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libuavcan: Rename uavcan to libuavcan

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This commit is contained in:
Paul A. Patience 2016-05-25 09:07:32 -04:00
parent eb1533ffc2
commit 1df46096ff
7 changed files with 102 additions and 101 deletions
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2
canutils/Kconfig
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@ -5,7 +5,7 @@
menu "CAN Utilities" menu "CAN Utilities"
source "$APPSDIR/canutils/uavcan/Kconfig"
source "$APPSDIR/canutils/libcanard/Kconfig" source "$APPSDIR/canutils/libcanard/Kconfig"
source "$APPSDIR/canutils/libuavcan/Kconfig"
endmenu # CAN Utilities endmenu # CAN Utilities

0
canutils/uavcan/.gitignore → canutils/libuavcan/.gitignore vendored
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102
canutils/uavcan/Kconfig → canutils/libuavcan/Kconfig
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@ -3,8 +3,8 @@
# see the file kconfig-language.txt in the NuttX tools repository. # see the file kconfig-language.txt in the NuttX tools repository.
# #
config CANUTILS_UAVCAN config CANUTILS_LIBUAVCAN
bool "UAVCAN Library" bool "libuavcan Library"
default n default n
depends on STM32_HAVE_CAN1 depends on STM32_HAVE_CAN1
depends on !STM32_CAN1 depends on !STM32_CAN1
@ -14,47 +14,47 @@ config CANUTILS_UAVCAN
depends on HAVE_CXX depends on HAVE_CXX
depends on !DISABLE_POLL depends on !DISABLE_POLL
---help--- ---help---
Enables support for the UAVCAN library. Enables support for the libuavcan library.
if CANUTILS_UAVCAN if CANUTILS_LIBUAVCAN
config UAVCAN_LIBUAVCAN_URL config LIBUAVCAN_URL
string "UAVCAN URL" string "libuavcan URL"
default "https://github.com/UAVCAN/libuavcan/archive" default "https://github.com/UAVCAN/libuavcan/archive"
---help--- ---help---
UAVCAN URL. libuavcan URL.
config UAVCAN_LIBUAVCAN_VERSION config LIBUAVCAN_VERSION
string "UAVCAN Version" string "libuavcan Version"
default "b04396ace50155573e545ed9bf2fb09964ee2367" default "b04396ace50155573e545ed9bf2fb09964ee2367"
---help--- ---help---
UAVCAN version. libuavcan version.
config UAVCAN_DSDL_URL config LIBUAVCAN_DSDL_URL
string "DSDL URL" string "DSDL URL"
default "https://github.com/UAVCAN/dsdl/archive" default "https://github.com/UAVCAN/dsdl/archive"
---help--- ---help---
DSDL URL. DSDL URL.
config UAVCAN_DSDL_VERSION config LIBUAVCAN_DSDL_VERSION
string "DSDL Version" string "DSDL Version"
default "9804a3e6972825586be252ce08dd899f44994b14" default "9804a3e6972825586be252ce08dd899f44994b14"
---help--- ---help---
DSDL version. DSDL version.
config UAVCAN_PYUAVCAN_URL config LIBUAVCAN_PYUAVCAN_URL
string "Python UAVCAN URL" string "pyuavcan URL"
default "https://github.com/UAVCAN/pyuavcan/archive" default "https://github.com/UAVCAN/pyuavcan/archive"
---help--- ---help---
Python UAVCAN URL. pyuavcan URL.
config UAVCAN_PYUAVCAN_VERSION config LIBUAVCAN_PYUAVCAN_VERSION
string "Python UAVCAN Version" string "pyuavcan Version"
default "c58477a644d20ccf95a20c151f3a0402f271c3b8" default "c58477a644d20ccf95a20c151f3a0402f271c3b8"
---help--- ---help---
Python UAVCAN version. pyuavcan version.
