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Posted to commits@nuttx.apache.org by xi...@apache.org on 2022/08/02 09:01:33 UTC
[incubator-nuttx-apps] branch master updated (cfa5af51c -> c026bd824)
This is an automated email from the ASF dual-hosted git repository.
xiaoxiang pushed a change to branch master
in repository https://gitbox.apache.org/repos/asf/incubator-nuttx-apps.git
from cfa5af51c wireless/gs2200m: Release all blocking socket
new 819c34e97 Add libcanardv1 for Cyphal, rename libcanard to libcanardv0
new c026bd824 canardv0 nxstyle fix
The 2 revisions listed above as "new" are entirely new to this
repository and will be described in separate emails. The revisions
listed as "add" were already present in the repository and have only
been added to this reference.
Summary of changes:
canutils/{libcanard => libcanardv0}/.gitignore | 0
canutils/{libcanard => libcanardv0}/Kconfig | 12 +-
canutils/{libcanard => libcanardv0}/Make.defs | 6 +-
canutils/{libcanard => libcanardv0}/Makefile | 34 +-
canutils/{libcanard => libcanardv1}/.gitignore | 1 +
canutils/libcanardv1/Kconfig | 39 +++
canutils/{libobd2 => libcanardv1}/Make.defs | 6 +-
canutils/libcanardv1/Makefile | 100 ++++++
examples/{canard => canardv0}/Kconfig | 22 +-
examples/{canard => canardv0}/Make.defs | 6 +-
examples/{canard => canardv0}/Makefile | 8 +-
examples/{canard => canardv0}/canard_main.c | 147 ++++-----
examples/{canard => canardv1}/Kconfig | 30 +-
examples/{chat => canardv1}/Make.defs | 6 +-
examples/{canard => canardv1}/Makefile | 11 +-
examples/canardv1/canard_main.c | 412 +++++++++++++++++++++++++
examples/canardv1/socketcan.c | 227 ++++++++++++++
examples/canardv1/socketcan.h | 114 +++++++
include/canutils/.gitignore | 2 +
19 files changed, 1044 insertions(+), 139 deletions(-)
copy canutils/{libcanard => libcanardv0}/.gitignore (100%)
rename canutils/{libcanard => libcanardv0}/Kconfig (69%)
rename canutils/{libcanard => libcanardv0}/Make.defs (88%)
rename canutils/{libcanard => libcanardv0}/Makefile (60%)
rename canutils/{libcanard => libcanardv1}/.gitignore (56%)
create mode 100644 canutils/libcanardv1/Kconfig
copy canutils/{libobd2 => libcanardv1}/Make.defs (88%)
create mode 100644 canutils/libcanardv1/Makefile
copy examples/{canard => canardv0}/Kconfig (59%)
rename examples/{canard => canardv0}/Make.defs (88%)
copy examples/{canard => canardv0}/Makefile (88%)
rename examples/{canard => canardv0}/canard_main.c (83%)
rename examples/{canard => canardv1}/Kconfig (50%)
copy examples/{chat => canardv1}/Make.defs (88%)
rename examples/{canard => canardv1}/Makefile (79%)
create mode 100644 examples/canardv1/canard_main.c
create mode 100644 examples/canardv1/socketcan.c
create mode 100644 examples/canardv1/socketcan.h
[incubator-nuttx-apps] 01/02: Add libcanardv1 for Cyphal, rename libcanard to libcanardv0
Posted by xi...@apache.org.
This is an automated email from the ASF dual-hosted git repository.
xiaoxiang pushed a commit to branch master
in repository https://gitbox.apache.org/repos/asf/incubator-nuttx-apps.git
commit 819c34e975839658727ce2df43dd9a62f88c1c46
Author: Peter van der Perk <pe...@nxp.com>
AuthorDate: Mon Aug 1 15:44:33 2022 +0200
Add libcanardv1 for Cyphal, rename libcanard to libcanardv0
---
canutils/{libcanard => libcanardv0}/.gitignore | 0
canutils/{libcanard => libcanardv0}/Kconfig | 12 +-
canutils/{libcanard => libcanardv0}/Make.defs | 6 +-
canutils/{libcanard => libcanardv0}/Makefile | 34 +-
canutils/{libcanard => libcanardv1}/.gitignore | 1 +
canutils/libcanardv1/Kconfig | 39 +++
canutils/{libcanard => libcanardv1}/Make.defs | 6 +-
canutils/libcanardv1/Makefile | 100 ++++++
examples/{canard => canardv0}/Kconfig | 22 +-
examples/{canard => canardv0}/Make.defs | 6 +-
examples/{canard => canardv0}/Makefile | 8 +-
examples/{canard => canardv0}/canard_main.c | 18 +-
examples/{canard => canardv1}/Kconfig | 30 +-
examples/{canard => canardv1}/Make.defs | 6 +-
examples/{canard => canardv1}/Makefile | 11 +-
examples/canardv1/canard_main.c | 412 +++++++++++++++++++++++++
examples/canardv1/socketcan.c | 227 ++++++++++++++
examples/canardv1/socketcan.h | 114 +++++++
include/canutils/.gitignore | 2 +
19 files changed, 975 insertions(+), 79 deletions(-)
diff --git a/canutils/libcanard/.gitignore b/canutils/libcanardv0/.gitignore
similarity index 100%
copy from canutils/libcanard/.gitignore
copy to canutils/libcanardv0/.gitignore
diff --git a/canutils/libcanard/Kconfig b/canutils/libcanardv0/Kconfig
similarity index 69%
rename from canutils/libcanard/Kconfig
rename to canutils/libcanardv0/Kconfig
index dfb760752..db32d813b 100644
--- a/canutils/libcanard/Kconfig
+++ b/canutils/libcanardv0/Kconfig
@@ -3,22 +3,22 @@
# see the file kconfig-language.txt in the NuttX tools repository.
#
-config CANUTILS_LIBCANARD
- bool "libcanard UAVCAN Library"
+config CANUTILS_LIBCANARDV0
+ bool "libcanard UAVCAN v0 Library"
default n
depends on CAN && CAN_EXTID
---help---
- Enable the libcanard UAVCAN library.
+ Enable the libcanard UAVCAN v0 library.
-if CANUTILS_LIBCANARD
+if CANUTILS_LIBCANARDV0
-config LIBCANARD_URL
+config LIBCANARDV0_URL
string "libcanard URL"
default "https://github.com/UAVCAN/libcanard/archive"
---help---
libcanard URL.
