Lely CANopen port

2022-10-21 16:30:18 +02:00 · 2022-10-21 16:30:18 +02:00 · 003dbe1837
commit 003dbe1837
parent 0a6539bfc5
6 changed files with 1182 additions and 0 deletions
--- a/canutils/lely-canopen/.gitignore
+++ b/canutils/lely-canopen/.gitignore
@ -0,0 +1,2 @@
+/lely-*
+/*.tar.gz
--- a/canutils/lely-canopen/0001-NuttX-port.patch
+++ b/canutils/lely-canopen/0001-NuttX-port.patch
@ -0,0 +1,512 @@
+From 2232cb2e64241fd56293a6bcc51365dd220bdd5d Mon Sep 17 00:00:00 2001
+From: raiden00pl <raiden00@railab.me>
+Date: Thu, 6 Oct 2022 15:12:49 +0200
+Subject: [PATCH] NuttX port   tools/coctl.c: eliminate multiple definitions of
+ poll error for flat address space systems
+
+  tools/coctl.c: use readline instead of getline
+
+  tools/coctl.c: fix printf warnings
+
+  fix compiler warnings related to 'struct __frbuf'
+
+     warning: 'struct __frbuf' declared inside parameter list will not be visible outside of this definition or declaration
+     warning: 'struct __fwbuf' declared inside parameter list will not be visible outside of this definition or declaration
+
+  src/io/poll.c: NuttX support
+
+  src/util/frbuf.c: NuttX support
+
+  src/util/fwbuf.c: NuttX support
+
+  src/can/socket.c: NuttX support
+
+  src/io/can.c: add support for NuttX
+---
+ include/lely/co/val.h |  2 +-
+ src/can/socket.c      |  7 +++-
+ src/io/can.c          | 93 ++++++++++++++++++++++++++++++++++++++++++-
+ src/io/poll.c         |  2 +-
+ src/util/frbuf.c      | 18 ++++-----
+ src/util/fwbuf.c      | 27 +++++++------
+ tools/coctl.c         | 22 +++++-----
+ 7 files changed, 134 insertions(+), 37 deletions(-)
+
+diff --git a/include/lely/co/val.h b/include/lely/co/val.h
+index 2629763d..b5cee564 100644
+--- a/include/lely/co/val.h
+++ b/include/lely/co/val.h
+@@ -28,7 +28,7 @@
+ #include <float.h>
+ #include <stddef.h>
+ 
+-#if !LELY_NO_CO_DCF || !LELY_NO_CO_OBJ_FILE
+#if !LELY_NO_STDIO
+ // The read file buffer from <lely/util/frbuf.h>
+ struct __frbuf;
+ // The write file buffer from <lely/util/fwbuf.h>
+diff --git a/src/can/socket.c b/src/can/socket.c
+index 4fc133dd..b059c849 100644
+--- a/src/can/socket.c
+++ b/src/can/socket.c
+@@ -39,6 +39,11 @@
+ #include <linux/can/error.h>
+ #endif
+ 
+#ifdef __NuttX__
+#include <nuttx/can.h>
+#include <netpacket/can.h>
+#endif
+
+ int
+ can_frame_is_error(const struct can_frame *frame, enum can_state *pstate,
+ 		enum can_error *perror)
+@@ -51,7 +56,7 @@ can_frame_is_error(const struct can_frame *frame, enum can_state *pstate,
+ 	enum can_state state = pstate ? *pstate : CAN_STATE_ACTIVE;
+ 	enum can_error error = perror ? *perror : 0;
+ 
+-#ifdef HAVE_LINUX_CAN_ERROR_H
+#if defined(HAVE_LINUX_CAN_ERROR_H) || defined(__NuttX__)
+ 	if (frame->can_dlc != CAN_ERR_DLC) {
+ 		set_errnum(ERRNUM_INVAL);
+ 		return -1;
+diff --git a/src/io/can.c b/src/io/can.c
+index ca7e7d95..35d9a9f2 100644
+--- a/src/io/can.c
+++ b/src/io/can.c
+@@ -26,7 +26,7 @@
+ #if !LELY_NO_STDIO
+ 
+ #include <lely/util/errnum.h>
+-#if !LELY_NO_CAN && defined(__linux__) && HAVE_LINUX_CAN_H
+#if !LELY_NO_CAN && ((defined(__linux__) && HAVE_LINUX_CAN_H) || defined(__NuttX__))
+ #include <lely/can/socket.h>
+ #endif
+ #include "handle.h"
+@@ -38,7 +38,7 @@
+ #include <assert.h>
+ #include <string.h>
+ 
+-#if defined(__linux__) && HAVE_LINUX_CAN_H
+#if (defined(__linux__) && HAVE_LINUX_CAN_H) || defined(__NuttX__)
+ 
+ #ifdef HAVE_LINUX_CAN_ERROR_H
+ #include <linux/can/error.h>
+@@ -56,6 +56,13 @@
+ #include <linux/can/raw.h>
+ #endif
+ 
+#ifdef __NuttX__
+#include <sys/ioctl.h>
+#include <nuttx/can.h>
+#include <netpacket/can.h>
+#include <net/if.h>
+#endif
+
+ /// A CAN device.
+ struct can {
+ 	/// The I/O device base handle.
