From 6d10797c590a8472c2b5253ec93fe35f6a7ca35d Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <tridge@samba.org>
Date: Tue, 18 Nov 2014 21:42:36 +1100
Subject: [PATCH] build: enable uavcan if ../uavcan directory is present
---
mk/PX4/ROMFS/init.d/rc.APM | 10 ++++++++++
mk/PX4/config_px4fmu-v2_APM.mk | 6 ++++++
mk/px4_targets.mk | 9 ++++++++-
3 files changed, 24 insertions(+), 1 deletion(-)
diff --git a/mk/PX4/ROMFS/init.d/rc.APM b/mk/PX4/ROMFS/init.d/rc.APM
index 5f7923096..646c6ef00 100644
--- a/mk/PX4/ROMFS/init.d/rc.APM
+++ b/mk/PX4/ROMFS/init.d/rc.APM
@@ -358,6 +358,16 @@ else
sh /etc/init.d/rc.error
fi
+if [ -f /bin/uavcan ]
+then
+ if uavcan start 1
+ then
+ echo "started uavcan OK"
+ else
+ echo "failed to start uavcan"
+ fi
+fi
+
if [ $BOARD == FMUv2 ]
then
# the ramtron on FMUv2 is very fast and can handle trillions of
diff --git a/mk/PX4/config_px4fmu-v2_APM.mk b/mk/PX4/config_px4fmu-v2_APM.mk
index f285e0e4a..57c17388e 100644
--- a/mk/PX4/config_px4fmu-v2_APM.mk
+++ b/mk/PX4/config_px4fmu-v2_APM.mk
@@ -74,6 +74,12 @@ MODULES += modules/libtomcrypt
endif
MODULES += lib/conversion
+ifneq ($(wildcard $(SKETCHBOOK)/../uavcan),)
+MODULES += modules/uavcan
+MODULES += lib/mathlib
+LIBRARIES += lib/mathlib/CMSIS
+endif
+
#
# Transitional support - add commands from the NuttX export archive.
#
diff --git a/mk/px4_targets.mk b/mk/px4_targets.mk
index bb6c00533..abfd93153 100644
--- a/mk/px4_targets.mk
+++ b/mk/px4_targets.mk
@@ -12,6 +12,10 @@ ifeq ($(wildcard $(PX4_ROOT)/nuttx-configs),)
$(error ERROR: PX4_ROOT not set correctly - no nuttx-configs directory found)
endif
+ifneq ($(wildcard $(SKETCHBOOK)/../uavcan),)
+UAVCAN_DIR=$(shell cd $(SKETCHBOOK)/../uavcan && pwd)/
+endif
+
# default to PX4NuttX above the PX4Firmware tree
ifeq ($(NUTTX_SRC),)
NUTTX_SRC := $(shell cd $(PX4_ROOT)/../PX4NuttX/nuttx && pwd)/
@@ -31,6 +35,9 @@ PX4_GIT_VERSION := $(shell cd $(PX4_ROOT) && git rev-parse HEAD | cut -c1-8)
EXTRAFLAGS += -DNUTTX_GIT_VERSION="\"$(NUTTX_GIT_VERSION)\""
EXTRAFLAGS += -DPX4_GIT_VERSION="\"$(PX4_GIT_VERSION)\""
+ifneq ($(wildcard $(SKETCHBOOK)/../uavcan),)
+EXTRAFLAGS += -DUAVCAN=1
+endif
# we have different config files for V1 and V2
PX4_V1_CONFIG_FILE=$(MK_DIR)/PX4/config_px4fmu-v1_APM.mk
@@ -43,7 +50,7 @@ WARNFLAGS = -Wno-psabi -Wno-packed -Wno-error=double-promotion -Wno-error=unused
# avoid PX4 submodules
export GIT_SUBMODULES_ARE_EVIL = 1
-PX4_MAKE = $(v) GIT_SUBMODULES_ARE_EVIL=1 make -C $(SKETCHBOOK) -f $(PX4_ROOT)/Makefile EXTRADEFINES="$(SKETCHFLAGS) $(WARNFLAGS) "'$(EXTRAFLAGS)' APM_MODULE_DIR=$(SKETCHBOOK) SKETCHBOOK=$(SKETCHBOOK) PX4_ROOT=$(PX4_ROOT) NUTTX_SRC=$(NUTTX_SRC) MAXOPTIMIZATION="-Os"
+PX4_MAKE = $(v) GIT_SUBMODULES_ARE_EVIL=1 make -C $(SKETCHBOOK) -f $(PX4_ROOT)/Makefile EXTRADEFINES="$(SKETCHFLAGS) $(WARNFLAGS) "'$(EXTRAFLAGS)' APM_MODULE_DIR=$(SKETCHBOOK) SKETCHBOOK=$(SKETCHBOOK) PX4_ROOT=$(PX4_ROOT) NUTTX_SRC=$(NUTTX_SRC) MAXOPTIMIZATION="-Os" UAVCAN_DIR=$(UAVCAN_DIR)
PX4_MAKE_ARCHIVES = make -C $(PX4_ROOT) NUTTX_SRC=$(NUTTX_SRC) archives MAXOPTIMIZATION="-Os"
.PHONY: module_mk
--
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