-config LIBCANARD_VERSION
+config LIBCANARDV0_VERSION
string "libcanard Version"
default "5ad65c6a4efda60cda7a8f0512da0f465822bbb8"
---help---
diff --git a/canutils/libcanard/Make.defs b/canutils/libcanardv0/Make.defs
similarity index 88%
copy from canutils/libcanard/Make.defs
copy to canutils/libcanardv0/Make.defs
index 433b07b58..4dc7280ce 100644
--- a/canutils/libcanard/Make.defs
+++ b/canutils/libcanardv0/Make.defs
@@ -1,5 +1,5 @@
############################################################################
-# apps/canutils/libcanard/Make.defs
+# apps/canutils/libcanardv0/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 @@
#
############################################################################
-ifeq ($(CONFIG_CANUTILS_LIBCANARD),y)
-CONFIGURED_APPS += $(APPDIR)/canutils/libcanard
+ifeq ($(CONFIG_CANUTILS_LIBCANARDV0),y)
+CONFIGURED_APPS += $(APPDIR)/canutils/libcanardv0
endif
diff --git a/canutils/libcanard/Makefile b/canutils/libcanardv0/Makefile
similarity index 60%
rename from canutils/libcanard/Makefile
rename to canutils/libcanardv0/Makefile
index a89ed738a..a337fd3a7 100644
--- a/canutils/libcanard/Makefile
+++ b/canutils/libcanardv0/Makefile
@@ -1,5 +1,5 @@
############################################################################
-# apps/canutils/libcanard/Makefile
+# apps/canutils/libcanardv0/Makefile
#
# Licensed to the Apache Software Foundation (ASF) under one or more
# contributor license agreements. See the NOTICE file distributed with
@@ -23,38 +23,38 @@ include $(APPDIR)/Make.defs
UNPACK = unzip
PACKEXT = .zip
-LIBCANARD_URL = $(patsubst "%",%,$(strip $(CONFIG_LIBCANARD_URL)))
-LIBCANARD_VERSION = $(patsubst "%",%,$(strip $(CONFIG_LIBCANARD_VERSION)))
-LIBCANARD_UNPACKNAME = libcanard-$(LIBCANARD_VERSION)
-LIBCANARD_PACKNAME = $(LIBCANARD_UNPACKNAME)$(PACKEXT)
-LIBCANARD_SRCDIR = $(LIBCANARD_UNPACKNAME)
-LIBCANARD_DRVDIR = $(LIBCANARD_SRCDIR)$(DELIM)drivers$(DELIM)nuttx
+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 += ${shell $(INCDIR) "$(CC)" $(APPS_INCDIR)}
-CSRCS = $(LIBCANARD_SRCDIR)$(DELIM)canard.c $(LIBCANARD_DRVDIR)$(DELIM)canard_nuttx.c
+CSRCS = $(LIBCANARDV0_SRCDIR)$(DELIM)canard.c $(LIBCANARDV0_DRVDIR)$(DELIM)canard_nuttx.c
-$(LIBCANARD_PACKNAME):
+$(LIBCANARDV0_PACKNAME):
@echo "Downloading: $@"
- $(Q) curl -o $@ -L $(LIBCANARD_URL)$(DELIM)$(LIBCANARD_VERSION)$(PACKEXT)
+ $(Q) curl -o $@ -L $(LIBCANARDV0_URL)$(DELIM)$(LIBCANARDV0_VERSION)$(PACKEXT)
-$(LIBCANARD_UNPACKNAME): $(LIBCANARD_PACKNAME)
+$(LIBCANARDV0_UNPACKNAME): $(LIBCANARDV0_PACKNAME)
@echo "Unpacking: $< -> $@"
$(call DELDIR, $@)
$(Q) $(UNPACK) $<
$(Q) touch $@
-$(LIBCANARD_SRCDIR)$(DELIM)canard.h: $(LIBCANARD_UNPACKNAME)
+$(LIBCANARDV0_SRCDIR)$(DELIM)canard.h: $(LIBCANARDV0_UNPACKNAME)
-$(LIBCANARD_DRVDIR)$(DELIM)canard_nuttx.h: $(LIBCANARD_UNPACKNAME)
+$(LIBCANARDV0_DRVDIR)$(DELIM)canard_nuttx.h: $(LIBCANARDV0_UNPACKNAME)
-$(APPS_INCDIR)$(DELIM)canard.h: $(LIBCANARD_SRCDIR)$(DELIM)canard.h
+$(APPS_INCDIR)$(DELIM)canard.h: $(LIBCANARDV0_SRCDIR)$(DELIM)canard.h
$(Q) cp $< $@
-$(APPS_INCDIR)$(DELIM)canard_nuttx.h: $(LIBCANARD_DRVDIR)$(DELIM)canard_nuttx.h
+$(APPS_INCDIR)$(DELIM)canard_nuttx.h: $(LIBCANARDV0_DRVDIR)$(DELIM)canard_nuttx.h
$(Q) cp $< $@
context:: $(APPS_INCDIR)$(DELIM)canard.h $(APPS_INCDIR)$(DELIM)canard_nuttx.h
@@ -65,7 +65,7 @@ clean::
distclean::
$(call DELFILE, $(APPS_INCDIR)$(DELIM)canard.h)
$(call DELFILE, $(APPS_INCDIR)$(DELIM)canard_nuttx.h)
- $(call DELDIR, $(LIBCANARD_UNPACKNAME))
- $(call DELFILE, $(LIBCANARD_PACKNAME))
+ $(call DELDIR, $(LIBCANARDV0_UNPACKNAME))
+ $(call DELFILE, $(LIBCANARDV0_PACKNAME))
include $(APPDIR)/Application.mk
diff --git a/canutils/libcanard/.gitignore b/canutils/libcanardv1/.gitignore
similarity index 56%
rename from canutils/libcanard/.gitignore
rename to canutils/libcanardv1/.gitignore
index ab82ca37f..19287278b 100644
--- a/canutils/libcanard/.gitignore
+++ b/canutils/libcanardv1/.gitignore
@@ -1 +1,2 @@
/libcanard-*
+/o1heap-*
diff --git a/canutils/libcanardv1/Kconfig b/canutils/libcanardv1/Kconfig
new file mode 100644
index 000000000..70d58c648
--- /dev/null
+++ b/canutils/libcanardv1/Kconfig
@@ -0,0 +1,39 @@
+#
+# For a description of the syntax of this configuration file,
+# see the file kconfig-language.txt in the NuttX tools repository.
+#
+
+config CANUTILS_LIBCANARDV1
+ bool "libcanard UAVCAN v1 Library"
+ default n
+ depends on NET_CAN && ALLOW_MIT_COMPONENTS
+ ---help---
+ Enable the libcanard UAVCAN v1 library.
+
+if CANUTILS_LIBCANARDV1
+
+config LIBCANARDV1_URL
+ string "libcanard URL"
+ default "https://github.com/UAVCAN/libcanard/archive"
+ ---help---
+ libcanard URL.
+
+config LIBCANARDV1_VERSION
+ string "libcanard Version"
+ default "cde670347425023480a1417fcd603b27c8eb06c1"
+ ---help---
+ libcanard version.
+
+config O1HEAP_URL
+ string "O(1) heap URL"
+ default "https://github.com/pavel-kirienko/o1heap/archive"
+ ---help---
+ libcanard URL.
+
+config O1HEAP_VERSION
+ string "O(1) heap Version"
+ default "b21b069e4b971d3016dd232784faca6f7d9fd724"
+ ---help---
+ libcanard version.