config UAVCAN_STM32_NUM_IFACES config LIBUAVCAN_STM32_NUM_IFACES
int "Number of CAN Interfaces" int "Number of CAN Interfaces"
default 1 default 1
range 1 1 if !STM32_HAVE_CAN2 range 1 1 if !STM32_HAVE_CAN2
@ -62,44 +62,44 @@ config UAVCAN_STM32_NUM_IFACES
choice choice
prompt "Timer" prompt "Timer"
default UAVCAN_STM32_TIM2 if !STM32_TIM2 default LIBUAVCAN_STM32_TIM2 if !STM32_TIM2
default UAVCAN_STM32_TIM3 if STM32_HAVE_TIM3 && !STM32_TIM3 default LIBUAVCAN_STM32_TIM3 if STM32_HAVE_TIM3 && !STM32_TIM3
default UAVCAN_STM32_TIM4 if STM32_HAVE_TIM4 && !STM32_TIM4 default LIBUAVCAN_STM32_TIM4 if STM32_HAVE_TIM4 && !STM32_TIM4
default UAVCAN_STM32_TIM5 if STM32_HAVE_TIM5 && !STM32_TIM5 default LIBUAVCAN_STM32_TIM5 if STM32_HAVE_TIM5 && !STM32_TIM5
default UAVCAN_STM32_TIM6 if STM32_HAVE_TIM6 && !STM32_TIM6 default LIBUAVCAN_STM32_TIM6 if STM32_HAVE_TIM6 && !STM32_TIM6
default UAVCAN_STM32_TIM7 if STM32_HAVE_TIM7 && !STM32_TIM7 default LIBUAVCAN_STM32_TIM7 if STM32_HAVE_TIM7 && !STM32_TIM7
config UAVCAN_STM32_TIM2 config LIBUAVCAN_STM32_TIM2
bool "TIM2" bool "TIM2"
depends on !STM32_TIM2 depends on !STM32_TIM2
---help--- ---help---
The library will use TIM2. The library will use TIM2.
config UAVCAN_STM32_TIM3 config LIBUAVCAN_STM32_TIM3
bool "TIM3" bool "TIM3"
depends on STM32_HAVE_TIM3 && !STM32_TIM3 depends on STM32_HAVE_TIM3 && !STM32_TIM3
---help--- ---help---
The library will use TIM3. The library will use TIM3.
config UAVCAN_STM32_TIM4 config LIBUAVCAN_STM32_TIM4
bool "TIM4" bool "TIM4"
depends on STM32_HAVE_TIM4 && !STM32_TIM4 depends on STM32_HAVE_TIM4 && !STM32_TIM4
---help--- ---help---
The library will use TIM4. The library will use TIM4.
config UAVCAN_STM32_TIM5 config LIBUAVCAN_STM32_TIM5
bool "TIM5" bool "TIM5"
depends on STM32_HAVE_TIM5 && !STM32_TIM5 depends on STM32_HAVE_TIM5 && !STM32_TIM5
---help--- ---help---
The library will use TIM5. The library will use TIM5.
config UAVCAN_STM32_TIM6 config LIBUAVCAN_STM32_TIM6
bool "TIM6" bool "TIM6"
depends on STM32_HAVE_TIM6 && !STM32_TIM6 depends on STM32_HAVE_TIM6 && !STM32_TIM6
---help--- ---help---
The library will use TIM6. The library will use TIM6.
config UAVCAN_STM32_TIM7 config LIBUAVCAN_STM32_TIM7
bool "TIM7" bool "TIM7"
depends on STM32_HAVE_TIM7 && !STM32_TIM7 depends on STM32_HAVE_TIM7 && !STM32_TIM7
---help--- ---help---
@ -109,111 +109,111 @@ endchoice
choice choice
prompt "C++ Version" prompt "C++ Version"
default UAVCAN_CPP03 default LIBUAVCAN_CPP03
config UAVCAN_CPP03 config LIBUAVCAN_CPP03
bool "C++03" bool "C++03"
---help--- ---help---
The library will use C++03. The library will use C++03.
config UAVCAN_CPP11 config LIBUAVCAN_CPP11
bool "C++11" bool "C++11"
---help--- ---help---
The library will use C++11. The library will use C++11.
endchoice endchoice
config UAVCAN_DEBUG config LIBUAVCAN_DEBUG
bool "Debug" bool "Debug"
default n default n
---help--- ---help---
Enables debug. Enables debug.
config UAVCAN_EXCEPTIONS config LIBUAVCAN_EXCEPTIONS
bool "Exceptions" bool "Exceptions"
default n default n
---help--- ---help---
Enables exceptions. Enables exceptions.
