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DroneCAN add socketcan support, rename to DroneCAN

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Rename canardv1 to OpenCyphal

Apply suggestions from code review

Co-authored-by: Petro Karashchenko <petro.karashchenko@gmail.com>
This commit is contained in:
Peter van der Perk 2023-01-31 16:35:23 +01:00 committed by Xiang Xiao
parent e935f153bc
commit fa26bab6b2
22 changed files with 349 additions and 226 deletions
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1
canutils/libcanardv0/.gitignore vendored
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@ -1 +0,0 @@
/libcanard-*

27
canutils/libcanardv0/Kconfig
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@ -1,27 +0,0 @@
#
# For a description of the syntax of this configuration file,
# see the file kconfig-language.txt in the NuttX tools repository.
#
config CANUTILS_LIBCANARDV0
bool "libcanard UAVCAN v0 Library"
default n
depends on CAN && CAN_EXTID
---help---
Enable the libcanard UAVCAN v0 library.
if CANUTILS_LIBCANARDV0
config LIBCANARDV0_URL
string "libcanard URL"
default "https://github.com/UAVCAN/libcanard/archive"
---help---
libcanard URL.
config LIBCANARDV0_VERSION
string "libcanard Version"
default "5ad65c6a4efda60cda7a8f0512da0f465822bbb8"
---help---
libcanard version.
endif

71
canutils/libcanardv0/Makefile
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@ -1,71 +0,0 @@
############################################################################
# apps/canutils/libcanardv0/Makefile
#
# Licensed to the Apache Software Foundation (ASF) under one or more
# contributor license agreements. See the NOTICE file distributed with
# this work for additional information regarding copyright ownership. The
# ASF licenses this file to you under the Apache License, Version 2.0 (the
# "License"); you may not use this file except in compliance with the
# License. You may obtain a copy of the License at
#
# http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
# WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
# License for the specific language governing permissions and limitations
# under the License.
#
############################################################################
include $(APPDIR)/Make.defs
UNPACK = unzip
PACKEXT = .zip
LIBCANARDV0_URL = $(patsubst "%",%,$(strip $(CONFIG_LIBCANARDV0_URL)))
LIBCANARDV0_VERSION = $(patsubst "%",%,$(strip $(CONFIG_LIBCANARDV0_VERSION)))
LIBCANARDV0_UNPACKNAME = libcanard-$(LIBCANARDV0_VERSION)
LIBCANARDV0_PACKNAME = $(LIBCANARDV0_UNPACKNAME)$(PACKEXT)
LIBCANARDV0_SRCDIR = $(LIBCANARDV0_UNPACKNAME)
LIBCANARDV0_DRVDIR = $(LIBCANARDV0_SRCDIR)$(DELIM)drivers$(DELIM)nuttx
APPS_INCDIR = $(APPDIR)$(DELIM)include$(DELIM)canutils
CFLAGS += -std=c99 -DCANARD_ASSERT=DEBUGASSERT
CFLAGS += ${INCDIR_PREFIX}$(APPS_INCDIR)
CSRCS = $(LIBCANARDV0_SRCDIR)$(DELIM)canard.c $(LIBCANARDV0_DRVDIR)$(DELIM)canard_nuttx.c
$(LIBCANARDV0_PACKNAME):
@echo "Downloading: $@"
$(Q) curl -o $@ -L $(LIBCANARDV0_URL)$(DELIM)$(LIBCANARDV0_VERSION)$(PACKEXT)
$(LIBCANARDV0_UNPACKNAME): $(LIBCANARDV0_PACKNAME)
@echo "Unpacking: $< -> $@"
$(call DELDIR, $@)
$(Q) $(UNPACK) $<
$(Q) touch $@
$(LIBCANARDV0_SRCDIR)$(DELIM)canard.h: $(LIBCANARDV0_UNPACKNAME)
$(LIBCANARDV0_DRVDIR)$(DELIM)canard_nuttx.h: $(LIBCANARDV0_UNPACKNAME)
$(APPS_INCDIR)$(DELIM)canard.h: $(LIBCANARDV0_SRCDIR)$(DELIM)canard.h
$(Q) cp $< $@
$(APPS_INCDIR)$(DELIM)canard_nuttx.h: $(LIBCANARDV0_DRVDIR)$(DELIM)canard_nuttx.h
$(Q) cp $< $@
context:: $(APPS_INCDIR)$(DELIM)canard.h $(APPS_INCDIR)$(DELIM)canard_nuttx.h
clean::
$(foreach OBJ, $(OBJS), $(call DELFILE, $(OBJ)))
distclean::
$(call DELFILE, $(APPS_INCDIR)$(DELIM)canard.h)
$(call DELFILE, $(APPS_INCDIR)$(DELIM)canard_nuttx.h)
$(call DELDIR, $(LIBCANARDV0_UNPACKNAME))
$(call DELFILE, $(LIBCANARDV0_PACKNAME))
include $(APPDIR)/Application.mk

2
canutils/libcanardv1/.gitignore vendored
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@ -1,2 +0,0 @@
/libcanard-*
/o1heap-*

2
canutils/libdronecan/.gitignore vendored Normal file
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@ -0,0 +1,2 @@
/libcanard
/*.zip

37
canutils/libdronecan/Kconfig Normal file
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@ -0,0 +1,37 @@
#
# For a description of the syntax of this configuration file,
# see the file kconfig-language.txt in the NuttX tools repository.
#
config CANUTILS_LIBDRONECAN
bool "libcanard DroneCAN Library"
default n
depends on (CAN && CAN_EXTID) || NET_CAN
---help---
Enable the libcanard DroneCAN library.
if CANUTILS_LIBDRONECAN
config LIBDRONECAN_URL
string "libcanard URL"
default "https://github.com/dronecan/libcanard/archive"
---help---
libcanard URL.
config LIBDRONECAN_VERSION
string "libcanard Version"
default "21f2a73df86886101e254d02cfc2277cd2a15717"
---help---
libcanard version.
config LIBDRONECAN_CANFD
bool "(Experimental) libcanard CAN FD Support"
default n
depends on NET_CAN_CANFD && EXPERIMENTAL
---help---
libcanard CAN FD support.
Adds support for CAN FD, this is still experimental
since libcanard doesn't support runtime switching
between CAN2.0B and CAN FD that well
endif

