dumber/kernel/build-kernel.py

#!/usr/bin/env python3

import os
from statistics import median
import time
import sys

from datetime import datetime
from shutil import copytree
from shutil import rmtree

import paramiko
from getpass import getpass

# Parameters to configure
TEMPORARY_DIRECTORY     = '~/tmp/rpi-kernel'
BUILD_DIRECTORY         = '/rt-kernel'

GET_SOURCES_CMDS        = ['git clone https://github.com/raspberrypi/linux.git',
                           'git clone https://github.com/raspberrypi/tools.git --depth 3',
                           'wget http://xenomai.org/downloads/xenomai/stable/xenomai-3.0.7.tar.bz2',
                           'tar jxf xenomai-3.0.7.tar.bz2',
                           'cp %s/ipipe-core-4.14.37-rpi.patch .',
                           'cp %s/config-4.14.37-xenomai .']

CONFIGURE_CMDS          = ['cd ./linux',
                           'git reset --hard 29653ef5475124316b9284adb6cbfc97e9cae48f',
                           'cd ..',
                           'xenomai-3.0.7/scripts/prepare-kernel.sh --linux=linux/ --arch=arm --ipipe=ipipe-core-4.14.37-rpi.patch --verbose',
                           'cp config-4.14.37-xenomai ./linux/.config']

BUILD_CMDS              = ['cd ./linux',
                           'make %s zImage',
                           'make %s modules',
                           'make %s dtbs', 
                           'make %s modules_install', 
                           'make %s dtbs_install',
                           'mkdir $INSTALL_MOD_PATH/boot',
                           'cp ./arch/arm/boot/zImage $INSTALL_MOD_PATH/boot/$KERNEL.img',
                           'cd ..']

XENOMAI_BUILD_CMDS      = ['cd xenomai-3.0.7',
                           './scripts/bootstrap --with-core=cobalt –disable-debug',
                           'mkdir ./build',
                           'cd ./build',
                           '../configure CFLAGS="-march=armv7-a -mfpu=vfp3" LDFLAGS="-mtune=cortex-a53" --build=i686-pc-linux-gnu --host=arm-linux-gnueabihf --with-core=cobalt --enable-smp CC=${CROSS_COMPILE}gcc LD=${CROSS_COMPILE}ld',
                           'make -j4 install'
                           ]
PATH_TO_IMAGE           = '/media/dimercur'
 
# 
# Nothing to configure or modify under this line
#

def getSources(tmp_dir, script_dir, sourcesCmd):
    for cmd in sourcesCmd:
        if "%s" in cmd:
            os.system (cmd % script_dir)
        else:
            os.system (cmd)

def configureKernel(tmp_dir, build_dir, configureCmd):
    for cmd in configureCmd:
        if 'cd ' in cmd:
            os.chdir(cmd.split()[1])
        else:
            os.system (cmd)

def buildKernel(tmp_dir, build_dir, buildCmd, nb_threads=4):
    # Set environment variables
    os.environ["ARCH"] = "arm"
    os.environ["CROSS_COMPILE"] = tmp_dir+"/tools/arm-bcm2708/gcc-linaro-arm-linux-gnueabihf-raspbian/bin/arm-linux-gnueabihf-"
    os.environ["INSTALL_MOD_PATH"] = build_dir
    os.environ["INSTALL_DTBS_PATH"] = build_dir
    os.environ["KERNEL"] = "kernel7"
    
    for cmd in buildCmd:
        if 'cd ' in cmd:
            os.chdir(cmd.split()[1])
        else:
            if '%s' in cmd:
                threadOption = '-j'+str(nb_threads)
                print (cmd%threadOption)
                os.system(cmd%threadOption)
            else:
                os.system (cmd)
                
    os.chdir(build_dir)
    os.system('tar czf ../xenomai-kernel.tgz *')
    os.chdir(tmp_dir)
    
def installKernel(tmp_dir, build_dir, image_path):
    os.chdir(tmp_dir)
    print (".... Install *.dtb")
    os.system('sudo cp %s/*.dtb %s/boot/'%(build_dir,image_path))
    
    print (".... Install kernel")
    os.system('sudo cp -rd %s/boot/* %s/boot/'%(build_dir,image_path))
    
    print (".... Install libraries (modules)")
    os.system('sudo cp -rd %s/lib/* %s/rootfs/lib/'%(build_dir,image_path))
    
    print (".... Install overlays")
    os.system('sudo cp -d %s/overlays/* %s/boot/overlays/'%(build_dir,image_path))
    