+@@ -656,6 +663,88 @@ io_can_set_txqlen(io_handle_t handle, size_t txqlen)
+ 
+ #endif // HAVE_LINUX_CAN_NETLINK_H && HAVE_LINUX_RTNETLINK_H
+ 
+#if defined(__NuttX__)
+int
+io_can_get_ec(io_handle_t handle, uint16_t *ptxec, uint16_t *prxec)
+{
+  /* tx error count */
+
+  *ptxec = 0;
+
+  /* rx error count */
+
+  *prxec = 0;
+
+  return 0;
+}
+
+int
+io_can_get_bitrate(io_handle_t handle, uint32_t *pbitrate)
+{
+	if (!handle) {
+		errno = EBADF;
+		return -1;
+	}
+
+	if (handle->vtab != &can_vtab) {
+		errno = ENXIO;
+		return -1;
+	}
+	struct can *can = (struct can *)handle;
+  struct ifreq ifr;
+  if_indextoname(can->ifindex, ifr.ifr_name);
+
+  if (ioctl(handle->fd, SIOCGCANBITRATE, &ifr) == -1) {
+		return -1;
+	}
+
+  *pbitrate = ifr.ifr_ifru.ifru_can_data.arbi_bitrate * 1000;
+
+  return 0;
+}
+
+int
+io_can_set_bitrate(io_handle_t handle, uint32_t bitrate)
+{
+	if (!handle) {
+		errno = EBADF;
+		return -1;
+	}
+
+	if (handle->vtab != &can_vtab) {
+		errno = ENXIO;
+		return -1;
+	}
+	struct can *can = (struct can *)handle;
+  struct ifreq ifr;
+  if_indextoname(can->ifindex, ifr.ifr_name);
+
+  ifr.ifr_ifru.ifru_can_data.arbi_bitrate = bitrate / 1000;
+  ifr.ifr_ifru.ifru_can_data.data_bitrate = bitrate / 1000;
+  ifr.ifr_ifru.ifru_can_data.arbi_samplep = 0;
+  ifr.ifr_ifru.ifru_can_data.data_samplep = 0;
+
+  if (ioctl(handle->fd, SIOCSCANBITRATE, &ifr) == -1) {
+		return -1;
+	}
+
+  return 0;
+}
+
+int
+io_can_get_txqlen(io_handle_t handle, size_t *ptxqlen)
+{
+  return -1;
+}
+
+int
+io_can_set_txqlen(io_handle_t handle, size_t txqlen)
+{
+  return -1;
+}
+
+#endif // __NuttX__
+
+ static void
+ can_fini(struct io_handle *handle)
+ {
+diff --git a/src/io/poll.c b/src/io/poll.c
+index d474e337..e07b36ce 100644
+--- a/src/io/poll.c
+++ b/src/io/poll.c
+@@ -261,7 +261,7 @@ io_poll_watch(io_poll_t *poll, io_handle_t handle, struct io_event *event,
+ 
+ 	assert(handle->vtab);
+ 	switch (handle->vtab->type) {
+-#if defined(__linux__) && defined(HAVE_LINUX_CAN_H)
+#if (defined(__linux__) && defined(HAVE_LINUX_CAN_H)) || defined(__NuttX__)
+ 	case IO_TYPE_CAN:
+ #endif
+ #if _POSIX_C_SOURCE >= 200112L
+diff --git a/src/util/frbuf.c b/src/util/frbuf.c
+index 73a15bc8..403901a5 100644
+--- a/src/util/frbuf.c
+++ b/src/util/frbuf.c
+@@ -57,7 +57,7 @@ struct __frbuf {
+ 	HANDLE hFileMappingObject;
+ 	/// The base address of the file mapping.
+ 	LPVOID lpBaseAddress;
+-#elif _POSIX_C_SOURCE >= 200112L && !defined(__NEWLIB__)
+#elif _POSIX_C_SOURCE >= 200112L && !defined(__NEWLIB__) && !defined(__NuttX__)
+ 	/// The file descriptor.
+ 	int fd;
+ 	/// The base address of the current file mapping.
+@@ -75,7 +75,7 @@ struct __frbuf {
+ void *
+ __frbuf_alloc(void)
+ {
+-	void *ptr = malloc(sizeof(struct __frbuf));
+	void *ptr = zalloc(sizeof(struct __frbuf));
+ 	if (!ptr)
+ 		set_errc(errno2c(errno));
+ 	return ptr;
+@@ -102,7 +102,7 @@ __frbuf_init(struct __frbuf *buf, const char *filename)
+ 
+ 	buf->hFileMappingObject = INVALID_HANDLE_VALUE;
+ 	buf->lpBaseAddress = NULL;
+-#elif _POSIX_C_SOURCE >= 200112L && !defined(__NEWLIB__)
+#elif _POSIX_C_SOURCE >= 200112L && !defined(__NEWLIB__) && !defined(__NuttX__)
+ 	buf->fd = open(filename, O_RDONLY | O_CLOEXEC);
+ 	if (buf->fd == -1)
+ 		return NULL;
+@@ -125,7 +125,7 @@ __frbuf_fini(struct __frbuf *buf)
+ 
+ #if _WIN32
+ 	CloseHandle(buf->hFile);
+-#elif _POSIX_C_SOURCE >= 200112L && !defined(__NEWLIB__)
+#elif _POSIX_C_SOURCE >= 200112L && !defined(__NEWLIB__) && !defined(__NuttX__)
+ 	close(buf->fd);
+ #else
+ 	fclose(buf->stream);
+@@ -176,7 +176,7 @@ frbuf_get_size(frbuf_t *buf)
+ 	if (!GetFileSizeEx(buf->hFile, &FileSize))
+ 		return -1;
+ 	return FileSize.QuadPart;
+-#elif _POSIX_C_SOURCE >= 200112L && !defined(__NEWLIB__)
+#elif _POSIX_C_SOURCE >= 200112L && !defined(__NEWLIB__) && !defined(__NuttX__)
+ #ifdef __linux__
+ 	struct stat64 stat;
+ 	if (fstat64(buf->fd, &stat) == -1)
+@@ -221,7 +221,7 @@ frbuf_get_pos(frbuf_t *buf)
+ 	if (!SetFilePointerEx(buf->hFile, li, &li, FILE_CURRENT))
+ 		return -1;
+ 	return li.QuadPart;
+-#elif _POSIX_C_SOURCE >= 200112L && !defined(__NEWLIB__)
+#elif _POSIX_C_SOURCE >= 200112L && !defined(__NEWLIB__) && !defined(__NuttX__)
+ #ifdef __linux__
+ 	return lseek64(buf->fd, 0, SEEK_CUR);
+ #else
+@@ -250,7 +250,7 @@ frbuf_set_pos(frbuf_t *buf, intmax_t pos)
+ 	if (!SetFilePointerEx(buf->hFile, li, &li, FILE_BEGIN))
+ 		return -1;
+ 	return li.QuadPart;
+-#elif _POSIX_C_SOURCE >= 200112L && !defined(__NEWLIB__)
+#elif _POSIX_C_SOURCE >= 200112L && !defined(__NEWLIB__) && !defined(__NuttX__)
+ #ifdef __linux__
+ 	return lseek64(buf->fd, pos, SEEK_SET);
+ #else
+@@ -283,7 +283,7 @@ frbuf_read(frbuf_t *buf, void *ptr, size_t size)
+ 	if (!ReadFile(buf->hFile, ptr, size, &nNumberOfBytesRead, NULL))
+ 		return -1;
+ 	return nNumberOfBytesRead;
+-#elif _POSIX_C_SOURCE >= 200112L && !defined(__NEWLIB__)
+#elif _POSIX_C_SOURCE >= 200112L && !defined(__NEWLIB__) && !defined(__NuttX__)
+ 	ssize_t result;
+ 	do
+ 		result = read(buf->fd, ptr, size);
+@@ -347,7 +347,7 @@ error_ReadFile:
+ error_get_pos:
+ 	SetLastError(dwErrCode);
+ 	return result;
+-#elif _POSIX_C_SOURCE >= 200112L && !defined(__NEWLIB__)
+#elif _POSIX_C_SOURCE >= 200112L && !defined(__NEWLIB__) && !defined(__NuttX__)
+ 	ssize_t result;
+ #ifdef __linux__
+ 	do
+diff --git a/src/util/fwbuf.c b/src/util/fwbuf.c
+index 22c61fd7..26b7e03b 100644
+--- a/src/util/fwbuf.c
+++ b/src/util/fwbuf.c
+@@ -72,7 +72,7 @@ struct __fwbuf {
+ 	LPVOID lpBaseAddress;
+ 	/// The number of bytes mapped at <b>lpBaseAddress</b>.