config UAVCAN_TINY config LIBUAVCAN_TINY
bool "Tiny" bool "Tiny"
default n default n
---help--- ---help---
Removes some features to save memory. Removes some features to save memory.
config UAVCAN_NO_GLOBAL_DATA_TYPE_REGISTRY config LIBUAVCAN_NO_GLOBAL_DATA_TYPE_REGISTRY
bool "No Global Data Type Registry" bool "No Global Data Type Registry"
default n default n
---help--- ---help---
Removes the global data type registry. Removes the global data type registry.
config UAVCAN_TOSTRING config LIBUAVCAN_TOSTRING
bool "Implement toString" bool "Implement toString"
default n default n
depends on UAVCAN_EXCEPTIONS depends on LIBUAVCAN_EXCEPTIONS
---help--- ---help---
The library will add a toString method to most of its classes. The library will add a toString method to most of its classes.
config UAVCAN_IMPLEMENT_PLACEMENT_NEW config LIBUAVCAN_IMPLEMENT_PLACEMENT_NEW
bool "Implement Placement new" bool "Implement Placement new"
default n default n
---help--- ---help---
The library will implement placement new. The library will implement placement new.
config UAVCAN_USE_EXTERNAL_SNPRINTF config LIBUAVCAN_USE_EXTERNAL_SNPRINTF
bool "Use External snprintf" bool "Use External snprintf"
default n default n
---help--- ---help---
The library will use an external snprintf. The library will use an external snprintf.
config UAVCAN_USE_EXTERNAL_FLOAT16_CONVERSION config LIBUAVCAN_USE_EXTERNAL_FLOAT16_CONVERSION
bool "Use External float16 Conversion" bool "Use External float16 Conversion"
default n default n
---help--- ---help---
The library will use an external float16 conversion. The library will use an external float16 conversion.
config UAVCAN_NO_ASSERTIONS config LIBUAVCAN_NO_ASSERTIONS
bool "No Assertions" bool "No Assertions"
default n default n
---help--- ---help---
Disables assertions. Disables assertions.
config UAVCAN_MEM_POOL_BLOCK_SIZE config LIBUAVCAN_MEM_POOL_BLOCK_SIZE
int "Memory Pool Block Size" int "Memory Pool Block Size"
default 0 default 0
---help--- ---help---
Specifies the memory pool block size. If the value is 0, the Specifies the memory pool block size. If the value is 0, the
library will use a default value. library will use a default value.
config UAVCAN_FLOAT_COMPARISON_EPSILON_MULT config LIBUAVCAN_FLOAT_COMPARISON_EPSILON_MULT
int "Float Comparion Epsilon Mult" int "Float Comparion Epsilon Mult"
default 0 default 0
---help--- ---help---
Specifies the float comparison epsilon mult. If the value is Specifies the float comparison epsilon mult. If the value is
0, the library will use a default value. 0, the library will use a default value.
config UAVCAN_MAX_CAN_ACCEPTANCE_FILTERS config LIBUAVCAN_MAX_CAN_ACCEPTANCE_FILTERS
int "Max CAN Acceptance Filters" int "Max CAN Acceptance Filters"
default 0 default 0
---help--- ---help---
Specifies the maximum number of CAN acceptance filters. If Specifies the maximum number of CAN acceptance filters. If
the value is 0, the library will use a default value. the value is 0, the library will use a default value.
config UAVCAN_MAX_NETWORK_SIZE_HINT config LIBUAVCAN_MAX_NETWORK_SIZE_HINT
int "Max Network Size Hint" int "Max Network Size Hint"
default 0 default 0
---help--- ---help---
Specifies the maximum network size. If the value is 0, the Specifies the maximum network size. If the value is 0, the
library will use a default value. library will use a default value.
config UAVCAN_RX_QUEUE_CAPACITY config LIBUAVCAN_RX_QUEUE_CAPACITY
int "Rx Queue Capacity" int "Rx Queue Capacity"
default 0 default 0
---help--- ---help---
Specifies the rx queue capacity. If the value is 0, the Specifies the rx queue capacity. If the value is 0, the
library will use a default value. library will use a default value.
