Ein Roboter mit bürstenlosem Antrieb, differenzial und NRF24L01 Funk. Großflächig gebaut um ein großes Solarpanel aufzunehmen.
https://gitlab.informatik.hs-fulda.de/fdai5253/roboter
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473 lines
13 KiB
473 lines
13 KiB
#!/bin/bash
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CROSS_CC=arm-linux-gnueabihf-gcc
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CROSS_CXX=arm-linux-gnueabihf-g++
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function help {
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cat <<EOF
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configure script for RF24 library.
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Options:
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Help:
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-h, --help print this message
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Driver options:
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--driver=[wiringPi|SPIDEV|MRAA|RPi|LittleWire]
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Driver for RF24 library. [configure autodetected]
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Building options:
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--os=[LINUX|DARWIN] Operating system. [configure autodetected]
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--soc=[BCM2835|BCM2836|AM33XX|A10|A13|A20|H3]
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SoC type to be used. [configure autodetected]
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--cpu-flags=<CFLAGS> CPU defining/optimizing flags to be used. [configure autodetected]
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--extra-cflags=<CFLAGS> Extra C flags passed to C/C++ compilation. []
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--extra-ldflags=<LDFLAGS> Extra C flags passed to linking. []
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--libname=<LIBNAME> Library name. [rf24]
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--c_compiler=<CC> C compiler. [arm-linux-gnueabihf-gcc][gcc]
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--cxx_compiler=<CXX> C++ compiler [arm-linux-gnueabihf-g++][g++]
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--no-clean Don't clean previous build artifacts
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Installation options:
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--prefix=<PREFIX> Installation prefix path. [/usr/local]
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--lib-dir=<DIR> Library target installation directory. [PREFIX/lib]
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--header-dir=<DIR> Header files target installation directory. [PREFIX/include]
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--examples-dir=<DIR> Example files installation directory. [PREFIX/bin]
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--ldconfig=<LDCONFIG> Ldconfig binary. Can be set to '' to skip ldconfig step. [ldconfig]
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Cross-compilation options:
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--remote-host=<REMOTE_HOST> Remote hostname for installation.
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--remote-user=<REMOTE_USER> Remote username for installation. [current user]
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--remote-port=<REMOTE_PORT> Ssh port of remote machine. [22]
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--remote=<USER@HOST> Remote ssh host identification for installation [REMOTE_USER@REMOTE_HOST]
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--remote-prefix=<RPREFIX> Remote host installation prefix path. [/usr/local]
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--remote-lib-dir=<DIR> Remote library target installation directory [RPREFIX/lib]
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--remote-header-dir=<DIR> Remote header files target installation directory. [RPREFIX/include]
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--remote-ldconfig=<RLDCON> Remote ldconfig binary filename. Can be set to '' to skip ldconfig call. [ldconfig]
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--remote-examples-dir=<DIR> Example files remote installation directory. Default: [REMOTE_PREFIX/bin]
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EOF
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}
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function execute_check {
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if [ "${REMOTE}" ]; then
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ssh -o 'PasswordAuthentication=no' -o 'PreferredAuthentications=publickey' -o 'ConnectTimeout=30' -o 'BatchMode=yes' -o 'StrictHostKeyChecking=no' -p ${REMOTE_PORT} ${REMOTE} $1
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else
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eval $1
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fi
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}
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function die {
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echo "[ERROR] $1"
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exit $2
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}
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function detect_machine {
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local cpu=$(execute_check "uname -m 2>/dev/null")
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local machine=$(execute_check "cat /sys/firmware/devicetree/base/model 2>/dev/null")
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local hardware=$(execute_check "grep sunxi_platform /sys/class/sunxi_info/sys_info 2>/dev/null | sed 's/^.*: \(.*\)$/\1/'")
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if [ -z "$hardware" ]; then
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local hardware=$(execute_check "grep Hardware /proc/cpuinfo 2>/dev/null | sed 's/^.*: \(.*\)$/\1/'")
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fi
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local soc="unknown"
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local tp="unknown"
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if [ -z "$cpu" ]; then
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cpu="unknown"
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fi
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case $hardware in
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BCM2708|BCM2835)
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soc="BCM2835"
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if [[ $machine == "Raspberry"* ]]; then
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tp="RPi"
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fi
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;;
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BCM2709)
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soc="BCM2836"
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if [[ $machine == "Raspberry"* ]]; then
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tp="RPi2"
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fi
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;;
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sun4i|Sun4iw1p1)
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soc="A10"
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;;
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sun5i|Sun4iw2p1)
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soc="A13"
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;;
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Sun4iw2p2)
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soc="A12"
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;;
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Sun4iw2p3)
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soc="A10s"
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;;
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sun6i|Sun8iw1p1)
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soc="A31"
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;;
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Sun8iw1p2)
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soc="A31s"
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;;
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sun7i|Sun8iw2p1)
