mirror of https://github.com/ArduPilot/ardupilot
728 lines
21 KiB
Python
728 lines
21 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, os
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import waflib
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from waflib import Utils
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from waflib.Configure import conf
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_board_classes = {}
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_board = None
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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 __init__(self):
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self.with_uavcan = False
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def configure(self, cfg):
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cfg.env.TOOLCHAIN = self.toolchain
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cfg.env.ROMFS_FILES = []
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cfg.load('toolchain')
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cfg.load('cxx_checks')
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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.ap_common_checks()
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cfg.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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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.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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'-Wno-trigraphs',
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'-Werror=return-type',
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'-Werror=unused-result',
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'-Werror=narrowing',
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]
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if cfg.options.enable_scripting:
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env.DEFINES.update(
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ENABLE_SCRIPTING = 1,
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ENABLE_HEAP = 1,
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LUA_32BITS = 1,
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)
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env.ROMFS_FILES += [
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('sandbox.lua', 'libraries/AP_Scripting/scripts/sandbox.lua'),
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]
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env.AP_LIBRARIES += [
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'AP_Scripting',
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'AP_Scripting/lua/src',
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]
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env.CXXFLAGS += [
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'-DHAL_HAVE_AP_ROMFS_EMBEDDED_H'
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]
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if cfg.options.scripting_checks:
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env.DEFINES.update(
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AP_SCRIPTING_CHECKS = 1,
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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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]
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if cfg.env.DEBUG:
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env.CFLAGS += [
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'-g',
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'-O0',
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]
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if cfg.options.enable_math_check_indexes:
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env.CXXFLAGS += ['-DMATH_CHECK_INDEXES']
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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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'-Werror=narrowing',
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'-Werror=return-type',
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'-Werror=switch',
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'-Werror=sign-compare',
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'-Werror=unused-result',
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'-Werror=return-type',
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'-Wfatal-errors',
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'-Wno-trigraphs',
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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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]
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else:
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env.CXXFLAGS += [
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'-Werror=unused-but-set-variable'
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]
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if cfg.env.DEBUG:
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env.CXXFLAGS += [
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'-g',
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'-O0',
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]
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if cfg.env.DEST_OS == 'darwin':
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env.LINKFLAGS += [
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'-Wl,-dead_strip',
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]
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else:
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env.LINKFLAGS += [
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'-Wl,--gc-sections',
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]
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if self.with_uavcan:
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env.AP_LIBRARIES += [
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'AP_UAVCAN',
