mirror of https://github.com/ArduPilot/ardupilot
742 lines
31 KiB
Python
742 lines
31 KiB
Python
# 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, Context
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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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import struct
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import base64
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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 d not 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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import platform
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upload_tools = self.env.get_flat('UPLOAD_TOOLS')
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upload_port = self.generator.bld.options.upload_port
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src = self.inputs[0]
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# Refer Tools/scripts/macos_remote_upload.sh for details
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if 'AP_OVERRIDE_UPLOAD_CMD' in os.environ:
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cmd = "{} '{}'".format(os.environ['AP_OVERRIDE_UPLOAD_CMD'], src.abspath())
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elif "microsoft-standard-WSL2" in platform.release():
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if not self.wsl2_prereq_checks():
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return
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print("If this takes takes too long here, try power-cycling your hardware\n")
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cmd = "{} -u '{}/uploader.py' '{}'".format('python.exe', upload_tools, src.abspath())
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else:
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cmd = "{} '{}/uploader.py' '{}'".format(self.env.get_flat('PYTHON'), upload_tools, src.abspath())
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if upload_port is not None:
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cmd += " '--port' '%s'" % upload_port
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if self.generator.bld.options.upload_force:
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cmd += " '--force'"
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return self.exec_command(cmd)
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def wsl2_prereq_checks(self):
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# As of July 2022 WSL2 does not support native USB support. The workaround from Microsoft
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# using 'usbipd' does not work due to the following workflow:
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#
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# 1) connect USB device to Windows computer running WSL2
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# 2) device boots into app
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# 3) use 'usbipd' from Windows Cmd/PowerShell to determine busid, this is very hard to automate on Windows
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# 4) use 'usbipd' from Windows Cmd/PowerShell to attach, this is very hard to automate on Windows
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# -- device is now viewable via 'lsusb' but you need sudo to read from it.
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# either run 'chmod666 /dev/ttyACM*' or use udev to automate chmod on device connect
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# 5) uploader.py detects device, sends reboot command which disconnects the USB port and reboots into
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# bootloader (different USB device)
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# 6) manually repeat steps 3 & 4
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# 7) doing steps 3 and 4 will most likely take several seconds and in many cases the bootloader has
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# moved on into the app
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#
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# Solution: simply call "python.exe" instead of 'python' which magically calls it from the windows
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# system using the same absolute path back into the WSL2's user's directory
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# Requirements: Windows must have Python3.9.x (NTO 3.10.x) installed and a few packages.
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import subprocess
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try:
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where_python = subprocess.check_output('where.exe python.exe', shell=True, text=True)
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except subprocess.CalledProcessError:
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#if where.exe can't find the file it returns a non-zero result which throws this exception
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where_python = ""
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if not where_python or "\Python\Python" not in where_python or "python.exe" not in where_python:
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print(self.get_full_wsl2_error_msg("Windows python.exe not found"))
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return False
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return True
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def get_full_wsl2_error_msg(self, error_msg):
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return ("""
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****************************************
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****************************************
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WSL2 firmware uploads use the host's Windows Python.exe so it has access to the COM ports.
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%s
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Please download Windows Installer 3.9.x (not 3.10) from https://www.python.org/downloads/
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and make sure to add it to your path during the installation. Once installed, run this
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command in Powershell or Command Prompt to install some packages:
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pip.exe install empy==3.3.4 pyserial
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****************************************
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****************************************
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""" % error_msg)
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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').replace("'", "")
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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 defaults.find():
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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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EXTF_MEMORY_START = 0x90000000
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EXTF_MEMORY_END = 0x90FFFFFF
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INTF_MEMORY_START = 0x08000000
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INTF_MEMORY_END = 0x08FFFFFF
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def keyword(self):
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return "Generating"
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def run(self):
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if self.env.HAS_EXTERNAL_FLASH_SECTIONS:
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ret = self.split_sections()
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if (ret < 0):
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return ret
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return ret
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else:
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cmd = [self.env.get_flat('OBJCOPY'), '-O', 'binary', self.inputs[0].relpath(), self.outputs[0].relpath()]
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self.exec_command(cmd)
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'''list sections and split into two binaries based on section's location in internal, external or in ram'''
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def split_sections(self):
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# get a list of sections
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cmd = "'{}' -A -x {}".format(self.env.get_flat('SIZE'), self.inputs[0].relpath())
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out = self.generator.bld.cmd_and_log(cmd, quiet=Context.BOTH, cwd=self.env.get_flat('BUILDROOT'))
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extf_sections = []
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intf_sections = []
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is_text_in_extf = False
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found_text_section = False
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ramsections = []
