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build: enable uavcan if ../uavcan directory is present

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This commit is contained in:
Andrew Tridgell 2014-11-18 21:42:36 +11:00
parent a9ee2ae253
commit 6d10797c59
3 changed files with 24 additions and 1 deletions
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10
mk/PX4/ROMFS/init.d/rc.APM
View File

@ -358,6 +358,16 @@ else
sh /etc/init.d/rc.error sh /etc/init.d/rc.error
fi 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 ] if [ $BOARD == FMUv2 ]
then then
# the ramtron on FMUv2 is very fast and can handle trillions of # the ramtron on FMUv2 is very fast and can handle trillions of

6
mk/PX4/config_px4fmu-v2_APM.mk
View File

@ -74,6 +74,12 @@ MODULES += modules/libtomcrypt
endif endif
MODULES += lib/conversion 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. # Transitional support - add commands from the NuttX export archive.
# #

9
mk/px4_targets.mk
View File

@ -12,6 +12,10 @@ ifeq ($(wildcard $(PX4_ROOT)/nuttx-configs),)
$(error ERROR: PX4_ROOT not set correctly - no nuttx-configs directory found) $(error ERROR: PX4_ROOT not set correctly - no nuttx-configs directory found)
endif endif
ifneq ($(wildcard $(SKETCHBOOK)/../uavcan),)
UAVCAN_DIR=$(shell cd $(SKETCHBOOK)/../uavcan && pwd)/
endif
# default to PX4NuttX above the PX4Firmware tree # default to PX4NuttX above the PX4Firmware tree
ifeq ($(NUTTX_SRC),) ifeq ($(NUTTX_SRC),)
NUTTX_SRC := $(shell cd $(PX4_ROOT)/../PX4NuttX/nuttx && pwd)/ 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 += -DNUTTX_GIT_VERSION="\"$(NUTTX_GIT_VERSION)\""
EXTRAFLAGS += -DPX4_GIT_VERSION="\"$(PX4_GIT_VERSION)\"" EXTRAFLAGS += -DPX4_GIT_VERSION="\"$(PX4_GIT_VERSION)\""
ifneq ($(wildcard $(SKETCHBOOK)/../uavcan),)
EXTRAFLAGS += -DUAVCAN=1
endif
# we have different config files for V1 and V2 # we have different config files for V1 and V2
PX4_V1_CONFIG_FILE=$(MK_DIR)/PX4/config_px4fmu-v1_APM.mk 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 # avoid PX4 submodules
export GIT_SUBMODULES_ARE_EVIL = 1 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" PX4_MAKE_ARCHIVES = make -C $(PX4_ROOT) NUTTX_SRC=$(NUTTX_SRC) archives MAXOPTIMIZATION="-Os"
.PHONY: module_mk .PHONY: module_mk