mirror of
https://github.com/apache/nuttx-apps.git
synced 2026-08-01 20:29:00 +00:00
fix build for canutilis/lely-canopen
This commit fixes lely-canopen build for make and cmake. It also update lely commit tag to the latest lely master. The required changes are now split into several patches to make it easier to fix any issues in the future. Signed-off-by: raiden00pl <raiden00@railab.me>
This commit is contained in:
raiden00pl
Lup Yuen Lee
parent
bbcba55bbc
commit
9e2775de98
8 changed files with 375 additions and 159 deletions
|
|
@ -0,0 +1,55 @@
|
|||
From c907795a0856f1a0eb5a250fca7c2e02bbfdf28e Mon Sep 17 00:00:00 2001
|
||||
From: raiden00pl <raiden00@railab.me>
|
||||
Date: Thu, 6 Oct 2022 15:12:49 +0200
|
||||
Subject: [PATCH 1/5] tools: eliminate 'multiple definitions of poll' compiler
|
||||
errors for flat address space systems
|
||||
|
||||
Signed-off-by: raiden00pl <raiden00@railab.me>
|
||||
---
|
||||
tools/can2udp.c | 2 +-
|
||||
tools/cocatd.c | 2 +-
|
||||
tools/coctl.c | 2 +-
|
||||
3 files changed, 3 insertions(+), 3 deletions(-)
|
||||
|
||||
diff --git a/tools/can2udp.c b/tools/can2udp.c
|
||||
index 960c6117..caee9176 100644
|
||||
--- a/tools/can2udp.c
|
||||
+++ b/tools/can2udp.c
|
||||
@@ -79,7 +79,7 @@ int wtm_send(co_wtm_t *wtm, const void *buf, size_t nbytes, void *data);
|
||||
|
||||
int flags;
|
||||
int keep = 10000;
|
||||
-io_poll_t *poll;
|
||||
+static io_poll_t *poll;
|
||||
io_handle_t can_handle = IO_HANDLE_ERROR;
|
||||
io_handle_t send_handle = IO_HANDLE_ERROR;
|
||||
io_handle_t recv_handle = IO_HANDLE_ERROR;
|
||||
diff --git a/tools/cocatd.c b/tools/cocatd.c
|
||||
index 348168d5..ad191b74 100644
|
||||
--- a/tools/cocatd.c
|
||||
+++ b/tools/cocatd.c
|
||||
@@ -79,7 +79,7 @@ co_unsigned32_t co_1026_up_ind(
|
||||
#define FLAG_NO_DAEMON 0x02
|
||||
|
||||
int flags;
|
||||
-io_poll_t *poll;
|
||||
+static io_poll_t *poll;
|
||||
io_handle_t hcan = IO_HANDLE_ERROR;
|
||||
can_net_t *net;
|
||||
co_dev_t *dev;
|
||||
diff --git a/tools/coctl.c b/tools/coctl.c
|
||||
index 351b81c0..12f4b3aa 100644
|
||||
--- a/tools/coctl.c
|
||||
+++ b/tools/coctl.c
|
||||
@@ -90,7 +90,7 @@ int io_thrd_start(void *arg);
|
||||
void co_net_err(struct co_net *net);
|
||||
|
||||
struct co_net net[CO_GW_NUM_NET];
|
||||
-io_poll_t *poll;
|
||||
+static io_poll_t *poll;
|
||||
|
||||
int flags;
|
||||
int inhibit = INHIBIT;
|
||||
--
|
||||
2.48.1
|
||||
|
||||
|
|
@ -0,0 +1,71 @@
|
|||
From fa0d7ef4f2ef9f1efff4f79bd69c1b59332ab3ba Mon Sep 17 00:00:00 2001
|
||||
From: raiden00pl <raiden00@railab.me>
|
||||
Date: Fri, 21 Mar 2025 16:10:50 +0100
|
||||
Subject: [PATCH 2/5] tools/coctl.c: fix printf issues
|
||||
|
||||
Signed-off-by: raiden00pl <raiden00@railab.me>
|
||||
---
|
||||
tools/coctl.c | 12 +++++++-----
|
||||
1 file changed, 7 insertions(+), 5 deletions(-)
|
||||
|
||||
diff --git a/tools/coctl.c b/tools/coctl.c
|
||||
index 12f4b3aa..594fe699 100644
|
||||
--- a/tools/coctl.c
|
||||
+++ b/tools/coctl.c
|
||||
@@ -40,6 +40,8 @@
|
||||
#include <stdlib.h>
|
||||
#include <string.h>
|
||||
|
||||
+#include <inttypes.h>
|
||||
+
|
||||
#if _WIN32
|
||||
#include <io.h>
|
||||
#endif
|
||||
@@ -358,7 +360,7 @@ main(int argc, char *argv[])
|
||||
if (cmd)
|
||||
printf("... ");
|
||||
else
|
||||
- printf("[%u] ", seq);
|
||||
+ printf("[%" PRIu32 "] ", seq);
|
||||
fflush(stdout);
|
||||
}
|
||||
// Keep reading lines until end-of-file.
