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mk: compilation settings to include CAN bus drivers and UAVCAN protocol

This commit is contained in:
Eugene Shamaev 2017-04-02 17:57:12 +03:00 committed by Francisco Ferreira
parent 59ef501a19
commit b121145c33
10 changed files with 55 additions and 19 deletions
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2
mk/PX4/config_px4fmu-v2_APM.mk
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@ -6,4 +6,4 @@ include $(SKETCHBOOK)/mk/PX4/px4_common.mk
MODULES += drivers/boards/px4fmu-v2 MODULES += drivers/boards/px4fmu-v2
MODULES += drivers/pwm_input MODULES += drivers/pwm_input
MODULES += drivers/px4io MODULES += drivers/px4io
MODULES += modules/uavcan

1
mk/PX4/config_px4fmu-v3_APM.mk
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@ -5,6 +5,5 @@ include $(SKETCHBOOK)/mk/PX4/px4_common.mk
MODULES += drivers/boards/px4fmu-v2 MODULES += drivers/boards/px4fmu-v2
MODULES += drivers/pwm_input MODULES += drivers/pwm_input
MODULES += modules/uavcan
MODULES += drivers/px4io MODULES += drivers/px4io
MODULES += drivers/oreoled MODULES += drivers/oreoled

2
mk/PX4/config_px4fmu-v4_APM.mk
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@ -5,5 +5,3 @@ include $(SKETCHBOOK)/mk/PX4/px4_common.mk
MODULES += drivers/boards/px4fmu-v4 MODULES += drivers/boards/px4fmu-v4
MODULES += drivers/pwm_input MODULES += drivers/pwm_input
MODULES += modules/uavcan

1
mk/apm.mk
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@ -22,6 +22,7 @@ include $(MK_DIR)/help.mk
# common makefile components # common makefile components
include $(MK_DIR)/targets.mk include $(MK_DIR)/targets.mk
include $(MK_DIR)/sketch_sources.mk include $(MK_DIR)/sketch_sources.mk
include $(SKETCHBOOK)/modules/uavcan/libuavcan/include.mk
ifneq ($(MAKECMDGOALS),clean) ifneq ($(MAKECMDGOALS),clean)

15
mk/board_native.mk
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@ -2,10 +2,21 @@ TOOLCHAIN = NATIVE
include $(MK_DIR)/find_tools.mk include $(MK_DIR)/find_tools.mk
UAVCAN_DIRECTORY ?= $(SKETCHBOOK)/modules/uavcan
UAVCAN_DIR=$(shell cd $(UAVCAN_DIRECTORY) && pwd)/
# Hardcoded libraries/AP_Common/missing/cmath defines in "make" to retain the current behavior # Hardcoded libraries/AP_Common/missing/cmath defines in "make" to retain the current behavior
EXTRAFLAGS += -DHAVE_CMATH_ISFINITE -DNEED_CMATH_ISFINITE_STD_NAMESPACE EXTRAFLAGS += -DHAVE_CMATH_ISFINITE -DNEED_CMATH_ISFINITE_STD_NAMESPACE
EXTRAFLAGS += -DHAVE_ENDIAN_H -DHAVE_BYTESWAP_H EXTRAFLAGS += -DHAVE_ENDIAN_H -DHAVE_BYTESWAP_H
# Since actual compiler mode is C++11, the library will default to UAVCAN_CPP11, but it will fail to compile
# because this platform lacks most of the standard library and STL. Hence we need to force C++03 mode.
EXTRAFLAGS += -DUAVCAN_CPP_VERSION=UAVCAN_CPP03 -DUAVCAN_NO_ASSERTIONS -DUAVCAN_NULLPTR=nullptr
EXTRAFLAGS += -I$(UAVCAN_DIRECTORY)/libuavcan/include
EXTRAFLAGS += -I$(UAVCAN_DIRECTORY)/libuavcan/include/dsdlc_generated
# #
# Tool options # Tool options
# #
@ -133,7 +144,7 @@ $(SKETCHELF): $(SKETCHOBJS) $(LIBOBJS)
@echo "Firmware is in $(BUILDELF)" @echo "Firmware is in $(BUILDELF)"
endif endif
SKETCH_INCLUDES = $(SKETCHLIBINCLUDES) SKETCH_INCLUDES = $(SKETCHLIBINCLUDES) -I$(UAVCAN_DIRECTORY)/libuavcan/include -I$(UAVCAN_DIRECTORY)/libuavcan/include/dsdlc_generated
SLIB_INCLUDES = -I$(dir $<)/utility $(SKETCHLIBINCLUDES) SLIB_INCLUDES = -I$(dir $<)/utility $(SKETCHLIBINCLUDES) -I$(UAVCAN_DIRECTORY)/libuavcan/include -I$(UAVCAN_DIRECTORY)/libuavcan/include/dsdlc_generated
include $(MK_DIR)/build_rules.mk include $(MK_DIR)/build_rules.mk

