mirror of https://github.com/ArduPilot/ardupilot
341 lines
13 KiB
Python
341 lines
13 KiB
Python
#!/usr/bin/env python
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# encoding: utf-8
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"""
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Waf tool for ChibiOS build
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"""
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from waflib import Errors, Logs, Task, Utils
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from waflib.TaskGen import after_method, before_method, feature
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import os
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import shutil
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import sys
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import re
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import pickle
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_dynamic_env_data = {}
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def _load_dynamic_env_data(bld):
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bldnode = bld.bldnode.make_node('modules/ChibiOS')
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tmp_str = bldnode.find_node('include_dirs').read()
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tmp_str = tmp_str.replace(';\n','')
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tmp_str = tmp_str.replace('-I','') #remove existing -I flags
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# split, coping with separator
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idirs = re.split('; ', tmp_str)
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# create unique list, coping with relative paths
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idirs2 = []
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for d in idirs:
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if d.startswith('../'):
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# relative paths from the make build are relative to BUILDROOT
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d = os.path.join(bld.env.BUILDROOT, d)
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d = os.path.normpath(d)
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if not d in idirs2:
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idirs2.append(d)
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_dynamic_env_data['include_dirs'] = idirs2
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@feature('ch_ap_library', 'ch_ap_program')
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@before_method('process_source')
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def ch_dynamic_env(self):
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# The generated files from configuration possibly don't exist if it's just
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# a list command (TODO: figure out a better way to address that).
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if self.bld.cmd == 'list':
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return
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if not _dynamic_env_data:
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_load_dynamic_env_data(self.bld)
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self.use += ' ch'
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self.env.append_value('INCLUDES', _dynamic_env_data['include_dirs'])
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class upload_fw(Task.Task):
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color='BLUE'
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always_run = True
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def run(self):
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upload_tools = self.env.get_flat('UPLOAD_TOOLS')
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src = self.inputs[0]
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return self.exec_command("{} '{}/px_uploader.py' '{}'".format(self.env.get_flat('PYTHON'), upload_tools, src))
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def exec_command(self, cmd, **kw):
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kw['stdout'] = sys.stdout
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return super(upload_fw, self).exec_command(cmd, **kw)
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def keyword(self):
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return "Uploading"
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class set_default_parameters(Task.Task):
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color='CYAN'
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always_run = True
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def keyword(self):
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return "apj_tool"
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def run(self):
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rel_default_parameters = self.env.get_flat('DEFAULT_PARAMETERS')
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abs_default_parameters = os.path.join(self.env.SRCROOT, rel_default_parameters)
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apj_tool = self.env.APJ_TOOL
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sys.path.append(os.path.dirname(apj_tool))
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from apj_tool import embedded_defaults
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defaults = embedded_defaults(self.inputs[0].abspath())
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if not defaults.find():
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print("Error: Param defaults support not found in firmware")
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sys.exit(1)
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defaults.set_file(abs_default_parameters)
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defaults.save()
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class generate_bin(Task.Task):
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color='CYAN'
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run_str="${OBJCOPY} -O binary ${SRC} ${TGT}"
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always_run = True
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def keyword(self):
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return "Generating"
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def __str__(self):