config UAVCAN_BIT_RATE config LIBUAVCAN_BIT_RATE
int "Bit Rate" int "Bit Rate"
default 0 default 0
range 0 1000000 range 0 1000000
@ -221,7 +221,7 @@ config UAVCAN_BIT_RATE
Specifies the CAN bit rate. If the value is 0, the library Specifies the CAN bit rate. If the value is 0, the library
will automatically detect the bit rate. will automatically detect the bit rate.
config UAVCAN_INIT_RETRIES config LIBUAVCAN_INIT_RETRIES
int "Initialization Retries" int "Initialization Retries"
default 0 default 0
---help--- ---help---

8
canutils/uavcan/Make.defs → canutils/libuavcan/Make.defs
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@ -1,7 +1,7 @@
############################################################################ ############################################################################
# apps/canutils/uavcan/Make.defs # apps/canutils/libuavcan/Make.defs
# #
# Copyright (C) 2015 Omni Hoverboards Inc. All rights reserved. # Copyright (C) 2015-2016 Omni Hoverboards Inc. All rights reserved.
# Author: Paul Alexander Patience <paul-a.patience@polymtl.ca> # Author: Paul Alexander Patience <paul-a.patience@polymtl.ca>
# #
# Redistribution and use in source and binary forms, with or without # Redistribution and use in source and binary forms, with or without
@ -33,6 +33,6 @@
# #
############################################################################ ############################################################################
ifeq ($(CONFIG_CANUTILS_UAVCAN),y) ifeq ($(CONFIG_CANUTILS_LIBUAVCAN),y)
CONFIGURED_APPS += canutils/uavcan CONFIGURED_APPS += canutils/libuavcan
endif endif

68
canutils/uavcan/Makefile → canutils/libuavcan/Makefile
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@ -1,5 +1,5 @@
############################################################################ ############################################################################
# apps/canutils/uavcan/Makefile # apps/canutils/libuavcan/Makefile
# #
# Copyright (C) 2015-2016 Omni Hoverboards Inc. All rights reserved. # Copyright (C) 2015-2016 Omni Hoverboards Inc. All rights reserved.
# Author: Paul Alexander Patience <paul-a.patience@polymtl.ca> # Author: Paul Alexander Patience <paul-a.patience@polymtl.ca>
@ -41,21 +41,21 @@ WGET = wget
UNPACK = unzip UNPACK = unzip
PACKEXT = .zip PACKEXT = .zip
LIBUAVCAN_URL = $(patsubst "%",%,$(strip $(CONFIG_UAVCAN_LIBUAVCAN_URL))) LIBUAVCAN_URL = $(patsubst "%",%,$(strip $(CONFIG_LIBUAVCAN_URL)))
LIBUAVCAN_VERSION = $(patsubst "%",%,$(strip $(CONFIG_UAVCAN_LIBUAVCAN_VERSION))) LIBUAVCAN_VERSION = $(patsubst "%",%,$(strip $(CONFIG_LIBUAVCAN_VERSION)))