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'modules/uavcan/libuavcan/src/**/*.cpp'
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]
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env.CXXFLAGS += [
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'-Wno-error=cast-align',
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]
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env.DEFINES.update(
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UAVCAN_CPP_VERSION = 'UAVCAN_CPP03',
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UAVCAN_NO_ASSERTIONS = 1,
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UAVCAN_NULLPTR = 'nullptr'
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)
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env.INCLUDES += [
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cfg.srcnode.find_dir('modules/uavcan/libuavcan/include').abspath()
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]
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# We always want to use PRI format macros
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cfg.define('__STDC_FORMAT_MACROS', 1)
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def pre_build(self, bld):
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'''pre-build hook that gets called before dynamic sources'''
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if bld.env.ROMFS_FILES:
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self.embed_ROMFS_files(bld)
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def build(self, bld):
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bld.ap_version_append_str('GIT_VERSION', bld.git_head_hash(short=True))
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import time
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ltime = time.localtime()
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bld.ap_version_append_int('BUILD_DATE_YEAR', ltime.tm_year)
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bld.ap_version_append_int('BUILD_DATE_MONTH', ltime.tm_mon)
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bld.ap_version_append_int('BUILD_DATE_DAY', ltime.tm_mday)
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def embed_ROMFS_files(self, ctx):
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'''embed some files using AP_ROMFS'''
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import embed
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if ctx.env.USE_NUTTX_IOFW:
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# use fmuv2_IO_NuttX.bin instead of fmuv2_IO.bin
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for i in range(len(ctx.env.ROMFS_FILES)):
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(name,filename) = ctx.env.ROMFS_FILES[i]
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if name == 'io_firmware.bin':
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filename = 'Tools/IO_Firmware/fmuv2_IO_NuttX.bin'
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print("Using IO firmware %s" % filename)
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ctx.env.ROMFS_FILES[i] = (name,filename);
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header = ctx.bldnode.make_node('ap_romfs_embedded.h').abspath()
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if not embed.create_embedded_h(header, ctx.env.ROMFS_FILES):
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ctx.fatal("Failed to created ap_romfs_embedded.h")
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Board = BoardMeta('Board', Board.__bases__, dict(Board.__dict__))
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def add_dynamic_boards():
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'''add boards based on existance of hwdef.dat in subdirectories for ChibiOS'''
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dirname, dirlist, filenames = next(os.walk('libraries/AP_HAL_ChibiOS/hwdef'))
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for d in dirlist:
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if d in _board_classes.keys():
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continue
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hwdef = os.path.join(dirname, d, 'hwdef.dat')
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if os.path.exists(hwdef):
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newclass = type(d, (chibios,), {'name': d})
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def get_boards_names():
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add_dynamic_boards()
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return sorted(list(_board_classes.keys()), key=str.lower)
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def get_removed_boards():
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'''list of boards which have been removed'''
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return sorted(['px4-v1', 'px4-v2', 'px4-v3', 'px4-v4', 'px4-v4pro'])
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@conf
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def get_board(ctx):
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global _board
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if not _board:
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if not ctx.env.BOARD:
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ctx.fatal('BOARD environment variable must be set before first call to get_board()')
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if ctx.env.BOARD in get_removed_boards():
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ctx.fatal('''
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The board target %s has been removed from ArduPilot with the removal of NuttX support and HAL_PX4.
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Please use a replacement build as follows:
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px4-v2 Use Pixhawk1 build
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px4-v3 Use Pixhawk1 or CubeBlack builds
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px4-v4 Use Pixracer build