+
+endif
diff --git a/canutils/libcanard/Make.defs b/canutils/libcanardv1/Make.defs
similarity index 88%
rename from canutils/libcanard/Make.defs
rename to canutils/libcanardv1/Make.defs
index 433b07b58..382381897 100644
--- a/canutils/libcanard/Make.defs
+++ b/canutils/libcanardv1/Make.defs
@@ -1,5 +1,5 @@
############################################################################
-# apps/canutils/libcanard/Make.defs
+# apps/canutils/libcanardv1/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 @@
#
############################################################################
-ifeq ($(CONFIG_CANUTILS_LIBCANARD),y)
-CONFIGURED_APPS += $(APPDIR)/canutils/libcanard
+ifeq ($(CONFIG_CANUTILS_LIBCANARDV1),y)
+CONFIGURED_APPS += $(APPDIR)/canutils/libcanardv1
endif
diff --git a/canutils/libcanardv1/Makefile b/canutils/libcanardv1/Makefile
new file mode 100644
index 000000000..947d8426a
--- /dev/null
+++ b/canutils/libcanardv1/Makefile
@@ -0,0 +1,100 @@
+############################################################################
+# apps/canutils/libcanardv1/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
+
+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
+
+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_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 += ${shell $(INCDIR) "$(CC)" $(APPS_INCDIR)}
+
+CSRCS = $(LIBCANARDV1_DRVDIR)$(DELIM)canard.c $(LIBCANARDV1_DRVDIR)$(DELIM)canard_dsdl.c
+CSRCS += $(O1HEAP_DRVDIR)$(DELIM)o1heap.c
+
+
+$(LIBCANARDV1_PACKNAME):
+ @echo "Downloading: $@"
+ $(Q) curl -o $@ -L $(LIBCANARDV1_URL)$(DELIM)$(LIBCANARDV1_VERSION)$(PACKEXT)
+
+$(LIBCANARDV1_UNPACKNAME): $(LIBCANARDV1_PACKNAME)
+ @echo "Unpacking: $< -> $@"
+ $(call DELDIR, $@)
+ $(Q) $(UNPACK) $<
+ $(Q) touch $@
+
+$(O1HEAP_PACKNAME):
+ @echo "Downloading: $@"
+ $(Q) curl -o $@ -L $(O1HEAP_URL)$(DELIM)$(O1HEAP_VERSION)$(PACKEXT)
+
+$(O1HEAP_UNPACKNAME): $(O1HEAP_PACKNAME)
+ @echo "Unpacking: $< -> $@"
+ $(call DELDIR, $@)
+ $(Q) $(UNPACK) $<
+ $(Q) touch $@
+
+$(LIBCANARDV1_DRVDIR)$(DELIM)canard.h: $(LIBCANARDV1_UNPACKNAME)
+
+$(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)))
+
+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 DELFILE, $(O1HEAP_PACKNAME))
+
+include $(APPDIR)/Application.mk
diff --git a/examples/canard/Kconfig b/examples/canardv0/Kconfig
similarity index 59%
copy from examples/canard/Kconfig
copy to examples/canardv0/Kconfig
index 888a756de..3aea891e1 100644
--- a/examples/canard/Kconfig
+++ b/examples/canardv0/Kconfig
@@ -3,45 +3,45 @@
# see the file kconfig-language.txt in the NuttX tools repository.
#
-config EXAMPLES_LIBCANARD
- tristate "libcandard example"
+config EXAMPLES_LIBCANARDV0
+ tristate "libcandard v0 example"
default n
- depends on CANUTILS_LIBCANARD && SYSTEM_TIME64
+ depends on CANUTILS_LIBCANARDV0 && SYSTEM_TIME64
---help---
- Enable the LIBCANARD example
+ Enable the LIBCANARDV0 example
-if EXAMPLES_LIBCANARD
+if EXAMPLES_LIBCANARDV0
-config EXAMPLES_LIBCANARD_DEVPATH
+config EXAMPLES_LIBCANARDV0_DEVPATH
string "Device Path"
default "/dev/can0"
---help---
The device path
-config EXAMPLES_LIBCANARD_NODE_ID
+config EXAMPLES_LIBCANARDV0_NODE_ID
int "Node ID"
default 1
range 1 127
---help---
Specifies the node's ID
-config EXAMPLES_LIBCANARD_APP_NODE_NAME
+config EXAMPLES_LIBCANARDV0_APP_NODE_NAME
string "Node name"
default "org.uavcan.libcanard.nuttx.demo"
---help---
app node name
-config EXAMPLES_LIBCANARD_NODE_MEM_POOL_SIZE
+config EXAMPLES_LIBCANARDV0_NODE_MEM_POOL_SIZE
int "Node Memory Pool Size"
default 1024
---help---
Specifies the node's memory pool size
-config EXAMPLES_LIBCANARD_DAEMON_PRIORITY
+config EXAMPLES_LIBCANARDV0_DAEMON_PRIORITY
int "daemon task priority"
default 100
-config EXAMPLES_LIBCANARD_STACKSIZE
+config EXAMPLES_LIBCANARDV0_STACKSIZE
int "canard stack size"
default DEFAULT_TASK_STACKSIZE
diff --git a/examples/canard/Make.defs b/examples/canardv0/Make.defs
similarity index 88%
copy from examples/canard/Make.defs
copy to examples/canardv0/Make.defs
index b8b7b51ae..84f5e3aad 100644
--- a/examples/canard/Make.defs
+++ b/examples/canardv0/Make.defs
@@ -1,5 +1,5 @@
############################################################################
-# apps/examples/canard/Make.defs
+# apps/examples/canardv0/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_LIBCANARD),)
-CONFIGURED_APPS += $(APPDIR)/examples/canard
+ifneq ($(CONFIG_EXAMPLES_LIBCANARDV0),)
+CONFIGURED_APPS += $(APPDIR)/examples/canardv0
endif
diff --git a/examples/canard/Makefile b/examples/canardv0/Makefile
similarity index 88%
copy from examples/canard/Makefile
copy to examples/canardv0/Makefile
index cfc9c8044..00f5f21ae 100644
--- a/examples/canard/Makefile
+++ b/examples/canardv0/Makefile
@@ -1,5 +1,5 @@
############################################################################
-# apps/examples/canard/Makefile
+# apps/examples/canardv0/Makefile
#
# Licensed to the Apache Software Foundation (ASF) under one or more
# contributor license agreements. See the NOTICE file distributed with
@@ -20,10 +20,10 @@
include $(APPDIR)/Make.defs
-PROGNAME = canard
+PROGNAME = canardv0
PRIORITY = SCHED_PRIORITY_DEFAULT
-STACKSIZE = $(CONFIG_EXAMPLES_LIBCANARD_STACKSIZE)
-MODULE = $(CONFIG_EXAMPLES_LIBCANARD)
+STACKSIZE = $(CONFIG_EXAMPLES_LIBCANARDV0_STACKSIZE)
+MODULE = $(CONFIG_EXAMPLES_LIBCANARDV0)
CFLAGS += ${shell $(INCDIR) "$(CC)" $(APPDIR)/include/canutils}
MAINSRC = canard_main.c
diff --git a/examples/canard/canard_main.c b/examples/canardv0/canard_main.c
similarity index 97%
rename from examples/canard/canard_main.c
rename to examples/canardv0/canard_main.c
index 87ba6020a..b99fb09f8 100644
--- a/examples/canard/canard_main.c
+++ b/examples/canardv0/canard_main.c
@@ -1,5 +1,5 @@
/****************************************************************************
- * apps/examples/canard/canard_main.c
+ * apps/examples/canardv0/canard_main.c
*
* Copyright (C) 2016 ETH Zuerich. All rights reserved.
* Author: Matthias Renner <re...@ethz.ch>
@@ -60,7 +60,7 @@
#define APP_VERSION_MAJOR 1
#define APP_VERSION_MINOR 0
-#define APP_NODE_NAME CONFIG_EXAMPLES_LIBCANARD_APP_NODE_NAME
+#define APP_NODE_NAME CONFIG_EXAMPLES_LIBCANARDV0_APP_NODE_NAME
#define GIT_HASH 0xb28bf6ac
/* Some useful constants defined by the UAVCAN specification.
