From b1499ee8f2d2c4f93199bc44cbf88ff5bc7cb40c Mon Sep 17 00:00:00 2001 From: Siddharth Purohit Date: Fri, 2 Feb 2018 00:42:38 +0530 Subject: [PATCH] waf: add option to compile with uavcan for chibios boards --- Tools/ardupilotwaf/boards.py | 18 ++++++++++++++++++ 1 file changed, 18 insertions(+) diff --git a/Tools/ardupilotwaf/boards.py b/Tools/ardupilotwaf/boards.py index 647fe7ebd7..cb585abd1d 100644 --- a/Tools/ardupilotwaf/boards.py +++ b/Tools/ardupilotwaf/boards.py @@ -261,6 +261,14 @@ class chibios(Board): HAVE_STD_NULLPTR_T = 0, ) + if self.with_uavcan: + env.AP_LIBRARIES += [ + 'modules/uavcan/libuavcan_drivers/stm32/driver/src/*.cpp' + ] + env.INCLUDES += [ + cfg.srcnode.find_dir('modules/uavcan/libuavcan_drivers/stm32/driver/include').abspath() + ] + env.AP_LIBRARIES += [ 'AP_HAL_ChibiOS', ] @@ -347,6 +355,12 @@ class chibios(Board): ] env.LIB += ['gcc', 'm'] + if self.with_uavcan: + env.CFLAGS += ['-DUAVCAN_STM32_CHIBIOS=1', + '-DUAVCAN_STM32_NUM_IFACES=2'] + env.CXXFLAGS += ['-DUAVCAN_STM32_CHIBIOS=1', + '-DUAVCAN_STM32_NUM_IFACES=2'] + env.GIT_SUBMODULES += [ 'ChibiOS', ] @@ -369,6 +383,10 @@ class skyviper_f412(chibios): class fmuv3(chibios): name = 'fmuv3' + def __init__(self): + super(fmuv3, self).__init__() + self.with_uavcan = True + def configure_env(self, cfg, env): super(fmuv3, self).configure_env(cfg, env) env.DEFINES.update(