ardupilot/Tools/ardupilotwaf/chibios.py

728 lines
30 KiB
Python

# encoding: utf-8
"""
Waf tool for ChibiOS build
"""
from waflib import Errors, Logs, Task, Utils, Context
from waflib.TaskGen import after_method, before_method, feature
import os
import shutil
import sys
import re
import pickle
import struct
import base64
_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','')
tmp_str = tmp_str.replace('-I','') #remove existing -I flags
# split, coping with separator
idirs = re.split('; ', tmp_str)
# create unique list, coping with relative paths
idirs2 = []
for d in idirs:
if d.startswith('../'):
# relative paths from the make build are relative to BUILDROOT
d = os.path.join(bld.env.BUILDROOT, d)
d = os.path.normpath(d)
if d not in idirs2:
idirs2.append(d)
_dynamic_env_data['include_dirs'] = idirs2
@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):
import platform
upload_tools = self.env.get_flat('UPLOAD_TOOLS')
upload_port = self.generator.bld.options.upload_port
src = self.inputs[0]
# Refer Tools/scripts/macos_remote_upload.sh for details
if 'AP_OVERRIDE_UPLOAD_CMD' in os.environ:
cmd = "{} '{}'".format(os.environ['AP_OVERRIDE_UPLOAD_CMD'], src.abspath())
elif "microsoft-standard-WSL2" in platform.release():
if not self.wsl2_prereq_checks():
return
print("If this takes takes too long here, try power-cycling your hardware\n")
cmd = "{} -u '{}/uploader.py' '{}'".format('python.exe', upload_tools, src.abspath())
else:
cmd = "{} '{}/uploader.py' '{}'".format(self.env.get_flat('PYTHON'), upload_tools, src.abspath())
if upload_port is not None:
cmd += " '--port' '%s'" % upload_port
if self.generator.bld.options.upload_force:
cmd += " '--force'"
return self.exec_command(cmd)
def wsl2_prereq_checks(self):
# As of July 2022 WSL2 does not support native USB support. The workaround from Microsoft
# using 'usbipd' does not work due to the following workflow:
#
# 1) connect USB device to Windows computer running WSL2
# 2) device boots into app
# 3) use 'usbipd' from Windows Cmd/PowerShell to determine busid, this is very hard to automate on Windows
# 4) use 'usbipd' from Windows Cmd/PowerShell to attach, this is very hard to automate on Windows
# -- device is now viewable via 'lsusb' but you need sudo to read from it.
# either run 'chmod666 /dev/ttyACM*' or use udev to automate chmod on device connect
# 5) uploader.py detects device, sends reboot command which disconnects the USB port and reboots into
# bootloader (different USB device)
# 6) manually repeat steps 3 & 4
# 7) doing steps 3 and 4 will most likely take several seconds and in many cases the bootloader has
# moved on into the app
#
# Solution: simply call "python.exe" instead of 'python' which magically calls it from the windows
# system using the same absolute path back into the WSL2's user's directory
# Requirements: Windows must have Python3.9.x (NTO 3.10.x) installed and a few packages.
import subprocess
try:
where_python = subprocess.check_output('where.exe python.exe', shell=True, text=True)
except subprocess.CalledProcessError:
#if where.exe can't find the file it returns a non-zero result which throws this exception
where_python = ""
if not where_python or "\Python\Python" not in where_python or "python.exe" not in where_python:
print(self.get_full_wsl2_error_msg("Windows python.exe not found"))
return False
return True
def get_full_wsl2_error_msg(self, error_msg):
return ("""
****************************************
****************************************
WSL2 firmware uploads use the host's Windows Python.exe so it has access to the COM ports.
