Merged in paulpatience/nuttx-apps (pull request #13)

UAVCAN: Add more options in Kconfig file

canutils/uavcan/Kconfig

@@ -60,36 +60,52 @@ config UAVCAN_STM32_NUM_IFACES
 	range 1 1 if !STM32_HAVE_CAN2
 	range 1 2 if STM32_HAVE_CAN2
 
-if UAVCAN_STM32_TIMER_NUMBER = 2 && STM32_TIM2
+choice
-comment "Timer 2 is already configured for NuttX"
+	prompt "Timer"
-endif
+	default UAVCAN_STM32_TIM2 if STM32_HAVE_TIM2 && !STM32_TIM2
-if UAVCAN_STM32_TIMER_NUMBER = 3 && STM32_TIM3
+	default UAVCAN_STM32_TIM3 if STM32_HAVE_TIM3 && !STM32_TIM3
-comment "Timer 3 is already configured for NuttX"
+	default UAVCAN_STM32_TIM4 if STM32_HAVE_TIM4 && !STM32_TIM4
-endif
+	default UAVCAN_STM32_TIM5 if STM32_HAVE_TIM5 && !STM32_TIM5
-if UAVCAN_STM32_TIMER_NUMBER = 4 && STM32_TIM4
+	default UAVCAN_STM32_TIM6 if STM32_HAVE_TIM6 && !STM32_TIM6
-comment "Timer 4 is already configured for NuttX"
+	default UAVCAN_STM32_TIM7 if STM32_HAVE_TIM7 && !STM32_TIM7
-endif
-if UAVCAN_STM32_TIMER_NUMBER = 5 && STM32_TIM5
-comment "Timer 5 is already configured for NuttX"
-endif
-if UAVCAN_STM32_TIMER_NUMBER = 6 && STM32_TIM6
-comment "Timer 6 is already configured for NuttX"
-endif
-if UAVCAN_STM32_TIMER_NUMBER = 7 && STM32_TIM7
-comment "Timer 7 is already configured for NuttX"
-endif
 
-config UAVCAN_STM32_TIMER_NUMBER
+config UAVCAN_STM32_TIM2
-	int "Timer Number"
+	bool "TIM2"
-	default 2 if STM32_HAVE_TIM2 && !STM32_TIM2
+	depends on STM32_HAVE_TIM2 && !STM32_TIM2
-	default 3 if STM32_HAVE_TIM3 && !STM32_TIM3
-	default 4 if STM32_HAVE_TIM4 && !STM32_TIM4
-	default 5 if STM32_HAVE_TIM5 && !STM32_TIM5
-	default 6 if STM32_HAVE_TIM6 && !STM32_TIM6
-	default 7 if STM32_HAVE_TIM7 && !STM32_TIM7
-	range 2 7
 	---help---
-		Specifies the timer number.
+		The library will use TIM2.
+
+config UAVCAN_STM32_TIM3
+	bool "TIM3"
+	depends on STM32_HAVE_TIM3 && !STM32_TIM3
+	---help---
+		The library will use TIM3.
+
+config UAVCAN_STM32_TIM4
+	bool "TIM4"
+	depends on STM32_HAVE_TIM4 && !STM32_TIM4
+	---help---
+		The library will use TIM4.
+
+config UAVCAN_STM32_TIM5
+	bool "TIM5"
+	depends on STM32_HAVE_TIM5 && !STM32_TIM5
+	---help---
+		The library will use TIM5.
+
+config UAVCAN_STM32_TIM6
+	bool "TIM6"
+	depends on STM32_HAVE_TIM6 && !STM32_TIM6
+	---help---
+		The library will use TIM6.
+
+config UAVCAN_STM32_TIM7
+	bool "TIM7"
+	depends on STM32_HAVE_TIM7 && !STM32_TIM7
+	---help---
+		The library will use TIM7.
+
+endchoice
 
 choice
 	prompt "C++ Version"
@@ -107,15 +123,34 @@ config UAVCAN_CPP11
 
 endchoice
 
+config UAVCAN_DEBUG
+	bool "Debug"
+	default n
+	---help---
+		Enables debug.
+
+config UAVCAN_EXCEPTIONS
+	bool "Exceptions"
+	default n
+	---help---
+		Enables exceptions.
+
 config UAVCAN_TINY
 	bool "Tiny"
 	default n
 	---help---
 		Removes some features to save memory.
 
+config UAVCAN_NO_GLOBAL_DATA_TYPE_REGISTRY
+	bool "No Global Data Type Registry"
+	default n
+	---help---
+		Removes the global data type registry.
+
 config UAVCAN_TOSTRING
 	bool "Implement toString"
 	default n
+	depends on UAVCAN_EXCEPTIONS
 	---help---
 		The library will add a toString method to most of its classes.
 
@@ -138,7 +173,7 @@ config UAVCAN_USE_EXTERNAL_FLOAT16_CONVERSION
 		The library will use an external float16 conversion.
 
 config UAVCAN_NO_ASSERTIONS
-	bool "Disable Assertions"
+	bool "No Assertions"
 	default n
 	---help---
 		Disables assertions.
@@ -150,6 +185,27 @@ config UAVCAN_MEM_POOL_BLOCK_SIZE
 		Specifies the memory pool block size.  If the value is 0, the
 		library will use a default value.
 
