mirror of
https://github.com/ArduPilot/ardupilot
synced 2025-01-04 23:18:28 -04:00
5418f71aae
check for the presence of libiio to enable the compilation of the bebop rangefinder that needs it. If the build remains static, there needs to be a rootfs that contains the libiio.a file because it is not included in the debian package. A solution can be to compile libiio and copy libiio.a in /usr/lib[/arch]
398 lines
10 KiB
Python
398 lines
10 KiB
Python
#!/usr/bin/env python
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# encoding: utf-8
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from collections import OrderedDict
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import sys
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import waflib
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_board_classes = {}
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class BoardMeta(type):
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def __init__(cls, name, bases, dct):
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super(BoardMeta, cls).__init__(name, bases, dct)
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if 'abstract' not in cls.__dict__:
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cls.abstract = False
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if cls.abstract:
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return
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if not hasattr(cls, 'toolchain'):
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cls.toolchain = 'native'
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board_name = getattr(cls, 'name', name)
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if board_name in _board_classes:
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raise Exception('board named %s already exists' % board_name)
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_board_classes[board_name] = cls
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class Board:
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abstract = True
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def configure(self, cfg):
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cfg.env.TOOLCHAIN = self.toolchain
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cfg.load('toolchain')
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env = waflib.ConfigSet.ConfigSet()
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self.configure_env(cfg, env)
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d = env.get_merged_dict()
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# Always prepend so that arguments passed in the command line get
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# the priority.
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for k, val in d.items():
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# Dictionaries (like 'DEFINES') are converted to lists to
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# conform to waf conventions.
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if isinstance(val, dict):
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keys = list(val.keys())
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if not isinstance(val, OrderedDict):
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keys.sort()
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val = ['%s=%s' % (vk, val[vk]) for vk in keys]
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if k in cfg.env and isinstance(cfg.env[k], list):
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cfg.env.prepend_value(k, val)
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else:
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cfg.env[k] = val
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cfg.load('cxx_checks')
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def configure_env(self, cfg, env):
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# Use a dictionary instead of the convetional list for definitions to
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# make easy to override them. Convert back to list before consumption.
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env.DEFINES = {}
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env.prepend_value('INCLUDES', [
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cfg.srcnode.find_dir('libraries/AP_Common/missing').abspath()
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])
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env.CFLAGS += [
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'-ffunction-sections',
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'-fdata-sections',
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'-fsigned-char',
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'-Wall',
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'-Wextra',
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'-Wformat',
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'-Wshadow',
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'-Wpointer-arith',
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'-Wcast-align',
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'-Wundef',
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'-Wno-missing-field-initializers',
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'-Wno-unused-parameter',
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'-Wno-redundant-decls',
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'-Wno-unknown-pragmas',
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]
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if 'clang' in cfg.env.COMPILER_CC:
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env.CFLAGS += [
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'-fcolor-diagnostics',
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'-Wno-gnu-designator',
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'-Wno-inconsistent-missing-override',
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'-Wno-mismatched-tags',
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'-Wno-gnu-variable-sized-type-not-at-end',
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'-Wno-c++11-narrowing'
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]
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env.CXXFLAGS += [
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'-std=gnu++11',
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'-fdata-sections',
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'-ffunction-sections',
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'-fno-exceptions',
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'-fsigned-char',
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'-Wall',
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'-Wextra',
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'-Wformat',
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'-Wshadow',
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'-Wpointer-arith',
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'-Wcast-align',
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'-Wundef',
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'-Wno-unused-parameter',
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'-Wno-missing-field-initializers',
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'-Wno-reorder',
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'-Wno-redundant-decls',
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'-Wno-unknown-pragmas',
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'-Werror=format-security',
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'-Werror=array-bounds',
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'-Werror=uninitialized',
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'-Werror=init-self',
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'-Wfatal-errors',
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]
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if 'clang++' in cfg.env.COMPILER_CXX:
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env.CXXFLAGS += [
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'-fcolor-diagnostics',
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'-Wno-gnu-designator',
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'-Wno-inconsistent-missing-override',
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'-Wno-mismatched-tags',
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'-Wno-gnu-variable-sized-type-not-at-end',
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'-Wno-c++11-narrowing'
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]
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else:
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env.CXXFLAFS += [
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'-Werror=unused-but-set-variable'
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]
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env.LINKFLAGS += [
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'-Wl,--gc-sections',
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]
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def build(self, bld):
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pass
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Board = BoardMeta('Board', Board.__bases__, dict(Board.__dict__))
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def get_boards_names():
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return sorted(list(_board_classes.keys()))
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_board = None
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def get_board(name):
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global _board
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if not _board:
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_board = _board_classes[name]()
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return _board
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# NOTE: Keeping all the board definitions together so we can easily
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# identify opportunities to simplify common flags. In the future might
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# be worthy to keep board definitions in files of their own.
