_ws.sh
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scripts/configure_firmware.sh
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scripts/flash_firmware.sh
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scripts/reset_firmware.sh
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scripts/build_firmware.sh
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scripts/build_agent.sh
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scripts/yaml_filter.py

‎config/freertos/nucleo_f446re/reset.sh‎

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EXTENSIONS_DIR=$FW_TARGETDIR/freertos_apps/microros_nucleo_f446re_extensions
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pushd $EXTENSIONS_DIR > /dev/null
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echo "Resetting firmware for $RTOS platform $PLATFORM"
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if lsusb -d 0483:374b; then
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ST_INTERFACE=interface/stlink-v2-1.cfg
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elif lsusb -d 0483:3748; then
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ST_INTERFACE=interface/stlink-v2.cfg
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else
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# TODO: add stlink v3, should it be stlink.cfg ?
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echo "Error. Unsuported OpenOCD USB programmer"
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exit 1
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fi
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openocd -f $ST_INTERFACE -f target/stm32f4x.cfg -c init -c "reset halt" -c "reset" -c "exit"
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popd > /dev/null

‎config/freertos/nucleo_f446ze/reset.sh‎

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EXTENSIONS_DIR=$FW_TARGETDIR/freertos_apps/microros_nucleo_f446ze_extensions
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pushd $EXTENSIONS_DIR > /dev/null
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echo "Resetting firmware for $RTOS platform $PLATFORM"
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if lsusb -d 0483:374b; then
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ST_INTERFACE=interface/stlink-v2-1.cfg
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elif lsusb -d 0483:3748; then
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ST_INTERFACE=interface/stlink-v2.cfg
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else
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# TODO: add stlink v3, should it be stlink.cfg ?
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echo "Error. Unsuported OpenOCD USB programmer"
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exit 1
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fi
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openocd -f $ST_INTERFACE -f target/stm32f4x.cfg -c init -c "reset halt" -c "reset" -c "exit"
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popd > /dev/null

‎config/freertos/nucleo_f746zg/reset.sh‎

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EXTENSIONS_DIR=$FW_TARGETDIR/freertos_apps/microros_nucleo_f746zg_extensions
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pushd $EXTENSIONS_DIR > /dev/null
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echo "Resetting firmware for $RTOS platform $PLATFORM"
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if lsusb -d 0483:374b; then
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ST_INTERFACE=interface/stlink-v2-1.cfg
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elif lsusb -d 0483:3748; then
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ST_INTERFACE=interface/stlink-v2.cfg
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else
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# TODO: add stlink v3, should it be stlink.cfg ?
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echo "Error. Unsuported OpenOCD USB programmer"
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exit 1
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fi
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openocd -f $ST_INTERFACE -f target/stm32f4x.cfg -c init -c "reset halt" -c "reset" -c "exit"
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popd > /dev/null

‎config/freertos/nucleo_f767zi/reset.sh‎

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EXTENSIONS_DIR=$FW_TARGETDIR/freertos_apps/microros_nucleo_f767zi_extensions
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pushd $EXTENSIONS_DIR > /dev/null
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echo "Resetting firmware for $RTOS platform $PLATFORM"
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if lsusb -d 0483:374b; then
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ST_INTERFACE=interface/stlink-v2-1.cfg
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elif lsusb -d 0483:3748; then
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ST_INTERFACE=interface/stlink-v2.cfg
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else
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# TODO: add stlink v3, should it be stlink.cfg ?
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echo "Error. Unsuported OpenOCD USB programmer"
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exit 1
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fi
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openocd -f $ST_INTERFACE -f target/stm32f4x.cfg -c init -c "reset halt" -c "reset" -c "exit"
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popd > /dev/null

‎config/freertos/olimex-stm32-e407/reset.sh‎

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OLIMEX_EXTENSIONS_DIR=$FW_TARGETDIR/freertos_apps/microros_olimex_e407_extensions
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pushd $OLIMEX_EXTENSIONS_DIR > /dev/null
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if lsusb -d 15BA:002a; then
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PROGRAMMER=interface/ftdi/olimex-arm-usb-tiny-h.cfg
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elif lsusb -d 15BA:0003;then
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PROGRAMMER=interface/ftdi/olimex-arm-usb-ocd.cfg
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elif lsusb -d 15BA:002b;then
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PROGRAMMER=interface/ftdi/olimex-arm-usb-ocd-h.cfg
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else
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echo "Error. Unsuported OpenOCD USB programmer"
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exit 1
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fi
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openocd -f $PROGRAMMER -f target/stm32f4x.cfg -c init -c "reset halt" -c "reset" -c "exit"
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popd > /dev/null
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‎config/host/generic/reset.sh‎