|
||||
@@ -409,7 +411,7 @@ main(int argc, char *argv[])
|
||||
free(cmd);
|
||||
cmd = tmp;
|
||||
} else {
|
||||
- if (asprintf(&cmd, "[%u] %s", seq, line)
|
||||
+ if (asprintf(&cmd, "[%" PRIu32 "] %s", seq, line)
|
||||
== -1) {
|
||||
cmd = NULL;
|
||||
break;
|
||||
@@ -431,7 +433,7 @@ main(int argc, char *argv[])
|
||||
result = asprintf(&tmp, "%s%s%s",
|
||||
recv_buf, cmd, line);
|
||||
else
|
||||
- result = asprintf(&tmp, "%s[%u] %s",
|
||||
+ result = asprintf(&recv_buf, "%s[%" PRIu32 "] %s",
|
||||
recv_buf, seq, line);
|
||||
if (result < 0) {
|
||||
mtx_unlock(&recv_mtx);
|
||||
@@ -444,7 +446,7 @@ main(int argc, char *argv[])
|
||||
result = asprintf(&recv_buf, "%s%s",
|
||||
cmd, line);
|
||||
else
|
||||
- result = asprintf(&recv_buf, "[%u] %s",
|
||||
+ result = asprintf(&recv_buf, "[%" PRIu32 "] %s",
|
||||
seq, line);
|
||||
if (result < 0) {
|
||||
recv_buf = NULL;
|
||||
@@ -561,7 +563,7 @@ gw_rate(co_unsigned16_t id, co_unsigned16_t rate, void *data)
|
||||
return;
|
||||
bitrate = rate * 1000;
|
||||
if (io_can_set_bitrate(net[id - 1].handle, bitrate) == -1)
|
||||
- diag(DIAG_ERROR, 0, "unable to set bitrate of %s to %u bit/s",
|
||||
+ diag(DIAG_ERROR, 0, "unable to set bitrate of %s to %" PRIu32 " bit/s",
|
||||
net[id - 1].can_path, bitrate);
|
||||
}
|
||||
|
||||
--
|
||||
2.48.1
|
||||
|
||||
|
|
@ -0,0 +1,32 @@
|
|||
From ba671d68bde31fc8e4cd893b3634fa6bbd299784 Mon Sep 17 00:00:00 2001
|
||||
From: raiden00pl <raiden00@railab.me>
|
||||
Date: Wed, 19 Mar 2025 11:18:13 +0100
|
||||
Subject: [PATCH 3/5] src/co/nmt.c: fix compilation
|
||||
|
||||
Signed-off-by: raiden00pl <raiden00@railab.me>
|
||||
---
|
||||
src/co/nmt.c | 2 ++
|
||||
1 file changed, 2 insertions(+)
|
||||
|
||||
diff --git a/src/co/nmt.c b/src/co/nmt.c
|
||||
index fa943fba..4074e238 100644
|
||||
--- a/src/co/nmt.c
|
||||
+++ b/src/co/nmt.c
|
||||
@@ -1432,12 +1432,14 @@ co_nmt_on_hb(co_nmt_t *nmt, co_unsigned8_t id, int state, int reason)
|
||||
if (co_nmt_is_master(nmt))
|
||||
return;
|
||||
#endif
|
||||
+#if !LELY_NO_CO_EMCY
|
||||
if (nmt->srv.emcy) {
|
||||
// Remove the EMCY message from the stack.
|
||||
ssize_t n = co_emcy_find(nmt->srv.emcy, 0x8130);
|
||||
if (n >= 0)
|
||||
co_emcy_remove(nmt->srv.emcy, n);
|
||||
}
|
||||
+#endif
|
||||
}
|
||||
}
|
||||
|
||||
--
|
||||
2.48.1
|
||||
|
||||
|
|
@ -0,0 +1,25 @@
|
|||
From 8d361b53e8a1f238a0b1545d237e4b0e29fba1fe Mon Sep 17 00:00:00 2001
|
||||
From: raiden00pl <raiden00@railab.me>
|
||||
Date: Thu, 20 Mar 2025 13:58:17 +0100
|
||||
Subject: [PATCH 4/5] tools/coctl.c: add missing mutex init
|
||||
|
||||
Signed-off-by: raiden00pl <raiden00@railab.me>
|
||||
---
|
||||
tools/coctl.c | 1 +
|
||||
1 file changed, 1 insertion(+)
|
||||
|
||||
diff --git a/tools/coctl.c b/tools/coctl.c
|
||||
index 594fe699..c1d73b21 100644
|
||||
--- a/tools/coctl.c
|
||||
+++ b/tools/coctl.c
|
||||
@@ -287,6 +287,7 @@ main(int argc, char *argv[])
|
||||
co_gw_txt_set_recv_func(gw_txt, &gw_txt_recv, NULL);
|
||||
co_gw_txt_set_send_func(gw_txt, &gw_txt_send, gw);
|
||||
|
||||
+ mtx_init(&wait_mtx, mtx_plain);
|
||||
mtx_init(&recv_mtx, mtx_plain);
|
||||
cnd_init(&wait_cond);
|
||||
wait = 0;
|
||||
--
|
||||
2.48.1
|
||||
|
||||
|
|
@ -1,55 +1,23 @@
|
|||
From 2232cb2e64241fd56293a6bcc51365dd220bdd5d Mon Sep 17 00:00:00 2001
|
||||
From 3c58cd579a24a1b3ae829173c3fb124b08bb42d4 Mon Sep 17 00:00:00 2001
|
||||
From: raiden00pl <raiden00@railab.me>
|
||||
Date: Thu, 6 Oct 2022 15:12:49 +0200
|
||||
