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Merged in paulpatience/nuttx-apps/libuavcan (pull request #37)

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libuavcan: Rename uavcan to libuavcan
This commit is contained in:
Gregory Nutt 2016-05-25 07:16:04 -06:00
commit 61107344b6
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"
source "$APPSDIR/canutils/uavcan/Kconfig"
source "$APPSDIR/canutils/libcanard/Kconfig"
source "$APPSDIR/canutils/libuavcan/Kconfig"
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.
#
config CANUTILS_UAVCAN
bool "UAVCAN Library"
config CANUTILS_LIBUAVCAN
bool "libuavcan Library"
default n
depends on STM32_HAVE_CAN1
depends on !STM32_CAN1
@ -14,47 +14,47 @@ config CANUTILS_UAVCAN
depends on HAVE_CXX
depends on !DISABLE_POLL
---help---
Enables support for the UAVCAN library.
Enables support for the libuavcan library.
if CANUTILS_UAVCAN
if CANUTILS_LIBUAVCAN
config UAVCAN_LIBUAVCAN_URL
string "UAVCAN URL"
config LIBUAVCAN_URL
string "libuavcan URL"
default "https://github.com/UAVCAN/libuavcan/archive"
---help---
UAVCAN URL.
libuavcan URL.
config UAVCAN_LIBUAVCAN_VERSION
string "UAVCAN Version"
config LIBUAVCAN_VERSION
string "libuavcan Version"
default "b04396ace50155573e545ed9bf2fb09964ee2367"
---help---
UAVCAN version.
libuavcan version.
config UAVCAN_DSDL_URL
config LIBUAVCAN_DSDL_URL
string "DSDL URL"
default "https://github.com/UAVCAN/dsdl/archive"
---help---
DSDL URL.
config UAVCAN_DSDL_VERSION
config LIBUAVCAN_DSDL_VERSION
string "DSDL Version"
default "9804a3e6972825586be252ce08dd899f44994b14"
---help---
DSDL version.
config UAVCAN_PYUAVCAN_URL
string "Python UAVCAN URL"
config LIBUAVCAN_PYUAVCAN_URL
string "pyuavcan URL"
default "https://github.com/UAVCAN/pyuavcan/archive"
---help---
Python UAVCAN URL.
pyuavcan URL.
config UAVCAN_PYUAVCAN_VERSION
string "Python UAVCAN Version"
config LIBUAVCAN_PYUAVCAN_VERSION
string "pyuavcan Version"
default "c58477a644d20ccf95a20c151f3a0402f271c3b8"
---help---
Python UAVCAN version.
pyuavcan version.
config UAVCAN_STM32_NUM_IFACES
config LIBUAVCAN_STM32_NUM_IFACES
int "Number of CAN Interfaces"
default 1
range 1 1 if !STM32_HAVE_CAN2
@ -62,44 +62,44 @@ config UAVCAN_STM32_NUM_IFACES
choice
prompt "Timer"
default UAVCAN_STM32_TIM2 if !STM32_TIM2
default UAVCAN_STM32_TIM3 if STM32_HAVE_TIM3 && !STM32_TIM3
default UAVCAN_STM32_TIM4 if STM32_HAVE_TIM4 && !STM32_TIM4
default UAVCAN_STM32_TIM5 if STM32_HAVE_TIM5 && !STM32_TIM5
default UAVCAN_STM32_TIM6 if STM32_HAVE_TIM6 && !STM32_TIM6
default UAVCAN_STM32_TIM7 if STM32_HAVE_TIM7 && !STM32_TIM7
default LIBUAVCAN_STM32_TIM2 if !STM32_TIM2
default LIBUAVCAN_STM32_TIM3 if STM32_HAVE_TIM3 && !STM32_TIM3
default LIBUAVCAN_STM32_TIM4 if STM32_HAVE_TIM4 && !STM32_TIM4
default LIBUAVCAN_STM32_TIM5 if STM32_HAVE_TIM5 && !STM32_TIM5
default LIBUAVCAN_STM32_TIM6 if STM32_HAVE_TIM6 && !STM32_TIM6
default LIBUAVCAN_STM32_TIM7 if STM32_HAVE_TIM7 && !STM32_TIM7
config UAVCAN_STM32_TIM2
config LIBUAVCAN_STM32_TIM2
bool "TIM2"
depends on !STM32_TIM2
---help---
The library will use TIM2.
