mirror of
https://github.com/odriverobotics/ODrive.git
synced 2026-02-06 15:11:52 +08:00
227 lines
8.7 KiB
Lua
227 lines
8.7 KiB
Lua
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tup.include('build.lua')
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-- If we simply invoke python or python3 on a pristine Windows 10, it will try
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-- to open the Microsoft Store which will not work and hang tup instead. The
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-- command "python --version" does not open the Microsoft Store.
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-- On some systems this may return a python2 command if Python3 is not installed.
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function find_python3()
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success, python_version = run_now("python --version 2>&1")
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if success and string.match(python_version, "Python 3") then return "python -B" end
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success, python_version = run_now("python3 --version 2>&1")
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if success and string.match(python_version, "Python 3") then return "python3 -B" end
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error("Python 3 not found.")
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end
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python_command = find_python3()
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print('Using python command "'..python_command..'"')
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tup.frule{inputs={'fibre/cpp/interfaces_template.j2'}, command=python_command..' interface_generator_stub.py --definitions odrive-interface.yaml --template %f --output %o', outputs='autogen/interfaces.hpp'}
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tup.frule{inputs={'fibre/cpp/function_stubs_template.j2'}, command=python_command..' interface_generator_stub.py --definitions odrive-interface.yaml --template %f --output %o', outputs='autogen/function_stubs.hpp'}
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tup.frule{inputs={'fibre/cpp/endpoints_template.j2'}, command=python_command..' interface_generator_stub.py --definitions odrive-interface.yaml --generate-endpoints ODrive --template %f --output %o', outputs='autogen/endpoints.hpp'}
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tup.frule{inputs={'fibre/cpp/type_info_template.j2'}, command=python_command..' interface_generator_stub.py --definitions odrive-interface.yaml --template %f --output %o', outputs='autogen/type_info.hpp'}
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-- Note: we currently check this file into source control for two reasons:
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-- - Don't require tup to run in order to use odrivetool from the repo
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-- - On Windows, tup is unhappy with writing outside of the tup directory
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-- TODO: use CI to verify that on PRs the enums.py file is consistent with the YAML.
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--tup.frule{command=python_command..' interface_generator_stub.py --definitions odrive-interface.yaml --template enums_template.j2 --output ../tools/odrive/enums.py'}
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tup.frule{
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command=python_command..' ../tools/odrive/version.py --output %o',
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outputs={'autogen/version.c'}
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}
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-- Switch between board versions
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boardversion = tup.getconfig("BOARD_VERSION")
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if boardversion == "v3.1" then
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boarddir = 'Board/v3' -- currently all platform code is in the same v3.3 directory
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FLAGS += "-DHW_VERSION_MAJOR=3 -DHW_VERSION_MINOR=1"
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FLAGS += "-DHW_VERSION_VOLTAGE=24"
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elseif boardversion == "v3.2" then
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boarddir = 'Board/v3'
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FLAGS += "-DHW_VERSION_MAJOR=3 -DHW_VERSION_MINOR=2"
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FLAGS += "-DHW_VERSION_VOLTAGE=24"
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elseif boardversion == "v3.3" then
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boarddir = 'Board/v3'
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FLAGS += "-DHW_VERSION_MAJOR=3 -DHW_VERSION_MINOR=3"
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FLAGS += "-DHW_VERSION_VOLTAGE=24"
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elseif boardversion == "v3.4-24V" then
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boarddir = 'Board/v3'
