DroneCAN add socketcan support, rename to DroneCAN

Rename canardv1 to OpenCyphal

Apply suggestions from code review

Co-authored-by: Petro Karashchenko <[email protected]>

canutils/libdronecan/.gitignore

@@ -0,0 +1,2 @@
+/libcanard
+/*.zip

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

canutils/libcanardv0/Make.defs → 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

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

canutils/libopencyphal/.gitignore

@@ -0,0 +1,3 @@
+/libcanard
+/o1heap
+/*.zip

canutils/libcanardv1/Kconfig → 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

canutils/libcanardv1/Make.defs → 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