ArduPilot之开源代码waf编译
2023-12-23 19:14:19
ArduPilot之开源代码waf编译
1. 源由
关于Ardupilot的固件编译步骤介绍，已经在前面整理了一些资料：
【1】ArduPilot开源代码之H743+BMI270x2+ChibiOS配置适配
【2】ArduPilot飞控AOCODARC-H7DUAL固件编译
但是Ardupilot执行编译的框架是通过waf这个软件来集成的。waf与传统Makefile是如何一起协作的？
对于ChibiOS目标飞控板，代码编译的整个过程，waf是如何整合在一起，目前来说，还有点模模糊糊的。对于后续要深入后续ChibiOS移植就需要了解整个过程，以便在移植过程中出现需要改动的脚本、目录、代码等方面的内容。
2. 编译过程
2.1 代码同步
$ ./Tools/gittools/submodule-sync.sh
注：代码同步与waf没什么关系，这里仅仅使用的bash脚本，不再展开分析。
2.2 编译bootloader
$ ./Tools/scripts/build_bootloaders.py Aocoda-RC-H743Dual
注：Ardupilot的bootloader实际在PR过程中发现，不仅仅需要提供目标板配置文件，还需要上传bootloader二进制；通过两个commit来处理目标板配置代码和二进制bootloader。
2.3 配置单板
$ ./waf configure --board Aocoda-RC-H743Dual
2.4 固件编译、链接
$ ./waf plane
3. 编译bootloader
3.1 命令帮助
./Tools/scripts/build_bootloaders.py -h
usage: build_bootloaders.py [-h] [--signing-key SIGNING_KEY] [--debug]
[--periph-only]
pattern
make_secure_bl
positional arguments:
pattern board wildcard pattern
optional arguments:
-h, --help show this help message and exit
--signing-key SIGNING_KEY
signing key for secure bootloader
--debug build with debug symbols
--periph-only only build AP_Periph boards
3.2 python脚本
重要函数如下:
- read_hwdef
- is_ap_periph
- get_board_list
- run_program
- build_board
./Tools/scripts/build_bootloaders.py
└──> ./Tools/scripts/signing/make_secure_bl.py
3.3 脚本分析
通过脚本分析可以看出，编译bootloader最终执行的还是waf命令：
./waf configure --board Aocoda-RC-H743Dual --bootloader --no-submodule-update --Werror./waf clean./waf bootloader
./Tools/scripts/build_bootloaders.py
├──> <secure bootloader check>
│ └──> [prevent the easy mistake of using private key] return
├──> <for board in get_board_list()>
│ └──> <board match>
│ ├──> build_board
│ │ ├──> run_program(["./waf", "configure"] + configure_args): fail return false;
│ │ ├──> run_program(["./waf", "clean"]): fail return false;
│ │ └──> run_program(["./waf", "bootloader"]): fail return false;
│ ├──> <failed build>
│ │ ├──> add to fail log
│ │ └──> continue
│ ├──> [Create bootloader bin file]
│ ├──> [Create bootloader elf file]
│ ├──> [Create bootloader hex file]
│ └──> <secure bootloader>
│ ├──> [Create bootloader secure bin file]
│ └──> [Create bootloader secure elf file]
└──> [Failed boards summary]
4. waf脚本
4.1 命令帮助
- [Ardupilot] waf-light帮助
$ ./waf-light --help
waf [commands] [options]
Main commands (example: ./waf build -j4)
AP_Periph : builds AP_Periph programs
all : builds all programs of all group
antennatracker: builds antennatracker programs
benchmarks : builds all programs of benchmarks group
bin : builds all programs of bin group
blimp : builds blimp programs
bootloader : builds bootloader programs
build : executes the build
check : builds all programs and run tests
check-all : shortcut for `waf check --alltests`
clean : cleans the project
conf :
Decorator: attach new configuration functions to :py:class:`waflib.Build.BuildContext` and
:py:class:`waflib.Configure.ConfigurationContext`. The methods bound will accept a parameter
named 'mandatory' to disable the configuration errors::
def configure(conf):
conf.find_program('abc', mandatory=False)
:param f: method to bind
:type f: function
configure : configures the project
copter : builds copter programs
dist : makes a tarball for redistributing the sources
distcheck : checks if the project compiles (tarball from 'dist')
distclean : removes build folders and data
examples : builds all programs of examples group
heli : builds heli programs
install : installs the targets on the system
iofirmware : builds iofirmware programs
list : lists the targets to execute
localinstall : runs install using BLD/install as destdir, where BLD is the build variant directory
plane : builds plane programs
replay : builds replay programs
rover : builds rover programs
rsync : runs localinstall and then rsyncs BLD/install with the target system
step : executes tasks in a step-by-step fashion, for debugging
sub : builds sub programs
tests : builds all programs of tests group
tool : builds all programs of tool group
uninstall : removes the targets installed
Options:
--version show program's version number and exit
-c COLORS, --color=COLORS
whether to use colors (yes/no/auto) [default: auto]
-j JOBS, --jobs=JOBS amount of parallel jobs (2)
-k, --keep continue despite errors (-kk to try harder)
-v, --verbose verbosity level -v -vv or -vvv [default: 0]
