[WIP]: uavcannode (v1) testing branch

.gitmodules

@@ -30,6 +30,9 @@
 	path = src/drivers/gps/devices
 	url = https://github.com/PX4/GpsDrivers.git
 	branch = master
+[submodule "src/drivers/uavcannode_v1/libcanard"]
+	path = src/drivers/uavcannode_v1/libcanard
+	url = https://github.com/UAVCAN/libcanard.git
 [submodule "src/modules/micrortps_bridge/micro-CDR"]
 	path = src/modules/micrortps_bridge/micro-CDR
 	url = https://github.com/PX4/micro-CDR.git

Tools/astyle/files_to_check_code_style.sh

@@ -12,6 +12,7 @@ exec find boards msg src platforms test \
     -path platforms/nuttx/NuttX -prune -o \
     -path platforms/qurt/dspal -prune -o \
     -path src/drivers/uavcan/libuavcan -prune -o \
+    -path src/drivers/uavcannode_v1/libcanard -prune -o \
     -path src/drivers/uavcan/uavcan_drivers/kinetis/driver/include/uavcan_kinetis -prune -o \
     -path src/lib/ecl -prune -o \
     -path src/lib/matrix -prune -o \

boards/nxp/fmuk66-v3/socketcan.cmake

@@ -49,7 +49,7 @@ px4_add_board(
 		telemetry # all available telemetry drivers
 		#test_ppm # NOT Portable YET
 		tone_alarm
-		#uavcannode_v1
+		uavcannode_v1
 	MODULES
 		airspeed_selector
 		attitude_estimator_q

boards/nxp/rddrone-uavcan146/default.cmake

@@ -42,7 +42,7 @@ px4_add_board(
 		#pwm_out
 		#safety_button
 		#tone_alarm
-		#uavcannode # TODO: CAN driver needed
+		uavcannode_v1
 	MODULES
 		#ekf2
 		#load_mon

boards/nxp/rddrone-uavcan146/nuttx-config/scripts/script.ld

@@ -97,6 +97,15 @@ SECTIONS
     *(.init_array .init_array.*)
     _einit = ABSOLUTE(.);
   } > dflash
+
+  /*
+   * Construction data for parameters.
+   */
+  __param ALIGN(4): {
+    __param_start = ABSOLUTE(.);
+    KEEP(*(__param*))
+    __param_end = ABSOLUTE(.);
+  } > dflash
 
   /*
    * Construction data for parameters.

boards/px4/fmu-v4/cannode.cmake

@@ -54,7 +54,7 @@ px4_add_board(
 		#pwm_out
 		#safety_button
 		#tone_alarm
-		uavcannode
+		uavcannode_v0
 	MODULES
 		#ekf2
 		#load_mon

src/drivers/uavcannode/CMakeLists.txt → src/drivers/uavcannode_v0/CMakeLists.txt

@@ -101,8 +101,8 @@ add_custom_command(OUTPUT px4_uavcan_dsdlc_run.stamp
 add_custom_target(px4_uavcan_dsdlc DEPENDS px4_uavcan_dsdlc_run.stamp)
 
 px4_add_module(
-	MODULE drivers__uavcannode
-	MAIN uavcannode
+	MODULE drivers__uavcannode_v0
+	MAIN uavcannode_v0
 	INCLUDES
 		${DSDLC_OUTPUT}
 		${LIBUAVCAN_DIR}/libuavcan/include

src/drivers/uavcannode/UavcanNode.cpp → src/drivers/uavcannode_v0/UavcanNode.cpp

@@ -582,7 +582,7 @@ extern "C" int uavcannode_start(int argc, char *argv[])
 	return rv;
 }
 
-extern "C" __EXPORT int uavcannode_main(int argc, char *argv[])
+extern "C" __EXPORT int uavcannode_v0_main(int argc, char *argv[])
 {
 	if (argc < 2) {
 		print_usage();

src/drivers/uavcannode_v1/CMakeLists.txt

@@ -0,0 +1,71 @@
+############################################################################
+#
+#   Copyright (c) 2020 PX4 Development Team. All rights reserved.
+#
+# 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.
+#
+############################################################################
+
+set(LIBCANARD_DIR ${CMAKE_CURRENT_SOURCE_DIR}/libcanard)
+
+px4_add_git_submodule(TARGET git_libcanard PATH ${LIBCANARD_DIR})
+
+add_definitions(
+	-DCONFIG_EXAMPLES_LIBCANARDV1_DEV="can0"
+	-DCONFIG_EXAMPLES_LIBCANARDV1_NODE_ID=2
+	-DCONFIG_EXAMPLES_LIBCANARDV1_APP_NODE_NAME="org.uavcan.libcanardv1.nuttx.demo"
+	-DCONFIG_EXAMPLES_LIBCANARDV1_NODE_MEM_POOL_SIZE=4096
+	-DCONFIG_EXAMPLES_LIBCANARDV1_DAEMON_STACK_SIZE=5000
+	-DCONFIG_EXAMPLES_LIBCANARDV1_DAEMON_PRIORITY=100
+	-DCANARD_DSDL_CONFIG_LITTLE_ENDIAN=1
+)
+
+px4_add_module(
+	MODULE drivers__uavcannode-v1
+	MAIN uavcannode_v1
+	COMPILE_FLAGS
+		-Wno-error
+	    -DUINT32_C\(x\)=__UINT32_C\(x\)
+	INCLUDES
+		${LIBCANARD_DIR}/libcanard/
+	SRCS
+		canard_main.c
+		socketcan.c
+		socketcan.h
+		uorb_converter.c
+		uorb_converter.h
+		o1heap.c
+		o1heap.h
+		${LIBCANARD_DIR}/libcanard/canard_dsdl.c
+		${LIBCANARD_DIR}/libcanard/canard_dsdl.h
+		${LIBCANARD_DIR}/libcanard/canard.c
+		${LIBCANARD_DIR}/libcanard/canard.h
+	DEPENDS
+		git_libcanard
+		version
+	)