diff --git a/.gitmodules b/.gitmodules index 112c186ef5..630eac1ccd 100644 --- a/.gitmodules +++ b/.gitmodules @@ -2,8 +2,8 @@ path = mavlink/include/mavlink/v2.0 url = https://github.com/mavlink/c_library_v2.git branch = master -[submodule "src/modules/uavcan/libuavcan"] - path = src/modules/uavcan/libuavcan +[submodule "src/drivers/uavcan/libuavcan"] + path = src/drivers/uavcan/libuavcan url = https://github.com/UAVCAN/libuavcan.git branch = master [submodule "msg/tools/genmsg"] diff --git a/Tools/astyle/files_to_check_code_style.sh b/Tools/astyle/files_to_check_code_style.sh index 63cc5508cd..2bfee94f3b 100755 --- a/Tools/astyle/files_to_check_code_style.sh +++ b/Tools/astyle/files_to_check_code_style.sh @@ -15,5 +15,5 @@ exec find boards src platforms \ -path src/lib/matrix -prune -o \ -path src/modules/micrortps_bridge/micro-CDR -prune -o \ -path src/modules/systemlib/uthash -prune -o \ - -path src/modules/uavcan/libuavcan -prune -o \ + -path src/drivers/uavcan/libuavcan -prune -o \ -type f \( -name "*.c" -o -name "*.h" -o -name "*.cpp" -o -name "*.hpp" \) | grep $PATTERN diff --git a/boards/aerotenna/ocpoc/ubuntu.cmake b/boards/aerotenna/ocpoc/ubuntu.cmake index 184ef642ce..66d39ece2c 100644 --- a/boards/aerotenna/ocpoc/ubuntu.cmake +++ b/boards/aerotenna/ocpoc/ubuntu.cmake @@ -51,7 +51,6 @@ px4_add_board( position_estimator_inav sensors #simulator - #uavcan vmount vtol_att_control wind_estimator diff --git a/boards/airmind/mindpx-v2/default.cmake b/boards/airmind/mindpx-v2/default.cmake index 113cc8b8df..a783b77fd5 100644 --- a/boards/airmind/mindpx-v2/default.cmake +++ b/boards/airmind/mindpx-v2/default.cmake @@ -45,6 +45,7 @@ px4_add_board( tap_esc telemetry # all available telemetry drivers test_ppm + uavcan MODULES attitude_estimator_q @@ -68,7 +69,6 @@ px4_add_board( navigator position_estimator_inav sensors - uavcan vmount vtol_att_control wind_estimator diff --git a/boards/atlflight/eagle/default.cmake b/boards/atlflight/eagle/default.cmake index 31e47d48d8..3fff2b1602 100644 --- a/boards/atlflight/eagle/default.cmake +++ b/boards/atlflight/eagle/default.cmake @@ -86,7 +86,6 @@ px4_add_board( position_estimator_inav sensors simulator - #uavcan vmount vtol_att_control wind_estimator diff --git a/boards/atlflight/excelsior/default.cmake b/boards/atlflight/excelsior/default.cmake index 14d53fa211..5304fd6d5d 100644 --- a/boards/atlflight/excelsior/default.cmake +++ b/boards/atlflight/excelsior/default.cmake @@ -86,7 +86,6 @@ px4_add_board( position_estimator_inav sensors simulator - #uavcan vmount vtol_att_control wind_estimator diff --git a/boards/atmel/same70xplained/default.cmake b/boards/atmel/same70xplained/default.cmake index b877f50008..7f69ce4e3d 100644 --- a/boards/atmel/same70xplained/default.cmake +++ b/boards/atmel/same70xplained/default.cmake @@ -69,7 +69,6 @@ px4_add_board( navigator position_estimator_inav sensors - #WIP uavcan vmount vtol_att_control wind_estimator diff --git a/boards/auav/esc35-v1/default.cmake b/boards/auav/esc35-v1/default.cmake index 41957e10f4..574c4c5639 100644 --- a/boards/auav/esc35-v1/default.cmake +++ b/boards/auav/esc35-v1/default.cmake @@ -46,15 +46,9 @@ px4_add_board( DRIVERS bootloaders stm32 + uavcanesc MODULES - uavcanesc - uavcanesc/nshterm - uavcanesc/commands/cfg - uavcanesc/commands/selftest - uavcanesc/commands/dc - uavcanesc/commands/rpm - uavcanesc/commands/stat SYSTEMCMDS config diff --git a/boards/auav/x21/default.cmake b/boards/auav/x21/default.cmake index 32dd67b904..6b55c0817d 100644 --- a/boards/auav/x21/default.cmake +++ b/boards/auav/x21/default.cmake @@ -50,6 +50,7 @@ px4_add_board( tap_esc telemetry # all available telemetry drivers test_ppm + uavcan MODULES attitude_estimator_q @@ -73,7 +74,6 @@ px4_add_board( navigator position_estimator_inav sensors - uavcan vmount vtol_att_control wind_estimator diff --git a/boards/av/x-v1/default.cmake b/boards/av/x-v1/default.cmake index 165f72076d..9b4cd73f73 100644 --- a/boards/av/x-v1/default.cmake +++ b/boards/av/x-v1/default.cmake @@ -50,6 +50,7 @@ px4_add_board( tap_esc telemetry # all available telemetry drivers test_ppm + uavcan MODULES attitude_estimator_q @@ -73,7 +74,6 @@ px4_add_board( navigator position_estimator_inav sensors - uavcan vmount vtol_att_control wind_estimator diff --git a/boards/beaglebone/blue/cross.cmake b/boards/beaglebone/blue/cross.cmake index f8ea400fa7..b4d6c4f1c9 100644 --- a/boards/beaglebone/blue/cross.cmake +++ b/boards/beaglebone/blue/cross.cmake @@ -49,7 +49,6 @@ px4_add_board( navigator position_estimator_inav sensors - #uavcan vmount vtol_att_control wind_estimator diff --git a/boards/beaglebone/blue/native.cmake b/boards/beaglebone/blue/native.cmake index 9a4d9da700..41bc1e92c2 100644 --- a/boards/beaglebone/blue/native.cmake +++ b/boards/beaglebone/blue/native.cmake @@ -47,7 +47,6 @@ px4_add_board( navigator position_estimator_inav sensors - #uavcan vmount vtol_att_control wind_estimator diff --git a/boards/bitcraze/crazyflie/default.cmake b/boards/bitcraze/crazyflie/default.cmake index 6e6cee059e..e9cebfcf8e 100644 --- a/boards/bitcraze/crazyflie/default.cmake +++ b/boards/bitcraze/crazyflie/default.cmake @@ -38,7 +38,6 @@ px4_add_board( navigator position_estimator_inav sensors - #uavcan #vtol_att_control wind_estimator diff --git a/boards/emlid/navio2/cross.cmake b/boards/emlid/navio2/cross.cmake index e12445f6c2..f3a5044acb 100644 --- a/boards/emlid/navio2/cross.cmake +++ b/boards/emlid/navio2/cross.cmake @@ -54,7 +54,6 @@ px4_add_board( position_estimator_inav sensors #simulator - #uavcan vmount vtol_att_control wind_estimator diff --git a/boards/emlid/navio2/native.cmake b/boards/emlid/navio2/native.cmake index 0d36980480..b5a4a7034b 100644 --- a/boards/emlid/navio2/native.cmake +++ b/boards/emlid/navio2/native.cmake @@ -52,7 +52,6 @@ px4_add_board( position_estimator_inav sensors #simulator - #uavcan vmount vtol_att_control wind_estimator diff --git a/boards/gumstix/aerocore2/default.cmake b/boards/gumstix/aerocore2/default.cmake index 4fe66193f7..bef94d9d54 100644 --- a/boards/gumstix/aerocore2/default.cmake +++ b/boards/gumstix/aerocore2/default.cmake @@ -48,7 +48,6 @@ px4_add_board( #tap_esc #telemetry # all available telemetry drivers #test_ppm - #vmount MODULES #attitude_estimator_q @@ -72,7 +71,7 @@ px4_add_board( navigator #position_estimator_inav sensors - #uavcan + vmount #vtol_att_control #wind_estimator diff --git a/boards/intel/aerofc-v1/default.cmake b/boards/intel/aerofc-v1/default.cmake index ba006e3f5e..88b176b28f 100644 --- a/boards/intel/aerofc-v1/default.cmake +++ b/boards/intel/aerofc-v1/default.cmake @@ -30,7 +30,7 @@ px4_add_board( stm32 tap_esc #telemetry # all available telemetry drivers - #vmount + #uavcan MODULES attitude_estimator_q @@ -54,7 +54,7 @@ px4_add_board( navigator #position_estimator_inav sensors - #uavcan + vmount #vtol_att_control #wind_estimator diff --git a/boards/intel/aerofc-v1/rtps.cmake b/boards/intel/aerofc-v1/rtps.cmake index d36941744a..474563aa47 100644 --- a/boards/intel/aerofc-v1/rtps.cmake +++ b/boards/intel/aerofc-v1/rtps.cmake @@ -32,7 +32,7 @@ px4_add_board( stm32 tap_esc #telemetry # all available telemetry drivers - #vmount + #uavcan MODULES attitude_estimator_q @@ -57,7 +57,7 @@ px4_add_board( navigator #position_estimator_inav sensors - #uavcan + vmount #vtol_att_control #wind_estimator diff --git a/boards/nxp/fmuk66-v3/default.cmake b/boards/nxp/fmuk66-v3/default.cmake index 3595893461..5ed0eb407d 100644 --- a/boards/nxp/fmuk66-v3/default.cmake +++ b/boards/nxp/fmuk66-v3/default.cmake @@ -70,7 +70,6 @@ px4_add_board( navigator position_estimator_inav sensors - uavcan vmount vtol_att_control wind_estimator diff --git a/boards/omnibus/f4sd/default.cmake b/boards/omnibus/f4sd/default.cmake index 7903f82155..a5f9703a16 100644 --- a/boards/omnibus/f4sd/default.cmake +++ b/boards/omnibus/f4sd/default.cmake @@ -42,7 +42,6 @@ px4_add_board( #telemetry # all available telemetry drivers telemetry/frsky_telemetry #test_ppm - #vmount MODULES attitude_estimator_q @@ -66,7 +65,7 @@ px4_add_board( navigator #position_estimator_inav sensors - #uavcan + #vmount #vtol_att_control #wind_estimator diff --git a/boards/px4/cannode-v1/default.cmake b/boards/px4/cannode-v1/default.cmake index 30916f2bdb..4a08ac97b9 100644 --- a/boards/px4/cannode-v1/default.cmake +++ b/boards/px4/cannode-v1/default.cmake @@ -44,9 +44,9 @@ px4_add_board( DRIVERS bootloaders stm32 + uavcannode MODULES - uavcannode SYSTEMCMDS config diff --git a/boards/px4/esc-v1/default.cmake b/boards/px4/esc-v1/default.cmake index f53acab5b9..a466be1648 100644 --- a/boards/px4/esc-v1/default.cmake +++ b/boards/px4/esc-v1/default.cmake @@ -46,15 +46,9 @@ px4_add_board( DRIVERS bootloaders stm32 + uavcanesc MODULES - uavcanesc - uavcanesc/nshterm - uavcanesc/commands/cfg - uavcanesc/commands/selftest - uavcanesc/commands/dc - uavcanesc/commands/rpm - uavcanesc/commands/stat SYSTEMCMDS config diff --git a/boards/px4/fmu-v2/default.cmake b/boards/px4/fmu-v2/default.cmake index 8ddbdc1d07..5560f41d6f 100644 --- a/boards/px4/fmu-v2/default.cmake +++ b/boards/px4/fmu-v2/default.cmake @@ -57,6 +57,7 @@ px4_add_board( #tap_esc #telemetry # all available telemetry drivers #test_ppm + #uavcan MODULES #attitude_estimator_q @@ -80,7 +81,6 @@ px4_add_board( navigator #position_estimator_inav sensors - #uavcan vmount vtol_att_control #wind_estimator diff --git a/boards/px4/fmu-v2/lpe.cmake b/boards/px4/fmu-v2/lpe.cmake index 0321172135..b73a9e1c21 100644 --- a/boards/px4/fmu-v2/lpe.cmake +++ b/boards/px4/fmu-v2/lpe.cmake @@ -55,6 +55,7 @@ px4_add_board( #tap_esc #telemetry # all available telemetry drivers #test_ppm + #uavcan MODULES attitude_estimator_q @@ -78,7 +79,7 @@ px4_add_board( navigator #position_estimator_inav sensors - #uavcan + vmount #vtol_att_control #wind_estimator diff --git a/boards/px4/fmu-v2/test.cmake b/boards/px4/fmu-v2/test.cmake index ea61214ca3..0a33abc9bd 100644 --- a/boards/px4/fmu-v2/test.cmake +++ b/boards/px4/fmu-v2/test.cmake @@ -56,6 +56,7 @@ px4_add_board( #tap_esc #telemetry # all available telemetry drivers #test_ppm + #uavcan MODULES #attitude_estimator_q @@ -79,7 +80,6 @@ px4_add_board( navigator #position_estimator_inav sensors - #uavcan vmount vtol_att_control #wind_estimator diff --git a/boards/px4/fmu-v3/default.cmake b/boards/px4/fmu-v3/default.cmake index 5290f490e2..7385ff69a5 100644 --- a/boards/px4/fmu-v3/default.cmake +++ b/boards/px4/fmu-v3/default.cmake @@ -58,6 +58,7 @@ px4_add_board( tap_esc telemetry # all available telemetry drivers test_ppm + uavcan MODULES attitude_estimator_q @@ -81,7 +82,6 @@ px4_add_board( navigator position_estimator_inav sensors - uavcan vmount vtol_att_control wind_estimator diff --git a/boards/px4/fmu-v3/rtps.cmake b/boards/px4/fmu-v3/rtps.cmake index 97a24d0ff2..c978c54eec 100644 --- a/boards/px4/fmu-v3/rtps.cmake +++ b/boards/px4/fmu-v3/rtps.cmake @@ -58,6 +58,7 @@ px4_add_board( tap_esc telemetry # all available telemetry drivers test_ppm + uavcan MODULES attitude_estimator_q @@ -82,7 +83,6 @@ px4_add_board( navigator position_estimator_inav sensors - uavcan vmount vtol_att_control wind_estimator diff --git a/boards/px4/fmu-v3/stackcheck.cmake b/boards/px4/fmu-v3/stackcheck.cmake index b57ef1cfaa..4e4ab3f5d7 100644 --- a/boards/px4/fmu-v3/stackcheck.cmake +++ b/boards/px4/fmu-v3/stackcheck.cmake @@ -58,6 +58,7 @@ px4_add_board( tap_esc telemetry # all available telemetry drivers test_ppm + #uavcan MODULES attitude_estimator_q @@ -81,7 +82,6 @@ px4_add_board( navigator position_estimator_inav sensors - #uavcan vmount vtol_att_control wind_estimator diff --git a/boards/px4/fmu-v4/default.cmake b/boards/px4/fmu-v4/default.cmake index 23fd3375a6..b32ec85d44 100644 --- a/boards/px4/fmu-v4/default.cmake +++ b/boards/px4/fmu-v4/default.cmake @@ -43,6 +43,7 @@ px4_add_board( tap_esc telemetry # all available telemetry drivers test_ppm + uavcan MODULES attitude_estimator_q @@ -66,7 +67,6 @@ px4_add_board( navigator position_estimator_inav sensors - uavcan vmount vtol_att_control wind_estimator diff --git a/boards/px4/fmu-v4/rtps.cmake b/boards/px4/fmu-v4/rtps.cmake index e2d4617b65..da809d1721 100644 --- a/boards/px4/fmu-v4/rtps.cmake +++ b/boards/px4/fmu-v4/rtps.cmake @@ -44,6 +44,7 @@ px4_add_board( tap_esc telemetry # all available telemetry drivers test_ppm + uavcan MODULES attitude_estimator_q @@ -68,7 +69,6 @@ px4_add_board( navigator position_estimator_inav sensors - uavcan vmount vtol_att_control wind_estimator diff --git a/boards/px4/fmu-v4/stackcheck.cmake b/boards/px4/fmu-v4/stackcheck.cmake index 9d6fca3858..7016685457 100644 --- a/boards/px4/fmu-v4/stackcheck.cmake +++ b/boards/px4/fmu-v4/stackcheck.cmake @@ -43,6 +43,7 @@ px4_add_board( tap_esc telemetry # all available telemetry drivers test_ppm + #uavcan MODULES attitude_estimator_q @@ -66,7 +67,6 @@ px4_add_board( navigator position_estimator_inav sensors - #uavcan vmount vtol_att_control wind_estimator diff --git a/boards/px4/fmu-v4pro/default.cmake b/boards/px4/fmu-v4pro/default.cmake index c407732ab7..7ac4b421fa 100644 --- a/boards/px4/fmu-v4pro/default.cmake +++ b/boards/px4/fmu-v4pro/default.cmake @@ -57,6 +57,7 @@ px4_add_board( tap_esc telemetry # all available telemetry drivers test_ppm + uavcan MODULES attitude_estimator_q @@ -80,7 +81,6 @@ px4_add_board( navigator position_estimator_inav sensors - uavcan vmount vtol_att_control wind_estimator diff --git a/boards/px4/fmu-v4pro/rtps.cmake b/boards/px4/fmu-v4pro/rtps.cmake index 63426c46dd..f8e2d4643d 100644 --- a/boards/px4/fmu-v4pro/rtps.cmake +++ b/boards/px4/fmu-v4pro/rtps.cmake @@ -57,6 +57,7 @@ px4_add_board( tap_esc telemetry # all available telemetry drivers test_ppm + uavcan MODULES attitude_estimator_q @@ -81,7 +82,6 @@ px4_add_board( navigator position_estimator_inav sensors - uavcan vmount vtol_att_control wind_estimator diff --git a/boards/px4/fmu-v5/default.cmake b/boards/px4/fmu-v5/default.cmake index 008f36f936..9a4e8f3e6a 100644 --- a/boards/px4/fmu-v5/default.cmake +++ b/boards/px4/fmu-v5/default.cmake @@ -57,6 +57,7 @@ px4_add_board( tap_esc telemetry # all available telemetry drivers test_ppm + uavcan MODULES attitude_estimator_q @@ -80,7 +81,6 @@ px4_add_board( navigator position_estimator_inav sensors - uavcan vmount vtol_att_control wind_estimator diff --git a/boards/px4/fmu-v5/rtps.cmake b/boards/px4/fmu-v5/rtps.cmake index 3a052907c7..e62b24f225 100644 --- a/boards/px4/fmu-v5/rtps.cmake +++ b/boards/px4/fmu-v5/rtps.cmake @@ -58,6 +58,7 @@ px4_add_board( tap_esc telemetry # all available telemetry drivers test_ppm + uavcan MODULES attitude_estimator_q @@ -82,7 +83,6 @@ px4_add_board( navigator position_estimator_inav sensors - uavcan vmount vtol_att_control wind_estimator diff --git a/boards/px4/fmu-v5/stackcheck.cmake b/boards/px4/fmu-v5/stackcheck.cmake index 25e4a05891..c2de53a0fc 100644 --- a/boards/px4/fmu-v5/stackcheck.cmake +++ b/boards/px4/fmu-v5/stackcheck.cmake @@ -58,6 +58,7 @@ px4_add_board( tap_esc telemetry # all available telemetry drivers test_ppm + #uavcan MODULES attitude_estimator_q @@ -81,7 +82,6 @@ px4_add_board( navigator position_estimator_inav sensors - #uavcan vmount vtol_att_control wind_estimator diff --git a/boards/px4/raspberrypi/cross.cmake b/boards/px4/raspberrypi/cross.cmake index fe119e6f6d..4627b829b4 100644 --- a/boards/px4/raspberrypi/cross.cmake +++ b/boards/px4/raspberrypi/cross.cmake @@ -46,7 +46,6 @@ px4_add_board( navigator position_estimator_inav sensors - #uavcan vmount vtol_att_control wind_estimator diff --git a/boards/px4/raspberrypi/native.cmake b/boards/px4/raspberrypi/native.cmake index 761718d4ba..d3cc473f95 100644 --- a/boards/px4/raspberrypi/native.cmake +++ b/boards/px4/raspberrypi/native.cmake @@ -45,7 +45,6 @@ px4_add_board( position_estimator_inav sensors #simulator - #uavcan vmount vtol_att_control wind_estimator diff --git a/boards/px4/sitl/default.cmake b/boards/px4/sitl/default.cmake index 1f4eebe4f7..923e61983c 100644 --- a/boards/px4/sitl/default.cmake +++ b/boards/px4/sitl/default.cmake @@ -18,6 +18,7 @@ px4_add_board( pwm_out_sim #telemetry # all available telemetry drivers tone_alarm_sim + #uavcan MODULES attitude_estimator_q @@ -43,7 +44,6 @@ px4_add_board( replay sensors simulator - #uavcan vmount vtol_att_control wind_estimator diff --git a/boards/px4/sitl/rtps.cmake b/boards/px4/sitl/rtps.cmake index c072e18d99..191d4fe9af 100644 --- a/boards/px4/sitl/rtps.cmake +++ b/boards/px4/sitl/rtps.cmake @@ -18,6 +18,7 @@ px4_add_board( #protocol_splitter pwm_out_sim #telemetry # all available telemetry drivers + #uavcan MODULES attitude_estimator_q @@ -44,7 +45,6 @@ px4_add_board( replay sensors simulator - #uavcan vmount vtol_att_control wind_estimator diff --git a/boards/px4/sitl/test.cmake b/boards/px4/sitl/test.cmake index 6821304ea5..06e489326d 100644 --- a/boards/px4/sitl/test.cmake +++ b/boards/px4/sitl/test.cmake @@ -17,6 +17,7 @@ px4_add_board( #magnetometer # all available magnetometer drivers pwm_out_sim #telemetry # all available telemetry drivers + #uavcan MODULES attitude_estimator_q @@ -42,7 +43,6 @@ px4_add_board( replay sensors simulator - #uavcan vmount vtol_att_control wind_estimator diff --git a/boards/stm/32f4discovery/default.cmake b/boards/stm/32f4discovery/default.cmake index 8322aad8ae..46c950680c 100644 --- a/boards/stm/32f4discovery/default.cmake +++ b/boards/stm/32f4discovery/default.cmake @@ -35,7 +35,7 @@ px4_add_board( #tap_esc #telemetry # all available telemetry drivers #test_ppm - #vmount + #uavcan MODULES attitude_estimator_q @@ -59,7 +59,7 @@ px4_add_board( #navigator position_estimator_inav #sensors - #uavcan + #vmount #vtol_att_control wind_estimator diff --git a/boards/stm/nucleo-F767ZI/default.cmake