8
mk/build_rules.mk
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@ -3,15 +3,15 @@
# Build sketch objects # Build sketch objects
# #
$(BUILDROOT)/%.o: $(BUILDROOT)/%.cpp $(GENERATE_TARGETS) $(MAVLINK_HEADERS) $(BUILDROOT)/%.o: $(BUILDROOT)/%.cpp $(GENERATE_TARGETS) $(MAVLINK_HEADERS) $(UAVCAN_HEADERS)
$(RULEHDR) $(RULEHDR)
$(v)$(CXX) $(CXXFLAGS) -c -o $@ $< $(SKETCH_INCLUDES) $(v)$(CXX) $(CXXFLAGS) -c -o $@ $< $(SKETCH_INCLUDES)
$(BUILDROOT)/%.o: $(BUILDROOT)/make.flags $(SRCROOT)/%.cpp $(GENERATE_TARGETS) $(MAVLINK_HEADERS) $(BUILDROOT)/%.o: $(BUILDROOT)/make.flags $(SRCROOT)/%.cpp $(GENERATE_TARGETS) $(MAVLINK_HEADERS) $(UAVCAN_HEADERS)
$(RULEHDR) $(RULEHDR)
$(v)$(CXX) $(CXXFLAGS) -c -o $@ $*.cpp $(SKETCH_INCLUDES) $(v)$(CXX) $(CXXFLAGS) -c -o $@ $*.cpp $(SKETCH_INCLUDES)
$(BUILDROOT)/%.o: $(SRCROOT)/%.c $(BUILDROOT)/%.o: $(SRCROOT)/%.c $(UAVCAN_HEADERS)
$(RULEHDR) $(RULEHDR)
$(v)$(CC) $(CFLAGS) -c -o $@ $< $(SKETCH_INCLUDES) $(v)$(CC) $(CFLAGS) -c -o $@ $< $(SKETCH_INCLUDES)
@ -23,7 +23,7 @@ $(BUILDROOT)/%.o: $(SRCROOT)/%.S
# Build library objects from sources in the sketchbook # Build library objects from sources in the sketchbook
# #
$(BUILDROOT)/libraries/%.o: $(SKETCHBOOK)/libraries/%.cpp $(GENERATE_TARGETS) $(MAVLINK_HEADERS) $(BUILDROOT)/libraries/%.o: $(SKETCHBOOK)/libraries/%.cpp $(GENERATE_TARGETS) $(MAVLINK_HEADERS) $(UAVCAN_HEADERS)
$(RULEHDR) $(RULEHDR)
$(v)$(CXX) $(CXXFLAGS) -c -o $@ $< $(SLIB_INCLUDES) $(v)$(CXX) $(CXXFLAGS) -c -o $@ $< $(SLIB_INCLUDES)

1
mk/make.inc
View File

@ -4,3 +4,4 @@ LIBRARIES += AP_Button
LIBRARIES += AP_ICEngine LIBRARIES += AP_ICEngine
LIBRARIES += AP_FlashStorage LIBRARIES += AP_FlashStorage
LIBRARIES += SRV_Channel LIBRARIES += SRV_Channel
LIBRARIES += AP_UAVCAN