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FLAGS += "-DHW_VERSION_MAJOR=3 -DHW_VERSION_MINOR=4"
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FLAGS += "-DHW_VERSION_VOLTAGE=24"
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elseif boardversion == "v3.4-48V" then
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boarddir = 'Board/v3'
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FLAGS += "-DHW_VERSION_MAJOR=3 -DHW_VERSION_MINOR=4"
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FLAGS += "-DHW_VERSION_VOLTAGE=48"
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elseif boardversion == "v3.5-24V" then
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boarddir = 'Board/v3'
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FLAGS += "-DHW_VERSION_MAJOR=3 -DHW_VERSION_MINOR=5"
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FLAGS += "-DHW_VERSION_VOLTAGE=24"
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elseif boardversion == "v3.5-48V" then
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boarddir = 'Board/v3'
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FLAGS += "-DHW_VERSION_MAJOR=3 -DHW_VERSION_MINOR=5"
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FLAGS += "-DHW_VERSION_VOLTAGE=48"
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elseif boardversion == "v3.6-24V" then
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boarddir = 'Board/v3'
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FLAGS += "-DHW_VERSION_MAJOR=3 -DHW_VERSION_MINOR=6"
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FLAGS += "-DHW_VERSION_VOLTAGE=24"
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elseif boardversion == "v3.6-56V" then
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boarddir = 'Board/v3'
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FLAGS += "-DHW_VERSION_MAJOR=3 -DHW_VERSION_MINOR=6"
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FLAGS += "-DHW_VERSION_VOLTAGE=56"
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elseif boardversion == "" then
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error("board version not specified - take a look at tup.config.default")
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else
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error("unknown board version "..boardversion)
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end
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buildsuffix = boardversion
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-- USB I/O settings
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if tup.getconfig("USB_PROTOCOL") == "native" or tup.getconfig("USB_PROTOCOL") == "" then
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FLAGS += "-DUSB_PROTOCOL_NATIVE"
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elseif tup.getconfig("USB_PROTOCOL") == "native-stream" then
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FLAGS += "-DUSB_PROTOCOL_NATIVE_STREAM_BASED"
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elseif tup.getconfig("USB_PROTOCOL") == "stdout" then
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FLAGS += "-DUSB_PROTOCOL_STDOUT"
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elseif tup.getconfig("USB_PROTOCOL") == "none" then
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FLAGS += "-DUSB_PROTOCOL_NONE"
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else
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error("unknown USB protocol")
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end
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-- UART I/O settings
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if tup.getconfig("UART_PROTOCOL") == "native" then
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FLAGS += "-DUART_PROTOCOL_NATIVE"
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elseif tup.getconfig("UART_PROTOCOL") == "ascii" or tup.getconfig("UART_PROTOCOL") == "" then
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FLAGS += "-DUART_PROTOCOL_ASCII"
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elseif tup.getconfig("UART_PROTOCOL") == "stdout" then
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FLAGS += "-DUART_PROTOCOL_STDOUT"
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elseif tup.getconfig("UART_PROTOCOL") == "none" then
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FLAGS += "-DUART_PROTOCOL_NONE"
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else
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error("unknown UART protocol "..tup.getconfig("UART_PROTOCOL"))
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end
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-- GPIO settings
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if tup.getconfig("STEP_DIR") == "y" then
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if tup.getconfig("UART_PROTOCOL") == "none" then
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FLAGS += "-DUSE_GPIO_MODE_STEP_DIR"
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else
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error("Step/dir mode conflicts with UART. Set CONFIG_UART_PROTOCOL to none.")