b/boards/stm/nucleo-F767ZI/default.cmake index cf55c3e5fb..931a859739 100644 --- a/boards/stm/nucleo-F767ZI/default.cmake +++ b/boards/stm/nucleo-F767ZI/default.cmake @@ -44,6 +44,7 @@ px4_add_board( tap_esc telemetry # all available telemetry drivers test_ppm + #uavcan MODULES attitude_estimator_q @@ -67,7 +68,6 @@ px4_add_board( navigator position_estimator_inav sensors - #uavcan vmount vtol_att_control wind_estimator diff --git a/boards/thiemar/s2740vc-v1/default.cmake b/boards/thiemar/s2740vc-v1/default.cmake index 98e132f653..045206334a 100644 --- a/boards/thiemar/s2740vc-v1/default.cmake +++ b/boards/thiemar/s2740vc-v1/default.cmake @@ -37,9 +37,9 @@ px4_add_board( DRIVERS bootloaders stm32 + #uavcannode MODULES - #uavcannode SYSTEMCMDS config diff --git a/src/modules/uavcan/.gitignore b/src/drivers/uavcan/.gitignore similarity index 100% rename from src/modules/uavcan/.gitignore rename to src/drivers/uavcan/.gitignore diff --git a/src/modules/uavcan/CMakeLists.txt b/src/drivers/uavcan/CMakeLists.txt similarity index 100% rename from src/modules/uavcan/CMakeLists.txt rename to src/drivers/uavcan/CMakeLists.txt diff --git a/src/modules/uavcan/actuators/esc.cpp b/src/drivers/uavcan/actuators/esc.cpp similarity index 100% rename from src/modules/uavcan/actuators/esc.cpp rename to src/drivers/uavcan/actuators/esc.cpp diff --git a/src/modules/uavcan/actuators/esc.hpp b/src/drivers/uavcan/actuators/esc.hpp similarity index 100% rename from src/modules/uavcan/actuators/esc.hpp rename to src/drivers/uavcan/actuators/esc.hpp diff --git a/src/modules/uavcan/actuators/hardpoint.cpp b/src/drivers/uavcan/actuators/hardpoint.cpp similarity index 100% rename from src/modules/uavcan/actuators/hardpoint.cpp rename to src/drivers/uavcan/actuators/hardpoint.cpp diff --git a/src/modules/uavcan/actuators/hardpoint.hpp b/src/drivers/uavcan/actuators/hardpoint.hpp similarity index 100% rename from src/modules/uavcan/actuators/hardpoint.hpp rename to src/drivers/uavcan/actuators/hardpoint.hpp diff --git a/src/modules/uavcan/allocator.hpp b/src/drivers/uavcan/allocator.hpp similarity index 100% rename from src/modules/uavcan/allocator.hpp rename to src/drivers/uavcan/allocator.hpp diff --git a/src/modules/uavcan/libuavcan b/src/drivers/uavcan/libuavcan similarity index 100% rename from src/modules/uavcan/libuavcan rename to src/drivers/uavcan/libuavcan diff --git a/src/modules/uavcan/sensors/baro.cpp b/src/drivers/uavcan/sensors/baro.cpp similarity index 100% rename from src/modules/uavcan/sensors/baro.cpp rename to src/drivers/uavcan/sensors/baro.cpp diff --git a/src/modules/uavcan/sensors/baro.hpp b/src/drivers/uavcan/sensors/baro.hpp similarity index 100% rename from src/modules/uavcan/sensors/baro.hpp rename to src/drivers/uavcan/sensors/baro.hpp diff --git a/src/modules/uavcan/sensors/gnss.cpp b/src/drivers/uavcan/sensors/gnss.cpp similarity index 100% rename from src/modules/uavcan/sensors/gnss.cpp rename to src/drivers/uavcan/sensors/gnss.cpp diff --git a/src/modules/uavcan/sensors/gnss.hpp b/src/drivers/uavcan/sensors/gnss.hpp similarity index 100% rename from src/modules/uavcan/sensors/gnss.hpp rename to src/drivers/uavcan/sensors/gnss.hpp diff --git a/src/modules/uavcan/sensors/mag.cpp b/src/drivers/uavcan/sensors/mag.cpp similarity index 100% rename from src/modules/uavcan/sensors/mag.cpp rename to src/drivers/uavcan/sensors/mag.cpp diff --git a/src/modules/uavcan/sensors/mag.hpp b/src/drivers/uavcan/sensors/mag.hpp similarity index 100% rename from src/modules/uavcan/sensors/mag.hpp rename to src/drivers/uavcan/sensors/mag.hpp diff --git a/src/modules/uavcan/sensors/sensor_bridge.cpp b/src/drivers/uavcan/sensors/sensor_bridge.cpp similarity index 100% rename from src/modules/uavcan/sensors/sensor_bridge.cpp rename to src/drivers/uavcan/sensors/sensor_bridge.cpp diff --git a/src/modules/uavcan/sensors/sensor_bridge.hpp b/src/drivers/uavcan/sensors/sensor_bridge.hpp similarity index 100% rename from src/modules/uavcan/sensors/sensor_bridge.hpp rename to src/drivers/uavcan/sensors/sensor_bridge.hpp diff --git a/src/modules/uavcan/uavcan_driver.hpp b/src/drivers/uavcan/uavcan_driver.hpp similarity index 100% rename from src/modules/uavcan/uavcan_driver.hpp rename to src/drivers/uavcan/uavcan_driver.hpp diff --git a/src/modules/uavcan/uavcan_main.cpp b/src/drivers/uavcan/uavcan_main.cpp similarity index 100% rename from src/modules/uavcan/uavcan_main.cpp rename to src/drivers/uavcan/uavcan_main.cpp