From 50bfa516bcf4d549456493b68ab13020149c8183 Mon Sep 17 00:00:00 2001
From: bugobliterator <siddharthbharatpurohit@gmail.com>
Date: Sun, 8 Jan 2023 14:46:36 +1100
Subject: [PATCH] waf: add support for dronecan on linux

---
 Tools/ardupilotwaf/boards.py | 45 ++++++++++++++++++++++++++++++++----
 wscript                      | 14 +++++------
 2 files changed, 48 insertions(+), 11 deletions(-)

diff --git a/Tools/ardupilotwaf/boards.py b/Tools/ardupilotwaf/boards.py
index 0ed397d2d1..bf39ed7bc4 100644
--- a/Tools/ardupilotwaf/boards.py
+++ b/Tools/ardupilotwaf/boards.py
@@ -429,7 +429,7 @@ class Board:
             ]
 
         if self.with_can and not cfg.env.AP_PERIPH:
-            if not cfg.env.SITL32BIT and cfg.env.BOARD == 'sitl':
+            if not cfg.env.FORCE32BIT and (cfg.env.BOARD == 'sitl' or cfg.env.BOARD == 'linux'):
                 env.DEFINES.update(
                     HAL_ENABLE_LIBUAVCAN_DRIVERS = 0
                 )
@@ -759,7 +759,7 @@ class sitl(Board):
                 '-fno-slp-vectorize' # compiler bug when trying to use SLP
             ]
 
-        if cfg.options.sitl_32bit:
+        if cfg.options.force_32bit:
             # 32bit platform flags
             env.CXXFLAGS += [
                 '-m32',
@@ -1134,7 +1134,15 @@ class chibios(Board):
         return self.name
 
 class linux(Board):
+    def __init__(self):
+        if self.toolchain == 'native':
+            self.with_can = True
+        else:
+            self.with_can = False
+
     def configure_env(self, cfg, env):
+        if cfg.options.board == 'linux' and cfg.options.force_32bit:
+            self.with_can = True
         super(linux, self).configure_env(cfg, env)
 
         env.DEFINES.update(
@@ -1162,8 +1170,35 @@ class linux(Board):
             'AP_HAL_Linux',
         ]
 
-        if self.with_can:
+        if cfg.options.force_32bit:
+            env.DEFINES.update(
+                HAL_FORCE_32BIT = 1,
+            )
+            # 32bit platform flags
+            cfg.env.CXXFLAGS += [
+                '-m32',
+            ]
+            cfg.env.CFLAGS += [
+                '-m32',
+            ]
+            cfg.env.LDFLAGS += [
+                '-m32',
+            ]
+        else:
+            env.DEFINES.update(
+                HAL_FORCE_32BIT = 0,
+            )
+        if self.with_can and cfg.options.board == 'linux' and cfg.options.force_32bit:
+            cfg.env.HAL_NUM_CAN_IFACES = 2
+            cfg.define('HAL_NUM_CAN_IFACES', 2)
             cfg.define('UAVCAN_EXCEPTIONS', 0)
+            cfg.define('UAVCAN_SUPPORT_CANFD', 1)
+            cfg.define('HAL_CANFD_SUPPORTED', 1)
+            cfg.define('CANARD_ENABLE_CANFD', 1)
+        
+        if self.with_can:
+            env.DEFINES.update(CANARD_MULTI_IFACE=1,
+                               CANARD_IFACE_ALL = 0x3)
 
         if cfg.options.apstatedir:
             cfg.define('AP_STATEDIR', cfg.options.apstatedir)
@@ -1270,7 +1305,7 @@ class bbbmini(linux):
 
     def configure_env(self, cfg, env):
         super(bbbmini, self).configure_env(cfg, env)
-
+        cfg.env.HAL_NUM_CAN_IFACES = 1
         env.DEFINES.update(
             CONFIG_HAL_BOARD_SUBTYPE = 'HAL_BOARD_SUBTYPE_LINUX_BBBMINI',
         )
@@ -1283,6 +1318,7 @@ class blue(linux):
 
     def configure_env(self, cfg, env):
         super(blue, self).configure_env(cfg, env)
+        cfg.env.HAL_NUM_CAN_IFACES = 1
 
         env.DEFINES.update(
             CONFIG_HAL_BOARD_SUBTYPE = 'HAL_BOARD_SUBTYPE_LINUX_BLUE',
@@ -1296,6 +1332,7 @@ class pocket(linux):
 
     def configure_env(self, cfg, env):
         super(pocket, self).configure_env(cfg, env)
+        cfg.env.HAL_NUM_CAN_IFACES = 1
 
         env.DEFINES.update(
             CONFIG_HAL_BOARD_SUBTYPE = 'HAL_BOARD_SUBTYPE_LINUX_POCKET',
diff --git a/wscript b/wscript
index 7a5d5e2c6c..263c096349 100644
--- a/wscript
+++ b/wscript
@@ -328,9 +328,9 @@ configuration in order to save typing.
                  default=False,
                  help="Enable SITL RGBLed")
 
-    g.add_option('--sitl-32bit', action='store_true',
+    g.add_option('--force-32bit', action='store_true',
                  default=False,
-                 help="Enable SITL 32bit")
+                 help="Force 32bit build")
 
     g.add_option('--build-dates', action='store_true',
                  default=False,
@@ -440,7 +440,7 @@ def configure(cfg):
     cfg.env.BOARD = cfg.options.board
     cfg.env.DEBUG = cfg.options.debug
     cfg.env.COVERAGE = cfg.options.coverage
-    cfg.env.SITL32BIT = cfg.options.sitl_32bit
+    cfg.env.FORCE32BIT = cfg.options.force_32bit
     cfg.env.ENABLE_ASSERTS = cfg.options.enable_asserts
     cfg.env.BOOTLOADER = cfg.options.bootloader
     cfg.env.ENABLE_MALLOC_GUARD = cfg.options.enable_malloc_guard
@@ -482,7 +482,7 @@ def configure(cfg):
         cfg.load('dronecangen')
     else:
         cfg.load('uavcangen')
-        if not (cfg.options.sitl_32bit and cfg.options.board != 'sitl'):
+        if cfg.options.force_32bit or (cfg.options.board != 'sitl' and cfg.options.board != 'linux'):
             cfg.load('dronecangen')
 
     cfg.env.SUBMODULE_UPDATE = cfg.options.submodule_update
@@ -542,8 +542,8 @@ def configure(cfg):
     else:
         cfg.end_msg('disabled', color='YELLOW')
 
-    cfg.start_msg('SITL 32-bit build')
-    if cfg.env.SITL32BIT:
+    cfg.start_msg('Force 32-bit build')
+    if cfg.env.FORCE32BIT:
         cfg.end_msg('enabled')
     else:
         cfg.end_msg('disabled', color='YELLOW')
@@ -680,7 +680,7 @@ def _build_dynamic_sources(bld):
                 bld.srcnode.find_dir('modules/uavcan/libuavcan/include').abspath()
             ]
         )
-        if (not bld.env.SITL32BIT) and bld.env.BOARD == 'sitl':
+        if (not bld.env.FORCE32BIT) and (bld.env.BOARD == 'sitl' or bld.env.BOARD == 'linux'):
             # remove generated files
             dronecan_dir = bld.bldnode.make_node('modules/DroneCAN/libcanard/dsdlc_generated/').abspath()
             if os.path.exists(dronecan_dir):