--zones=ZONES debugging zones (task_gen, deps, tasks, etc)
-h, --help show this help message and exit
--notests Exec no unit tests
--alltests Exec all unit tests
--clear-failed Force failed unit tests to run again next time
--testcmd=TESTCMD Run the unit tests using the test-cmd string example "--testcmd="valgrind --error-exitcode=1 %s" to run under valgrind
--dump-test-scripts Create python scripts to help debug tests
Configuration options:
-o OUT, --out=OUT build dir for the project
-t TOP, --top=TOP src dir for the project
--check-cxx-compiler=CHECK_CXX_COMPILER
list of C++ compilers to try [g++ clang++ icpc]
--check-c-compiler=CHECK_C_COMPILER
list of C compilers to try [gcc clang icc]
Build and installation options:
-p, --progress -p: progress bar; -pp: ide output
--targets=TARGETS task generators, e.g. "target1,target2"
Step options:
--files=FILES files to process, by regexp, e.g. "*/main.c,*/test/main.o"
Installation and uninstallation options:
-f, --force force file installation
--distcheck-args=ARGS
arguments to pass to distcheck
Python Options:
--nopyc Do not install bytecode compiled .pyc files (configuration) [Default:install]
--nopyo Do not install optimised compiled .pyo files (configuration) [Default:install]
--nopycache Do not use __pycache__ directory to install objects [Default:auto]
--python=PYTHON python binary to be used [Default: /usr/bin/python3]
--pythondir=PYTHONDIR
Installation path for python modules (py, platform-independent .py and .pyc files)
--pythonarchdir=PYTHONARCHDIR
Installation path for python extension (pyext, platform-dependent .so or .dylib files)
Ardupilot configure options:
--board=BOARD Target board to build, choices are ACNS-CM4Pilot, ACNS-F405AIO, aero, AeroFox-Airspeed, AeroFox-Airspeed-DLVR, AeroFox-GNSS_F9P, AeroFox-PMU,
airbotf4, AIRLink, Airvolute-DCS2, Aocoda-RC-H743Dual, AR-F407SmartBat, ARK_CANNODE, ARK_GPS, ARK_RTK_GPS, ARKV6X, AtomRCF405NAVI, bbbmini,
BeastF7, BeastF7v2, BeastH7, BeastH7v2, bebop, BETAFPV-F405, bhat, BirdCANdy, BlitzF745AIO, blue, C-RTK2-HP, canzero, CarbonixF405,
CarbonixL496, crazyflie2, CUAV-Nora, CUAV-Nora-bdshot, CUAV-X7, CUAV-X7-bdshot, CUAV_GPS, CUAVv5, CUAVv5-bdshot, CUAVv5Nano, CUAVv5Nano-bdshot,
CubeBlack, CubeBlack+, CubeBlack-periph, CubeGreen-solo, CubeOrange, CubeOrange-bdshot, CubeOrange-joey, CubeOrange-ODID, CubeOrange-periph,
CubeOrange-periph-heavy, CubeOrange-SimOnHardWare, CubeOrangePlus, CubeOrangePlus-bdshot, CubeOrangePlus-SimOnHardWare, CubePilot-CANMod,
CubePurple, CubeRedPrimary, CubeRedSecondary, CubeSolo, CubeYellow, CubeYellow-bdshot, dark, DevEBoxH7v2, disco, DrotekP3Pro, Durandal,
Durandal-bdshot, edge, erleboard, erlebrain2, esp32buzz, esp32diy, esp32empty, esp32icarus, esp32nick, esp32s3devkit, esp32tomte76, f103-ADSB,
f103-Airspeed, f103-GPS, f103-HWESC, f103-QiotekPeriph, f103-RangeFinder, f103-Trigger, f303-GPS, f303-HWESC, f303-M10025, f303-M10070,
f303-MatekGPS, f303-PWM, f303-TempSensor, f303-Universal, F35Lightning, f405-MatekAirspeed, f405-MatekGPS, F4BY, FlyingMoonF407, FlyingMoonF427,
FlyingMoonH743, FlywooF405Pro, FlywooF405S-AIO, FlywooF745, FlywooF745Nano, fmuv2, fmuv3, fmuv3-bdshot, fmuv5, FoxeerH743v1, FreeflyRTK, G4-ESC,
H743_BMI270x2_v30, H757I_EVAL, H757I_EVAL_intf, HEEWING-F405, HEEWING-F405v2, Here4AP, HerePro, Hitec-Airspeed, HitecMosaic, HolybroG4_Compass,
HolybroG4_GPS, HolybroGPS, iomcu, iomcu-dshot, iomcu-f103, iomcu-f103-dshot, iomcu_f103_8MHz, JFB100, JFB110, JHEMCU-GSF405A, JHEMCU-
GSF405A-RX2, KakuteF4, KakuteF4Mini, KakuteF7, KakuteF7-bdshot, KakuteF7Mini, KakuteH7, KakuteH7-bdshot, KakuteH7-Wing, KakuteH7Mini,
KakuteH7Mini-Nand, KakuteH7v2, kha_eth, linux, luminousbee4, luminousbee5, MambaF405-2022, MambaF405US-I2C, MambaF405v2, MambaH743v4, MatekF405,
MatekF405-bdshot, MatekF405-CAN, MatekF405-STD, MatekF405-TE, MatekF405-TE-bdshot, MatekF405-Wing, MatekF405-Wing-bdshot, MatekF765-SE,
MatekF765-Wing, MatekF765-Wing-bdshot, MatekH743, MatekH743-bdshot, MatekH743-periph, MatekL431-ADSB, MatekL431-Airspeed, MatekL431-BattMon,
MatekL431-bdshot, MatekL431-DShot, MatekL431-EFI, MatekL431-GPS, MatekL431-HWTelem, MatekL431-Periph, MatekL431-Proximity,
MatekL431-Rangefinder, MatekL431-RC, MazzyStarDrone, mindpx-v2, mini-pix, modalai_fc-v1, mRo-M10095, mRoCANPWM-M10126, mRoControlZeroClassic,