diff --git a/src/modules/uavcan/uavcan_main.hpp b/src/drivers/uavcan/uavcan_main.hpp similarity index 100% rename from src/modules/uavcan/uavcan_main.hpp rename to src/drivers/uavcan/uavcan_main.hpp diff --git a/src/modules/uavcan/uavcan_module.hpp b/src/drivers/uavcan/uavcan_module.hpp similarity index 100% rename from src/modules/uavcan/uavcan_module.hpp rename to src/drivers/uavcan/uavcan_module.hpp diff --git a/src/modules/uavcan/uavcan_params.c b/src/drivers/uavcan/uavcan_params.c similarity index 100% rename from src/modules/uavcan/uavcan_params.c rename to src/drivers/uavcan/uavcan_params.c diff --git a/src/modules/uavcan/uavcan_servers.cpp b/src/drivers/uavcan/uavcan_servers.cpp similarity index 100% rename from src/modules/uavcan/uavcan_servers.cpp rename to src/drivers/uavcan/uavcan_servers.cpp diff --git a/src/modules/uavcan/uavcan_servers.hpp b/src/drivers/uavcan/uavcan_servers.hpp similarity index 100% rename from src/modules/uavcan/uavcan_servers.hpp rename to src/drivers/uavcan/uavcan_servers.hpp diff --git a/src/modules/uavcan/uavcan_virtual_can_driver.hpp b/src/drivers/uavcan/uavcan_virtual_can_driver.hpp similarity index 100% rename from src/modules/uavcan/uavcan_virtual_can_driver.hpp rename to src/drivers/uavcan/uavcan_virtual_can_driver.hpp diff --git a/src/modules/uavcanesc/.gitignore b/src/drivers/uavcanesc/.gitignore similarity index 100% rename from src/modules/uavcanesc/.gitignore rename to src/drivers/uavcanesc/.gitignore diff --git a/src/modules/uavcanesc/CMakeLists.txt b/src/drivers/uavcanesc/CMakeLists.txt similarity index 94% rename from src/modules/uavcanesc/CMakeLists.txt rename to src/drivers/uavcanesc/CMakeLists.txt index 7154b31e7d..906f214af3 100644 --- a/src/modules/uavcanesc/CMakeLists.txt +++ b/src/drivers/uavcanesc/CMakeLists.txt @@ -31,7 +31,9 @@ # ############################################################################ -px4_add_git_submodule(TARGET git_uavcan PATH "../uavcan/libuavcan") +set(LIBUAVCAN_DIR ${PX4_SOURCE_DIR}/src/drivers/uavcan/libuavcan) + +px4_add_git_submodule(TARGET git_uavcan PATH ${LIBUAVCAN_DIR}) set(UAVCAN_USE_CPP03 ON CACHE BOOL "uavcan cpp03") set(UAVCAN_PLATFORM stm32 CACHE STRING "uavcan platform") @@ -50,8 +52,6 @@ add_definitions( -DUAVCAN_USE_EXTERNAL_SNPRINT ) -set(LIBUAVCAN_DIR ${PX4_SOURCE_DIR}/src/modules/uavcan/libuavcan) - add_subdirectory(${LIBUAVCAN_DIR} uavcanesc_libuavcan) add_dependencies(uavcan prebuild_targets) @@ -63,7 +63,6 @@ include_directories(${LIBUAVCAN_DIR}/libuavcan_drivers/stm32/driver/include) include_directories(${PX4_SOURCE_DIR}/src/drivers/bootloaders) - px4_add_module( MODULE modules__uavcanesc MAIN uavcanesc @@ -86,3 +85,6 @@ px4_add_module( uavcan uavcan_stm32_driver ) + +add_subdirectory(commands) +add_subdirectory(nshterm) diff --git a/src/drivers/uavcanesc/commands/CMakeLists.txt b/src/drivers/uavcanesc/commands/CMakeLists.txt new file mode 100644 index 0000000000..b3fe8e80a4 --- /dev/null +++ b/src/drivers/uavcanesc/commands/CMakeLists.txt @@ -0,0 +1,38 @@ +############################################################################ +# +# Copyright (c) 2018 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. +# +############################################################################ + +add_subdirectory(cfg) +add_subdirectory(dc) +add_subdirectory(rpm) +add_subdirectory(selftest) +add_subdirectory(stat) diff --git a/src/modules/uavcanesc/commands/cfg/CMakeLists.txt b/src/drivers/uavcanesc/commands/cfg/CMakeLists.txt similarity index 100% rename from src/modules/uavcanesc/commands/cfg/CMakeLists.txt rename to src/drivers/uavcanesc/commands/cfg/CMakeLists.txt diff --git a/src/modules/uavcanesc/commands/cfg/esc_cfg.cpp b/src/drivers/uavcanesc/commands/cfg/esc_cfg.cpp similarity index 100% rename from src/modules/uavcanesc/commands/cfg/esc_cfg.cpp rename to src/drivers/uavcanesc/commands/cfg/esc_cfg.cpp diff --git a/src/modules/uavcanesc/commands/cfg/esc_cfg.hpp b/src/drivers/uavcanesc/commands/cfg/esc_cfg.hpp similarity index 100% rename from src/modules/uavcanesc/commands/cfg/esc_cfg.hpp rename to src/drivers/uavcanesc/commands/cfg/esc_cfg.hpp diff --git a/src/modules/uavcanesc/commands/dc/CMakeLists.txt b/src/drivers/uavcanesc/commands/dc/CMakeLists.txt similarity index 100% rename from src/modules/uavcanesc/commands/dc/CMakeLists.txt rename to src/drivers/uavcanesc/commands/dc/CMakeLists.txt diff --git