ardupilot/Tools/ardupilotwaf/chibios.py

187 lines
7.1 KiB
Python

#!/usr/bin/env python
# encoding: utf-8
"""
Waf tool for ChibiOS build
"""
from waflib import Errors, Logs, Task, Utils
from waflib.TaskGen import after_method, before_method, feature
import os
import shutil
import sys
import re
_dynamic_env_data = {}
def _load_dynamic_env_data(bld):
bldnode = bld.bldnode.make_node('modules/ChibiOS')
tmp_str = bldnode.find_node('include_dirs').read()
tmp_str = tmp_str.replace(';\n','')
if 'include_dirs' == 'include_dirs':
tmp_str = tmp_str.replace('-I','') #remove existing -I flags
_dynamic_env_data['include_dirs'] = re.split('; ', tmp_str)
#print _dynamic_env_data['include_dirs']
@feature('ch_ap_library', 'ch_ap_program')
@before_method('process_source')
def ch_dynamic_env(self):
# The generated files from configuration possibly don't exist if it's just
# a list command (TODO: figure out a better way to address that).
if self.bld.cmd == 'list':
return
if not _dynamic_env_data:
_load_dynamic_env_data(self.bld)
self.use += ' ch'
self.env.append_value('INCLUDES', _dynamic_env_data['include_dirs'])
class upload_fw(Task.Task):
color='BLUE'
always_run = True
def run(self):
upload_tools = self.env.get_flat('UPLOAD_TOOLS')
src = self.inputs[0]
return self.exec_command("python {}/px_uploader.py {}".format(upload_tools, src))
def exec_command(self, cmd, **kw):
kw['stdout'] = sys.stdout
return super(upload_fw, self).exec_command(cmd, **kw)
def keyword(self):
return "Uploading"
class set_default_parameters(Task.Task):
color='CYAN'
run_str='python ${APJ_TOOL} --set-file ${DEFAULT_PARAMETERS} ${SRC}'
always_run = True
def keyword(self):
return "apj_tool"
class generate_fw(Task.Task):
color='CYAN'
run_str='${OBJCOPY} -O binary ${SRC} ${SRC}.bin && \
python ${UPLOAD_TOOLS}/px_mkfw.py --image ${SRC}.bin \
--prototype ${BUILDROOT}/apj.prototype > ${TGT} && \
${TOOLS_SCRIPTS}/make_abin.sh ${SRC}.bin ${SRC}.abin'
always_run = True
def keyword(self):
return "Generating"
def __str__(self):
return self.outputs[0].path_from(self.generator.bld.bldnode)
@feature('ch_ap_program')
@after_method('process_source')
def chibios_firmware(self):
self.link_task.always_run = True
link_output = self.link_task.outputs[0]
self.objcopy_target = self.bld.bldnode.find_or_declare('bin/' + link_output.change_ext('.apj').name)
generate_fw_task = self.create_task('generate_fw',
src=link_output,
tgt=self.objcopy_target)
generate_fw_task.set_run_after(self.link_task)
if self.env.DEFAULT_PARAMETERS:
default_params_task = self.create_task('set_default_parameters',
src=link_output)
default_params_task.set_run_after(self.link_task)
generate_fw_task.set_run_after(default_params_task)
if self.bld.options.upload:
_upload_task = self.create_task('upload_fw',
src=self.objcopy_target)
_upload_task.set_run_after(generate_fw_task)
def configure(cfg):
cfg.find_program('make', var='MAKE')
#cfg.objcopy = cfg.find_program('%s-%s'%(cfg.env.TOOLCHAIN,'objcopy'), var='OBJCOPY', mandatory=True)
cfg.find_program('arm-none-eabi-objcopy', var='OBJCOPY')
env = cfg.env
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()
env.AP_PROGRAM_FEATURES += ['ch_ap_program']
kw = env.AP_LIBRARIES_OBJECTS_KW