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px4-v4pro Use DrotekP3Pro build
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''' % ctx.env.BOARD)
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_board = _board_classes[ctx.env.BOARD]()
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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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AP_SCRIPTING_CHECKS = 1, # SITL should always do runtime scripting checks
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)
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env.CXXFLAGS += [
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'-Werror=float-equal'
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]
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if not cfg.env.DEBUG:
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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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cfg.check_librt(env)
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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 cfg.options.enable_sfml:
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if not cfg.check_SFML(env):
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cfg.fatal("Failed to find SFML libraries")
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env.CXXFLAGS += ['-DWITH_SITL_OSD','-DOSD_ENABLED=ENABLED','-DHAL_HAVE_AP_ROMFS_EMBEDDED_H']
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import fnmatch
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for f in os.listdir('libraries/AP_OSD/fonts'):
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if fnmatch.fnmatch(f, "font*bin"):
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env.ROMFS_FILES += [(f,'libraries/AP_OSD/fonts/'+f)]
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if cfg.env.DEST_OS == 'cygwin':
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env.LIB += [
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'winmm',
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]
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if Utils.unversioned_sys_platform() == 'cygwin':
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env.CXXFLAGS += ['-DCYGWIN_BUILD']
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if 'clang++' in cfg.env.COMPILER_CXX:
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print("Disabling SLP for clang++")
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env.CXXFLAGS += [
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'-fno-slp-vectorize' # compiler bug when trying to use SLP
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]
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class chibios(Board):
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abstract = True
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toolchain = 'arm-none-eabi'
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def configure_env(self, cfg, env):
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super(chibios, self).configure_env(cfg, env)
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cfg.load('chibios')
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env.BOARD = self.name
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env.DEFINES.update(
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CONFIG_HAL_BOARD = 'HAL_BOARD_CHIBIOS',
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HAVE_OCLOEXEC = 0,
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HAVE_STD_NULLPTR_T = 0,
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)
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env.AP_LIBRARIES += [
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'AP_HAL_ChibiOS',
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]
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# make board name available for USB IDs
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env.CHIBIOS_BOARD_NAME = 'HAL_BOARD_NAME="%s"' % self.name
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env.CFLAGS += cfg.env.CPU_FLAGS + [
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'-Wno-cast-align',
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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-attributes',
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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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'-fno-exceptions',
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'-Wall',
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'-Wextra',
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'-Wno-sign-compare',
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'-Wfloat-equal',
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'-Wpointer-arith',
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'-Wmissing-declarations',
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'-Wno-unused-parameter',
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'-Werror=array-bounds',
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'-Wfatal-errors',
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'-Werror=unused-variable',
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'-Werror=uninitialized',
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'-Werror=init-self',
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'-Wframe-larger-than=1024',
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'-Werror=unused-but-set-variable',
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'-Wno-missing-field-initializers',
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'-Wno-trigraphs',
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'-Os',
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'-fno-strict-aliasing',
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'-fomit-frame-pointer',
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'-falign-functions=16',
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'-ffunction-sections',
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'-fdata-sections',
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'-fno-strength-reduce',