config UAVCAN_STM32_TIM3
config LIBUAVCAN_STM32_TIM3
bool "TIM3"
depends on STM32_HAVE_TIM3 && !STM32_TIM3
---help---
The library will use TIM3.
config UAVCAN_STM32_TIM4
config LIBUAVCAN_STM32_TIM4
bool "TIM4"
depends on STM32_HAVE_TIM4 && !STM32_TIM4
---help---
The library will use TIM4.
config UAVCAN_STM32_TIM5
config LIBUAVCAN_STM32_TIM5
bool "TIM5"
depends on STM32_HAVE_TIM5 && !STM32_TIM5
---help---
The library will use TIM5.
config UAVCAN_STM32_TIM6
config LIBUAVCAN_STM32_TIM6
bool "TIM6"
depends on STM32_HAVE_TIM6 && !STM32_TIM6
---help---
The library will use TIM6.
config UAVCAN_STM32_TIM7
config LIBUAVCAN_STM32_TIM7
bool "TIM7"
depends on STM32_HAVE_TIM7 && !STM32_TIM7
---help---
@ -109,111 +109,111 @@ endchoice
choice
prompt "C++ Version"
default UAVCAN_CPP03
default LIBUAVCAN_CPP03
config UAVCAN_CPP03
config LIBUAVCAN_CPP03
bool "C++03"
---help---
The library will use C++03.
config UAVCAN_CPP11
config LIBUAVCAN_CPP11
bool "C++11"
---help---
The library will use C++11.
endchoice
config UAVCAN_DEBUG
config LIBUAVCAN_DEBUG
bool "Debug"
default n
---help---
Enables debug.
config UAVCAN_EXCEPTIONS
config LIBUAVCAN_EXCEPTIONS
bool "Exceptions"
default n
---help---
Enables exceptions.
config UAVCAN_TINY
config LIBUAVCAN_TINY
bool "Tiny"
default n
---help---
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"
default n
---help---
Removes the global data type registry.
config UAVCAN_TOSTRING
config LIBUAVCAN_TOSTRING
bool "Implement toString"
default n
depends on UAVCAN_EXCEPTIONS
depends on LIBUAVCAN_EXCEPTIONS
---help---
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"
default n
---help---
The library will implement placement new.
config UAVCAN_USE_EXTERNAL_SNPRINTF
config LIBUAVCAN_USE_EXTERNAL_SNPRINTF
bool "Use External snprintf"
default n
---help---
The library will use an external snprintf.
config UAVCAN_USE_EXTERNAL_FLOAT16_CONVERSION
config LIBUAVCAN_USE_EXTERNAL_FLOAT16_CONVERSION
bool "Use External float16 Conversion"
default n
---help---
The library will use an external float16 conversion.
config UAVCAN_NO_ASSERTIONS
config LIBUAVCAN_NO_ASSERTIONS
bool "No Assertions"
default n
---help---
Disables assertions.
config UAVCAN_MEM_POOL_BLOCK_SIZE
config LIBUAVCAN_MEM_POOL_BLOCK_SIZE
int "Memory Pool Block Size"
default 0
---help---
Specifies the memory pool block size. If the value is 0, the
library will use a default value.
config UAVCAN_FLOAT_COMPARISON_EPSILON_MULT
config LIBUAVCAN_FLOAT_COMPARISON_EPSILON_MULT
int "Float Comparion Epsilon Mult"
default 0
---help---
Specifies the float comparison epsilon mult. If the value is
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"
default 0
---help---
Specifies the maximum number of CAN acceptance filters. If
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"
default 0
---help---
Specifies the maximum network size. If the value is 0, the
library will use a default value.
config UAVCAN_RX_QUEUE_CAPACITY
config LIBUAVCAN_RX_QUEUE_CAPACITY
int "Rx Queue Capacity"
default 0
---help---
Specifies the rx queue capacity. If the value is 0, the
library will use a default value.
config UAVCAN_BIT_RATE
config LIBUAVCAN_BIT_RATE
int "Bit Rate"
default 0
range 0 1000000
@ -221,7 +221,7 @@ config UAVCAN_BIT_RATE
Specifies the CAN bit rate. If the value is 0, the library
will automatically detect the bit rate.
config UAVCAN_INIT_RETRIES
config LIBUAVCAN_INIT_RETRIES
int "Initialization Retries"
default 0
---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>
#
# Redistribution and use in source and binary forms, with or without
@ -33,6 +33,6 @@
#
############################################################################
ifeq ($(CONFIG_CANUTILS_UAVCAN),y)
CONFIGURED_APPS += canutils/uavcan
ifeq ($(CONFIG_CANUTILS_LIBUAVCAN),y)
CONFIGURED_APPS += canutils/libuavcan
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.
