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mk: generate mavlink headers using mavlink module files

This commit is contained in:
Siddharth Bharat Purohit 2016-01-01 21:03:59 -08:00 committed by Andrew Tridgell
parent 9a534da18c
commit dd65495668
8 changed files with 28 additions and 14 deletions
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2
mk/board_qflight.mk
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@ -64,7 +64,7 @@ LIBSKETCH_SKEL_SO = $(BUILDROOT)/libqflight_skel.so
.SUFFIXES: .o .c .cpp .so .do
# build DSP object from C file
$(BUILDROOT)/libraries/%.do: $(SKETCHBOOK)/libraries/%.c
$(BUILDROOT)/libraries/%.do: $(SKETCHBOOK)/libraries/%.c MAV_GEN
$(RULEHDR)
$(v)$(QURT_CC) $(DSP_FLAGS) -c -o $@ $<

6
mk/build_rules.mk
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@ -3,11 +3,11 @@
# Build sketch objects
#
$(BUILDROOT)/%.o: $(BUILDROOT)/%.cpp $(GENERATE_TARGETS)
$(BUILDROOT)/%.o: $(BUILDROOT)/%.cpp $(GENERATE_TARGETS) MAV_GEN
$(RULEHDR)
$(v)$(CXX) $(CXXFLAGS) -c -o $@ $< $(SKETCH_INCLUDES)
$(BUILDROOT)/%.o: $(BUILDROOT)/make.flags $(SRCROOT)/%.cpp $(GENERATE_TARGETS)
$(BUILDROOT)/%.o: $(BUILDROOT)/make.flags $(SRCROOT)/%.cpp $(GENERATE_TARGETS) MAV_GEN
$(RULEHDR)
$(v)$(CXX) $(CXXFLAGS) -c -o $@ $*.cpp $(SKETCH_INCLUDES)
@ -23,7 +23,7 @@ $(BUILDROOT)/%.o: $(SRCROOT)/%.S
# Build library objects from sources in the sketchbook
#
$(BUILDROOT)/libraries/%.o: $(SKETCHBOOK)/libraries/%.cpp $(GENERATE_TARGETS)
$(BUILDROOT)/libraries/%.o: $(SKETCHBOOK)/libraries/%.cpp $(GENERATE_TARGETS) MAV_GEN
$(RULEHDR)
$(v)$(CXX) $(CXXFLAGS) -c -o $@ $< $(SLIB_INCLUDES)

6
mk/check_modules.sh
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@ -2,7 +2,7 @@
echo "Checking modules"
MODULE_LIST="PX4Firmware PX4NuttX uavcan"
MODULE_LIST="PX4Firmware PX4NuttX uavcan mavlink"
NEED_INIT=0
@ -10,12 +10,12 @@ cd $(dirname "$0")/.. || exit 1
for m in $MODULE_LIST; do
[ -d modules/$m ] || {
echo "module/$m missing - need module init"
echo "modules/$m missing - need module init"
NEED_INIT=1
break
}
[ -f modules/$m/.git ] || {
echo "module/$m/.git missing - need module init"
echo "modules/$m/.git missing - need module init"
NEED_INIT=1
break
}

15
mk/mavgen.mk Normal file
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@ -0,0 +1,15 @@
# mavlink header generation
MAVLINK_DIR := $(SKETCHBOOK)/modules/mavlink/
MESSAGE_DEFINITIONS := $(SKETCHBOOK)/modules/mavlink/message_definitions/v1.0
MAVLINK_HEADERS := $(BUILDROOT)/libraries/GCS_MAVLink/include/mavlink/v1.0/
.PHONY: MAV_GEN
MAV_GEN: $(MAVLINK_HEADERS) CHECK_MODULES
$(MAVLINK_HEADERS): $(MESSAGE_DEFINITIONS)/ardupilotmega.xml $(MESSAGE_DEFINITIONS)/common.xml
echo "Generating MAVLink headers..."
#goto mavlink module directory and run the most recent generator script
echo "Generating C code using mavgen.py located at" $(SKETCHBOOK)/modules/mavlink/
PYTHONPATH=$(MAVLINK_DIR) python $(MAVLINK_DIR)/pymavlink/tools/mavgen.py --lang=C --wire-protocol=1.0 --output=$@ $(MAVLINK_DIR)/message_definitions/v1.0/ardupilotmega.xml

