nxphlite-v3:Add uavcan

cmake/configs/nuttx_nxphlite-v3_default.cmake

 
 px4_nuttx_configure(HWCLASS m4 CONFIG nsh ROMFS y ROMFSROOT px4fmu_common)
 
-set(config_uavcan_num_ifaces 1)
+set(UAVCAN_PLATFORM kinetis CACHE STRING "uavcan platform")
+set(UAVCAN_TIMER 1)
+set(config_uavcan_num_ifaces 2)
 
 set(config_module_list
 	#
@@ -86,7 +88,7 @@ set(config_module_list
 	modules/load_mon
 	modules/mavlink
 	modules/navigator
-#NO UAVCAN YET	modules/uavcan
+	modules/uavcan
 	modules/camera_feedback
 
 	#

platforms/nuttx/nuttx-configs/nxphlite-v3/nsh/defconfig

@@ -345,7 +345,7 @@ CONFIG_ARCH_HAVE_MPU=y
 CONFIG_ARCH_HAVE_RESET=y
 # CONFIG_ARCH_HAVE_RTC_SUBSECONDS is not set
 # CONFIG_ARCH_USE_MPU is not set
-# CONFIG_ARCH_IRQPRIO is not set
+CONFIG_ARCH_IRQPRIO=y
 CONFIG_ARCH_STACKDUMP=y
 # CONFIG_ENDIAN_BIG is not set
 # CONFIG_ARCH_IDLE_CUSTOM is not set

src/modules/uavcanesc/uavcan_driver.hpp

+/****************************************************************************
+ *
+ *   Copyright (C) 20158 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.
+ *
+ ****************************************************************************/
+
+/**
+ * @author David Sidrane <david_s5@nscdgg.com>
+ */
+
+#pragma once
+#if defined(UAVCAN_KINETIS_NUTTX)
+#  include <uavcan_kinetis/uavcan_kinetis.hpp>
+#elif defined(UAVCAN_STM32_NUTTX)
+#  include <uavcan_stm32/uavcan_stm32.hpp>
+#else
+#  error "Unsupported driver"
+#endif