mirror of https://github.com/ArduPilot/ardupilot
180 lines
6.1 KiB
Python
180 lines
6.1 KiB
Python
# encoding: utf-8
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"""
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Waf tool for ESP32 build
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"""
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from waflib import Build, ConfigSet, Configure, Context, Task, Utils
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from waflib import Errors, Logs
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from waflib.TaskGen import before, after_method, before_method, feature
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from waflib.Configure import conf
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from collections import OrderedDict
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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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import subprocess
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def configure(cfg):
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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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#Load cmake builder and make
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cfg.load('cmake')
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#define env and location for the cmake esp32 file
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env = cfg.env
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env.AP_HAL_ESP32 = srcpath('libraries/AP_HAL_ESP32/targets/esp-idf')
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env.AP_PROGRAM_FEATURES += ['esp32_ap_program']
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env.ESP_IDF_PREFIX_REL = 'esp-idf'
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prefix_node = bldnode.make_node(env.ESP_IDF_PREFIX_REL)
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env.BUILDROOT = bldpath('')
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env.SRCROOT = srcpath('')
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env.APJ_TOOL = srcpath('Tools/scripts/apj_tool.py')
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#Check if esp-idf env are loaded, or load it
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try:
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env.IDF = os.environ['IDF_PATH']
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except:
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env.IDF = cfg.srcnode.abspath()+"/modules/esp_idf"
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print("USING EXPRESSIF IDF:"+str(env.IDF))
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try:
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env.DEFAULT_PARAMETERS = os.environ['DEFAULT_PARAMETERS']
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except:
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env.DEFAULT_PARAMETERS = cfg.srcnode.abspath()+"/libraries/AP_HAL_ESP32/boards/defaults.parm"
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print("USING DEFAULT_PARAMETERS:"+str(env.DEFAULT_PARAMETERS))
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#env.append_value('GIT_SUBMODULES', 'esp_idf')
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def pre_build(self):
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"""Configure esp-idf as lib target"""
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lib_vars = OrderedDict()
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lib_vars['ARDUPILOT_CMD'] = self.cmd
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lib_vars['ARDUPILOT_LIB'] = self.bldnode.find_or_declare('lib/').abspath()
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lib_vars['ARDUPILOT_BIN'] = self.bldnode.find_or_declare('lib/bin').abspath()
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esp_idf = self.cmake(
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name='esp-idf',
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cmake_vars=lib_vars,
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cmake_src='libraries/AP_HAL_ESP32/targets/esp-idf',
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cmake_bld='esp-idf_build',
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)
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esp_idf_showinc = esp_idf.build('showinc', target='esp-idf_build/includes.list')
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esp_idf_showinc.post()
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from waflib import Task
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class load_generated_includes(Task.Task):
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"""After includes.list generated include it in env"""
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always_run = True
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def run(tsk):
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bld = tsk.generator.bld
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includes = bld.bldnode.find_or_declare('esp-idf_build/includes.list').read().split()
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#print(includes)
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bld.env.prepend_value('INCLUDES', includes)
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tsk = load_generated_includes(env=self.env)
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tsk.set_inputs(self.path.find_resource('esp-idf_build/includes.list'))
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self.add_to_group(tsk)
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@feature('esp32_ap_program')
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@after_method('process_source')
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def esp32_firmware(self):
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self.link_task.always_run = True
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esp_idf = self.bld.cmake('esp-idf')
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build = esp_idf.build('all', target='esp-idf_build/ardupilot.bin')
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build.post()
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build.cmake_build_task.set_run_after(self.link_task)
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# tool that can update the default params in a .bin or .apj
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#self.default_params_task = self.create_task('set_default_parameters',
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# src='esp-idf_build/ardupilot.bin')
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#self.default_params_task.set_run_after(self.generate_bin_task)
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# optional upload is last
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if self.bld.options.upload:
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flasher = esp_idf.build('flash')
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flasher.post()
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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 "setting default params"
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def run(self):
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# TODO: disabled this task outright as apjtool appears to destroy checksums and/or the esp32 partition table
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# TIP: if u do try this, afterwards, be sure to 'rm -rf build/esp32buzz/idf-plane/*.bin' and re-run waf
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return
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# (752) esp_image: Checksum failed. Calculated 0xd3 read 0xa3
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# (752) boot: OTA app partition slot 0 is not bootable
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# (753) esp_image: image at 0x200000 has invalid magic byte
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# (759) boot_comm: mismatch chip ID, expected 0, found 65535
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# (766) boot_comm: can't run on lower chip revision, expected 1, found 255
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# (773) esp_image: image at 0x200000 has invalid SPI mode 255
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# (779) esp_image: image at 0x200000 has invalid SPI size 15
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# (786) boot: OTA app partition slot 1 is not bootable
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# (792) boot: No bootable app partitions in the partition table
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# skip task if nothing to do.
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if not self.env.DEFAULT_PARAMETERS:
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return
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default_parameters = self.env.get_flat('DEFAULT_PARAMETERS').replace("'", "")
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#print("apj defaults file:"+str(default_parameters))
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_bin = str(self.inputs[0])
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# paranoia check before and after apj_tool to see if file hash has changed...
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cmd = "shasum -b {0}".format( _bin )
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result = subprocess.check_output(cmd, shell=True)
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prehash = str(result).split(' ')[0][2:]
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cmd = "{1} {2} --set-file {3}".format(self.env.SRCROOT, self.env.APJ_TOOL, _bin, default_parameters )
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print(cmd)
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result = subprocess.check_output(cmd, shell=True)
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if not isinstance(result, str):
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result = result.decode()
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for i in str(result).split('\n'):
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print("\t"+i)
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# paranoia check before and after apj_tool to see if file hash has changed...
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cmd = "shasum -b {0}".format( _bin )
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result = subprocess.check_output(cmd, shell=True)
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posthash = str(result).split(' ')[0][2:]
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# display --show output, helpful.
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cmd = "{1} {2} --show ".format(self.env.SRCROOT, self.env.APJ_TOOL, _bin )
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print(cmd)
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result = subprocess.check_output(cmd, shell=True)
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if not isinstance(result, str):
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result = result.decode()
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for i in str(result).split('\n'):
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print("\t"+i)
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# were embedded params updated in .bin?
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if prehash == posthash:
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print("Embedded params in .bin unchanged (probably already up-to-date)")
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else:
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print("Embedded params in .bin UPDATED")
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