ci: build targets: package cannode artifacts into artifact/cannode/<target>/*.uavcan.bin

Releases were include the .px4 file for cannodes. This file cannot be flashed and instead the .uavcan.bin file must be used. Updated build script to only package .px4 binaries for non-cannodes and to only package .uavcan.bin binaries for cannodes.

Author: dakejahl

.github/workflows/build_all_targets.yml

@@ -170,4 +170,6 @@ jobs:
         uses: softprops/action-gh-release@v2
         with:
           draft: true
-          files: artifacts/*.px4
+          files: |
+            artifacts/*.px4
+            artifacts/cannode/**/*.uavcan.bin

Tools/ci/package_build_artifacts.sh

@@ -1,11 +1,73 @@
 #!/bin/bash
 
 mkdir artifacts
-cp **/**/*.px4 artifacts/
-cp **/**/*.elf artifacts/
+mkdir -p artifacts/cannode
+
+# Function to check if a build is a CAN node
+is_cannode() {
+  local build_path=$1
+  local boardconfig="$build_path/boardconfig"
+
+  if [ -f "$boardconfig" ]; then
+    # Check if CONFIG_BOARD_ROMFSROOT is set to "cannode"
+    if grep -q '^CONFIG_BOARD_ROMFSROOT="cannode"' "$boardconfig"; then
+      return 0
+    fi
+  fi
+  return 1
+}
+
+# First pass: identify and package CAN nodes
+for build_dir_path in build/*/ ; do
+  # Remove trailing slash
+  build_dir_path=${build_dir_path::${#build_dir_path}-1}
+  build_dir=${build_dir_path#*/}
+
+  if is_cannode "$build_dir_path"; then
+    # Find the .uavcan.bin file
+    uavcan_bin=$(find "$build_dir_path" -maxdepth 1 -name "*.uavcan.bin" -type f)
+
+    if [ -n "$uavcan_bin" ]; then
+      # Extract the target name (e.g., ark_can-flow from ark_can-flow_default)
+      target_name=${build_dir%_default}
+
+      # Create a directory for this CAN node
+      mkdir -p "artifacts/cannode/$target_name"
+
+      # Copy the .uavcan.bin file
+      cp "$uavcan_bin" "artifacts/cannode/$target_name/"
+
+      echo "Packaged CAN node: $target_name"
+    fi
+  fi
+done
+
+# Second pass: package regular firmware binaries (excluding CAN nodes)
+for build_dir_path in build/*/ ; do
+  build_dir_path=${build_dir_path::${#build_dir_path}-1}
+
+  # Skip CAN nodes
+  if is_cannode "$build_dir_path"; then
+    continue
+  fi
+
+  # Copy .px4 files
+  find "$build_dir_path" -maxdepth 1 -name "*.px4" -type f -exec cp {} artifacts/ \;
+
+  # Copy .elf files
+  find "$build_dir_path" -maxdepth 1 -name "*.elf" -type f -exec cp {} artifacts/ \;
+done
+
+# Third pass: package metadata for each non-CAN node build directory
 for build_dir_path in build/*/ ; do
   build_dir_path=${build_dir_path::${#build_dir_path}-1}
   build_dir=${build_dir_path#*/}
+
+  # Skip CAN node builds for metadata packaging (they only need the .uavcan.bin)
+  if is_cannode "$build_dir_path"; then
+    continue
+  fi
+
   mkdir artifacts/$build_dir
   find artifacts/ -maxdepth 1 -type f -name "*$build_dir*"
   # Airframe

docs/en/dronecan/px4_cannode_fw.md

@@ -20,6 +20,16 @@ make ark_can-flow_default
 
 This will create an output in **build/ark_can-flow_default** named **XX-X.X.XXXXXXXX.uavcan.bin**. Follow the instructions at [DroneCAN firmware update](index.md#firmware-update) to flash the firmware.
 
+## Downloading Pre-built Firmware
+
+Pre-built CAN node firmware binaries are available in PX4 releases. The binaries are packaged in the `cannode/` folder, with each target in its own named directory containing the `.uavcan.bin` file.
+
+For example, to download firmware for the Ark Flow:
+1. Go to the [PX4 releases page](https://github.com/PX4/PX4-Autopilot/releases)
+2. Download the release assets
+3. Navigate to `cannode/ark_can-flow/`
+4. Use the `.uavcan.bin` file for flashing
+
 ## Developer Information
 
 This section has information that is relevant to developers who want to add support for new DroneCAN hardware to the PX4 Autopilot.