Merged in paulpatience/nuttx-apps (pull request #15)
Changes to apps/examples/uavcan and apps/canutils/uavcan
This commit is contained in:
commit
3fc4039db1
@ -9,7 +9,7 @@ config CANUTILS_UAVCAN
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depends on STM32_HAVE_CAN1
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depends on !STM32_CAN1
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depends on !STM32_CAN2
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depends on (STM32_HAVE_TIM2 && !STM32_TIM2) || (STM32_HAVE_TIM3 && !STM32_TIM3) || (STM32_HAVE_TIM4 && !STM32_TIM4) || (STM32_HAVE_TIM5 && !STM32_TIM5) || (STM32_HAVE_TIM6 && !STM32_TIM6) || (STM32_HAVE_TIM7 && !STM32_TIM7)
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depends on !STM32_TIM2 || (STM32_HAVE_TIM3 && !STM32_TIM3) || (STM32_HAVE_TIM4 && !STM32_TIM4) || (STM32_HAVE_TIM5 && !STM32_TIM5) || (STM32_HAVE_TIM6 && !STM32_TIM6) || (STM32_HAVE_TIM7 && !STM32_TIM7)
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depends on C99_BOOL8
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depends on HAVE_CXX
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depends on !DISABLE_POLL
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@ -62,7 +62,7 @@ config UAVCAN_STM32_NUM_IFACES
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choice
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prompt "Timer"
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default UAVCAN_STM32_TIM2 if STM32_HAVE_TIM2 && !STM32_TIM2
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default UAVCAN_STM32_TIM2 if !STM32_TIM2
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default UAVCAN_STM32_TIM3 if STM32_HAVE_TIM3 && !STM32_TIM3
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default UAVCAN_STM32_TIM4 if STM32_HAVE_TIM4 && !STM32_TIM4
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default UAVCAN_STM32_TIM5 if STM32_HAVE_TIM5 && !STM32_TIM5
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@ -71,7 +71,7 @@ choice
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config UAVCAN_STM32_TIM2
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bool "TIM2"
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depends on STM32_HAVE_TIM2 && !STM32_TIM2
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depends on !STM32_TIM2
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---help---
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The library will use TIM2.
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@ -64,7 +64,8 @@ PYUAVCAN_PACKNAME = $(PYUAVCAN_UNPACKNAME)$(PACKEXT)
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CXXSRCS = platform_stm32.cpp $(LIBUAVCAN_SRC) $(LIBUAVCAN_STM32_SRC)
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CXXFLAGS += -I$(LIBUAVCAN_INC) -I$(LIBUAVCAN_STM32_INC) -Idsdlc_generated
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CXXFLAGS += -I$(TOPDIR)/arch/arm/src/common -I$(TOPDIR)/arch/arm/src/stm32
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CXXFLAGS += -I$(TOPDIR)$(DELIM)arch$(DELIM)arm$(DELIM)src$(DELIM)common
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CXXFLAGS += -I$(TOPDIR)$(DELIM)arch$(DELIM)arm$(DELIM)src$(DELIM)stm32
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CXXFLAGS += -D__KERNEL__
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CXXFLAGS += -DUAVCAN_STM32_NUTTX=1
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@ -176,7 +177,7 @@ all: .built
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$(LIBUAVCAN_PACKNAME):
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@echo "Downloading: $(LIBUAVCAN_PACKNAME)"
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$(Q) $(WGET) -O $(LIBUAVCAN_PACKNAME) $(LIBUAVCAN_URL)/$(LIBUAVCAN_VERSION)$(PACKEXT)
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$(Q) $(WGET) -O $(LIBUAVCAN_PACKNAME) $(LIBUAVCAN_URL)$(DELIM)$(LIBUAVCAN_VERSION)$(PACKEXT)
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$(LIBUAVCAN_UNPACKNAME): $(LIBUAVCAN_PACKNAME)
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@echo "Unpacking: $(LIBUAVCAN_PACKNAME) -> $(LIBUAVCAN_UNPACKNAME)"
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@ -185,7 +186,7 @@ $(LIBUAVCAN_UNPACKNAME): $(LIBUAVCAN_PACKNAME)
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$(DSDL_PACKNAME):
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@echo "Downloading: $(DSDL_PACKNAME)"
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$(Q) $(WGET) -O $(DSDL_PACKNAME) $(DSDL_URL)/$(DSDL_VERSION)$(PACKEXT)
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$(Q) $(WGET) -O $(DSDL_PACKNAME) $(DSDL_URL)$(DELIM)$(DSDL_VERSION)$(PACKEXT)
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$(DSDL_UNPACKNAME): $(DSDL_PACKNAME)
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@echo "Unpacking: $(DSDL_PACKNAME) -> $(DSDL_UNPACKNAME)"
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@ -194,7 +195,7 @@ $(DSDL_UNPACKNAME): $(DSDL_PACKNAME)
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$(PYUAVCAN_PACKNAME):
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@echo "Downloading: $(PYUAVCAN_PACKNAME)"
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$(Q) $(WGET) -O $(PYUAVCAN_PACKNAME) $(PYUAVCAN_URL)/$(PYUAVCAN_VERSION)$(PACKEXT)
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$(Q) $(WGET) -O $(PYUAVCAN_PACKNAME) $(PYUAVCAN_URL)$(DELIM)$(PYUAVCAN_VERSION)$(PACKEXT)
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$(PYUAVCAN_UNPACKNAME): $(PYUAVCAN_PACKNAME)