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return self.outputs[0].path_from(self.generator.bld.bldnode)
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class generate_apj(Task.Task):
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color='CYAN'
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run_str="${PYTHON} '${UPLOAD_TOOLS}/px_mkfw.py' --image '${SRC}' --prototype '${BUILDROOT}/apj.prototype' > '${TGT}'"
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always_run = True
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def keyword(self):
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return "Generating"
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def __str__(self):
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return self.outputs[0].path_from(self.generator.bld.bldnode)
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class build_abin(Task.Task):
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'''build an abin file for skyviper firmware upload via web UI'''
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color='CYAN'
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run_str='${TOOLS_SCRIPTS}/make_abin.sh ${SRC}.bin ${SRC}.abin'
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always_run = True
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def keyword(self):
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return "Generating"
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def __str__(self):
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return self.outputs[0].path_from(self.generator.bld.bldnode)
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class build_intel_hex(Task.Task):
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'''build an intel hex file for upload with DFU'''
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color='CYAN'
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run_str='${TOOLS_SCRIPTS}/make_intel_hex.py ${SRC} ${FLASH_RESERVE_START_KB}'
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always_run = True
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def keyword(self):
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return "Generating"
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def __str__(self):
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return self.outputs[0].path_from(self.generator.bld.bldnode)
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@feature('ch_ap_program')
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@after_method('process_source')
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def chibios_firmware(self):
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self.link_task.always_run = True
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link_output = self.link_task.outputs[0]
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bin_target = self.bld.bldnode.find_or_declare('bin/' + link_output.change_ext('.bin').name)
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apj_target = self.bld.bldnode.find_or_declare('bin/' + link_output.change_ext('.apj').name)
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generate_bin_task = self.create_task('generate_bin', src=link_output, tgt=bin_target)
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generate_bin_task.set_run_after(self.link_task)
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generate_apj_task = self.create_task('generate_apj', src=bin_target, tgt=apj_target)
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generate_apj_task.set_run_after(generate_bin_task)
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if self.env.BUILD_ABIN:
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abin_target = self.bld.bldnode.find_or_declare('bin/' + link_output.change_ext('.abin').name)
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abin_task = self.create_task('build_abin', src=link_output, tgt=abin_target)
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abin_task.set_run_after(generate_apj_task)
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bootloader_bin = self.bld.srcnode.make_node("Tools/bootloaders/%s_bl.bin" % self.env.BOARD)
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if os.path.exists(bootloader_bin.abspath()) and self.bld.env.HAVE_INTEL_HEX:
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hex_target = self.bld.bldnode.find_or_declare('bin/' + link_output.change_ext('.hex').name)
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hex_task = self.create_task('build_intel_hex', src=[bin_target, bootloader_bin], tgt=hex_target)
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hex_task.set_run_after(generate_bin_task)
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if self.env.DEFAULT_PARAMETERS:
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default_params_task = self.create_task('set_default_parameters',
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src=link_output)
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default_params_task.set_run_after(self.link_task)
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generate_bin_task.set_run_after(default_params_task)
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if self.bld.options.upload:
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_upload_task = self.create_task('upload_fw', src=apj_target)
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_upload_task.set_run_after(generate_apj_task)
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def setup_can_build(cfg):
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'''enable CAN build. By doing this here we can auto-enable CAN in
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the build based on the presence of CAN pins in hwdef.dat'''
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env = cfg.env
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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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'modules/uavcan/libuavcan_drivers/stm32/driver/src/*.cpp'
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]
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env.CFLAGS += ['-DUAVCAN_STM32_CHIBIOS=1',
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'-DUAVCAN_STM32_NUM_IFACES=2']
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env.CXXFLAGS += [
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'-Wno-error=cast-align',
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'-DUAVCAN_STM32_CHIBIOS=1',
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'-DUAVCAN_STM32_NUM_IFACES=2'