+ 	SIZE_T dwNumberOfBytesToMap;
+-#elif _POSIX_C_SOURCE >= 200112L && !defined(__NEWLIB__)
+#elif _POSIX_C_SOURCE >= 200112L && !defined(__NEWLIB__) && !defined(__NuttX__)
+ 	/// A pointer to the name of the temporary file.
+ 	char *tmpname;
+ 	/// The file descriptor of the directory containing the temporary file.
+@@ -175,7 +175,7 @@ error_GetTempFileNameA:
+ error_strdup:
+ 	SetLastError(dwErrCode);
+ 	return NULL;
+-#elif _POSIX_C_SOURCE >= 200112L && !defined(__NEWLIB__)
+#elif _POSIX_C_SOURCE >= 200112L && !defined(__NEWLIB__) && !defined(__NuttX__)
+ 	int errsv = 0;
+ 
+ 	buf->filename = strdup(filename);
+@@ -295,7 +295,7 @@ __fwbuf_fini(struct __fwbuf *buf)
+ 	fwbuf_commit(buf);
+ 	set_errc(errc);
+ 
+-#if _POSIX_C_SOURCE >= 200112L && !defined(__NEWLIB__)
+#if _POSIX_C_SOURCE >= 200112L && !defined(__NEWLIB__) && !defined(__NuttX__)
+ 	free(buf->tmpname);
+ #endif
+ 	free(buf->filename);
+@@ -348,7 +348,7 @@ fwbuf_get_size(fwbuf_t *buf)
+ 		return -1;
+ 	}
+ 	return FileSize.QuadPart;
+-#elif _POSIX_C_SOURCE >= 200112L && !defined(__NEWLIB__)
+#elif _POSIX_C_SOURCE >= 200112L && !defined(__NEWLIB__) && !defined(__NuttX__)
+ #ifdef __linux__
+ 	struct stat64 stat;
+ 	if (fstat64(buf->fd, &stat) == -1) {
+@@ -388,7 +388,7 @@ fwbuf_set_size(fwbuf_t *buf, intmax_t size)
+ 		return -1;
+ 
+ 	return 0;
+-#elif _POSIX_C_SOURCE >= 200112L && !defined(__NEWLIB__)
+#elif _POSIX_C_SOURCE >= 200112L && !defined(__NEWLIB__) && !defined(__NuttX__)
+ #ifdef __linux__
+ 	if (ftruncate64(buf->fd, size) == -1) {
+ #else
+@@ -424,7 +424,7 @@ fwbuf_get_pos(fwbuf_t *buf)
+ 		return -1;
+ 	}
+ 	return li.QuadPart;
+-#elif _POSIX_C_SOURCE >= 200112L && !defined(__NEWLIB__)
+#elif _POSIX_C_SOURCE >= 200112L && !defined(__NEWLIB__) && !defined(__NuttX__)
+ #ifdef __linux__
+ 	intmax_t pos = lseek64(buf->fd, 0, SEEK_CUR);
+ #else
+@@ -456,7 +456,8 @@ fwbuf_set_pos(fwbuf_t *buf, intmax_t pos)
+ 		return -1;
+ 	}
+ 	return li.QuadPart;
+-#elif _POSIX_C_SOURCE >= 200112L && !defined(__NEWLIB__)
+/* #elif _POSIX_C_SOURCE >= 200112L && !defined(__NEWLIB__) */
+#elif  !defined(__NuttX__)
+ #ifdef __linux__
+ 	pos = lseek64(buf->fd, pos, SEEK_SET);
+ #else
+@@ -503,7 +504,7 @@ fwbuf_write(fwbuf_t *buf, const void *ptr, size_t size)
+ 		return -1;
+ 	}
+ 	return nNumberOfBytesWritten;
+-#elif _POSIX_C_SOURCE >= 200112L && !defined(__NEWLIB__)
+#elif _POSIX_C_SOURCE >= 200112L && !defined(__NEWLIB__) && !defined(__NuttX__)
+ 	ssize_t result;
+ 	do
+ 		result = write(buf->fd, ptr, size);
+@@ -587,7 +588,7 @@ error_get_pos:
+ error_pos:
+ 	SetLastError(buf->dwErrCode);
+ 	return result;
+-#elif _POSIX_C_SOURCE >= 200112L && !defined(__NEWLIB__)
+#elif _POSIX_C_SOURCE >= 200112L && !defined(__NEWLIB__) && !defined(__NuttX__)
+ 	ssize_t result;
+ #ifdef __linux__
+ 	do
+@@ -931,7 +932,7 @@ fwbuf_clearerr(fwbuf_t *buf)
+ 
+ #if _WIN32
+ 	buf->dwErrCode = 0;
+-#elif _POSIX_C_SOURCE >= 200112L && !defined(__NEWLIB__)
+#elif _POSIX_C_SOURCE >= 200112L && !defined(__NEWLIB__) && !defined(__NuttX__)
+ 	buf->errsv = 0;
+ #else
+ 	buf->errnum = 0;
+@@ -947,7 +948,7 @@ fwbuf_error(fwbuf_t *buf)
+ 	if (buf->dwErrCode)
+ 		SetLastError(buf->dwErrCode);
+ 	return !!buf->dwErrCode;
+-#elif _POSIX_C_SOURCE >= 200112L && !defined(__NEWLIB__)
+#elif _POSIX_C_SOURCE >= 200112L && !defined(__NEWLIB__) && !defined(__NuttX__)
+ 	if (buf->errsv)
+ 		errno = buf->errsv;
+ 	return !!buf->errsv;
+@@ -966,7 +967,7 @@ fwbuf_cancel(fwbuf_t *buf)
+ #if _WIN32
+ 	if (!buf->dwErrCode)
+ 		buf->dwErrCode = ERROR_OPERATION_ABORTED;
+-#elif _POSIX_C_SOURCE >= 200112L && !defined(__NEWLIB__)
+#elif _POSIX_C_SOURCE >= 200112L && !defined(__NEWLIB__) && !defined(__NuttX__)
+ 	if (!buf->errsv)
+ 		buf->errsv = ECANCELED;
+ #else
+@@ -1013,7 +1014,7 @@ fwbuf_commit(fwbuf_t *buf)
+ done:
+ 	SetLastError(buf->dwErrCode = dwErrCode);
+ 	return result;
+-#elif _POSIX_C_SOURCE >= 200112L && !defined(__NEWLIB__)
+#elif _POSIX_C_SOURCE >= 200112L && !defined(__NEWLIB__) && !defined(__NuttX__)
+ 	int errsv = errno;
+ 
+ 	if (buf->fd == -1)
+diff --git a/tools/coctl.c b/tools/coctl.c
+index 351b81c0..5f851b50 100644
+--- a/tools/coctl.c
+++ b/tools/coctl.c
+@@ -39,6 +39,9 @@
+ #include <signal.h>
+ #include <stdlib.h>
+ #include <string.h>
+#include <inttypes.h>
+
+#include <system/readline.h>
+ 
+ #if _WIN32
+ #include <io.h>
+@@ -90,7 +93,7 @@ int io_thrd_start(void *arg);