@@ -99,7 +99,7 @@ static CanardInstance canard;
/* Arena for memory allocation, used by the library */
-static uint8_t canard_memory_pool[CONFIG_EXAMPLES_LIBCANARD_NODE_MEM_POOL_SIZE];
+static uint8_t canard_memory_pool[CONFIG_EXAMPLES_LIBCANARDV0_NODE_MEM_POOL_SIZE];
static uint8_t unique_id[UNIQUE_ID_LENGTH_BYTES] =
{ 0x00, 0x00, 0x00, 0x00,
@@ -436,11 +436,11 @@ static int canard_daemon(int argc, char *argv[])
/* Open the CAN device for reading */
ret = canardNuttXInit(&canardnuttx_instance,
- CONFIG_EXAMPLES_LIBCANARD_DEVPATH);
+ CONFIG_EXAMPLES_LIBCANARDV0_DEVPATH);
if (ret < 0)
{
printf("canard_daemon: ERROR: open %s failed: %d\n",
- CONFIG_EXAMPLES_LIBCANARD_DEVPATH, errno);
+ CONFIG_EXAMPLES_LIBCANARDV0_DEVPATH, errno);
errval = 2;
goto errout_with_dev;
}
@@ -469,9 +469,9 @@ 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_LIBCANARD_NODE_ID);
+ canardSetLocalNodeID(&canard, CONFIG_EXAMPLES_LIBCANARDV0_NODE_ID);
printf("canard_daemon: canard initialized\n");
- printf("start node (ID: %d Name: %s)\n", CONFIG_EXAMPLES_LIBCANARD_NODE_ID,
+ printf("start node (ID: %d Name: %s)\n", CONFIG_EXAMPLES_LIBCANARDV0_NODE_ID,
APP_NODE_NAME);
g_canard_daemon_started = true;
@@ -517,8 +517,8 @@ int main(int argc, FAR char *argv[])
return EXIT_SUCCESS;
}
- ret = task_create("canard_daemon", CONFIG_EXAMPLES_LIBCANARD_DAEMON_PRIORITY,
- CONFIG_EXAMPLES_LIBCANARD_STACKSIZE, canard_daemon,
+ ret = task_create("canard_daemon", CONFIG_EXAMPLES_LIBCANARDV0_DAEMON_PRIORITY,
+ CONFIG_EXAMPLES_LIBCANARDV0_STACKSIZE, canard_daemon,
NULL);
if (ret < 0)
{
diff --git a/examples/canard/Kconfig b/examples/canardv1/Kconfig
similarity index 50%
rename from examples/canard/Kconfig
rename to examples/canardv1/Kconfig
index 888a756de..9ce2e6698 100644
--- a/examples/canard/Kconfig
+++ b/examples/canardv1/Kconfig
@@ -3,45 +3,45 @@
# see the file kconfig-language.txt in the NuttX tools repository.
#
-config EXAMPLES_LIBCANARD
- tristate "libcandard example"
+config EXAMPLES_LIBCANARDV1
+ tristate "libcandard v1 example"
default n
- depends on CANUTILS_LIBCANARD && SYSTEM_TIME64
+ depends on CANUTILS_LIBCANARDV1
---help---
- Enable the LIBCANARD example
+ Enable the LIBCANARDV1 example
-if EXAMPLES_LIBCANARD
+if EXAMPLES_LIBCANARDV1
-config EXAMPLES_LIBCANARD_DEVPATH
- string "Device Path"
- default "/dev/can0"
+config EXAMPLES_LIBCANARDV1_DEV
+ string "Device"
+ default "can0"
---help---
- The device path
+ The device
-config EXAMPLES_LIBCANARD_NODE_ID
+config EXAMPLES_LIBCANARDV1_NODE_ID
int "Node ID"
default 1
range 1 127
---help---
Specifies the node's ID
-config EXAMPLES_LIBCANARD_APP_NODE_NAME
+config EXAMPLES_LIBCANARDV1_APP_NODE_NAME
string "Node name"
- default "org.uavcan.libcanard.nuttx.demo"
+ default "org.uavcan.libcanardv1.nuttx.demo"
---help---
app node name
-config EXAMPLES_LIBCANARD_NODE_MEM_POOL_SIZE
+config EXAMPLES_LIBCANARDV1_NODE_MEM_POOL_SIZE
int "Node Memory Pool Size"
default 1024
---help---
Specifies the node's memory pool size
-config EXAMPLES_LIBCANARD_DAEMON_PRIORITY
+config EXAMPLES_LIBCANARDV1_DAEMON_PRIORITY
int "daemon task priority"
default 100
-config EXAMPLES_LIBCANARD_STACKSIZE
+config EXAMPLES_LIBCANARDV1_DAEMON_STACK_SIZE
int "canard stack size"
default DEFAULT_TASK_STACKSIZE
diff --git a/examples/canard/Make.defs b/examples/canardv1/Make.defs
similarity index 88%
rename from examples/canard/Make.defs
rename to examples/canardv1/Make.defs
index b8b7b51ae..dc9399209 100644
--- a/examples/canard/Make.defs
+++ b/examples/canardv1/Make.defs
@@ -1,5 +1,5 @@
############################################################################
-# apps/examples/canard/Make.defs
+# apps/examples/canardv1/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_LIBCANARD),)
-CONFIGURED_APPS += $(APPDIR)/examples/canard
+ifneq ($(CONFIG_EXAMPLES_LIBCANARDV1),)
+CONFIGURED_APPS += $(APPDIR)/examples/canardv1
endif
diff --git a/examples/canard/Makefile b/examples/canardv1/Makefile
similarity index 79%
rename from examples/canard/Makefile
rename to examples/canardv1/Makefile
index cfc9c8044..646d91792 100644
--- a/examples/canard/Makefile
+++ b/examples/canardv1/Makefile
@@ -1,5 +1,5 @@
############################################################################
-# apps/examples/canard/Makefile
+# apps/examples/canardv1/Makefile
#
# Licensed to the Apache Software Foundation (ASF) under one or more
# contributor license agreements. See the NOTICE file distributed with
@@ -20,12 +20,13 @@
include $(APPDIR)/Make.defs
-PROGNAME = canard
+PROGNAME = canardv1
PRIORITY = SCHED_PRIORITY_DEFAULT
-STACKSIZE = $(CONFIG_EXAMPLES_LIBCANARD_STACKSIZE)
-MODULE = $(CONFIG_EXAMPLES_LIBCANARD)
+STACKSIZE = $(CONFIG_EXAMPLES_LIBCANARDV1_DAEMON_STACK_SIZE)
+MODULE = $(CONFIG_EXAMPLES_LIBCANARDV1)
-CFLAGS += ${shell $(INCDIR) "$(CC)" $(APPDIR)/include/canutils}
+CFLAGS += -std=c11 ${shell $(INCDIR) "$(CC)" $(APPDIR)/include/canutils $(APPDIR)/include/o1heap}
+CSRCS = socketcan.c
MAINSRC = canard_main.c
include $(APPDIR)/Application.mk
diff --git a/examples/canardv1/canard_main.c b/examples/canardv1/canard_main.c
new file mode 100644
index 000000000..ebf8f0119
--- /dev/null
+++ b/examples/canardv1/canard_main.c
@@ -0,0 +1,412 @@
+/****************************************************************************
+ * apps/examples/canardv1/canard_main.c
+ *
+ * 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.
