openocd: added script to reset devices (#399)

(cherry picked from commit 7a2aeaf)

CMakeLists.txt

@@ -45,6 +45,7 @@ install(
     scripts/create_firmware_ws.sh
     scripts/configure_firmware.sh
     scripts/flash_firmware.sh
+    scripts/reset_firmware.sh
     scripts/build_firmware.sh
     scripts/build_agent.sh
     scripts/yaml_filter.py

config/freertos/nucleo_f446re/reset.sh

@@ -0,0 +1,17 @@
+EXTENSIONS_DIR=$FW_TARGETDIR/freertos_apps/microros_nucleo_f446re_extensions
+
+pushd $EXTENSIONS_DIR > /dev/null
+
+echo "Resetting firmware for $RTOS platform $PLATFORM"
+if lsusb -d 0483:374b; then
+  ST_INTERFACE=interface/stlink-v2-1.cfg
+elif lsusb -d 0483:3748; then
+  ST_INTERFACE=interface/stlink-v2.cfg
+else
+# TODO: add stlink v3, should it be stlink.cfg ?
+  echo "Error. Unsuported OpenOCD USB programmer"
+  exit 1
+fi
+openocd -f $ST_INTERFACE -f target/stm32f4x.cfg -c init -c "reset halt" -c "reset" -c "exit"
+
+popd > /dev/null

config/freertos/nucleo_f446ze/reset.sh

@@ -0,0 +1,17 @@
+EXTENSIONS_DIR=$FW_TARGETDIR/freertos_apps/microros_nucleo_f446ze_extensions
+
+pushd $EXTENSIONS_DIR > /dev/null
+
+echo "Resetting firmware for $RTOS platform $PLATFORM"
+if lsusb -d 0483:374b; then
+  ST_INTERFACE=interface/stlink-v2-1.cfg
+elif lsusb -d 0483:3748; then
+  ST_INTERFACE=interface/stlink-v2.cfg
+else
+# TODO: add stlink v3, should it be stlink.cfg ?
+  echo "Error. Unsuported OpenOCD USB programmer"
+  exit 1
+fi
+openocd -f $ST_INTERFACE -f target/stm32f4x.cfg -c init -c "reset halt" -c "reset" -c "exit"
+
+popd > /dev/null

config/freertos/nucleo_f746zg/reset.sh

@@ -0,0 +1,17 @@
+EXTENSIONS_DIR=$FW_TARGETDIR/freertos_apps/microros_nucleo_f746zg_extensions
+
+pushd $EXTENSIONS_DIR > /dev/null
+
+echo "Resetting firmware for $RTOS platform $PLATFORM"
+if lsusb -d 0483:374b; then
+  ST_INTERFACE=interface/stlink-v2-1.cfg
+elif lsusb -d 0483:3748; then
+  ST_INTERFACE=interface/stlink-v2.cfg
+else
+# TODO: add stlink v3, should it be stlink.cfg ?
+  echo "Error. Unsuported OpenOCD USB programmer"
+  exit 1
+fi
+openocd -f $ST_INTERFACE -f target/stm32f4x.cfg -c init -c "reset halt" -c "reset" -c "exit"
+
+popd > /dev/null

config/freertos/nucleo_f767zi/reset.sh

@@ -0,0 +1,17 @@
+EXTENSIONS_DIR=$FW_TARGETDIR/freertos_apps/microros_nucleo_f767zi_extensions
+
+pushd $EXTENSIONS_DIR > /dev/null
+
+echo "Resetting firmware for $RTOS platform $PLATFORM"
+if lsusb -d 0483:374b; then
+  ST_INTERFACE=interface/stlink-v2-1.cfg
+elif lsusb -d 0483:3748; then
+  ST_INTERFACE=interface/stlink-v2.cfg
+else
+# TODO: add stlink v3, should it be stlink.cfg ?
+  echo "Error. Unsuported OpenOCD USB programmer"
+  exit 1
+fi
+openocd -f $ST_INTERFACE -f target/stm32f4x.cfg -c init -c "reset halt" -c "reset" -c "exit"
+
+popd > /dev/null

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

@@ -0,0 +1,19 @@
+OLIMEX_EXTENSIONS_DIR=$FW_TARGETDIR/freertos_apps/microros_olimex_e407_extensions
+
+pushd $OLIMEX_EXTENSIONS_DIR > /dev/null
+
+if lsusb -d 15BA:002a; then
+  PROGRAMMER=interface/ftdi/olimex-arm-usb-tiny-h.cfg
+elif lsusb -d 15BA:0003;then
+  PROGRAMMER=interface/ftdi/olimex-arm-usb-ocd.cfg
+elif lsusb -d 15BA:002b;then
+  PROGRAMMER=interface/ftdi/olimex-arm-usb-ocd-h.cfg
+else
+  echo "Error. Unsuported OpenOCD USB programmer"
+  exit 1
+fi
+
+openocd -f $PROGRAMMER -f target/stm32f4x.cfg -c init -c "reset halt" -c "reset" -c "exit"
+
+popd > /dev/null
+

config/host/generic/reset.sh

@@ -0,0 +1,2 @@
+echo "Nothing to reset: running in host mode"
+echo "Use 'RMW_IMPLEMENTATION=rmw_microxrcedds ros2 run micro_ros_demos_rcl int32_subscriber' to start with examples"

