Move optical flow drivers to own subdirectory

2026-05-21 01:12:11 +00:00 · 2019-05-28 14:41:30 -04:00
parent 6627c60e5b
commit b334b75886
32 changed files with 74 additions and 40 deletions
--- a/boards/airmind/mindpx-v2/default.cmake
+++ b/boards/airmind/mindpx-v2/default.cmake
@@ -33,10 +33,11 @@ px4_add_board(
 		lights/rgbled
 		magnetometer # all available magnetometer drivers
 		mkblctrl
+		#optical_flow # all available optical flow drivers
+		optical_flow/px4flow
 		pca9685
 		pwm_input
 		pwm_out_sim
-		px4flow
 		px4fmu
 		rc_input
 		stm32
--- a/boards/auav/x21/default.cmake
+++ b/boards/auav/x21/default.cmake
@@ -36,12 +36,13 @@ px4_add_board(
 		#md25
 		mkblctrl
 		lights/pca8574
+		#optical_flow # all available optical flow drivers
+		#optical_flow/pmw3901
+		optical_flow/px4flow
 		pca9685
-		#pmw3901
 		protocol_splitter
 		pwm_input
 		pwm_out_sim
-		px4flow
 		px4fmu
 		px4io
 		roboclaw
--- a/boards/av/x-v1/default.cmake
+++ b/boards/av/x-v1/default.cmake
@@ -39,12 +39,11 @@ px4_add_board(
 		magnetometer # all available magnetometer drivers
 		#md25
 		mkblctrl
+		optical_flow # all available optical flow drivers
 		pca9685
-		pmw3901
 		#protocol_splitter
 		#pwm_input
 		pwm_out_sim
-		px4flow
 		px4fmu
 		rc_input
 		#roboclaw
--- a/boards/bitcraze/crazyflie/default.cmake
+++ b/boards/bitcraze/crazyflie/default.cmake
@@ -12,7 +12,7 @@ px4_add_board(
 		distance_sensor/vl53lxx
 		gps
 		imu/mpu9250
-		pmw3901
+		optical_flow/pmw3901
 		px4fmu
 		stm32

--- a/boards/intel/aerofc-v1/default.cmake
+++ b/boards/intel/aerofc-v1/default.cmake
@@ -23,8 +23,8 @@ px4_add_board(
 		#magnetometer # all available magnetometer drivers
 		magnetometer/hmc5883
 		magnetometer/ist8310
+		#optical_flow/px4flow
 		pwm_out_sim
-		#px4flow
 		px4fmu
 		rc_input
 		stm32
--- a/boards/intel/aerofc-v1/rtps.cmake
+++ b/boards/intel/aerofc-v1/rtps.cmake
@@ -24,9 +24,10 @@ px4_add_board(
 		#magnetometer # all available magnetometer drivers
 		magnetometer/hmc5883
 		magnetometer/ist8310
+		#optical_flow # all available optical flow drivers
+		#optical_flow/px4flow
 		protocol_splitter
 		pwm_out_sim
-		#px4flow
 		px4fmu
 		rc_input
 		stm32
--- a/boards/nxp/fmuk66-v3/default.cmake
+++ b/boards/nxp/fmuk66-v3/default.cmake
@@ -40,10 +40,10 @@ px4_add_board(
 		lights/rgbled_pwm
 		magnetometer # all available magnetometer drivers
 		mkblctrl
+		optical_flow/px4flow
 		pca9685
 		#pwm_input # NOT Portable YET drivers
 		pwm_out_sim
-		px4flow
 		px4fmu
 		rc_input
 		tap_esc
--- a/boards/omnibus/f4sd/default.cmake
+++ b/boards/omnibus/f4sd/default.cmake
@@ -29,10 +29,10 @@ px4_add_board(
 		#magnetometer # all available magnetometer drivers
 		magnetometer/hmc5883
 		#mkblctrl
+		optical_flow/px4flow
 		#pca9685
 		#pwm_input
 		#pwm_out_sim
-		px4flow
 		px4fmu
 		rc_input
 		stm32
--- a/boards/px4/fmu-v2/default.cmake
+++ b/boards/px4/fmu-v2/default.cmake
@@ -46,11 +46,12 @@ px4_add_board(
 		#magnetometer # all available magnetometer drivers
 		magnetometer/hmc5883
 		#mkblctrl
+		#optical_flow # all available optical flow drivers
+		optical_flow/px4flow
 		#pca9685
 		#protocol_splitter
 		#pwm_input
 		pwm_out_sim
-		px4flow
 		px4fmu
 		px4io
 		#roboclaw
--- a/boards/px4/fmu-v2/lpe.cmake
+++ b/boards/px4/fmu-v2/lpe.cmake
@@ -43,11 +43,12 @@ px4_add_board(