mRoControlZeroF7, mRoControlZeroH7, mRoControlZeroH7-bdshot, mRoControlZeroOEMH7, mRoCZeroOEMH7-bdshot, mRoNexus, mRoPixracerPro,
mRoPixracerPro-bdshot, mRoX21, mRoX21-777, navigator, navio, navio2, Nucleo-G491, Nucleo-L476, Nucleo-L496, NucleoH743, NucleoH755, obal,
ocpoc_zynq, omnibusf4, omnibusf4pro, omnibusf4pro-bdshot, omnibusf4pro-one, omnibusf4v6, OMNIBUSF7V2, OmnibusNanoV6, OmnibusNanoV6-bdshot,
PH4-mini, PH4-mini-bdshot, Pix32v5, PixC4-Jetson, PixFlamingo, Pixhawk1, Pixhawk1-1M, Pixhawk1-1M-bdshot, Pixhawk1-bdshot, Pixhawk4,
Pixhawk4-bdshot, Pixhawk5X, Pixhawk6C, Pixhawk6C-bdshot, Pixhawk6X, Pixhawk6X-bdshot, Pixhawk6X-ODID, PixPilot-C3, PixPilot-V3, PixPilot-V6,
Pixracer, Pixracer-bdshot, Pixracer-periph, PixSurveyA1, PixSurveyA1-IND, PixSurveyA2, pocket, pxf, pxfmini, QioTekAdeptF407, QioTekZealotF427,
QioTekZealotH743, QioTekZealotH743-bdshot, R9Pilot, RADIX2HD, ReaperF745, revo-mini, revo-mini-bdshot, revo-mini-i2c, revo-mini-i2c-bdshot,
revo-mini-sd, rFCU, rGNSS, rst_zynq, SDMODELH7V1, Sierra-F405, Sierra-F412, Sierra-F9P, Sierra-L431, Sierra-PrecisionPoint, Sierra-TrueNavPro,
Sierra-TrueNorth, Sierra-TrueSpeed, sitl, SITL_arm_linux_gnueabihf, sitl_periph_gps, SITL_static, SITL_x86_64_linux_gnu, SIYI_N7, SkystarsH7HD,
SkystarsH7HD-bdshot, skyviper-f412-rev1, skyviper-journey, skyviper-v2450, sparky2, speedybeef4, SpeedyBeeF405Mini, SpeedyBeeF405WING,
speedybeef4v3, speedybeef4v4, SPRacingH7, SPRacingH7RF, SuccexF4, sw-nav-f405, sw-spar-f407, Swan-K1, TBS-Colibri-F7, thepeach-k1, thepeach-r1,
TMotorH743, vnav, VRBrain-v51, VRBrain-v52, VRBrain-v54, VRCore-v10, VRUBrain-v51, YJUAV_A6, YJUAV_A6SE, YJUAV_A6SE_H743, ZubaxGNSS, zynq.
--debug Configure as debug variant.
-g, --debug-symbols
Add debug symbolds to build.
--disable-watchdog Build with watchdog disabled.
--coverage Configure coverage flags.
--Werror build with -Werror.
--disable-Werror Disable -Werror.
--toolchain=TOOLCHAIN
Override default toolchain used for the board. Use "native" for using the host toolchain.
--disable-gccdeps Disable the use of GCC dependencies output method and use waf default method.
--enable-asserts enable OS level asserts.
--save-temps save compiler temporary files.
--enable-malloc-guard
enable malloc guard regions.
--enable-stats enable OS level thread statistics.
--bootloader Configure for building a bootloader.
--signed-fw Configure for signed firmware support.
--private-key=PRIVATE_KEY
path to private key for signing firmware.
--no-autoconfig Disable autoconfiguration feature. By default, the build system triggers a reconfiguration whenever it thinks it's necessary - this option
disables that.
--no-submodule-update
Don't update git submodules. Useful for building with submodules at specific revisions.
--enable-header-checks
Enable checking of headers
--default-parameters=DEFAULT_PARAMETERS
set default parameters to embed in the firmware
--enable-math-check-indexes
Enable checking of math indexes
--disable-scripting
Disable onboard scripting engine
--enable-scripting Enable onboard scripting engine
--no-gcs Disable GCS code
--scripting-checks Enable runtime scripting sanity checks
--enable-onvif Enables and sets up ONVIF camera control
--scripting-docs enable generation of scripting documentation
--enable-opendroneid
Enables OpenDroneID
--enable-check-firmware
Enables firmware ID checking on boot
--enable-custom-controller
Enables custom controller
--enable-gps-logging
Enables GPS logging
--enable-dds Enable the dds client to connect with ROS2/DDS.
--disable-networking
Disable the networking API code
--enable-networking-tests
Enable the networking test code. Automatically enables networking.
--enable-dronecan-tests
Enables DroneCAN tests in sitl
Linux boards configure options:
--prefix=PREFIX installation prefix [default: '/usr/']
--destdir=DESTDIR installation root [default: '']
--bindir=BINDIR bindir
--libdir=LIBDIR libdir
--apstatedir=APSTATEDIR
Where to save data like parameters, log and terrain. This is the --localstatedir + ArduPilots subdirectory [default: board-dependent, usually
/var/lib/ardupilot]
--rsync-dest=RSYNC_DEST
Destination for the rsync Waf command. It can be passed during configuration in order to save typing.
--enable-benchmarks
Enable benchmarks.