kw['features'] = Utils.to_list(kw.get('features', [])) + ['ch_ap_library']
env.CH_ROOT = srcpath('modules/ChibiOS')
env.AP_HAL_ROOT = srcpath('libraries/AP_HAL_ChibiOS')
env.BUILDDIR = bldpath('modules/ChibiOS')
env.BUILDROOT = bldpath('')
env.PT_DIR = srcpath('Tools/ardupilotwaf/chibios/image')
env.UPLOAD_TOOLS = srcpath('Tools/ardupilotwaf')
env.CHIBIOS_SCRIPTS = srcpath('libraries/AP_HAL_ChibiOS/hwdef/scripts')
env.TOOLS_SCRIPTS = srcpath('Tools/scripts')
env.APJ_TOOL = srcpath('Tools/scripts/apj_tool.py')
env.SERIAL_PORT = srcpath('/dev/serial/by-id/*_STLink*')
mk_custom = srcpath('libraries/AP_HAL_ChibiOS/hwdef/%s/chibios_board.mk' % env.BOARD)
mk_common = srcpath('libraries/AP_HAL_ChibiOS/hwdef/common/chibios_board.mk')
# see if there is a board specific make file
if os.path.exists(mk_custom):
env.BOARD_MK = mk_custom
else:
env.BOARD_MK = mk_common
if cfg.options.default_parameters:
cfg.msg('Default parameters', cfg.options.default_parameters, color='YELLOW')
env.DEFAULT_PARAMETERS = srcpath(cfg.options.default_parameters)
# we need to run chibios_hwdef.py at configure stage to generate the ldscript.ld
# that is needed by the remaining configure checks
import subprocess
hwdef = srcpath('libraries/AP_HAL_ChibiOS/hwdef/%s/hwdef.dat' % env.BOARD)
hwdef_script = srcpath('libraries/AP_HAL_ChibiOS/hwdef/scripts/chibios_hwdef.py')
hwdef_out = env.BUILDROOT
if not os.path.exists(hwdef_out):
os.mkdir(hwdef_out)
try:
cmd = 'python %s -D %s %s' % (hwdef_script, hwdef_out, hwdef)
ret = subprocess.call(cmd, shell=True)
except Exception:
print("Failed to generate hwdef.h")
def build(bld):
bld(
# build hwdef.h and apj.prototype from hwdef.dat. This is needed after a waf clean
source=bld.path.ant_glob('libraries/AP_HAL_ChibiOS/hwdef/%s/hwdef.dat' % bld.env.get_flat('BOARD')),
rule='python ${AP_HAL_ROOT}/hwdef/scripts/chibios_hwdef.py -D ${BUILDROOT} ${AP_HAL_ROOT}/hwdef/${BOARD}/hwdef.dat',
group='dynamic_sources',
target=['hwdef.h', 'apj.prototype', 'ldscript.ld']
)
bld(
# create the file modules/ChibiOS/include_dirs
rule='touch Makefile && BUILDDIR=${BUILDDIR} CHIBIOS=${CH_ROOT} AP_HAL=${AP_HAL_ROOT} ${CHIBIOS_FATFS_FLAG} ${CHIBIOS_BOARD_NAME} ${MAKE} pass -f ${BOARD_MK}',
group='dynamic_sources',
target='modules/ChibiOS/include_dirs'
)
common_src = [bld.bldnode.find_or_declare('hwdef.h'),
bld.bldnode.find_or_declare('modules/ChibiOS/include_dirs')]
common_src += bld.path.ant_glob('libraries/AP_HAL_ChibiOS/hwdef/common/*.[ch]')
common_src += bld.path.ant_glob('libraries/AP_HAL_ChibiOS/hwdef/common/*.mk')
common_src += bld.path.ant_glob('modules/ChibiOS/os/hal/**/*.[ch]')
common_src += bld.path.ant_glob('modules/ChibiOS/os/hal/**/*.mk')
ch_task = bld(
# build libch.a from ChibiOS sources and hwdef.h
rule="BUILDDIR='${BUILDDIR}' CHIBIOS='${CH_ROOT}' AP_HAL=${AP_HAL_ROOT} ${CHIBIOS_FATFS_FLAG} ${CHIBIOS_BOARD_NAME} '${MAKE}' lib -f ${BOARD_MK}",
group='dynamic_sources',
source=common_src,
target='modules/ChibiOS/libch.a'
)
ch_task.name = "ChibiOS_lib"
bld.env.LIB += ['ch']
bld.env.LIBPATH += ['modules/ChibiOS/']
wraplist = ['strerror_r', 'fclose', 'freopen', 'fread']
for w in wraplist:
bld.env.LINKFLAGS += ['-Wl,--wrap,%s' % w]