12
canutils/libcanardv0/Make.defs → canutils/libdronecan/Make.defs
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@ -1,5 +1,5 @@
############################################################################
# apps/canutils/libcanardv0/Make.defs
# apps/canutils/libdronecan/Make.defs
#
# Licensed to the Apache Software Foundation (ASF) under one or more
# contributor license agreements. See the NOTICE file distributed with
@ -18,6 +18,12 @@
#
############################################################################
ifneq ($(CONFIG_CANUTILS_LIBCANARDV0),)
CONFIGURED_APPS += $(APPDIR)/canutils/libcanardv0
ifneq ($(CONFIG_CANUTILS_LIBDRONECAN),)
CONFIGURED_APPS += $(APPDIR)/canutils/libdronecan
ifeq ($(CONFIG_NET_CAN),y)
CFLAGS += ${INCDIR_PREFIX}$(APPDIR)/canutils/libdronecan/libcanard/drivers/socketcan
CXXFLAGS += ${INCDIR_PREFIX}$(APPDIR)/canutils/libdronecan/libcanard/drivers/socketcan
endif
endif

83
canutils/libdronecan/Makefile Normal file
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@ -0,0 +1,83 @@
############################################################################
# apps/canutils/libdronecan/Makefile
#
# Licensed to the Apache Software Foundation (ASF) under one or more
# contributor license agreements. See the NOTICE file distributed with
# this work for additional information regarding copyright ownership. The
# ASF licenses this file to you under the Apache License, Version 2.0 (the
# "License"); you may not use this file except in compliance with the
# License. You may obtain a copy of the License at
#
# http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
# WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
# License for the specific language governing permissions and limitations
# under the License.
#
############################################################################
include $(APPDIR)/Make.defs
WD := ${shell echo $(CURDIR) | sed -e 's/ /\\ /g'}
UNPACK = unzip
PACKEXT = .zip
LIBDRONECAN_URL = $(patsubst "%",%,$(strip $(CONFIG_LIBDRONECAN_URL)))
LIBDRONECAN_VERSION = $(patsubst "%",%,$(strip $(CONFIG_LIBDRONECAN_VERSION)))
LIBDRONECAN_PACKNAME = $(LIBDRONECAN_UNPACKNAME)$(PACKEXT)
LIBDRONECAN_UNPACKNAME = libcanard-$(LIBDRONECAN_VERSION)
LIBDRONECAN_SRCNAME = libcanard
LIBDRONECAN_SRCDIR = $(WD)/$(LIBDRONECAN_SRCNAME)
LIBDRONECAN_DRVDIR = $(LIBDRONECAN_SRCDIR)$(DELIM)drivers$(DELIM)nuttx
LIBDRONECAN_SOCKETCANDIR = $(LIBDRONECAN_SRCDIR)$(DELIM)drivers$(DELIM)socketcan
# Conflict with Cyphal's libcanard
ifeq ($(CONFIG_CANUTILS_LIBOPENCYPHAL),y)
CFLAGS += -DcanardInit=dronecanardInit
endif
CFLAGS += -std=c99 -DCANARD_ASSERT=DEBUGASSERT
CFLAGS += ${INCDIR_PREFIX}$(APPDIR)/canutils/libdronecan/libcanard
ifeq ($(CONFIG_LIBDRONECAN_CANFD),y)
CFLAGS += -DCANARD_ENABLE_CANFD=1
endif
CSRCS = $(LIBDRONECAN_SRCDIR)$(DELIM)canard.c
ifeq ($(CONFIG_NET_CAN),y)
CSRCS += $(LIBDRONECAN_SOCKETCANDIR)$(DELIM)socketcan.c
else
CSRCS += $(LIBDRONECAN_DRVDIR)$(DELIM)canard_nuttx.c
endif
# Download and unpack tarball if no git repo found
ifeq ($(wildcard $(LIBDRONECAN_SRCNAME)/.git),)
$(LIBDRONECAN_PACKNAME):
@echo "Downloading: $@"
$(Q) curl -o $@ -L $(LIBDRONECAN_URL)$(DELIM)$(LIBDRONECAN_VERSION)$(PACKEXT)
$(LIBDRONECAN_SRCNAME): $(LIBDRONECAN_PACKNAME)
@echo "Unpacking: $< -> $@"
$(call DELDIR, $@)
$(Q) $(UNPACK) $<
$(Q) mv $(LIBDRONECAN_UNPACKNAME) $(LIBDRONECAN_SRCNAME)
$(Q) touch $@
$(LIBDRONECAN_SRCDIR)$(DELIM)canard.c: $(LIBDRONECAN_SRCNAME)
endif
context:: $(LIBDRONECAN_SRCNAME)
distclean::
ifeq ($(wildcard $(LIBDRONECAN_SRCNAME)/.git),)
$(call DELDIR, $(LIBDRONECAN_SRCNAME))
$(call DELFILE, $(LIBDRONECAN_PACKNAME))
endif
include $(APPDIR)/Application.mk

3
canutils/libopencyphal/.gitignore vendored Normal file
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@ -0,0 +1,3 @@
/libcanard
/o1heap
/*.zip