LIBUAVCAN_UNPACKNAME = libuavcan-$(LIBUAVCAN_VERSION) LIBUAVCAN_UNPACKNAME = libuavcan-$(LIBUAVCAN_VERSION)
LIBUAVCAN_PACKNAME = $(LIBUAVCAN_UNPACKNAME)$(PACKEXT) LIBUAVCAN_PACKNAME = $(LIBUAVCAN_UNPACKNAME)$(PACKEXT)
LIBUAVCAN_DSDL_PATH = libuavcan$(DELIM)dsdl LIBUAVCAN_DSDL_PATH = libuavcan$(DELIM)dsdl
LIBUAVCAN_PYUAVCAN_PATH = libuavcan$(DELIM)libuavcan$(DELIM)dsdl_compiler$(DELIM)pyuavcan LIBUAVCAN_PYUAVCAN_PATH = libuavcan$(DELIM)libuavcan$(DELIM)dsdl_compiler$(DELIM)pyuavcan
LIBUAVCAN_PATCHNAME = nuttx-$(LIBUAVCAN_VERSION).patch LIBUAVCAN_PATCHNAME = nuttx-$(LIBUAVCAN_VERSION).patch
DSDL_URL = $(patsubst "%",%,$(strip $(CONFIG_UAVCAN_DSDL_URL))) DSDL_URL = $(patsubst "%",%,$(strip $(CONFIG_LIBUAVCAN_DSDL_URL)))
DSDL_VERSION = $(patsubst "%",%,$(strip $(CONFIG_UAVCAN_DSDL_VERSION))) DSDL_VERSION = $(patsubst "%",%,$(strip $(CONFIG_LIBUAVCAN_DSDL_VERSION)))
DSDL_UNPACKNAME = dsdl-$(DSDL_VERSION) DSDL_UNPACKNAME = dsdl-$(DSDL_VERSION)
DSDL_PACKNAME = $(DSDL_UNPACKNAME)$(PACKEXT) DSDL_PACKNAME = $(DSDL_UNPACKNAME)$(PACKEXT)
PYUAVCAN_URL = $(patsubst "%",%,$(strip $(CONFIG_UAVCAN_PYUAVCAN_URL))) PYUAVCAN_URL = $(patsubst "%",%,$(strip $(CONFIG_LIBUAVCAN_PYUAVCAN_URL)))
PYUAVCAN_VERSION = $(patsubst "%",%,$(strip $(CONFIG_UAVCAN_PYUAVCAN_VERSION))) PYUAVCAN_VERSION = $(patsubst "%",%,$(strip $(CONFIG_LIBUAVCAN_PYUAVCAN_VERSION)))
PYUAVCAN_UNPACKNAME = pyuavcan-$(PYUAVCAN_VERSION) PYUAVCAN_UNPACKNAME = pyuavcan-$(PYUAVCAN_VERSION)
PYUAVCAN_PACKNAME = $(PYUAVCAN_UNPACKNAME)$(PACKEXT) PYUAVCAN_PACKNAME = $(PYUAVCAN_UNPACKNAME)$(PACKEXT)
@ -70,24 +70,24 @@ CXXFLAGS += -I$(TOPDIR)$(DELIM)arch$(DELIM)arm$(DELIM)src$(DELIM)stm32
CXXFLAGS += -D__KERNEL__ CXXFLAGS += -D__KERNEL__
CXXFLAGS += -DUAVCAN_STM32_NUTTX=1 CXXFLAGS += -DUAVCAN_STM32_NUTTX=1
CXXFLAGS += -DUAVCAN_STM32_NUM_IFACES=$(CONFIG_UAVCAN_STM32_NUM_IFACES) CXXFLAGS += -DUAVCAN_STM32_NUM_IFACES=$(CONFIG_LIBUAVCAN_STM32_NUM_IFACES)
ifeq ($(CONFIG_UAVCAN_STM32_TIM2),y) ifeq ($(CONFIG_LIBUAVCAN_STM32_TIM2),y)
CXXFLAGS += -DUAVCAN_STM32_TIMER_NUMBER=2 CXXFLAGS += -DUAVCAN_STM32_TIMER_NUMBER=2
else else
ifeq ($(CONFIG_UAVCAN_STM32_TIM3),y) ifeq ($(CONFIG_LIBUAVCAN_STM32_TIM3),y)
CXXFLAGS += -DUAVCAN_STM32_TIMER_NUMBER=3 CXXFLAGS += -DUAVCAN_STM32_TIMER_NUMBER=3
else else
ifeq ($(CONFIG_UAVCAN_STM32_TIM4),y) ifeq ($(CONFIG_LIBUAVCAN_STM32_TIM4),y)
CXXFLAGS += -DUAVCAN_STM32_TIMER_NUMBER=4 CXXFLAGS += -DUAVCAN_STM32_TIMER_NUMBER=4
else else
ifeq ($(CONFIG_UAVCAN_STM32_TIM5),y) ifeq ($(CONFIG_LIBUAVCAN_STM32_TIM5),y)