+ void co_net_err(struct co_net *net);
+ 
+ struct co_net net[CO_GW_NUM_NET];
+-io_poll_t *poll;
+static io_poll_t *poll;
+ 
+ int flags;
+ int inhibit = INHIBIT;
+@@ -315,8 +318,8 @@ main(int argc, char *argv[])
+ 	errno = errsv;
+ 	int eof = 0;
+ 
+-	char *line = NULL;
+-	size_t n = 0;
+#define LINE_SIZE 100
+	char line[LINE_SIZE];
+ 	co_unsigned32_t seq = 1;
+ 	char *cmd = NULL;
+ 	while (!done) {
+@@ -358,11 +361,11 @@ main(int argc, char *argv[])
+ 			if (cmd)
+ 				printf("... ");
+ 			else
+-				printf("[%u] ", seq);
+				printf("[%" PRIu32 "] ", seq);
+ 			fflush(stdout);
+ 		}
+ 		// Keep reading lines until end-of-file.
+-		if (getline(&line, &n, stdin) == -1) {
+		if (readline(line, LINE_SIZE-1, stdin, stdout) == -1) {
+ 			if (tty)
+ 				fputc('\n', stdout);
+ 			if (ferror(stdin)) {
+@@ -409,7 +412,7 @@ main(int argc, char *argv[])
+ 				free(cmd);
+ 				cmd = tmp;
+ 			} else {
+-				if (asprintf(&cmd, "[%u] %s", seq, line)
+				if (asprintf(&cmd, "[%" PRIu32 "] %s", seq, line)
+ 						== -1) {
+ 					cmd = NULL;
+ 					break;
+@@ -431,7 +434,7 @@ main(int argc, char *argv[])
+ 					result = asprintf(&tmp, "%s%s%s",
+ 							recv_buf, cmd, line);
+ 				else
+-					result = asprintf(&tmp, "%s[%u] %s",
+					result = asprintf(&tmp, "%s[%" PRIu32 "] %s",
+ 							recv_buf, seq, line);
+ 				if (result < 0) {
+ 					mtx_unlock(&recv_mtx);
+@@ -444,7 +447,7 @@ main(int argc, char *argv[])
+ 					result = asprintf(&recv_buf, "%s%s",
+ 							cmd, line);
+ 				else
+-					result = asprintf(&recv_buf, "[%u] %s",
+					result = asprintf(&recv_buf, "[%" PRIu32 "] %s",
+ 							seq, line);
+ 				if (result < 0) {
+ 					recv_buf = NULL;
+@@ -466,7 +469,6 @@ main(int argc, char *argv[])
+ 		}
+ 	}
+ 	free(cmd);
+-	free(line);
+ 
+ 	io_poll_signal(poll, 1);
+ 	thrd_join(thr, NULL);
+@@ -561,7 +563,7 @@ gw_rate(co_unsigned16_t id, co_unsigned16_t rate, void *data)
+ 		return;
+ 	bitrate = rate * 1000;
+ 	if (io_can_set_bitrate(net[id - 1].handle, bitrate) == -1)
+-		diag(DIAG_ERROR, 0, "unable to set bitrate of %s to %u bit/s",
+		diag(DIAG_ERROR, 0, "unable to set bitrate of %s to %" PRIu32 " bit/s",
+ 				net[id - 1].can_path, bitrate);
+ }
+ 
+-- 
+2.37.2
+
--- a/canutils/lely-canopen/Kconfig
+++ b/canutils/lely-canopen/Kconfig
@ -0,0 +1,170 @@
+menuconfig CANUTILS_LELYCANOPEN
+	bool "Lely CANopen support"
+	default n
+	---help---
+		Enable the Lely CANopen build
+
+if CANUTILS_LELYCANOPEN
+
+config CANUTILS_LELYCANOPEN_URL
+	string "URL where Lely CANopen can be downloaded"
+	default "https://gitlab.com/lely_industries/lely-core/-/archive/master/"
+
+config CANUTILS_LELYCANOPEN_VERSION
+	string "Version number"
+	default "a2ecf70b76a42c25c5338d86e85250bf16fd7023"
+
+menu "Lely CANopen configuration"
+
+config CANUTILS_LELYCANOPEN_CANFD
+	bool "Lely CANopen enable CAN FD support"
+	default n
+
+config CANUTILS_LELYCANOPEN_DIAG
+	bool "Lely CANopen enable diagnostic functions"
+	default n
+
+config CANUTILS_LELYCANOPEN_DCF
+	bool "Lely CANopen enable EDS/DCF support"
+	default n
+
+config CANUTILS_LELYCANOPEN_OBJDEFAULT
+	bool "Lely CANopen enable default values in the object dictionary"
+	default n
+
+config CANUTILS_LELYCANOPEN_OBJFILE
+	bool "Lely CANopen enable file support in the object dictionary"
+	default n
+
+config CANUTILS_LELYCANOPEN_OBJLIMITS
+	bool "Lely CANopen enable limit values in the object dictionary"
+	default n
+
+config CANUTILS_LELYCANOPEN_OBJNAME
+	bool "Lely CANopen enable names in the object dictionary"
+	default n
+
+config CANUTILS_LELYCANOPEN_OBJUPLOAD
+	bool "Lely CANopen enable upload indication functions in the object dictionary"
+	default n
+
+config CANUTILS_LELYCANOPEN_SDEV
+	bool "Lely CANopen enable static device description support"
+	default n
+
+config CANUTILS_LELYCANOPEN_CSDO
+	bool "Lely CANopen enable Client-SDO support"
+	default n
+
+config CANUTILS_LELYCANOPEN_RPDO
+	bool "Lely CANopen enable Receive-PDO support"
+	default n
+
+config CANUTILS_LELYCANOPEN_TPDO
+	bool "Lely CANopen enable Transmit-PDO support"
+	default n
+
+config CANUTILS_LELYCANOPEN_MPDO
+	bool "Lely CANopen enable Multiplex PDO support"
+	default n
+
+config CANUTILS_LELYCANOPEN_SYNC
+	bool "Lely CANopen enable SYNC support"
+	default n
+
+config CANUTILS_LELYCANOPEN_TIME
+	bool "Lely CANopen enable TIME support"
+	default n
+
+config CANUTILS_LELYCANOPEN_EMCY