a/src/modules/uavcanesc/commands/dc/esc_dc.cpp b/src/drivers/uavcanesc/commands/dc/esc_dc.cpp similarity index 100% rename from src/modules/uavcanesc/commands/dc/esc_dc.cpp rename to src/drivers/uavcanesc/commands/dc/esc_dc.cpp diff --git a/src/modules/uavcanesc/commands/dc/esc_dc.hpp b/src/drivers/uavcanesc/commands/dc/esc_dc.hpp similarity index 100% rename from src/modules/uavcanesc/commands/dc/esc_dc.hpp rename to src/drivers/uavcanesc/commands/dc/esc_dc.hpp diff --git a/src/modules/uavcanesc/commands/rpm/CMakeLists.txt b/src/drivers/uavcanesc/commands/rpm/CMakeLists.txt similarity index 100% rename from src/modules/uavcanesc/commands/rpm/CMakeLists.txt rename to src/drivers/uavcanesc/commands/rpm/CMakeLists.txt diff --git a/src/modules/uavcanesc/commands/rpm/esc_rpm.cpp b/src/drivers/uavcanesc/commands/rpm/esc_rpm.cpp similarity index 100% rename from src/modules/uavcanesc/commands/rpm/esc_rpm.cpp rename to src/drivers/uavcanesc/commands/rpm/esc_rpm.cpp diff --git a/src/modules/uavcanesc/commands/rpm/esc_rpm.hpp b/src/drivers/uavcanesc/commands/rpm/esc_rpm.hpp similarity index 100% rename from src/modules/uavcanesc/commands/rpm/esc_rpm.hpp rename to src/drivers/uavcanesc/commands/rpm/esc_rpm.hpp diff --git a/src/modules/uavcanesc/commands/selftest/CMakeLists.txt b/src/drivers/uavcanesc/commands/selftest/CMakeLists.txt similarity index 100% rename from src/modules/uavcanesc/commands/selftest/CMakeLists.txt rename to src/drivers/uavcanesc/commands/selftest/CMakeLists.txt diff --git a/src/modules/uavcanesc/commands/selftest/esc_selftest.cpp b/src/drivers/uavcanesc/commands/selftest/esc_selftest.cpp similarity index 100% rename from src/modules/uavcanesc/commands/selftest/esc_selftest.cpp rename to src/drivers/uavcanesc/commands/selftest/esc_selftest.cpp diff --git a/src/modules/uavcanesc/commands/selftest/esc_selftest.hpp b/src/drivers/uavcanesc/commands/selftest/esc_selftest.hpp similarity index 100% rename from src/modules/uavcanesc/commands/selftest/esc_selftest.hpp rename to src/drivers/uavcanesc/commands/selftest/esc_selftest.hpp diff --git a/src/modules/uavcanesc/commands/stat/CMakeLists.txt b/src/drivers/uavcanesc/commands/stat/CMakeLists.txt similarity index 100% rename from src/modules/uavcanesc/commands/stat/CMakeLists.txt rename to src/drivers/uavcanesc/commands/stat/CMakeLists.txt diff --git a/src/modules/uavcanesc/commands/stat/esc_stat.cpp b/src/drivers/uavcanesc/commands/stat/esc_stat.cpp similarity index 100% rename from src/modules/uavcanesc/commands/stat/esc_stat.cpp rename to src/drivers/uavcanesc/commands/stat/esc_stat.cpp diff --git a/src/modules/uavcanesc/commands/stat/esc_stat.hpp b/src/drivers/uavcanesc/commands/stat/esc_stat.hpp similarity index 100% rename from src/modules/uavcanesc/commands/stat/esc_stat.hpp rename to src/drivers/uavcanesc/commands/stat/esc_stat.hpp diff --git a/src/modules/uavcanesc/indication_controller.cpp b/src/drivers/uavcanesc/indication_controller.cpp similarity index 100% rename from src/modules/uavcanesc/indication_controller.cpp rename to src/drivers/uavcanesc/indication_controller.cpp diff --git a/src/modules/uavcanesc/indication_controller.hpp b/src/drivers/uavcanesc/indication_controller.hpp similarity index 100% rename from src/modules/uavcanesc/indication_controller.hpp rename to src/drivers/uavcanesc/indication_controller.hpp diff --git a/src/modules/uavcanesc/led.cpp b/src/drivers/uavcanesc/led.cpp similarity index 100% rename from src/modules/uavcanesc/led.cpp rename to src/drivers/uavcanesc/led.cpp diff --git a/src/modules/uavcanesc/led.hpp b/src/drivers/uavcanesc/led.hpp similarity index 100% rename from src/modules/uavcanesc/led.hpp rename to src/drivers/uavcanesc/led.hpp diff --git a/src/modules/uavcanesc/nshterm/CMakeLists.txt b/src/drivers/uavcanesc/nshterm/CMakeLists.txt similarity index 99% rename from src/modules/uavcanesc/nshterm/CMakeLists.txt rename to src/drivers/uavcanesc/nshterm/CMakeLists.txt index 3e4bcfc1f3..bf87d034a1 100644 --- a/src/modules/uavcanesc/nshterm/CMakeLists.txt +++ b/src/drivers/uavcanesc/nshterm/CMakeLists.txt @@ -42,5 +42,3 @@ px4_add_module( PRIORITY "SCHED_PRIORITY_DEFAULT-30" DEPENDS ) - -# diff --git a/src/modules/uavcanesc/nshterm/nshterm.c b/src/drivers/uavcanesc/nshterm/nshterm.c similarity index 100% rename from src/modules/uavcanesc/nshterm/nshterm.c rename to src/drivers/uavcanesc/nshterm/nshterm.c diff --git a/src/modules/uavcanesc/uavcan_driver.hpp