 		#magnetometer # all available magnetometer drivers
 		magnetometer/hmc5883
 		#mkblctrl
+		#optical_flow # all available optical flow drivers
+		optical_flow/px4flow
 		#pca9685
 		#protocol_splitter
 		#pwm_input
 		pwm_out_sim
-		px4flow
 		px4fmu
 		px4io
 		stm32
--- a/boards/px4/fmu-v2/multicopter.cmake
+++ b/boards/px4/fmu-v2/multicopter.cmake
@@ -30,7 +30,7 @@ px4_add_board(
 		irlock
 		lights/rgbled
 		magnetometer/hmc5883
-		px4flow
+		optical_flow/px4flow
 		px4fmu
 		px4io
 		stm32
--- a/boards/px4/fmu-v2/rover.cmake
+++ b/boards/px4/fmu-v2/rover.cmake
@@ -28,7 +28,7 @@ px4_add_board(
 		imu/mpu9250
 		lights/rgbled
 		magnetometer/hmc5883
-		px4flow
+		optical_flow/px4flow
 		px4fmu
 		px4io
 		stm32
--- a/boards/px4/fmu-v2/test.cmake
+++ b/boards/px4/fmu-v2/test.cmake
@@ -43,11 +43,12 @@ px4_add_board(
 		#magnetometer # all available magnetometer drivers
 		magnetometer/hmc5883
 		#mkblctrl
+		#optical_flow # all available optical flow drivers
+		optical_flow/px4flow
 		#pca9685
 		#protocol_splitter
 		#pwm_input
 		#pwm_out_sim
-		px4flow
 		px4fmu
 		px4io
 		stm32
--- a/boards/px4/fmu-v3/default.cmake
+++ b/boards/px4/fmu-v3/default.cmake
@@ -45,12 +45,12 @@ px4_add_board(
 		#md25
 		mkblctrl
 		lights/pca8574
+		#optical_flow # all available optical flow drivers
+		optical_flow/px4flow
 		pca9685
-		#pmw3901
 		protocol_splitter
 		pwm_input
 		pwm_out_sim
-		px4flow
 		px4fmu
 		px4io
 		roboclaw
--- a/boards/px4/fmu-v3/rtps.cmake
+++ b/boards/px4/fmu-v3/rtps.cmake
@@ -43,13 +43,13 @@ px4_add_board(
 		magnetometer # all available magnetometer drivers
 		#md25
 		mkblctrl
+		#optical_flow # all available optical flow drivers
+		optical_flow/px4flow
 		lights/pca8574
 		pca9685
-		#pmw3901
 		protocol_splitter
 		pwm_input
 		pwm_out_sim
-		px4flow
 		px4fmu
 		px4io
 		roboclaw
--- a/boards/px4/fmu-v3/stackcheck.cmake
+++ b/boards/px4/fmu-v3/stackcheck.cmake
@@ -44,12 +44,12 @@ px4_add_board(
 		magnetometer # all available magnetometer drivers
 		#md25
 		mkblctrl
+		#optical_flow # all available optical flow drivers
+		optical_flow/px4flow
 		pca9685
-		#pmw3901
 		protocol_splitter
 		pwm_input
 		pwm_out_sim
-		px4flow
 		px4fmu
 		px4io
 		roboclaw
--- a/boards/px4/fmu-v4/default.cmake
+++ b/boards/px4/fmu-v4/default.cmake
@@ -32,11 +32,10 @@ px4_add_board(
 		lights/rgbled_ncp5623c
 		magnetometer # all available magnetometer drivers
 		mkblctrl
+		optical_flow # all available optical flow drivers
 		pca9685
-		pmw3901
 		pwm_input
 		pwm_out_sim
-		px4flow
 		px4fmu
 		rc_input
 		stm32
--- a/boards/px4/fmu-v4/rtps.cmake
+++ b/boards/px4/fmu-v4/rtps.cmake
@@ -32,11 +32,12 @@ px4_add_board(
 		lights/rgbled_ncp5623c
 		magnetometer # all available magnetometer drivers
 		mkblctrl
+		#optical_flow # all available optical flow drivers
+		optical_flow/px4flow
 		pca9685
 		protocol_splitter
 		pwm_input
 		pwm_out_sim
-		px4flow
 		px4fmu
 		rc_input
 		stm32
--- a/boards/px4/fmu-v4/stackcheck.cmake
+++ b/boards/px4/fmu-v4/stackcheck.cmake
@@ -32,11 +32,10 @@ px4_add_board(
 		lights/rgbled_ncp5623c
 		magnetometer # all available magnetometer drivers
 		mkblctrl
+		optical_flow # all available optical flow drivers
 		pca9685
-		pmw3901
 		pwm_input
 		pwm_out_sim
-		px4flow
 		px4fmu
 		rc_input
 		stm32
