[build] add firmware option to modules' makefile section

- allow to make a single module with specific firmware support
- example with telemetry_transparent module

conf/modules/module.dtd

@@ -55,7 +55,8 @@ message CDATA #REQUIRED
 fun CDATA #REQUIRED>
 
 <!ATTLIST makefile
-target CDATA #IMPLIED>
+target CDATA #IMPLIED
+firmware CDATA #IMPLIED>
 
 <!ATTLIST section
 name CDATA #REQUIRED

conf/modules/telemetry_transparent.xml

@@ -0,0 +1,41 @@
+<!DOCTYPE module SYSTEM "module.dtd">
+
+<module name="telemetry_transparent" dir="datalink">
+  <doc>
+    <description>
+      Telemetry using PPRZ protocol over UART
+
+      Currently used as a makefile wrapper over the telemetry_transparent subsystem
+    </description>
+    <configure name="MODEM_PORT" value="UARTx" description="UART where the modem is connected to (UART1, UART2, etc"/>
+    <configure name="MODEM_BAUD" value="B57600" description="UART baud rate"/>
+  </doc>
+  <header/>
+  <makefile target="ap">
+    <configure name="MODEM_PORT" case="upper|lower"/>
+    <define name="USE_$(MODEM_PORT_UPPER)"/>
+    <define name="$(MODEM_PORT_UPPER)_BAUD" value="$(MODEM_BAUD)"/>
+    <define name="DOWNLINK"/>
+    <define name="PERIODIC_TELEMETRY"/>
+    <define name="DOWNLINK_DEVICE" value="$(MODEM_PORT_LOWER)"/>
+    <define name="PPRZ_UART" value="$(MODEM_PORT_LOWER)"/>
+    <define name="DOWNLINK_TRANSPORT" value="pprz_tp"/>
+    <define name="DATALINK" value="PPRZ"/>
+    <file name="downlink.c" dir="subsystems/datalink"/>
+    <file name="datalink.c" dir="subsystems/datalink"/>
+    <file name="telemetry.c" dir="subsystems/datalink"/>
+    <file name="pprz_transport.c" dir="$(PAPARAZZI_HOME)/var/share/pprzlink/src"/>
+  </makefile>
+  <makefile target="ap" firmware="fixedwing">
+    <file name="fixedwing_datalink.c" dir="$(SRC_FIRMWARE)"/>
+    <file name="ap_downlink.c" dir="$(SRC_FIRMWARE)"/>
+  </makefile>
+  <makefile target="ap|fbw" firmware="fixedwing">
+    <file name="fbw_downlink.c" dir="$(SRC_FIRMWARE)"/>
+  </makefile>
+  <makefile target="ap" firmware="rotorcraft">
+    <file name="rotorcraft_datalink.c" dir="$(SRC_FIRMWARE)"/>
+    <file name="rotorcraft_telemetry.c" dir="$(SRC_FIRMWARE)"/>
+  </makefile>
+</module>
+

sw/tools/generators/gen_aircraft.ml

@@ -100,7 +100,7 @@ let file_xml2mk = fun f ?(arch = false) dir_name target xml ->
     else format_of_string "%s.srcs += %s/%s\n" in
   fprintf f fmt target dir_name name
 
-let module_xml2mk = fun f target m ->
+let module_xml2mk = fun f target firmware m ->
   if not (List.mem target m.targets) then () else
   let name = ExtXml.attrib m.xml "name" in
   let dir = try Xml.attrib m.xml "dir" with Xml.No_attribute _ -> name in
@@ -120,6 +120,13 @@ let module_xml2mk = fun f target m ->
         let targets = Gen_common.targets_of_field section Env.default_module_targets in
         if Gen_common.test_targets target targets then section else Xml.Element ("makefile", [], [])
       in
+      (* keep section if firmware is also matching or not speficied *)
+      let section = begin
+        try
+          if Xml.attrib section "firmware" = firmware then section
+          else Xml.Element ("makefile", [], [])
+        with _ -> section end
+      in
       Xml.iter
       (fun field ->
           match String.lowercase (Xml.tag field) with
@@ -197,6 +204,7 @@ let fallback_subsys_xml2mk = fun f global_targets firmware target xml ->
   with Gen_common.Subsystem _file -> subsystem_xml2mk f firmware xml
 
 let parse_firmware = fun makefile_ac ac_xml firmware ->
+  let firmware_name = Xml.attrib firmware "name" in
   (* get the configures, targets, subsystems and defines for this firmware *)
   let config, rest = ExtXml.partition_tag "configure" (Xml.children firmware) in
   let targets, rest = ExtXml.partition_tag "target" rest in
@@ -232,7 +240,7 @@ let parse_firmware = fun makefile_ac ac_xml firmware ->
     fprintf makefile_ac "include $(PAPARAZZI_SRC)/conf/firmwares/%s.makefile\n" (Xml.attrib firmware "name");
     List.iter (fun def -> define_xml2mk makefile_ac def) defines;
     List.iter (fun def -> define_xml2mk makefile_ac def) t_defines;
-    List.iter (module_xml2mk makefile_ac target_name) modules;
+    List.iter (module_xml2mk makefile_ac target_name firmware_name) modules;
     List.iter (fallback_subsys_xml2mk makefile_ac [] firmware target_name) mods;
     List.iter (fallback_subsys_xml2mk makefile_ac [] firmware target_name) t_mods;
     List.iter (subsystem_xml2mk makefile_ac firmware) t_subsystems;