Subject: [PATCH] NuttX port tools/coctl.c: eliminate multiple definitions of
|
||||
poll error for flat address space systems
|
||||
Date: Wed, 19 Mar 2025 10:44:47 +0100
|
||||
Subject: [PATCH 5/5] add NuttX support
|
||||
|
||||
tools/coctl.c: use readline instead of getline
|
||||
|
||||
tools/coctl.c: fix printf warnings
|
||||
|
||||
fix compiler warnings related to 'struct __frbuf'
|
||||
|
||||
warning: 'struct __frbuf' declared inside parameter list will not be visible outside of this definition or declaration
|
||||
warning: 'struct __fwbuf' declared inside parameter list will not be visible outside of this definition or declaration
|
||||
|
||||
src/io/poll.c: NuttX support
|
||||
|
||||
src/util/frbuf.c: NuttX support
|
||||
|
||||
src/util/fwbuf.c: NuttX support
|
||||
|
||||
src/can/socket.c: NuttX support
|
||||
|
||||
src/io/can.c: add support for NuttX
|
||||
Signed-off-by: raiden00pl <raiden00@railab.me>
|
||||
---
|
||||
include/lely/co/val.h | 2 +-
|
||||
src/can/socket.c | 7 +++-
|
||||
src/io/can.c | 93 ++++++++++++++++++++++++++++++++++++++++++-
|
||||
src/io/poll.c | 2 +-
|
||||
src/util/frbuf.c | 18 ++++-----
|
||||
src/util/fwbuf.c | 27 +++++++------
|
||||
tools/coctl.c | 22 +++++-----
|
||||
7 files changed, 134 insertions(+), 37 deletions(-)
|
||||
src/can/socket.c | 6 ++-
|
||||
src/io/can.c | 95 ++++++++++++++++++++++++++++++++++++++++++++++-
|
||||
src/io/poll.c | 2 +-
|
||||
src/util/errnum.c | 11 +++---
|
||||
src/util/frbuf.c | 24 ++++++------
|
||||
src/util/fwbuf.c | 37 +++++++++---------
|
||||
6 files changed, 136 insertions(+), 39 deletions(-)
|
||||
|
||||
diff --git a/include/lely/co/val.h b/include/lely/co/val.h
|
||||
index 2629763d..b5cee564 100644
|
||||
--- a/include/lely/co/val.h
|
||||
+++ b/include/lely/co/val.h
|
||||
@@ -28,7 +28,7 @@
|
||||
#include <float.h>
|
||||
#include <stddef.h>
|
||||
|
||||
-#if !LELY_NO_CO_DCF || !LELY_NO_CO_OBJ_FILE
|
||||
+#if !LELY_NO_STDIO
|
||||
// The read file buffer from <lely/util/frbuf.h>
|
||||
struct __frbuf;
|
||||
// The write file buffer from <lely/util/fwbuf.h>
|
||||
diff --git a/src/can/socket.c b/src/can/socket.c
|
||||
index 4fc133dd..b059c849 100644
|
||||
index 4fc133dd..a35b281e 100644
|
||||
--- a/src/can/socket.c
|
||||
+++ b/src/can/socket.c
|
||||
@@ -39,6 +39,11 @@
|
||||
@@ -39,6 +39,10 @@
|
||||
#include <linux/can/error.h>
|
||||
#endif
|
||||
|
||||
|
|
@ -60,7 +28,7 @@ index 4fc133dd..b059c849 100644
|
|||
int
|
||||
can_frame_is_error(const struct can_frame *frame, enum can_state *pstate,
|
||||
enum can_error *perror)
|
||||
@@ -51,7 +56,7 @@ can_frame_is_error(const struct can_frame *frame, enum can_state *pstate,
|
||||
@@ -51,7 +55,7 @@ can_frame_is_error(const struct can_frame *frame, enum can_state *pstate,
|
||||
enum can_state state = pstate ? *pstate : CAN_STATE_ACTIVE;
|
||||
enum can_error error = perror ? *perror : 0;
|
||||
|
||||
|
|
@ -70,7 +38,7 @@ index 4fc133dd..b059c849 100644
|
|||
set_errnum(ERRNUM_INVAL);
|
||||
return -1;
|
||||
diff --git a/src/io/can.c b/src/io/can.c
|
||||
index ca7e7d95..35d9a9f2 100644
|
||||
index ca7e7d95..fed1ae16 100644
|
||||
--- a/src/io/can.c
|
||||
+++ b/src/io/can.c
|
||||
@@ -26,7 +26,7 @@
|
||||
|
|
@ -91,7 +59,7 @@ index ca7e7d95..35d9a9f2 100644
|
|||
|
||||
#ifdef HAVE_LINUX_CAN_ERROR_H
|
||||
#include <linux/can/error.h>
|
||||
@@ -56,6 +56,13 @@
|
||||
@@ -56,6 +56,12 @@
|
||||
#include <linux/can/raw.h>
|
||||
#endif
|
||||
|
||||
|
|
@ -104,7 +72,16 @@ index ca7e7d95..35d9a9f2 100644
|
|||
/// A CAN device.
