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Merged in paulpatience/nuttx-apps (pull request #12)

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UAVCAN: Add example application
This commit is contained in:
Gregory Nutt 2015-10-01 07:02:39 -06:00
commit 219fffb028
7 changed files with 226 additions and 13 deletions
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6
canutils/uavcan/Makefile
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@ -159,8 +159,10 @@ libuavcan: $(LIBUAVCAN_UNPACKNAME) $(DSDL_UNPACKNAME) $(PYUAVCAN_UNPACKNAME)
dsdlc_generated: libuavcan
$(info $(shell $(LIBUAVCAN_DSDLC) $(UAVCAN_DSDL_DIR)))
$(APPDIR)/include/uavcan: libuavcan/libuavcan/include/uavcan
$(Q) cp -R libuavcan/libuavcan/include/uavcan $(APPDIR)/include
$(APPDIR)/include/uavcan: libuavcan/libuavcan/include/uavcan dsdlc_generated/uavcan
$(Q) mkdir -p $(APPDIR)/include/uavcan
$(Q) cp -R libuavcan/libuavcan/include/uavcan/* $(APPDIR)/include/uavcan
$(Q) cp -R dsdlc_generated/uavcan/* $(APPDIR)/include/uavcan
$(CXXOBJS): %$(OBJEXT): %$(CXXEXT)
$(call COMPILEXX, $<, $@)

17
canutils/uavcan/platform_stm32.cpp
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@ -66,11 +66,6 @@ static void delay_callable()
* Public Functions
****************************************************************************/
uavcan::ISystemClock& getSystemClock()
{
return uavcan_stm32::SystemClock::instance();
}
uavcan::ICanDriver& getCanDriver()
{
static bool initialized = false;
@ -83,13 +78,8 @@ uavcan::ICanDriver& getCanDriver()
int retries = 0;
#endif
for (;;)
while (can.init(delay_callable, bitrate) < 0)
{
if (can.init(delay_callable, bitrate) >= 0)
{
break;
}
#if CONFIG_UAVCAN_INIT_RETRIES > 0
retries++;
if (retries >= CONFIG_UAVCAN_INIT_RETRIES)
@ -104,3 +94,8 @@ uavcan::ICanDriver& getCanDriver()
return can.driver;
}
uavcan::ISystemClock& getSystemClock()
{
return uavcan_stm32::SystemClock::instance();
}

1
examples/Kconfig
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@ -74,6 +74,7 @@ source "$APPSDIR/examples/thttpd/Kconfig"
source "$APPSDIR/examples/timer/Kconfig"
source "$APPSDIR/examples/tiff/Kconfig"
source "$APPSDIR/examples/touchscreen/Kconfig"
source "$APPSDIR/examples/uavcan/Kconfig"
source "$APPSDIR/examples/udp/Kconfig"
source "$APPSDIR/examples/udpblaster/Kconfig"
source "$APPSDIR/examples/discover/Kconfig"

33
examples/uavcan/Kconfig Normal file
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@ -0,0 +1,33 @@
#
# For a description of the syntax of this configuration file,
# see the file kconfig-language.txt in the NuttX tools repository.
#
config EXAMPLES_UAVCAN
bool "UAVCAN example"
default n
depends on CANUTILS_UAVCAN && LIB_BOARDCTL
---help---
Enable the UAVCAN example
if EXAMPLES_UAVCAN
config EXAMPLES_UAVCAN_NODE_MEM_POOL_SIZE
int "Node Memory Pool Size"
default 4096
---help---
Specifies the node's memory pool size
config EXAMPLES_UAVCAN_NODE_ID
int "Node ID"
default 0
---help---
Specifies the node's ID
config EXAMPLES_UAVCAN_NODE_NAME
string "Node Name"
default "org.nuttx.apps.examples.uavcan"
---help---
Specifies the node's name
endif

39
examples/uavcan/Make.defs Normal file
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@ -0,0 +1,39 @@
############################################################################
# apps/examples/uavcan/Make.defs
# Adds selected applications to apps/ build
#
# Copyright (C) 2015 Omni Hoverboards Inc. All rights reserved.
# Author: Paul Alexander Patience <paul-a.patience@polymtl.ca>
#
# 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 NuttX 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.
#
############################################################################
ifeq ($(CONFIG_EXAMPLES_UAVCAN),y)
CONFIGURED_APPS += examples/uavcan
endif

42
examples/uavcan/Makefile Normal file
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@ -0,0 +1,42 @@
############################################################################
# apps/examples/uavcan/Makefile
#
# Copyright (C) 2015 Omni Hoverboards Inc. All rights reserved.
# Author: Paul Alexander Patience <paul-a.patience@polymtl.ca>
#
# 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 NuttX 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.
#
############################################################################
-include $(TOPDIR)/Make.defs
MAINSRC = uavcan_main.cxx
CXXFLAGS += -I$(TOPDIR)/include/apps
include $(APPDIR)/Application.mk

101
examples/uavcan/uavcan_main.cxx Normal file
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@ -0,0 +1,101 @@
/****************************************************************************
* examples/uavcan/uavcan_main.cxx
*
* Copyright (C) 2015 Omni Hoverboards Inc. All rights reserved.
* Author: Paul Alexander Patience <paul-a.patience@polymtl.ca>
*
* 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 NuttX 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.
*
****************************************************************************/
/****************************************************************************
* Included Files
****************************************************************************/
#include <nuttx/config.h>
#include <cstdio>
#include <cstdlib>
#include <uavcan/uavcan.hpp>
/****************************************************************************
* Public Function Prototypes
****************************************************************************/
#ifndef CONFIG_BUILD_KERNEL
extern "C"
{
int uavcan_main(int argc, FAR char *argv[]);
}
#endif
uavcan::ICanDriver& getCanDriver();
uavcan::ISystemClock& getSystemClock();
/****************************************************************************
* Public Functions
****************************************************************************/
/****************************************************************************
* Name: uavcan_main
****************************************************************************/
#ifdef CONFIG_BUILD_KERNEL
int main(int argc, FAR char *argv[])
#else
int uavcan_main(int argc, FAR char *argv[])
#endif
{
uavcan::Node<CONFIG_EXAMPLES_UAVCAN_NODE_MEM_POOL_SIZE>
node(getCanDriver(), getSystemClock());
int ret;
node.setNodeID(CONFIG_EXAMPLES_UAVCAN_NODE_ID);
node.setName(CONFIG_EXAMPLES_UAVCAN_NODE_NAME);
ret = node.start();
if (ret < 0)
{
std::fprintf(stderr, "ERROR: node.start failed: %d\n", ret);
return EXIT_FAILURE;
}
node.setModeOperational();
for (;;)
{
ret = node.spin(uavcan::MonotonicDuration::fromMSec(100));
if (ret < 0)
{
std::fprintf(stderr, "ERROR: node.spin failed: %d\n", ret);
}
}
return EXIT_SUCCESS;
}