CXXFLAGS += -DUAVCAN_STM32_TIMER_NUMBER=5 CXXFLAGS += -DUAVCAN_STM32_TIMER_NUMBER=5
else else
ifeq ($(CONFIG_UAVCAN_STM32_TIM6),y) ifeq ($(CONFIG_LIBUAVCAN_STM32_TIM6),y)
CXXFLAGS += -DUAVCAN_STM32_TIMER_NUMBER=6 CXXFLAGS += -DUAVCAN_STM32_TIMER_NUMBER=6
else else
ifeq ($(CONFIG_UAVCAN_STM32_TIM7),y) ifeq ($(CONFIG_LIBUAVCAN_STM32_TIM7),y)
CXXFLAGS += -DUAVCAN_STM32_TIMER_NUMBER=7 CXXFLAGS += -DUAVCAN_STM32_TIMER_NUMBER=7
endif endif
endif endif
@ -96,68 +96,68 @@ endif
endif endif
endif endif
ifeq ($(CONFIG_UAVCAN_CPP03),y) ifeq ($(CONFIG_LIBUAVCAN_CPP03),y)
CXXFLAGS += -std=c++03 -DUAVCAN_CPP_VERSION=UAVCAN_CPP03 CXXFLAGS += -std=c++03 -DUAVCAN_CPP_VERSION=UAVCAN_CPP03
else else
ifeq ($(CONFIG_UAVCAN_CPP11),y) ifeq ($(CONFIG_LIBUAVCAN_CPP11),y)
CXXFLAGS += -std=c++11 -DUAVCAN_CPP_VERSION=UAVCAN_CPP11 CXXFLAGS += -std=c++11 -DUAVCAN_CPP_VERSION=UAVCAN_CPP11
endif endif
endif endif
ifeq ($(CONFIG_UAVCAN_DEBUG),y) ifeq ($(CONFIG_LIBUAVCAN_DEBUG),y)
CXXFLAGS += -DUAVCAN_DEBUG=1 CXXFLAGS += -DUAVCAN_DEBUG=1
endif endif
ifeq ($(CONFIG_UAVCAN_EXCEPTIONS),y) ifeq ($(CONFIG_LIBUAVCAN_EXCEPTIONS),y)
CXXFLAGS += -DUAVCAN_EXCEPTIONS=1 CXXFLAGS += -DUAVCAN_EXCEPTIONS=1
else else
CXXFLAGS += -DUAVCAN_EXCEPTIONS=0 CXXFLAGS += -DUAVCAN_EXCEPTIONS=0
endif endif
ifeq ($(CONFIG_UAVCAN_TINY),y) ifeq ($(CONFIG_LIBUAVCAN_TINY),y)
CXXFLAGS += -DUAVCAN_TINY=1 CXXFLAGS += -DUAVCAN_TINY=1
endif endif
ifeq ($(CONFIG_UAVCAN_NO_GLOBAL_DATA_TYPE_REGISTRY),y) ifeq ($(CONFIG_LIBUAVCAN_NO_GLOBAL_DATA_TYPE_REGISTRY),y)
CXXFLAGS += -DUAVCAN_NO_GLOBAL_DATA_TYPE_REGISTRY=1 CXXFLAGS += -DUAVCAN_NO_GLOBAL_DATA_TYPE_REGISTRY=1
endif endif
ifeq ($(CONFIG_UAVCAN_TOSTRING),y) ifeq ($(CONFIG_LIBUAVCAN_TOSTRING),y)
CXXFLAGS += -DUAVCAN_TOSTRING=1 CXXFLAGS += -DUAVCAN_TOSTRING=1
else else
CXXFLAGS += -DUAVCAN_TOSTRING=0 CXXFLAGS += -DUAVCAN_TOSTRING=0
endif endif
ifeq ($(CONFIG_UAVCAN_IMPLEMENT_PLACEMENT_NEW),y) ifeq ($(CONFIG_LIBUAVCAN_IMPLEMENT_PLACEMENT_NEW),y)
CXXFLAGS += -DUAVCAN_IMPLEMENT_PLACEMENT_NEW=1 CXXFLAGS += -DUAVCAN_IMPLEMENT_PLACEMENT_NEW=1
endif endif
ifeq ($(CONFIG_UAVCAN_USE_EXTERNAL_SNPRINTF),y) ifeq ($(CONFIG_LIBUAVCAN_USE_EXTERNAL_SNPRINTF),y)
CXXFLAGS += -DUAVCAN_USE_EXTERNAL_SNPRINTF=1 CXXFLAGS += -DUAVCAN_USE_EXTERNAL_SNPRINTF=1
endif endif
ifeq ($(CONFIG_UAVCAN_USE_EXTERNAL_FLOAT16_CONVERSION),y) ifeq ($(CONFIG_LIBUAVCAN_USE_EXTERNAL_FLOAT16_CONVERSION),y)
CXXFLAGS += -DUAVCAN_USE_EXTERNAL_FLOAT16_CONVERSION=1 CXXFLAGS += -DUAVCAN_USE_EXTERNAL_FLOAT16_CONVERSION=1
endif endif
