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Tools: add esp32 support

Browse Source 
see libraries/AP_HAL_ESP32/README.md for more.

Author: Charles Villard <charlesvillard10@gmail.com>
Author: Buzz <davidbuzz@gmail.com>
This commit is contained in:
Buzz 2021-10-27 18:06:42 +10:00 committed by Andrew Tridgell
parent 3ecfdd5f88
commit 228fafeffe
3 changed files with 289 additions and 7 deletions
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92
Tools/ardupilotwaf/boards.py
View File

@ -421,7 +421,7 @@ class Board:
Board = BoardMeta('Board', Board.__bases__, dict(Board.__dict__))
def add_dynamic_boards():
def add_dynamic_boards_chibios():
'''add boards based on existance of hwdef.dat in subdirectories for ChibiOS'''
dirname, dirlist, filenames = next(os.walk('libraries/AP_HAL_ChibiOS/hwdef'))
for d in dirlist:
@ -431,8 +431,19 @@ def add_dynamic_boards():
if os.path.exists(hwdef):
newclass = type(d, (chibios,), {'name': d})
def add_dynamic_boards_esp32():
'''add boards based on existance of hwdef.dat in subdirectories for ESP32'''
dirname, dirlist, filenames = next(os.walk('libraries/AP_HAL_ESP32/hwdef'))
for d in dirlist:
if d in _board_classes.keys():
continue
hwdef = os.path.join(dirname, d, 'hwdef.dat')
if os.path.exists(hwdef):
newclass = type(d, (esp32,), {'name': d})
def get_boards_names():
add_dynamic_boards()
add_dynamic_boards_chibios()
add_dynamic_boards_esp32()
return sorted(list(_board_classes.keys()), key=str.lower)
@ -658,6 +669,83 @@ class sitl_periph_gps(sitl):
]
class esp32(Board):
abstract = True
toolchain = 'xtensa-esp32-elf'
def configure_env(self, cfg, env):
def expand_path(p):
print("USING EXPRESSIF IDF:"+str(env.idf))
return cfg.root.find_dir(env.IDF+p).abspath()
try:
env.IDF = os.environ['IDF_PATH']
except:
env.IDF = cfg.srcnode.abspath()+"/modules/esp_idf"
super(esp32, self).configure_env(cfg, env)
cfg.load('esp32')
env.DEFINES.update(
CONFIG_HAL_BOARD = 'HAL_BOARD_ESP32'
)
tt = self.name[5:] #leave off 'esp32' so we just get 'buzz','diy','icarus, etc
# this makes sure we get the correct subtype
env.DEFINES.update(
ENABLE_HEAP = 0,
CONFIG_HAL_BOARD_SUBTYPE = 'HAL_BOARD_SUBTYPE_ESP32_%s' % tt.upper() ,
ALLOW_DOUBLE_MATH_FUNCTIONS = '1',
)
env.AP_LIBRARIES += [
'AP_HAL_ESP32',
]
env.CFLAGS += [
'-fno-inline-functions',
'-mlongcalls',
]
env.CFLAGS.remove('-Werror=undef')
env.CXXFLAGS += ['-mlongcalls',
'-Os',
'-g',
'-ffunction-sections',
'-fdata-sections',
'-fno-exceptions',
'-fno-rtti',
'-nostdlib',
'-fstrict-volatile-bitfields',
'-Wno-sign-compare',
'-fno-inline-functions',
'-mlongcalls',
'-DCYGWIN_BUILD']
env.CXXFLAGS.remove('-Werror=undef')
env.CXXFLAGS.remove('-Werror=shadow')
env.INCLUDES += [
cfg.srcnode.find_dir('libraries/AP_HAL_ESP32/boards').abspath(),
]
env.AP_PROGRAM_AS_STLIB = True
#if cfg.options.enable_profile:
# env.CXXFLAGS += ['-pg',
# '-DENABLE_PROFILE=1']
def pre_build(self, bld):
'''pre-build hook that gets called before dynamic sources'''
from waflib.Context import load_tool
module = load_tool('esp32', [], with_sys_path=True)
fun = getattr(module, 'pre_build', None)
if fun:
fun(bld)
super(esp32, self).pre_build(bld)
def build(self, bld):
super(esp32, self).build(bld)
bld.load('esp32')
class chibios(Board):
abstract = True
toolchain = 'arm-none-eabi'