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'-fno-builtin-printf',
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'-fno-builtin-fprintf',
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'-fno-builtin-vprintf',
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'-fno-builtin-vfprintf',
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'-fno-builtin-puts',
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'-mno-thumb-interwork',
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'-mthumb',
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'--specs=nano.specs',
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'-specs=nosys.specs',
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'-DCHIBIOS_BOARD_NAME="%s"' % self.name,
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]
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env.CXXFLAGS += env.CFLAGS + [
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'-fno-rtti',
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'-fno-threadsafe-statics',
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]
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if Utils.unversioned_sys_platform() == 'cygwin':
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env.CXXFLAGS += ['-DCYGWIN_BUILD']
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bldnode = cfg.bldnode.make_node(self.name)
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env.BUILDROOT = bldnode.make_node('').abspath()
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env.LINKFLAGS = cfg.env.CPU_FLAGS + [
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'-Os',
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'-fomit-frame-pointer',
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'-falign-functions=16',
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'-ffunction-sections',
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'-fdata-sections',
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'-u_port_lock',
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'-u_port_unlock',
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'-u_exit',
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'-u_kill',
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'-u_getpid',
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'-u_errno',
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'-uchThdExit',
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'-fno-common',
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'-nostartfiles',
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'-mno-thumb-interwork',
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'-mthumb',
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'-specs=nano.specs',
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'-specs=nosys.specs',
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'-L%s' % env.BUILDROOT,
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'-L%s' % cfg.srcnode.make_node('modules/ChibiOS/os/common/startup/ARMCMx/compilers/GCC/ld/').abspath(),
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'-L%s' % cfg.srcnode.make_node('libraries/AP_HAL_ChibiOS/hwdef/common/').abspath(),
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'-Wl,--gc-sections,--no-warn-mismatch,--library-path=/ld,--script=ldscript.ld,--defsym=__process_stack_size__=%s,--defsym=__main_stack_size__=%s' % (cfg.env.PROCESS_STACK, cfg.env.MAIN_STACK)
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]
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if cfg.env.DEBUG:
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env.CFLAGS += [
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'-gdwarf-4',
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'-g3',
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]
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env.LINKFLAGS += [
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'-gdwarf-4',
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'-g3',
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]
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if cfg.env.ENABLE_ASSERTS:
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cfg.msg("Enabling ChibiOS asserts", "yes")
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env.CFLAGS += [ '-DHAL_CHIBIOS_ENABLE_ASSERTS' ]
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env.CXXFLAGS += [ '-DHAL_CHIBIOS_ENABLE_ASSERTS' ]
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else:
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cfg.msg("Enabling ChibiOS asserts", "no")
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env.LIB += ['gcc', 'm']
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env.GIT_SUBMODULES += [
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'ChibiOS',
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]
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try:
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import intelhex
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env.HAVE_INTEL_HEX = True
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cfg.msg("Checking for intelhex module:", 'OK')
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except Exception:
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cfg.msg("Checking for intelhex module:", 'disabled', color='YELLOW')
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env.HAVE_INTEL_HEX = False
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def build(self, bld):
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super(chibios, self).build(bld)
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bld.ap_version_append_str('CHIBIOS_GIT_VERSION', bld.git_submodule_head_hash('ChibiOS', short=True))
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bld.load('chibios')
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def pre_build(self, bld):
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'''pre-build hook that gets called before dynamic sources'''
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super(chibios, self).pre_build(bld)