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class sitl(Board):
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def configure_env(self, cfg, env):
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super(sitl, self).configure_env(cfg, env)
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env.DEFINES.update(
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CONFIG_HAL_BOARD = 'HAL_BOARD_SITL',
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CONFIG_HAL_BOARD_SUBTYPE = 'HAL_BOARD_SUBTYPE_NONE',
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)
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env.CXXFLAGS += [
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'-O3',
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]
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env.LIB += [
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'm',
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]
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env.LINKFLAGS += ['-pthread',]
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env.AP_LIBRARIES += [
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'AP_HAL_SITL',
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'SITL',
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]
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if sys.platform == 'cygwin':
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env.LIB += [
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'winmm',
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]
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class linux(Board):
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def configure_env(self, cfg, env):
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super(linux, self).configure_env(cfg, env)
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env.DEFINES.update(
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CONFIG_HAL_BOARD = 'HAL_BOARD_LINUX',
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CONFIG_HAL_BOARD_SUBTYPE = 'HAL_BOARD_SUBTYPE_LINUX_NONE',
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)
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env.CXXFLAGS += [
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'-O3',
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]
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env.LIB += [
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'm',
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'rt',
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]
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env.LINKFLAGS += ['-pthread',]
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env.AP_LIBRARIES = [
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'AP_HAL_Linux',
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]
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class minlure(linux):
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def configure_env(self, cfg, env):
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super(minlure, self).configure_env(cfg, env)
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env.DEFINES.update(
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CONFIG_HAL_BOARD_SUBTYPE = 'HAL_BOARD_SUBTYPE_LINUX_MINLURE',
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)
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class erleboard(linux):
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toolchain = 'arm-linux-gnueabihf'
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def configure_env(self, cfg, env):
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super(erleboard, self).configure_env(cfg, env)
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env.DEFINES.update(
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CONFIG_HAL_BOARD_SUBTYPE = 'HAL_BOARD_SUBTYPE_LINUX_ERLEBOARD',
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)
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class navio(linux):
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toolchain = 'arm-linux-gnueabihf'
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def configure_env(self, cfg, env):
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super(navio, self).configure_env(cfg, env)
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env.DEFINES.update(
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CONFIG_HAL_BOARD_SUBTYPE = 'HAL_BOARD_SUBTYPE_LINUX_NAVIO',
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)
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class navio2(linux):
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toolchain = 'arm-linux-gnueabihf'
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def configure_env(self, cfg, env):
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super(navio2, self).configure_env(cfg, env)
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env.DEFINES.update(
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CONFIG_HAL_BOARD_SUBTYPE = 'HAL_BOARD_SUBTYPE_LINUX_NAVIO2',
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)
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class zynq(linux):
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toolchain = 'arm-xilinx-linux-gnueabi'
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def configure_env(self, cfg, env):
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super(zynq, self).configure_env(cfg, env)
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env.DEFINES.update(
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CONFIG_HAL_BOARD_SUBTYPE = 'HAL_BOARD_SUBTYPE_LINUX_ZYNQ',
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)
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class bbbmini(linux):
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toolchain = 'arm-linux-gnueabihf'
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def configure_env(self, cfg, env):
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super(bbbmini, self).configure_env(cfg, env)
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env.DEFINES.update(
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CONFIG_HAL_BOARD_SUBTYPE = 'HAL_BOARD_SUBTYPE_LINUX_BBBMINI',
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)
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class pxf(linux):
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toolchain = 'arm-linux-gnueabihf'
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def configure_env(self, cfg, env):
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super(pxf, self).configure_env(cfg, env)
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env.DEFINES.update(
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CONFIG_HAL_BOARD_SUBTYPE = 'HAL_BOARD_SUBTYPE_LINUX_PXF',
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)
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class bebop(linux):
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toolchain = 'arm-linux-gnueabihf'
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def configure_env(self, cfg, env):
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super(bebop, self).configure_env(cfg, env)