# Author: Paul Alexander Patience <paul-a.patience@polymtl.ca>
@ -41,21 +41,21 @@ WGET = wget
UNPACK = unzip
PACKEXT = .zip
LIBUAVCAN_URL = $(patsubst "%",%,$(strip $(CONFIG_UAVCAN_LIBUAVCAN_URL)))
LIBUAVCAN_VERSION = $(patsubst "%",%,$(strip $(CONFIG_UAVCAN_LIBUAVCAN_VERSION)))
LIBUAVCAN_URL = $(patsubst "%",%,$(strip $(CONFIG_LIBUAVCAN_URL)))
LIBUAVCAN_VERSION = $(patsubst "%",%,$(strip $(CONFIG_LIBUAVCAN_VERSION)))
LIBUAVCAN_UNPACKNAME = libuavcan-$(LIBUAVCAN_VERSION)
LIBUAVCAN_PACKNAME = $(LIBUAVCAN_UNPACKNAME)$(PACKEXT)
LIBUAVCAN_DSDL_PATH = libuavcan$(DELIM)dsdl
LIBUAVCAN_PYUAVCAN_PATH = libuavcan$(DELIM)libuavcan$(DELIM)dsdl_compiler$(DELIM)pyuavcan
LIBUAVCAN_PATCHNAME = nuttx-$(LIBUAVCAN_VERSION).patch
DSDL_URL = $(patsubst "%",%,$(strip $(CONFIG_UAVCAN_DSDL_URL)))
DSDL_VERSION = $(patsubst "%",%,$(strip $(CONFIG_UAVCAN_DSDL_VERSION)))
DSDL_URL = $(patsubst "%",%,$(strip $(CONFIG_LIBUAVCAN_DSDL_URL)))
DSDL_VERSION = $(patsubst "%",%,$(strip $(CONFIG_LIBUAVCAN_DSDL_VERSION)))
DSDL_UNPACKNAME = dsdl-$(DSDL_VERSION)
DSDL_PACKNAME = $(DSDL_UNPACKNAME)$(PACKEXT)
PYUAVCAN_URL = $(patsubst "%",%,$(strip $(CONFIG_UAVCAN_PYUAVCAN_URL)))
PYUAVCAN_VERSION = $(patsubst "%",%,$(strip $(CONFIG_UAVCAN_PYUAVCAN_VERSION)))
PYUAVCAN_URL = $(patsubst "%",%,$(strip $(CONFIG_LIBUAVCAN_PYUAVCAN_URL)))
PYUAVCAN_VERSION = $(patsubst "%",%,$(strip $(CONFIG_LIBUAVCAN_PYUAVCAN_VERSION)))
PYUAVCAN_UNPACKNAME = pyuavcan-$(PYUAVCAN_VERSION)
PYUAVCAN_PACKNAME = $(PYUAVCAN_UNPACKNAME)$(PACKEXT)
@ -70,24 +70,24 @@ CXXFLAGS += -I$(TOPDIR)$(DELIM)arch$(DELIM)arm$(DELIM)src$(DELIM)stm32
CXXFLAGS += -D__KERNEL__
CXXFLAGS += -DUAVCAN_STM32_NUTTX=1
CXXFLAGS += -DUAVCAN_STM32_NUM_IFACES=$(CONFIG_UAVCAN_STM32_NUM_IFACES)
CXXFLAGS += -DUAVCAN_STM32_NUM_IFACES=$(CONFIG_LIBUAVCAN_STM32_NUM_IFACES)
ifeq ($(CONFIG_UAVCAN_STM32_TIM2),y)
ifeq ($(CONFIG_LIBUAVCAN_STM32_TIM2),y)
CXXFLAGS += -DUAVCAN_STM32_TIMER_NUMBER=2
else
ifeq ($(CONFIG_UAVCAN_STM32_TIM3),y)
ifeq ($(CONFIG_LIBUAVCAN_STM32_TIM3),y)
CXXFLAGS += -DUAVCAN_STM32_TIMER_NUMBER=3
else
ifeq ($(CONFIG_UAVCAN_STM32_TIM4),y)
ifeq ($(CONFIG_LIBUAVCAN_STM32_TIM4),y)
CXXFLAGS += -DUAVCAN_STM32_TIMER_NUMBER=4
else
ifeq ($(CONFIG_UAVCAN_STM32_TIM5),y)
ifeq ($(CONFIG_LIBUAVCAN_STM32_TIM5),y)
CXXFLAGS += -DUAVCAN_STM32_TIMER_NUMBER=5
else
