From f24828337f49fa282dc3272659decb69fec16961 Mon Sep 17 00:00:00 2001
From: "Paul A. Patience" <paul-a.patience@polymtl.ca>
Date: Tue, 6 Oct 2015 23:58:19 -0400
Subject: [PATCH] apps/examples/uavcan: Call boardctl to configure CAN GPIOs

---
 examples/uavcan/uavcan_main.cxx | 12 +++++++++++-
 1 file changed, 11 insertions(+), 1 deletion(-)

diff --git a/examples/uavcan/uavcan_main.cxx b/examples/uavcan/uavcan_main.cxx
index 7181356a0..fb8206416 100644
--- a/examples/uavcan/uavcan_main.cxx
+++ b/examples/uavcan/uavcan_main.cxx
@@ -39,6 +39,8 @@
 
 #include <nuttx/config.h>
 
+#include <sys/boardctl.h>
+
 #include <cstdio>
 #include <cstdlib>
 
@@ -65,9 +67,17 @@ int main(int argc, FAR char *argv[])
 extern "C" int uavcan_main(int argc, FAR char *argv[])
 #endif
 {
+  int ret;
+
+  ret = boardctl(BOARDIOC_INIT, 0);
+  if (ret < 0)
+    {
+      std::fprintf(stderr, "ERROR: boardctl failed: %d\n", ret);
+      return EXIT_FAILURE;
+    }
+
   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);