UAVCAN: Add a patch to make the verified version of UAVCAN compatible with the current NuttX code base

canutils/uavcan/Makefile

@@ -47,6 +47,7 @@ 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)))
@@ -204,6 +205,9 @@ $(PYUAVCAN_UNPACKNAME): $(PYUAVCAN_PACKNAME)
 
 libuavcan: $(LIBUAVCAN_UNPACKNAME) $(DSDL_UNPACKNAME) $(PYUAVCAN_UNPACKNAME)
 	$(Q) cp -R $(LIBUAVCAN_UNPACKNAME) libuavcan
+	$(Q) if [ -r $(LIBUAVCAN_PATCHNAME) ]; then \
+		cat $(LIBUAVCAN_PATCHNAME) | patch -p0 || { echo "ERROR: Patch failed"; exit 1; }; \
+		fi
 	$(call DELDIR, $(LIBUAVCAN_DSDL_PATH))
 	$(Q) cp -R $(DSDL_UNPACKNAME) $(LIBUAVCAN_DSDL_PATH)
 	$(call DELDIR, $(LIBUAVCAN_PYUAVCAN_PATH))
@@ -244,6 +248,7 @@ clean:
 distclean: clean
 	$(call DELFILE, Make.dep)
 	$(call DELFILE, .depend)
+	$(call DEFLFILE, .libuavcan_patched)
 	$(call DELDIR, $(LIBUAVCAN_UNPACKNAME))
 	$(call DELFILE, $(LIBUAVCAN_PACKNAME))
 	$(call DELDIR, $(DSDL_UNPACKNAME))

canutils/uavcan/nuttx-c152f28a620ceec9f63581a7c99fe77c89938048.patch

@@ -0,0 +1,25 @@
+--- libuavcan/libuavcan_drivers/stm32/driver/src/internal.hpp.orig	2016-02-15 18:43:32.799005338 -0600
++++ libuavcan/libuavcan_drivers/stm32/driver/src/internal.hpp	2016-02-15 18:45:09.621004803 -0600
+@@ -9,6 +9,7 @@
+ #if UAVCAN_STM32_CHIBIOS
+ # include <hal.h>
+ #elif UAVCAN_STM32_NUTTX
++# include <nuttx/irq.h>
+ # include <nuttx/arch.h>
+ # include <arch/board/board.h>
+ # include <chip/stm32_tim.h>
+@@ -97,12 +98,12 @@
+     const irqstate_t flags_;
+ 
+     CriticalSectionLocker()
+-        : flags_(irqsave())
++        : flags_(enter_critical_section())
+     { }
+ 
+     ~CriticalSectionLocker()
+     {
+-        irqrestore(flags_);
++        leave_critical_section(flags_);
+     }
+ };
+ 

examples/uavcan/.gitignore

@@ -0,0 +1,11 @@
+/Make.dep
+/.depend
+/.built
+/*.asm
+/*.obj
+/*.rel
+/*.lst
+/*.sym
+/*.adb
+/*.lib
+/*.src