chore(cmake): replace dfu-util with rs-dfu for STM32 flash targets (#7789)

Co-authored-by: Claude Sonnet 5 <noreply@anthropic.com>

cmake/FetchRdfuCli.cmake

@@ -0,0 +1,72 @@
+# Resolves RDFU_EXECUTABLE, the CLI tool used by the flash/flash-bl/flash-uf2
+# targets (separate from FetchRsDfuLib.cmake, Companion's rs_dfu C++ library).
+cmake_minimum_required(VERSION 3.14)
+
+find_program(RDFU_EXECUTABLE NAMES rdfu)
+
+if(NOT RDFU_EXECUTABLE)
+  # Host, not target: must run on the machine invoking `make flash`.
+  if(CMAKE_HOST_SYSTEM_NAME STREQUAL "Linux")
+    set(RDFU_OS "Linux")
+  elseif(CMAKE_HOST_SYSTEM_NAME STREQUAL "Darwin")
+    set(RDFU_OS "macOS")
+  elseif(CMAKE_HOST_SYSTEM_NAME STREQUAL "Windows")
+    set(RDFU_OS "Windows")
+  else()
+    message(FATAL_ERROR "rdfu: unsupported host platform '${CMAKE_HOST_SYSTEM_NAME}'")
+  endif()
+
+  if(RDFU_OS STREQUAL "macOS")
+    set(RDFU_ARCH "universal")
+  else()
+    # CMAKE_HOST_SYSTEM_PROCESSOR is empty in `cmake -P` script mode.
+    cmake_host_system_information(RESULT RDFU_HOST_ARCH QUERY OS_PLATFORM)
+    if(RDFU_HOST_ARCH MATCHES "x86_64|amd64|AMD64")
+      set(RDFU_ARCH "x86_64")
+    elseif(RDFU_HOST_ARCH MATCHES "aarch64|arm64|ARM64")
+      set(RDFU_ARCH "arm64")
+    else()
+      message(FATAL_ERROR "rdfu: unsupported host architecture '${RDFU_HOST_ARCH}'")
+    endif()
+  endif()
+
+  set(RDFU_EXT "")
+  if(RDFU_OS STREQUAL "Windows")
+    set(RDFU_EXT ".exe")
+  endif()
+
+  set(RDFU_FILENAME "rdfu-${RDFU_OS}-${RDFU_ARCH}${RDFU_EXT}")
+  set(RDFU_URL "https://github.com/EdgeTX/rs-dfu/releases/latest/download/${RDFU_FILENAME}")
+
+  # Manual cache (FetchContent needs a project/generator, unavailable in
+  # -P mode), mirroring FetchContent's _deps/<name>-src/ layout.
+  set(RDFU_CACHE_DIR "_deps/rdfucli-src")
+  set(RDFU_CACHED_PATH "${RDFU_CACHE_DIR}/${RDFU_FILENAME}")
+
+  if(NOT EXISTS "${RDFU_CACHED_PATH}")
+    file(MAKE_DIRECTORY "${RDFU_CACHE_DIR}")
+    message(STATUS "Fetching rdfu CLI tool from ${RDFU_URL}")
+    file(DOWNLOAD "${RDFU_URL}" "${RDFU_CACHED_PATH}" STATUS RDFU_DOWNLOAD_STATUS)
+
+    list(GET RDFU_DOWNLOAD_STATUS 0 RDFU_DOWNLOAD_CODE)
+    if(NOT RDFU_DOWNLOAD_CODE EQUAL 0)
+      list(GET RDFU_DOWNLOAD_STATUS 1 RDFU_DOWNLOAD_MSG)
+      file(REMOVE "${RDFU_CACHED_PATH}")
+      message(FATAL_ERROR "Failed to download rdfu CLI tool from ${RDFU_URL}: ${RDFU_DOWNLOAD_MSG}")
+    endif()
+
+    if(NOT RDFU_OS STREQUAL "Windows")
+      file(CHMOD "${RDFU_CACHED_PATH}" PERMISSIONS
+        OWNER_READ OWNER_WRITE OWNER_EXECUTE
+        GROUP_READ GROUP_EXECUTE
+        WORLD_READ WORLD_EXECUTE
+        )
+    endif()
+  endif()
+
+  file(REAL_PATH "${RDFU_CACHED_PATH}" RDFU_EXECUTABLE)
+endif()
+
+if(NOT RDFU_EXECUTABLE)
+  message(FATAL_ERROR "Could not find or fetch the rdfu CLI tool (see https://github.com/EdgeTX/rs-dfu)")
+endif()

cmake/FetchRsDfuLib.cmake

@@ -1,4 +1,4 @@
-# Fetch rs_dfu
+# Fetch rs_dfu C++ library for Companion
 cmake_minimum_required(VERSION 3.14)
 
 include(FetchContent)

cmake/NativeTargets.cmake

@@ -20,7 +20,7 @@ if(Qt6Core_FOUND AND NOT DISABLE_COMPANION)
 
   find_package(OpenSSL)
 