config/nuttx/generic/reset.sh

@@ -0,0 +1,32 @@
+#! /bin/bash
+
+set -e
+set -o nounset
+set -o pipefail
+
+
+pushd $FW_TARGETDIR/NuttX > /dev/null
+
+if [ "$PLATFORM" = "olimex-stm32-e407" ]; then
+  echo "Resetting firmware for $RTOS platform $PLATFORM"
+
+    if lsusb -d 15BA:002a; then
+      PROGRAMMER=interface/ftdi/olimex-arm-usb-tiny-h.cfg
+    elif lsusb -d 15BA:0003;then
+      PROGRAMMER=interface/ftdi/olimex-arm-usb-ocd.cfg
+    elif lsusb -d 15BA:002b;then
+      PROGRAMMER=interface/ftdi/olimex-arm-usb-ocd-h.cfg
+    elif lsusb -d 0483:3748;then
+      PROGRAMMER=interface/stlink-v2.cfg
+    else
+      echo "Error. Unsuported OpenOCD USB programmer"
+      exit 1
+    fi
+
+    openocd -f $PROGRAMMER -f target/stm32f4x.cfg -c init -c "reset halt" -c "reset" -c "exit"
+else
+  echo "Unrecognized board: $PLATFORM"
+  exit 1
+fi
+
+popd > /dev/null

config/zephyr/generic/reset.sh

@@ -0,0 +1,74 @@
+pushd $FW_TARGETDIR > /dev/null
+
+ZEPHYR_BUILD_DIR="$FW_TARGETDIR/build/zephyr"
+
+# Host platform (=native_posix) is special, as resetting is stopping and re-executing the binary
+if [ "$PLATFORM" = "host" ]; then
+
+    # TODO: stop the previous process
+    $ZEPHYR_BUILD_DIR/zephyr.exe
+
+else
+
+    # These boards need special openocd rules
+    RESET_OPENOCD=false
+    if [ "$PLATFORM" = "olimex-stm32-e407" ]; then
+
+        RESET_OPENOCD=true
+        OPENOCD_TARGET="stm32f4x.cfg"
+        if lsusb -d 15BA:002a; then
+            OPENOCD_PROGRAMMER=interface/ftdi/olimex-arm-usb-tiny-h.cfg
+        elif lsusb -d 15BA:0003;then
+            OPENOCD_PROGRAMMER=interface/ftdi/olimex-arm-usb-ocd.cfg
+        elif lsusb -d 15BA:002b;then
+            OPENOCD_PROGRAMMER=interface/ftdi/olimex-arm-usb-ocd-h.cfg
+        else
+            echo "Error: Unsuported OpenOCD USB programmer"
+            exit 1
+        fi
+
+    elif [ "$PLATFORM" = "nucleo_f446re" ]; then
+
+        RESET_OPENOCD=true
+        OPENOCD_TARGET="stm32f4x.cfg"
+
+        if lsusb -d 0483:374b;then
+            OPENOCD_PROGRAMMER=interface/stlink-v2-1.cfg
+        else
+            echo "Error: Unsupported OpenOCD programmer"
+            exit 1
+        fi
+
+    elif [ "$PLATFORM" = "nucleo_h743zi" ]; then
+
+        RESET_OPENOCD=true
+        OPENOCD_TARGET="stm32h7x.cfg"
+
+        if lsusb -d 0483:374e;then
+            OPENOCD_PROGRAMMER=interface/stlink.cfg
+        else
+            echo "Error: Unsupported OpenOCD programmer"
+            exit 1
+        fi
+
+    fi
+
+
+
+    if [ "$RESET_OPENOCD" = true ]; then
+
+        openocd -f $OPENOCD_PROGRAMMER -f target/$OPENOCD_TARGET \
+                -c init \
+                -c "reset halt" \
+                -c "reset run; exit"
+
+    else
+
+	echo "Error: Resetting device is only supported with OpenOCD"
+	exit 1
+
+    fi
+
+fi
+
+popd > /dev/null

scripts/reset_firmware.sh

@@ -0,0 +1,34 @@
+#! /bin/bash
+
+set -e
+set -o nounset
+set -o pipefail
+
+FW_TARGETDIR=$(pwd)/firmware
+PREFIX=$(ros2 pkg prefix micro_ros_setup)
+
+# Checking if firmware exists
+if [ -d $FW_TARGETDIR ]; then
+    RTOS=$(head -n1 $FW_TARGETDIR/PLATFORM)
+    PLATFORM=$(head -n2 firmware/PLATFORM | tail -n1)
+else
+    echo "Firmware folder not found. Please use ros2 run micro_ros_setup create_firmware_ws.sh to create a new project."
+    exit 1
+fi
+
+# Reset specific firmware
+if [ $PLATFORM != "generic" ] && [ -d "$PREFIX/config/$RTOS/generic" ]; then
+    if [ -f $PREFIX/config/$RTOS/generic/reset.sh ]; then
+      echo "Resetting firmware for $RTOS platform $PLATFORM"
+      . $PREFIX/config/$RTOS/generic/reset.sh
+    else
+      echo "No reset step found for $RTOS platform $PLATFORM"
+    fi
+else
+    if [ -f $PREFIX/config/$RTOS/$PLATFORM/reset.sh ]; then
+      echo "Resetting firmware for $RTOS platform $PLATFORM"
+      . $PREFIX/config/$RTOS/$PLATFORM/reset.sh
+    else
+      echo "No reset step found for $RTOS platform $PLATFORM"
+    fi
+fi