b/src/drivers/uavcanesc/uavcan_driver.hpp similarity index 100% rename from src/modules/uavcanesc/uavcan_driver.hpp rename to src/drivers/uavcanesc/uavcan_driver.hpp diff --git a/src/modules/uavcanesc/uavcanesc_main.cpp b/src/drivers/uavcanesc/uavcanesc_main.cpp similarity index 100% rename from src/modules/uavcanesc/uavcanesc_main.cpp rename to src/drivers/uavcanesc/uavcanesc_main.cpp diff --git a/src/modules/uavcanesc/uavcanesc_main.hpp b/src/drivers/uavcanesc/uavcanesc_main.hpp similarity index 100% rename from src/modules/uavcanesc/uavcanesc_main.hpp rename to src/drivers/uavcanesc/uavcanesc_main.hpp diff --git a/src/modules/uavcanesc/uavcanesc_params.c b/src/drivers/uavcanesc/uavcanesc_params.c similarity index 100% rename from src/modules/uavcanesc/uavcanesc_params.c rename to src/drivers/uavcanesc/uavcanesc_params.c diff --git a/src/modules/uavcannode/.gitignore b/src/drivers/uavcannode/.gitignore similarity index 100% rename from src/modules/uavcannode/.gitignore rename to src/drivers/uavcannode/.gitignore diff --git a/src/modules/uavcannode/CMakeLists.txt b/src/drivers/uavcannode/CMakeLists.txt similarity index 95% rename from src/modules/uavcannode/CMakeLists.txt rename to src/drivers/uavcannode/CMakeLists.txt index 80bea48f5c..2d2b725bb0 100644 --- a/src/modules/uavcannode/CMakeLists.txt +++ b/src/drivers/uavcannode/CMakeLists.txt @@ -31,7 +31,9 @@ # ############################################################################ -px4_add_git_submodule(TARGET git_uavcan PATH "../uavcan/libuavcan") +set(LIBUAVCAN_DIR ${PX4_SOURCE_DIR}/src/drivers/uavcan/libuavcan) + +px4_add_git_submodule(TARGET git_uavcan PATH ${LIBUAVCAN_DIR}) set(UAVCAN_USE_CPP03 ON CACHE BOOL "uavcan cpp03") set(UAVCAN_PLATFORM stm32 CACHE STRING "uavcan platform") @@ -50,8 +52,6 @@ add_definitions( -DUAVCAN_USE_EXTERNAL_SNPRINT ) -set(LIBUAVCAN_DIR ${PX4_SOURCE_DIR}/src/modules/uavcan/libuavcan) - add_subdirectory(${LIBUAVCAN_DIR} uavcannode_libuavcan) add_dependencies(uavcan prebuild_targets) diff --git a/src/modules/uavcannode/indication_controller.cpp b/src/drivers/uavcannode/indication_controller.cpp similarity index 100% rename from src/modules/uavcannode/indication_controller.cpp rename to src/drivers/uavcannode/indication_controller.cpp diff --git a/src/modules/uavcannode/indication_controller.hpp b/src/drivers/uavcannode/indication_controller.hpp similarity index 100% rename from src/modules/uavcannode/indication_controller.hpp rename to src/drivers/uavcannode/indication_controller.hpp diff --git a/src/modules/uavcannode/led.cpp b/src/drivers/uavcannode/led.cpp similarity index 100% rename from src/modules/uavcannode/led.cpp rename to src/drivers/uavcannode/led.cpp diff --git a/src/modules/uavcannode/led.hpp b/src/drivers/uavcannode/led.hpp similarity index 100% rename from src/modules/uavcannode/led.hpp rename to src/drivers/uavcannode/led.hpp diff --git a/src/modules/uavcannode/resources.cpp b/src/drivers/uavcannode/resources.cpp similarity index 100% rename from src/modules/uavcannode/resources.cpp rename to src/drivers/uavcannode/resources.cpp diff --git a/src/modules/uavcannode/resources.hpp b/src/drivers/uavcannode/resources.hpp similarity index 100% rename from src/modules/uavcannode/resources.hpp rename to src/drivers/uavcannode/resources.hpp diff --git a/src/modules/uavcannode/sim_controller.cpp b/src/drivers/uavcannode/sim_controller.cpp similarity index 100% rename from src/modules/uavcannode/sim_controller.cpp rename to src/drivers/uavcannode/sim_controller.cpp diff --git a/src/modules/uavcannode/sim_controller.hpp b/src/drivers/uavcannode/sim_controller.hpp similarity index 100% rename from src/modules/uavcannode/sim_controller.hpp rename to src/drivers/uavcannode/sim_controller.hpp diff --git a/src/modules/uavcannode/uavcannode_main.cpp b/src/drivers/uavcannode/uavcannode_main.cpp similarity index 100% rename from src/modules/uavcannode/uavcannode_main.cpp rename to src/drivers/uavcannode/uavcannode_main.cpp diff --git a/src/modules/uavcannode/uavcannode_main.hpp b/src/drivers/uavcannode/uavcannode_main.hpp similarity index 100% rename from src/modules/uavcannode/uavcannode_main.hpp rename to src/drivers/uavcannode/uavcannode_main.hpp diff --git a/src/modules/uavcannode/uavcannode_params.c b/src/drivers/uavcannode/uavcannode_params.c similarity index 100% rename from src/modules/uavcannode/uavcannode_params.c rename to src/drivers/uavcannode/uavcannode_params.c