+	bool "Lely CANopen enable EMCY support"
+	default n
+
+config CANUTILS_LELYCANOPEN_LSS
+	bool "Lely CANopen enable LSS support"
+	default n
+
+config CANUTILS_LELYCANOPEN_WTM
+	bool "Lely CANopen enable WTM support"
+	default n
+
+config CANUTILS_LELYCANOPEN_MASTER
+	bool "Lely CANopen enable MASTER support"
+	default n
+
+config CANUTILS_LELYCANOPEN_NG
+	bool "Lely CANopen enable node guardian support"
+	default n
+
+config CANUTILS_LELYCANOPEN_NMTBOOT
+	bool "Lely CANopen enable NMT boot slave support"
+	default n
+
+config CANUTILS_LELYCANOPEN_NMTCFG
+	bool "Lely CANopen enable NMT configuration request support"
+	default n
+
+config CANUTILS_LELYCANOPEN_GW
+	bool "Lely CANopen enable gateway support"
+	default n
+
+config CANUTILS_LELYCANOPEN_GW_TXT
+	bool "Lely CANopen enable ASCII gateway support"
+	default n
+
+if HAVE_CXX
+
+config CANUTILS_LELYCANOPEN_COAPP_MASTER
+	bool "Lely CANopen C++ CANopen application master support"
+	default n
+
+config CANUTILS_LELYCANOPEN_COAPP_SLAVE
+	bool "Lely CANopen C++ CANopen application slave support"
+	default n
+
+endif # HAVE_CXX
+
+config CANUTILS_LELYCANOPEN_IOLIB
+	bool "Lely CANopen IO lib"
+	default n
+	depends on NET_CAN
+	select NETDEV_IFINDEX
+	select NET_CAN_SOCK_OPTS
+	select PIPES
+
+endmenu # "Lely CANopen configuration"
+
+menu "Lely CANopen tools"
+
+config CANUTILS_LELYCANOPEN_TOOLS_COCTL
+	bool "coctl"
+	depends on SERIAL_TERMIOS
+	depends on SYSTEM_READLINE
+	default n
+	select CANUTILS_LELYCANOPEN_IOLIB
+	select CANUTILS_LELYCANOPEN_DIAG
+	select CANUTILS_LELYCANOPEN_GW
+	select CANUTILS_LELYCANOPEN_DCF
+	select CANUTILS_LELYCANOPEN_OBJNAME
+	select CANUTILS_LELYCANOPEN_GW_TXT
+	select CANUTILS_LELYCANOPEN_EMCY
+	select CANUTILS_LELYCANOPEN_RPDO
+	select CANUTILS_LELYCANOPEN_TPDO
+	select CANUTILS_LELYCANOPEN_SYNC
+	select CANUTILS_LELYCANOPEN_CSDO
+
+if CANUTILS_LELYCANOPEN_TOOLS_COCTL
+
+config CANUTILS_LELYCANOPEN_TOOLS_COCTL_PRIORITY
+	int "coctl task priority"
+	default 100
+
+config CANUTILS_LELYCANOPEN_TOOLS_COCTL_STACKSIZE
+	int "coctl stack size"
+	default DEFAULT_TASK_STACKSIZE
+
+endif #CANUTILS_LELYCANOPEN_TOOLS_COCTL
+
+endmenu # "Lely CANopen tools"
+
+endif # CANUTILS_LELYCANOPEN
--- a/canutils/lely-canopen/Make.defs
+++ b/canutils/lely-canopen/Make.defs
@ -0,0 +1,28 @@
+############################################################################
+# apps/canutils/lelycanopen/Make.defs
+#
+# Licensed to the Apache Software Foundation (ASF) under one or more
+# contributor license agreements.  See the NOTICE file distributed with
+# this work for additional information regarding copyright ownership.  The
+# ASF licenses this file to you under the Apache License, Version 2.0 (the
+# "License"); you may not use this file except in compliance with the
+# License.  You may obtain a copy of the License at
+#
+#   http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
+# WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.  See the
+# License for the specific language governing permissions and limitations
+# under the License.
+#
+############################################################################
+
+ifneq ($(CONFIG_CANUTILS_LELYCANOPEN),)
+CONFIGURED_APPS += $(APPDIR)/canutils/lely-canopen
+
+# It allows `<lely/xxx.h>` import.
+
+CFLAGS += ${shell $(INCDIR) $(INCDIROPT) "$(CC)" $(APPDIR)/canutils/lely-canopen/lely-core/include}
+CXXFLAGS += ${shell $(INCDIR) $(INCDIROPT) "$(CC)" $(APPDIR)/canutils/lely-canopen/lely-core/include}
+endif
--- a/canutils/lely-canopen/Makefile
+++ b/canutils/lely-canopen/Makefile
@ -0,0 +1,192 @@
+############################################################################
+# apps/canutils/lely-canopen/Makefile
+#
+# Licensed to the Apache Software Foundation (ASF) under one or more
+# contributor license agreements.  See the NOTICE file distributed with
+# this work for additional information regarding copyright ownership.  The
+# ASF licenses this file to you under the Apache License, Version 2.0 (the
+# "License"); you may not use this file except in compliance with the
+# License.  You may obtain a copy of the License at
+#
+#   http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
+# WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.  See the
+# License for the specific language governing permissions and limitations
+# under the License.