|
||||
struct can {
|
||||
/// The I/O device base handle.
|
||||
@@ -656,6 +663,88 @@ io_can_set_txqlen(io_handle_t handle, size_t txqlen)
|
||||
@@ -384,6 +390,8 @@ io_can_stop(io_handle_t handle)
|
||||
|
||||
#endif // HAVE_LINUX_CAN_NETLINK_H && HAVE_LINUX_RTNETLINK_H
|
||||
|
||||
+
|
||||
+
|
||||
int
|
||||
io_can_get_state(io_handle_t handle)
|
||||
{
|
||||
@@ -656,6 +664,89 @@ io_can_set_txqlen(io_handle_t handle, size_t txqlen)
|
||||
|
||||
#endif // HAVE_LINUX_CAN_NETLINK_H && HAVE_LINUX_RTNETLINK_H
|
||||
|
||||
|
|
@ -189,6 +166,7 @@ index ca7e7d95..35d9a9f2 100644
|
|||
+}
|
||||
+
|
||||
+#endif // __NuttX__
|
||||
+
|
||||
+
|
||||
static void
|
||||
can_fini(struct io_handle *handle)
|
||||
|
|
@ -206,10 +184,76 @@ index d474e337..e07b36ce 100644
|
|||
case IO_TYPE_CAN:
|
||||
#endif
|
||||
#if _POSIX_C_SOURCE >= 200112L
|
||||
diff --git a/src/util/errnum.c b/src/util/errnum.c
|
||||
index 39e4b28a..3b295b8e 100644
|
||||
--- a/src/util/errnum.c
|
||||
+++ b/src/util/errnum.c
|
||||
@@ -27,6 +27,7 @@
|
||||
#include <lely/util/util.h>
|
||||
|
||||
#include <string.h>
|
||||
+#include <netdb.h>
|
||||
|
||||
#if _WIN32
|
||||
|
||||
@@ -38,7 +39,7 @@
|
||||
|
||||
#endif // _WIN32
|
||||
|
||||
-#if _POSIX_C_SOURCE >= 200112L && !defined(__NEWLIB__)
|
||||
+#if _POSIX_C_SOURCE >= 200112L && !defined(__NEWLIB__) && !defined(__NuttX__)
|
||||
static const char *gai_strerror_r(int ecode, char *strerrbuf, size_t buflen);
|
||||
#endif
|
||||
|
||||
@@ -545,7 +546,7 @@ errc2num(int errc)
|
||||
default: return 0;
|
||||
}
|
||||
#else
|
||||
-#if _POSIX_C_SOURCE >= 200112L && !defined(__NEWLIB__)
|
||||
+#if _POSIX_C_SOURCE >= 200112L && !defined(__NEWLIB__) && !defined(__NuttX__)
|
||||
switch (errc) {
|
||||
case -ABS(EAI_AGAIN): return ERRNUM_AI_AGAIN;
|
||||
case -ABS(EAI_BADFLAGS): return ERRNUM_AI_BADFLAGS;
|
||||
@@ -910,7 +911,7 @@ errnum2c(errnum_t errnum)
|
||||
default: return 0;
|
||||
}
|
||||
#else
|
||||
-#if _POSIX_C_SOURCE >= 200112L && !defined(__NEWLIB__)
|
||||
+#if _POSIX_C_SOURCE >= 200112L && !defined(__NEWLIB__) && !defined(__NuttX__)
|
||||
switch (errnum) {
|
||||
case ERRNUM_AI_AGAIN: return -ABS(EAI_AGAIN);
|
||||
case ERRNUM_AI_BADFLAGS: return -ABS(EAI_BADFLAGS);
|
||||
@@ -1011,7 +1012,7 @@ errc2str_r(int errc, char *strerrbuf, size_t buflen)
|
||||
strerrbuf[n - 2] = '\0';
|
||||
return strerrbuf;
|
||||
#else
|
||||
-#if _POSIX_C_SOURCE >= 200112L && !defined(__NEWLIB__)
|
||||
+#if _POSIX_C_SOURCE >= 200112L && !defined(__NEWLIB__) && !defined(__NuttX__)
|
||||
switch (errc) {
|
||||
case -ABS(EAI_AGAIN):
|
||||
return gai_strerror_r(EAI_AGAIN, strerrbuf, buflen);
|
||||
@@ -1036,7 +1037,7 @@ errc2str_r(int errc, char *strerrbuf, size_t buflen)
|
||||
#endif
|
||||
}
|
||||
|
||||
-#if _POSIX_C_SOURCE >= 200112L && !defined(__NEWLIB__)
|
||||
+#if _POSIX_C_SOURCE >= 200112L && !defined(__NEWLIB__) && !defined(__NuttX__)
|
||||
static const char *
|
||||
gai_strerror_r(int ecode, char *strerrbuf, size_t buflen)
|
||||
{
|
||||
diff --git a/src/util/frbuf.c b/src/util/frbuf.c
|
||||
index 73a15bc8..403901a5 100644
|
||||
index e01b7677..7157129b 100644
|
||||
--- a/src/util/frbuf.c
|
||||
+++ b/src/util/frbuf.c
|
||||
@@ -41,7 +41,7 @@
|
||||
#include <stdio.h>
|
||||
#if _POSIX_C_SOURCE >= 200112L
|
||||
#include <fcntl.h>
|
||||
-#if _POSIX_MAPPED_FILES >= 200112L
|
||||
+#if _POSIX_MAPPED_FILES >= 200112L && !defined(__NuttX__)
|
||||
#include <sys/mman.h>
|
||||
#endif
|
||||
#include <sys/stat.h>
|
||||
@@ -57,7 +57,7 @@ struct __frbuf {
|
||||
HANDLE hFileMappingObject;
|
||||
/// The base address of the file mapping.