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soc="A20"
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if [[ $machine == "Banana Pi"* ]]; then
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tp="BananaPi"
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elif [[ $machine == "Banana Pro"* ]]; then
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tp="BananaPro"
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fi
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;;
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sun8i|Sun8iw7p1)
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soc="H3"
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;;
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Sun8iw3p1)
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soc="A23"
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;;
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Sun8iw5p1)
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soc="A33"
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;;
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Sun8iw6p1)
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soc="A83t"
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;;
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sun9i|Sun9iw1p1)
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soc="A80"
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;;
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Sun9iw1p2)
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soc="A80t"
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;;
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sun50i|Sun50iw1p1)
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soc="A64"
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;;
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'Generic AM33XX'*)
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soc="AM33XX"
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;;
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*)
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soc="unknown"
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esac
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echo "${soc} ${tp} ${cpu}"
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}
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function gcc_cpu_flags {
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local soc=$1
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case $soc in
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BCM2835)
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flags="-march=armv6zk -mtune=arm1176jzf-s -mfpu=vfp -mfloat-abi=hard"
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;;
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BCM2836)
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flags="-march=armv7-a -mtune=cortex-a7 -mfpu=neon-vfpv4 -mfloat-abi=hard"
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;;
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AM33XX)
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flags="-march=armv7-a -mtune=cortex-a8 -mfpu=neon -mfloat-abi=hard"
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;;
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A10)
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flags="-march=armv7-a -mtune=cortex-a8 -mfpu=neon -mfloat-abi=hard"
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;;
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A13)
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flags="-march=armv7-a -mtune=cortex-a8 -mfpu=neon -mfloat-abi=hard"
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;;
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A20)
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flags="-march=armv7-a -mtune=cortex-a7 -mfpu=neon-vfpv4 -mfloat-abi=hard"
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;;
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H3)
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flags="-march=armv8-a -mtune=cortex-a53 -mfpu=neon-vfpv4 -mfloat-abi=hard"
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;;
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*)
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flags=""
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esac
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echo ${flags}
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}
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function detect_driver {
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if [[ $(execute_check "cat /proc/cpuinfo | grep Hardware | grep 'BCM2708\|BCM2709\|BCM2835'") ]]; then
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result=RPi
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elif [[ $(execute_check 'ls /dev/spidev* 2>/dev/null') ]]; then
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result=SPIDEV
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elif [[ $(execute_check "file /usr/lib/libwiringPi.so*") ]]; then
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result=wiringPi
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elif [[ $(execute_check "${REMOTE_LDCONFIG} -p | grep libmraa") ]]; then
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result=MRAA
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elif [[ $(execute_check "${REMOTE_LDCONFIG} -p | grep liblittlewire-spi") ]]; then
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result=LittleWire
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else
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result=""
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fi
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echo $result
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}
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function gen_symlink_names {
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base_name="$1"
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version="$2"
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IFS='.' read -r -a ver <<< "$version"
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versions=""
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for index in "${!ver[@]}" ; do
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verstr=""
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for ind in `seq 0 $(expr $index - 1)` ; do
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verstr="${verstr}.${ver[$ind]}"
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done
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versions="${base_name}${verstr} $versions"
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done
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echo ${versions}
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}
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params="OS SOC DRIVER CPUFLAGS CFLAGS PREFIX REMOTE_PREFIX LIB LIBNAME LIB_VERSION LIBSYMLINKS LIBDEPRECATE CC CXX LIB_DIR REMOTE_LIB_DIR HEADER_DIR REMOTE_HEADER_DIR DRIVER_DIR ARCH_DIR REMOTE REMOTE_HOST REMOTE_USER REMOTE_PORT SHARED_LINKER_FLAGS SHARED_LINKER_LIBS LDCONFIG REMOTE_LDCONFIG EXAMPLES_DIR REMOTE_EXAMPLES_DIR"
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for opt do
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if [ "$opt" = "-h" ] || [ "$opt" = "--help" ]; then
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help
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exit 0
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fi
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optarg="${opt#*=}"
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case "$opt" in
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--os=*)
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OS="$optarg"
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;;
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--soc=*)
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SOC="$optarg"
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;;
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--cpu-flags=*)
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CPUFLAGS="$optarg"
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;;
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--extra-cflags=*)
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CFLAGS="$optarg"
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;;
