ardupilot/Tools/ardupilotwaf/esp32.py

180 lines
6.1 KiB
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")