18
canutils/libcanardv1/Kconfig → canutils/libopencyphal/Kconfig
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@ -3,22 +3,22 @@
# see the file kconfig-language.txt in the NuttX tools repository.
#
config CANUTILS_LIBCANARDV1
bool "libcanard UAVCAN v1 Library"
config CANUTILS_LIBOPENCYPHAL
bool "libcanard OpenCyphal Cyphal/CAN Library"
default n
depends on NET_CAN && ALLOW_MIT_COMPONENTS
---help---
Enable the libcanard UAVCAN v1 library.
Enable the OpenCyphal Cyphal/CAN library.
if CANUTILS_LIBCANARDV1
if CANUTILS_LIBOPENCYPHAL
config LIBCANARDV1_URL
config LIBOPENCYPHAL_URL
string "libcanard URL"
default "https://github.com/UAVCAN/libcanard/archive"
default "https://github.com/OpenCyphal/libcanard/archive"
---help---
libcanard URL.
config LIBCANARDV1_VERSION
config LIBOPENCYPHAL_VERSION
string "libcanard Version"
default "cde670347425023480a1417fcd603b27c8eb06c1"
---help---
@ -28,12 +28,12 @@ config O1HEAP_URL
string "O(1) heap URL"
default "https://github.com/pavel-kirienko/o1heap/archive"
---help---
libcanard URL.
O(1) heap allocator URL.
config O1HEAP_VERSION
string "O(1) heap Version"
default "b21b069e4b971d3016dd232784faca6f7d9fd724"
---help---
libcanard version.
O(1) heap allocator version.
endif

10
canutils/libcanardv1/Make.defs → canutils/libopencyphal/Make.defs
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@ -1,5 +1,5 @@
############################################################################
# apps/canutils/libcanardv1/Make.defs
# apps/canutils/libopencyphal/Make.defs
#
# Licensed to the Apache Software Foundation (ASF) under one or more
# contributor license agreements. See the NOTICE file distributed with
@ -18,6 +18,10 @@
#
############################################################################
ifneq ($(CONFIG_CANUTILS_LIBCANARDV1),)
CONFIGURED_APPS += $(APPDIR)/canutils/libcanardv1
ifneq ($(CONFIG_CANUTILS_LIBOPENCYPHAL),)
CONFIGURED_APPS += $(APPDIR)/canutils/libopencyphal
CFLAGS += ${INCDIR_PREFIX}$(APPDIR)/canutils/libopencyphal/o1heap/o1heap
CXXFLAGS += ${INCDIR_PREFIX}$(APPDIR)/canutils/libopencyphal/o1heap/o1heap
endif