ifeq ($(CONFIG_UAVCAN_STM32_TIM6),y)
ifeq ($(CONFIG_LIBUAVCAN_STM32_TIM6),y)
CXXFLAGS += -DUAVCAN_STM32_TIMER_NUMBER=6
else
ifeq ($(CONFIG_UAVCAN_STM32_TIM7),y)
ifeq ($(CONFIG_LIBUAVCAN_STM32_TIM7),y)
CXXFLAGS += -DUAVCAN_STM32_TIMER_NUMBER=7
endif
endif
@ -96,68 +96,68 @@ endif
endif
endif
ifeq ($(CONFIG_UAVCAN_CPP03),y)
ifeq ($(CONFIG_LIBUAVCAN_CPP03),y)
CXXFLAGS += -std=c++03 -DUAVCAN_CPP_VERSION=UAVCAN_CPP03
else
ifeq ($(CONFIG_UAVCAN_CPP11),y)
ifeq ($(CONFIG_LIBUAVCAN_CPP11),y)
CXXFLAGS += -std=c++11 -DUAVCAN_CPP_VERSION=UAVCAN_CPP11
endif
endif
ifeq ($(CONFIG_UAVCAN_DEBUG),y)
ifeq ($(CONFIG_LIBUAVCAN_DEBUG),y)
CXXFLAGS += -DUAVCAN_DEBUG=1
endif
ifeq ($(CONFIG_UAVCAN_EXCEPTIONS),y)
ifeq ($(CONFIG_LIBUAVCAN_EXCEPTIONS),y)
CXXFLAGS += -DUAVCAN_EXCEPTIONS=1
else
CXXFLAGS += -DUAVCAN_EXCEPTIONS=0
endif
ifeq ($(CONFIG_UAVCAN_TINY),y)
ifeq ($(CONFIG_LIBUAVCAN_TINY),y)
CXXFLAGS += -DUAVCAN_TINY=1
endif
ifeq ($(CONFIG_UAVCAN_NO_GLOBAL_DATA_TYPE_REGISTRY),y)
ifeq ($(CONFIG_LIBUAVCAN_NO_GLOBAL_DATA_TYPE_REGISTRY),y)
CXXFLAGS += -DUAVCAN_NO_GLOBAL_DATA_TYPE_REGISTRY=1
endif
ifeq ($(CONFIG_UAVCAN_TOSTRING),y)
ifeq ($(CONFIG_LIBUAVCAN_TOSTRING),y)
CXXFLAGS += -DUAVCAN_TOSTRING=1
else
CXXFLAGS += -DUAVCAN_TOSTRING=0
endif
ifeq ($(CONFIG_UAVCAN_IMPLEMENT_PLACEMENT_NEW),y)
ifeq ($(CONFIG_LIBUAVCAN_IMPLEMENT_PLACEMENT_NEW),y)
CXXFLAGS += -DUAVCAN_IMPLEMENT_PLACEMENT_NEW=1
endif
ifeq ($(CONFIG_UAVCAN_USE_EXTERNAL_SNPRINTF),y)
ifeq ($(CONFIG_LIBUAVCAN_USE_EXTERNAL_SNPRINTF),y)
CXXFLAGS += -DUAVCAN_USE_EXTERNAL_SNPRINTF=1
endif
ifeq ($(CONFIG_UAVCAN_USE_EXTERNAL_FLOAT16_CONVERSION),y)
ifeq ($(CONFIG_LIBUAVCAN_USE_EXTERNAL_FLOAT16_CONVERSION),y)
CXXFLAGS += -DUAVCAN_USE_EXTERNAL_FLOAT16_CONVERSION=1
endif
ifeq ($(CONFIG_UAVCAN_NO_ASSERTIONS),y)
ifeq ($(CONFIG_LIBUAVCAN_NO_ASSERTIONS),y)
CXXFLAGS += -DUAVCAN_NO_ASSERTIONS=1
endif
ifneq ($(CONFIG_UAVCAN_MEM_POOL_BLOCK_SIZE),0)
CXXFLAGS += -DUAVCAN_MEM_POOL_BLOCK_SIZE=$(CONFIG_UAVCAN_MEM_POOL_BLOCK_SIZE)
ifneq ($(CONFIG_LIBUAVCAN_MEM_POOL_BLOCK_SIZE),0)
CXXFLAGS += -DUAVCAN_MEM_POOL_BLOCK_SIZE=$(CONFIG_LIBUAVCAN_MEM_POOL_BLOCK_SIZE)
endif
ifneq ($(CONFIG_UAVCAN_FLOAT_COMPARISON_EPSILON_MULT),0)
CXXFLAGS += -DUAVCAN_FLOAT_COMPARISON_EPSILON_MULT=$(CONFIG_UAVCAN_FLOAT_COMPARISON_EPSILON_MULT)
ifneq ($(CONFIG_LIBUAVCAN_FLOAT_COMPARISON_EPSILON_MULT),0)