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end
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end
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-- Compiler settings
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if tup.getconfig("STRICT") == "true" then
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FLAGS += '-Werror'
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end
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-- C-specific flags
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FLAGS += '-D__weak="__attribute__((weak))"'
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FLAGS += '-D__packed="__attribute__((__packed__))"'
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FLAGS += '-DUSE_HAL_DRIVER'
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FLAGS += '-DSTM32F405xx'
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FLAGS += '-mthumb'
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FLAGS += '-mcpu=cortex-m4'
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FLAGS += '-mfpu=fpv4-sp-d16'
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FLAGS += '-mfloat-abi=hard'
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FLAGS += { '-Wall', '-Wdouble-promotion', '-Wfloat-conversion', '-fdata-sections', '-ffunction-sections'}
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-- linker flags
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LDFLAGS += '-T'..boarddir..'/STM32F405RGTx_FLASH.ld'
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LDFLAGS += '-L'..boarddir..'/Drivers/CMSIS/Lib' -- lib dir
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LDFLAGS += '-lc -lm -lnosys -larm_cortexM4lf_math' -- libs
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LDFLAGS += '-mthumb -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -specs=nosys.specs -specs=nano.specs -u _printf_float -u _scanf_float -Wl,--cref -Wl,--gc-sections'
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LDFLAGS += '-Wl,--undefined=uxTopUsedPriority'
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-- debug build
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if tup.getconfig("DEBUG") == "true" then
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FLAGS += '-g -gdwarf-2'
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OPT += '-Og'
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else
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OPT += '-O2'
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end
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-- common flags for ASM, C and C++
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OPT += '-ffast-math -fno-finite-math-only'
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tup.append_table(FLAGS, OPT)
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tup.append_table(LDFLAGS, OPT)
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toolchain = GCCToolchain('arm-none-eabi-', 'build', FLAGS, LDFLAGS)
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-- Load list of source files Makefile that was autogenerated by CubeMX
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vars = parse_makefile_vars(boarddir..'/Makefile')
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all_stm_sources = (vars['C_SOURCES'] or '')..' '..(vars['CPP_SOURCES'] or '')..' '..(vars['ASM_SOURCES'] or '')
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for src in string.gmatch(all_stm_sources, "%S+") do
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stm_sources += boarddir..'/'..src
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end
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for src in string.gmatch(vars['C_INCLUDES'] or '', "%S+") do
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stm_includes += boarddir..'/'..string.sub(src, 3, -1) -- remove "-I" from each include path
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end
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-- TODO: cleaner separation of the platform code and the rest
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stm_includes += '.'
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stm_includes += 'Drivers/DRV8301'
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stm_sources += boarddir..'/Src/syscalls.c'
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build{
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name='stm_platform',
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type='objects',
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toolchains={toolchain},
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packages={},
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sources=stm_sources,
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includes=stm_includes
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}
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build{
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name='ODriveFirmware',
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toolchains={toolchain},
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--toolchains={LLVMToolchain('x86_64', {'-Ofast'}, {'-flto'})},
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packages={'stm_platform'},
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sources={
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'Drivers/DRV8301/drv8301.c',
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'MotorControl/utils.cpp',
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'MotorControl/arm_sin_f32.c',
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'MotorControl/arm_cos_f32.c',
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'MotorControl/low_level.cpp',
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'MotorControl/nvm.c',
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'MotorControl/axis.cpp',
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'MotorControl/motor.cpp',
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'MotorControl/thermistor.cpp',
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'MotorControl/encoder.cpp',
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'MotorControl/endstop.cpp',
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'MotorControl/controller.cpp',
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'MotorControl/sensorless_estimator.cpp',
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'MotorControl/trapTraj.cpp',
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'MotorControl/main.cpp',
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'communication/can_simple.cpp',
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'communication/communication.cpp',
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'communication/ascii_protocol.cpp',
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'communication/interface_uart.cpp',
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'communication/interface_usb.cpp',
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'communication/interface_can.cpp',
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'communication/interface_i2c.cpp',
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'fibre/cpp/protocol.cpp',
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'FreeRTOS-openocd.c',
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'autogen/version.c'
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},
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includes={
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'Drivers/DRV8301',
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'MotorControl',
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'fibre/cpp/include',
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'.',
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"doctest"
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}
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}
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if tup.getconfig('DOCTEST') == 'true' then
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TEST_INCLUDES = '-I. -I./MotorControl -I./fibre/cpp/include -I./Drivers/DRV8301 -I./doctest'
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tup.foreach_rule('Tests/*.cpp', 'g++ -O3 -std=c++17 '..TEST_INCLUDES..' -c %f -o %o', 'Tests/bin/%B.o')
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tup.frule{inputs='Tests/bin/*.o', command='g++ %f -o %o', outputs='Tests/test_runner.exe'}
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tup.frule{inputs='Tests/test_runner.exe', command='%f'}
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end
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