79
canutils/libcanardv1/Makefile → canutils/libopencyphal/Makefile
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@ -1,5 +1,5 @@
############################################################################
# apps/canutils/libcanardv1/Makefile
# apps/canutils/libopencyphal/Makefile
#
# Licensed to the Apache Software Foundation (ASF) under one or more
# contributor license agreements. See the NOTICE file distributed with
@ -20,81 +20,72 @@
include $(APPDIR)/Make.defs
WD := ${shell echo $(CURDIR) | sed -e 's/ /\\ /g'}
UNPACK = unzip
PACKEXT = .zip
LIBCANARDV1_URL = $(patsubst "%",%,$(strip $(CONFIG_LIBCANARDV1_URL)))
LIBCANARDV1_VERSION = $(patsubst "%",%,$(strip $(CONFIG_LIBCANARDV1_VERSION)))
LIBCANARDV1_UNPACKNAME = libcanard-$(LIBCANARDV1_VERSION)
LIBCANARDV1_PACKNAME = $(LIBCANARDV1_UNPACKNAME)$(PACKEXT)
LIBCANARDV1_SRCDIR = $(LIBCANARDV1_UNPACKNAME)
LIBCANARDV1_DRVDIR = $(LIBCANARDV1_SRCDIR)$(DELIM)libcanard
LIBOPENCYPHAL_URL = $(patsubst "%",%,$(strip $(CONFIG_LIBOPENCYPHAL_URL)))
LIBOPENCYPHAL_VERSION = $(patsubst "%",%,$(strip $(CONFIG_LIBOPENCYPHAL_VERSION)))
LIBOPENCYPHAL_PACKNAME = $(LIBOPENCYPHAL_UNPACKNAME)$(PACKEXT)
LIBOPENCYPHAL_UNPACKNAME = libcanard-$(LIBOPENCYPHAL_VERSION)
LIBOPENCYPHAL_SRCNAME = libcanard
LIBOPENCYPHAL_SRCDIR = $(WD)/$(LIBOPENCYPHAL_SRCNAME)
LIBOPENCYPHAL_DRVDIR = $(LIBOPENCYPHAL_SRCDIR)$(DELIM)libcanard
O1HEAP_URL = $(patsubst "%",%,$(strip $(CONFIG_O1HEAP_URL)))
O1HEAP_VERSION = $(patsubst "%",%,$(strip $(CONFIG_O1HEAP_VERSION)))
O1HEAP_UNPACKNAME = o1heap-$(O1HEAP_VERSION)
O1HEAP_PACKNAME = $(O1HEAP_UNPACKNAME)$(PACKEXT)
O1HEAP_SRCDIR = $(O1HEAP_UNPACKNAME)
O1HEAP_UNPACKNAME = o1heap-$(O1HEAP_VERSION)
O1HEAP_SRCNAME = o1heap
O1HEAP_SRCDIR = $(WD)/$(O1HEAP_SRCNAME)
O1HEAP_DRVDIR = $(O1HEAP_SRCDIR)$(DELIM)o1heap
APPS_INCDIR = $(APPDIR)$(DELIM)include$(DELIM)canutils
CFLAGS += -std=c11 -DCANARD_ASSERT=DEBUGASSERT -DCANARD_DSDL_CONFIG_LITTLE_ENDIAN=1
CFLAGS += ${INCDIR_PREFIX}$(APPS_INCDIR)
CSRCS = $(LIBCANARDV1_DRVDIR)$(DELIM)canard.c $(LIBCANARDV1_DRVDIR)$(DELIM)canard_dsdl.c
CSRCS = $(LIBOPENCYPHAL_DRVDIR)$(DELIM)canard.c $(LIBOPENCYPHAL_DRVDIR)$(DELIM)canard_dsdl.c
CSRCS += $(O1HEAP_DRVDIR)$(DELIM)o1heap.c
$(LIBCANARDV1_PACKNAME):
ifeq ($(wildcard $(LIBOPENCYPHAL_SRCNAME)/.git),)
$(LIBOPENCYPHAL_PACKNAME):
@echo "Downloading: $@"
$(Q) curl -o $@ -L $(LIBCANARDV1_URL)$(DELIM)$(LIBCANARDV1_VERSION)$(PACKEXT)
$(Q) curl -o $@ -L $(LIBOPENCYPHAL_URL)$(DELIM)$(LIBOPENCYPHAL_VERSION)$(PACKEXT)
$(LIBCANARDV1_UNPACKNAME): $(LIBCANARDV1_PACKNAME)
$(LIBOPENCYPHAL_SRCNAME): $(LIBOPENCYPHAL_PACKNAME)
@echo "Unpacking: $< -> $@"
$(call DELDIR, $@)
$(Q) $(UNPACK) $<
$(Q) mv $(LIBOPENCYPHAL_UNPACKNAME) $(LIBOPENCYPHAL_SRCNAME)
$(Q) touch $@
$(LIBOPENCYPHAL_DRVDIR)$(DELIM)canard.c: $(LIBOPENCYPHAL_SRCNAME)
endif
ifeq ($(wildcard $(O1HEAP_SRCNAME)/.git),)
$(O1HEAP_PACKNAME):
@echo "Downloading: $@"
$(Q) curl -o $@ -L $(O1HEAP_URL)$(DELIM)$(O1HEAP_VERSION)$(PACKEXT)
$(O1HEAP_UNPACKNAME): $(O1HEAP_PACKNAME)
$(O1HEAP_SRCNAME): $(O1HEAP_PACKNAME)
@echo "Unpacking: $< -> $@"
$(call DELDIR, $@)
$(Q) $(UNPACK) $<
$(Q) mv $(O1HEAP_UNPACKNAME) $(O1HEAP_SRCNAME)
$(Q) touch $@
$(LIBCANARDV1_DRVDIR)$(DELIM)canard.h: $(LIBCANARDV1_UNPACKNAME)
$(O1HEAP_DRVDIR)$(DELIM)o1heap.c: $(O1HEAP_SRCNAME)
endif
$(LIBCANARDV1_DRVDIR)$(DELIM)canard_dsdl.h: $(LIBCANARDV1_UNPACKNAME)
$(O1HEAP_DRVDIR)$(DELIM)o1heap.h: $(O1HEAP_UNPACKNAME)
$(APPS_INCDIR)$(DELIM)canard.h: $(LIBCANARDV1_DRVDIR)$(DELIM)canard.h
$(Q) cp $< $@
$(APPS_INCDIR)$(DELIM)canard_dsdl.h: $(LIBCANARDV1_DRVDIR)$(DELIM)canard_dsdl.h
$(Q) cp $< $@
$(APPS_INCDIR)$(DELIM)o1heap.h: $(O1HEAP_DRVDIR)$(DELIM)o1heap.h
$(Q) cp $< $@
context:: $(APPS_INCDIR)$(DELIM)canard.h $(APPS_INCDIR)$(DELIM)canard_dsdl.h $(APPS_INCDIR)$(DELIM)o1heap.h
clean::
$(foreach OBJ, $(OBJS), $(call DELFILE, $(OBJ)))
context:: $(LIBOPENCYPHAL_SRCNAME) $(O1HEAP_SRCNAME)
distclean::
$(call DELFILE, $(APPS_INCDIR)$(DELIM)canard.h)
$(call DELFILE, $(APPS_INCDIR)$(DELIM)canard_dsdl.h)
$(call DELDIR, $(LIBCANARDV1_UNPACKNAME))
$(call DELFILE, $(LIBCANARDV1_PACKNAME))
$(call DELDIR, $(O1HEAP_UNPACKNAME))
$(call DELFILE, $(O1HEAP_PACKNAME))
$(call DELFILE, $(APPS_INCDIR)$(DELIM)o1heap.h)
$(call DELDIR, $(O1HEAP_UNPACKNAME))
$(call DELDIR, $(LIBOPENCYPHAL_SRCNAME))
$(call DELFILE, $(LIBOPENCYPHAL_PACKNAME))
$(call DELDIR, $(O1HEAP_SRCNAME))
$(call DELFILE, $(O1HEAP_PACKNAME))
include $(APPDIR)/Application.mk

