############################################################################
#
#   Copyright (c) 2015 PX4 Development Team. All rights reserved.
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# Redistribution and use in source and binary forms, with or without
# modification, are permitted provided that the following conditions
# are met:
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# 1. Redistributions of source code must retain the above copyright
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# 2. Redistributions in binary form must reproduce the above copyright
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#    the documentation and/or other materials provided with the
#    distribution.
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############################################################################

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")

string(TOUPPER "${PX4_PLATFORM}" OS_UPPER)
add_definitions(
		-DUAVCAN_CPP_VERSION=UAVCAN_CPP03
		-DUAVCAN_MAX_NETWORK_SIZE_HINT=16
		-DUAVCAN_MEM_POOL_BLOCK_SIZE=48
		-DUAVCAN_NO_ASSERTIONS
		-DUAVCAN_PLATFORM=stm32
		-DUAVCAN_STM32_${OS_UPPER}=1
		-DUAVCAN_STM32_NUM_IFACES=1
		-DUAVCAN_STM32_TIMER_NUMBER=2
		-DUAVCAN_USE_CPP03=ON
		-DUAVCAN_USE_EXTERNAL_SNPRINT
		)

add_compile_options(-Wno-cast-align) # TODO: fix and enable
add_subdirectory(${LIBUAVCAN_DIR} uavcanesc_libuavcan)
add_dependencies(uavcan prebuild_targets)

include_directories(${PX4_SOURCE_DIR}/src/modules/systemlib/flashparams)
include_directories(${LIBUAVCAN_DIR}/libuavcan/include)
include_directories(${LIBUAVCAN_DIR}/libuavcan/include/dsdlc_generated)
include_directories(${LIBUAVCAN_DIR}/libuavcan_drivers/posix/include)
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
	STACK_MAIN 4096
	COMPILE_FLAGS
		-Wno-deprecated-declarations
		-O3
	SRCS
		uavcanesc_main.cpp
		indication_controller.cpp
		led.cpp
		uavcanesc_params.c
	DEPENDS
		drivers_bootloaders
		git_uavcan
		version
		cdev

		# within libuavcan
		libuavcan_dsdlc
		uavcan
		uavcan_stm32_driver
	)

add_subdirectory(commands)
add_subdirectory(nshterm)
