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uavcannode updates and px4_fmu-v4_cannode example

Browse Source 
- drivers/uavcannode add baro, mag, gps publications
 - delete old px4_cannode-v1 board
 - add stripped down simple rcS for CAN nodes
This commit is contained in:
Daniel Agar
2020-02-16 12:11:54 -05:00
committed by GitHub
parent 342e0da796
commit d7c3e1066a
54 changed files with 1137 additions and 3184 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/drivers/uavcan/.gitignore
-1
View File
@@ -1 +0,0 @@
./dsdlc_generated/
src/drivers/uavcan/CMakeLists.txt
+32 -29
View File
@@ -31,16 +31,19 @@
#
############################################################################
px4_add_git_submodule(TARGET git_uavcan PATH "libuavcan")
set(LIBUAVCAN_DIR ${PX4_SOURCE_DIR}/src/drivers/uavcan/libuavcan)
set(LIBUAVCAN_DIR_DRIVERS ${PX4_SOURCE_DIR}/src/drivers/uavcan/uavcan_drivers)
px4_add_git_submodule(TARGET git_uavcan PATH ${LIBUAVCAN_DIR})
set(UAVCAN_USE_CPP03 ON CACHE BOOL "uavcan cpp03")
set(UAVCAN_PLATFORM "generic")
if(CONFIG_ARCH_CHIP)
if (${CONFIG_ARCH_CHIP} MATCHES "kinetis")
if(${CONFIG_ARCH_CHIP} MATCHES "kinetis")
set(UAVCAN_DRIVER "kinetis")
set(UAVCAN_TIMER 1)
elseif (${CONFIG_ARCH_CHIP} MATCHES "stm32")
elseif(${CONFIG_ARCH_CHIP} MATCHES "stm32")
set(UAVCAN_DRIVER "stm32")
set(UAVCAN_TIMER 5) # The default timer the 5
endif()
@@ -57,31 +60,31 @@ endif()
string(TOUPPER "${PX4_PLATFORM}" OS_UPPER)
string(TOUPPER "${UAVCAN_DRIVER}" UAVCAN_DRIVER_UPPER)
add_definitions(
-DUAVCAN_${UAVCAN_DRIVER_UPPER}_${OS_UPPER}=1
-DUAVCAN_${UAVCAN_DRIVER_UPPER}_NUM_IFACES=${config_uavcan_num_ifaces}
-DUAVCAN_${UAVCAN_DRIVER_UPPER}_TIMER_NUMBER=${UAVCAN_TIMER}
-DUAVCAN_CPP_VERSION=UAVCAN_CPP03
-DUAVCAN_DRIVER=uavcan_${UAVCAN_DRIVER}
-DUAVCAN_IMPLEMENT_PLACEMENT_NEW=1
-DUAVCAN_MEM_POOL_BLOCK_SIZE=48
-DUAVCAN_NO_ASSERTIONS
-DUAVCAN_PLATFORM=${UAVCAN_PLATFORM}
)
-DUAVCAN_${UAVCAN_DRIVER_UPPER}_${OS_UPPER}=1
-DUAVCAN_${UAVCAN_DRIVER_UPPER}_NUM_IFACES=${config_uavcan_num_ifaces}
-DUAVCAN_${UAVCAN_DRIVER_UPPER}_TIMER_NUMBER=${UAVCAN_TIMER}
-DUAVCAN_CPP_VERSION=UAVCAN_CPP03
-DUAVCAN_DRIVER=uavcan_${UAVCAN_DRIVER}
-DUAVCAN_IMPLEMENT_PLACEMENT_NEW=1
-DUAVCAN_MEM_POOL_BLOCK_SIZE=48
-DUAVCAN_NO_ASSERTIONS
-DUAVCAN_PLATFORM=${UAVCAN_PLATFORM}
)
add_compile_options(-Wno-cast-align) # TODO: fix and enable
add_subdirectory(libuavcan EXCLUDE_FROM_ALL)
add_subdirectory(${LIBUAVCAN_DIR} libuavcan EXCLUDE_FROM_ALL)
add_dependencies(uavcan prebuild_targets)
# driver
add_subdirectory(uavcan_drivers/${UAVCAN_DRIVER}/driver EXCLUDE_FROM_ALL)
add_subdirectory(${LIBUAVCAN_DIR_DRIVERS}/${UAVCAN_DRIVER}/driver libuavcan_drivers EXCLUDE_FROM_ALL)
target_include_directories(uavcan_${UAVCAN_DRIVER}_driver PUBLIC
./libuavcan/libuavcan/include
./libuavcan/libuavcan/include/dsdlc_generated
)
${LIBUAVCAN_DIR}/libuavcan/include
${LIBUAVCAN_DIR}/libuavcan/include/dsdlc_generated
)
# generated DSDL
set(DSDLC_INPUTS "${CMAKE_CURRENT_SOURCE_DIR}/dsdl/com" "${CMAKE_CURRENT_SOURCE_DIR}/libuavcan/dsdl/uavcan")
set(DSDLC_INPUTS "${CMAKE_CURRENT_SOURCE_DIR}/dsdl/com" "${LIBUAVCAN_DIR}/dsdl/uavcan")
set(DSDLC_OUTPUT "${CMAKE_CURRENT_BINARY_DIR}/include/dsdlc_generated")
set(DSDLC_INPUT_FILES)
@@ -90,22 +93,22 @@ foreach(DSDLC_INPUT ${DSDLC_INPUTS})
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"
)
COMMAND ${PYTHON} ${LIBUAVCAN_DIR}/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
MODULE drivers__uavcan
MAIN uavcan
INCLUDES
${DSDLC_OUTPUT}
libuavcan/libuavcan/include
libuavcan/libuavcan/include/dsdlc_generated
libuavcan/libuavcan_drivers/posix/include
uavcan_drivers/${UAVCAN_DRIVER}/driver/include
${LIBUAVCAN_DIR}/libuavcan/include
${LIBUAVCAN_DIR}/libuavcan/include/dsdlc_generated
${LIBUAVCAN_DIR}/libuavcan_drivers/posix/include
${LIBUAVCAN_DIR_DRIVERS}/${UAVCAN_DRIVER}/driver/include
SRCS
# Main
uavcan_main.cpp