Initial UAVCAN integration. The library compiles successfully, CAN driver appears to be working properly. There is one hardcoded path in the module makefile that needs to be fixed; plus the compilation will likely fail unless arch/math.h contains log2l()

2026-10-22 06:13:33 +08:00 · 2014-05-06 19:30:45 +04:00
parent e7ebcd6c57
commit 7813566e66
9 changed files with 283 additions and 1 deletions
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+############################################################################
+#
+#   Copyright (C) 2013 PX4 Development Team. All rights reserved.
+#   Author: Pavel Kirienko <pavel.kirienko@gmail.com>
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# 1. Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+# 2. Redistributions in binary form must reproduce the above copyright
+#    notice, this list of conditions and the following disclaimer in
+#    the documentation and/or other materials provided with the
+#    distribution.
+# 3. Neither the name PX4 nor the names of its contributors may be
+#    used to endorse or promote products derived from this software
+#    without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+############################################################################
+
+#
+# UAVCAN <--> uORB bridge
+#
+
+MODULE_COMMAND = uavcan
+
+MAXOPTIMIZATION = -Os
+
+SRCS += uavcan_main.cpp \
+        uavcan_clock.cpp
+
+#
+# libuavcan
+#
+include $(UAVCAN_DIR)/libuavcan/include.mk
+SRCS += $(LIBUAVCAN_SRC)
+# TODO fix include path
+INCLUDE_DIRS += $(LIBUAVCAN_INC) /media/storage/px4/Firmware/Build/px4fmu-v2_default.build/nuttx-export/include/cxx/
+EXTRADEFINES += -DUAVCAN_MEM_POOL_BLOCK_SIZE=56 \
+                -DUAVCAN_TOSTRING=0 \
+                -DUAVCAN_CPP_VERSION=UAVCAN_CPP03 \
+                -DUAVCAN_IMPLEMENT_PLACEMENT_NEW=1
+
+#
+# libuavcan drivers for STM32
+#
+include $(UAVCAN_DIR)/libuavcan_drivers/stm32/driver/include.mk
+SRCS += $(LIBUAVCAN_STM32_SRC)
+INCLUDE_DIRS += $(LIBUAVCAN_STM32_INC)
+EXTRADEFINES += -DUAVCAN_STM32_NUTTX -DUAVCAN_STM32_NUM_IFACES=1
+
+#
+# Invoke DSDL compiler
+# TODO: Add make target for this, or invoke dsdlc manually.
+#       The second option assumes that the generated headers shall be saved
+#       under the version control, which may be undesirable.
+#       The first option requires python3 and python3-mako for the sources to be built.
+#
+$(info $(shell $(LIBUAVCAN_DSDLC) $(UAVCAN_DSDL_DIR)))
+INCLUDE_DIRS += dsdlc_generated