25
examples/canardv0/Kconfig → examples/dronecan/Kconfig
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@ -3,45 +3,46 @@
# see the file kconfig-language.txt in the NuttX tools repository.
#
config EXAMPLES_LIBCANARDV0
tristate "libcandard v0 example"
config EXAMPLES_DRONECAN
tristate "DroneCAN example"
default n
depends on CANUTILS_LIBCANARDV0 && SYSTEM_TIME64
depends on CANUTILS_LIBDRONECAN && SYSTEM_TIME64
---help---
Enable the LIBCANARDV0 example
Enable the LIBDRONECAN example
if EXAMPLES_LIBCANARDV0
if EXAMPLES_DRONECAN
config EXAMPLES_LIBCANARDV0_DEVPATH
config EXAMPLES_DRONECAN_DEVPATH
string "Device Path"
default "/dev/can0"
depends on CAN
---help---
The device path
config EXAMPLES_LIBCANARDV0_NODE_ID
config EXAMPLES_DRONECAN_NODE_ID
int "Node ID"
default 1
range 1 127
---help---
Specifies the node's ID
config EXAMPLES_LIBCANARDV0_APP_NODE_NAME
config EXAMPLES_DRONECAN_APP_NODE_NAME
string "Node name"
default "org.uavcan.libcanard.nuttx.demo"
default "org.dronecan.nuttx.demo"
---help---
app node name
config EXAMPLES_LIBCANARDV0_NODE_MEM_POOL_SIZE
config EXAMPLES_DRONECAN_NODE_MEM_POOL_SIZE
int "Node Memory Pool Size"
default 1024
---help---
Specifies the node's memory pool size
config EXAMPLES_LIBCANARDV0_DAEMON_PRIORITY
config EXAMPLES_DRONECAN_DAEMON_PRIORITY
int "daemon task priority"
default 100
config EXAMPLES_LIBCANARDV0_STACKSIZE
config EXAMPLES_DRONECAN_STACKSIZE
int "canard stack size"
default DEFAULT_TASK_STACKSIZE

6
examples/canardv0/Make.defs → examples/dronecan/Make.defs
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@ -1,5 +1,5 @@
############################################################################
# apps/examples/canardv0/Make.defs
# apps/examples/dronecan/Make.defs
#
# Licensed to the Apache Software Foundation (ASF) under one or more
# contributor license agreements. See the NOTICE file distributed with
@ -18,6 +18,6 @@
#
############################################################################
ifneq ($(CONFIG_EXAMPLES_LIBCANARDV0),)
CONFIGURED_APPS += $(APPDIR)/examples/canardv0
ifneq ($(CONFIG_EXAMPLES_DRONECAN),)
CONFIGURED_APPS += $(APPDIR)/examples/dronecan
endif

17
examples/canardv0/Makefile → examples/dronecan/Makefile
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@ -1,5 +1,5 @@
############################################################################
# apps/examples/canardv0/Makefile
# apps/examples/dronecan/Makefile
#
# Licensed to the Apache Software Foundation (ASF) under one or more
# contributor license agreements. See the NOTICE file distributed with
@ -20,12 +20,19 @@
include $(APPDIR)/Make.defs
PROGNAME = canardv0
PROGNAME = dronecan
PRIORITY = SCHED_PRIORITY_DEFAULT
STACKSIZE = $(CONFIG_EXAMPLES_LIBCANARDV0_STACKSIZE)
MODULE = $(CONFIG_EXAMPLES_LIBCANARDV0)
STACKSIZE = $(CONFIG_EXAMPLES_DRONECAN_STACKSIZE)
MODULE = $(CONFIG_EXAMPLES_DRONECAN)
# Conflict with Cyphal's libcanard
ifeq ($(CONFIG_CANUTILS_LIBOPENCYPHAL),y)
CFLAGS += -DcanardInit=dronecanardInit
endif
CFLAGS += ${INCDIR_PREFIX}$(APPDIR)/canutils/libdronecan/libcanard
CFLAGS += ${INCDIR_PREFIX}$(APPDIR)/canutils/libdronecan/libcanard/drivers/nuttx
CFLAGS += ${INCDIR_PREFIX}$(APPDIR)/include/canutils
MAINSRC = canard_main.c
include $(APPDIR)/Application.mk

