ArduPilot之开源代码waf-configure编译

1. 源由

./waf configure --board Aocoda-RC-H743Dual是配置Ardupilot目标板的命令，该命令将根据硬件配置文件生成相应用于编译的目标板源代码文件。

该部分内容涉及以下几点：

1. 目标配置：飞控、配件模块等
2. 系统配置：ESP32/ChibiOS等
3. 编译、链接命令

2. configure调用关系

$ ./waf configure --board Aocoda-RC-H743Dual

注：选择chibios相关重点进行研读，对于一些不太理解，暂时不需要考虑的(直接略过)，有兴趣的朋友请留言讨论。

./waf
 └──> ./modules/waf/waf-light
     └──> ./wscript
         ├──> configure  //wscript
         │   └──> board.configure //boards.py
         │       └──> board.configure_env //boards.py
         │           └──> chibios.configure_env //boards.py
         └──> ardupilotwaf.ap_autoconfigure  //ardupilotwaf.py
             └──> chibios.configure  //chibios.py
                 └──> chibios.generate_hwdef_h  //chibios.py
                     └──> ./libraries/AP_HAL_ChibiOS/hwdef/scripts/chibios_hwdef.py  //chibios.py

3. chibios_hwdef.py脚本

$  python chibios_hwdef.py -h
usage: chibios_pins.py [-h] [-D OUTDIR] [--bootloader] [--signed-fw]
                       [--params PARAMS]
                       hwdef [hwdef ...]

positional arguments:
  hwdef                 hardware definition file

optional arguments:
  -h, --help            show this help message and exit
  -D OUTDIR, --outdir OUTDIR
                        Output directory
  --bootloader          configure for bootloader
  --signed-fw           configure for signed FW
  --params PARAMS       user default params path

该脚本生成以下相关硬件配置文件：

1. hw.dat //for ROMFS
2. hwdef.h //for hardware definition
3. ldscript.ld //for link script

调用关系：

chibios_hwdef.py
 ├──> args = parser.parse_args: "--outdir" "--bootloader" "--signed-fw" "--params" "hwdef"
 ├──> c = ChibiOSHWDef(
 │      outdir=args.outdir,
 │      bootloader=args.bootloader,
 │      signed_fw=args.signed_fw,
 │      hwdef=args.hwdef,
 │      default_params_filepath=args.params)
 └──> run
     └──> process_file
         └──> process_line
             ├──> get_config
             ├──> build_peripheral_list
             ├──> write_all_lines
             ├──> write_hwdef_header
             ├──> write_ldscript
             ├──> romfs_add_dir
             ├──> romfs_add_dir
             ├──> write_ROMFS
             ├──> copy_common_linkerscript
             ├──> <not args.bootloader> write_processed_defaults_file
             └──> write_env_py

重要且唯一类ChibiOSHWDef，重点函数方法：

• process_file
• process_line
• get_config
• build_peripheral_list
• write_all_lines
• write_hwdef_header
• write_ldscript
• romfs_add_dir
• romfs_add_dir
• write_ROMFS
• copy_common_linkerscript
• write_processed_defaults_file

4. 总结

到这里，重点看下chibios相关脚本文件，这些与MCU规格息息相关。

$ pwd
[略...]/ardupilot/libraries/AP_HAL_ChibiOS/hwdef/scripts
$ ls
addfunc_parse.py    CKS32F407xx.py                 defaults_periph.h  STM32F103xB.py  STM32F412Rx.py  STM32F767xx.py  STM32G491xx.py  STM32H757xx.py
af_parse_cubemx.py  convert_betaflight_unified.py  dma_parse.py       STM32F105xC.py  STM32F427xx.py  STM32F777xx.py  STM32H730xx.py  STM32L431xx.py
af_parse.py         defaults_bootloader.h          dma_resolver.py    STM32F303xC.py  STM32F469xx.py  STM32G431xx.py  STM32H743xx.py  STM32L476xx.py
bdshot_encoder.py   defaults_iofirmware.h          dma_resolver.pyc   STM32F405xx.py  STM32F732xx.py  STM32G441xx.py  STM32H750xx.py  STM32L496xx.py
chibios_hwdef.py    defaults_normal.h              STM32F100xB.py     STM32F407xx.py  STM32F745xx.py  STM32G474xx.py  STM32H755xx.py  STM32L4R5xx.py

如果我们回顾下之前Andrew Tridgell在ArduPilot UnConference 2018会议上的PPT文件和视频。

如果需要移植ChibiOS到新的MCU上，必须考虑这部分内容的配套修改，通过tabula建立相应的MCU规格数据库。

Anyway, it’s a small step from porting chibios to ardupilot AT32.

5. 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