+config UAVCAN_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
+	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
+	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
 	int "Rx Queue Capacity"
 	default 0

canutils/uavcan/Makefile

@@ -66,9 +66,33 @@ CXXSRCS = platform_stm32.cpp $(LIBUAVCAN_SRC) $(LIBUAVCAN_STM32_SRC)
 CXXFLAGS += -I$(LIBUAVCAN_INC) -I$(LIBUAVCAN_STM32_INC) -Idsdlc_generated
 CXXFLAGS += -I$(TOPDIR)/arch/arm/src/common -I$(TOPDIR)/arch/arm/src/stm32
 
+CXXFLAGS += -D__KERNEL__
 CXXFLAGS += -DUAVCAN_STM32_NUTTX=1
 CXXFLAGS += -DUAVCAN_STM32_NUM_IFACES=$(CONFIG_UAVCAN_STM32_NUM_IFACES)
-CXXFLAGS += -DUAVCAN_STM32_TIMER_NUMBER=$(CONFIG_UAVCAN_STM32_TIMER_NUMBER)
+
+ifeq ($(CONFIG_UAVCAN_STM32_TIM2),y)
+CXXFLAGS += -DUAVCAN_STM32_TIMER_NUMBER=2
+else
+ifeq ($(CONFIG_UAVCAN_STM32_TIM3),y)
+CXXFLAGS += -DUAVCAN_STM32_TIMER_NUMBER=3
+else
+ifeq ($(CONFIG_UAVCAN_STM32_TIM4),y)
+CXXFLAGS += -DUAVCAN_STM32_TIMER_NUMBER=4
+else
+ifeq ($(CONFIG_UAVCAN_STM32_TIM5),y)
+CXXFLAGS += -DUAVCAN_STM32_TIMER_NUMBER=5
+else
+ifeq ($(CONFIG_UAVCAN_STM32_TIM6),y)
+CXXFLAGS += -DUAVCAN_STM32_TIMER_NUMBER=6
+else
+ifeq ($(CONFIG_UAVCAN_STM32_TIM7),y)
+CXXFLAGS += -DUAVCAN_STM32_TIMER_NUMBER=7
+endif
+endif
+endif
+endif
+endif
+endif
 
 ifeq ($(CONFIG_UAVCAN_CPP03),y)
 CXXFLAGS += -std=c++03 -DUAVCAN_CPP_VERSION=UAVCAN_CPP03
@@ -78,12 +102,28 @@ CXXFLAGS += -std=c++11 -DUAVCAN_CPP_VERSION=UAVCAN_CPP11
 endif
 endif
 
+ifeq ($(CONFIG_UAVCAN_DEBUG),y)
+CXXFLAGS += -DUAVCAN_DEBUG=1
+endif
+
+ifeq ($(CONFIG_UAVCAN_EXCEPTIONS),y)
+CXXFLAGS += -DUAVCAN_EXCEPTIONS=1
+else
+CXXFLAGS += -DUAVCAN_EXCEPTIONS=0
+endif
+
 ifeq ($(CONFIG_UAVCAN_TINY),y)
 CXXFLAGS += -DUAVCAN_TINY=1
 endif
 
+ifeq ($(CONFIG_UAVCAN_NO_GLOBAL_DATA_TYPE_REGISTRY),y)
+CXXFLAGS += -DUAVCAN_NO_GLOBAL_DATA_TYPE_REGISTRY=1
+endif
+
 ifeq ($(CONFIG_UAVCAN_TOSTRING),y)
 CXXFLAGS += -DUAVCAN_TOSTRING=1
+else
+CXXFLAGS += -DUAVCAN_TOSTRING=0
 endif
 
 ifeq ($(CONFIG_UAVCAN_IMPLEMENT_PLACEMENT_NEW),y)
@@ -106,6 +146,18 @@ ifneq ($(CONFIG_UAVCAN_MEM_POOL_BLOCK_SIZE),0)
 CXXFLAGS += -DUAVCAN_MEM_POOL_BLOCK_SIZE=$(CONFIG_UAVCAN_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)
+endif
+
+ifneq ($(CONFIG_UAVCAN_MAX_CAN_ACCEPTANCE_FILTERS),0)
+CXXFLAGS += -DUAVCAN_MAX_CAN_ACCEPTANCE_FILTERS=$(CONFIG_UAVCAN_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)
+endif
+
 CXXEXT = .cpp
 CXXOBJS = $(CXXSRCS:$(CXXEXT)=$(OBJEXT))
 
@@ -159,7 +211,7 @@ libuavcan: $(LIBUAVCAN_UNPACKNAME) $(DSDL_UNPACKNAME) $(PYUAVCAN_UNPACKNAME)
 dsdlc_generated: libuavcan
 	$(info $(shell $(LIBUAVCAN_DSDLC) $(UAVCAN_DSDL_DIR)))
 
-$(APPDIR)/include/uavcan: libuavcan/libuavcan/include/uavcan dsdlc_generated/uavcan
+$(APPDIR)/include/uavcan: libuavcan dsdlc_generated
 	$(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

examples/uavcan/uavcan_main.cxx

@@ -48,13 +48,6 @@
  * Public Function Prototypes
  ****************************************************************************/
 
-#ifndef CONFIG_BUILD_KERNEL
-extern "C"
-{
-  int uavcan_main(int argc, FAR char *argv[]);
-}
-#endif
-
 uavcan::ICanDriver& getCanDriver();
 uavcan::ISystemClock& getSystemClock();
 
@@ -69,7 +62,7 @@ uavcan::ISystemClock& getSystemClock();
 #ifdef CONFIG_BUILD_KERNEL
 int main(int argc, FAR char *argv[])
 #else
-int uavcan_main(int argc, FAR char *argv[])
+extern "C" int uavcan_main(int argc, FAR char *argv[])
 #endif
 {
   uavcan::Node<CONFIG_EXAMPLES_UAVCAN_NODE_MEM_POOL_SIZE>