--- a/boards/px4/fmu-v4pro/default.cmake
+++ b/boards/px4/fmu-v4pro/default.cmake
@@ -43,12 +43,12 @@ px4_add_board(
 		magnetometer # all available magnetometer drivers
 		#md25
 		mkblctrl
+		#optical_flow # all available optical flow drivers
+		optical_flow/px4flow
 		pca9685
-		#pmw3901
 		#protocol_splitter
 		pwm_input
 		pwm_out_sim
-		px4flow
 		px4fmu
 		px4io
 		roboclaw
--- a/boards/px4/fmu-v4pro/rtps.cmake
+++ b/boards/px4/fmu-v4pro/rtps.cmake
@@ -42,12 +42,12 @@ px4_add_board(
 		#md25
 		mkblctrl
 		lights/pca8574
+		#optical_flow # all available optical flow drivers
+		optical_flow/px4flow
 		pca9685
-		#pmw3901
 		protocol_splitter
 		pwm_input
 		pwm_out_sim
-		px4flow
 		px4fmu
 		px4io
 		roboclaw
--- a/boards/px4/fmu-v5/default.cmake
+++ b/boards/px4/fmu-v5/default.cmake
@@ -42,13 +42,12 @@ px4_add_board(
 		magnetometer # all available magnetometer drivers
 		#md25
 		mkblctrl
+		optical_flow # all available optical flow drivers
 		pca9685
-		pmw3901
 		power_monitor/ina226
 		#protocol_splitter
 		pwm_input
 		pwm_out_sim
-		px4flow
 		px4fmu
 		px4io
 		rc_input
--- a/boards/px4/fmu-v5/multicopter.cmake
+++ b/boards/px4/fmu-v5/multicopter.cmake
@@ -33,10 +33,9 @@ px4_add_board(
 		lights/rgbled_ncp5623c
 		lights/rgbled_pwm
 		magnetometer # all available magnetometer drivers
-		pmw3901
+		optical_flow # all available optical flow drivers
 		pwm_input
 		pwm_out_sim
-		px4flow
 		px4fmu
 		px4io
 		rc_input
--- a/boards/px4/fmu-v5/rover.cmake
+++ b/boards/px4/fmu-v5/rover.cmake
@@ -32,11 +32,10 @@ px4_add_board(
 		magnetometer # all available magnetometer drivers
 		#md25
 		mkblctrl
+		optical_flow # all available optical flow drivers
 		pca9685
-		pmw3901
 		pwm_input
 		pwm_out_sim
-		px4flow
 		px4fmu
 		px4io
 		rc_input
--- a/boards/px4/fmu-v5/rtps.cmake
+++ b/boards/px4/fmu-v5/rtps.cmake
@@ -41,12 +41,11 @@ px4_add_board(
 		magnetometer # all available magnetometer drivers
 		#md25
 		mkblctrl
+		optical_flow # all available optical flow drivers
 		pca9685
-		pmw3901
 		protocol_splitter
 		pwm_input
 		pwm_out_sim
-		px4flow
 		px4fmu
 		px4io
 		rc_input
--- a/boards/px4/fmu-v5/stackcheck.cmake
+++ b/boards/px4/fmu-v5/stackcheck.cmake
@@ -41,12 +41,11 @@ px4_add_board(
 		magnetometer # all available magnetometer drivers
 		#md25
 		mkblctrl
+		optical_flow # all available optical flow drivers
 		pca9685
-		pmw3901
 		#protocol_splitter
 		pwm_input
 		pwm_out_sim
-		px4flow
 		px4fmu
 		px4io
 		rc_input
--- a/src/drivers/optical_flow/CMakeLists.txt
+++ b/src/drivers/optical_flow/CMakeLists.txt
@@ -0,0 +1,35 @@
+############################################################################
+#
+#   Copyright (c) 2019 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(px4flow)
+add_subdirectory(pmw3901)
--- a/src/drivers/optical_flow/pmw3901/CMakeLists.txt
+++ b/src/drivers/optical_flow/pmw3901/CMakeLists.txt
--- a/src/drivers/optical_flow/pmw3901/pmw3901.cpp
+++ b/src/drivers/optical_flow/pmw3901/pmw3901.cpp
--- a/src/drivers/optical_flow/px4flow/CMakeLists.txt
+++ b/src/drivers/optical_flow/px4flow/CMakeLists.txt
--- a/src/drivers/optical_flow/px4flow/i2c_frame.h
+++ b/src/drivers/optical_flow/px4flow/i2c_frame.h
--- a/src/drivers/optical_flow/px4flow/px4flow.cpp
+++ b/src/drivers/optical_flow/px4flow/px4flow.cpp