|
||||
|
|
@ -224,7 +268,7 @@ index 73a15bc8..403901a5 100644
|
|||
__frbuf_alloc(void)
|
||||
{
|
||||
- void *ptr = malloc(sizeof(struct __frbuf));
|
||||
+ void *ptr = zalloc(sizeof(struct __frbuf));
|
||||
+ void *ptr = zalloc(sizeof(struct __frbuf));
|
||||
if (!ptr)
|
||||
set_errc(errno2c(errno));
|
||||
return ptr;
|
||||
|
|
@ -237,7 +281,7 @@ index 73a15bc8..403901a5 100644
|
|||
buf->fd = open(filename, O_RDONLY | O_CLOEXEC);
|
||||
if (buf->fd == -1)
|
||||
return NULL;
|
||||
@@ -125,7 +125,7 @@ __frbuf_fini(struct __frbuf *buf)
|
||||
@@ -127,7 +127,7 @@ __frbuf_fini(struct __frbuf *buf)
|
||||
|
||||
#if _WIN32
|
||||
CloseHandle(buf->hFile);
|
||||
|
|
@ -246,7 +290,7 @@ index 73a15bc8..403901a5 100644
|
|||
close(buf->fd);
|
||||
#else
|
||||
fclose(buf->stream);
|
||||
@@ -176,7 +176,7 @@ frbuf_get_size(frbuf_t *buf)
|
||||
@@ -178,7 +178,7 @@ frbuf_get_size(frbuf_t *buf)
|
||||
if (!GetFileSizeEx(buf->hFile, &FileSize))
|
||||
return -1;
|
||||
return FileSize.QuadPart;
|
||||
|
|
@ -255,7 +299,7 @@ index 73a15bc8..403901a5 100644
|
|||
#ifdef __linux__
|
||||
struct stat64 stat;
|
||||
if (fstat64(buf->fd, &stat) == -1)
|
||||
@@ -221,7 +221,7 @@ frbuf_get_pos(frbuf_t *buf)
|
||||
@@ -223,7 +223,7 @@ frbuf_get_pos(frbuf_t *buf)
|
||||
if (!SetFilePointerEx(buf->hFile, li, &li, FILE_CURRENT))
|
||||
return -1;
|
||||
return li.QuadPart;
|
||||
|
|
@ -264,7 +308,7 @@ index 73a15bc8..403901a5 100644
|
|||
#ifdef __linux__
|
||||
return lseek64(buf->fd, 0, SEEK_CUR);
|
||||
#else
|
||||
@@ -250,7 +250,7 @@ frbuf_set_pos(frbuf_t *buf, intmax_t pos)
|
||||
@@ -252,7 +252,7 @@ frbuf_set_pos(frbuf_t *buf, intmax_t pos)
|
||||
if (!SetFilePointerEx(buf->hFile, li, &li, FILE_BEGIN))
|
||||
return -1;
|
||||
return li.QuadPart;
|
||||
|
|
@ -273,7 +317,7 @@ index 73a15bc8..403901a5 100644
|
|||
#ifdef __linux__
|
||||
return lseek64(buf->fd, pos, SEEK_SET);
|
||||
#else
|
||||
@@ -283,7 +283,7 @@ frbuf_read(frbuf_t *buf, void *ptr, size_t size)
|
||||
@@ -285,7 +285,7 @@ frbuf_read(frbuf_t *buf, void *ptr, size_t size)
|
||||
if (!ReadFile(buf->hFile, ptr, size, &nNumberOfBytesRead, NULL))
|
||||
return -1;
|
||||
return nNumberOfBytesRead;
|
||||
|
|
@ -282,7 +326,7 @@ index 73a15bc8..403901a5 100644
|
|||
ssize_t result;
|
||||
do
|
||||
result = read(buf->fd, ptr, size);
|
||||
@@ -347,7 +347,7 @@ error_ReadFile:
|
||||
@@ -349,7 +349,7 @@ error_ReadFile:
|
||||
error_get_pos:
|
||||
SetLastError(dwErrCode);
|
||||
return result;
|
||||
|
|
@ -291,10 +335,37 @@ index 73a15bc8..403901a5 100644
|
|||
ssize_t result;
|
||||
#ifdef __linux__
|
||||
do
|
||||
@@ -453,7 +453,7 @@ error_CreateFileMapping:
|
||||
error_size:
|
||||
SetLastError(dwErrCode);
|
||||
return NULL;
|
||||
-#elif _POSIX_MAPPED_FILES >= 200112L
|
||||
+#elif _POSIX_MAPPED_FILES >= 200112L && !defined(__NuttX__)
|
||||
long page_size = sysconf(_SC_PAGE_SIZE);
|
||||
if (page_size <= 0)
|
||||
return NULL;
|
||||
@@ -532,7 +532,7 @@ frbuf_unmap(frbuf_t *buf)
|
||||