+#
+###########################################################################
+
+# Standard includes
+
+include $(APPDIR)/Make.defs
+
+# Set up build configuration and environment
+
+WD := ${shell echo $(CURDIR) | sed -e 's/ /\\ /g'}
+
+LELYCANOPEN_VERSION = $(patsubst "%",%,$(strip $(CONFIG_CANUTILS_LELYCANOPEN_VERSION)))
+
+LELYCANOPEN_TARBALL = lely-core-$(LELYCANOPEN_VERSION).tar.gz
+LELYCANOPEN_UNPACKNAME = lely-core-master-$(LELYCANOPEN_VERSION)
+LELYCANOPEN_SRCNAME = lely-core
+UNPACK ?= tar -zxf
+LELYCANOPEN_SRCDIR = $(WD)/$(LELYCANOPEN_SRCNAME)
+
+# CAN network object
+
+CSRCS += $(LELYCANOPEN_SRCDIR)/src/can/buf.c
+CSRCS += $(LELYCANOPEN_SRCDIR)/src/can/msg.c
+CSRCS += $(LELYCANOPEN_SRCDIR)/src/can/vci.c
+CSRCS += $(LELYCANOPEN_SRCDIR)/src/can/net.c
+
+# CANopen library
+
+CSRCS += $(LELYCANOPEN_SRCDIR)/src/co/crc.c
+CSRCS += $(LELYCANOPEN_SRCDIR)/src/co/dev.c
+CSRCS += $(LELYCANOPEN_SRCDIR)/src/co/nmt.c
+CSRCS += $(LELYCANOPEN_SRCDIR)/src/co/nmt_hb.c
+CSRCS += $(LELYCANOPEN_SRCDIR)/src/co/nmt_srv.c
+CSRCS += $(LELYCANOPEN_SRCDIR)/src/co/obj.c
+CSRCS += $(LELYCANOPEN_SRCDIR)/src/co/pdo.c
+CSRCS += $(LELYCANOPEN_SRCDIR)/src/co/sdo.c
+CSRCS += $(LELYCANOPEN_SRCDIR)/src/co/ssdo.c
+CSRCS += $(LELYCANOPEN_SRCDIR)/src/co/type.c
+CSRCS += $(LELYCANOPEN_SRCDIR)/src/co/val.c
+
+ifeq ($(CONFIG_CANUTILS_LELYCANOPEN_TIME),y)
+CSRCS += $(LELYCANOPEN_SRCDIR)/src/co/time.c
+endif
+
+ifeq ($(CONFIG_CANUTILS_LELYCANOPEN_CSDO),y)
+CSRCS += $(LELYCANOPEN_SRCDIR)/src/co/csdo.c
+endif
+
+ifeq ($(CONFIG_CANUTILS_LELYCANOPEN_DCF),y)
+CSRCS += $(LELYCANOPEN_SRCDIR)/src/co/dcf.c
+endif
+
+ifeq ($(CONFIG_CANUTILS_LELYCANOPEN_EMCY),y)
+CSRCS += $(LELYCANOPEN_SRCDIR)/src/co/emcy.c
+endif
+
+ifeq ($(CONFIG_CANUTILS_LELYCANOPEN_GW),y)
+CSRCS += $(LELYCANOPEN_SRCDIR)/src/co/gw.c
+endif
+
+ifeq ($(CONFIG_CANUTILS_LELYCANOPEN_GW_TXT),y)
+CSRCS += $(LELYCANOPEN_SRCDIR)/src/co/gw_txt.c
+endif
+
+ifeq ($(CONFIG_CANUTILS_LELYCANOPEN_LSS),y)
+CSRCS += $(LELYCANOPEN_SRCDIR)/src/co/lss.c
+endif
+
+ifeq ($(CONFIG_CANUTILS_LELYCANOPEN_NMTBOOT),y)
+CSRCS += $(LELYCANOPEN_SRCDIR)/src/co/nmt_boot.c
+endif
+
+ifeq ($(CONFIG_CANUTILS_LELYCANOPEN_NMTCFG),y)
+CSRCS += $(LELYCANOPEN_SRCDIR)/src/co/nmt_cfg.c
+endif
+
+ifeq ($(CONFIG_CANUTILS_LELYCANOPEN_RPDO),y)
+CSRCS += $(LELYCANOPEN_SRCDIR)/src/co/rpdo.c
+endif
+
+ifeq ($(CONFIG_CANUTILS_LELYCANOPEN_SDEV),y)
+CSRCS += $(LELYCANOPEN_SRCDIR)/src/co/sdev.c
+endif
+
+ifeq ($(CONFIG_CANUTILS_LELYCANOPEN_SYNC),y)
+CSRCS += $(LELYCANOPEN_SRCDIR)/src/co/sync.c
+endif
+
+ifeq ($(CONFIG_CANUTILS_LELYCANOPEN_TPDO),y)
+CSRCS += $(LELYCANOPEN_SRCDIR)/src/co/tpdo.c
+endif
+
+ifeq ($(CONFIG_CANUTILS_LELYCANOPEN_WTM),y)
+CSRCS += $(LELYCANOPEN_SRCDIR)/src/co/wtm.c
+endif
+
+# utils
+
+ifeq ($(CONFIG_CANUTILS_LELYCANOPEN_DIAG),y)
+CSRCS += $(LELYCANOPEN_SRCDIR)/src/util/diag.c
+endif
+
+CSRCS += $(LELYCANOPEN_SRCDIR)/src/util/bits.c
+CSRCS += $(LELYCANOPEN_SRCDIR)/src/util/bitset.c
+CSRCS += $(LELYCANOPEN_SRCDIR)/src/util/cmp.c
+CSRCS += $(LELYCANOPEN_SRCDIR)/src/util/config.c
+CSRCS += $(LELYCANOPEN_SRCDIR)/src/util/config_ini.c
+CSRCS += $(LELYCANOPEN_SRCDIR)/src/util/dllist.c