24
Tools/ardupilotwaf/build_summary.py
View File

@ -160,10 +160,14 @@ def _build_summary(bld):
if hasattr(bld, 'extra_build_summary'):
bld.extra_build_summary(bld, sys.modules[__name__])
def _parse_size_output(s):
# totals=True means relying on -t flag to give us a "(TOTALS)" output
def _parse_size_output(s, totals=False):
import re
pattern = re.compile("^.*TOTALS.*$")
lines = s.splitlines()[1:]
l = []
for line in lines:
if pattern.match(line) or totals==False:
row = line.strip().split()
l.append(dict(
size_text=int(row[0]),
@ -183,21 +187,31 @@ def size_summary(bld, nodes):
l.append(dict(binary_path=path))
if bld.env.SIZE:
cmd = [bld.env.get_flat('SIZE')] + [d['binary_path'] for d in l]
if bld.env.get_flat('SIZE').endswith("xtensa-esp32-elf-size"):
cmd = [bld.env.get_flat('SIZE')] + ["-t"] + [d['binary_path'] for d in l]
else:
cmd = [bld.env.get_flat('SIZE')] + [d['binary_path'] for d in l]
out = bld.cmd_and_log(
cmd,
cwd=bld.bldnode.abspath(),
quiet=Context.BOTH,
)
parsed = _parse_size_output(out)
if bld.env.get_flat('SIZE').endswith("xtensa-esp32-elf-size"):
parsed = _parse_size_output(out,True)
else:
parsed = _parse_size_output(out,False)
for i, data in enumerate(parsed):
l[i].update(data)
try:
l[i].update(data)
except:
print("build summary debug: "+str(i)+"->"+str(data))
return l
@conf
def build_summary_post_fun(bld):
bld.add_post_fun(_build_summary)
if not bld.env.AP_PROGRAM_AS_STLIB:
bld.add_post_fun(_build_summary)
@feature('cprogram', 'cxxprogram')
@before_method('process_rule')