+ *
+ ****************************************************************************/
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <canard.h>
+#include <canard_dsdl.h>
+#include <o1heap.h>
+
+#include <sched.h>
+
+#include <stdio.h>
+#include <stdlib.h>
+#include <time.h>
+#include <string.h>
+#include <assert.h>
+#include <errno.h>
+
+#include <net/if.h>
+#include <sys/time.h>
+#include <sys/ioctl.h>
+#include <sys/socket.h>
+
+#include <poll.h>
+
+#include <nuttx/can.h>
+#include <netpacket/can.h>
+
+#include "socketcan.h"
+
+/****************************************************************************
+ * Pre-processor Definitions
+ ****************************************************************************/
+
+/* Application constants */
+
+#define APP_VERSION_MAJOR 1
+#define APP_VERSION_MINOR 0
+#define APP_NODE_NAME CONFIG_EXAMPLES_LIBCANARDV1_APP_NODE_NAME
+
+/****************************************************************************
+ * Private Data
+ ****************************************************************************/
+
+/* Arena for memory allocation, used by the library */
+
+#define O1_HEAP_SIZE CONFIG_EXAMPLES_LIBCANARDV1_NODE_MEM_POOL_SIZE
+
+/* Temporary development UAVCAN topic service ID to publish/subscribe from */
+#define PORT_ID 4421
+#define TOPIC_SIZE 512
+
+O1HeapInstance *my_allocator;
+static uint8_t uavcan_heap[O1_HEAP_SIZE]
+__attribute__((aligned(O1HEAP_ALIGNMENT)));
+
+/* Node status variables */
+
+static bool g_canard_daemon_started;
+
+static uint8_t my_message_transfer_id;
+
+struct pollfd fd;
+
+/****************************************************************************
+ * Public Functions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Name: memallocate
+ *
+ * Description:
+ *
+ ****************************************************************************/
+
+static void *memallocate(CanardInstance *const ins, const size_t amount)
+{
+ (void) ins;
+ return o1heapAllocate(my_allocator, amount);
+}
+
+/****************************************************************************
+ * Name: memfree
+ *
+ * Description:
+ *
+ ****************************************************************************/
+
+static void memfree(CanardInstance *const ins, void *const pointer)
+{
+ (void) ins;
+ o1heapFree(my_allocator, pointer);
+}
+
+/****************************************************************************
+ * Name: getmonotonictimestampusec
+ *
+ * Description:
+ *
+ ****************************************************************************/
+
+uint64_t getmonotonictimestampusec(void)
+{
+ struct timespec ts;
+
+ memset(&ts, 0, sizeof(ts));
+
+ if (clock_gettime(CLOCK_MONOTONIC, &ts) != 0)
+ {
+ abort();
+ }
+
+ return ts.tv_sec * 1000000ULL + ts.tv_nsec / 1000ULL;
+}
+
+/****************************************************************************
+ * Name: process1hztasks
+ *
+ * Description:
+ * This function is called at 1 Hz rate from the main loop.
+ *
+ ****************************************************************************/
+
+void process1hztasks(CanardInstance *ins, uint64_t timestamp_usec)
+{
+ CanardMicrosecond transmission_deadline =
+ getmonotonictimestampusec() + 1000 * 10;
+
+ const CanardTransfer transfer =
+ {
+ .timestamp_usec = transmission_deadline, /* Zero if transmission deadline is not limited. */
+ .priority = CanardPriorityNominal,
+ .transfer_kind = CanardTransferKindMessage,
+ .port_id = 1234, /* This is the subject-ID. */
+ .remote_node_id = CANARD_NODE_ID_UNSET, /* Messages cannot be unicast, so use UNSET. */
+ .transfer_id = my_message_transfer_id,
+ .payload_size = 47,
+ .payload = "\x2D\x00"
+ "Sancho, it strikes me thou art in great fear.",
+ };
+
+ ++my_message_transfer_id; /* The transfer-ID shall be incremented after every transmission on this subject. */
+ int32_t result = canardTxPush(ins, &transfer);
+
+ if (result < 0)
+ {
+ /* An error has occurred: either an argument is invalid or we've
+ * ran out of memory. It is possible to statically prove that an
+ * out-of-memory will never occur for a given application if the
+ * heap is sized correctly; for background, refer to the Robson's
+ * Proof and the documentation for O1Heap.
+ */
+
+ fprintf(stderr, "Transmit error %ld\n", result);
+ }
+}
+
+/****************************************************************************
+ * Name: processTxRxOnce
+ *
+ * Description:
+ * Transmits all frames from the TX queue, receives up to one frame.
+ *
+ ****************************************************************************/
+
+void processtxrxonce(CanardInstance *ins, canardsocketinstance *sock_ins,
+ int timeout_msec)
+{
+ int32_t result;
+
+ /* Transmitting, Look at the top of the TX queue. */
+
+ for (const CanardFrame *txf = NULL; (txf = canardTxPeek(ins)) != NULL; )
+ {
+ if (txf->timestamp_usec > getmonotonictimestampusec()) /* Check if the frame has timed out. */
+ {
+ if (socketcantransmit(sock_ins, txf) == 0) /* Send the frame. Redundant interfaces may be used here. */
+ {
+ /* If the driver is busy, break and retry later. */
+
+ break;
+ }
+ }
+
+ canardTxPop(ins); /* Remove the frame from the queue after it's transmitted. */
+ ins->memory_free(ins, (CanardFrame *)txf);
+ }
+
+ /* Poll receive */
+
+ if (poll(&fd, 1, timeout_msec) <= 0)
+ {
+ return;
+ }
+
+ /* Receiving */
+
+ CanardFrame received_frame;
+
+ socketcanreceive(sock_ins, &received_frame);
+
+ CanardTransfer receive;
+ result = canardRxAccept(ins,
+ &received_frame, /* The CAN frame received from the bus. */
+ 0, /* If the transport is not redundant, use 0. */
+ &receive);
+
+ if (result < 0)
+ {
+ /* An error has occurred: either an argument is invalid or we've ran
+ * out of memory. It is possible to statically prove that an
+ * out-of-memory will never occur for a given application
+ * if the heap is sized correctly; for background, refer to the
+ * Robson's Proof and the documentation for O1Heap.
+ * Reception of an invalid frame is NOT an error.
+ */
+
+ fprintf(stderr, "Receive error %ld\n", result);
+ }
+ else if (result == 1)
+ {
+ /* A transfer has been received, process it */
+
+ printf("Receive UAVCAN port id%d TODO process me\n",
+ receive.port_id);
+
+ ins->memory_free(ins, (void *)receive.payload);
+ }
+ else
+ {
+ /* Nothing to do.
+ * The received frame is either invalid or it's a non-last frame
+ * of a multi-frame transfer.
+ * Reception of an invalid frame is NOT reported as an error
+ * because it is not an error.
