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Made BMI08x-Sensor-API optional for build #23

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Made BMI08x-Sensor-API optional for build #23

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18 changes: 16 additions & 2 deletions CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -17,24 +17,38 @@ catkin_package(
lpp
)

if(EXISTS ${CMAKE_CURRENT_SOURCE_DIR}/lib/BMI08x-Sensor-API)
message(STATUS "BMI08x-Sensor-API found")
SET(MAV_IMU_BUILD_BOSCH ON)
include_directories(lib/BMI08x-Sensor-API)
else()
message(WARNING "BMI08x-Sensor-API not found. Bosch BMI088 will not be supported.")
endif()

include_directories(
include
lib/BMI08x-Sensor-API
${catkin_INCLUDE_DIRS})

if (MAV_IMU_BUILD_BOSCH)
set(MAV_IMU_BOSCH_SRC_FILE src/imu/bmi088.cpp)
endif ()

add_library(${PROJECT_NAME}
src/spi_driver.cpp
src/imu_node.cpp
src/imu/adis16448.cpp
src/imu/bmi088.cpp
${MAV_IMU_BOSCH_SRC_FILE}
src/imu/ImuFactory.cpp)

if (MAV_IMU_BUILD_BOSCH)
target_compile_definitions(${PROJECT_NAME} PUBLIC MAV_IMU_BUILD_BOSCH)
# Bosch API
add_library(${PROJECT_NAME}_BMI08x
lib/BMI08x-Sensor-API/bmi08a.c
lib/BMI08x-Sensor-API/bmi08g.c
lib/BMI08x-Sensor-API/bmi08xa.c)
target_link_libraries(${PROJECT_NAME} ${PROJECT_NAME}_BMI08x)
endif()

target_link_libraries(${PROJECT_NAME} ${catkin_LIBRARIES})

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12 changes: 11 additions & 1 deletion src/imu/ImuFactory.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -4,7 +4,9 @@

#include <imu/ImuFactory.h>
#include <imu/adis16448.h>
#ifdef MAV_IMU_BUILD_BOSCH
#include <imu/bmi088.h>
#endif
#include <log++.h>
#include <memory>

Expand All @@ -24,7 +26,10 @@ ImuInterfacePtr ImuFactory::createImuByName(const std::string &imu_name,
if (adis->init() && adis->setBurstCRCEnabled(true)) { return adis; }
LOG(E, "Failed to initialize " << imu_name);
return nullptr;
} else if (imu_name == "bmi088") {
}

else if (imu_name == "bmi088") {
#ifdef MAV_IMU_BUILD_BOSCH
// Select the second Chip Select for the gyro.
// get the last letter of the string
char last_letter = spi_path[spi_path.length() - 1];
Expand All @@ -45,6 +50,11 @@ ImuInterfacePtr ImuFactory::createImuByName(const std::string &imu_name,
if (bmi->init()) { return bmi; }
LOG(E, "Failed to initialize " << imu_name);
return nullptr;

#else
LOG(E, "Compiled without Bosch BMI088 support");
return nullptr;
#endif
}

LOG(E, "Imu of type " << imu_name << " not supported");
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