%s
Please download Windows Installer 3.9.x (not 3.10) from https://www.python.org/downloads/
and make sure to add it to your path during the installation. Once installed, run this
command in Powershell or Command Prompt to install some packages:
pip.exe install empy==3.3.4 pyserial
****************************************
****************************************
""" % error_msg)
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'
always_run = True
def keyword(self):
return "apj_tool"
def run(self):
rel_default_parameters = self.env.get_flat('DEFAULT_PARAMETERS').replace("'", "")
abs_default_parameters = os.path.join(self.env.SRCROOT, rel_default_parameters)
apj_tool = self.env.APJ_TOOL
sys.path.append(os.path.dirname(apj_tool))
from apj_tool import embedded_defaults
defaults = embedded_defaults(self.inputs[0].abspath())
if defaults.find():
defaults.set_file(abs_default_parameters)
defaults.save()
class generate_bin(Task.Task):
color='CYAN'
# run_str="${OBJCOPY} -O binary ${SRC} ${TGT}"
always_run = True
EXTF_MEMORY_START = 0x90000000
EXTF_MEMORY_END = 0x90FFFFFF
INTF_MEMORY_START = 0x08000000
INTF_MEMORY_END = 0x08FFFFFF
def keyword(self):
return "Generating"
def run(self):
if self.env.HAS_EXTERNAL_FLASH_SECTIONS:
ret = self.split_sections()
if (ret < 0):
return ret
return ret
else:
cmd = [self.env.get_flat('OBJCOPY'), '-O', 'binary', self.inputs[0].relpath(), self.outputs[0].relpath()]
self.exec_command(cmd)
'''list sections and split into two binaries based on section's location in internal, external or in ram'''
def split_sections(self):
# get a list of sections
cmd = "'{}' -A -x {}".format(self.env.get_flat('SIZE'), self.inputs[0].relpath())
out = self.generator.bld.cmd_and_log(cmd, quiet=Context.BOTH, cwd=self.env.get_flat('BUILDROOT'))
extf_sections = []
intf_sections = []
is_text_in_extf = False
found_text_section = False
ramsections = []
for line in out.splitlines():
section_line = line.split()
if (len(section_line) < 3):
continue
try:
if int(section_line[2], 0) == 0:
continue
else:
addr = int(section_line[2], 0)
except ValueError:
continue
if (addr >= self.EXTF_MEMORY_START) and (addr <= self.EXTF_MEMORY_END):
extf_sections.append("--only-section=%s" % section_line[0])
if section_line[0] == '.text':
is_text_in_extf = True
found_text_section = True
elif (addr >= self.INTF_MEMORY_START) and (addr <= self.INTF_MEMORY_END):
intf_sections.append("--only-section=%s" % section_line[0])
if section_line[0] == '.text':
is_text_in_extf = False
found_text_section = True
else: # most likely RAM data, we place it in the same bin as text
ramsections.append(section_line[0])
if found_text_section:
for section in ramsections:
if is_text_in_extf:
extf_sections.append("--only-section=%s" % section)
else:
intf_sections.append("--only-section=%s" % section)
else:
Logs.error("Couldn't find .text section")
# create intf binary
if len(intf_sections):
cmd = "'{}' {} -O binary {} {}".format(self.env.get_flat('OBJCOPY'),
' '.join(intf_sections), self.inputs[0].relpath(), self.outputs[0].relpath())
else:
cmd = "cp /dev/null {}".format(self.outputs[0].relpath())
ret = self.exec_command(cmd)
if (ret < 0):
return ret
# create extf binary
cmd = "'{}' {} -O binary {} {}".format(self.env.get_flat('OBJCOPY'),
' '.join(extf_sections), self.inputs[0].relpath(), self.outputs[1].relpath())
return self.exec_command(cmd)
def __str__(self):