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@echo "Unpacking: $(PYUAVCAN_PACKNAME) -> $(PYUAVCAN_UNPACKNAME)"
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@ -211,10 +212,10 @@ libuavcan: $(LIBUAVCAN_UNPACKNAME) $(DSDL_UNPACKNAME) $(PYUAVCAN_UNPACKNAME)
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dsdlc_generated: libuavcan
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$(info $(shell $(LIBUAVCAN_DSDLC) $(UAVCAN_DSDL_DIR)))
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$(APPDIR)/include/uavcan: libuavcan dsdlc_generated
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$(Q) mkdir -p $(APPDIR)/include/uavcan
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$(Q) cp -R libuavcan/libuavcan/include/uavcan/* $(APPDIR)/include/uavcan
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$(Q) cp -R dsdlc_generated/uavcan/* $(APPDIR)/include/uavcan
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$(APPDIR)$(DELIM)include$(DELIM)uavcan: dsdlc_generated
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$(Q) mkdir -p $(APPDIR)$(DELIM)include$(DELIM)uavcan
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$(Q) cp -R libuavcan$(DELIM)libuavcan$(DELIM)include$(DELIM)uavcan$(DELIM)* $(APPDIR)$(DELIM)include$(DELIM)uavcan
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$(Q) cp -R dsdlc_generated$(DELIM)uavcan$(DELIM)* $(APPDIR)$(DELIM)include$(DELIM)uavcan
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$(CXXOBJS): %$(OBJEXT): %$(CXXEXT)
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$(call COMPILEXX, $<, $@)
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@ -225,7 +226,8 @@ $(CXXOBJS): %$(OBJEXT): %$(CXXEXT)
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install:
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context: libuavcan dsdlc_generated $(APPDIR)/include/uavcan
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context: libuavcan
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$(Q) $(MAKE) $(APPDIR)$(DELIM)include$(DELIM)uavcan TOPDIR="$(TOPDIR)" APPDIR="$(APPDIR)"
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.depend: Makefile $(CXXSRCS)
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$(Q) $(MKDEP) $(ROOTDEPPATH) "$(CXX)" -- $(CXXFLAGS) -- $(CXXSRCS) >Make.dep
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@ -235,9 +237,9 @@ depend: .depend
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clean:
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$(call DELFILE, .built)
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$(call DELDIR, libuavcan)
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$(foreach CXXOBJ, $(CXXOBJS), $(call DELFILE, $(CXXOBJ)))
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$(call DELDIR, dsdlc_generated)
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$(call DELDIR, $(APPDIR)/include/uavcan)
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$(call DELDIR, $(APPDIR)$(DELIM)include$(DELIM)uavcan)
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distclean: clean
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$(call DELFILE, Make.dep)
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@ -6,7 +6,7 @@
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config EXAMPLES_UAVCAN
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bool "UAVCAN example"
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default n
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depends on CANUTILS_UAVCAN && LIB_BOARDCTL
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depends on CANUTILS_UAVCAN
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---help---
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Enable the UAVCAN example
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@ -39,8 +39,6 @@
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#include <nuttx/config.h>
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#include <sys/boardctl.h>
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#include <cstdio>
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#include <cstdlib>
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@ -67,17 +65,9 @@ int main(int argc, FAR char *argv[])
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extern "C" int uavcan_main(int argc, FAR char *argv[])
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#endif
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{
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int ret;
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ret = boardctl(BOARDIOC_INIT, 0);
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if (ret < 0)
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{
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std::fprintf(stderr, "ERROR: boardctl failed: %d\n", ret);
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return EXIT_FAILURE;
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}
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uavcan::Node<CONFIG_EXAMPLES_UAVCAN_NODE_MEM_POOL_SIZE>
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node(getCanDriver(), getSystemClock());
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int ret;
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node.setNodeID(CONFIG_EXAMPLES_UAVCAN_NODE_ID);
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node.setName(CONFIG_EXAMPLES_UAVCAN_NODE_NAME);
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