DroneCAN add socketcan support, rename to DroneCAN

Author: PetervdPerk-NXP

canutils/libcanardv0/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
+	---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

canutils/libcanardv0/Makefile

@@ -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 +18,16 @@
 #
 ############################################################################
 
-ifneq ($(CONFIG_CANUTILS_LIBCANARDV0),)
-CONFIGURED_APPS += $(APPDIR)/canutils/libcanardv0
+ifneq ($(CONFIG_CANUTILS_LIBDRONECAN),)
+CONFIGURED_APPS += $(APPDIR)/canutils/libdronecan
+
+CFLAGS += ${INCDIR_PREFIX}$(APPDIR)/canutils/libdronecan/libcanard
+CXXFLAGS += ${INCDIR_PREFIX}$(APPDIR)/canutils/libdronecan/libcanard
+
+
+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

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

@@ -0,0 +1,89 @@
+############################################################################
+# 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
+
+APPS_INCDIR = $(APPDIR)$(DELIM)include$(DELIM)canutils
+
+# Conflict with Cyphal's libcanard
+ifeq ($(CONFIG_CANUTILS_LIBCANARDV1),y)
+APPS_INCDIR = $(APPDIR)$(DELIM)include$(DELIM)canutils$(DELIM)dronecan
+CFLAGS += -DcanardInit=dronecanardInit -I$(APPS_INCDIR)
+endif
+
+CFLAGS += -std=c99 -DCANARD_ASSERT=DEBUGASSERT
+CFLAGS += ${shell $(INCDIR) "$(CC)" $(APPS_INCDIR)}
+
+ifeq ($(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)
+
+clean::
+	$(foreach OBJ, $(OBJS), $(call DELFILE, $(OBJ)))
+
+distclean::
+ifeq ($(wildcard $(LIBDRONECAN_SRCNAME)/.git),)
+	$(call DELDIR, $(LIBDRONECAN_SRCNAME))
+	$(call DELFILE, $(LIBDRONECAN_PACKNAME))
+endif
+
+include $(APPDIR)/Application.mk

canutils/libdronecan/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
 

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

canutils/libdronecan/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
@@ -20,10 +20,10 @@
 
 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)
 
 CFLAGS += ${INCDIR_PREFIX}$(APPDIR)/include/canutils
 MAINSRC = canard_main.c