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PetervdPerk-NXPPetervdPerk-NXP
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DroneCAN add socketcan support, rename to DroneCAN
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-132
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11 files changed

+253
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‎canutils/libcanardv0/Kconfig

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‎canutils/libcanardv0/Makefile

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‎canutils/libcanardv0/.gitignore renamed to ‎canutils/libdronecan/.gitignore

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‎canutils/libdronecan/Kconfig

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

‎canutils/libcanardv0/Make.defs renamed to ‎canutils/libdronecan/Make.defs

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############################################################################
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# apps/canutils/libcanardv0/Make.defs
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# apps/canutils/libdronecan/Make.defs
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#
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# Licensed to the Apache Software Foundation (ASF) under one or more
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# contributor license agreements. See the NOTICE file distributed with
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#
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############################################################################
2020

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ifneq ($(CONFIG_CANUTILS_LIBCANARDV0),)
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CONFIGURED_APPS += $(APPDIR)/canutils/libcanardv0
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ifneq ($(CONFIG_CANUTILS_LIBDRONECAN),)
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CONFIGURED_APPS += $(APPDIR)/canutils/libdronecan
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endif

‎canutils/libdronecan/Makefile

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############################################################################
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# apps/canutils/libdronecan/Makefile
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#
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# Licensed to the Apache Software Foundation (ASF) under one or more
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# contributor license agreements. See the NOTICE file distributed with
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# this work for additional information regarding copyright ownership. The
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# ASF licenses this file to you under the Apache License, Version 2.0 (the
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# "License"); you may not use this file except in compliance with the
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# License. You may obtain a copy of the License at
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#
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# http://www.apache.org/licenses/LICENSE-2.0
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#
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# Unless required by applicable law or agreed to in writing, software
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# distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
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# WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
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# License for the specific language governing permissions and limitations
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# under the License.
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#
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############################################################################
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include $(APPDIR)/Make.defs
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UNPACK = unzip
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PACKEXT = .zip
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LIBDRONECAN_URL = $(patsubst "%",%,$(strip $(CONFIG_LIBDRONECAN_URL)))
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LIBDRONECAN_VERSION = $(patsubst "%",%,$(strip $(CONFIG_LIBDRONECAN_VERSION)))
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LIBDRONECAN_UNPACKNAME = libcanard-$(LIBDRONECAN_VERSION)
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LIBDRONECAN_PACKNAME = $(LIBDRONECAN_UNPACKNAME)$(PACKEXT)
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LIBDRONECAN_SRCDIR = $(LIBDRONECAN_UNPACKNAME)
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LIBDRONECAN_DRVDIR = $(LIBDRONECAN_SRCDIR)$(DELIM)drivers$(DELIM)nuttx
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LIBDRONECAN_SOCKETCANDIR = $(LIBDRONECAN_SRCDIR)$(DELIM)drivers$(DELIM)socketcan
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APPS_INCDIR = $(APPDIR)$(DELIM)include$(DELIM)canutils
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# Conflict with Cyphal's libcanard
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ifeq ($(CONFIG_CANUTILS_LIBCANARDV1),y)
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APPS_INCDIR = $(APPDIR)$(DELIM)include$(DELIM)canutils$(DELIM)dronecan
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CFLAGS += -DcanardInit=dronecanardInit -I$(APPS_INCDIR)
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endif
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CFLAGS += -std=c99 -DCANARD_ASSERT=DEBUGASSERT
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CFLAGS += ${shell $(INCDIR) "$(CC)" $(APPS_INCDIR)}
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ifeq ($(CONFIG_LIBDRONECAN_CANFD),y)
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CFLAGS += -DCANARD_ENABLE_CANFD=1
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endif
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CSRCS = $(LIBDRONECAN_SRCDIR)$(DELIM)canard.c
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ifeq ($(CONFIG_NET_CAN),y)
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CSRCS += $(LIBDRONECAN_SOCKETCANDIR)$(DELIM)socketcan.c
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else
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CSRCS += $(LIBDRONECAN_DRVDIR)$(DELIM)canard_nuttx.c
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endif
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$(LIBDRONECAN_PACKNAME):
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@echo "Downloading: $@"
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$(Q) curl -o $@ -L $(LIBDRONECAN_URL)$(DELIM)$(LIBDRONECAN_VERSION)$(PACKEXT)
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$(LIBDRONECAN_UNPACKNAME): $(LIBDRONECAN_PACKNAME)
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@echo "Unpacking: $< -> $@"
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$(call DELDIR, $@)
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$(Q) $(UNPACK) $<
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$(Q) touch $@
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$(LIBDRONECAN_SRCDIR)$(DELIM)canard.h: $(LIBDRONECAN_UNPACKNAME)
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$(LIBDRONECAN_DRVDIR)$(DELIM)canard_nuttx.h: $(LIBDRONECAN_UNPACKNAME)
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$(LIBDRONECAN_SOCKETCANDIR)$(DELIM)socketcan.h: $(LIBDRONECAN_UNPACKNAME)
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$(APPS_INCDIR)$(DELIM)canard.h: $(LIBDRONECAN_SRCDIR)$(DELIM)canard.h
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$(Q) mkdir -p $(APPS_INCDIR)
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$(Q) cp $< $@
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$(APPS_INCDIR)$(DELIM)canard_nuttx.h: $(LIBDRONECAN_DRVDIR)$(DELIM)canard_nuttx.h
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$(Q) cp $< $@
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$(APPS_INCDIR)$(DELIM)socketcan.h: $(LIBDRONECAN_SOCKETCANDIR)$(DELIM)socketcan.h
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$(Q) cp $< $@
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context:: $(APPS_INCDIR)$(DELIM)canard.h $(APPS_INCDIR)$(DELIM)canard_nuttx.h $(APPS_INCDIR)$(DELIM)socketcan.h
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clean::
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$(foreach OBJ, $(OBJS), $(call DELFILE, $(OBJ)))
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distclean::
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$(call DELFILE, $(APPS_INCDIR)$(DELIM)canard.h)
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$(call DELFILE, $(APPS_INCDIR)$(DELIM)canard_nuttx.h)
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$(call DELFILE, $(APPS_INCDIR)$(DELIM)socketcan.h)
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$(call DELDIR, $(LIBDRONECAN_UNPACKNAME))
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$(call DELFILE, $(LIBDRONECAN_PACKNAME))
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include $(APPDIR)/Application.mk

‎examples/canardv0/Kconfig renamed to ‎examples/dronecan/Kconfig

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

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

‎examples/canardv0/Makefile renamed to ‎examples/dronecan/Makefile

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############################################################################
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# apps/examples/canardv0/Makefile
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# apps/examples/dronecan/Makefile
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#
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# Licensed to the Apache Software Foundation (ASF) under one or more
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# contributor license agreements. See the NOTICE file distributed with
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include $(APPDIR)/Make.defs
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PROGNAME = canardv0
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PROGNAME = dronecan
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PRIORITY = SCHED_PRIORITY_DEFAULT
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STACKSIZE = $(CONFIG_EXAMPLES_LIBCANARDV0_STACKSIZE)
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MODULE = $(CONFIG_EXAMPLES_LIBCANARDV0)
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STACKSIZE = $(CONFIG_EXAMPLES_DRONECAN_STACKSIZE)
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MODULE = $(CONFIG_EXAMPLES_DRONECAN)
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CFLAGS += ${INCDIR_PREFIX}$(APPDIR)/include/canutils
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MAINSRC = canard_main.c

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