#
# Rules and tools for uploading firmware to various PX4 boards.
#
UPLOADER = $(PX4_BASE)/Tools/px_uploader.py
SYSTYPE := $(shell uname -s)
#
# Serial port defaults.
#
# XXX The uploader should be smarter than this.
#
ifeq ($(SYSTYPE),Darwin)
SERIAL_PORTS ?= "/dev/tty.usbmodemPX1,/dev/tty.usbmodemPX2,/dev/tty.usbmodemPX3,/dev/tty.usbmodemPX4,/dev/tty.usbmodem1,/dev/tty.usbmodem2,/dev/tty.usbmodem3,/dev/tty.usbmodem4"
endif
ifeq ($(SYSTYPE),Linux)
SERIAL_PORTS ?= "/dev/ttyACM5,/dev/ttyACM4,/dev/ttyACM3,/dev/ttyACM2,/dev/ttyACM1,/dev/ttyACM0"
endif
ifeq ($(SERIAL_PORTS),)
SERIAL_PORTS = "COM32,COM31,COM30,COM29,COM28,COM27,COM26,COM25,COM24,COM23,COM22,COM21,COM20,COM19,COM18,COM17,COM16,COM15,COM14,COM13,COM12,COM11,COM10,COM9,COM8,COM7,COM6,COM5,COM4,COM3,COM2,COM1,COM0"
endif
.PHONY: all upload-$(METHOD)-$(BOARD)
all: upload-$(METHOD)-$(BOARD)
upload-serial-px4fmu-v1: $(BUNDLE) $(UPLOADER)
$(Q) $(PYTHON) -u $(UPLOADER) --port $(SERIAL_PORTS) $(BUNDLE)
upload-serial-px4fmu-v2: $(BUNDLE) $(UPLOADER)
$(Q) $(PYTHON) -u $(UPLOADER) --port $(SERIAL_PORTS) $(BUNDLE)
#
# JTAG firmware uploading with OpenOCD
#
JTAGCONFIG ?= interface/olimex-jtag-tiny.cfg
upload-jtag-px4fmu: all
@$(ECHO) Attempting to flash PX4FMU board via JTAG
$(Q) $(OPENOCD) -f $(JTAGCONFIG) -f ../Bootloader/stm32f4x.cfg -c init -c "reset halt" -c "flash write_image erase nuttx/nuttx" -c "flash write_image erase ../Bootloader/px4fmu_bl.elf" -c "reset run" -c shutdown
upload-jtag-px4io: all
@$(ECHO) Attempting to flash PX4IO board via JTAG
$(Q) $(OPENOCD) -f $(JTAGCONFIG) -f ../Bootloader/stm32f1x.cfg -c init -c "reset halt" -c "flash write_image erase nuttx/nuttx" -c "flash write_image erase ../Bootloader/px4io_bl.elf" -c "reset run" -c shutdown