buf->hFileMappingObject = INVALID_HANDLE_VALUE;
|
||||
buf->lpBaseAddress = NULL;
|
||||
}
|
||||
-#elif _POSIX_MAPPED_FILES >= 200112L
|
||||
+#elif _POSIX_MAPPED_FILES >= 200112L && !defined(__NuttX__)
|
||||
if (buf->addr != MAP_FAILED) {
|
||||
result = munmap(buf->addr, buf->len);
|
||||
|
||||
diff --git a/src/util/fwbuf.c b/src/util/fwbuf.c
|
||||
index 22c61fd7..26b7e03b 100644
|
||||
index 22c61fd7..33ba11c7 100644
|
||||
--- a/src/util/fwbuf.c
|
||||
+++ b/src/util/fwbuf.c
|
||||
@@ -48,7 +48,7 @@
|
||||
#if _POSIX_C_SOURCE >= 200112L
|
||||
#include <fcntl.h>
|
||||
#include <libgen.h>
|
||||
-#if _POSIX_MAPPED_FILES >= 200112L
|
||||
+#if _POSIX_MAPPED_FILES >= 200112L && !defined(__NuttX__)
|
||||
#include <sys/mman.h>
|
||||
#endif
|
||||
#include <sys/stat.h>
|
||||
@@ -72,7 +72,7 @@ struct __fwbuf {
|
||||
LPVOID lpBaseAddress;
|
||||
/// The number of bytes mapped at <b>lpBaseAddress</b>.
|
||||
|
|
@ -377,6 +448,42 @@ index 22c61fd7..26b7e03b 100644
|
|||
ssize_t result;
|
||||
#ifdef __linux__
|
||||
do
|
||||
@@ -666,7 +667,7 @@ fwbuf_map(fwbuf_t *buf, intmax_t pos, size_t *psize)
|
||||
if (pos < 0) {
|
||||
#if _WIN32
|
||||
SetLastError(buf->dwErrCode = ERROR_INVALID_PARAMETER);
|
||||
-#elif _POSIX_MAPPED_FILES >= 200112L
|
||||
+#elif _POSIX_MAPPED_FILES >= 200112L && !defined(__NuttX__)
|
||||
errno = buf->errsv = EINVAL;
|
||||
#else
|
||||
set_errnum(buf->errnum = ERRNUM_INVAL);
|
||||
@@ -676,7 +677,7 @@ fwbuf_map(fwbuf_t *buf, intmax_t pos, size_t *psize)
|
||||
if (pos > (intmax_t)size) {
|
||||
#if _WIN32
|
||||
SetLastError(buf->dwErrCode = ERROR_INVALID_PARAMETER);
|
||||
-#elif _POSIX_MAPPED_FILES >= 200112L
|
||||
+#elif _POSIX_MAPPED_FILES >= 200112L && !defined(__NuttX__)
|
||||
errno = buf->errsv = EOVERFLOW;
|
||||
#else
|
||||
set_errnum(buf->errnum = ERRNUM_OVERFLOW);
|
||||
@@ -728,7 +729,7 @@ error_CreateFileMapping:
|
||||
error_size:
|
||||
SetLastError(buf->dwErrCode);
|
||||
return NULL;
|
||||
-#elif _POSIX_MAPPED_FILES >= 200112L
|
||||
+#elif _POSIX_MAPPED_FILES >= 200112L && !defined(__NuttX__)
|
||||
long page_size = sysconf(_SC_PAGE_SIZE);
|
||||
if (page_size <= 0) {
|
||||
buf->errsv = errno;
|
||||
@@ -863,7 +864,7 @@ fwbuf_unmap(fwbuf_t *buf)
|
||||
buf->dwErrCode = dwErrCode;
|
||||
SetLastError(dwErrCode);
|
||||
}
|
||||
-#elif _POSIX_MAPPED_FILES >= 200112L
|
||||
+#elif _POSIX_MAPPED_FILES >= 200112L && !defined(__NuttX__)
|
||||
int errsv = 0;
|
||||
if (buf->errsv) {
|
||||
result = -1;
|
||||
@@ -931,7 +932,7 @@ fwbuf_clearerr(fwbuf_t *buf)
|
||||
|
||||
#if _WIN32
|
||||
|
|
@ -413,98 +520,6 @@ index 22c61fd7..26b7e03b 100644
|
|||
int errsv = errno;
|
||||
|
||||
if (buf->fd == -1)
|
||||
diff --git a/tools/coctl.c b/tools/coctl.c
|
||||
index 351b81c0..5f851b50 100644
|
||||
--- a/tools/coctl.c
|
||||
+++ b/tools/coctl.c
|
||||
@@ -39,6 +39,9 @@
|
||||
#include <signal.h>
|
||||
#include <stdlib.h>
|
||||
#include <string.h>
|
||||
+#include <inttypes.h>
|
||||
+
|
||||
+#include <system/readline.h>
|
||||
|
