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
• 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

Installring GTest libraries:

• GTest Install guide

Install cppcheck

sudo apt-get install 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.

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.