return self.outputs[0].path_from(self.generator.bld.bldnode)
def to_unsigned(i):
'''convert a possibly signed integer to unsigned'''
if i < 0:
i += 2**32
return i
def sign_firmware(image, private_keyfile):
'''sign firmware with private key'''
try:
import monocypher
except ImportError:
Logs.error("Please install monocypher with: python3 -m pip install pymonocypher")
return None
try:
key = open(private_keyfile, 'r').read()
except Exception as ex:
Logs.error("Failed to open %s" % private_keyfile)
return None
keytype = "PRIVATE_KEYV1:"
if not key.startswith(keytype):
Logs.error("Bad private key file %s" % private_keyfile)
return None
key = base64.b64decode(key[len(keytype):])
sig = monocypher.signature_sign(key, image)
sig_len = len(sig)
sig_version = 30437
return struct.pack("<IQ64s", sig_len+8, sig_version, sig)
class set_app_descriptor(Task.Task):
'''setup app descriptor in bin file'''
color='BLUE'
always_run = True
def keyword(self):
return "app_descriptor"
def run(self):
if self.generator.bld.env.AP_SIGNED_FIRMWARE:
descriptor = b'\x41\xa3\xe5\xf2\x65\x69\x92\x07'
else:
descriptor = b'\x40\xa2\xe4\xf1\x64\x68\x91\x06'
img = open(self.inputs[0].abspath(), 'rb').read()
offset = img.find(descriptor)
if offset == -1:
Logs.info("No APP_DESCRIPTOR found")
return
offset += 8
# next 8 bytes is 64 bit CRC. We set first 4 bytes to
# CRC32 of image before descriptor and 2nd 4 bytes
# to CRC32 of image after descriptor. This is very efficient
# for bootloader to calculate
# after CRC comes image length and 32 bit git hash
upload_tools = self.env.get_flat('UPLOAD_TOOLS')
sys.path.append(upload_tools)
from uploader import crc32
if self.generator.bld.env.AP_SIGNED_FIRMWARE:
desc_len = 92
else:
desc_len = 16
img1 = bytearray(img[:offset])
img2 = bytearray(img[offset+desc_len:])
crc1 = to_unsigned(crc32(img1))
crc2 = to_unsigned(crc32(img2))
githash = to_unsigned(int('0x' + os.environ.get('GIT_VERSION', self.generator.bld.git_head_hash(short=True)),16))
if self.generator.bld.env.AP_SIGNED_FIRMWARE:
sig = bytearray([0 for i in range(76)])
if self.generator.bld.env.PRIVATE_KEY:
sig_signed = sign_firmware(img1+img2, self.generator.bld.env.PRIVATE_KEY)
if sig_signed:
Logs.info("Signed firmware")
sig = sig_signed
else:
self.generator.bld.fatal("Signing failed")
desc = struct.pack('<IIII76s', crc1, crc2, len(img), githash, sig)
else:
desc = struct.pack('<IIII', crc1, crc2, len(img), githash)
img = img[:offset] + desc + img[offset+desc_len:]
Logs.info("Applying APP_DESCRIPTOR %08x%08x" % (crc1, crc2))
open(self.inputs[0].abspath(), 'wb').write(img)
class generate_apj(Task.Task):
'''generate an apj firmware file'''
color='CYAN'
always_run = True
def keyword(self):
return "apj_gen"
def run(self):
import json, time, base64, zlib
intf_img = open(self.inputs[0].abspath(),'rb').read()
if self.env.HAS_EXTERNAL_FLASH_SECTIONS:
extf_img = open(self.inputs[1].abspath(),'rb').read()
else:
extf_img = b""
d = {
"board_id": int(self.env.APJ_BOARD_ID),
"magic": "APJFWv1",
"description": "Firmware for a %s board" % self.env.APJ_BOARD_TYPE,
"image": base64.b64encode(zlib.compress(intf_img,9)).decode('utf-8'),
"extf_image": base64.b64encode(zlib.compress(extf_img,9)).decode('utf-8'),
"summary": self.env.BOARD,
"version": "0.1",
"image_size": len(intf_img),
"extf_image_size": len(extf_img),
"flash_total": int(self.env.FLASH_TOTAL),
"image_maxsize": int(self.env.FLASH_TOTAL),