22
mk/px4_targets.mk
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@ -8,9 +8,9 @@ ifneq ($(NUTTX_SRC),)
$(error NUTTX_SRC found in config.mk - Please see http://dev.ardupilot.org/wiki/git-submodules/) $(error NUTTX_SRC found in config.mk - Please see http://dev.ardupilot.org/wiki/git-submodules/)
endif endif
ifneq ($(UAVCAN_DIR),) #ifneq ($(UAVCAN_DIR),)
$(error UAVCAN_DIR found in config.mk - Please see http://dev.ardupilot.org/wiki/git-submodules/) #$(error UAVCAN_DIR found in config.mk - Please see http://dev.ardupilot.org/wiki/git-submodules/)
endif #endif
# these can be overridden in developer.mk # these can be overridden in developer.mk
PX4FIRMWARE_DIRECTORY ?= $(SKETCHBOOK)/modules/PX4Firmware PX4FIRMWARE_DIRECTORY ?= $(SKETCHBOOK)/modules/PX4Firmware
@ -37,6 +37,8 @@ EXTRAFLAGS += -DHAVE_BYTESWAP_H=0
EXTRAFLAGS += -DHAVE_OCLOEXEC=0 EXTRAFLAGS += -DHAVE_OCLOEXEC=0
EXTRAFLAGS += -I$(BUILDROOT)/libraries/GCS_MAVLink/include/mavlink EXTRAFLAGS += -I$(BUILDROOT)/libraries/GCS_MAVLink/include/mavlink
EXTRAFLAGS += -I$(UAVCAN_DIRECTORY)/libuavcan/include
EXTRAFLAGS += -I$(UAVCAN_DIRECTORY)/libuavcan/include/dsdlc_generated
# we have different config files for V1 and V2 # we have different config files for V1 and V2
PX4_V1_CONFIG_FILE=$(MK_DIR)/PX4/config_px4fmu-v1_APM.mk PX4_V1_CONFIG_FILE=$(MK_DIR)/PX4/config_px4fmu-v1_APM.mk
@ -44,7 +46,9 @@ PX4_V2_CONFIG_FILE=$(MK_DIR)/PX4/config_px4fmu-v2_APM.mk
PX4_V3_CONFIG_FILE=$(MK_DIR)/PX4/config_px4fmu-v3_APM.mk PX4_V3_CONFIG_FILE=$(MK_DIR)/PX4/config_px4fmu-v3_APM.mk
PX4_V4_CONFIG_FILE=$(MK_DIR)/PX4/config_px4fmu-v4_APM.mk PX4_V4_CONFIG_FILE=$(MK_DIR)/PX4/config_px4fmu-v4_APM.mk
SKETCHFLAGS=$(SKETCHLIBINCLUDES) -DARDUPILOT_BUILD -DTESTS_MATHLIB_DISABLE -DCONFIG_HAL_BOARD=HAL_BOARD_PX4 -DSKETCHNAME="\\\"$(SKETCH)\\\"" -DSKETCH_MAIN=ArduPilot_main -DAPM_BUILD_DIRECTORY=APM_BUILD_$(SKETCH) # Since actual compiler mode is C++11, the library will default to UAVCAN_CPP11, but it will fail to compile
# because this platform lacks most of the standard library and STL. Hence we need to force C++03 mode.
SKETCHFLAGS=$(SKETCHLIBINCLUDES) -DUAVCAN_CPP_VERSION=UAVCAN_CPP03 -DUAVCAN_NO_ASSERTIONS -DUAVCAN_NULLPTR=nullptr -DARDUPILOT_BUILD -DTESTS_MATHLIB_DISABLE -DCONFIG_HAL_BOARD=HAL_BOARD_PX4 -DSKETCHNAME="\\\"$(SKETCH)\\\"" -DSKETCH_MAIN=ArduPilot_main -DAPM_BUILD_DIRECTORY=APM_BUILD_$(SKETCH)
WARNFLAGS = -Wall -Wextra -Wlogical-op -Werror -Wno-unknown-pragmas -Wno-redundant-decls -Wno-psabi -Wno-packed -Wno-error=double-promotion -Wno-error=unused-variable -Wno-error=reorder -Wno-error=float-equal -Wno-error=pmf-conversions -Wno-error=missing-declarations -Wno-error=unused-function WARNFLAGS = -Wall -Wextra -Wlogical-op -Werror -Wno-unknown-pragmas -Wno-redundant-decls -Wno-psabi -Wno-packed -Wno-error=double-promotion -Wno-error=unused-variable -Wno-error=reorder -Wno-error=float-equal -Wno-error=pmf-conversions -Wno-error=missing-declarations -Wno-error=unused-function
OPTFLAGS = -fsingle-precision-constant OPTFLAGS = -fsingle-precision-constant
@ -74,13 +78,13 @@ module_mk:
$(RULEHDR) $(RULEHDR)
$(v) echo "# Auto-generated file - do not edit" > $(SKETCHBOOK)/module.mk.new $(v) echo "# Auto-generated file - do not edit" > $(SKETCHBOOK)/module.mk.new
$(v) echo "MODULE_COMMAND = ArduPilot" >> $(SKETCHBOOK)/module.mk.new $(v) echo "MODULE_COMMAND = ArduPilot" >> $(SKETCHBOOK)/module.mk.new
$(v) echo "SRCS = $(wildcard $(SRCROOT)/*.cpp) $(SKETCHLIBSRCSRELATIVE)" >> $(SKETCHBOOK)/module.mk.new $(v) echo "SRCS = $(wildcard $(SRCROOT)/*.cpp) $(SKETCHLIBSRCSRELATIVE) $(LIBUAVCAN_SRC)" >> $(SKETCHBOOK)/module.mk.new
$(v) echo "MODULE_STACKSIZE = 4096" >> $(SKETCHBOOK)/module.mk.new $(v) echo "MODULE_STACKSIZE = 4096" >> $(SKETCHBOOK)/module.mk.new
