From abbd335e4e3d950664db567ca771fd70698c14f4 Mon Sep 17 00:00:00 2001
From: Daniel Agar <daniel@agar.ca>
Date: Fri, 18 Sep 2020 12:33:43 -0400
Subject: [PATCH] uavcannode: use correct PYTHON_EXECUTABLE and support stm32h7

 - sync CMakeLists.txt with drivers/uavcan
---
 Tools/make_can_boot_descriptor.py     |  2 +-
 src/drivers/uavcannode/CMakeLists.txt | 22 ++++++++++++++++++----
 2 files changed, 19 insertions(+), 5 deletions(-)

diff --git a/Tools/make_can_boot_descriptor.py b/Tools/make_can_boot_descriptor.py
index 7649d41e84..6f03e8a1e0 100755
--- a/Tools/make_can_boot_descriptor.py
+++ b/Tools/make_can_boot_descriptor.py
@@ -1,4 +1,4 @@
-#!/usr/bin/env python
+#!/usr/bin/env python3
 
 import os
 import sys
diff --git a/src/drivers/uavcannode/CMakeLists.txt b/src/drivers/uavcannode/CMakeLists.txt
index 889fa25838..a7071b082a 100644
--- a/src/drivers/uavcannode/CMakeLists.txt
+++ b/src/drivers/uavcannode/CMakeLists.txt
@@ -43,9 +43,15 @@ if(CONFIG_ARCH_CHIP)
 	if(${CONFIG_ARCH_CHIP} MATCHES "kinetis")
 		set(UAVCAN_DRIVER "kinetis")
 		set(UAVCAN_TIMER 1)
+	elseif(${CONFIG_ARCH_CHIP} MATCHES "stm32h7")
+		set(UAVCAN_DRIVER "stm32h7")
+		set(UAVCAN_TIMER 5) # The default timer is TIM5
+		if (DEFINED config_uavcan_timer_override)
+			set (UAVCAN_TIMER  ${config_uavcan_timer_override})
+		endif()
 	elseif(${CONFIG_ARCH_CHIP} MATCHES "stm32")
 		set(UAVCAN_DRIVER "stm32")
-		set(UAVCAN_TIMER 5) # The default timer the 5
+		set(UAVCAN_TIMER 5) # The default timer is TIM5
 	endif()
 endif()
 
@@ -71,7 +77,11 @@ add_definitions(
 	-DUAVCAN_PLATFORM=${UAVCAN_PLATFORM}
 )
 
-add_compile_options(-Wno-cast-align) # TODO: fix and enable
+add_compile_options(
+	-Wno-cast-align # TODO: fix and enable
+	-Wno-deprecated-copy # TODO: fix
+	-Wno-address-of-packed-member
+)
 add_subdirectory(${LIBUAVCAN_DIR} libuavcan EXCLUDE_FROM_ALL)
 add_dependencies(uavcan prebuild_targets)
 
@@ -93,7 +103,7 @@ 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} ${LIBUAVCAN_DIR}/libuavcan/dsdl_compiler/libuavcan_dsdlc ${DSDLC_INPUTS} -O${DSDLC_OUTPUT}
+	COMMAND ${PYTHON_EXECUTABLE} ${LIBUAVCAN_DIR}/libuavcan/dsdl_compiler/libuavcan_dsdlc ${DSDLC_INPUTS} -O${DSDLC_OUTPUT}
 	COMMAND ${CMAKE_COMMAND} -E touch px4_uavcan_dsdlc_run.stamp
 	DEPENDS ${DSDLC_INPUT_FILES}
 	COMMENT "PX4 UAVCAN dsdl compiler"
@@ -116,9 +126,13 @@ px4_add_module(
 		UavcanNode.hpp
 	DEPENDS
 		px4_uavcan_dsdlc
+
 		drivers_bootloaders
 		version
+
 		git_uavcan
 		uavcan_${UAVCAN_DRIVER}_driver
-		uavcan # within libuavcan
+
+		# within libuavcan
+		uavcan
 	)