--enable-lttng Enable lttng integration
--disable-libiio Don't use libiio even if supported by board and dependencies available
--disable-tests Disable compilation and test execution
--enable-sfml Enable SFML graphics library
--enable-sfml-joystick
Enable SFML joystick input library
--enable-sfml-audio
Enable SFML audio library
--osd Enable OSD support
--osd-fonts Enable OSD support with fonts
--sitl-osd Enable SITL OSD
--sitl-rgbled Enable SITL RGBLed
--force-32bit Force 32bit build
--build-dates Include build date in binaries. Appears in AUTOPILOT_VERSION.os_sw_version
--sitl-flash-storage
Use flash storage emulation.
--enable-ekf2 Configure with EKF2.
--disable-ekf3 Configure without EKF3.
--ekf-double Configure EKF as double precision.
--ekf-single Configure EKF as single precision.
--static Force a static build
--postype-single force single precision postype_t
--consistent-builds
force consistent build outputs for things like __LINE__
--extra-hwdef=EXTRA_HWDEF
Extra hwdef.dat file for custom build.
--assert-cc-version=ASSERT_CC_VERSION
fail configure if not using the specified gcc version
--num-aux-imus=NUM_AUX_IMUS
number of auxiliary IMUs
--board-start-time=BOARD_START_TIME
zero time on boot in microseconds
Ardupilot build options:
--program-group=PROGRAM_GROUP
Select all programs that go in <PROGRAM_GROUP>/ for the build. Example: `waf --program-group examples` builds all examples. The special group
"all" selects all programs.
--upload Upload applicable targets to a connected device. Not all platforms may support this. Example: `waf copter --upload` means "build arducopter and
upload it to my board".
--upload-port=UPLOAD_PORT
Specify the port to be used with the --upload option. For example a port of /dev/ttyS10 indicates that serial port 10 shuld be used.
--upload-force Override board type check and continue loading. Same as using uploader.py --force.
--summary-all Print build summary for all targets. By default, only information about the first 20 targets will be printed.
Ardupilot check options:
--check-verbose Output all test programs.
--define=DEFINE Add C++ define to build.
Ardupilot clean options:
--clean-all-sigs Clean signatures for all tasks. By default, tasks that scan for implicit dependencies (like the compilation tasks) keep the dependency
information across clean commands, so that that information is changed only when really necessary. Also, some tasks that don't really produce
files persist their signature. This option avoids that behavior when cleaning the build.
--asan Build using the macOS clang Address Sanitizer. In order to run with Address Sanitizer support llvm-symbolizer is required to be on the PATH.
This option is only supported on macOS versions of clang.
--ubsan Build using the gcc undefined behaviour sanitizer
--ubsan-abort Build using the gcc undefined behaviour sanitizer and abort on error
4.2 [waf] waf-light帮助
$ ./waf-light --help
------> Executing code from the top-level wscript <-----
waf [commands] [options]
Main commands (example: ./waf build -j4)
build : executes the build
clean : cleans the project
configure: configures the project
dist : makes a tarball for redistributing the sources
distcheck: checks if the project compiles (tarball from 'dist')
distclean: removes build folders and data
install : installs the targets on the system
list : lists the targets to execute
step : executes tasks in a step-by-step fashion, for debugging
uninstall: removes the targets installed
Options:
--version show program's version number and exit
-c COLORS, --color=COLORS
whether to use colors (yes/no/auto) [default: auto]
-j JOBS, --jobs=JOBS amount of parallel jobs (2)
-k, --keep continue despite errors (-kk to try harder)
-v, --verbose verbosity level -v -vv or -vvv [default: 0]
--zones=ZONES debugging zones (task_gen, deps, tasks, etc)
-h, --help show this help message and exit
--make-waf creates the waf script
--interpreter=INTERPRETER
specify the #! line on top of the waf file
--sign make a signed file
--zip-type=ZIP specify the zip type [Allowed values: bz2 gz xz]
--make-batch creates a convenience waf.bat file (done automatically on win32 systems)
--set-version=SETVER sets the version number for waf releases (for the maintainer)
--strip shrinks waf (strip docstrings, saves 33kb)
--nostrip no shrinking
--tools=ADD3RDPARTY Comma-separated 3rd party tools to add, eg: "compat,ocaml" [Default: "compat15"]
--coretools=CORETOOLS
Comma-separated core tools to add, eg: "vala,tex" [Default: all of them]
--prelude=PRELUDE Code to execute before calling waf
--namesfrom=NAMESFROM
Obtain the file names from a model archive
Configuration options:
-o OUT, --out=OUT build dir for the project
-t TOP, --top=TOP src dir for the project
--prefix=PREFIX installation prefix [default: '/usr/local/']
--bindir=BINDIR bindir
--libdir=LIBDIR libdir
Build and installation options:
-p, --progress -p: progress bar; -pp: ide output
--targets=TARGETS task generators, e.g. "target1,target2"
Step options:
--files=FILES files to process, by regexp, e.g. "*/main.c,*/test/main.o"
Installation and uninstallation options:
--destdir=DESTDIR installation root [default: '']
-f, --force force file installation
--distcheck-args=ARGS
arguments to pass to distcheck
Python Options:
--nopyc Do not install bytecode compiled .pyc files (configuration) [Default:install]
--nopyo Do not install optimised compiled .pyo files (configuration) [Default:install]
--nopycache Do not use __pycache__ directory to install objects [Default:auto]
--python=PYTHON python binary to be used [Default: /usr/bin/python]
--pythondir=PYTHONDIR
Installation path for python modules (py, platform-independent .py and .pyc files)
--pythonarchdir=PYTHONARCHDIR
Installation path for python extension (pyext, platform-dependent .so or .dylib files)
4.3 Ardupilot v.s. waf 主要差异
4.3.1 命令差异
- AP_Periph
- all
- antennatracker
- benchmarks
- bin
- blimp
- bootloader
- check
- check-all
- conf
- copter
- examples
- heli
- iofirmware
- localinstall
- plane
- replay
- rover
- rsync
- sub
- tests
- tool
4.3.2 Ardupilot configure options
--board=BOARD Target board to build, choices are ACNS-CM4Pilot, ACNS-F405AIO, aero, AeroFox-Airspeed, AeroFox-Airspeed-DLVR, AeroFox-GNSS_F9P, AeroFox-PMU, airbotf4, AIRLink, Airvolute-DCS2, Aocoda-RC-H743Dual, AR-F407SmartBat, ARK_CANNODE, ARK_GPS, ARK_RTK_GPS, ARKV6X, AtomRCF405NAVI, bbbmini, BeastF7, BeastF7v2, BeastH7, BeastH7v2, bebop, BETAFPV-F405, bhat, BirdCANdy, BlitzF745AIO, blue, C-RTK2-HP, canzero, CarbonixF405, CarbonixL496, crazyflie2, CUAV-Nora, CUAV-Nora-bdshot, CUAV-X7, CUAV-X7-bdshot, CUAV_GPS, CUAVv5, CUAVv5-bdshot, CUAVv5Nano, CUAVv5Nano-bdshot, CubeBlack, CubeBlack+, CubeBlack-periph, CubeGreen-solo, CubeOrange, CubeOrange-bdshot, CubeOrange-joey, CubeOrange-ODID, CubeOrange-periph, CubeOrange-periph-heavy, CubeOrange-SimOnHardWare, CubeOrangePlus, CubeOrangePlus-bdshot, CubeOrangePlus-SimOnHardWare, CubePilot-CANMod, CubePurple, CubeRedPrimary, CubeRedSecondary, CubeSolo, CubeYellow, CubeYellow-bdshot, dark, DevEBoxH7v2, disco, DrotekP3Pro, Durandal, Durandal-bdshot, edge, erleboard, erlebrain2, esp32buzz, esp32diy, esp32empty, esp32icarus, esp32nick, esp32s3devkit, esp32tomte76, f103-ADSB, f103-Airspeed, f103-GPS, f103-HWESC, f103-QiotekPeriph, f103-RangeFinder, f103-Trigger, f303-GPS, f303-HWESC, f303-M10025, f303-M10070, f303-MatekGPS, f303-PWM, f303-TempSensor, f303-Universal, F35Lightning, f405-MatekAirspeed, f405-MatekGPS, F4BY, FlyingMoonF407, FlyingMoonF427, FlyingMoonH743, FlywooF405Pro, FlywooF405S-AIO, FlywooF745, FlywooF745Nano, fmuv2, fmuv3, fmuv3-bdshot, fmuv5, FoxeerH743v1, FreeflyRTK, G4-ESC, H743_BMI270x2_v30, H757I_EVAL, H757I_EVAL_intf, HEEWING-F405, HEEWING-F405v2, Here4AP, HerePro, Hitec-Airspeed, HitecMosaic, HolybroG4_Compass, HolybroG4_GPS, HolybroGPS, iomcu, iomcu-dshot, iomcu-f103, iomcu-f103-dshot, iomcu_f103_8MHz, JFB100, JFB110, JHEMCU-GSF405A, JHEMCU- GSF405A-RX2, KakuteF4, KakuteF4Mini, KakuteF7, KakuteF7-bdshot, KakuteF7Mini, KakuteH7, KakuteH7-bdshot, KakuteH7-Wing, KakuteH7Mini, KakuteH7Mini-Nand, KakuteH7v2, kha_eth, linux, luminousbee4, luminousbee5, MambaF405-2022, MambaF405US-I2C, MambaF405v2, MambaH743v4, MatekF405, MatekF405-bdshot, MatekF405-CAN, MatekF405-STD, MatekF405-TE, MatekF405-TE-bdshot, MatekF405-Wing, MatekF405-Wing-bdshot, MatekF765-SE, MatekF765-Wing, MatekF765-Wing-bdshot, MatekH743, MatekH743-bdshot, MatekH743-periph, MatekL431-ADSB, MatekL431-Airspeed, MatekL431-BattMon, MatekL431-bdshot, MatekL431-DShot, MatekL431-EFI, MatekL431-GPS, MatekL431-HWTelem, MatekL431-Periph, MatekL431-Proximity, MatekL431-Rangefinder, MatekL431-RC, MazzyStarDrone, mindpx-v2, mini-pix, modalai_fc-v1, mRo-M10095, mRoCANPWM-M10126, mRoControlZeroClassic, mRoControlZeroF7, mRoControlZeroH7, mRoControlZeroH7-bdshot, mRoControlZeroOEMH7, mRoCZeroOEMH7-bdshot, mRoNexus, mRoPixracerPro, mRoPixracerPro-bdshot, mRoX21, mRoX21-777, navigator, navio, navio2, Nucleo-G491, Nucleo-L476, Nucleo-L496, NucleoH743, NucleoH755, obal, ocpoc_zynq, omnibusf4, omnibusf4pro, omnibusf4pro-bdshot, omnibusf4pro-one, omnibusf4v6, OMNIBUSF7V2, OmnibusNanoV6, OmnibusNanoV6-bdshot, PH4-mini, PH4-mini-bdshot, Pix32v5, PixC4-Jetson, PixFlamingo, Pixhawk1, Pixhawk1-1M, Pixhawk1-1M-bdshot, Pixhawk1-bdshot, Pixhawk4, Pixhawk4-bdshot, Pixhawk5X, Pixhawk6C, Pixhawk6C-bdshot, Pixhawk6X, Pixhawk6X-bdshot, Pixhawk6X-ODID, PixPilot-C3, PixPilot-V3, PixPilot-V6, Pixracer, Pixracer-bdshot, Pixracer-periph, PixSurveyA1, PixSurveyA1-IND, PixSurveyA2, pocket, pxf, pxfmini, QioTekAdeptF407, QioTekZealotF427, QioTekZealotH743, QioTekZealotH743-bdshot, R9Pilot, RADIX2HD, ReaperF745, revo-mini, revo-mini-bdshot, revo-mini-i2c, revo-mini-i2c-bdshot, revo-mini-sd, rFCU, rGNSS, rst_zynq, SDMODELH7V1, Sierra-F405, Sierra-F412, Sierra-F9P, Sierra-L431, Sierra-PrecisionPoint, Sierra-TrueNavPro, Sierra-TrueNorth, Sierra-TrueSpeed, sitl, SITL_arm_linux_gnueabihf, sitl_periph_gps, SITL_static, SITL_x86_64_linux_gnu, SIYI_N7, SkystarsH7HD, SkystarsH7HD-bdshot, skyviper-f412-rev1, skyviper-journey, skyviper-v2450, sparky2, speedybeef4, SpeedyBeeF405Mini, SpeedyBeeF405WING, speedybeef4v3, speedybeef4v4, SPRacingH7, SPRacingH7RF, SuccexF4, sw-nav-f405, sw-spar-f407, Swan-K1, TBS-Colibri-F7, thepeach-k1, thepeach-r1, TMotorH743, vnav, VRBrain-v51, VRBrain-v52, VRBrain-v54, VRCore-v10, VRUBrain-v51, YJUAV_A6, YJUAV_A6SE, YJUAV_A6SE_H743, ZubaxGNSS, zynq. --debug