$(v) echo "EXTRACXXFLAGS = -Wframe-larger-than=1300" >> $(SKETCHBOOK)/module.mk.new $(v) echo "EXTRACXXFLAGS = -Wframe-larger-than=1300" >> $(SKETCHBOOK)/module.mk.new
$(v) cmp $(SKETCHBOOK)/module.mk $(SKETCHBOOK)/module.mk.new 2>/dev/null || mv $(SKETCHBOOK)/module.mk.new $(SKETCHBOOK)/module.mk $(v) cmp $(SKETCHBOOK)/module.mk $(SKETCHBOOK)/module.mk.new 2>/dev/null || mv $(SKETCHBOOK)/module.mk.new $(SKETCHBOOK)/module.mk
$(v) rm -f $(SKETCHBOOK)/module.mk.new $(v) rm -f $(SKETCHBOOK)/module.mk.new
px4-v1: $(BUILDROOT)/make.flags CHECK_MODULES $(MAVLINK_HEADERS) $(PX4_ROOT)/Archives/px4fmu-v1.export $(SKETCHCPP) module_mk px4-io-v1 px4-v1: $(BUILDROOT)/make.flags CHECK_MODULES $(MAVLINK_HEADERS) $(UAVCAN_HEADERS) $(PX4_ROOT)/Archives/px4fmu-v1.export $(SKETCHCPP) module_mk px4-io-v1
$(v) echo Building px4-v1 $(v) echo Building px4-v1
$(RULEHDR) $(RULEHDR)
$(v) cp $(PX4_V1_CONFIG_FILE) $(PX4_ROOT)/makefiles/nuttx/ $(v) cp $(PX4_V1_CONFIG_FILE) $(PX4_ROOT)/makefiles/nuttx/
@ -90,7 +94,7 @@ px4-v1: $(BUILDROOT)/make.flags CHECK_MODULES $(MAVLINK_HEADERS) $(PX4_ROOT)/Arc
$(v) $(SKETCHBOOK)/Tools/scripts/add_git_hashes.py $(HASHADDER_FLAGS) "$(SKETCH)-v1.px4" "$(SKETCH)-v1.px4" $(v) $(SKETCHBOOK)/Tools/scripts/add_git_hashes.py $(HASHADDER_FLAGS) "$(SKETCH)-v1.px4" "$(SKETCH)-v1.px4"
$(v) echo "PX4 $(SKETCH) Firmware is in $(SKETCH)-v1.px4" $(v) echo "PX4 $(SKETCH) Firmware is in $(SKETCH)-v1.px4"
px4-v2: $(BUILDROOT)/make.flags CHECK_MODULES $(MAVLINK_HEADERS) $(PX4_ROOT)/Archives/px4fmu-v2.export $(SKETCHCPP) module_mk px4-io-v2 px4-v2: $(BUILDROOT)/make.flags CHECK_MODULES $(MAVLINK_HEADERS) $(UAVCAN_HEADERS) $(PX4_ROOT)/Archives/px4fmu-v2.export $(SKETCHCPP) module_mk px4-io-v2
$(v) echo Building px4-v2 $(v) echo Building px4-v2
$(RULEHDR) $(RULEHDR)
$(v) cp $(PX4_V2_CONFIG_FILE) $(PX4_ROOT)/makefiles/nuttx/ $(v) cp $(PX4_V2_CONFIG_FILE) $(PX4_ROOT)/makefiles/nuttx/
@ -100,7 +104,7 @@ px4-v2: $(BUILDROOT)/make.flags CHECK_MODULES $(MAVLINK_HEADERS) $(PX4_ROOT)/Arc
$(v) $(SKETCHBOOK)/Tools/scripts/add_git_hashes.py $(HASHADDER_FLAGS) "$(SKETCH)-v2.px4" "$(SKETCH)-v2.px4" $(v) $(SKETCHBOOK)/Tools/scripts/add_git_hashes.py $(HASHADDER_FLAGS) "$(SKETCH)-v2.px4" "$(SKETCH)-v2.px4"
$(v) echo "PX4 $(SKETCH) Firmware is in $(SKETCH)-v2.px4" $(v) echo "PX4 $(SKETCH) Firmware is in $(SKETCH)-v2.px4"
px4-v3: $(BUILDROOT)/make.flags CHECK_MODULES $(MAVLINK_HEADERS) $(PX4_ROOT)/Archives/px4fmu-v3.export $(SKETCHCPP) module_mk px4-io-v2 px4-v3: $(BUILDROOT)/make.flags CHECK_MODULES $(MAVLINK_HEADERS) $(UAVCAN_HEADERS) $(PX4_ROOT)/Archives/px4fmu-v3.export $(SKETCHCPP) module_mk px4-io-v2
$(v) echo Building px4-v3 $(v) echo Building px4-v3
$(RULEHDR) $(RULEHDR)
$(v) cp $(PX4_V3_CONFIG_FILE) $(PX4_ROOT)/makefiles/nuttx/ $(v) cp $(PX4_V3_CONFIG_FILE) $(PX4_ROOT)/makefiles/nuttx/
@ -110,7 +114,7 @@ px4-v3: $(BUILDROOT)/make.flags CHECK_MODULES $(MAVLINK_HEADERS) $(PX4_ROOT)/Arc
$(v) $(SKETCHBOOK)/Tools/scripts/add_git_hashes.py $(HASHADDER_FLAGS) "$(SKETCH)-v3.px4" "$(SKETCH)-v3.px4" $(v) $(SKETCHBOOK)/Tools/scripts/add_git_hashes.py $(HASHADDER_FLAGS) "$(SKETCH)-v3.px4" "$(SKETCH)-v3.px4"
$(v) echo "PX4 $(SKETCH) Firmware is in $(SKETCH)-v3.px4" $(v) echo "PX4 $(SKETCH) Firmware is in $(SKETCH)-v3.px4"
px4-v4: $(BUILDROOT)/make.flags CHECK_MODULES $(MAVLINK_HEADERS) $(PX4_ROOT)/Archives/px4fmu-v4.export $(SKETCHCPP) module_mk px4-v4: $(BUILDROOT)/make.flags CHECK_MODULES $(MAVLINK_HEADERS) $(UAVCAN_HEADERS) $(PX4_ROOT)/Archives/px4fmu-v4.export $(SKETCHCPP) module_mk
$(v) echo Building px4-v4 $(v) echo Building px4-v4
$(RULEHDR) $(RULEHDR)
$(v) cp $(PX4_V4_CONFIG_FILE) $(PX4_ROOT)/makefiles/nuttx/ $(v) cp $(PX4_V4_CONFIG_FILE) $(PX4_ROOT)/makefiles/nuttx/

