Tools:waf: add option to build IOMCU firmware with profiled support

ArduPilot · Nov 20, 2024 · 93d99ec · 93d99ec
1 parent ec1dc7c
commit 93d99ec
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Showing 3 changed files with 21 additions and 1 deletion.
diff --git a/Tools/ardupilotwaf/boards.py b/Tools/ardupilotwaf/boards.py
@@ -177,7 +177,10 @@ def srcpath(path):
 
         if cfg.options.enable_networking_tests:
             env.CXXFLAGS += ['-DAP_NETWORKING_TESTS_ENABLED=1']
-
+
+        if cfg.options.enable_iomcu_profiled_support:
+            env.CXXFLAGS += ['-DAP_IOMCU_PROFILED_SUPPORT_ENABLED=1']
+
         d = env.get_merged_dict()
         # Always prepend so that arguments passed in the command line get
         # the priority.

diff --git a/Tools/scripts/build_iofirmware.py b/Tools/scripts/build_iofirmware.py
@@ -29,12 +29,24 @@ def run_program(cmd_list):
 shutil.copy('build/iomcu/bin/iofirmware_lowpolh.bin', 'Tools/IO_Firmware/iofirmware_lowpolh.bin')
 shutil.copy('build/iomcu/bin/iofirmware_highpolh.bin', 'Tools/IO_Firmware/iofirmware_highpolh.bin')
 
+run_program(["./waf", "configure", "--board", 'iomcu', '--enable-iomcu-profiled-support'])
+run_program(["./waf", "clean"])
+run_program(["./waf", "iofirmware"])
+shutil.copy('build/iomcu/bin/iofirmware_lowpolh.bin', 'Tools/IO_Firmware/iofirmware_cube_lowpolh.bin')
+shutil.copy('build/iomcu/bin/iofirmware_highpolh.bin', 'Tools/IO_Firmware/iofirmware_cube_highpolh.bin')
+
 run_program(["./waf", "configure", "--board", 'iomcu-dshot'])
 run_program(["./waf", "clean"])
 run_program(["./waf", "iofirmware"])
 shutil.copy('build/iomcu-dshot/bin/iofirmware_lowpolh.bin', 'Tools/IO_Firmware/iofirmware_dshot_lowpolh.bin')
 shutil.copy('build/iomcu-dshot/bin/iofirmware_highpolh.bin', 'Tools/IO_Firmware/iofirmware_dshot_highpolh.bin')
 
+run_program(["./waf", "configure", "--board", 'iomcu-dshot', '--enable-iomcu-profiled-support'])
+run_program(["./waf", "clean"])
+run_program(["./waf", "iofirmware"])
+shutil.copy('build/iomcu-dshot/bin/iofirmware_lowpolh.bin', 'Tools/IO_Firmware/iofirmware_cube_dshot_lowpolh.bin')
+shutil.copy('build/iomcu-dshot/bin/iofirmware_highpolh.bin', 'Tools/IO_Firmware/iofirmware_cube_dshot_highpolh.bin')
+
 run_program(["./waf", "configure", "--board", 'iomcu-f103'])
 run_program(["./waf", "clean"])
 run_program(["./waf", "iofirmware"])

diff --git a/wscript b/wscript
@@ -429,6 +429,11 @@ configuration in order to save typing.
                  default=0,
                  help='zero time on boot in microseconds')
 
+    g.add_option('--enable-iomcu-profiled-support',
+                    action='store_true',
+                    default=False,
+                    help='enable iomcu profiled support')
+
     g.add_option('--enable-new-checking',
         action='store_true',
         default=False,