115
examples/canardv0/canard_main.c → examples/dronecan/canard_main.c
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@ -1,5 +1,5 @@
/****************************************************************************
* apps/examples/canardv0/canard_main.c
* apps/examples/dronecan/canard_main.c
*
* Copyright (C) 2016 ETH Zuerich. All rights reserved.
* Author: Matthias Renner <rennerm@ethz.ch>
@ -38,9 +38,19 @@
****************************************************************************/
#include <nuttx/can/can.h>
#ifdef CONFIG_NET_CAN_CANFD
# define CANARD_ENABLE_CANFD 1
#endif
#include <canard.h>
#ifdef CONFIG_NET_CAN
#include <socketcan.h> /* CAN backend driver for nuttx socketcan, distributed
* with Libcanard */
#else
#include <canard_nuttx.h> /* CAN backend driver for nuttx, distributed
* with Libcanard */
#endif
#include <sys/ioctl.h>
#include <sched.h>
@ -60,7 +70,7 @@
#define APP_VERSION_MAJOR 1
#define APP_VERSION_MINOR 0
#define APP_NODE_NAME CONFIG_EXAMPLES_LIBCANARDV0_APP_NODE_NAME
#define APP_NODE_NAME CONFIG_EXAMPLES_DRONECAN_APP_NODE_NAME
#define GIT_HASH 0xb28bf6ac
/* Some useful constants defined by the UAVCAN specification.
@ -100,7 +110,7 @@ static CanardInstance canard;
/* Arena for memory allocation, used by the library */
static uint8_t canard_memory_pool
[CONFIG_EXAMPLES_LIBCANARDV0_NODE_MEM_POOL_SIZE];
[CONFIG_EXAMPLES_DRONECAN_NODE_MEM_POOL_SIZE];
static uint8_t unique_id[UNIQUE_ID_LENGTH_BYTES] =
{ 0x00, 0x00, 0x00, 0x00,
@ -115,6 +125,10 @@ static uint8_t node_health = UAVCAN_NODE_HEALTH_OK;
static uint8_t node_mode = UAVCAN_NODE_MODE_INITIALIZATION;
static bool g_canard_daemon_started;
#if CANARD_ENABLE_CANFD
static bool canfd;
#endif
/****************************************************************************
* Public Functions
****************************************************************************/
@ -227,6 +241,17 @@ static void onTransferReceived(CanardInstance *ins,
*/
const int resp_res =
#if CANARD_ENABLE_CANFD
canardRequestOrRespond(ins,
transfer->source_node_id,
UAVCAN_GET_NODE_INFO_DATA_TYPE_SIGNATURE,
UAVCAN_GET_NODE_INFO_DATA_TYPE_ID,
&transfer->transfer_id,
transfer->priority,
CanardResponse,
&buffer[0],
(uint16_t)total_size, canfd);
#else
canardRequestOrRespond(ins,
transfer->source_node_id,
UAVCAN_GET_NODE_INFO_DATA_TYPE_SIGNATURE,
@ -236,6 +261,7 @@ static void onTransferReceived(CanardInstance *ins,
CanardResponse,
&buffer[0],
(uint16_t) total_size);
#endif
if (resp_res <= 0)
{
fprintf(stderr, "Could not respond to GetNodeInfo; error %d\n",
@ -333,10 +359,17 @@ void process1HzTasks(uint64_t timestamp_usec)
static uint8_t transfer_id;
const int bc_res =
#if CANARD_ENABLE_CANFD
canardBroadcast(&canard, UAVCAN_NODE_STATUS_DATA_TYPE_SIGNATURE,
UAVCAN_NODE_STATUS_DATA_TYPE_ID, &transfer_id,
CANARD_TRANSFER_PRIORITY_LOW,
buffer, UAVCAN_NODE_STATUS_MESSAGE_SIZE, canfd);
#else
canardBroadcast(&canard, UAVCAN_NODE_STATUS_DATA_TYPE_SIGNATURE,
UAVCAN_NODE_STATUS_DATA_TYPE_ID, &transfer_id,
CANARD_TRANSFER_PRIORITY_LOW,
buffer, UAVCAN_NODE_STATUS_MESSAGE_SIZE);
#endif
if (bc_res <= 0)
{
fprintf(stderr, "Could not broadcast node status; error %d\n",
@ -349,12 +382,21 @@ void process1HzTasks(uint64_t timestamp_usec)
uint8_t payload[1];
uint8_t dest_id = 2;
const int resp_res =
#if CANARD_ENABLE_CANFD
canardRequestOrRespond(&canard, dest_id,
UAVCAN_GET_NODE_INFO_DATA_TYPE_SIGNATURE,
UAVCAN_GET_NODE_INFO_DATA_TYPE_ID,
&transfer_id,
CANARD_TRANSFER_PRIORITY_LOW, CanardRequest,
payload, 0, canfd);
#else
canardRequestOrRespond(&canard, dest_id,
UAVCAN_GET_NODE_INFO_DATA_TYPE_SIGNATURE,
UAVCAN_GET_NODE_INFO_DATA_TYPE_ID,
&transfer_id,
CANARD_TRANSFER_PRIORITY_LOW, CanardRequest,
payload, 0);
#endif
if (resp_res <= 0)
{
fprintf(stderr, "Could not request GetNodeInfo; error %d\n",
@ -372,8 +414,11 @@ void process1HzTasks(uint64_t timestamp_usec)
* Transmits all frames from the TX queue, receives up to one frame.
*
****************************************************************************/
void processTxRxOnce(CanardNuttXInstance * nuttxcan, int timeout_msec)
#ifdef CONFIG_NET_CAN
void processTxRxOnce(SocketCANInstance *socketcan, int timeout_msec)
#else
void processTxRxOnce(CanardNuttXInstance *nuttxcan, int timeout_msec)
#endif
{
const CanardCANFrame *txf;
@ -381,8 +426,12 @@ void processTxRxOnce(CanardNuttXInstance * nuttxcan, int timeout_msec)
for (txf = NULL; (txf = canardPeekTxQueue(&canard)) != NULL; )
{
#ifdef CONFIG_NET_CAN
const int tx_res = socketcanTransmit(socketcan, txf, 0);
#else
const int tx_res = canardNuttXTransmit(nuttxcan, txf, 0);
if (tx_res < 0) /* Failure - drop the frame and report */
#endif
if (tx_res < 0 && tx_res != -EAGAIN) /* Failure - drop the frame and report */
{
canardPopTxQueue(&canard);
fprintf(stderr,
@ -403,7 +452,11 @@ void processTxRxOnce(CanardNuttXInstance * nuttxcan, int timeout_msec)
CanardCANFrame rx_frame;
const uint64_t timestamp = getMonotonicTimestampUSec();
#ifdef CONFIG_NET_CAN
const int rx_res = socketcanReceive(socketcan, &rx_frame, timeout_msec);
#else
const int rx_res = canardNuttXReceive(nuttxcan, &rx_frame, timeout_msec);
#endif
if (rx_res < 0) /* Failure - report */
{
@ -429,12 +482,16 @@ void processTxRxOnce(CanardNuttXInstance * nuttxcan, int timeout_msec)
static int canard_daemon(int argc, char *argv[])
{
#ifdef CONFIG_NET_CAN
static SocketCANInstance socketcan;
#else
static CanardNuttXInstance canardnuttx_instance;
int ret;
#endif
#ifdef CONFIG_DEBUG_CAN
struct canioc_bittiming_s bt;
#endif
int errval = 0;
int ret;
/* Initialization of the CAN hardware is performed by external, board-
* specific logic to running this test.
@ -442,17 +499,33 @@ static int canard_daemon(int argc, char *argv[])
/* Open the CAN device for reading */
#ifdef CONFIG_NET_CAN
const char * const can_iface_name = "can0";
# if CANARD_ENABLE_CANFD
int16_t res = socketcanInit(&socketcan, can_iface_name, canfd);
# else
int16_t res = socketcanInit(&socketcan, can_iface_name);
# endif
if (res < 0)
{
fprintf(stderr, "Failed to open CAN iface '%s'\n", can_iface_name);
return 1;
}
#else
ret = canardNuttXInit(&canardnuttx_instance,
CONFIG_EXAMPLES_LIBCANARDV0_DEVPATH);
CONFIG_EXAMPLES_DRONECAN_DEVPATH);
if (ret < 0)
{
printf("canard_daemon: ERROR: open %s failed: %d\n",
CONFIG_EXAMPLES_LIBCANARDV0_DEVPATH, errno);
CONFIG_EXAMPLES_DRONECAN_DEVPATH, errno);
errval = 2;
goto errout_with_dev;
}
#endif
#ifdef CONFIG_DEBUG_CAN
#if defined(CONFIG_CAN) && defined(CONFIG_DEBUG_CAN)
/* Show bit timing information if provided by the driver. Not all CAN
* drivers will support this IOCTL.
*/
@ -476,10 +549,10 @@ static int canard_daemon(int argc, char *argv[])
canardInit(&canard, canard_memory_pool, sizeof(canard_memory_pool),
onTransferReceived, shouldAcceptTransfer, (void *)(12345));
canardSetLocalNodeID(&canard, CONFIG_EXAMPLES_LIBCANARDV0_NODE_ID);
canardSetLocalNodeID(&canard, CONFIG_EXAMPLES_DRONECAN_NODE_ID);
printf("canard_daemon: canard initialized\n");
printf("start node (ID: %d Name: %s)\n",
CONFIG_EXAMPLES_LIBCANARDV0_NODE_ID,
CONFIG_EXAMPLES_DRONECAN_NODE_ID,
APP_NODE_NAME);
g_canard_daemon_started = true;
@ -487,7 +560,11 @@ static int canard_daemon(int argc, char *argv[])
for (; ; )
{
#ifdef CONFIG_NET_CAN
processTxRxOnce(&socketcan, 10);
#else
processTxRxOnce(&canardnuttx_instance, 10);
#endif
const uint64_t ts = getMonotonicTimestampUSec();
@ -498,8 +575,10 @@ static int canard_daemon(int argc, char *argv[])
}
}
#ifdef CONFIG_CAN
errout_with_dev:
canardNuttXClose(&canardnuttx_instance);
#endif
g_canard_daemon_started = false;
printf("canard_daemon: Terminating!\n");
@ -525,9 +604,17 @@ int main(int argc, FAR char *argv[])
return EXIT_SUCCESS;
}
#if CANARD_ENABLE_CANFD
if (argc == 2 && strcmp(argv[1], "canfd") == 0)
{
printf("CAN FD mode enabled\n");
canfd = true;
}
#endif
ret = task_create("canard_daemon",
CONFIG_EXAMPLES_LIBCANARDV0_DAEMON_PRIORITY,
CONFIG_EXAMPLES_LIBCANARDV0_STACKSIZE, canard_daemon,
CONFIG_EXAMPLES_DRONECAN_DAEMON_PRIORITY,
CONFIG_EXAMPLES_DRONECAN_STACKSIZE, canard_daemon,
NULL);
if (ret < 0)
{