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for line in out.splitlines():
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section_line = line.split()
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if (len(section_line) < 3):
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continue
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try:
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if int(section_line[2], 0) == 0:
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continue
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else:
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addr = int(section_line[2], 0)
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except ValueError:
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continue
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if (addr >= self.EXTF_MEMORY_START) and (addr <= self.EXTF_MEMORY_END):
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extf_sections.append("--only-section=%s" % section_line[0])
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if section_line[0] == '.text':
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is_text_in_extf = True
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found_text_section = True
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elif (addr >= self.INTF_MEMORY_START) and (addr <= self.INTF_MEMORY_END):
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intf_sections.append("--only-section=%s" % section_line[0])
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if section_line[0] == '.text':
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is_text_in_extf = False
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found_text_section = True
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else: # most likely RAM data, we place it in the same bin as text
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ramsections.append(section_line[0])
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if found_text_section:
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for section in ramsections:
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if is_text_in_extf:
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extf_sections.append("--only-section=%s" % section)
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else:
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intf_sections.append("--only-section=%s" % section)
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else:
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Logs.error("Couldn't find .text section")
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# create intf binary
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if len(intf_sections):
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cmd = "'{}' {} -O binary {} {}".format(self.env.get_flat('OBJCOPY'),
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' '.join(intf_sections), self.inputs[0].relpath(), self.outputs[0].relpath())
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else:
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cmd = "cp /dev/null {}".format(self.outputs[0].relpath())
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ret = self.exec_command(cmd)
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if (ret < 0):
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return ret
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# create extf binary
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cmd = "'{}' {} -O binary {} {}".format(self.env.get_flat('OBJCOPY'),
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' '.join(extf_sections), self.inputs[0].relpath(), self.outputs[1].relpath())
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return self.exec_command(cmd)
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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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def to_unsigned(i):
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'''convert a possibly signed integer to unsigned'''
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if i < 0:
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i += 2**32
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return i
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def sign_firmware(image, private_keyfile):
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'''sign firmware with private key'''
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try:
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import monocypher
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except ImportError:
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Logs.error("Please install monocypher with: python3 -m pip install pymonocypher")
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return None
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try:
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key = open(private_keyfile, 'r').read()
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except Exception as ex:
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Logs.error("Failed to open %s" % private_keyfile)
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return None
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keytype = "PRIVATE_KEYV1:"
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if not key.startswith(keytype):
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Logs.error("Bad private key file %s" % private_keyfile)
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return None
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key = base64.b64decode(key[len(keytype):])
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sig = monocypher.signature_sign(key, image)
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sig_len = len(sig)
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sig_version = 30437
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return struct.pack("<IQ64s", sig_len+8, sig_version, sig)
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class set_app_descriptor(Task.Task):
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'''setup app descriptor in bin file'''
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color='BLUE'
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always_run = True
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def keyword(self):
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return "app_descriptor"
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def run(self):
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if self.generator.bld.env.AP_SIGNED_FIRMWARE:
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descriptor = b'\x41\xa3\xe5\xf2\x65\x69\x92\x07'
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else:
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descriptor = b'\x40\xa2\xe4\xf1\x64\x68\x91\x06'
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img = open(self.inputs[0].abspath(), 'rb').read()
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offset = img.find(descriptor)
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if offset == -1:
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Logs.info("No APP_DESCRIPTOR found")
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return
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offset += 8
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# next 8 bytes is 64 bit CRC. We set first 4 bytes to
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# CRC32 of image before descriptor and 2nd 4 bytes
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# to CRC32 of image after descriptor. This is very efficient
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# for bootloader to calculate
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# after CRC comes image length and 32 bit git hash
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upload_tools = self.env.get_flat('UPLOAD_TOOLS')
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sys.path.append(upload_tools)
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from uploader import crc32
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if self.generator.bld.env.AP_SIGNED_FIRMWARE:
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desc_len = 92
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else:
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desc_len = 16
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img1 = bytearray(img[:offset])
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img2 = bytearray(img[offset+desc_len:])
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crc1 = to_unsigned(crc32(img1))
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crc2 = to_unsigned(crc32(img2))
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githash = to_unsigned(int('0x' + os.environ.get('GIT_VERSION', self.generator.bld.git_head_hash(short=True)),16))
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if self.generator.bld.env.AP_SIGNED_FIRMWARE:
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sig = bytearray([0 for i in range(76)])
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if self.generator.bld.env.PRIVATE_KEY:
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sig_signed = sign_firmware(img1+img2, self.generator.bld.env.PRIVATE_KEY)
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if sig_signed:
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Logs.info("Signed firmware")
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sig = sig_signed
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else:
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self.generator.bld.fatal("Signing failed")
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desc = struct.pack('<IIII76s', crc1, crc2, len(img), githash, sig)
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else:
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desc = struct.pack('<IIII', crc1, crc2, len(img), githash)
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img = img[:offset] + desc + img[offset+desc_len:]
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Logs.info("Applying APP_DESCRIPTOR %08x%08x" % (crc1, crc2))
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open(self.inputs[0].abspath(), 'wb').write(img)
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class generate_apj(Task.Task):
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'''generate an apj firmware file'''
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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_gen"
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def run(self):
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import json, time, base64, zlib
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intf_img = open(self.inputs[0].abspath(),'rb').read()
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if self.env.HAS_EXTERNAL_FLASH_SECTIONS:
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extf_img = open(self.inputs[1].abspath(),'rb').read()
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else:
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extf_img = b""
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d = {
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"board_id": int(self.env.APJ_BOARD_ID),
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"magic": "APJFWv1",
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"description": "Firmware for a %s board" % self.env.APJ_BOARD_TYPE,
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"image": base64.b64encode(zlib.compress(intf_img,9)).decode('utf-8'),
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"extf_image": base64.b64encode(zlib.compress(extf_img,9)).decode('utf-8'),
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"summary": self.env.BOARD,
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"version": "0.1",
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"image_size": len(intf_img),
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"extf_image_size": len(extf_img),
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"flash_total": int(self.env.FLASH_TOTAL),
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"image_maxsize": int(self.env.FLASH_TOTAL),
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"flash_free": int(self.env.FLASH_TOTAL) - len(intf_img),
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"extflash_total": int(self.env.EXT_FLASH_SIZE_MB * 1024 * 1024),
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"extflash_free": int(self.env.EXT_FLASH_SIZE_MB * 1024 * 1024) - len(extf_img),
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"git_identity": self.generator.bld.git_head_hash(short=True),
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"board_revision": 0,
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"USBID": self.env.USBID
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}
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if self.env.MANUFACTURER:
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d["manufacturer"] = self.env.MANUFACTURER
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if self.env.BRAND_NAME:
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d["brand_name"] = self.env.BRAND_NAME
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if self.env.build_dates:
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# we omit build_time when we don't have build_dates so that apj
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# file is idential for same git hash and compiler
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d["build_time"] = int(time.time())
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apj_file = self.outputs[0].abspath()
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f = open(apj_file, "w")
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f.write(json.dumps(d, indent=4))
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f.close()
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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} ${TGT}'
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always_run = True
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def keyword(self):
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return "Generating"
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def __str__(self):
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return self.outputs[0].path_from(self.generator.bld.bldnode)
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class build_normalized_bins(Task.Task):
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'''Move external flash binaries to regular location if regular bin is zero length'''
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color='CYAN'
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always_run = True
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def run(self):
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if self.env.HAS_EXTERNAL_FLASH_SECTIONS and os.path.getsize(self.inputs[0].abspath()) == 0:
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os.remove(self.inputs[0].abspath())
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shutil.move(self.inputs[1].abspath(), self.inputs[0].abspath())
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def keyword(self):
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return "bin cleanup"
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class build_intel_hex(Task.Task):
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'''build an intel hex file for upload with DFU'''
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color='CYAN'
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run_str='${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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hex_task = None
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if self.bld.env.HAS_EXTERNAL_FLASH_SECTIONS:
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bin_target = [self.bld.bldnode.find_or_declare('bin/' + link_output.change_ext('.bin').name),
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self.bld.bldnode.find_or_declare('bin/' + link_output.change_ext('_extf.bin').name)]
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else:
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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=bin_target, tgt=abin_target)
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abin_task.set_run_after(generate_apj_task)
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cleanup_task = self.create_task('build_normalized_bins', src=bin_target)
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cleanup_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 self.bld.env.HAVE_INTEL_HEX:
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if os.path.exists(bootloader_bin.abspath()):
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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[0], bootloader_bin], tgt=hex_target)
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hex_task.set_run_after(cleanup_task)
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else:
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print("Not embedding bootloader; %s does not exist" % bootloader_bin)
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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)
|
|
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 setup_canperiph_build(cfg):
|
|
'''enable CAN build for peripherals'''
|
|
env = cfg.env
|
|
env.DEFINES += [
|
|
'CANARD_ENABLE_DEADLINE=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 not env.BOOTLOADER:
|
|
setup_canperiph_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} ${HAL_MAX_STACK_FRAME_SIZE} > chibios_flags.h",
|
|
group='dynamic_sources',
|
|
target=bld.bldnode.find_or_declare('chibios_flags.h')
|
|
)
|
|
|
|
common_src = [bld.bldnode.find_or_declare('hwdef.h'),
|
|
bld.bldnode.find_or_declare('hw.dat'),
|
|
bld.bldnode.find_or_declare('ldscript.ld'),
|
|
bld.bldnode.find_or_declare('common.ld'),
|
|
bld.bldnode.find_or_declare('modules/ChibiOS/include_dirs')]
|
|
common_src += bld.path.ant_glob('libraries/AP_HAL_ChibiOS/hwdef/common/*.[ch]')
|
|
common_src += bld.path.ant_glob('libraries/AP_HAL_ChibiOS/hwdef/common/*.mk')
|
|
common_src += bld.path.ant_glob('modules/ChibiOS/os/hal/**/*.[ch]')
|
|
common_src += bld.path.ant_glob('modules/ChibiOS/os/hal/**/*.mk')
|
|
if bld.env.ROMFS_FILES:
|
|
common_src += [bld.bldnode.find_or_declare('ap_romfs_embedded.h')]
|
|
|
|
if bld.env.ENABLE_CRASHDUMP:
|
|
ch_task = bld(
|
|
# build libch.a from ChibiOS sources and hwdef.h
|
|
rule="BUILDDIR='${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]
|