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]
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env.DEFINES += [
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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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cfg.srcnode.find_dir('modules/uavcan/libuavcan_drivers/stm32/driver/include').abspath()
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]
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cfg.get_board().with_uavcan = True
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def load_env_vars(env):
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'''optionally load extra environment variables from env.py in the build directory'''
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print("Checking for env.py")
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env_py = os.path.join(env.BUILDROOT, 'env.py')
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if not os.path.exists(env_py):
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print("No env.py found")
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return
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e = pickle.load(open(env_py, 'rb'))
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for k in e.keys():
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v = e[k]
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if k == 'ROMFS_FILES':
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env.ROMFS_FILES += v
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continue
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if k in env:
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if isinstance(env[k], dict):
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a = v.split('=')
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env[k][a[0]] = '='.join(a[1:])
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print("env updated %s=%s" % (k, v))
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elif isinstance(env[k], list):
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env[k].append(v)
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print("env appended %s=%s" % (k, v))
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else:
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env[k] = v
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print("env added %s=%s" % (k, v))
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else:
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env[k] = v
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print("env set %s=%s" % (k, v))
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if env.ENABLE_ASSERTS:
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env.CHIBIOS_BUILD_FLAGS += ' ENABLE_ASSERTS=yes'
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def configure(cfg):
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cfg.find_program('make', var='MAKE')
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#cfg.objcopy = cfg.find_program('%s-%s'%(cfg.env.TOOLCHAIN,'objcopy'), var='OBJCOPY', mandatory=True)
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cfg.find_program('arm-none-eabi-objcopy', var='OBJCOPY')
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env = cfg.env
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bldnode = cfg.bldnode.make_node(cfg.variant)
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def srcpath(path):
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return cfg.srcnode.make_node(path).abspath()
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def bldpath(path):
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return bldnode.make_node(path).abspath()
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env.AP_PROGRAM_FEATURES += ['ch_ap_program']
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kw = env.AP_LIBRARIES_OBJECTS_KW
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kw['features'] = Utils.to_list(kw.get('features', [])) + ['ch_ap_library']
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env.CH_ROOT = srcpath('modules/ChibiOS')
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env.AP_HAL_ROOT = srcpath('libraries/AP_HAL_ChibiOS')
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env.BUILDDIR = bldpath('modules/ChibiOS')
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env.BUILDROOT = bldpath('')
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env.SRCROOT = srcpath('')
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env.PT_DIR = srcpath('Tools/ardupilotwaf/chibios/image')
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env.UPLOAD_TOOLS = srcpath('Tools/ardupilotwaf')
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env.CHIBIOS_SCRIPTS = srcpath('libraries/AP_HAL_ChibiOS/hwdef/scripts')
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env.TOOLS_SCRIPTS = srcpath('Tools/scripts')
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env.APJ_TOOL = srcpath('Tools/scripts/apj_tool.py')
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env.SERIAL_PORT = srcpath('/dev/serial/by-id/*_STLink*')
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# relative paths to pass to make, relative to directory that make is run from
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env.CH_ROOT_REL = os.path.relpath(env.CH_ROOT, env.BUILDROOT)
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env.AP_HAL_REL = os.path.relpath(env.AP_HAL_ROOT, env.BUILDROOT)
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env.BUILDDIR_REL = os.path.relpath(env.BUILDDIR, env.BUILDROOT)
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mk_custom = srcpath('libraries/AP_HAL_ChibiOS/hwdef/%s/chibios_board.mk' % env.BOARD)
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mk_common = srcpath('libraries/AP_HAL_ChibiOS/hwdef/common/chibios_board.mk')
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# see if there is a board specific make file
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if os.path.exists(mk_custom):
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env.BOARD_MK = mk_custom
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else:
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env.BOARD_MK = mk_common
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if cfg.options.default_parameters:
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cfg.msg('Default parameters', cfg.options.default_parameters, color='YELLOW')