+ */
+ }
+}
+
+/****************************************************************************
+ * Name: canard_daemon
+ *
+ * Description:
+ *
+ ****************************************************************************/
+
+static int canard_daemon(int argc, char *argv[])
+{
+ int errval = 0;
+ int can_fd = 0;
+ int pub = 1;
+
+ if (argc > 2)
+ {
+ for (int args = 2; args < argc; args++)
+ {
+ if (!strcmp(argv[args], "canfd"))
+ {
+ can_fd = 1;
+ }
+
+ if (!strcmp(argv[args], "pub"))
+ {
+ pub = 1;
+ }
+
+ if (!strcmp(argv[args], "sub"))
+ {
+ pub = 0;
+ }
+ }
+ }
+
+ my_allocator = o1heapInit(&uavcan_heap, O1_HEAP_SIZE);
+
+ if (my_allocator == NULL)
+ {
+ printf("o1heapInit failed with size %d\n", O1_HEAP_SIZE);
+ errval = 2;
+ goto errout_with_dev;
+ }
+
+ CanardInstance ins = canardInit(&memallocate, &memfree);
+
+ if (can_fd)
+ {
+ ins.mtu_bytes = CANARD_MTU_CAN_FD;
+ }
+ else
+ {
+ ins.mtu_bytes = CANARD_MTU_CAN_CLASSIC;
+ }
+
+ ins.node_id = (pub ? CONFIG_EXAMPLES_LIBCANARDV1_NODE_ID :
+ CONFIG_EXAMPLES_LIBCANARDV1_NODE_ID + 1);
+
+ /* Open the CAN device for reading */
+
+ canardsocketinstance sock_ins;
+ socketcanopen(&sock_ins, CONFIG_EXAMPLES_LIBCANARDV1_DEV, can_fd);
+
+ /* setup poll fd */
+
+ fd.fd = sock_ins.s;
+ fd.events = POLLIN;
+
+ if (sock_ins.s < 0)
+ {
+ printf("canard_daemon: ERROR: open %s failed: %d\n",
+ CONFIG_EXAMPLES_LIBCANARDV1_DEV, errno);
+ errval = 2;
+ goto errout_with_dev;
+ }
+
+ printf("canard_daemon: canard initialized\n");
+ printf("start node (ID: %d Name: %s MTU: %d PUB: %d TOPIC_SIZE: %d)\n",
+ ins.node_id, APP_NODE_NAME, ins.mtu_bytes, pub, TOPIC_SIZE);
+
+ CanardRxSubscription heartbeat_subscription;
+ (void) canardRxSubscribe(&ins, /* Subscribe to messages uavcan.node.Heartbeat. */
+ CanardTransferKindMessage,
+ 32085, /* The fixed Subject-ID of the Heartbeat message type (see DSDL definition). */
+ 7, /* The maximum payload size (max DSDL object size) from the DSDL definition. */
+ CANARD_DEFAULT_TRANSFER_ID_TIMEOUT_USEC,
+ &heartbeat_subscription);
+
+ CanardRxSubscription my_subscription;
+ (void) canardRxSubscribe(&ins,
+ CanardTransferKindMessage,
+ PORT_ID, /* The Service-ID to subscribe to. */
+ TOPIC_SIZE, /* The maximum payload size (max DSDL object size). */
+ CANARD_DEFAULT_TRANSFER_ID_TIMEOUT_USEC,
+ &my_subscription);
+
+ g_canard_daemon_started = true;
+ uint64_t next_1hz_service_at = getmonotonictimestampusec();
+
+ for (; ; )
+ {
+ processtxrxonce(&ins, &sock_ins, 10);
+
+ const uint64_t ts = getmonotonictimestampusec();
+
+ if (ts >= next_1hz_service_at)
+ {
+ next_1hz_service_at += 1000000;
+ process1hztasks(&ins, ts);
+ }
+ }
+
+errout_with_dev:
+
+ g_canard_daemon_started = false;
+ printf("canard_daemon: Terminating!\n");
+ fflush(stdout);
+ return errval;
+}
+
+/****************************************************************************
+ * Name: canard_main
+ *
+ * Description:
+ *
+ ****************************************************************************/
+
+int canardv1_main(int argc, FAR char *argv[])
+{
+ int ret;
+
+ printf("canard_main: Starting canard_daemon\n");
+
+ if (g_canard_daemon_started)
+ {
+ printf("canard_main: receive and send task already running\n");
+ return EXIT_SUCCESS;
+ }
+
+ ret = task_create("canard_daemon",
+ CONFIG_EXAMPLES_LIBCANARDV1_DAEMON_PRIORITY,
+ CONFIG_EXAMPLES_LIBCANARDV1_DAEMON_STACK_SIZE,
+ canard_daemon, argv);
+
+ if (ret < 0)
+ {
+ int errcode = errno;
+ printf("canard_main: ERROR: Failed to start canard_daemon: %d\n",
+ errcode);
+ return EXIT_FAILURE;
+ }
+
+ printf("canard_main: canard_daemon started\n");
+ return EXIT_SUCCESS;
+}
diff --git a/examples/canardv1/socketcan.c b/examples/canardv1/socketcan.c
new file mode 100644
index 000000000..678724c46
--- /dev/null
+++ b/examples/canardv1/socketcan.c
@@ -0,0 +1,227 @@
+/****************************************************************************
+ * apps/examples/canardv1/socketcan.c
+ *
+ * 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.
+ *
+ ****************************************************************************/
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include "socketcan.h"
+
+#include <net/if.h>
+#include <sys/ioctl.h>
+#include <string.h>
+#include <stdio.h>
+
+/****************************************************************************
+ * Public Functions
+ ****************************************************************************/
+
+int16_t socketcanopen(canardsocketinstance *ins,
+ const char *const can_iface_name, const bool can_fd)
+{
+ struct sockaddr_can addr;
+ struct ifreq ifr;
+
+ ins->can_fd = can_fd;
+
+ /* open socket */
+
+ if ((ins->s = socket(PF_CAN, SOCK_RAW, CAN_RAW)) < 0)
+ {
+ perror("socket");
+ return -1;
+ }
+
+ strncpy(ifr.ifr_name, can_iface_name, IFNAMSIZ - 1);
+ ifr.ifr_name[IFNAMSIZ - 1] = '\0';
+ ifr.ifr_ifindex = if_nametoindex(ifr.ifr_name);
+
+ if (!ifr.ifr_ifindex)
+ {
+ perror("if_nametoindex");
+ return -1;
+ }
+
+ memset(&addr, 0, sizeof(addr));
+ addr.can_family = AF_CAN;
+ addr.can_ifindex = ifr.ifr_ifindex;
+
+ const int on = 1;
+
+ /* RX Timestamping */
+
+ if (setsockopt(ins->s, SOL_SOCKET, SO_TIMESTAMP, &on, sizeof(on)) < 0)
+ {
+ perror("SO_TIMESTAMP is disabled");
+ return -1;
+ }
+
+ /* NuttX Feature: Enable TX deadline when sending CAN frames
+ * When a deadline occurs the driver will remove the CAN frame
+ */
+
+ if (setsockopt(ins->s, SOL_CAN_RAW, CAN_RAW_TX_DEADLINE,
+ &on, sizeof(on)) < 0)
+ {
+ perror("CAN_RAW_TX_DEADLINE is disabled");
+ return -1;
+ }
+
+ if (can_fd)
+ {
+ if (setsockopt(ins->s, SOL_CAN_RAW, CAN_RAW_FD_FRAMES,
+ &on, sizeof(on)) < 0)
+ {
+ perror("no CAN FD support");
+ return -1;
+ }
+ }
+
+ if (bind(ins->s, (struct sockaddr *)&addr, sizeof(addr)) < 0)
+ {
+ perror("bind");
+ return -1;
+ }
+
+ /* Setup TX msg */
+
+ ins->send_iov.iov_base = &ins->send_frame;
+
+ if (ins->can_fd)
+ {
+ ins->send_iov.iov_len = sizeof(struct canfd_frame);
+ }
+ else
+ {
+ ins->send_iov.iov_len = sizeof(struct can_frame);
+ }
+
+ memset(&ins->send_control, 0x00, sizeof(ins->send_control));
+
+ ins->send_msg.msg_iov = &ins->send_iov;
+ ins->send_msg.msg_iovlen = 1;
