pkarashchenko commented on code in PR #1558: URL: https://github.com/apache/nuttx-apps/pull/1558#discussion_r1141792546
########## 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 Review Comment: Do we need `depends on EXPERIMENTAL`? ########## canutils/libdronecan/Make.defs: ########## @@ -18,6 +18,13 @@ # ############################################################################ -ifneq ($(CONFIG_CANUTILS_LIBCANARDV0),) -CONFIGURED_APPS += $(APPDIR)/canutils/libcanardv0 +ifneq ($(CONFIG_CANUTILS_LIBDRONECAN),) +CONFIGURED_APPS += $(APPDIR)/canutils/libdronecan + + Review Comment: ```suggestion ``` ########## canutils/libopencyphal/Make.defs: ########## @@ -18,6 +18,11 @@ # ############################################################################ -ifneq ($(CONFIG_CANUTILS_LIBCANARDV1),) -CONFIGURED_APPS += $(APPDIR)/canutils/libcanardv1 +ifneq ($(CONFIG_CANUTILS_LIBOPENCYPHAL),) +CONFIGURED_APPS += $(APPDIR)/canutils/libopencyphal + + Review Comment: ```suggestion ``` ########## examples/dronecan/canard_main.c: ########## @@ -372,17 +414,24 @@ void process1HzTasks(uint64_t timestamp_usec) * Transmits all frames from the TX queue, receives up to one frame. * ****************************************************************************/ - +#ifdef CONFIG_NET_CAN +void processTxRxOnce(SocketCANInstance * socketcan, int timeout_msec) Review Comment: ```suggestion void processTxRxOnce(SocketCANInstance *socketcan, int timeout_msec) ``` ########## examples/dronecan/canard_main.c: ########## @@ -227,6 +241,17 @@ static void onTransferReceived(CanardInstance *ins, */ const int resp_res = +#if CANARD_ENABLE_CANFD + canardRequestOrRespond(ins, + transfer->source_node_id, + UAVCAN_GET_NODE_INFO_DATA_TYPE_SIGNATURE, + UAVCAN_GET_NODE_INFO_DATA_TYPE_ID, + &transfer->transfer_id, + transfer->priority, + CanardResponse, + &buffer[0], + (uint16_t) total_size, canfd); Review Comment: ```suggestion (uint16_t)total_size, canfd); ``` ########## examples/dronecan/canard_main.c: ########## @@ -115,6 +125,10 @@ static uint8_t node_health = UAVCAN_NODE_HEALTH_OK; static uint8_t node_mode = UAVCAN_NODE_MODE_INITIALIZATION; static bool g_canard_daemon_started; +#if CANARD_ENABLE_CANFD +static bool canfd = false; Review Comment: ```suggestion static bool canfd; ``` ########## examples/dronecan/canard_main.c: ########## @@ -429,30 +482,50 @@ void processTxRxOnce(CanardNuttXInstance * nuttxcan, int timeout_msec) static int canard_daemon(int argc, char *argv[]) { +#ifdef CONFIG_NET_CAN + static SocketCANInstance socketcan; +#else static CanardNuttXInstance canardnuttx_instance; + int ret; +#endif #ifdef CONFIG_DEBUG_CAN struct canioc_bittiming_s bt; #endif int errval = 0; - int ret; /* Initialization of the CAN hardware is performed by external, board- * specific logic to running this test. */ /* Open the CAN device for reading */ + +#ifdef CONFIG_NET_CAN + const char *const can_iface_name = "can0"; Review Comment: ```suggestion const char * const can_iface_name = "can0"; ``` ########## examples/opencyphal/canard_main.c: ########## @@ -326,7 +326,7 @@ static int canard_daemon(int argc, char *argv[]) if (sock_ins.s < 0) { printf("canard_daemon: ERROR: open %s failed: %d\n", - CONFIG_EXAMPLES_LIBCANARDV1_DEV, errno); + CONFIG_EXAMPLES_LIBOPENCYPHAL_DEV, errno); Review Comment: please align with upper `(` ########## examples/dronecan/canard_main.c: ########## @@ -525,9 +604,14 @@ int main(int argc, FAR char *argv[]) return EXIT_SUCCESS; } + if (argc == 2 && strcmp(argv[1],"canfd") == 0) { Review Comment: ```suggestion if (argc == 2 && strcmp(argv[1], "canfd") == 0) { ``` ########## examples/dronecan/canard_main.c: ########## @@ -429,30 +482,50 @@ void processTxRxOnce(CanardNuttXInstance * nuttxcan, int timeout_msec) static int canard_daemon(int argc, char *argv[]) { +#ifdef CONFIG_NET_CAN + static SocketCANInstance socketcan; +#else static CanardNuttXInstance canardnuttx_instance; + int ret; +#endif #ifdef CONFIG_DEBUG_CAN struct canioc_bittiming_s bt; #endif int errval = 0; - int ret; /* Initialization of the CAN hardware is performed by external, board- * specific logic to running this test. */ /* Open the CAN device for reading */ + +#ifdef CONFIG_NET_CAN + const char *const can_iface_name = "can0"; + +# if CANARD_ENABLE_CANFD + int16_t res = socketcanInit(&socketcan, can_iface_name, canfd); +# else + int16_t res = socketcanInit(&socketcan, can_iface_name); +# endif + if (res < 0) + { + (void)fprintf(stderr, "Failed to open CAN iface '%s'\n", can_iface_name); Review Comment: Why need `(void)` cast here? ########## examples/dronecan/canard_main.c: ########## @@ -372,17 +414,24 @@ void process1HzTasks(uint64_t timestamp_usec) * Transmits all frames from the TX queue, receives up to one frame. * ****************************************************************************/ - +#ifdef CONFIG_NET_CAN +void processTxRxOnce(SocketCANInstance * socketcan, int timeout_msec) +#else void processTxRxOnce(CanardNuttXInstance * nuttxcan, int timeout_msec) Review Comment: ```suggestion void processTxRxOnce(CanardNuttXInstance *nuttxcan, int timeout_msec) ``` -- This is an automated message from the Apache Git Service. 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