ifeq ($(CONFIG_UAVCAN_NO_ASSERTIONS),y) ifeq ($(CONFIG_LIBUAVCAN_NO_ASSERTIONS),y)
CXXFLAGS += -DUAVCAN_NO_ASSERTIONS=1 CXXFLAGS += -DUAVCAN_NO_ASSERTIONS=1
endif endif
ifneq ($(CONFIG_UAVCAN_MEM_POOL_BLOCK_SIZE),0) ifneq ($(CONFIG_LIBUAVCAN_MEM_POOL_BLOCK_SIZE),0)
CXXFLAGS += -DUAVCAN_MEM_POOL_BLOCK_SIZE=$(CONFIG_UAVCAN_MEM_POOL_BLOCK_SIZE) CXXFLAGS += -DUAVCAN_MEM_POOL_BLOCK_SIZE=$(CONFIG_LIBUAVCAN_MEM_POOL_BLOCK_SIZE)
endif endif
ifneq ($(CONFIG_UAVCAN_FLOAT_COMPARISON_EPSILON_MULT),0) ifneq ($(CONFIG_LIBUAVCAN_FLOAT_COMPARISON_EPSILON_MULT),0)
CXXFLAGS += -DUAVCAN_FLOAT_COMPARISON_EPSILON_MULT=$(CONFIG_UAVCAN_FLOAT_COMPARISON_EPSILON_MULT) CXXFLAGS += -DUAVCAN_FLOAT_COMPARISON_EPSILON_MULT=$(CONFIG_LIBUAVCAN_FLOAT_COMPARISON_EPSILON_MULT)
endif endif
ifneq ($(CONFIG_UAVCAN_MAX_CAN_ACCEPTANCE_FILTERS),0) ifneq ($(CONFIG_LIBUAVCAN_MAX_CAN_ACCEPTANCE_FILTERS),0)
CXXFLAGS += -DUAVCAN_MAX_CAN_ACCEPTANCE_FILTERS=$(CONFIG_UAVCAN_MAX_CAN_ACCEPTANCE_FILTERS) CXXFLAGS += -DUAVCAN_MAX_CAN_ACCEPTANCE_FILTERS=$(CONFIG_LIBUAVCAN_MAX_CAN_ACCEPTANCE_FILTERS)
endif endif
ifneq ($(CONFIG_UAVCAN_MAX_NETWORK_SIZE_HINT),0) ifneq ($(CONFIG_LIBUAVCAN_MAX_NETWORK_SIZE_HINT),0)
CXXFLAGS += -DUAVCAN_MAX_NETWORK_SIZE_HINT=$(CONFIG_UAVCAN_MAX_NETWORK_SIZE_HINT) CXXFLAGS += -DUAVCAN_MAX_NETWORK_SIZE_HINT=$(CONFIG_LIBUAVCAN_MAX_NETWORK_SIZE_HINT)
endif endif
CXXEXT = .cpp CXXEXT = .cpp
@ -212,6 +212,7 @@ libuavcan: $(LIBUAVCAN_UNPACKNAME) $(DSDL_UNPACKNAME) $(PYUAVCAN_UNPACKNAME)
$(Q) cp -R $(DSDL_UNPACKNAME) $(LIBUAVCAN_DSDL_PATH) $(Q) cp -R $(DSDL_UNPACKNAME) $(LIBUAVCAN_DSDL_PATH)
$(call DELDIR, $(LIBUAVCAN_PYUAVCAN_PATH)) $(call DELDIR, $(LIBUAVCAN_PYUAVCAN_PATH))
$(Q) cp -R $(PYUAVCAN_UNPACKNAME) $(LIBUAVCAN_PYUAVCAN_PATH) $(Q) cp -R $(PYUAVCAN_UNPACKNAME) $(LIBUAVCAN_PYUAVCAN_PATH)
$(Q) touch $@
dsdlc_generated: libuavcan dsdlc_generated: libuavcan
$(info $(shell $(LIBUAVCAN_DSDLC) $(UAVCAN_DSDL_DIR))) $(info $(shell $(LIBUAVCAN_DSDLC) $(UAVCAN_DSDL_DIR)))
@ -248,7 +249,6 @@ clean:
distclean: clean distclean: clean
$(call DELFILE, Make.dep) $(call DELFILE, Make.dep)
$(call DELFILE, .depend) $(call DELFILE, .depend)
$(call DELFILE, .libuavcan_patched)
$(call DELDIR, $(LIBUAVCAN_UNPACKNAME)) $(call DELDIR, $(LIBUAVCAN_UNPACKNAME))
$(call DELFILE, $(LIBUAVCAN_PACKNAME)) $(call DELFILE, $(LIBUAVCAN_PACKNAME))
$(call DELDIR, $(DSDL_UNPACKNAME)) $(call DELDIR, $(DSDL_UNPACKNAME))

0
canutils/uavcan/nuttx-b04396ace50155573e545ed9bf2fb09964ee2367.patch → canutils/libuavcan/nuttx-b04396ace50155573e545ed9bf2fb09964ee2367.patch
View File

23