"flash_free": int(self.env.FLASH_TOTAL) - len(intf_img),
"extflash_total": int(self.env.EXT_FLASH_SIZE_MB * 1024 * 1024),
"extflash_free": int(self.env.EXT_FLASH_SIZE_MB * 1024 * 1024) - len(extf_img),
"git_identity": self.generator.bld.git_head_hash(short=True),
"board_revision": 0,
"USBID": self.env.USBID
}
if self.env.MANUFACTURER:
d["manufacturer"] = self.env.MANUFACTURER
if self.env.BRAND_NAME:
d["brand_name"] = self.env.BRAND_NAME
if self.env.build_dates:
# we omit build_time when we don't have build_dates so that apj
# file is idential for same git hash and compiler
d["build_time"] = int(time.time())
apj_file = self.outputs[0].abspath()
f = open(apj_file, "w")
f.write(json.dumps(d, indent=4))
f.close()
class build_abin(Task.Task):
'''build an abin file for skyviper firmware upload via web UI'''
color='CYAN'
run_str='${TOOLS_SCRIPTS}/make_abin.sh ${SRC} ${TGT}'
always_run = True
def keyword(self):
return "Generating"
def __str__(self):
return self.outputs[0].path_from(self.generator.bld.bldnode)
class build_normalized_bins(Task.Task):
'''Move external flash binaries to regular location if regular bin is zero length'''
color='CYAN'
always_run = True
def run(self):
if self.env.HAS_EXTERNAL_FLASH_SECTIONS and os.path.getsize(self.inputs[0].abspath()) == 0:
os.remove(self.inputs[0].abspath())
shutil.move(self.inputs[1].abspath(), self.inputs[0].abspath())
def keyword(self):
return "bin cleanup"
class build_intel_hex(Task.Task):
'''build an intel hex file for upload with DFU'''
color='CYAN'
run_str='${TOOLS_SCRIPTS}/make_intel_hex.py ${SRC} ${FLASH_RESERVE_START_KB}'
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]
hex_task = None
if self.bld.env.HAS_EXTERNAL_FLASH_SECTIONS:
bin_target = [self.bld.bldnode.find_or_declare('bin/' + link_output.change_ext('.bin').name),
self.bld.bldnode.find_or_declare('bin/' + link_output.change_ext('_extf.bin').name)]
else:
bin_target = [self.bld.bldnode.find_or_declare('bin/' + link_output.change_ext('.bin').name)]
apj_target = self.bld.bldnode.find_or_declare('bin/' + link_output.change_ext('.apj').name)
generate_bin_task = self.create_task('generate_bin', src=link_output, tgt=bin_target)
generate_bin_task.set_run_after(self.link_task)
generate_apj_task = self.create_task('generate_apj', src=bin_target, tgt=apj_target)
generate_apj_task.set_run_after(generate_bin_task)
if self.env.BUILD_ABIN:
abin_target = self.bld.bldnode.find_or_declare('bin/' + link_output.change_ext('.abin').name)
abin_task = self.create_task('build_abin', src=bin_target, tgt=abin_target)
abin_task.set_run_after(generate_apj_task)
cleanup_task = self.create_task('build_normalized_bins', src=bin_target)
cleanup_task.set_run_after(generate_apj_task)
bootloader_bin = self.bld.srcnode.make_node("Tools/bootloaders/%s_bl.bin" % self.env.BOARD)
if self.bld.env.HAVE_INTEL_HEX:
if os.path.exists(bootloader_bin.abspath()):
hex_target = self.bld.bldnode.find_or_declare('bin/' + link_output.change_ext('.hex').name)
hex_task = self.create_task('build_intel_hex', src=[bin_target[0], bootloader_bin], tgt=hex_target)
hex_task.set_run_after(cleanup_task)
else:
print("Not embedding bootloader; %s does not exist" % bootloader_bin)
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_bin_task.set_run_after(default_params_task)
# we need to setup the app descriptor so the bootloader can validate the firmware
if not self.bld.env.BOOTLOADER:
app_descriptor_task = self.create_task('set_app_descriptor', src=bin_target)
app_descriptor_task.set_run_after(generate_bin_task)
generate_apj_task.set_run_after(app_descriptor_task)
if hex_task is not None:
hex_task.set_run_after(app_descriptor_task)
else:
generate_apj_task.set_run_after(generate_bin_task)
if hex_task is not None:
hex_task.set_run_after(generate_bin_task)
if self.bld.options.upload:
_upload_task = self.create_task('upload_fw', src=apj_target)
_upload_task.set_run_after(generate_apj_task)
def setup_canmgr_build(cfg):
'''enable CANManager build. By doing this here we can auto-enable CAN in
the build based on the presence of CAN pins in hwdef.dat except for AP_Periph builds'''
env = cfg.env
env.AP_LIBRARIES += [
'AP_DroneCAN',
'modules/DroneCAN/libcanard/*.c',
]
env.INCLUDES += [
cfg.srcnode.find_dir('modules/DroneCAN/libcanard').abspath(),
]
env.CFLAGS += ['-DHAL_CAN_IFACES=2']
if not env.AP_PERIPH:
env.DEFINES += [
'DRONECAN_CXX_WRAPPERS=1',
'USE_USER_HELPERS=1',
'CANARD_ENABLE_DEADLINE=1',
'CANARD_MULTI_IFACE=1',
'CANARD_ALLOCATE_SEM=1'
]
if cfg.env.HAL_CANFD_SUPPORTED:
env.DEFINES += ['UAVCAN_SUPPORT_CANFD=1']
else:
env.DEFINES += ['UAVCAN_SUPPORT_CANFD=0']
cfg.get_board().with_can = True
def load_env_vars(env):
'''optionally load extra environment variables from env.py in the build directory'''
print("Checking for env.py")
env_py = os.path.join(env.BUILDROOT, 'env.py')
if not os.path.exists(env_py):
print("No env.py found")
return
e = pickle.load(open(env_py, 'rb'))
for k in e.keys():
v = e[k]
if k == 'ROMFS_FILES':
env.ROMFS_FILES += v
continue
if k in env:
if isinstance(env[k], dict):
a = v.split('=')
env[k][a[0]] = '='.join(a[1:])
print("env updated %s=%s" % (k, v))
elif isinstance(env[k], list):
env[k].append(v)
print("env appended %s=%s" % (k, v))
else:
env[k] = v
print("env added %s=%s" % (k, v))
else:
env[k] = v
print("env set %s=%s" % (k, v))
if env.DEBUG or env.DEBUG_SYMBOLS:
env.CHIBIOS_BUILD_FLAGS += ' ENABLE_DEBUG_SYMBOLS=yes'
if env.ENABLE_ASSERTS:
env.CHIBIOS_BUILD_FLAGS += ' ENABLE_ASSERTS=yes'
if env.ENABLE_MALLOC_GUARD:
env.CHIBIOS_BUILD_FLAGS += ' ENABLE_MALLOC_GUARD=yes'
if env.ENABLE_STATS:
env.CHIBIOS_BUILD_FLAGS += ' ENABLE_STATS=yes'
if env.ENABLE_DFU_BOOT and env.BOOTLOADER:
env.CHIBIOS_BUILD_FLAGS += ' USE_ASXOPT=-DCRT0_ENTRY_HOOK=TRUE'
if env.AP_BOARD_START_TIME:
env.CHIBIOS_BUILD_FLAGS += ' AP_BOARD_START_TIME=0x%x' % env.AP_BOARD_START_TIME
def setup_optimization(env):
'''setup optimization flags for build'''
if env.DEBUG:
OPTIMIZE = "-Og"
elif env.OPTIMIZE:
OPTIMIZE = env.OPTIMIZE
else:
OPTIMIZE = "-Os"
env.CFLAGS += [ OPTIMIZE ]
env.CXXFLAGS += [ OPTIMIZE ]
env.CHIBIOS_BUILD_FLAGS += ' USE_COPT=%s' % OPTIMIZE
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.CC_ROOT = srcpath('modules/CrashDebug/CrashCatcher')
env.AP_HAL_ROOT = srcpath('libraries/AP_HAL_ChibiOS')
env.BUILDDIR = bldpath('modules/ChibiOS')
env.BUILDROOT = bldpath('')
env.SRCROOT = srcpath('')
env.PT_DIR = srcpath('Tools/ardupilotwaf/chibios/image')
env.MKFW_TOOLS = srcpath('Tools/ardupilotwaf')
env.UPLOAD_TOOLS = srcpath('Tools/scripts')
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*')
# relative paths to pass to make, relative to directory that make is run from
env.CH_ROOT_REL = os.path.relpath(env.CH_ROOT, env.BUILDROOT)
env.CC_ROOT_REL = os.path.relpath(env.CC_ROOT, env.BUILDROOT)
