UAVCAN - CAN bus for aerospace and robotics

Reference implementation of the UAVCAN protocol stack.

Documentation

• UAVCAN specification
• Libuavcan overview
• List of platforms officially supported by libuavcan
• Libuavcan tutorials

Library development

Despite the fact that the library itself can be used on virtually any platform that has a standard-compliant C++03 or C++11 compiler, the library development process assumes that the host OS is Linux.

Prerequisites:

• Google test library for C++ - gtest (see how to install on Debian/Ubuntu)
• C++03 and C++11 capable compiler with GCC-like interface (e.g. GCC, Clang)
• CMake 2.8+
• Optional: static analysis tool for C++ - cppcheck (use Debian/Ubuntu package cppcheck)

Building the debug version and running the unit tests:

mkdir build
cd build
cmake .. -DCMAKE_BUILD_TYPE=Debug
make

Test outputs can be found in the build directory under libuavcan.

Contributors, please follow the Zubax Style Guide.

Developing with Eclipse

An Eclipse project can be generated like that:

cmake ../../uavcan -G"Eclipse CDT4 - Unix Makefiles" \
                   -DCMAKE_ECLIPSE_VERSION=4.3 \
                   -DCMAKE_BUILD_TYPE=Debug \
                   -DCMAKE_CXX_COMPILER_ARG1=-std=c++11

Path ../../uavcan in the command above points at the directory where the top-level CMakeLists.txt is located; you may need to adjust this per your environment. Note that the directory where Eclipse project is generated must not be a descendant of the source directory.

Submitting a coverity build

First, get the Coverity build tool. Then build the library with it:

export PATH=$PATH:<coverity-build-tool-directory>/bin/
mkdir debug && cd debug
cmake <uavcan-source-directory> -DCMAKE_BUILD_TYPE=Debug
cov-build --dir cov-int make -j8
tar czvf uavcan.tgz cov-int

Then upload the resulting archive to Coverity.