-  include(FetchRsDfu)
+  include(FetchRsDfuLib)
   find_package(rs_dfu REQUIRED)
 endif()
 

cmake/RunRdfuCli.cmake

@@ -0,0 +1,24 @@
+# Runs rdfu for the flash/flash-bl/flash-uf2 targets in radio/src/CMakeLists.txt.
+# Invoked via `cmake -P` so resolving/fetching the binary happens at build
+# time, not on every configure.
+#
+# -D args: RDFU_SUBCOMMAND, RDFU_FILE, RDFU_VENDOR, RDFU_PRODUCT,
+# RDFU_START_ADDRESS (optional, omitted for UF2 writes)
+cmake_minimum_required(VERSION 3.14)
+
+include(${CMAKE_CURRENT_LIST_DIR}/FetchRdfuCli.cmake)
+
+set(RDFU_ARGS ${RDFU_SUBCOMMAND} --vendor ${RDFU_VENDOR} --product ${RDFU_PRODUCT})
+if(DEFINED RDFU_START_ADDRESS AND NOT RDFU_START_ADDRESS STREQUAL "")
+  list(APPEND RDFU_ARGS --start-address ${RDFU_START_ADDRESS})
+endif()
+list(APPEND RDFU_ARGS ${RDFU_FILE})
+
+execute_process(
+  COMMAND ${RDFU_EXECUTABLE} ${RDFU_ARGS}
+  RESULT_VARIABLE RDFU_RESULT
+  )
+
+if(NOT RDFU_RESULT EQUAL 0)
+  message(FATAL_ERROR "rdfu ${RDFU_SUBCOMMAND} failed (exit code ${RDFU_RESULT})")
+endif()

radio/src/CMakeLists.txt

@@ -820,18 +820,39 @@ else()
 endif()
 
 if(CPU_FAMILY STREQUAL STM32)
+  # FIRMWARE_QSPI boards can only be firmware-flashed via flash-uf2 below;
+  # the bootloader doesn't expose external QSPI/XSPI flash as a DFU segment.
+  if(NOT FIRMWARE_QSPI)
     add_custom_target(flash
-    COMMAND dfu-util --alt 0 --dfuse-address 0x08000000:leave -d 0483:df11 -D firmware.bin
+      COMMAND ${CMAKE_COMMAND}
+              -DRDFU_SUBCOMMAND=write -DRDFU_VENDOR=0483 -DRDFU_PRODUCT=df11
+              -DRDFU_START_ADDRESS=0x08000000 -DRDFU_FILE=firmware.bin
+              -P ${CMAKE_SOURCE_DIR}/cmake/RunRdfuCli.cmake
       DEPENDS firmware
       WORKING_DIRECTORY ${CMAKE_BINARY_DIR}
       )
+  endif()
 
   add_custom_target(flash-bl
-    COMMAND dfu-util --alt 0 --dfuse-address 0x08000000:leave -d 0483:df11 -D bootloader.bin
+    COMMAND ${CMAKE_COMMAND}
+            -DRDFU_SUBCOMMAND=write -DRDFU_VENDOR=0483 -DRDFU_PRODUCT=df11
+            -DRDFU_START_ADDRESS=0x08000000 -DRDFU_FILE=bootloader.bin
+            -P ${CMAKE_SOURCE_DIR}/cmake/RunRdfuCli.cmake
     DEPENDS bootloader
     WORKING_DIRECTORY ${CMAKE_BINARY_DIR}
     )
 
+  if(FIRMWARE_FORMAT_UF2)
+    add_custom_target(flash-uf2
+      COMMAND ${CMAKE_COMMAND}
+              -DRDFU_SUBCOMMAND=write -DRDFU_VENDOR=0483 -DRDFU_PRODUCT=df11
+              -DRDFU_FILE=firmware.uf2
+              -P ${CMAKE_SOURCE_DIR}/cmake/RunRdfuCli.cmake
+      DEPENDS firmware
+      WORKING_DIRECTORY ${CMAKE_BINARY_DIR}
+      )
+  endif()
+
   add_custom_target(flash-jtag
     COMMAND st-flash --reset write firmware.bin 0x8000000
     DEPENDS firmware

tools/setup_buildenv_ubuntu22.04.sh

@@ -84,7 +84,6 @@ sudo apt-get -y install --no-install-recommends \
     clang \
     libclang-dev \
     python-is-python3 \
-    dfu-util \
     nodejs \
     locales \
     stlink-tools \

tools/setup_buildenv_ubuntu24.04.sh

@@ -80,7 +80,6 @@ sudo apt-get -y install --no-install-recommends \
     clang \
     libclang-dev \
     python-is-python3 \
-    dfu-util \
     nodejs \
     locales \
     stlink-tools \