env.AP_HAL_REL = os.path.relpath(env.AP_HAL_ROOT, env.BUILDROOT)
env.BUILDDIR_REL = os.path.relpath(env.BUILDDIR, env.BUILDROOT)
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 = cfg.options.default_parameters
try:
ret = generate_hwdef_h(env)
except Exception:
cfg.fatal("Failed to process hwdef.dat")
if ret != 0:
cfg.fatal("Failed to process hwdef.dat ret=%d" % ret)
load_env_vars(cfg.env)
if env.HAL_NUM_CAN_IFACES and not env.AP_PERIPH:
setup_canmgr_build(cfg)
if env.HAL_NUM_CAN_IFACES and env.AP_PERIPH and int(env.HAL_NUM_CAN_IFACES)>1 and not env.BOOTLOADER:
env.DEFINES += [ 'CANARD_MULTI_IFACE=1' ]
setup_optimization(cfg.env)
def generate_hwdef_h(env):
'''run chibios_hwdef.py'''
import subprocess
if env.BOOTLOADER:
if len(env.HWDEF) == 0:
env.HWDEF = os.path.join(env.SRCROOT, 'libraries/AP_HAL_ChibiOS/hwdef/%s/hwdef-bl.dat' % env.BOARD)
else:
# update to using hwdef-bl.dat
env.HWDEF = env.HWDEF.replace('hwdef.dat', 'hwdef-bl.dat')
env.BOOTLOADER_OPTION="--bootloader"
else:
if len(env.HWDEF) == 0:
env.HWDEF = os.path.join(env.SRCROOT, 'libraries/AP_HAL_ChibiOS/hwdef/%s/hwdef.dat' % env.BOARD)
env.BOOTLOADER_OPTION=""
if env.AP_SIGNED_FIRMWARE:
print(env.BOOTLOADER_OPTION)
env.BOOTLOADER_OPTION += " --signed-fw"
print(env.BOOTLOADER_OPTION)
hwdef_script = os.path.join(env.SRCROOT, 'libraries/AP_HAL_ChibiOS/hwdef/scripts/chibios_hwdef.py')
hwdef_out = env.BUILDROOT
if not os.path.exists(hwdef_out):
os.mkdir(hwdef_out)
python = sys.executable
cmd = "{0} '{1}' -D '{2}' --params '{3}' '{4}'".format(python, hwdef_script, hwdef_out, env.DEFAULT_PARAMETERS, env.HWDEF)
if env.HWDEF_EXTRA:
cmd += " '{0}'".format(env.HWDEF_EXTRA)
if env.BOOTLOADER_OPTION:
cmd += " " + env.BOOTLOADER_OPTION
return subprocess.call(cmd, shell=True)
def pre_build(bld):
'''pre-build hook to change dynamic sources'''
load_env_vars(bld.env)
if bld.env.HAL_NUM_CAN_IFACES:
bld.get_board().with_can = True
hwdef_h = os.path.join(bld.env.BUILDROOT, 'hwdef.h')
if not os.path.exists(hwdef_h):
print("Generating hwdef.h")
try:
ret = generate_hwdef_h(bld.env)
except Exception:
bld.fatal("Failed to process hwdef.dat")
if ret != 0:
bld.fatal("Failed to process hwdef.dat ret=%d" % ret)
setup_optimization(bld.env)
def build(bld):
hwdef_rule="%s '%s/hwdef/scripts/chibios_hwdef.py' -D '%s' --params '%s' '%s'" % (
bld.env.get_flat('PYTHON'),
bld.env.AP_HAL_ROOT,
bld.env.BUILDROOT,
bld.env.default_parameters,
bld.env.HWDEF)
if bld.env.HWDEF_EXTRA:
hwdef_rule += " " + bld.env.HWDEF_EXTRA
if bld.env.BOOTLOADER_OPTION:
hwdef_rule += " " + bld.env.BOOTLOADER_OPTION
bld(
# build hwdef.h from hwdef.dat. This is needed after a waf clean
source=bld.path.ant_glob(bld.env.HWDEF),
rule=hwdef_rule,
group='dynamic_sources',
target=[bld.bldnode.find_or_declare('hwdef.h'),
bld.bldnode.find_or_declare('ldscript.ld'),
bld.bldnode.find_or_declare('hw.dat')]
)
bld(
# create the file modules/ChibiOS/include_dirs
rule="touch Makefile && BUILDDIR=${BUILDDIR_REL} BUILDROOT=${BUILDROOT} CRASHCATCHER=${CC_ROOT_REL} CHIBIOS=${CH_ROOT_REL} AP_HAL=${AP_HAL_REL} ${CHIBIOS_BUILD_FLAGS} ${CHIBIOS_BOARD_NAME} ${MAKE} pass -f '${BOARD_MK}'",
group='dynamic_sources',
target=bld.bldnode.find_or_declare('modules/ChibiOS/include_dirs')
)
bld(
# create the file modules/ChibiOS/include_dirs
rule="echo // BUILD_FLAGS: ${BUILDDIR_REL} ${BUILDROOT} ${CC_ROOT_REL} ${CH_ROOT_REL} ${AP_HAL_REL} ${CHIBIOS_BUILD_FLAGS} ${CHIBIOS_BOARD_NAME} ${HAL_MAX_STACK_FRAME_SIZE} > chibios_flags.h",