canutils/uavcan/platform_stm32.cpp → canutils/libuavcan/platform_stm32.cpp
View File

@ -1,7 +1,7 @@
/**************************************************************************** /****************************************************************************
* canutils/uavcan/uavcan_platform.cpp * canutils/libuavcan/platform_stm32.cpp
* *
* Copyright (C) 2015 Omni Hoverboards Inc. All rights reserved. * Copyright (C) 2015-2016 Omni Hoverboards Inc. All rights reserved.
* Author: Paul Alexander Patience <paul-a.patience@polymtl.ca> * Author: Paul Alexander Patience <paul-a.patience@polymtl.ca>
* *
* Redistribution and use in source and binary forms, with or without * Redistribution and use in source and binary forms, with or without
@ -47,9 +47,9 @@
* Configuration * Configuration
****************************************************************************/ ****************************************************************************/
#if CONFIG_UAVCAN_RX_QUEUE_CAPACITY == 0 #if CONFIG_LIBUAVCAN_RX_QUEUE_CAPACITY == 0
# undef CONFIG_UAVCAN_RX_QUEUE_CAPACITY # undef CONFIG_LIBUAVCAN_RX_QUEUE_CAPACITY
# define CONFIG_UAVCAN_RX_QUEUE_CAPACITY # define CONFIG_LIBUAVCAN_RX_QUEUE_CAPACITY
#endif #endif
/**************************************************************************** /****************************************************************************
@ -58,7 +58,8 @@
static void delay(void) static void delay(void)
{ {
std::usleep(uavcan_stm32::CanInitHelper<CONFIG_UAVCAN_RX_QUEUE_CAPACITY>:: std::usleep(uavcan_stm32::
CanInitHelper<CONFIG_LIBUAVCAN_RX_QUEUE_CAPACITY>::
getRecommendedListeningDelay().toUSec()); getRecommendedListeningDelay().toUSec());
} }
@ -68,22 +69,22 @@ static void delay(void)
uavcan::ICanDriver &getCanDriver(void) uavcan::ICanDriver &getCanDriver(void)
{ {
static uavcan_stm32::CanInitHelper<CONFIG_UAVCAN_RX_QUEUE_CAPACITY> can; static uavcan_stm32::CanInitHelper<CONFIG_LIBUAVCAN_RX_QUEUE_CAPACITY> can;
static bool initialized = false; static bool initialized = false;
if (!initialized) if (!initialized)
{ {
uavcan::uint32_t bitrate = CONFIG_UAVCAN_BIT_RATE; uavcan::uint32_t bitrate = CONFIG_LIBUAVCAN_BIT_RATE;
#if CONFIG_UAVCAN_INIT_RETRIES > 0 #if CONFIG_LIBUAVCAN_INIT_RETRIES > 0
int retries = 0; int retries = 0;
#endif #endif
while (can.init(delay, bitrate) < 0) while (can.init(delay, bitrate) < 0)
{ {
#if CONFIG_UAVCAN_INIT_RETRIES > 0 #if CONFIG_LIBUAVCAN_INIT_RETRIES > 0
retries++; retries++;
if (retries >= CONFIG_UAVCAN_INIT_RETRIES) if (retries >= CONFIG_LIBUAVCAN_INIT_RETRIES)
{ {
PANIC(); PANIC();
} }