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uavcan: add optical flow support (Here Flow)

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* move uavcan dsdlc generation to module
 * 20200.Measurement.uavcan sync with upstream project (https://github.com/OpenMotorDrive/flow/blob/master/dsdl/com/hex/equipment/flow/20200.Measurement.uavcan)

Signed-off-by: DanielePettenuzzo <daniele@px4.io>
This commit is contained in:
Daniele Pettenuzzo
2019-08-15 12:22:29 -04:00
committed by Daniel Agar
parent dab66e92d3
commit be3d09c700
5 changed files with 178 additions and 1 deletions
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src/drivers/uavcan/CMakeLists.txt
+22 -1
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@@ -71,12 +71,31 @@ add_compile_options(-Wno-cast-align) # TODO: fix and enable
add_subdirectory(libuavcan EXCLUDE_FROM_ALL)
add_dependencies(uavcan prebuild_targets)
# generated DSDL
set(DSDLC_INPUTS "${CMAKE_CURRENT_SOURCE_DIR}/dsdl/com" "${CMAKE_CURRENT_SOURCE_DIR}/libuavcan/dsdl/uavcan")
set(DSDLC_OUTPUT "${CMAKE_CURRENT_BINARY_DIR}/include/dsdlc_generated")
set(DSDLC_INPUT_FILES)
foreach(DSDLC_INPUT ${DSDLC_INPUTS})
file(GLOB_RECURSE DSDLC_NEW_INPUT_FILES ${CMAKE_CURRENT_SOURCE_DIR} "${DSDLC_INPUT}/*.uavcan")
list(APPEND DSDLC_INPUT_FILES ${DSDLC_NEW_INPUT_FILES})
endforeach(DSDLC_INPUT)
add_custom_command(OUTPUT px4_uavcan_dsdlc_run.stamp
COMMAND ${PYTHON} ${CMAKE_CURRENT_SOURCE_DIR}/libuavcan/libuavcan/dsdl_compiler/libuavcan_dsdlc ${DSDLC_INPUTS} -O${DSDLC_OUTPUT}
COMMAND ${CMAKE_COMMAND} -E touch px4_uavcan_dsdlc_run.stamp
DEPENDS ${DSDLC_INPUT_FILES}
COMMENT "PX4 UAVCAN dsdl compiler"
)
add_custom_target(px4_uavcan_dsdlc DEPENDS px4_uavcan_dsdlc_run.stamp)
px4_add_module(
MODULE modules__uavcan
MAIN uavcan
STACK_MAIN 3200
STACK_MAX 1500
INCLUDES
${DSDLC_OUTPUT}
${PX4_SOURCE_DIR}/mavlink/include/mavlink
libuavcan/libuavcan/include
libuavcan/libuavcan/include/dsdlc_generated
@@ -97,15 +116,17 @@ px4_add_module(
sensors/gnss.cpp
sensors/mag.cpp
sensors/baro.cpp
sensors/flow.cpp
DEPENDS
px4_uavcan_dsdlc
mixer
version
git_uavcan
# within libuavcan
libuavcan_dsdlc
uavcan
uavcan_${UAVCAN_PLATFORM}_driver
)