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--extra-ldflags=*)
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LDFLAGS="$optarg"
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;;
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--libname=*)
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LIB="$optarg"
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;;
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--c_compiler=*)
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CC="$optarg"
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;;
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--cxx_compiler=*)
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CXX="$optarg"
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;;
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--no-clean*)
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NO_CLEAN="1"
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;;
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--prefix=*)
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PREFIX="$optarg"
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;;
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--lib-dir=*)
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LIB_DIR="$optarg"
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;;
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--header-dir=*)
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HEADER_DIR="$optarg"
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;;
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--examples-dir=*)
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EXAMPLES_DIR="$optarg"
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;;
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--ldconfig=*)
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LDCONFIG="$optarg"
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;;
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--driver=*)
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DRIVER="$optarg"
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;;
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--remote-host=*)
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REMOTE_HOST="$optarg"
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;;
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--remote-user=*)
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REMOTE_USER="$optarg"
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;;
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--remote-port=*)
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REMOTE_PORT="$optarg"
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;;
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--remote=*)
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REMOTE="$optarg"
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;;
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--remote-prefix=*)
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REMOTE_PREFIX="$optarg"
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;;
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--remote-lib-dir=*)
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REMOTE_LIB_DIR="$optarg"
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;;
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--remote-header-dir=*)
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REMOTE_HEADER_DIR="$optarg"
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;;
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--remote-ldconfig=*)
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REMOTE_LDCONFIG="$optarg"
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;;
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--remote-examples-dir=*)
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REMOTE_EXAMPLES_DIR="$optarg"
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;;
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*)
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echo "[WARNING] Unknown option detected:$opt, ignored"
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;;
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esac
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done
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#*******************************************
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# remote machine verification
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if [ "${REMOTE_HOST}" ]; then
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if [ "${REMOTE_USER}" ]; then
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REMOTE=${REMOTE_USER}@${REMOTE_HOST}
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else
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REMOTE=${REMOTE_HOST}
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fi
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fi
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if [ "${REMOTE}" ]; then
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echo "[SECTION] Checking remote host."
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if [ -z "${REMOTE_HOST}" ]; then
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REMOTE_HOST=${REMOTE/*@/}
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fi
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if [ -z "${REMOTE_PORT}" ]; then
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REMOTE_PORT=22
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fi
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if [ "$(nmap ${REMOTE_HOST} -Pn --host-timeout 30s -p ${REMOTE_PORT} 2>/dev/null | grep open)" ]; then
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echo " [OK] ssh daemon on ${REMOTE_HOST} port ${REMOTE_PORT} seems to be listening."
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else
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echo " [WARNING] ssh on ${REMOTE_HOST} port ${REMOTE_PORT} seems not to be listening or nmap not installed."
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fi
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if [[ "$(execute_check 'echo ok 2>/dev/null' 2>/dev/null)" ]]; then
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echo " [OK] Remote machine ssh passwordless login configured fine."
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else
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die "Remote machine ssh and/or passwordless login check failed." 4
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fi
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if [[ $(execute_check "sudo echo ok 2>/dev/null") ]]; then
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echo " [OK] Remote machine sudo configured fine."
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else
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die "Remote machine sudo test failed." 5
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fi
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fi
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if [ -z "${CC}" ]; then
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echo "[SECTION] Detecting arm compilation environment."
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if [[ $(command -v ${CROSS_CC} 2>/dev/null) ]]; then
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echo " [OK] ${CROSS_CC} detected."
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CC=${CROSS_CC}
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CROSS_SYSROOT="$(${CC} --print-sysroot)"
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if [ "${CROSS_SYSROOT}" = "/" ]; then
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CROSS_SYSROOT=""
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fi
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else
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echo " [INFO] ${CROSS_CC} not found."
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fi
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if [[ $(command -v ${CROSS_CXX} 2>/dev/null) ]]; then
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echo " [OK] ${CROSS_CXX} detected."
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CXX=${CROSS_CXX}
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else
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echo " [INFO] ${CROSS_CXX} not found."