1
mk/targets.mk
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@ -158,4 +158,5 @@ clean:
@rm -fr $(BUILDROOT) @rm -fr $(BUILDROOT)
include $(MK_DIR)/modules.mk include $(MK_DIR)/modules.mk
include $(MK_DIR)/uavcangen.mk
include $(MK_DIR)/mavgen.mk include $(MK_DIR)/mavgen.mk

21
mk/uavcangen.mk Normal file
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@ -0,0 +1,21 @@
#
#include $(SKETCHBOOK)/modules/uavcan/libuavcan/include.mk
ifeq ($(UAVCAN_DIRECTORY),)
UAVCAN_DIRECTORY := $(SKETCHBOOK)/modules/uavcan
endif
UAVCAN_GEN := $(UAVCAN_DIRECTORY)/libuavcan/include/#$(BUILDROOT)/modules/uavcan/
UAVCAN_GEN_INC := $(UAVCAN_GEN)dsdlc_generated/
UAVCAN_HEADERS := $(UAVCAN_GEN_INC)/uavcan/Timestamp.hpp $(wildcard $(UAVCAN_GEN_INC),*.hpp)
UAVCAN_DSDL_MESSAGE_DEFINITIONS := $(wildcard $(UAVCAN_DIRECTORY)/dsdl/uavcan/,*.uavcan) # $(UAVCAN_DIRECTORY)/dsdl/uavcan/Timestamp.uavcan
UAVCANgen: $(UAVCAN_HEADERS)
$(UAVCAN_HEADERS): $(UAVCAN_DSDL_MESSAGE_DEFINITIONS)
@echo "Generating UAVCAN headers..."
# PYTHONPATH=$(UAVCAN_DIR)libuavcan/dsdl_compiler/python $(UAVCAN_DIR)libuavcan/dsdl_compiler/setup.py build
# PYTHONPATH=$(UAVCAN_DIR)libuavcan/dsdl_compiler/ python $(UAVCAN_DIR)libuavcan/dsdl_compiler/setup.py install
PYTHONPATH=$(UAVCAN_DIRECTORY)/libuavcan/ python $(UAVCAN_DIRECTORY)/libuavcan/dsdl_compiler/libuavcan_dsdlc "$(UAVCAN_DIRECTORY)/dsdl/uavcan" -O"$(UAVCAN_GEN_INC)"