24
examples/canardv1/Kconfig → examples/opencyphal/Kconfig
View File

@ -3,45 +3,45 @@
# see the file kconfig-language.txt in the NuttX tools repository.
#
config EXAMPLES_LIBCANARDV1
tristate "libcandard v1 example"
config EXAMPLES_LIBOPENCYPHAL
tristate "OpenCyphal Cyphal/CAN example"
default n
depends on CANUTILS_LIBCANARDV1
depends on CANUTILS_LIBOPENCYPHAL
---help---
Enable the LIBCANARDV1 example
Enable the LIBOPENCYPHAL example
if EXAMPLES_LIBCANARDV1
if EXAMPLES_LIBOPENCYPHAL
config EXAMPLES_LIBCANARDV1_DEV
config EXAMPLES_LIBOPENCYPHAL_DEV
string "Device"
default "can0"
---help---
The device
config EXAMPLES_LIBCANARDV1_NODE_ID
config EXAMPLES_LIBOPENCYPHAL_NODE_ID
int "Node ID"
default 1
range 1 127
---help---
Specifies the node's ID
config EXAMPLES_LIBCANARDV1_APP_NODE_NAME
config EXAMPLES_LIBOPENCYPHAL_APP_NODE_NAME
string "Node name"
default "org.uavcan.libcanardv1.nuttx.demo"
default "org.apache.nuttx.demo"
---help---
app node name
config EXAMPLES_LIBCANARDV1_NODE_MEM_POOL_SIZE
config EXAMPLES_LIBOPENCYPHAL_NODE_MEM_POOL_SIZE
int "Node Memory Pool Size"
default 1024
---help---
Specifies the node's memory pool size
config EXAMPLES_LIBCANARDV1_DAEMON_PRIORITY
config EXAMPLES_LIBOPENCYPHAL_DAEMON_PRIORITY
int "daemon task priority"
default 100
config EXAMPLES_LIBCANARDV1_DAEMON_STACK_SIZE
config EXAMPLES_LIBOPENCYPHAL_DAEMON_STACK_SIZE
int "canard stack size"
default DEFAULT_TASK_STACKSIZE

6
examples/canardv1/Make.defs → examples/opencyphal/Make.defs
View File

@ -1,5 +1,5 @@
############################################################################
# apps/examples/canardv1/Make.defs
# apps/examples/opencyphal/Make.defs
#
# Licensed to the Apache Software Foundation (ASF) under one or more
# contributor license agreements. See the NOTICE file distributed with
@ -18,6 +18,6 @@
#
############################################################################
ifneq ($(CONFIG_EXAMPLES_LIBCANARDV1),)
CONFIGURED_APPS += $(APPDIR)/examples/canardv1
ifneq ($(CONFIG_EXAMPLES_LIBOPENCYPHAL),)
CONFIGURED_APPS += $(APPDIR)/examples/opencyphal
endif