Configure as debug variant. -g, --debug-symbols Add debug symbolds to build. --disable-watchdog Build with watchdog disabled. --coverage Configure coverage flags. --Werror build with -Werror. --disable-Werror Disable -Werror. --toolchain=TOOLCHAIN Override default toolchain used for the board. Use "native" for using the host toolchain. --disable-gccdeps Disable the use of GCC dependencies output method and use waf default method. --enable-asserts enable OS level asserts. --save-temps save compiler temporary files. --enable-malloc-guard enable malloc guard regions. --enable-stats enable OS level thread statistics. --bootloader Configure for building a bootloader. --signed-fw Configure for signed firmware support. --private-key=PRIVATE_KEY path to private key for signing firmware. --no-autoconfig Disable autoconfiguration feature. By default, the build system triggers a reconfiguration whenever it thinks it's necessary - this option disables that. --no-submodule-update Don't update git submodules. Useful for building with submodules at specific revisions. --enable-header-checks Enable checking of headers --default-parameters=DEFAULT_PARAMETERS set default parameters to embed in the firmware --enable-math-check-indexes Enable checking of math indexes --disable-scripting Disable onboard scripting engine --enable-scripting Enable onboard scripting engine --no-gcs Disable GCS code --scripting-checks Enable runtime scripting sanity checks --enable-onvif Enables and sets up ONVIF camera control --scripting-docs enable generation of scripting documentation --enable-opendroneid Enables OpenDroneID --enable-check-firmware Enables firmware ID checking on boot --enable-custom-controller Enables custom controller --enable-gps-logging Enables GPS logging --enable-dds Enable the dds client to connect with ROS2/DDS. --disable-networking Disable the networking API code --enable-networking-tests Enable the networking test code. Automatically enables networking. --enable-dronecan-tests Enables DroneCAN tests in sitl
4.3.3 Linux boards configure options
--prefix=PREFIX installation prefix [default: '/usr/'] --destdir=DESTDIR installation root [default: ''] --bindir=BINDIR bindir --libdir=LIBDIR libdir --apstatedir=APSTATEDIR Where to save data like parameters, log and terrain. This is the --localstatedir + ArduPilots subdirectory [default: board-dependent, usually /var/lib/ardupilot] --rsync-dest=RSYNC_DEST Destination for the rsync Waf command. It can be passed during configuration in order to save typing. --enable-benchmarks Enable benchmarks. --enable-lttng Enable lttng integration --disable-libiio Don't use libiio even if supported by board and dependencies available --disable-tests Disable compilation and test execution --enable-sfml Enable SFML graphics library --enable-sfml-joystick Enable SFML joystick input library --enable-sfml-audio Enable SFML audio library --osd Enable OSD support --osd-fonts Enable OSD support with fonts --sitl-osd Enable SITL OSD --sitl-rgbled Enable SITL RGBLed --force-32bit Force 32bit build --build-dates Include build date in binaries. Appears in AUTOPILOT_VERSION.os_sw_version --sitl-flash-storage Use flash storage emulation. --enable-ekf2 Configure with EKF2. --disable-ekf3 Configure without EKF3. --ekf-double Configure EKF as double precision. --ekf-single Configure EKF as single precision. --static Force a static build --postype-single force single precision postype_t --consistent-builds force consistent build outputs for things like __LINE__ --extra-hwdef=EXTRA_HWDEF Extra hwdef.dat file for custom build. --assert-cc-version=ASSERT_CC_VERSION fail configure if not using the specified gcc version --num-aux-imus=NUM_AUX_IMUS number of auxiliary IMUs --board-start-time=BOARD_START_TIME zero time on boot in microseconds
4.3.4 Ardupilot build options
--program-group=PROGRAM_GROUP Select all programs that go in <PROGRAM_GROUP>/ for the build. Example: `waf --program-group examples` builds all examples. The special group "all" selects all programs. --upload Upload applicable targets to a connected device. Not all platforms may support this. Example: `waf copter --upload` means "build arducopter and upload it to my board". --upload-port=UPLOAD_PORT Specify the port to be used with the --upload option. For example a port of /dev/ttyS10 indicates that serial port 10 shuld be used. --upload-force Override board type check and continue loading. Same as using uploader.py --force. --summary-all Print build summary for all targets. By default, only information about the first 20 targets will be printed.