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fi
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fi
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if [ "${CROSS_SYSROOT}" ]; then
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PREFIX="${CROSS_SYSROOT}/usr/local"
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fi
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PREFIX=${PREFIX:-/usr/local}
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REMOTE_PREFIX=${REMOTE_PREFIX:-/usr/local}
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LIB_DIR=${LIB_DIR:-${PREFIX}/lib}
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REMOTE_LIB_DIR=${REMOTE_LIB_DIR:-${REMOTE_PREFIX}/lib}
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HEADER_DIR=${HEADER_DIR:-${PREFIX}/include/RF24}
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REMOTE_HEADER_DIR=${REMOTE_HEADER_DIR:-${REMOTE_PREFIX}/include/RF24}
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EXAMPLES_DIR=${EXAMPLES_DIR:-${PREFIX}/bin}
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REMOTE_EXAMPLES_DIR=${REMOTE_EXAMPLES_DIR:-${REMOTE_PREFIX}/bin}
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LDCONFIG=${LDCONFIG-ldconfig}
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REMOTE_LDCONFIG=${REMOTE_LDCONFIG-/sbin/ldconfig}
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LIB=${LIB:-rf24}
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LIB_VERSION=${LIB_VERSION:-$(awk -F "=" '/version/ {print $2}' library.properties)}
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LIB_DEPRECATE_NAME=${LIB_DEPRECATE_NAME:-"rf24-bcm"}
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LIB_DEPRECATE_VERSION=${LIB_DEPRECATE_VERSION:-""}
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CC=${CC:-gcc}
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CXX=${CXX:-g++}
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ARCH_DIR=${ARCH_DIR:-utility}
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if [ -z "${SOC}" ]; then
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echo "[SECTION] Detecting target machine."
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info=($(detect_machine))
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SOC=${info[0]}
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TYPE=${info[1]}
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CPU=${info[2]}
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echo "[OK] machine detected: SoC=${SOC}, Type=${TYPE}, CPU=${CPU}."
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fi
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if [ -z "${CPUFLAGS}" ]; then
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CPUFLAGS=$(gcc_cpu_flags $SOC)
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fi
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#*******************************************
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# DRIVER detection
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if [ -z "${DRIVER}" ]; then
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echo "[SECTION] Detecting DRIVER"
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DRIVER=$(detect_driver)
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if [ -z "${DRIVER}" ]; then
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die "No supported driver detected. Run configure with --driver=<driver> to set a driver explicitly." 1
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fi
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echo " [OK] DRIVER detected:${DRIVER}."
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fi
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case ${DRIVER} in
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wiringPi)
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SHARED_LINKER_LIBS+=" -pthread -lwiringPi"
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CFLAGS+=" -lwiringPi"
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;;
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SPIDEV)
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SHARED_LINKER_LIBS+=" -pthread"
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;;
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RPi)
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SHARED_LINKER_LIBS+=" -pthread"
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;;
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MRAA)
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SHARED_LINKER_LIBS+=" -lmraa"
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;;
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LittleWire)
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SHARED_LINKER_LIBS+=" -llittlewire-spi"
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;;
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*)
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die "Unsupported DRIVER: ${DRIVER}." 2
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;;
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esac
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#*******************************************
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# OS detection
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if [ -z "${OS}" ]; then
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echo "[SECTION] Detecting OS."
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OS=$(execute_check "uname")
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OS=${OS^^}
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echo " [INFO] OS detected:${OS}."
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fi
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case ${OS} in
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LINUX)
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DYN_SUFFIX=so
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SHARED_LINKER_FLAGS+=" -shared -Wl,-soname,lib${LIB}.${DYN_SUFFIX}.${LIB_VERSION%%.*}"
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;;
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DARWIN)
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DYN_SUFFIX=dylib
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SHARED_LINKER_FLAGS+=" -dynamiclib -install_name ${LIB_DIR}/lib${LIB}.${DYN_SUFFIX}.${LIB_VERSION%%.*}"
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;;
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*)
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die "Unsupported OS: ${OS}." 3
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;;
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esac
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LIBNAME=${LIBNAME:-lib${LIB}.${DYN_SUFFIX}.${LIB_VERSION}}
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LIBSYMLINKS="${LIBSYMLINKS:-$(gen_symlink_names lib${LIB}.${DYN_SUFFIX} ${LIB_VERSION})}"
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if [ "${LIB_DEPRECATE_NAME}" ]; then
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LIBDEPRECATE="${LIBDEPRECATE:-lib${LIB_DEPRECATE_NAME}.${DYN_SUFFIX}}"
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if [ "${LIB_DEPRECATE_VERSION}" ]; then
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LIBDEPRECATE="${LIBDEPRECATE}.${LIB_DEPRECATE_VERSION}"
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fi
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fi
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DRIVER_DIR=${DRIVER_DIR:-${ARCH_DIR}/${DRIVER}}
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CFLAGS="$CPUFLAGS -Ofast -Wall -pthread $CFLAGS"
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echo "[SECTION] Preparing configuration."
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cp ${DRIVER_DIR}/includes.h ${ARCH_DIR}/includes.h
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echo "[SECTION] Saving configuration."
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echo -n "" > Makefile.inc
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for param in ${params}; do
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if [[ ${!param} ]]; then
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echo "${param}=${!param}" >> Makefile.inc
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fi
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done
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if [ -z "${NO_CLEAN}" ]; then
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echo "[SECTION] Cleaning previous builds."
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make clean >/dev/null
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fi
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echo "[OK] Finished."
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