Direct code import

.gitignore

@@ -1,32 +1,30 @@
-# Prerequisites
-*.d
-
-# Compiled Object files
-*.slo
-*.lo
+# Build outputs
 *.o
-*.obj
+*.d
+lib*.so
+lib*.so.*
+*.a
+build*/
+.dep
+__pycache__
+*.pyc
 
-# Precompiled Headers
-*.gch
-*.pch
+# Eclipse
+.metadata
+.settings
+.project
+.cproject
+.pydevproject
+.gdbinit
 
-# Compiled Dynamic libraries
-*.so
-*.dylib
-*.dll
+# vsstudio code
+.vscode
 
-# Fortran module files
-*.mod
-*.smod
+# vagrant
+.vagrant
 
-# Compiled Static libraries
-*.lai
-*.la
-*.a
-*.lib
+# libuavcan DSDL compiler default output directory
+dsdlc_generated
 
-# Executables
-*.exe
-*.out
-*.app
+# Log files
+*.log

README.md

@@ -1,2 +1,4 @@
-# libuavcan_lpc11c24
 Libuavcan platform driver for NXP LPC11C24
+==========================================
+
+See <https://uavcan.org/Implementations/Libuavcan/Platforms/LPC11C24>.

driver/include.mk

@@ -0,0 +1,9 @@
+#
+# Copyright (C) 2014 Pavel Kirienko <pavel.kirienko@gmail.com>
+#
+
+LIBUAVCAN_LPC11C24_DIR := $(dir $(lastword $(MAKEFILE_LIST)))
+
+LIBUAVCAN_LPC11C24_SRC := $(shell find $(LIBUAVCAN_LPC11C24_DIR)/src -type f -name '*.cpp')
+
+LIBUAVCAN_LPC11C24_INC := $(LIBUAVCAN_LPC11C24_DIR)/include/

driver/include/uavcan_lpc11c24/can.hpp

@@ -0,0 +1,93 @@
+/*
+ * Copyright (C) 2014 Pavel Kirienko <pavel.kirienko@gmail.com>
+ */
+
+#pragma once
+
+#include <uavcan/driver/can.hpp>
+
+namespace uavcan_lpc11c24
+{
+/**
+ * This class implements CAN driver interface for libuavcan.
+ * No configuration needed other than CAN baudrate.
+ * This class is a singleton.
+ */
+class CanDriver
+    : public uavcan::ICanDriver
+    , public uavcan::ICanIface
+    , uavcan::Noncopyable
+{
+    static CanDriver self;
+
+    CanDriver() { }
+
+public:
+    /**
+     * Returns the singleton reference.
+     * No other copies can be created.
+     */
+    static CanDriver& instance() { return self; }
+
+    /**
+     * Attempts to detect bit rate of the CAN bus.
+     * This function may block for up to X seconds, where X is the number of bit rates to try.
+     * This function is NOT guaranteed to reset the CAN controller upon return.
+     * @return On success: detected bit rate, in bits per second.
+     *         On failure: zero.
+     */
+    static uavcan::uint32_t detectBitRate(void (*idle_callback)() = nullptr);
+
+    /**
+     * Returns negative value if the requested baudrate can't be used.
+     * Returns zero if OK.
+     */
+    int init(uavcan::uint32_t bitrate);
+
+    bool hasReadyRx() const;
+    bool hasEmptyTx() const;
+
+    /**
+     * This method will return true only if there was any CAN bus activity since previous call of this method.
+     * This is intended to be used for LED iface activity indicators.
+     */
+    bool hadActivity();
+
+    /**
+     * Returns the number of times the RX queue was overrun.
+     */
+    uavcan::uint32_t getRxQueueOverflowCount() const;
+
+    /**
+     * Whether the controller is currently in bus off state.
+     * Note that the driver recovers the CAN controller from the bus off state automatically!
+     * Therefore, this method serves only monitoring purposes and is not necessary to use.
+     */
+    bool isInBusOffState() const;
+
+    uavcan::int16_t send(const uavcan::CanFrame& frame,
+                         uavcan::MonotonicTime tx_deadline,
+                         uavcan::CanIOFlags flags) override;
+
+    uavcan::int16_t receive(uavcan::CanFrame& out_frame,
+                            uavcan::MonotonicTime& out_ts_monotonic,
+                            uavcan::UtcTime& out_ts_utc,
+                            uavcan::CanIOFlags& out_flags) override;
+
+    uavcan::int16_t select(uavcan::CanSelectMasks& inout_masks,
+                           const uavcan::CanFrame* (&)[uavcan::MaxCanIfaces],
+                           uavcan::MonotonicTime blocking_deadline) override;
+
+    uavcan::int16_t configureFilters(const uavcan::CanFilterConfig* filter_configs,
+                                     uavcan::uint16_t num_configs) override;
+
+    uavcan::uint64_t getErrorCount() const override;
+
+    uavcan::uint16_t getNumFilters() const override;
+
+    uavcan::ICanIface* getIface(uavcan::uint8_t iface_index) override;
+
+    uavcan::uint8_t getNumIfaces() const override;
+};
+
+}

driver/include/uavcan_lpc11c24/clock.hpp

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+/*
+ * Copyright (C) 2014 Pavel Kirienko <pavel.kirienko@gmail.com>
+ */
+
+#pragma once
+
+#include <uavcan/driver/system_clock.hpp>
+
+namespace uavcan_lpc11c24
+{
+namespace clock
+{
+/**
+ * Starts the clock.
+ * Can be called multiple times, only the first call will be effective.
+ */
+void init();
+
+/**
+ * Returns current monotonic time passed since the moment when clock::init() was called.
+ * Note that both monotonic and UTC clocks are implemented using SysTick timer.
+ */
+uavcan::MonotonicTime getMonotonic();
+
+/**
+ * Returns UTC time if it has been set, otherwise returns zero time.
+ * Note that both monotonic and UTC clocks are implemented using SysTick timer.
+ */
+uavcan::UtcTime getUtc();
+
+/**
+ * Performs UTC time adjustment.
+ * The UTC time will be zero until first adjustment has been performed.
+ */
+void adjustUtc(uavcan::UtcDuration adjustment);
+
+/**
+ * Returns clock error sampled at previous UTC adjustment.
+ * Positive if the hardware timer is slower than reference time.
+ */
+uavcan::UtcDuration getPrevUtcAdjustment();
+
+}
+
+/**
+ * Adapter for uavcan::ISystemClock.
+ */
+class SystemClock : public uavcan::ISystemClock, uavcan::Noncopyable
+{
+    static SystemClock self;
+
+    SystemClock() { }
+
+    uavcan::MonotonicTime getMonotonic()     const override { return clock::getMonotonic(); }
+    uavcan::UtcTime getUtc()                 const override { return clock::getUtc(); }
+    void adjustUtc(uavcan::UtcDuration adjustment) override { clock::adjustUtc(adjustment); }
+
+public:
+    /**
+     * Calls clock::init() as needed.
+     */
+    static SystemClock& instance();
+};
+
+}

driver/include/uavcan_lpc11c24/uavcan_lpc11c24.hpp

@@ -0,0 +1,9 @@
+/*
+ * Copyright (C) 2014 Pavel Kirienko <pavel.kirienko@gmail.com>
+ */
+
+#pragma once
+
+#include <uavcan/uavcan.hpp>
+#include <uavcan_lpc11c24/can.hpp>
+#include <uavcan_lpc11c24/clock.hpp>