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from waflib.Context import load_tool
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module = load_tool('chibios', [], with_sys_path=True)
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fun = getattr(module, 'pre_build', None)
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if fun:
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fun(bld)
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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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if not cfg.env.DEBUG:
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env.CXXFLAGS += [
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'-O3',
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]
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|
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env.LIB += [
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'm',
|
|
]
|
|
|
|
cfg.check_librt(env)
|
|
cfg.check_lttng(env)
|
|
cfg.check_libdl(env)
|
|
cfg.check_libiio(env)
|
|
|
|
env.LINKFLAGS += ['-pthread',]
|
|
env.AP_LIBRARIES += [
|
|
'AP_HAL_Linux',
|
|
]
|
|
|
|
if self.with_uavcan:
|
|
cfg.define('UAVCAN_EXCEPTIONS', 0)
|
|
|
|
if cfg.options.apstatedir:
|
|
cfg.define('AP_STATEDIR', cfg.options.apstatedir)
|
|
|
|
def build(self, bld):
|
|
super(linux, self).build(bld)
|
|
if bld.options.upload:
|
|
waflib.Options.commands.append('rsync')
|
|
# Avoid infinite recursion
|
|
bld.options.upload = False
|
|
|
|
class erleboard(linux):
|
|
toolchain = 'arm-linux-gnueabihf'
|
|
|
|
def configure_env(self, cfg, env):
|
|
super(erleboard, self).configure_env(cfg, env)
|
|
|
|
env.DEFINES.update(
|
|
CONFIG_HAL_BOARD_SUBTYPE = 'HAL_BOARD_SUBTYPE_LINUX_ERLEBOARD',
|
|
)
|
|
|
|
class navio(linux):
|
|
toolchain = 'arm-linux-gnueabihf'
|
|
|
|
def configure_env(self, cfg, env):
|
|
super(navio, self).configure_env(cfg, env)
|
|
|
|
env.DEFINES.update(
|
|
CONFIG_HAL_BOARD_SUBTYPE = 'HAL_BOARD_SUBTYPE_LINUX_NAVIO',
|
|
)
|
|
|
|
class navio2(linux):
|
|
toolchain = 'arm-linux-gnueabihf'
|
|
|
|
def configure_env(self, cfg, env):
|
|
super(navio2, self).configure_env(cfg, env)
|
|
|
|
env.DEFINES.update(
|
|
CONFIG_HAL_BOARD_SUBTYPE = 'HAL_BOARD_SUBTYPE_LINUX_NAVIO2',
|
|
)
|
|
|
|
class edge(linux):
|
|
toolchain = 'arm-linux-gnueabihf'
|
|
|
|
def __init__(self):
|
|
self.with_uavcan = True
|
|
|
|
def configure_env(self, cfg, env):
|
|
super(edge, self).configure_env(cfg, env)
|
|
|
|
env.DEFINES.update(
|
|
CONFIG_HAL_BOARD_SUBTYPE = 'HAL_BOARD_SUBTYPE_LINUX_EDGE',
|
|
)
|
|
|
|
class zynq(linux):
|
|
toolchain = 'arm-xilinx-linux-gnueabi'
|
|
|
|
def configure_env(self, cfg, env):
|
|
super(zynq, self).configure_env(cfg, env)
|
|
|
|
env.DEFINES.update(
|
|
CONFIG_HAL_BOARD_SUBTYPE = 'HAL_BOARD_SUBTYPE_LINUX_ZYNQ',
|
|
)
|
|
|
|
class ocpoc_zynq(linux):
|
|
toolchain = 'arm-linux-gnueabihf'
|
|
|
|
def configure_env(self, cfg, env):
|
|
super(ocpoc_zynq, self).configure_env(cfg, env)
|
|
|
|
env.DEFINES.update(
|
|
CONFIG_HAL_BOARD_SUBTYPE = 'HAL_BOARD_SUBTYPE_LINUX_OCPOC_ZYNQ',
|
|
)
|
|
|
|
class bbbmini(linux):
|
|
toolchain = 'arm-linux-gnueabihf'
|
|
|
|
def configure_env(self, cfg, env):
|
|
super(bbbmini, self).configure_env(cfg, env)
|
|
|
|
env.DEFINES.update(
|
|
CONFIG_HAL_BOARD_SUBTYPE = 'HAL_BOARD_SUBTYPE_LINUX_BBBMINI',
|
|
)
|
|
|
|
class blue(linux):
|
|
toolchain = 'arm-linux-gnueabihf'
|
|
|
|
def configure_env(self, cfg, env):
|
|
super(blue, self).configure_env(cfg, env)
|
|
|
|
env.DEFINES.update(
|
|
CONFIG_HAL_BOARD_SUBTYPE = 'HAL_BOARD_SUBTYPE_LINUX_BLUE',
|
|
)
|
|
|
|
class pocket(linux):
|
|
toolchain = 'arm-linux-gnueabihf'
|
|
|
|
def configure_env(self, cfg, env):
|
|
super(pocket, self).configure_env(cfg, env)
|
|
|
|
env.DEFINES.update(
|
|
CONFIG_HAL_BOARD_SUBTYPE = 'HAL_BOARD_SUBTYPE_LINUX_POCKET',
|
|
)
|
|
|
|
class pxf(linux):
|
|
toolchain = 'arm-linux-gnueabihf'
|
|
|
|
def configure_env(self, cfg, env):
|
|
super(pxf, self).configure_env(cfg, env)
|
|
|
|
env.DEFINES.update(
|
|
CONFIG_HAL_BOARD_SUBTYPE = 'HAL_BOARD_SUBTYPE_LINUX_PXF',
|
|
)
|
|
|
|
class bebop(linux):
|
|
toolchain = 'arm-linux-gnueabihf'
|
|
|
|
def configure_env(self, cfg, env):
|
|
super(bebop, self).configure_env(cfg, env)
|
|
|
|
env.DEFINES.update(
|
|
CONFIG_HAL_BOARD_SUBTYPE = 'HAL_BOARD_SUBTYPE_LINUX_BEBOP',
|
|
)
|
|
|
|
class disco(linux):
|
|
toolchain = 'arm-linux-gnueabihf'
|
|
|
|
def configure_env(self, cfg, env):
|
|
super(disco, self).configure_env(cfg, env)
|
|
|
|
env.DEFINES.update(
|
|
CONFIG_HAL_BOARD_SUBTYPE = 'HAL_BOARD_SUBTYPE_LINUX_DISCO',
|
|
)
|
|
|
|
class erlebrain2(linux):
|
|
toolchain = 'arm-linux-gnueabihf'
|
|
|
|
def configure_env(self, cfg, env):
|
|
super(erlebrain2, self).configure_env(cfg, env)
|
|
|
|
env.DEFINES.update(
|
|
CONFIG_HAL_BOARD_SUBTYPE = 'HAL_BOARD_SUBTYPE_LINUX_ERLEBRAIN2',
|
|
)
|
|
|
|
class bhat(linux):
|
|
toolchain = 'arm-linux-gnueabihf'
|
|
|
|
def configure_env(self, cfg, env):
|
|
super(bhat, self).configure_env(cfg, env)
|
|
|
|
env.DEFINES.update(
|
|
CONFIG_HAL_BOARD_SUBTYPE = 'HAL_BOARD_SUBTYPE_LINUX_BH',
|
|
)
|
|
|
|
class dark(linux):
|
|
toolchain = 'arm-linux-gnueabihf'
|
|
|
|
def configure_env(self, cfg, env):
|
|
super(dark, self).configure_env(cfg, env)
|
|
|
|
env.DEFINES.update(
|
|
CONFIG_HAL_BOARD_SUBTYPE = 'HAL_BOARD_SUBTYPE_LINUX_DARK',
|
|
)
|
|
|
|
class pxfmini(linux):
|
|
toolchain = 'arm-linux-gnueabihf'
|
|
|
|
def configure_env(self, cfg, env):
|
|
super(pxfmini, self).configure_env(cfg, env)
|
|
|
|
env.DEFINES.update(
|
|
CONFIG_HAL_BOARD_SUBTYPE = 'HAL_BOARD_SUBTYPE_LINUX_PXFMINI',
|
|
)
|
|
|
|
class aero(linux):
|
|
def __init__(self):
|
|
self.with_uavcan = True
|
|
|
|
def configure_env(self, cfg, env):
|
|
super(aero, self).configure_env(cfg, env)
|
|
|
|
env.DEFINES.update(
|
|
CONFIG_HAL_BOARD_SUBTYPE = 'HAL_BOARD_SUBTYPE_LINUX_AERO',
|
|
)
|
|
|
|
class rst_zynq(linux):
|
|
toolchain = 'arm-linux-gnueabihf'
|
|
|
|
def configure_env(self, cfg, env):
|
|
super(rst_zynq, self).configure_env(cfg, env)
|
|
|
|
env.DEFINES.update(
|
|
CONFIG_HAL_BOARD_SUBTYPE = 'HAL_BOARD_SUBTYPE_LINUX_RST_ZYNQ',
|
|
)
|
|
|