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echo "Nothing to reset: running in host mode"
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echo "Use 'RMW_IMPLEMENTATION=rmw_microxrcedds ros2 run micro_ros_demos_rcl int32_subscriber' to start with examples"

‎config/nuttx/generic/reset.sh‎

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#! /bin/bash
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set -e
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set -o nounset
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set -o pipefail
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pushd $FW_TARGETDIR/NuttX > /dev/null
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if [ "$PLATFORM" = "olimex-stm32-e407" ]; then
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echo "Resetting firmware for $RTOS platform $PLATFORM"
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if lsusb -d 15BA:002a; then
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PROGRAMMER=interface/ftdi/olimex-arm-usb-tiny-h.cfg
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elif lsusb -d 15BA:0003;then
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PROGRAMMER=interface/ftdi/olimex-arm-usb-ocd.cfg
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elif lsusb -d 15BA:002b;then
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PROGRAMMER=interface/ftdi/olimex-arm-usb-ocd-h.cfg
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elif lsusb -d 0483:3748;then
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PROGRAMMER=interface/stlink-v2.cfg
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else
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echo "Error. Unsuported OpenOCD USB programmer"
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exit 1
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fi
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openocd -f $PROGRAMMER -f target/stm32f4x.cfg -c init -c "reset halt" -c "reset" -c "exit"
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else
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echo "Unrecognized board: $PLATFORM"
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exit 1
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fi
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popd > /dev/null

‎config/raspbian/generic/flash.sh‎

100644100755
File mode changed.

‎config/zephyr/generic/reset.sh‎

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pushd $FW_TARGETDIR > /dev/null
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ZEPHYR_BUILD_DIR="$FW_TARGETDIR/build/zephyr"
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# Host platform (=native_posix) is special, as resetting is stopping and re-executing the binary
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if [ "$PLATFORM" = "host" ]; then
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# TODO: stop the previous process
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$ZEPHYR_BUILD_DIR/zephyr.exe
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else
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# These boards need special openocd rules
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RESET_OPENOCD=false
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if [ "$PLATFORM" = "olimex-stm32-e407" ]; then
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RESET_OPENOCD=true
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OPENOCD_TARGET="stm32f4x.cfg"
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if lsusb -d 15BA:002a; then
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OPENOCD_PROGRAMMER=interface/ftdi/olimex-arm-usb-tiny-h.cfg
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elif lsusb -d 15BA:0003;then
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OPENOCD_PROGRAMMER=interface/ftdi/olimex-arm-usb-ocd.cfg
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elif lsusb -d 15BA:002b;then
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OPENOCD_PROGRAMMER=interface/ftdi/olimex-arm-usb-ocd-h.cfg
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else
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echo "Error: Unsuported OpenOCD USB programmer"
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exit 1
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fi
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elif [ "$PLATFORM" = "nucleo_f446re" ]; then
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RESET_OPENOCD=true
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OPENOCD_TARGET="stm32f4x.cfg"
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if lsusb -d 0483:374b;then
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OPENOCD_PROGRAMMER=interface/stlink-v2-1.cfg
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else
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echo "Error: Unsupported OpenOCD programmer"
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exit 1
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fi
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elif [ "$PLATFORM" = "nucleo_h743zi" ]; then
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RESET_OPENOCD=true
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OPENOCD_TARGET="stm32h7x.cfg"
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if lsusb -d 0483:374e;then
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OPENOCD_PROGRAMMER=interface/stlink.cfg
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else
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echo "Error: Unsupported OpenOCD programmer"
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exit 1
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fi
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fi
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if [ "$RESET_OPENOCD" = true ]; then
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openocd -f $OPENOCD_PROGRAMMER -f target/$OPENOCD_TARGET \
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-c init \
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-c "reset halt" \
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-c "reset run; exit"
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else
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echo "Error: Resetting device is only supported with OpenOCD"
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exit 1
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fi
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fi
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popd > /dev/null

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