180
Tools/ardupilotwaf/esp32.py Normal file
View File

@ -0,0 +1,180 @@
#!/usr/bin/env python
# encoding: utf-8
"""
Waf tool for ESP32 build
"""
from waflib import Build, ConfigSet, Configure, Context, Task, Utils
from waflib import Errors, Logs
from waflib.TaskGen import before, after_method, before_method, feature
from waflib.Configure import conf
from collections import OrderedDict
import os
import shutil
import sys
import re
import pickle
import subprocess
def configure(cfg):
bldnode = cfg.bldnode.make_node(cfg.variant)
def srcpath(path):
return cfg.srcnode.make_node(path).abspath()
def bldpath(path):
return bldnode.make_node(path).abspath()
#Load cmake builder and make
cfg.load('cmake')
#define env and location for the cmake esp32 file
env = cfg.env
env.AP_HAL_ESP32 = srcpath('libraries/AP_HAL_ESP32/targets/esp-idf')
env.AP_PROGRAM_FEATURES += ['esp32_ap_program']
env.ESP_IDF_PREFIX_REL = 'esp-idf'
prefix_node = bldnode.make_node(env.ESP_IDF_PREFIX_REL)
env.BUILDROOT = bldpath('')
env.SRCROOT = srcpath('')
env.APJ_TOOL = srcpath('Tools/scripts/apj_tool.py')
#Check if esp-idf env are loaded, or load it
try:
env.IDF = os.environ['IDF_PATH']
except:
env.IDF = cfg.srcnode.abspath()+"/modules/esp_idf"
print("USING EXPRESSIF IDF:"+str(env.IDF))
try:
env.DEFAULT_PARAMETERS = os.environ['DEFAULT_PARAMETERS']
except:
env.DEFAULT_PARAMETERS = cfg.srcnode.abspath()+"/libraries/AP_HAL_ESP32/boards/defaults.parm"
print("USING DEFAULT_PARAMETERS:"+str(env.DEFAULT_PARAMETERS))
env.append_value('GIT_SUBMODULES', 'esp_idf')
def pre_build(self):
"""Configure esp-idf as lib target"""
lib_vars = OrderedDict()
lib_vars['ARDUPILOT_CMD'] = self.cmd
lib_vars['ARDUPILOT_LIB'] = self.bldnode.find_or_declare('lib/').abspath()
lib_vars['ARDUPILOT_BIN'] = self.bldnode.find_or_declare('lib/bin').abspath()
esp_idf = self.cmake(
name='esp-idf',
cmake_vars=lib_vars,
cmake_src='libraries/AP_HAL_ESP32/targets/esp-idf',
cmake_bld='esp-idf_build',
)
esp_idf_showinc = esp_idf.build('showinc', target='esp-idf_build/includes.list')
esp_idf_showinc.post()
from waflib import Task
class load_generated_includes(Task.Task):
"""After includes.list generated include it in env"""
always_run = True
def run(tsk):
bld = tsk.generator.bld
includes = bld.bldnode.find_or_declare('esp-idf_build/includes.list').read().split()
#print(includes)
bld.env.prepend_value('INCLUDES', includes)
tsk = load_generated_includes(env=self.env)
tsk.set_inputs(self.path.find_resource('esp-idf_build/includes.list'))
self.add_to_group(tsk)
@feature('esp32_ap_program')
@after_method('process_source')
def esp32_firmware(self):
self.link_task.always_run = True
esp_idf = self.bld.cmake('esp-idf')
build = esp_idf.build('all', target='esp-idf_build/ardupilot.bin')
build.post()
build.cmake_build_task.set_run_after(self.link_task)
# tool that can update the default params in a .bin or .apj
#self.default_params_task = self.create_task('set_default_parameters',
# src='esp-idf_build/ardupilot.bin')
#self.default_params_task.set_run_after(self.generate_bin_task)
# optional upload is last
if self.bld.options.upload:
flasher = esp_idf.build('flash')
flasher.post()
class set_default_parameters(Task.Task):
color='CYAN'
always_run = True
def keyword(self):
return "setting default params"
def run(self):
# TODO: disabled this task outright as apjtool appears to destroy checksums and/or the esp32 partition table
# TIP: if u do try this, afterwards, be sure to 'rm -rf build/esp32buzz/idf-plane/*.bin' and re-run waf
return
# (752) esp_image: Checksum failed. Calculated 0xd3 read 0xa3
# (752) boot: OTA app partition slot 0 is not bootable
# (753) esp_image: image at 0x200000 has invalid magic byte
# (759) boot_comm: mismatch chip ID, expected 0, found 65535
# (766) boot_comm: can't run on lower chip revision, expected 1, found 255
# (773) esp_image: image at 0x200000 has invalid SPI mode 255
# (779) esp_image: image at 0x200000 has invalid SPI size 15
# (786) boot: OTA app partition slot 1 is not bootable
# (792) boot: No bootable app partitions in the partition table
# skip task if nothing to do.
if not self.env.DEFAULT_PARAMETERS:
return
default_parameters = self.env.get_flat('DEFAULT_PARAMETERS').replace("'", "")
#print("apj defaults file:"+str(default_parameters))
_bin = str(self.inputs[0])
# paranoia check before and after apj_tool to see if file hash has changed...
cmd = "shasum -b {0}".format( _bin )
result = subprocess.check_output(cmd, shell=True)
prehash = str(result).split(' ')[0][2:]
cmd = "{1} {2} --set-file {3}".format(self.env.SRCROOT, self.env.APJ_TOOL, _bin, default_parameters )
print(cmd)
result = subprocess.check_output(cmd, shell=True)
if not isinstance(result, str):
result = result.decode()
for i in str(result).split('\n'):
print("\t"+i)
# paranoia check before and after apj_tool to see if file hash has changed...
cmd = "shasum -b {0}".format( _bin )
result = subprocess.check_output(cmd, shell=True)
posthash = str(result).split(' ')[0][2:]
# display --show output, helpful.
cmd = "{1} {2} --show ".format(self.env.SRCROOT, self.env.APJ_TOOL, _bin )
print(cmd)
result = subprocess.check_output(cmd, shell=True)
if not isinstance(result, str):
result = result.decode()
for i in str(result).split('\n'):
print("\t"+i)
# were embedded params updated in .bin?
if prehash == posthash:
print("Embedded params in .bin unchanged (probably already up-to-date)")
else:
print("Embedded params in .bin UPDATED")