||||
#if _WIN32
|
||||
#include <io.h>
|
||||
@@ -90,7 +93,7 @@ int io_thrd_start(void *arg);
|
||||
void co_net_err(struct co_net *net);
|
||||
|
||||
struct co_net net[CO_GW_NUM_NET];
|
||||
-io_poll_t *poll;
|
||||
+static io_poll_t *poll;
|
||||
|
||||
int flags;
|
||||
int inhibit = INHIBIT;
|
||||
@@ -315,8 +318,8 @@ main(int argc, char *argv[])
|
||||
errno = errsv;
|
||||
int eof = 0;
|
||||
|
||||
- char *line = NULL;
|
||||
- size_t n = 0;
|
||||
+#define LINE_SIZE 100
|
||||
+ char line[LINE_SIZE];
|
||||
co_unsigned32_t seq = 1;
|
||||
char *cmd = NULL;
|
||||
while (!done) {
|
||||
@@ -358,11 +361,11 @@ main(int argc, char *argv[])
|
||||
if (cmd)
|
||||
printf("... ");
|
||||
else
|
||||
- printf("[%u] ", seq);
|
||||
+ printf("[%" PRIu32 "] ", seq);
|
||||
fflush(stdout);
|
||||
}
|
||||
// Keep reading lines until end-of-file.
|
||||
- if (getline(&line, &n, stdin) == -1) {
|
||||
+ if (readline(line, LINE_SIZE-1, stdin, stdout) == -1) {
|
||||
if (tty)
|
||||
fputc('\n', stdout);
|
||||
if (ferror(stdin)) {
|
||||
@@ -409,7 +412,7 @@ main(int argc, char *argv[])
|
||||
free(cmd);
|
||||
cmd = tmp;
|
||||
} else {
|
||||
- if (asprintf(&cmd, "[%u] %s", seq, line)
|
||||
+ if (asprintf(&cmd, "[%" PRIu32 "] %s", seq, line)
|
||||
== -1) {
|
||||
cmd = NULL;
|
||||
break;
|
||||
@@ -431,7 +434,7 @@ main(int argc, char *argv[])
|
||||
result = asprintf(&tmp, "%s%s%s",
|
||||
recv_buf, cmd, line);
|
||||
else
|
||||
- result = asprintf(&tmp, "%s[%u] %s",
|
||||
+ result = asprintf(&tmp, "%s[%" PRIu32 "] %s",
|
||||
recv_buf, seq, line);
|
||||
if (result < 0) {
|
||||
mtx_unlock(&recv_mtx);
|
||||
@@ -444,7 +447,7 @@ main(int argc, char *argv[])
|
||||
result = asprintf(&recv_buf, "%s%s",
|
||||
cmd, line);
|
||||
else
|
||||
- result = asprintf(&recv_buf, "[%u] %s",
|
||||
+ result = asprintf(&recv_buf, "[%" PRIu32 "] %s",
|
||||
seq, line);
|
||||
if (result < 0) {
|
||||
recv_buf = NULL;
|
||||
@@ -466,7 +469,6 @@ main(int argc, char *argv[])
|
||||
}
|
||||
}
|
||||
free(cmd);
|
||||
- free(line);
|
||||
|
||||
io_poll_signal(poll, 1);
|
||||
thrd_join(thr, NULL);
|
||||
@@ -561,7 +563,7 @@ gw_rate(co_unsigned16_t id, co_unsigned16_t rate, void *data)
|
||||
return;
|
||||
bitrate = rate * 1000;
|
||||
if (io_can_set_bitrate(net[id - 1].handle, bitrate) == -1)
|
||||
- diag(DIAG_ERROR, 0, "unable to set bitrate of %s to %u bit/s",
|
||||
+ diag(DIAG_ERROR, 0, "unable to set bitrate of %s to %" PRIu32 " bit/s",
|
||||
net[id - 1].can_path, bitrate);
|
||||
}
|
||||
|
||||
--
|
||||
2.37.2
|
||||
2.48.1
|
||||
|
||||
|
|
@ -26,18 +26,27 @@ if(CONFIG_CANUTILS_LELYCANOPEN)
|
|||
# Config and Fetch lelycanopen lib
|
||||
# ############################################################################
|
||||
|
||||
set(LELYCANOPEN_DIR ${CMAKE_CURRENT_LIST_DIR}/lely-canopen)
|
||||
set(LELYCANOPEN_DIR ${CMAKE_CURRENT_LIST_DIR}/lely-core)
|
||||
|
||||
if(NOT EXISTS ${LELYCANOPEN_DIR})
|
||||
FetchContent_Declare(
|
||||
lelycanopen_fetch
|
||||
