############################################################################
#
#   Copyright (c) 2015 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:
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# 1. Redistributions of source code must retain the above copyright
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#    the documentation and/or other materials provided with the
#    distribution.
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#    used to endorse or promote products derived from this software
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# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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############################################################################

px4_add_git_submodule(TARGET git_uavcan PATH "libuavcan")

set(UAVCAN_USE_CPP03 ON CACHE BOOL "uavcan cpp03")

if(CONFIG_ARCH_CHIP)
	if (${CONFIG_ARCH_CHIP} MATCHES "kinetis")
		set(UAVCAN_PLATFORM "kinetis")
		set(UAVCAN_TIMER 1)
	elseif (${CONFIG_ARCH_CHIP} MATCHES "stm32")
		set(UAVCAN_PLATFORM "stm32")
		set(UAVCAN_TIMER 5) # The default timer the 5
	endif()
endif()

if(NOT config_uavcan_num_ifaces)
	message(FATAL_ERROR "config_uavcan_num_ifaces not set")
endif()

string(TOUPPER "${PX4_PLATFORM}" OS_UPPER)
string(TOUPPER "${UAVCAN_PLATFORM}" UAVCAN_PLATFORM_UPPER)
add_definitions(
		-DUAVCAN_${UAVCAN_PLATFORM_UPPER}_${OS_UPPER}=1
		-DUAVCAN_${UAVCAN_PLATFORM_UPPER}_NUM_IFACES=${config_uavcan_num_ifaces}
		-DUAVCAN_${UAVCAN_PLATFORM_UPPER}_TIMER_NUMBER=${UAVCAN_TIMER}
		-DUAVCAN_CPP_VERSION=UAVCAN_CPP03
		-DUAVCAN_DRIVER=uavcan_${UAVCAN_PLATFORM}
		-DUAVCAN_IMPLEMENT_PLACEMENT_NEW=1
		-DUAVCAN_MEM_POOL_BLOCK_SIZE=48
		-DUAVCAN_NO_ASSERTIONS
		-DUAVCAN_PLATFORM=${UAVCAN_PLATFORM}
		)

add_compile_options(-Wno-cast-align) # TODO: fix and enable
add_subdirectory(libuavcan EXCLUDE_FROM_ALL)
add_dependencies(uavcan prebuild_targets)

px4_add_module(
	MODULE modules__uavcan
	MAIN uavcan
	STACK_MAIN 3200
	STACK_MAX 1500
	INCLUDES
		${PX4_SOURCE_DIR}/mavlink/include/mavlink
		libuavcan/libuavcan/include
		libuavcan/libuavcan/include/dsdlc_generated
		libuavcan/libuavcan_drivers/posix/include
		libuavcan/libuavcan_drivers/${UAVCAN_PLATFORM}/driver/include
	SRCS
		# Main
		uavcan_main.cpp
		uavcan_servers.cpp
		uavcan_params.c

		# Actuators
		actuators/esc.cpp
		actuators/hardpoint.cpp

		# Sensors
		sensors/sensor_bridge.cpp
		sensors/gnss.cpp
		sensors/mag.cpp
		sensors/baro.cpp

	DEPENDS
		mixer
		version

		git_uavcan

		# within libuavcan
		libuavcan_dsdlc
		uavcan
		uavcan_${UAVCAN_PLATFORM}_driver
	)