+ ins->send_msg.msg_control = &ins->send_control;
+ ins->send_msg.msg_controllen = sizeof(ins->send_control);
+
+ ins->send_cmsg = CMSG_FIRSTHDR(&ins->send_msg);
+ ins->send_cmsg->cmsg_level = SOL_CAN_RAW;
+ ins->send_cmsg->cmsg_type = CAN_RAW_TX_DEADLINE;
+ ins->send_cmsg->cmsg_len = sizeof(struct timeval);
+ ins->send_tv = (struct timeval *)CMSG_DATA(&ins->send_cmsg);
+
+ /* Setup RX msg */
+
+ ins->recv_iov.iov_base = &ins->recv_frame;
+
+ if (can_fd)
+ {
+ ins->recv_iov.iov_len = sizeof(struct canfd_frame);
+ }
+ else
+ {
+ ins->recv_iov.iov_len = sizeof(struct can_frame);
+ }
+
+ memset(&ins->recv_control, 0x00, sizeof(ins->recv_control));
+
+ ins->recv_msg.msg_iov = &ins->recv_iov;
+ ins->recv_msg.msg_iovlen = 1;
+ ins->recv_msg.msg_control = &ins->recv_control;
+ ins->recv_msg.msg_controllen = sizeof(ins->recv_control);
+ ins->recv_cmsg = CMSG_FIRSTHDR(&ins->recv_msg);
+
+ return 0;
+}
+
+int16_t socketcantransmit(canardsocketinstance *ins, const CanardFrame *txf)
+{
+ /* Copy CanardFrame to can_frame/canfd_frame */
+
+ if (ins->can_fd)
+ {
+ ins->send_frame.can_id = txf->extended_can_id;
+ ins->send_frame.can_id |= CAN_EFF_FLAG;
+ ins->send_frame.len = txf->payload_size;
+ memcpy(&ins->send_frame.data, txf->payload, txf->payload_size);
+ }
+ else
+ {
+ struct can_frame *frame = (struct can_frame *)&ins->send_frame;
+ frame->can_id = txf->extended_can_id;
+ frame->can_id |= CAN_EFF_FLAG;
+ frame->can_dlc = txf->payload_size;
+ memcpy(&frame->data, txf->payload, txf->payload_size);
+ }
+
+ /* Set CAN_RAW_TX_DEADLINE timestamp */
+
+ ins->send_tv->tv_usec = txf->timestamp_usec % 1000000ULL;
+ ins->send_tv->tv_sec = (txf->timestamp_usec - ins->send_tv->tv_usec)
+ / 1000000ULL;
+
+ return sendmsg(ins->s, &ins->send_msg, 0);
+}
+
+int16_t socketcanreceive(canardsocketinstance *ins, CanardFrame *rxf)
+{
+ int32_t result = recvmsg(ins->s, &ins->recv_msg, 0);
+
+ if (result < 0)
+ {
+ return result;
+ }
+
+ /* Copy CAN frame to CanardFrame */
+
+ if (ins->can_fd)
+ {
+ struct canfd_frame *recv_frame =
+ (struct canfd_frame *)&ins->recv_frame;
+ rxf->extended_can_id = recv_frame->can_id & CAN_EFF_MASK;
+ rxf->payload_size = recv_frame->len;
+ rxf->payload = &recv_frame->data;
+ }
+ else
+ {
+ struct can_frame *recv_frame = (struct can_frame *)&ins->recv_frame;
+ rxf->extended_can_id = recv_frame->can_id & CAN_EFF_MASK;
+ rxf->payload_size = recv_frame->can_dlc;
+ rxf->payload = &recv_frame->data;
+ }
+
+ /* Read SO_TIMESTAMP value */
+
+ if (ins->recv_cmsg->cmsg_level == SOL_SOCKET
+ && ins->recv_cmsg->cmsg_type == SO_TIMESTAMP)
+ {
+ struct timeval *tv = (struct timeval *)CMSG_DATA(ins->recv_cmsg);
+ rxf->timestamp_usec = tv->tv_sec * 1000000ULL + tv->tv_usec;
+ }
+
+ return result;
+}
+
+/* TODO implement corresponding IOCTL */
+
+int16_t socketcanconfigurefilter(const fd_t fd, const size_t num_filters,
+ const struct can_filter *filters)
+{
+ return -1;
+}
diff --git a/examples/canardv1/socketcan.h b/examples/canardv1/socketcan.h
new file mode 100644
index 000000000..da5de9298
--- /dev/null
+++ b/examples/canardv1/socketcan.h
@@ -0,0 +1,114 @@
+/****************************************************************************
+ * apps/examples/canardv1/socketcan.h
+ *
+ * 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.
+ *
+ ****************************************************************************/
+
+#ifndef SOCKETCAN_H_INCLUDED
+#define SOCKETCAN_H_INCLUDED
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <stdbool.h>
+#include <stddef.h>
+#include <stdint.h>
+
+#include <sys/time.h>
+#include <sys/socket.h>
+
+#include <nuttx/can.h>
+#include <netpacket/can.h>
+
+#include <canard.h>
+
+#ifdef __cplusplus
+extern "C"
+{
+#endif
+
+/****************************************************************************
+ * Public Types
+ ****************************************************************************/
+
+typedef struct canardsocketinstance canardsocketinstance;
+typedef int fd_t;
+
+struct canardsocketinstance
+{
+ fd_t s;
+ bool can_fd;
+
+ /* Send msg structure */
+
+ struct iovec send_iov;
+ struct canfd_frame send_frame;
+ struct msghdr send_msg;
+ struct cmsghdr *send_cmsg;
+ struct timeval *send_tv; /* TX deadline timestamp */
+ uint8_t send_control[sizeof(struct cmsghdr)
+ + sizeof(struct timeval)];
+
+ /* Receive msg structure */
+
+ struct iovec recv_iov;
+ struct canfd_frame recv_frame;
+ struct msghdr recv_msg;
+ struct cmsghdr *recv_cmsg;
+ uint8_t recv_control[sizeof(struct cmsghdr)
+ + sizeof(struct timeval)];
+};
+
+/****************************************************************************
+ * Public Function Prototypes
+ ****************************************************************************/
+
+/* Creates a SocketCAN socket for corresponding iface can_iface_name
+ * Also sets up the message structures required for transmit and receive
+ * can_fd determines to use CAN FD frame when is 1, and classical CAN
+ * frame when is 0. The return value is 0 on succes and -1 on error
+ */
+
+int16_t socketcanopen(canardsocketinstance *ins,
+ const char *const can_iface_name,
+ const bool can_fd);
+
+/* Send a CanardFrame to the canardsocketinstance socket
+ * This function is blocking
+ * The return value is number of bytes transferred, negative value on error.
+ */
+
+int16_t socketcantransmit(canardsocketinstance *ins, const CanardFrame *txf);
+
+/* Receive a CanardFrame from the canardsocketinstance socket
+ * This function is blocking
+ * The return value is number of bytes received, negative value on error.
+ */
+
+int16_t socketcanreceive(canardsocketinstance *ins, CanardFrame *rxf);
+
+/* TODO implement ioctl for CAN filter */
+
+int16_t socketcanconfigurefilter(const fd_t fd, const size_t num_filters,
+ const struct can_filter *filters);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif //SOCKETCAN_H_INCLUDED
diff --git a/include/canutils/.gitignore b/include/canutils/.gitignore
index 4396c63a2..cd3875f43 100644
--- a/include/canutils/.gitignore
+++ b/include/canutils/.gitignore
@@ -1,2 +1,4 @@
/canard.h
/canard_nuttx.h
+/canard_dsdl.h
+/o1heap.h
[incubator-nuttx-apps] 02/02: canardv0 nxstyle fix
Posted by xi...@apache.org.