URL ${CONFIG_CANUTILS_LELYCANOPEN_URL}/lely-core-${CONFIG_CANUTILS_LELYCANOPEN_VERSION}.tar.gz
|
||||
SOURCE_DIR
|
||||
${CMAKE_CURRENT_LIST_DIR}/lely-canopen
|
||||
${CMAKE_CURRENT_LIST_DIR}/lely-core
|
||||
BINARY_DIR
|
||||
${CMAKE_BINARY_DIR}/apps/canutils/lely-canopen/lely-canopen
|
||||
PATCH_COMMAND patch -p1 -d ${CMAKE_CURRENT_LIST_DIR}/lely-canopen <
|
||||
${CMAKE_CURRENT_LIST_DIR}/0001-NuttX-port.patch
|
||||
${CMAKE_BINARY_DIR}/apps/canutils/lely-canopen/lely-core
|
||||
PATCH_COMMAND
|
||||
patch -p1 -d ${CMAKE_CURRENT_LIST_DIR}/lely-core <
|
||||
${CMAKE_CURRENT_LIST_DIR}/0001-tools-eliminate-multiple-definitions-of-poll-compile.patch
|
||||
&& patch -p1 -d ${CMAKE_CURRENT_LIST_DIR}/lely-core <
|
||||
${CMAKE_CURRENT_LIST_DIR}/0002-tools-coctl.c-fix-printf-issues.patch &&
|
||||
patch -p1 -d ${CMAKE_CURRENT_LIST_DIR}/lely-core <
|
||||
${CMAKE_CURRENT_LIST_DIR}/0003-src-co-nmt.c-fix-compilation.patch &&
|
||||
patch -p1 -d ${CMAKE_CURRENT_LIST_DIR}/lely-core <
|
||||
${CMAKE_CURRENT_LIST_DIR}/0004-tools-coctl.c-add-missing-mutex-init.patch
|
||||
&& patch -p1 -d ${CMAKE_CURRENT_LIST_DIR}/lely-core <
|
||||
${CMAKE_CURRENT_LIST_DIR}/0005-add-NuttX-support.patch
|
||||
DOWNLOAD_NO_PROGRESS true
|
||||
TIMEOUT 30)
|
||||
|
||||
|
|
|
|||
|
|
@ -12,7 +12,7 @@ config CANUTILS_LELYCANOPEN_URL
|
|||
|
||||
config CANUTILS_LELYCANOPEN_VERSION
|
||||
string "Version number"
|
||||
default "a2ecf70b76a42c25c5338d86e85250bf16fd7023"
|
||||
default "637de61625c9e8af2b9598109d6fb0e3a2829ce6"
|
||||
|
||||
menu "Lely CANopen configuration"
|
||||
|
||||
|
|
|
|||
|
|
@ -178,14 +178,23 @@ $(LELYCANOPEN_TARBALL):
|
|||
$(LELYCANOPEN_SRCNAME): $(LELYCANOPEN_TARBALL)
|
||||
@echo "Unpacking: $(LELYCANOPEN_TARBALL) -> $(LELYCANOPEN_UNPACKNAME)"
|
||||
$(Q) $(UNPACK) $(LELYCANOPEN_TARBALL)
|
||||
|
||||
patch_src: $(LELYCANOPEN_SRCNAME)
|
||||
# Get the name of the directory created by the tar command
|
||||
$(eval LELYCANOPEN_UNPACKNAME := $(shell ls -d lely-core-master*))
|
||||
$(Q) mv $(LELYCANOPEN_UNPACKNAME) $(LELYCANOPEN_SRCNAME)
|
||||
$(Q) cat 0001-NuttX-port.patch | patch -s -N -d $(LELYCANOPEN_SRCNAME) -p1
|
||||
$(Q) cat 0001-tools-eliminate-multiple-definitions-of-poll-compile.patch | patch -s -N -d $(LELYCANOPEN_SRCNAME) -p1
|
||||
$(Q) cat 0002-tools-coctl.c-fix-printf-issues.patch | patch -s -N -d $(LELYCANOPEN_SRCNAME) -p1
|
||||
$(Q) cat 0003-src-co-nmt.c-fix-compilation.patch | patch -s -N -d $(LELYCANOPEN_SRCNAME) -p1
|
||||
$(Q) cat 0004-tools-coctl.c-add-missing-mutex-init.patch | patch -s -N -d $(LELYCANOPEN_SRCNAME) -p1
|
||||
$(Q) cat 0005-add-NuttX-support.patch | patch -s -N -d $(LELYCANOPEN_SRCNAME) -p1
|
||||
$(Q) echo "Patching $(LELYCANOPEN_SRCNAME)"
|
||||
|
||||
context:: patch_src
|
||||
else
|
||||
context:: $(LELYCANOPEN_SRCNAME)
|
||||
endif
|
||||
|
||||
context:: $(LELYCANOPEN_SRCNAME)
|
||||
|
||||
distclean::
|
||||
ifeq ($(wildcard $(LELYCANOPEN_SRCNAME)/.git),)
|
||||
|
|
|
|||
Loading…
Add table
Add a link
Reference in a new issue