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cfg.check_cfg(package='libiio', mandatory=False, global_define=True,
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args = ['--libs', '--cflags'])
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env.LIB += cfg.env.LIB_LIBIIO
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env.DEFINES.update(
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CONFIG_HAL_BOARD_SUBTYPE = 'HAL_BOARD_SUBTYPE_LINUX_BEBOP',
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)
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env.STATIC_LINKING = True
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class raspilot(linux):
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toolchain = 'arm-linux-gnueabihf'
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def configure_env(self, cfg, env):
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super(raspilot, self).configure_env(cfg, env)
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env.DEFINES.update(
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CONFIG_HAL_BOARD_SUBTYPE = 'HAL_BOARD_SUBTYPE_LINUX_RASPILOT',
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)
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class erlebrain2(linux):
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toolchain = 'arm-linux-gnueabihf'
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def configure_env(self, cfg, env):
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super(erlebrain2, self).configure_env(cfg, env)
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env.DEFINES.update(
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CONFIG_HAL_BOARD_SUBTYPE = 'HAL_BOARD_SUBTYPE_LINUX_ERLEBRAIN2',
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)
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class bhat(linux):
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toolchain = 'arm-linux-gnueabihf'
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def configure_env(self, cfg, env):
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super(bhat, self).configure_env(cfg, env)
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env.DEFINES.update(
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CONFIG_HAL_BOARD_SUBTYPE = 'HAL_BOARD_SUBTYPE_LINUX_BH',
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)
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class pxfmini(linux):
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toolchain = 'arm-linux-gnueabihf'
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def configure_env(self, cfg, env):
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super(pxfmini, self).configure_env(cfg, env)
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env.DEFINES.update(
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CONFIG_HAL_BOARD_SUBTYPE = 'HAL_BOARD_SUBTYPE_LINUX_PXFMINI',
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)
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class px4(Board):
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abstract = True
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toolchain = 'arm-none-eabi'
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def __init__(self):
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self.version = None
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self.use_px4io = True
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def configure(self, cfg):
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if not self.version:
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cfg.fatal('configure: px4: version required')
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super(px4, self).configure(cfg)
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cfg.load('px4')
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def configure_env(self, cfg, env):
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super(px4, self).configure_env(cfg, env)
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env.DEFINES.update(
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CONFIG_HAL_BOARD = 'HAL_BOARD_PX4',
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HAVE_STD_NULLPTR_T = 0,
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)
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env.CXXFLAGS += [
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'-Wlogical-op',
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'-Wframe-larger-than=1300',
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'-fsingle-precision-constant',
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'-Wno-error=double-promotion',
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'-Wno-error=missing-declarations',
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'-Wno-error=float-equal',
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'-Wno-error=undef',
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'-Wno-error=cpp',
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]
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env.AP_LIBRARIES += [
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'AP_HAL_PX4',
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]
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env.GIT_SUBMODULES += [
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'PX4Firmware',
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'PX4NuttX',
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'uavcan',
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]
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env.PX4_VERSION = self.version
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env.PX4_USE_PX4IO = True if self.use_px4io else False
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env.AP_PROGRAM_AS_STLIB = True
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def build(self, bld):
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super(px4, self).build(bld)
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bld.load('px4')
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class px4_v1(px4):
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name = 'px4-v1'
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def __init__(self):
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super(px4_v1, self).__init__()
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self.version = '1'
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class px4_v2(px4):
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name = 'px4-v2'
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def __init__(self):
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super(px4_v2, self).__init__()
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self.version = '2'
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class px4_v4(px4):
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name = 'px4-v4'
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def __init__(self):
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super(px4_v4, self).__init__()
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self.version = '4'
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self.use_px4io = False
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