4
mk/modules.mk
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@ -2,9 +2,7 @@
# git submodule support
.PHONY: CHECK_MODULES
# PX4 build needs submodules
px4-%: CHECK_MODULES
all: CHECK_MODULES
CHECK_MODULES:
$(v)$(MK_DIR)/check_modules.sh

6
mk/px4_targets.mk
View File

@ -81,7 +81,7 @@ 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
px4-v1: $(BUILDROOT)/make.flags CHECK_MODULES $(PX4_ROOT)/Archives/px4fmu-v1.export $(SKETCHCPP) module_mk px4-io-v1
px4-v1: $(BUILDROOT)/make.flags CHECK_MODULES MAV_GEN $(PX4_ROOT)/Archives/px4fmu-v1.export $(SKETCHCPP) module_mk px4-io-v1
$(RULEHDR)
$(v) rm -f $(PX4_ROOT)/makefiles/$(PX4_V1_CONFIG_FILE)
$(v) cp $(PX4_V1_CONFIG_FILE) $(PX4_ROOT)/makefiles/nuttx/
@ -92,7 +92,7 @@ px4-v1: $(BUILDROOT)/make.flags CHECK_MODULES $(PX4_ROOT)/Archives/px4fmu-v1.exp
$(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"
px4-v2: $(BUILDROOT)/make.flags CHECK_MODULES $(PX4_ROOT)/Archives/px4fmu-v2.export $(SKETCHCPP) module_mk px4-io-v2
px4-v2: $(BUILDROOT)/make.flags CHECK_MODULES MAV_GEN $(PX4_ROOT)/Archives/px4fmu-v2.export $(SKETCHCPP) module_mk px4-io-v2
$(RULEHDR)
$(v) rm -f $(PX4_ROOT)/makefiles/$(PX4_V2_CONFIG_FILE)
$(v) cp $(PX4_V2_CONFIG_FILE) $(PX4_ROOT)/makefiles/nuttx/
@ -103,7 +103,7 @@ px4-v2: $(BUILDROOT)/make.flags CHECK_MODULES $(PX4_ROOT)/Archives/px4fmu-v2.exp
$(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"
px4-v4: $(BUILDROOT)/make.flags CHECK_MODULES $(PX4_ROOT)/Archives/px4fmu-v4.export $(SKETCHCPP) module_mk
px4-v4: $(BUILDROOT)/make.flags CHECK_MODULES MAV_GEN $(PX4_ROOT)/Archives/px4fmu-v4.export $(SKETCHCPP) module_mk
$(RULEHDR)
$(v) rm -f $(PX4_ROOT)/makefiles/$(PX4_V4_CONFIG_FILE)
$(v) cp $(PX4_V4_CONFIG_FILE) $(PX4_ROOT)/makefiles/nuttx/

2
mk/sketch_sources.mk
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@ -78,7 +78,7 @@ SKETCHLIBNAMES := $(notdir $(SKETCHLIBS))
SKETCHLIBSRCDIRS := $(SKETCHLIBS) $(addsuffix /utility,$(SKETCHLIBS))
SKETCHLIBSRCS := $(wildcard $(foreach suffix,$(SRCSUFFIXES),$(addsuffix /$(suffix),$(SKETCHLIBSRCDIRS))))
SKETCHLIBOBJS := $(addsuffix .o,$(basename $(subst $(SKETCHBOOK),$(BUILDROOT),$(SKETCHLIBSRCS))))
SKETCHLIBINCLUDES := -I$(SKETCHBOOK)/libraries/
SKETCHLIBINCLUDES := -I$(SKETCHBOOK)/libraries/ -I$(BUILDROOT)/libraries/ -I$(BUILDROOT)/libraries/GCS_MAVLink/
SKETCHLIBSRCSRELATIVE := $(subst $(SKETCHBOOK)/,,$(SKETCHLIBSRCS))
ifeq ($(VERBOSE),)

1
mk/targets.mk
View File

@ -140,3 +140,4 @@ clean:
@rm -fr $(BUILDROOT)
include $(MK_DIR)/modules.mk
include $(MK_DIR)/mavgen.mk