+CSRCS += $(LELYCANOPEN_SRCDIR)/src/util/endian.c
+CSRCS += $(LELYCANOPEN_SRCDIR)/src/util/errnum.c
+CSRCS += $(LELYCANOPEN_SRCDIR)/src/util/frbuf.c
+CSRCS += $(LELYCANOPEN_SRCDIR)/src/util/fwbuf.c
+CSRCS += $(LELYCANOPEN_SRCDIR)/src/util/lex.c
+CSRCS += $(LELYCANOPEN_SRCDIR)/src/util/membuf.c
+CSRCS += $(LELYCANOPEN_SRCDIR)/src/util/pheap.c
+CSRCS += $(LELYCANOPEN_SRCDIR)/src/util/print.c
+CSRCS += $(LELYCANOPEN_SRCDIR)/src/util/rbtree.c
+CSRCS += $(LELYCANOPEN_SRCDIR)/src/util/stop.c
+CSRCS += $(LELYCANOPEN_SRCDIR)/src/util/time.c
+CSRCS += $(LELYCANOPEN_SRCDIR)/src/util/ustring.c
+
+# Lely IO lib
+
+ifeq ($(CONFIG_CANUTILS_LELYCANOPEN_IOLIB),y)
+CSRCS += $(LELYCANOPEN_SRCDIR)/src/io/handle.c
+CSRCS += $(LELYCANOPEN_SRCDIR)/src/io/io.c
+CSRCS += $(LELYCANOPEN_SRCDIR)/src/io/pipe.c
+CSRCS += $(LELYCANOPEN_SRCDIR)/src/io/poll.c
+CSRCS += $(LELYCANOPEN_SRCDIR)/src/io2/posix/poll.c
+CSRCS += $(LELYCANOPEN_SRCDIR)/src/io2/ctx.c
+CSRCS += $(LELYCANOPEN_SRCDIR)/src/io/can.c
+CSRCS += $(LELYCANOPEN_SRCDIR)/src/can/socket.c
+endif
+
+# enable config.h
+
+CFLAGS += ${shell $(INCDIR) "$(CC)" $(APPDIR)/include/canutils/lely}
+CFLAGS += -DHAVE_CONFIG_H=1
+
+CFLAGS += -Wno-shadow -Wno-undef
+
+MODULE = $(CONFIG_CANUTILS_LELYCANOPEN)
+
+# Lely CANopen tools
+
+ifeq ($(CONFIG_CANUTILS_LELYCANOPEN_TOOLS_COCTL),y)
+PROGNAME   = coctl
+PRIORITY   = $(CONFIG_CANUTILS_LELYCANOPEN_TOOLS_COCTL_PRIORITY)
+STACKSIZE  = $(CONFIG_CANUTILS_LELYCANOPEN_TOOLS_COCTL_STACKSIZE)
+MAINSRC    = $(LELYCANOPEN_SRCDIR)/tools/coctl.c
+endif
+
+# Download and unpack tarball if no git repo found
+ifeq ($(wildcard $(LELYCANOPEN_SRCNAME)/.git),)
+$(LELYCANOPEN_TARBALL):
+	@echo "Downloading: $(LELYCANOPEN_TARBALL)"
+	$(Q) curl -L -O $(CONFIG_CANUTILS_LELYCANOPEN_URL)/$(LELYCANOPEN_TARBALL)
+
+$(LELYCANOPEN_SRCNAME): $(LELYCANOPEN_TARBALL)
+	@echo "Unpacking: $(LELYCANOPEN_TARBALL) -> $(LELYCANOPEN_UNPACKNAME)"
+	$(Q) $(UNPACK) $(LELYCANOPEN_TARBALL)
+	$(Q) mv $(LELYCANOPEN_UNPACKNAME) $(LELYCANOPEN_SRCNAME)
+	$(Q) cat 0001-NuttX-port.patch | patch -s -N -d $(LELYCANOPEN_SRCNAME) -p1
+	$(Q) echo "Patching $(LELYCANOPEN_SRCNAME)"
+endif
+
+context:: $(LELYCANOPEN_SRCNAME)
+
+distclean::
+ifeq ($(wildcard $(LELYCANOPEN_SRCNAME)/.git),)
+	$(call DELDIR, $(LELYCANOPEN_SRCNAME))
+	$(call DELFILE, $(LELYCANOPEN_TARBALL))
+endif
+
+include $(APPDIR)/Application.mk
--- a/include/canutils/lely/config.h
+++ b/include/canutils/lely/config.h
@ -0,0 +1,278 @@
+/****************************************************************************
+ * apps/canutils/lely/config.h
+ *
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements.  See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership.  The
+ * ASF licenses this file to you under the Apache License, Version 2.0 (the
+ * "License"); you may not use this file except in compliance with the
+ * License.  You may obtain a copy of the License at
+ *
+ *   http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
+ * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.  See the
+ * License for the specific language governing permissions and limitations
+ * under the License.