13
examples/canardv1/Makefile → examples/opencyphal/Makefile
View File

@ -1,5 +1,5 @@
############################################################################
# apps/examples/canardv1/Makefile
# apps/examples/opencyphal/Makefile
#
# Licensed to the Apache Software Foundation (ASF) under one or more
# contributor license agreements. See the NOTICE file distributed with
@ -20,12 +20,15 @@
include $(APPDIR)/Make.defs
PROGNAME = canardv1
PROGNAME = opencyphal
PRIORITY = SCHED_PRIORITY_DEFAULT
STACKSIZE = $(CONFIG_EXAMPLES_LIBCANARDV1_DAEMON_STACK_SIZE)
MODULE = $(CONFIG_EXAMPLES_LIBCANARDV1)
STACKSIZE = $(CONFIG_EXAMPLES_LIBOPENCYPHAL_DAEMON_STACK_SIZE)
MODULE = $(CONFIG_EXAMPLES_LIBOPENCYPHAL)
CFLAGS += -std=c11 ${INCDIR_PREFIX}$(APPDIR)/include/canutils $(APPDIR)/include/o1heap
CFLAGS += ${INCDIR_PREFIX}$(APPDIR)/canutils/libopencyphal/libcanard/libcanard
CXXFLAGS += ${INCDIR_PREFIX}$(APPDIR)/canutils/libopencyphal/libcanard/libcanard
CFLAGS += -std=c11
CSRCS = socketcan.c
MAINSRC = canard_main.c

20
examples/canardv1/canard_main.c → examples/opencyphal/canard_main.c
View File

@ -1,5 +1,5 @@
/****************************************************************************
* apps/examples/canardv1/canard_main.c
* apps/examples/opencyphal/canard_main.c
*
* Licensed to the Apache Software Foundation (ASF) under one or more
* contributor license agreements. See the NOTICE file distributed with
@ -55,7 +55,7 @@
#define APP_VERSION_MAJOR 1
#define APP_VERSION_MINOR 0
#define APP_NODE_NAME CONFIG_EXAMPLES_LIBCANARDV1_APP_NODE_NAME
#define APP_NODE_NAME CONFIG_EXAMPLES_LIBOPENCYPHAL_APP_NODE_NAME
/****************************************************************************
* Private Data
@ -63,7 +63,7 @@
/* Arena for memory allocation, used by the library */
#define O1_HEAP_SIZE CONFIG_EXAMPLES_LIBCANARDV1_NODE_MEM_POOL_SIZE
#define O1_HEAP_SIZE CONFIG_EXAMPLES_LIBOPENCYPHAL_NODE_MEM_POOL_SIZE
/* Temporary development UAVCAN topic service ID to publish/subscribe from */
#define PORT_ID 4421
@ -310,13 +310,13 @@ static int canard_daemon(int argc, char *argv[])
ins.mtu_bytes = CANARD_MTU_CAN_CLASSIC;
}
ins.node_id = (pub ? CONFIG_EXAMPLES_LIBCANARDV1_NODE_ID :
CONFIG_EXAMPLES_LIBCANARDV1_NODE_ID + 1);
ins.node_id = (pub ? CONFIG_EXAMPLES_LIBOPENCYPHAL_NODE_ID :
CONFIG_EXAMPLES_LIBOPENCYPHAL_NODE_ID + 1);
/* Open the CAN device for reading */
canardsocketinstance sock_ins;
socketcanopen(&sock_ins, CONFIG_EXAMPLES_LIBCANARDV1_DEV, can_fd);
socketcanopen(&sock_ins, CONFIG_EXAMPLES_LIBOPENCYPHAL_DEV, can_fd);
/* setup poll fd */
@ -326,7 +326,7 @@ static int canard_daemon(int argc, char *argv[])
if (sock_ins.s < 0)
{
printf("canard_daemon: ERROR: open %s failed: %d\n",
CONFIG_EXAMPLES_LIBCANARDV1_DEV, errno);
CONFIG_EXAMPLES_LIBOPENCYPHAL_DEV, errno);
errval = 2;
goto errout_with_dev;
}
@ -382,7 +382,7 @@ errout_with_dev:
*
****************************************************************************/
int canardv1_main(int argc, FAR char *argv[])
int opencyphal_main(int argc, FAR char *argv[])
{
int ret;
@ -395,8 +395,8 @@ int canardv1_main(int argc, FAR char *argv[])
}
ret = task_create("canard_daemon",
CONFIG_EXAMPLES_LIBCANARDV1_DAEMON_PRIORITY,
CONFIG_EXAMPLES_LIBCANARDV1_DAEMON_STACK_SIZE,
CONFIG_EXAMPLES_LIBOPENCYPHAL_DAEMON_PRIORITY,
CONFIG_EXAMPLES_LIBOPENCYPHAL_DAEMON_STACK_SIZE,
canard_daemon, argv);
if (ret < 0)

2
examples/canardv1/socketcan.c → examples/opencyphal/socketcan.c
View File

@ -1,5 +1,5 @@
/****************************************************************************
* apps/examples/canardv1/socketcan.c
* apps/examples/opencyphal/socketcan.c
*
* Licensed to the Apache Software Foundation (ASF) under one or more
* contributor license agreements. See the NOTICE file distributed with

2
examples/canardv1/socketcan.h → examples/opencyphal/socketcan.h
View File

@ -1,5 +1,5 @@
/****************************************************************************
* apps/examples/canardv1/socketcan.h
* apps/examples/opencyphal/socketcan.h
*
* Licensed to the Apache Software Foundation (ASF) under one or more
* contributor license agreements. See the NOTICE file distributed with