group='dynamic_sources',
target=bld.bldnode.find_or_declare('chibios_flags.h')
)
common_src = [bld.bldnode.find_or_declare('hwdef.h'),
bld.bldnode.find_or_declare('hw.dat'),
bld.bldnode.find_or_declare('ldscript.ld'),
bld.bldnode.find_or_declare('common.ld'),
bld.bldnode.find_or_declare('modules/ChibiOS/include_dirs')]
common_src += bld.path.ant_glob('libraries/AP_HAL_ChibiOS/hwdef/common/*.[ch]')
common_src += bld.path.ant_glob('libraries/AP_HAL_ChibiOS/hwdef/common/*.mk')
common_src += bld.path.ant_glob('modules/ChibiOS/os/hal/**/*.[ch]')
common_src += bld.path.ant_glob('modules/ChibiOS/os/hal/**/*.mk')
common_src += bld.path.ant_glob('modules/ChibiOS/ext/lwip/src/**/*.[ch]')
common_src += bld.path.ant_glob('modules/ChibiOS/ext/lwip/src/core/**/*.[ch]')
if bld.env.ROMFS_FILES:
common_src += [bld.bldnode.find_or_declare('ap_romfs_embedded.h')]
if bld.env.ENABLE_CRASHDUMP:
ch_task = bld(
# build libch.a from ChibiOS sources and hwdef.h
rule="BUILDDIR='${BUILDDIR_REL}' BUILDROOT='${BUILDROOT}' CRASHCATCHER='${CC_ROOT_REL}' CHIBIOS='${CH_ROOT_REL}' AP_HAL=${AP_HAL_REL} ${CHIBIOS_BUILD_FLAGS} ${CHIBIOS_BOARD_NAME} ${HAL_MAX_STACK_FRAME_SIZE} '${MAKE}' -j%u lib -f '${BOARD_MK}'" % bld.options.jobs,
group='dynamic_sources',
source=common_src,
target=[bld.bldnode.find_or_declare('modules/ChibiOS/libch.a'), bld.bldnode.find_or_declare('modules/ChibiOS/libcc.a')]
)
else:
ch_task = bld(
# build libch.a from ChibiOS sources and hwdef.h
rule="BUILDDIR='${BUILDDIR_REL}' BUILDROOT='${BUILDROOT}' CHIBIOS='${CH_ROOT_REL}' AP_HAL=${AP_HAL_REL} ${CHIBIOS_BUILD_FLAGS} ${CHIBIOS_BOARD_NAME} ${HAL_MAX_STACK_FRAME_SIZE} '${MAKE}' -j%u lib -f '${BOARD_MK}'" % bld.options.jobs,
group='dynamic_sources',
source=common_src,
target=bld.bldnode.find_or_declare('modules/ChibiOS/libch.a')
)
ch_task.name = "ChibiOS_lib"
DSP_LIBS = {
'cortex-m4' : 'libarm_cortexM4lf_math.a',
'cortex-m7' : 'libarm_cortexM7lfdp_math.a',
}
if bld.env.CORTEX in DSP_LIBS:
libname = DSP_LIBS[bld.env.CORTEX]
# we need to copy the library on cygwin as it doesn't handle linking outside build tree
shutil.copyfile(os.path.join(bld.env.SRCROOT,'libraries/AP_GyroFFT/CMSIS_5/lib',libname),
os.path.join(bld.env.BUILDROOT,'modules/ChibiOS/libDSP.a'))
bld.env.LIB += ['DSP']
bld.env.LIB += ['ch']
bld.env.LIBPATH += ['modules/ChibiOS/']
if bld.env.ENABLE_CRASHDUMP:
bld.env.LINKFLAGS += ['-Wl,-whole-archive', 'modules/ChibiOS/libcc.a', '-Wl,-no-whole-archive']
# list of functions that will be wrapped to move them out of libc into our
# own code note that we also include functions that we deliberately don't
# implement anywhere (the FILE* functions). This allows us to get link
# errors if we accidentially try to use one of those functions either
# directly or via another libc call
wraplist = ['sscanf', 'fprintf', 'snprintf', 'vsnprintf','vasprintf','asprintf','vprintf','scanf',
'fiprintf','printf',
'fopen', 'fflush', 'fwrite', 'fread', 'fputs', 'fgets',
'clearerr', 'fseek', 'ferror', 'fclose', 'tmpfile', 'getc', 'ungetc', 'feof',
'ftell', 'freopen', 'remove', 'vfprintf', 'fscanf',
'_gettimeofday', '_times', '_times_r', '_gettimeofday_r', 'time', 'clock',
'_sbrk', '_sbrk_r', '_malloc_r', '_calloc_r', '_free_r']
for w in wraplist:
bld.env.LINKFLAGS += ['-Wl,--wrap,%s' % w]