4.3.5 Ardupilot check options
--check-verbose Output all test programs. --define=DEFINE Add C++ define to build.
4.3.6 Ardupilot clean options
--clean-all-sigs Clean signatures for all tasks. By default, tasks that scan for implicit dependencies (like the compilation tasks) keep the dependency information across clean commands, so that that information is changed only when really necessary. Also, some tasks that don't really produce files persist their signature. This option avoids that behavior when cleaning the build. --asan Build using the macOS clang Address Sanitizer. In order to run with Address Sanitizer support llvm-symbolizer is required to be on the PATH. This option is only supported on macOS versions of clang. --ubsan Build using the gcc undefined behaviour sanitizer --ubsan-abort Build using the gcc undefined behaviour sanitizer and abort on error
4.4 脚本分析
注：本次目的主要在于ChibiOS系统。
重要脚本文件如下:
./Tools/ardupilotwaf/ardupilotwaf.py./Tools/ardupilotwaf/chibios.py
重要类&函数如下:
- [ardupilotwaf.py] build_command
- [boards.py] class chibios
./waf
└──> ./ardupilot/modules/waf-light
├──> <python hex version check>
│ ├──> [Python >= 2.6 is required to create the waf file]
│ └──> return
├──> [find/add waflib dir]
└──> ./wscript
├──> [add ./Tools/ardupilotwaf/]
├──> ./Tools/ardupilotwaf/ardupilotwaf.py
│ ├──> ./Tools/ardupilotwaf/ap_library.py
│ ├──> ./Tools/ardupilotwaf/static_linking.py
│ ├──> ./Tools/ardupilotwaf/gbenchmark.py
│ ├──> ./Tools/ardupilotwaf/gtest.py
│ ├──> ./Tools/ardupilotwaf/build_summary.py
│ ├──> ./Tools/ardupilotwaf/git_submodule.py
│ ├──> ./Tools/ardupilotwaf/mavgen.py
│ ├──> ./Tools/ardupilotwaf/dronecangen.py
│ └──> ./Tools/ardupilotwaf/ap_persistent.py
├──> ./Tools/ardupilotwaf/boards.py
│ ├──> ./Tools/ardupilotwaf/toolchain.py
│ ├──> ./Tools/ardupilotwaf/cxx_checks.py
│ ├──> ./Tools/ardupilotwaf/esp32.py
│ │ └──> ./Tools/ardupilotwaf/cmake.py
│ ├──> ./Tools/ardupilotwaf/chibios.py
│ └──> ./Tools/ardupilotwaf/embed.py
├──> [Fix Python 2 compatibility issue with Python 3]
├──> [Override Build execute and Configure post_recurse methods for autoconfigure purposes]
├──> ardupilotwaf.build_command('check',
├──> ardupilotwaf.build_command('check-all',
├──> ardupilotwaf.build_command('antennatracker', 'copter', 'heli', 'plane', 'rover', 'sub', 'blimp', 'bootloader','iofirmware','AP_Periph','replay',
└──> ardupilotwaf.build_command('all', 'bin', 'tool', 'examples', 'tests', 'benchmarks',
5. wscript脚本
目标板配置、编译命令：
$ ./waf configure --board Aocoda-RC-H743Dual
$ ./waf plane
5.1 configure命令
在wscript脚本中调用boards.py中的配置函数configure，最终通过chibios.py中的配置函数configure对目标板进行配置。
def configure(cfg):
# we need to enable debug mode when building for gconv, and force it to sitl
if cfg.options.board is None:
cfg.options.board = 'sitl'
boards_names = boards.get_boards_names()
if not cfg.options.board in boards_names:
for b in boards_names:
if b.upper() == cfg.options.board.upper():
cfg.options.board = b
break
cfg.env.BOARD = cfg.options.board
cfg.env.DEBUG = cfg.options.debug
cfg.env.DEBUG_SYMBOLS = cfg.options.debug_symbols
cfg.env.COVERAGE = cfg.options.coverage
cfg.env.AUTOCONFIG = cfg.options.autoconfig
_set_build_context_variant(cfg.env.BOARD)
cfg.setenv(cfg.env.BOARD)
if cfg.options.signed_fw:
cfg.env.AP_SIGNED_FIRMWARE = True
cfg.options.enable_check_firmware = True
cfg.env.BOARD = cfg.options.board
cfg.env.DEBUG = cfg.options.debug
cfg.env.DEBUG_SYMBOLS = cfg.options.debug_symbols
cfg.env.COVERAGE = cfg.options.coverage
cfg.env.FORCE32BIT = cfg.options.force_32bit
cfg.env.ENABLE_ASSERTS = cfg.options.enable_asserts
cfg.env.BOOTLOADER = cfg.options.bootloader
cfg.env.ENABLE_MALLOC_GUARD = cfg.options.enable_malloc_guard
cfg.env.ENABLE_STATS = cfg.options.enable_stats
cfg.env.SAVE_TEMPS = cfg.options.save_temps
cfg.env.HWDEF_EXTRA = cfg.options.extra_hwdef
if cfg.env.HWDEF_EXTRA:
cfg.env.HWDEF_EXTRA = os.path.abspath(cfg.env.HWDEF_EXTRA)
cfg.env.OPTIONS = cfg.options.__dict__
# Allow to differentiate our build from the make build
cfg.define('WAF_BUILD', 1)