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env.DEFAULT_PARAMETERS = srcpath(cfg.options.default_parameters)
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# we need to run chibios_hwdef.py at configure stage to generate the ldscript.ld
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# that is needed by the remaining configure checks
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import subprocess
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if env.BOOTLOADER:
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env.HWDEF = srcpath('libraries/AP_HAL_ChibiOS/hwdef/%s/hwdef-bl.dat' % env.BOARD)
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env.BOOTLOADER_OPTION="--bootloader"
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else:
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env.HWDEF = srcpath('libraries/AP_HAL_ChibiOS/hwdef/%s/hwdef.dat' % env.BOARD)
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env.BOOTLOADER_OPTION=""
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hwdef_script = srcpath('libraries/AP_HAL_ChibiOS/hwdef/scripts/chibios_hwdef.py')
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hwdef_out = env.BUILDROOT
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if not os.path.exists(hwdef_out):
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os.mkdir(hwdef_out)
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python = sys.executable
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try:
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cmd = "{0} '{1}' -D '{2}' '{3}' {4}".format(python, hwdef_script, hwdef_out, env.HWDEF, env.BOOTLOADER_OPTION)
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ret = subprocess.call(cmd, shell=True)
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except Exception:
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cfg.fatal("Failed to process hwdef.dat")
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if ret != 0:
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cfg.fatal("Failed to process hwdef.dat ret=%d" % ret)
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load_env_vars(cfg.env)
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if env.HAL_WITH_UAVCAN:
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setup_can_build(cfg)
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def pre_build(bld):
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'''pre-build hook to change dynamic sources'''
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load_env_vars(bld.env)
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if bld.env.HAL_WITH_UAVCAN:
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bld.get_board().with_uavcan = True
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def build(bld):
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bld(
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# build hwdef.h and apj.prototype from hwdef.dat. This is needed after a waf clean
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source=bld.path.ant_glob(bld.env.HWDEF),
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rule="%s '${AP_HAL_ROOT}/hwdef/scripts/chibios_hwdef.py' -D '${BUILDROOT}' '%s' %s" % (
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bld.env.get_flat('PYTHON'), bld.env.HWDEF, bld.env.BOOTLOADER_OPTION),
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group='dynamic_sources',
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target=[bld.bldnode.find_or_declare('hwdef.h'),
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bld.bldnode.find_or_declare('apj.prototype'),
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bld.bldnode.find_or_declare('ldscript.ld')]
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)
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bld(
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# create the file modules/ChibiOS/include_dirs
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rule="touch Makefile && BUILDDIR=${BUILDDIR_REL} CHIBIOS=${CH_ROOT_REL} AP_HAL=${AP_HAL_REL} ${CHIBIOS_BUILD_FLAGS} ${CHIBIOS_BOARD_NAME} ${MAKE} pass -f '${BOARD_MK}'",
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group='dynamic_sources',
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target=bld.bldnode.find_or_declare('modules/ChibiOS/include_dirs')
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)
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common_src = [bld.bldnode.find_or_declare('hwdef.h'),
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bld.bldnode.find_or_declare('modules/ChibiOS/include_dirs')]
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common_src += bld.path.ant_glob('libraries/AP_HAL_ChibiOS/hwdef/common/*.[ch]')
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common_src += bld.path.ant_glob('libraries/AP_HAL_ChibiOS/hwdef/common/*.mk')
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common_src += bld.path.ant_glob('modules/ChibiOS/os/hal/**/*.[ch]')
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common_src += bld.path.ant_glob('modules/ChibiOS/os/hal/**/*.mk')
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if bld.env.ROMFS_FILES:
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common_src += [bld.bldnode.find_or_declare('ap_romfs_embedded.h')]
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ch_task = bld(
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# build libch.a from ChibiOS sources and hwdef.h
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rule="BUILDDIR='${BUILDDIR_REL}' CHIBIOS='${CH_ROOT_REL}' AP_HAL=${AP_HAL_REL} ${CHIBIOS_BUILD_FLAGS} ${CHIBIOS_BOARD_NAME} '${MAKE}' lib -f '${BOARD_MK}'",
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group='dynamic_sources',
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source=common_src,
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target=bld.bldnode.find_or_declare('modules/ChibiOS/libch.a')
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)
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ch_task.name = "ChibiOS_lib"
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bld.env.LIB += ['ch']
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bld.env.LIBPATH += ['modules/ChibiOS/']
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wraplist = ['strerror_r', 'fclose', 'freopen', 'fread']
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for w in wraplist:
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bld.env.LINKFLAGS += ['-Wl,--wrap,%s' % w]
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