CMakeLists.txt
3.08 KB
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
############################################################################
#
# Copyright (c) 2020 PX4 Development Team. All rights reserved.
#
# Redistribution and use in source and binary forms, with or without
# modification, are permitted provided that the following conditions
# are met:
#
# 1. Redistributions of source code must retain the above copyright
# notice, this list of conditions and the following disclaimer.
# 2. Redistributions in binary form must reproduce the above copyright
# notice, this list of conditions and the following disclaimer in
# the documentation and/or other materials provided with the
# distribution.
# 3. Neither the name PX4 nor the names of its contributors may be
# used to endorse or promote products derived from this software
# without specific prior written permission.
#
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
# POSSIBILITY OF SUCH DAMAGE.
#
############################################################################
set(LIBCANARD_DIR ${CMAKE_CURRENT_SOURCE_DIR}/libcanard)
set(DSDL_DIR ${CMAKE_CURRENT_SOURCE_DIR}/public_regulated_data_types)
px4_add_git_submodule(TARGET git_libcanard PATH ${LIBCANARD_DIR})
px4_add_git_submodule(TARGET git_public_regulated_data_types PATH ${DSDL_DIR})
find_program(NNVG_PATH nnvg)
if(NNVG_PATH)
execute_process(COMMAND ${NNVG_PATH} --outdir ${CMAKE_CURRENT_BINARY_DIR}/dsdlc_generated --target-language c -I ${DSDL_DIR}/uavcan ${DSDL_DIR}/reg)
execute_process(COMMAND ${NNVG_PATH} --outdir ${CMAKE_CURRENT_BINARY_DIR}/dsdlc_generated --target-language c ${DSDL_DIR}/uavcan)
else()
message(FATAL_ERROR "UAVCAN Nunavut nnvg not found")
endif()
set(SRCS)
if(${PX4_PLATFORM} MATCHES "nuttx")
if(CONFIG_NET_CAN)
list(APPEND SRCS
CanardSocketCAN.cpp
CanardSocketCAN.hpp
)
elseif(CONFIG_CAN_EXTID)
list(APPEND SRCS
CanardNuttXCDev.cpp
CanardNuttXCDev.hpp
)
endif()
endif()
px4_add_module(
MODULE drivers__uavcan_v1
MAIN uavcan_v1
STACK_MAIN 4096
COMPILE_FLAGS
#-DCANARD_ASSERT
-DUINT32_C\(x\)=__UINT32_C\(x\)
-O0
INCLUDES
${LIBCANARD_DIR}/libcanard/
${CMAKE_CURRENT_BINARY_DIR}/dsdlc_generated
SRCS
ParamManager.hpp
ParamManager.cpp
NodeManager.hpp
NodeManager.cpp
Uavcan.cpp
Uavcan.hpp
${SRCS}
o1heap/o1heap.c
o1heap/o1heap.h
${LIBCANARD_DIR}/libcanard/canard.c
${LIBCANARD_DIR}/libcanard/canard.h
DEPENDS
git_libcanard
git_public_regulated_data_types
version
)