cfg.msg('Autoconfiguration', 'enabled' if cfg.options.autoconfig else 'disabled')
if cfg.options.static:
cfg.msg('Using static linking', 'yes', color='YELLOW')
cfg.env.STATIC_LINKING = True
if cfg.options.num_aux_imus > 0:
cfg.define('INS_AUX_INSTANCES', cfg.options.num_aux_imus)
if cfg.options.board_start_time != 0:
cfg.define('AP_BOARD_START_TIME', cfg.options.board_start_time)
# also in env for hrt.c
cfg.env.AP_BOARD_START_TIME = cfg.options.board_start_time
# require python 3.8.x or later
cfg.load('python')
cfg.check_python_version(minver=(3,6,9))
cfg.load('ap_library')
cfg.msg('Setting board to', cfg.options.board)
cfg.get_board().configure(cfg)
cfg.load('clang_compilation_database')
cfg.load('waf_unit_test')
cfg.load('mavgen')
cfg.load('dronecangen')
cfg.env.SUBMODULE_UPDATE = cfg.options.submodule_update
cfg.start_msg('Source is git repository')
if cfg.srcnode.find_node('.git'):
cfg.end_msg('yes')
else:
cfg.end_msg('no')
cfg.env.SUBMODULE_UPDATE = False
cfg.msg('Update submodules', 'yes' if cfg.env.SUBMODULE_UPDATE else 'no')
cfg.load('git_submodule')
if cfg.options.enable_benchmarks:
cfg.load('gbenchmark')
cfg.load('gtest')
cfg.load('static_linking')
cfg.load('build_summary')
cfg.start_msg('Benchmarks')
if cfg.env.HAS_GBENCHMARK:
cfg.end_msg('enabled')
else:
cfg.end_msg('disabled', color='YELLOW')
cfg.start_msg('Unit tests')
if cfg.env.HAS_GTEST:
cfg.end_msg('enabled')
else:
cfg.end_msg('disabled', color='YELLOW')
cfg.start_msg('Scripting')
if cfg.options.disable_scripting:
cfg.end_msg('disabled', color='YELLOW')
elif cfg.options.enable_scripting:
cfg.end_msg('enabled')
else:
cfg.end_msg('maybe')
cfg.recurse('libraries/AP_Scripting')
cfg.recurse('libraries/AP_GPS')
cfg.recurse('libraries/AP_HAL_SITL')
cfg.recurse('libraries/SITL')
cfg.start_msg('Scripting runtime checks')
if cfg.options.scripting_checks:
cfg.end_msg('enabled')
else:
cfg.end_msg('disabled', color='YELLOW')
cfg.start_msg('Debug build')
if cfg.env.DEBUG:
cfg.end_msg('enabled')
else:
cfg.end_msg('disabled', color='YELLOW')
cfg.start_msg('Coverage build')
if cfg.env.COVERAGE:
cfg.end_msg('enabled')
else:
cfg.end_msg('disabled', color='YELLOW')
cfg.start_msg('Force 32-bit build')
if cfg.env.FORCE32BIT:
cfg.end_msg('enabled')
else:
cfg.end_msg('disabled', color='YELLOW')
cfg.env.append_value('GIT_SUBMODULES', 'mavlink')
cfg.env.prepend_value('INCLUDES', [
cfg.srcnode.abspath() + '/libraries/',
])
cfg.find_program('rsync', mandatory=False)
if cfg.options.rsync_dest:
cfg.msg('Setting rsync destination to', cfg.options.rsync_dest)
cfg.env.RSYNC_DEST = cfg.options.rsync_dest
if cfg.options.enable_header_checks:
cfg.msg('Enabling header checks', cfg.options.enable_header_checks)
cfg.env.ENABLE_HEADER_CHECKS = True
else:
cfg.env.ENABLE_HEADER_CHECKS = False
# Always use system extensions
cfg.define('_GNU_SOURCE', 1)
if cfg.options.Werror:
# print(cfg.options.Werror)
if cfg.options.disable_Werror:
cfg.options.Werror = False
cfg.write_config_header(os.path.join(cfg.variant, 'ap_config.h'), guard='_AP_CONFIG_H_')
# add in generated flags
cfg.env.CXXFLAGS += ['-include', 'ap_config.h']
_collect_autoconfig_files(cfg)
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)
5.2 plane命令
在wscript脚本中调用build_command生成动态target plane，最终通过chibios.py中的配置函数build对代码进行二进制构建。
def build_command(name,
targets=None,
program_group_list=[],
doc='build shortcut'):
_build_commands[name] = dict(
targets=targets,
program_group_list=program_group_list,
)
class context_class(Build.BuildContext):
cmd = name
context_class.__doc__ = doc
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:
6. 总结
通过上面waf和``wscript`脚本的分析，可以归纳出：
waf提供了一个命令行集成开发环境；- 支持目标板选择；
- 支持微系统选择；
- 支持编译配置选择；
- 支持目标板固件烧；
- 支持CI功能：比如：单元测试，覆盖率测试等
7. 参考资料
【1】ArduPilot开源飞控系统之简单介绍
【2】ArduPilot之开源代码框架
【3】Ardupilot开源飞控之ChibiOS简介
文章来源:https://blog.csdn.net/lida2003/article/details/135167962
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本文来自互联网用户投稿，该文观点仅代表作者本人，不代表本站立场。本站仅提供信息存储空间服务，不拥有所有权，不承担相关法律责任。 如若内容造成侵权/违法违规/事实不符，请联系我的编程经验分享网邮箱：veading@qq.com进行投诉反馈，一经查实，立即删除！