This is an automated email from the ASF dual-hosted git repository.
xiaoxiang pushed a commit to branch master
in repository https://gitbox.apache.org/repos/asf/incubator-nuttx-apps.git
commit c026bd824a637fba3bde2724cd870c20ab006436
Author: Peter van der Perk <pe...@nxp.com>
AuthorDate: Mon Aug 1 17:46:45 2022 +0200
canardv0 nxstyle fix
---
examples/canardv0/canard_main.c | 135 +++++++++++++++++++++-------------------
1 file changed, 72 insertions(+), 63 deletions(-)
diff --git a/examples/canardv0/canard_main.c b/examples/canardv0/canard_main.c
index b99fb09f8..e0b645cca 100644
--- a/examples/canardv0/canard_main.c
+++ b/examples/canardv0/canard_main.c
@@ -56,17 +56,17 @@
* Pre-processor Definitions
****************************************************************************/
- /* Application constants */
+/* Application constants */
#define APP_VERSION_MAJOR 1
#define APP_VERSION_MINOR 0
#define APP_NODE_NAME CONFIG_EXAMPLES_LIBCANARDV0_APP_NODE_NAME
#define GIT_HASH 0xb28bf6ac
- /* Some useful constants defined by the UAVCAN specification.
- * Data type signature values can be easily obtained with the script
- * show_data_type_info.py
- */
+/* Some useful constants defined by the UAVCAN specification.
+ * Data type signature values can be easily obtained with the script
+ * show_data_type_info.py
+ */
#define UAVCAN_NODE_STATUS_MESSAGE_SIZE 7
#define UAVCAN_NODE_STATUS_DATA_TYPE_ID 341
@@ -99,7 +99,8 @@ static CanardInstance canard;
/* Arena for memory allocation, used by the library */
-static uint8_t canard_memory_pool[CONFIG_EXAMPLES_LIBCANARDV0_NODE_MEM_POOL_SIZE];
+static uint8_t canard_memory_pool
+ [CONFIG_EXAMPLES_LIBCANARDV0_NODE_MEM_POOL_SIZE];
static uint8_t unique_id[UNIQUE_ID_LENGTH_BYTES] =
{ 0x00, 0x00, 0x00, 0x00,
@@ -203,13 +204,17 @@ static void onTransferReceived(CanardInstance *ins,
*/
/* Image CRC skipped */
+
/* HardwareVersion */
+
/* Major skipped */
+
/* Minor skipped */
memcpy(&buffer[24], unique_id, UNIQUE_ID_LENGTH_BYTES);
/* Certificate of authenticity skipped */
+
/* Name */
const size_t name_len = strlen(APP_NODE_NAME);
@@ -268,7 +273,8 @@ static bool shouldAcceptTransfer(const CanardInstance * ins,
if ((transfer_type == CanardTransferTypeRequest) &&
(data_type_id == UAVCAN_GET_NODE_INFO_DATA_TYPE_ID))
{
- *out_data_type_signature = UAVCAN_GET_NODE_INFO_DATA_TYPE_SIGNATURE;
+ *out_data_type_signature =
+ UAVCAN_GET_NODE_INFO_DATA_TYPE_SIGNATURE;
return true;
}
}
@@ -294,66 +300,67 @@ void process1HzTasks(uint64_t timestamp_usec)
/* Printing the memory usage statistics. */
- {
- const CanardPoolAllocatorStatistics stats =
- canardGetPoolAllocatorStatistics(&canard);
- const unsigned peak_percent =
- 100U * stats.peak_usage_blocks / stats.capacity_blocks;
+ {
+ const CanardPoolAllocatorStatistics stats =
+ canardGetPoolAllocatorStatistics(&canard);
+ const unsigned peak_percent =
+ 100U * stats.peak_usage_blocks / stats.capacity_blocks;
#ifdef CONFIG_DEBUG_CAN
- printf
- ("Memory pool stats: capacity %u blocks, usage %u blocks, peak usage %u blocks (%u%%)\n",
- stats.capacity_blocks, stats.current_usage_blocks,
- stats.peak_usage_blocks, peak_percent);
+ printf("Memory pool stats: capacity %u blocks, usage %u blocks,"
+ " peak usage %u blocks (%u%%)\n",
+ stats.capacity_blocks, stats.current_usage_blocks,
+ stats.peak_usage_blocks, peak_percent);
#endif
- /* The recommended way to establish the minimal size of the memory pool
- * is to stress-test the application and record the worst case memory
- * usage.
- */
+ /* The recommended way to establish the minimal size of the memory pool
+ * is to stress-test the application and record the worst case memory
+ * usage.
+ */
- if (peak_percent > 70)
- {
- puts("WARNING: ENLARGE MEMORY POOL");
- }
- }
+ if (peak_percent > 70)
+ {
+ puts("WARNING: ENLARGE MEMORY POOL");
+ }
+ }
/* Transmitting the node status message periodically. */
- {
- uint8_t buffer[UAVCAN_NODE_STATUS_MESSAGE_SIZE];
- makeNodeStatusMessage(buffer);
-
- static uint8_t transfer_id;
-
- const int bc_res =
- 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);
- if (bc_res <= 0)
- {
- fprintf(stderr, "Could not broadcast node status; error %d\n",
- bc_res);
- }
- }
-
- {
- static uint8_t transfer_id;
- uint8_t payload[1];
- uint8_t dest_id = 2;
- const int resp_res =
- 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);
- if (resp_res <= 0)
- {
- fprintf(stderr, "Could not request GetNodeInfo; error %d\n",
- resp_res);
- }
- }
+ {
+ uint8_t buffer[UAVCAN_NODE_STATUS_MESSAGE_SIZE];
+ makeNodeStatusMessage(buffer);
+
+ static uint8_t transfer_id;
+
+ const int bc_res =
+ 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);
+ if (bc_res <= 0)
+ {
+ fprintf(stderr, "Could not broadcast node status; error %d\n",
+ bc_res);
+ }
+ }
+
+ {
+ static uint8_t transfer_id;
+ uint8_t payload[1];
+ uint8_t dest_id = 2;
+ const int resp_res =
+ 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);
+ if (resp_res <= 0)
+ {
+ fprintf(stderr, "Could not request GetNodeInfo; error %d\n",
+ resp_res);
+ }
+ }
node_mode = UAVCAN_NODE_MODE_OPERATIONAL;
}
@@ -372,7 +379,7 @@ void processTxRxOnce(CanardNuttXInstance * nuttxcan, int timeout_msec)
/* Transmitting */
- for (txf = NULL; (txf = canardPeekTxQueue(&canard)) != NULL;)
+ for (txf = NULL; (txf = canardPeekTxQueue(&canard)) != NULL; )
{
const int tx_res = canardNuttXTransmit(nuttxcan, txf, 0);
if (tx_res < 0) /* Failure - drop the frame and report */
@@ -471,13 +478,14 @@ static int canard_daemon(int argc, char *argv[])
onTransferReceived, shouldAcceptTransfer, (void *)(12345));
canardSetLocalNodeID(&canard, CONFIG_EXAMPLES_LIBCANARDV0_NODE_ID);
printf("canard_daemon: canard initialized\n");
- printf("start node (ID: %d Name: %s)\n", CONFIG_EXAMPLES_LIBCANARDV0_NODE_ID,
+ printf("start node (ID: %d Name: %s)\n",
+ CONFIG_EXAMPLES_LIBCANARDV0_NODE_ID,
APP_NODE_NAME);
g_canard_daemon_started = true;
uint64_t next_1hz_service_at = getMonotonicTimestampUSec();
- for (;;)
+ for (; ; )
{
processTxRxOnce(&canardnuttx_instance, 10);
@@ -517,7 +525,8 @@ int main(int argc, FAR char *argv[])
return EXIT_SUCCESS;
}
- ret = task_create("canard_daemon", CONFIG_EXAMPLES_LIBCANARDV0_DAEMON_PRIORITY,
+ ret = task_create("canard_daemon",
+ CONFIG_EXAMPLES_LIBCANARDV0_DAEMON_PRIORITY,
CONFIG_EXAMPLES_LIBCANARDV0_STACKSIZE, canard_daemon,
NULL);
if (ret < 0)