Ardupilot part.1: 项目编译和构建

./waf configure --board Pixhawk4
Setting top to                           : /home/akatsuki/ardupilot
Setting out to                           : /home/akatsuki/ardupilot/build
Autoconfiguration                        : enabled
Checking for program 'python'            : /home/akatsuki/venv-ardupilot/bin/python3
Checking for python version >= 3.9.0     : 3.12.3
Setting board to                         : Pixhawk4
Using toolchain                          : arm-none-eabi
Checking for 'g++' (C++ compiler)        : /usr/bin/arm-none-eabi-g++
Checking for 'gcc' (C compiler)          : /usr/bin/arm-none-eabi-gcc
Checking for c flags '-MMD'              : yes
Checking for cxx flags '-MMD'            : yes
Checking for program 'arm-none-eabi-nm'  : /usr/bin/arm-none-eabi-nm
CXX Compiler                             : g++ 13.2.1
Checking for program 'make'              : /usr/bin/make
Checking for program 'arm-none-eabi-objcopy' : /usr/bin/arm-none-eabi-objcopy
Processing /home/akatsuki/ardupilot/libraries/AP_HAL_ChibiOS/hwdef/Pixhawk4/hwdef.dat
Processing /home/akatsuki/ardupilot/libraries/AP_HAL_ChibiOS/hwdef/fmuv5/hwdef.dat
Removing PB1
Removing PB1
Removing PC7
Removing PC7
Removing HAL_BATT_VOLT_SCALE
Removing HAL_BATT_VOLT_SCALE
Removing HAL_BATT_CURR_SCALE
Removing HAL_BATT_CURR_SCALE
Setup for MCU STM32F767xx
Default parameters path from hwdef: /home/akatsuki/ardupilot/libraries/AP_HAL_ChibiOS/hwdef/Pixhawk4/defaults.parm
Writing hwdef setup in /home/akatsuki/ardupilot/build/Pixhawk4/hwdef.h
MCU Flags: cortex-m7 ['-mcpu=cortex-m7', '-mfpu=fpv5-d16', '-mfloat-abi=hard']
args=['AP_Baro_MS5611::probe', '"ms5611"']
Writing DMA map
Setting up as normal
Generating ldscript.ld
env set ENABLE_DFU_BOOT=0
env set WITH_FATFS=1
env set PROCESS_STACK=0x1C00
env set MAIN_STACK=0x600
env set IOMCU_FW=0
env set IOMCU_FW_WITH_HEATER=0
env set PERIPH_FW=0
env set HAL_NUM_CAN_IFACES=2
env set HAL_CANFD_SUPPORTED=0
env set BOARD_FLASH_SIZE=2048
env set EXT_FLASH_SIZE_MB=0
env set INT_FLASH_PRIMARY=False
env set ENABLE_CRASHDUMP=True
env set CPU_FLAGS=['-mcpu=cortex-m7', '-mfpu=fpv5-d16', '-mfloat-abi=hard', '-DARM_MATH_CM7', '-u_printf_float']
env set CORTEX=cortex-m7
env set APJ_BOARD_ID=50
env set APJ_BOARD_TYPE=STM32F767xx
env set USBID=0x1209/0x5740
env set FLASH_RESERVE_START_KB=32
env set EXT_FLASH_RESERVE_START_KB=0
env set FLASH_TOTAL=2064384
env set HAS_EXTERNAL_FLASH_SECTIONS=0
env set ROMFS_FILES=[('io_firmware.bin', 'Tools/IO_Firmware/iofirmware_lowpolh.bin'), ('io_firmware_dshot.bin', 'Tools/IO_Firmware/iofirmware_dshot_lowpolh.bin'), ('defaults.parm', '/home/akatsuki/ardupilot/build/Pixhawk4/processed_defaults.parm'), ('hwdef.dat', '/home/akatsuki/ardupilot/build/Pixhawk4/hw.dat'), ('bootloader.bin', '/home/akatsuki/ardupilot/Tools/bootloaders/Pixhawk4_bl.bin')]
env set CHIBIOS_BUILD_FLAGS=USE_FATFS=yes CHIBIOS_STARTUP_MK=os/common/startup/ARMCMx/compilers/GCC/mk/startup_stm32f7xx.mk CHIBIOS_PLATFORM_MK=os/hal/ports/STM32/STM32F7xx/platform.mk MCU=cortex-m7 ENV_UDEFS=-DCHPRINTF_USE_FLOAT=1
Enabling ChibiOS asserts                     : no
Disabling Watchdog                           : no
Enabling malloc guard                        : no
Enabling ChibiOS thread statistics           : no
Enabling -Werror                             : no
Checking for intelhex module:                : OK
Enabled OpenDroneID                          : no
Enabled firmware ID checking                 : no
GPS Debug Logging                            : no
Enabled custom controller                    : no
Checking for HAVE_CMATH_ISFINITE             : yes
Checking for HAVE_CMATH_ISINF                : yes
Checking for HAVE_CMATH_ISNAN                : yes
Checking for NEED_CMATH_ISFINITE_STD_NAMESPACE : yes
Checking for NEED_CMATH_ISINF_STD_NAMESPACE    : yes
Checking for NEED_CMATH_ISNAN_STD_NAMESPACE    : yes
Checking for header endian.h                   : not found
Checking for header byteswap.h                 : not found
Checking for HAVE_MEMRCHR                      : no
Configured VSCode Intellisense:                : no
DC_DSDL compiler in                            : /home/akatsuki/ardupilot/modules/DroneCAN/dronecan_dsdlc
Source is git repository                       : yes
Update submodules                              : yes
Checking for program 'git'                     : /usr/bin/git
Gtest                                          : STM32 boards currently don't support compiling gtest
Checking for program 'arm-none-eabi-size'      : /usr/bin/arm-none-eabi-size
Benchmarks                                     : disabled
Unit tests                                     : disabled
Scripting                                      : maybe
Scripting runtime checks                       : enabled
Debug build                                    : disabled
Coverage build                                 : disabled
Consistent build                               : disabled
Force 32-bit build                             : disabled
Checking for program 'rsync'                   : /usr/bin/rsync
Removing target_list file /home/akatsuki/ardupilot/build/Pixhawk4/target_list
'configure' finished successfully (2.935s)         

.
├── Rover
├── bin
├── lib
├── libraries
│   ├── AC_AttitudeControl
│   ├── AC_Avoidance
│   ...
└── modules
    ├── ChibiOS
    │   ├── lst
    │   └── obj
    ├── DroneCAN
    │   └── libcanard
    │       └── dsdlc_generated
    │           ├── include
    │           └── src
    └── lwip
        └── src
            ├── api
            ├── core
            │   └── ipv4
            └── netif
                └── ppp

/*
  simple hello world sketch
  Andrew Tridgell September 2011
*/

#include <AP_HAL/AP_HAL.h>

void setup();
void loop();

const AP_HAL::HAL& hal = AP_HAL::get_HAL();

void setup()
{
    hal.console->printf("hello world\n");
}

void loop()
{
    hal.scheduler->delay(1000);
    hal.console->printf("*\n");
}

AP_HAL_MAIN();