    print (".... Install bcm* files")
    os.system('sudo cp -d %s/bcm** %s/boot/'%(build_dir,image_path))
    
    print (".... Update config.txt file")
    file = open("%s/boot/config.txt"%image_path, "a")  # append mode
    file.write("kernel=${zImage name}\ndevice_tree=bcm2710-rpi-3-b.dtb\n")
    file.close()
    
    print (".... Update cmdline.txt file")
    file = open("%s/boot/cmdline.txt"%image_path, "a")  # append mode
    file.write(" dwc_otg.fiq_enable=0 dwc_otg.fiq_fsm_enable=0 dwc_otg.nak_holdoff=0")
    file.close()

def buildXenomai(tmp_dir, build_dir, buildCmd):
    os.chdir(tmp_dir+"/xenomai-3.0.7")
    
    #for cmd in buildCmd:
    #    if 'cd ' in cmd:
    #        os.chdir(cmd.split()[1])
    #    else:
    #        os.system (cmd)
     # Set environment variables
    os.environ["ARCH"] = "arm"
    os.environ["CROSS_COMPILE"] = tmp_dir+"/tools/arm-bcm2708/gcc-linaro-arm-linux-gnueabihf-raspbian/bin/arm-linux-gnueabihf-"
    os.environ["INSTALL_MOD_PATH"] = build_dir
    os.environ["INSTALL_DTBS_PATH"] = build_dir
    os.environ["KERNEL"] = "kernel7"
           
    print (".... Bootstrap")
    os.system("./scripts/bootstrap --with-core=cobalt –disable-debug")
    
    print (".... Configure")
    os.system ("mkdir ./build")
    os.chdir("./build")
    os.system('../configure CFLAGS="-march=armv7-a -mfpu=vfp3" LDFLAGS="-mtune=cortex-a53" --build=i686-pc-linux-gnu --host=arm-linux-gnueabihf --with-core=cobalt --enable-smp CC=${CROSS_COMPILE}gcc LD=${CROSS_COMPILE}ld')
    
    print (".... Building")
    os.system('make -j4 install DESTDIR=${PWD}/target')

def installXenomai(tmp_dir, build_dir, image_path ):
    os.chdir(tmp_dir+"/xenomai-3.0.7/build/target")
    
    os.system('sudo cp -a dev/* %s/rootfs/dev/'%image_path)
    os.system('sudo cp -a usr/* %s/rootfs/usr/'%image_path)

def main():
    # prepare build environment
    temp_dir = os.path.expanduser (TEMPORARY_DIRECTORY)
    build_dir = temp_dir + BUILD_DIRECTORY
    script_dir=""
    
    for arg in sys.argv:
        if os.path.basename(__file__) in arg:
            script_dir = os.path.dirname(arg)
            break
    
    if script_dir == "":
        print ("Can't find directory of script (%s). Exit"%os.path.basename(__file__))
        return 2
    
    print ("Temp directory : " + temp_dir)
    print ("Build directory : " + build_dir)
    print ("Script directory : " + script_dir)
    print()
    
    if not os.path.exists(temp_dir):
        print ('Create temp directory "%s"'%temp_dir)
        os.makedirs(build_dir)
    else:
        val=input('Directory "%s" already exists. Ok to remove all contents ? [Y/n/c] '%temp_dir)
        if val=='n' or val=='N':
            return 1
        elif val=='c' or val=='C':
            pass
        else:
            print ('Purge temp directory "%s"'%temp_dir)
            rmtree(temp_dir, ignore_errors=True)
            os.makedirs(build_dir)

    currentdir = os.getcwd()
    os.chdir(temp_dir)
    
    print ("Retrieve sources")
    getSources(temp_dir,script_dir,GET_SOURCES_CMDS)
    
    print ("\nConfigure kernel")
    configureKernel(temp_dir, build_dir, CONFIGURE_CMDS)
    
    print ("\nBuild kernel")
    buildKernel(temp_dir,build_dir,BUILD_CMDS,nb_threads=4)
    
    print ('\nBuild Xenomai libraries')
    buildXenomai(temp_dir, build_dir, [])
    
    print ('\nInstalling kernel')
    installKernel(temp_dir, build_dir, PATH_TO_IMAGE)
    
    print ('\nInstall Xenomai libraries')
    installXenomai(temp_dir, build_dir, PATH_TO_IMAGE)
    
    os.chdir(currentdir)
    
if __name__ == '__main__':
    val=main()
    if val ==None:
        val =0
        
    print ("\nBye bye")
    exit(val)