From a50120cec31818d876e979e5a9a23b6e64f015bb Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Thu, 21 Oct 2021 10:51:18 +1100
Subject: [PATCH] CAN: switched to DroneCAN DSDL and libuavcan

---
 .gitmodules                 | 6 +++++-
 Tools/AP_Bootloader/wscript | 4 ++--
 modules/DroneCAN/DSDL       | 1 +
 modules/uavcan              | 2 +-
 wscript                     | 2 +-
 5 files changed, 10 insertions(+), 5 deletions(-)
 create mode 160000 modules/DroneCAN/DSDL

diff --git a/.gitmodules b/.gitmodules
index eca159e86f..bd3e633cae 100644
--- a/.gitmodules
+++ b/.gitmodules
@@ -1,6 +1,6 @@
 [submodule "modules/uavcan"]
 	path = modules/uavcan
-	url = git://github.com/ArduPilot/uavcan.git
+	url = git://github.com/DroneCAN/libuavcan.git
 [submodule "modules/waf"]
 	path = modules/waf
 	url = git://github.com/ArduPilot/waf.git
@@ -28,3 +28,7 @@
 [submodule "modules/canard_dsdlc"]
 	path = modules/canard_dsdlc
 	url =  https://github.com/ardupilot/canard_dsdlc
+[submodule "modules/DroneCAN/DSDL"]
+	path = modules/DroneCAN/DSDL
+	url = git://github.com/DroneCAN/DSDL.git
+
diff --git a/Tools/AP_Bootloader/wscript b/Tools/AP_Bootloader/wscript
index a7c1740983..5b6fab91e3 100644
--- a/Tools/AP_Bootloader/wscript
+++ b/Tools/AP_Bootloader/wscript
@@ -30,8 +30,8 @@ def build(bld):
     
     bld(
         # build libcanard headers
-        source=bld.path.ant_glob("modules/uavcan/dsdl/**/*.uavcan libraries/AP_UAVCAN/dsdl/**/*.uavcan"),
-        rule="python3 ${SRCROOT}/modules/libcanard/dsdl_compiler/libcanard_dsdlc --header_only --outdir ${BUILDROOT}/modules/libcanard/dsdlc_generated ${SRCROOT}/modules/uavcan/dsdl/uavcan ${SRCROOT}/libraries/AP_UAVCAN/dsdl/ardupilot ${SRCROOT}/libraries/AP_UAVCAN/dsdl/com",
+        source=bld.path.ant_glob("modules/DroneCAN/DSDL/**/*.uavcan"),
+        rule="python3 ${SRCROOT}/modules/libcanard/dsdl_compiler/libcanard_dsdlc --header_only --outdir ${BUILDROOT}/modules/libcanard/dsdlc_generated ${SRCROOT}/modules/DroneCAN/DSDL/uavcan ${SRCROOT}/modules/DroneCAN/DSDL/ardupilot ${SRCROOT}/modules/DroneCAN/DSDL/com",
         group='dynamic_sources',
     )
         
diff --git a/modules/DroneCAN/DSDL b/modules/DroneCAN/DSDL
new file mode 160000
index 0000000000..3aec7069e3
--- /dev/null
+++ b/modules/DroneCAN/DSDL
@@ -0,0 +1 @@
+Subproject commit 3aec7069e389cf571167d2071040b71240fff97e
diff --git a/modules/uavcan b/modules/uavcan
index 5b157a69aa..0cfba10e5b 160000
--- a/modules/uavcan
+++ b/modules/uavcan
@@ -1 +1 @@
-Subproject commit 5b157a69aa3e3a579f92e264f6eded86b25583ac
+Subproject commit 0cfba10e5b866466ebaeb7134026b50de5282629
diff --git a/wscript b/wscript
index 229f841058..c0def09950 100644
--- a/wscript
+++ b/wscript
@@ -620,7 +620,7 @@ def _build_dynamic_sources(bld):
     if (bld.get_board().with_can or bld.env.HAL_NUM_CAN_IFACES) and not bld.env.AP_PERIPH:
         bld(
             features='uavcangen',
-            source=bld.srcnode.ant_glob('modules/uavcan/dsdl/* libraries/AP_UAVCAN/dsdl/*', dir=True, src=False),
+            source=bld.srcnode.ant_glob('modules/DroneCAN/DSDL/*', dir=True, src=False),
             output_dir='modules/uavcan/libuavcan/include/dsdlc_generated',
             name='uavcan',
             export_includes=[