CXXFLAGS += -DUAVCAN_FLOAT_COMPARISON_EPSILON_MULT=$(CONFIG_LIBUAVCAN_FLOAT_COMPARISON_EPSILON_MULT)
endif
ifneq ($(CONFIG_UAVCAN_MAX_CAN_ACCEPTANCE_FILTERS),0)
CXXFLAGS += -DUAVCAN_MAX_CAN_ACCEPTANCE_FILTERS=$(CONFIG_UAVCAN_MAX_CAN_ACCEPTANCE_FILTERS)
ifneq ($(CONFIG_LIBUAVCAN_MAX_CAN_ACCEPTANCE_FILTERS),0)
CXXFLAGS += -DUAVCAN_MAX_CAN_ACCEPTANCE_FILTERS=$(CONFIG_LIBUAVCAN_MAX_CAN_ACCEPTANCE_FILTERS)
endif
ifneq ($(CONFIG_UAVCAN_MAX_NETWORK_SIZE_HINT),0)
CXXFLAGS += -DUAVCAN_MAX_NETWORK_SIZE_HINT=$(CONFIG_UAVCAN_MAX_NETWORK_SIZE_HINT)
ifneq ($(CONFIG_LIBUAVCAN_MAX_NETWORK_SIZE_HINT),0)
CXXFLAGS += -DUAVCAN_MAX_NETWORK_SIZE_HINT=$(CONFIG_LIBUAVCAN_MAX_NETWORK_SIZE_HINT)
endif
CXXEXT = .cpp
@ -212,6 +212,7 @@ libuavcan: $(LIBUAVCAN_UNPACKNAME) $(DSDL_UNPACKNAME) $(PYUAVCAN_UNPACKNAME)
$(Q) cp -R $(DSDL_UNPACKNAME) $(LIBUAVCAN_DSDL_PATH)
$(call DELDIR, $(LIBUAVCAN_PYUAVCAN_PATH))
$(Q) cp -R $(PYUAVCAN_UNPACKNAME) $(LIBUAVCAN_PYUAVCAN_PATH)
$(Q) touch $@
dsdlc_generated: libuavcan
$(info $(shell $(LIBUAVCAN_DSDLC) $(UAVCAN_DSDL_DIR)))
@ -248,7 +249,6 @@ clean:
distclean: clean
$(call DELFILE, Make.dep)
$(call DELFILE, .depend)
$(call DELFILE, .libuavcan_patched)
$(call DELDIR, $(LIBUAVCAN_UNPACKNAME))
$(call DELFILE, $(LIBUAVCAN_PACKNAME))
$(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>
*
* Redistribution and use in source and binary forms, with or without
@ -47,9 +47,9 @@
* Configuration
****************************************************************************/
#if CONFIG_UAVCAN_RX_QUEUE_CAPACITY == 0
# undef CONFIG_UAVCAN_RX_QUEUE_CAPACITY
# define CONFIG_UAVCAN_RX_QUEUE_CAPACITY
#if CONFIG_LIBUAVCAN_RX_QUEUE_CAPACITY == 0
# undef CONFIG_LIBUAVCAN_RX_QUEUE_CAPACITY
# define CONFIG_LIBUAVCAN_RX_QUEUE_CAPACITY
#endif
/****************************************************************************
@ -58,7 +58,8 @@
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());
}
@ -68,22 +69,22 @@ static void delay(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;
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;
#endif
while (can.init(delay, bitrate) < 0)
{
#if CONFIG_UAVCAN_INIT_RETRIES > 0
#if CONFIG_LIBUAVCAN_INIT_RETRIES > 0
retries++;
if (retries >= CONFIG_UAVCAN_INIT_RETRIES)
if (retries >= CONFIG_LIBUAVCAN_INIT_RETRIES)
{
PANIC();
}