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95 lines
3.4 KiB
Makefile
95 lines
3.4 KiB
Makefile
############################################################################
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#
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# Copyright (c) 2013-2015 PX4 Development Team. All rights reserved.
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# Author: Pavel Kirienko <pavel.kirienko@gmail.com>
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#
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# Redistribution and use in source and binary forms, with or without
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# modification, are permitted provided that the following conditions
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# are met:
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#
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# 1. Redistributions of source code must retain the above copyright
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# notice, this list of conditions and the following disclaimer.
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# 2. Redistributions in binary form must reproduce the above copyright
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# notice, this list of conditions and the following disclaimer in
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# the documentation and/or other materials provided with the
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# distribution.
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# 3. Neither the name PX4 nor the names of its contributors may be
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# used to endorse or promote products derived from this software
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# without specific prior written permission.
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#
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# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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# POSSIBILITY OF SUCH DAMAGE.
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#
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############################################################################
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#
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# UAVCAN <--> uORB bridge
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#
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MODULE_COMMAND = uavcan
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MAXOPTIMIZATION = -O3
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MODULE_STACKSIZE = 3200
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WFRAME_LARGER_THAN = 1416
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# Main
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SRCS += uavcan_main.cpp \
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uavcan_servers.cpp \
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uavcan_params.c
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# Actuators
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SRCS += actuators/esc.cpp
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# Sensors
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SRCS += sensors/sensor_bridge.cpp \
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sensors/gnss.cpp \
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sensors/mag.cpp \
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sensors/baro.cpp
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#
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# libuavcan
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#
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include $(PX4_LIB_DIR)uavcan/libuavcan/include.mk
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# Use the relitive path to keep the genrated files in the BUILD_DIR
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SRCS += $(subst $(PX4_MODULE_SRC),../../,$(LIBUAVCAN_SRC))
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INCLUDE_DIRS += $(LIBUAVCAN_INC)
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# Since actual compiler mode is C++11, the library will default to UAVCAN_CPP11, but it will fail to compile
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# because this platform lacks most of the standard library and STL. Hence we need to force C++03 mode.
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override EXTRADEFINES := $(EXTRADEFINES) \
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-DUAVCAN_CPP_VERSION=UAVCAN_CPP03 \
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-DUAVCAN_NO_ASSERTIONS \
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-DUAVCAN_MEM_POOL_BLOCK_SIZE=48 \
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-DUAVCAN_MAX_NETWORK_SIZE_HINT=16 \
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-DUAVCAN_STM32_TIMER_NUMBER=5
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#
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# libuavcan drivers for STM32
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#
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include $(PX4_LIB_DIR)uavcan/libuavcan_drivers/stm32/driver/include.mk
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# Use the relitive path to keep the genrated files in the BUILD_DIR
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SRCS += $(subst $(PX4_MODULE_SRC),../../,$(LIBUAVCAN_STM32_SRC))
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INCLUDE_DIRS += $(LIBUAVCAN_STM32_INC)
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override EXTRADEFINES := $(EXTRADEFINES) -DUAVCAN_STM32_NUTTX -DUAVCAN_STM32_NUM_IFACES=2
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#
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# libuavcan drivers for posix
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#
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include $(PX4_LIB_DIR)uavcan/libuavcan_drivers/posix/include.mk
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INCLUDE_DIRS += $(LIBUAVCAN_POSIX_INC)
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#
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# Invoke DSDL compiler
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#
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$(info $(shell $(LIBUAVCAN_DSDLC) $(UAVCAN_DSDL_DIR)))
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INCLUDE_DIRS += dsdlc_generated
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