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Posted to commits@nuttx.apache.org by xi...@apache.org on 2023/04/25 10:24:47 UTC
[nuttx-apps] branch master updated: DroneCAN add socketcan support, rename to DroneCAN
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/nuttx-apps.git
The following commit(s) were added to refs/heads/master by this push:
new fa26bab6b DroneCAN add socketcan support, rename to DroneCAN
fa26bab6b is described below
commit fa26bab6b24626a47af8886aaf518df1d00ce9ba
Author: Peter van der Perk <pe...@nxp.com>
AuthorDate: Tue Jan 31 16:35:23 2023 +0100
DroneCAN add socketcan support, rename to DroneCAN
Rename canardv1 to OpenCyphal
Apply suggestions from code review
Co-authored-by: Petro Karashchenko <pe...@gmail.com>
---
canutils/libcanardv0/.gitignore | 1 -
canutils/libcanardv0/Kconfig | 27 -----
canutils/libcanardv0/Makefile | 71 -------------
canutils/libcanardv1/.gitignore | 2 -
canutils/libdronecan/.gitignore | 2 +
canutils/libdronecan/Kconfig | 37 +++++++
canutils/{libcanardv0 => libdronecan}/Make.defs | 12 ++-
canutils/libdronecan/Makefile | 83 ++++++++++++++++
canutils/libopencyphal/.gitignore | 3 +
canutils/{libcanardv1 => libopencyphal}/Kconfig | 18 ++--
canutils/{libcanardv1 => libopencyphal}/Make.defs | 10 +-
canutils/{libcanardv1 => libopencyphal}/Makefile | 79 +++++++--------
examples/{canardv0 => dronecan}/Kconfig | 25 ++---
examples/{canardv0 => dronecan}/Make.defs | 6 +-
examples/{canardv0 => dronecan}/Makefile | 17 +++-
examples/{canardv0 => dronecan}/canard_main.c | 115 +++++++++++++++++++---
examples/{canardv1 => opencyphal}/Kconfig | 24 ++---
examples/{canardv1 => opencyphal}/Make.defs | 6 +-
examples/{canardv1 => opencyphal}/Makefile | 13 ++-
examples/{canardv1 => opencyphal}/canard_main.c | 20 ++--
examples/{canardv1 => opencyphal}/socketcan.c | 2 +-
examples/{canardv1 => opencyphal}/socketcan.h | 2 +-
22 files changed, 349 insertions(+), 226 deletions(-)
diff --git a/canutils/libcanardv0/.gitignore b/canutils/libcanardv0/.gitignore
deleted file mode 100644
index ab82ca37f..000000000
--- a/canutils/libcanardv0/.gitignore
+++ /dev/null
@@ -1 +0,0 @@
-/libcanard-*
diff --git a/canutils/libcanardv0/Kconfig b/canutils/libcanardv0/Kconfig
deleted file mode 100644
index db32d813b..000000000
--- a/canutils/libcanardv0/Kconfig
+++ /dev/null
@@ -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
diff --git a/canutils/libcanardv0/Makefile b/canutils/libcanardv0/Makefile
deleted file mode 100644
index e708e1208..000000000
--- a/canutils/libcanardv0/Makefile
+++ /dev/null
@@ -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
diff --git a/canutils/libcanardv1/.gitignore b/canutils/libcanardv1/.gitignore
deleted file mode 100644
index 19287278b..000000000
--- a/canutils/libcanardv1/.gitignore
+++ /dev/null
@@ -1,2 +0,0 @@
-/libcanard-*
-/o1heap-*
diff --git a/canutils/libdronecan/.gitignore b/canutils/libdronecan/.gitignore
new file mode 100644
index 000000000..03f1063a6
--- /dev/null
+++ b/canutils/libdronecan/.gitignore
@@ -0,0 +1,2 @@
+/libcanard
+/*.zip
diff --git a/canutils/libdronecan/Kconfig b/canutils/libdronecan/Kconfig
new file mode 100644
index 000000000..6419d198d
--- /dev/null
+++ b/canutils/libdronecan/Kconfig
@@ -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
diff --git a/canutils/libcanardv0/Make.defs b/canutils/libdronecan/Make.defs
similarity index 73%
rename from canutils/libcanardv0/Make.defs
rename to canutils/libdronecan/Make.defs
index 478faac38..ad0ea54bb 100644
--- a/canutils/libcanardv0/Make.defs
+++ b/canutils/libdronecan/Make.defs
@@ -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
diff --git a/canutils/libdronecan/Makefile b/canutils/libdronecan/Makefile
new file mode 100644
index 000000000..7606ac4a3
--- /dev/null
+++ b/canutils/libdronecan/Makefile
@@ -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
diff --git a/canutils/libopencyphal/.gitignore b/canutils/libopencyphal/.gitignore
new file mode 100644
index 000000000..aeac8afe8
--- /dev/null
+++ b/canutils/libopencyphal/.gitignore
@@ -0,0 +1,3 @@
+/libcanard
+/o1heap
+/*.zip
diff --git a/canutils/libcanardv1/Kconfig b/canutils/libopencyphal/Kconfig
similarity index 65%
rename from canutils/libcanardv1/Kconfig
rename to canutils/libopencyphal/Kconfig
index 70d58c648..77c9a875c 100644
--- a/canutils/libcanardv1/Kconfig
+++ b/canutils/libopencyphal/Kconfig
@@ -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
diff --git a/canutils/libcanardv1/Make.defs b/canutils/libopencyphal/Make.defs
similarity index 76%