+ *
+ ****************************************************************************/
+
+#ifndef __CANUTILS_LELY_CONFIG_H
+#define __CANUTILS_LELY_CONFIG_H
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <nuttx/config.h>
+
+/****************************************************************************
+ * Pre-processor Definitions
+ ****************************************************************************/
+
+/* General NuttX port configuration */
+
+#define _WIN32                 0
+#define _WIN64                 0
+#define LELY_NO_ERRNO          0
+#define LELY_NO_MALLOC         0
+#define LELY_NO_THREADS        0
+#define LELY_NO_STDIO          0
+#define LELY_NO_ATOMICS        0
+#define HAVE_SYS_IOCTL_H       1
+#define LELY_HAVE_ITIMERSPEC   1
+#define LELY_HAVE_SYS_TYPES_H  1
+#define LELY_HAVE_STRINGS_H    1
+#define LELY_HAVE_UCHAR_H      0
+#define _POSIX_C_SOURCE        200112L
+
+/* --disable-daemon */
+
+#define LELY_NO_DAEMON 1
+
+/* --disable-cxx */
+
+#ifdef CONFIG_HAVE_CXX
+#  define LELY_NO_CXX 0
+#else
+#  define LELY_NO_CXX 1
+#endif
+
+/* SocketCAN support */
+
+#ifdef CONFIG_NET_CAN
+#  define LELY_HAVE_SOCKET_CAN 1
+#else
+#  define LELY_HAVE_SOCKET_CAN 0
+#endif
+
+/* --disable-canfd */
+
+#ifdef CONFIG_CANUTILS_LELYCANOPEN_CANFD
+#  define LELY_NO_CANFD 1
+#else
+#  define LELY_NO_CANFD 0
+#endif
+
+/* --disable-diag */
+
+#ifdef CONFIG_CANUTILS_LELYCANOPEN_DIAG
+#  define LELY_NO_DIAG 0
+#else
+#  define LELY_NO_DIAG 1
+#endif
+
+/* --disable-dcf */
+
+#ifdef CONFIG_CANUTILS_LELYCANOPEN_DCF
+#  define LELY_NO_CO_DCF 0
+#else
+#  define LELY_NO_CO_DCF 1
+#endif
+
+/* --disable-obj-default */
+
+#ifdef CONFIG_CANUTILS_LELYCANOPEN_OBJDEFAULT
+#  define LELY_NO_CO_OBJ_DEFAULT 0
+#else
+#  define LELY_NO_CO_OBJ_DEFAULT 1
+#endif
+
+/* --disable-obj-file */
+
+#ifdef CONFIG_CANUTILS_LELYCANOPEN_OBJFILE
+#  define LELY_NO_CO_OBJ_FILE 0
+#else
+#  define LELY_NO_CO_OBJ_FILE 1
+#endif
+
+/* --disable-obj-limits */
+
+#ifdef CONFIG_CANUTILS_LELYCANOPEN_OBJLIMITS
+#  define LELY_NO_CO_OBJ_LIMITS 0
+#else
+#  define LELY_NO_CO_OBJ_LIMITS 1
+#endif
+
+/* --disable-obj-name */
+
+#ifdef CONFIG_CANUTILS_LELYCANOPEN_OBJNAME
+#  define LELY_NO_CO_OBJ_NAME 0
+#else
+#  define LELY_NO_CO_OBJ_NAME 1
+#endif
+
+/* --disable-obj-upload */
+
+#ifdef CONFIG_CANUTILS_LELYCANOPEN_OBJUPLOAD
+#  define LELY_NO_CO_OBJ_UPLOAD 0
+#else
+#  define LELY_NO_CO_OBJ_UPLOAD 1
+#endif
+
+/* --disable-sdev */
+
+#ifdef CONFIG_CANUTILS_LELYCANOPEN_SDEV
+#  define LELY_NO_CO_SDEV 0
+#else
+#  define LELY_NO_CO_SDEV 1
+#endif
+
+/* --disable-csdo */
+
+#ifdef CONFIG_CANUTILS_LELYCANOPEN_CSDO
+#  define LELY_NO_CO_CSDO 0
+#else
+#  define LELY_NO_CO_CSDO 1
+#endif
+
+/* --disable-rpdo */
+
+#ifdef CONFIG_CANUTILS_LELYCANOPEN_RPDO
+#  define LELY_NO_CO_RPDO 0
+#else
+#  define LELY_NO_CO_RPDO 1
+#endif
+
+/* --disable-tpdo */
+
+#ifdef CONFIG_CANUTILS_LELYCANOPEN_TPDO
+#  define LELY_NO_CO_TPDO 0
+#else
+#  define LELY_NO_CO_TPDO 1
+#endif
+
+/* --disable-mpdo */
+
+#ifdef CONFIG_CANUTILS_LELYCANOPEN_MPDO
+#  define LELY_NO_CO_MPDO 0
+#else
+#  define LELY_NO_CO_MPDO 1
+#endif
+
+/* --disable-sync */
+
+#ifdef CONFIG_CANUTILS_LELYCANOPEN_SYNC
+#  define LELY_NO_CO_SYNC 0
+#else
+#  define LELY_NO_CO_SYNC 1
+#endif
+
+/* --disable-time */
+
+#ifdef CONFIG_CANUTILS_LELYCANOPEN_TIME
+#  define LELY_NO_CO_TIME 0
+#else
+#  define LELY_NO_CO_TIME 1
+#endif
+
+/* --disable-emcy */
+
+#ifdef CONFIG_CANUTILS_LELYCANOPEN_EMCY
+#  define LELY_NO_CO_EMCY 0
+#else
+#  define LELY_NO_CO_EMCY 1
+#endif
+
+/* --disable-lss */
+
+#ifdef CONFIG_CANUTILS_LELYCANOPEN_LSS
+#  define LELY_NO_CO_LSS 0
+#else
+#  define LELY_NO_CO_LSS 1
+#endif
+
+/* --disable-wtm */
+
+#ifdef CONFIG_CANUTILS_LELYCANOPEN_WTM
+#  define LELY_NO_CO_WTM 0
+#else
+#  define LELY_NO_CO_WTM 1
+#endif
+
+/* --disable-master */
+
+#ifdef CONFIG_CANUTILS_LELYCANOPEN_MASTER
+#  define LELY_NO_CO_MASTER 0
+#else
+#  define LELY_NO_CO_MASTER 1
+#endif
+
+/* --disable-ng */
+
+#ifdef CONFIG_CANUTILS_LELYCANOPEN_NG
+#  define LELY_NO_CO_NG 0
+#else
+#  define LELY_NO_CO_NG 1
+#endif
+
+/* --disable-nmt-boot */
+
+#ifdef CONFIG_CANUTILS_LELYCANOPEN_NMTBOOT
+#  define LELY_NO_CO_NMT_BOOT 0
+#else
+#  define LELY_NO_CO_NMT_BOOT 1
+#endif
+
+/* --disable-nmt-cfg */
+
+#ifdef CONFIG_CANUTILS_LELYCANOPEN_NMTCFG
+#  define LELY_NO_CO_NMT_CFG 0
+#else
+#  define LELY_NO_CO_NMT_CFG 1
+#endif
+
+/* --disable-gw */
+
+#ifdef CONFIG_CANUTILS_LELYCANOPEN_GW
+#  define LELY_NO_CO_GW 0
+#else
+#  define LELY_NO_CO_GW 1
+#endif
+
+/* --disable-gw-txt */
+
+#ifdef CONFIG_CANUTILS_LELYCANOPEN_GW_TXT
+#  define LELY_NO_CO_GW_TXT 0
+#else
+#  define LELY_NO_CO_GW_TXT 1
+#endif
+
+/* --disable-coapp-master */
+
+#ifdef CONFIG_CANUTILS_LELYCANOPEN_COAPP_MASTER
+#  define LELY_NO_CO_COAPP_MASTER 0
+#else
+#  define LELY_NO_CO_COAPP_MASTER 1
+#endif
+
+/* --disable-coapp-slave */
+
+#ifdef CONFIG_CANUTILS_LELYCANOPEN_COAPP_SLAVE
+#  define LELY_NO_CO_COAPP_SLAVE 0
+#else
+#  define LELY_NO_CO_COAPP_SLAVE 1
+#endif
+
+#endif  /* __CANUTILS_LELY_CONFIG_H */