rename from canutils/libcanardv1/Make.defs
rename to canutils/libopencyphal/Make.defs
index 1e8785bb5..5fdf13abf 100644
--- a/canutils/libcanardv1/Make.defs
+++ b/canutils/libopencyphal/Make.defs
@@ -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
diff --git a/canutils/libcanardv1/Makefile b/canutils/libopencyphal/Makefile
similarity index 50%
rename from canutils/libcanardv1/Makefile
rename to canutils/libopencyphal/Makefile
index fb18d762c..5d580dd08 100644
--- a/canutils/libcanardv1/Makefile
+++ b/canutils/libopencyphal/Makefile
@@ -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_DRVDIR = $(O1HEAP_SRCDIR)$(DELIM)o1heap
+O1HEAP_UNPACKNAME = o1heap-$(O1HEAP_VERSION)
+O1HEAP_SRCNAME = o1heap
-APPS_INCDIR = $(APPDIR)$(DELIM)include$(DELIM)canutils
+O1HEAP_SRCDIR = $(WD)/$(O1HEAP_SRCNAME)
+O1HEAP_DRVDIR = $(O1HEAP_SRCDIR)$(DELIM)o1heap
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: $(LIBCANARDV1_UNPACKNAME)
-
-$(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 $< $@
+$(O1HEAP_DRVDIR)$(DELIM)o1heap.c: $(O1HEAP_SRCNAME)
+endif
-$(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
diff --git a/examples/canardv0/Kconfig b/examples/dronecan/Kconfig
similarity index 55%
rename from examples/canardv0/Kconfig
rename to examples/dronecan/Kconfig
index 3aea891e1..f005a37f2 100644
--- a/examples/canardv0/Kconfig
+++ b/examples/dronecan/Kconfig
@@ -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
diff --git a/examples/canardv0/Make.defs b/examples/dronecan/Make.defs
similarity index 88%
rename from examples/canardv0/Make.defs
rename to examples/dronecan/Make.defs
index 84f5e3aad..afcaed2be 100644
--- a/examples/canardv0/Make.defs
+++ b/examples/dronecan/Make.defs
@@ -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
diff --git a/examples/canardv0/Makefile b/examples/dronecan/Makefile
similarity index 71%
rename from examples/canardv0/Makefile
rename to examples/dronecan/Makefile
index 9e10611ea..b2f35d861 100644
--- a/examples/canardv0/Makefile
+++ b/examples/dronecan/Makefile
@@ -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
diff --git a/examples/canardv0/canard_main.c b/examples/dronecan/canard_main.c
similarity index 83%
rename from examples/canardv0/canard_main.c
rename to examples/dronecan/canard_main.c
index e0b645cca..eb2f7b320 100644
--- a/examples/canardv0/canard_main.c
+++ b/examples/dronecan/canard_main.c
@@ -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 <re...@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)
{
diff --git a/examples/canardv1/Kconfig b/examples/opencyphal/Kconfig
similarity index 54%
rename from examples/canardv1/Kconfig
rename to examples/opencyphal/Kconfig
index 9ce2e6698..49ab8d5f7 100644
--- a/examples/canardv1/Kconfig
+++ b/examples/opencyphal/Kconfig
@@ -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
diff --git a/examples/canardv1/Make.defs b/examples/opencyphal/Make.defs
similarity index 88%
rename from examples/canardv1/Make.defs
rename to examples/opencyphal/Make.defs
index dc9399209..60b182fab 100644
--- a/examples/canardv1/Make.defs
+++ b/examples/opencyphal/Make.defs
@@ -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
diff --git a/examples/canardv1/Makefile b/examples/opencyphal/Makefile
similarity index 75%
rename from examples/canardv1/Makefile
rename to examples/opencyphal/Makefile
index 2ad75d03b..2004e1469 100644
--- a/examples/canardv1/Makefile
+++ b/examples/opencyphal/Makefile
@@ -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
diff --git a/examples/canardv1/canard_main.c b/examples/opencyphal/canard_main.c
similarity index 95%
rename from examples/canardv1/canard_main.c
rename to examples/opencyphal/canard_main.c
index ebf8f0119..91341ab71 100644
--- a/examples/canardv1/canard_main.c
+++ b/examples/opencyphal/canard_main.c
@@ -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)
diff --git a/examples/canardv1/socketcan.c b/examples/opencyphal/socketcan.c
similarity index 99%
rename from examples/canardv1/socketcan.c
rename to examples/opencyphal/socketcan.c
index 9d4fd595b..ac6f58a01 100644
--- a/examples/canardv1/socketcan.c
+++ b/examples/opencyphal/socketcan.c
@@ -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
diff --git a/examples/canardv1/socketcan.h b/examples/opencyphal/socketcan.h
similarity index 98%
rename from examples/canardv1/socketcan.h
rename to examples/opencyphal/socketcan.h
index da5de9298..12f836575 100644
--- a/examples/canardv1/socketcan.h
+++ b/examples/opencyphal/socketcan.h
@@ -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