Merge pull request #4 from xiangtaoyou/master

Remove binary files and re-organize source files of Baidu software

Author: startcode

baidu/.version

@@ -0,0 +1 @@
+3.0.0.1

baidu/Makefile

@@ -0,0 +1,26 @@
+#
+# Makefile for Baidu softwares
+#
+
+LIBADV_TRIGGER=src/lib/adv_trigger
+LIBADV_BCAN=src/lib/bcan
+ADV_TRIGGER=src/tools/adv_trigger
+BASA=src/kernel/drivers/baidu/basa
+MODULES=$(LIBADV_TRIGGER) $(LIBADV_BCAN) $(ADV_TRIGGER) $(BASA)
+MODINSTALL=$(addsuffix .install,$(MODULES))
+MODCLEAN=$(addsuffix .clean,$(MODULES))
+
+.PHONY:all $(MODULES)
+all: $(MODULES)
+$(MODULES):
+	$(MAKE) -C $@
+
+.PHONY:install $(MODINSTALL)
+install: $(MODINSTALL)
+$(MODINSTALL): %.install:
+	$(MAKE) install -C $*
+
+.PHONY:clean $(MODCLEAN)
+clean: $(MODCLEAN)
+$(MODCLEAN): %.clean:
+	$(MAKE) clean -C $*

baidu/README.md

@@ -1,14 +1,11 @@
-This repository contains code/binary contributed by Baidu to the Apollo Autonomous Driving Project that can't or is not suitable to be distributed under Apache license.
+This repository contains code contributed by Baidu to the Apollo Autonomous Driving Project that can't or is not suitable to be distributed under Apache license.
 
 Directory structure:
 
-- bin/: binary programs
 - docs/: documentations
-- drivers/: driver source code
-- include/: header files for user space library/application development
-  - include/baidu/: library headers
-  - uapi/: header files for writing user space program against kernel driver(s)
-- lib/: binary library files (.a, .so)
-- linux/: binary release of kernel driver(s)
-  - linux/drivers: binary drivers organized by kernel version
-  - linux/include: header files for writing user space program against the binary driver
+- src/: source code
+  - lib/adv_trigger: source code of the adv_trigger library
+  - lib/bcan: source code of the bcan library
+  - tools/adv_trigger: source code of the adv_trigger user tool
+  - kernel/include/uapi/linux: header files for writing user programs against the basa driver
+  - kernel/drivers/baidu/basa: source code of the baidu sensor aggregation (basa) driver

baidu/bin/README.txt

@@ -0,0 +1,15 @@
+#!/bin/bash
+
+VERSION=$(cat .version | xargs)
+DRV_HDR=src/kernel/drivers/baidu/basa/basa_regs.h
+DRV_VER=$(grep ZYNQ_MOD_VER ${DRV_HDR} | cut -d'"' -f2)
+
+make clean
+make install
+make clean
+
+cd output
+ldconfig -n lib
+zip -y -r plat-sw-${VERSION}.zip bin include lib
+zip -y -r basa-${DRV_VER}.zip kernel
+rm -r bin include lib kernel

baidu/bin/adv_trigger

@@ -1,14 +1,14 @@
-version 1.2:
+version 3.0.0.1:
 
 The APIs below are meant to be generic and are not tied to any specific CAN
 hardware. However some of the APIs are specific to Baidu CAN
 (specifically noted below) and are exposed to advanced users.
 
+======================================================
 1. CAN CHANNEL ACCESS:
----------------------
+======================================================
 1.1)
-int
-bcan_open(uint32_t dev_index, uint32_t flags, uint64_t tx_timeout, uint64_t
+int bcan_open(uint32_t dev_index, uint32_t flags, uint64_t tx_timeout, uint64_t
     rx_timeout, bcan_hdl_t *hdl)
 
 This call will return a logical handle 'hdl' to a physical CAN interface. The
@@ -22,15 +22,14 @@ completely transparent to user).
 Return value: 0 on success, error code (see Section 5) on failure.
 
 1.2)
-int
-bcan_close(bcan_hdl_t hdl)
+int bcan_close(bcan_hdl_t hdl)
 
 This call will close the logical handle 'hdl'.
 
 Return value: 0 on success, error code (see Section 5) on failure.
 
 1.3)
-bcan_start(bcan_hdl_t hdl)
+int bcan_start(bcan_hdl_t hdl)
 
 This call will initialize the channel and put it in a state ready for transmitting
 and receiving CAN frames.
@@ -39,7 +38,7 @@ For Baidu CAN: This will put the card in 'NORMAL' mode.
 Return value: 0 on success, error code (see Section 5) on failure.
 
 1.4)
-bcan_stop(bcan_hdl_t hdl)
+int bcan_stop(bcan_hdl_t hdl)
 
 This call will stop any data from being received or transmitted on this channel.
 Error counter and status registers will be reset.
@@ -57,35 +56,9 @@ This call return current libbcan version as a string.
 
 ======================================================
 2. CHANNEL CONFIGURATION
-------------------------
-Below bcan_id_*() APIs are a filter to receive messages from only desired CAN
-IDs. These APIs are optional. By default all CAN messages will be accepted. All
-bcan_id_*() call return 0 on success, error code (see Section 5) on failure.
+======================================================
 2.1)
-bcan_id_add(bcan_hdl_t hdl, uint32_t id_start, uint32_t id_end)
-
-All ids from 'id_start' to 'id_end' will be added to the receive acceptance
-filter.
-
-2.2)
-bcan_id_add_all(bcan_hdl_t hdl)
-
-All CAN messages will be accepted.
-
-2.3)
-bcan_id_remove(bcan_hdl_t hdl, uint32_t id_start, uint32_t id_end)
-
-All ids from 'id_start' to 'id_end' will be removed from the receive acceptance
-filter.
-
-2.4)
-bcan_id_remove_all(bcan_hdl_t hdl)
-
-No CAN messages will be received.
-
-2.5)
-int
-bcan_set_baudrate(bcan_hdl_t hdl, uint32_t rate)
+int bcan_set_baudrate(bcan_hdl_t hdl, uint32_t rate)
 
 Specify 'rate' using one of the below supported values (defined in bcan.h). For
 e.g. BCAN_BAUDRATE_500K means 500Kbps.
@@ -97,34 +70,31 @@ BCAN_BAUDRATE_1M
 
 Return value: 0 on success, error code (see Section 5) on failure.
 
-2.6)
-int
-bcan_get_baudrate(bcan_hdl_t hdl, uint32_t *rate)
+2.2)
+int bcan_get_baudrate(bcan_hdl_t hdl, uint32_t *rate)
 
 This call will return the current baudrate in Kbps via 'rate'.
 Return value: 0 on success, error code (see Section 5) on failure.
 
-2.7)
-int
-bcan_set_loopback(bcan_hdl_t hdl)
+2.3)
+int bcan_set_loopback(bcan_hdl_t hdl)
 
 This API will cause all messages sent on Tx to be received on Rx. This is
 effectively a self-test mode. Note all CAN devices may not support this mode.
 
 Return value: 0 on success, error code (see Section 5) on failure.
 
-2.8)
-int
-bcan_unset_loopback(bcan_hdl_t hdl)
+2.4)
+int bcan_unset_loopback(bcan_hdl_t hdl)
 
 This call will stop the loopback mode and will return the channel to normal
 operational mode.
 
 Return value: 0 on success, error code (see Section 5) on failure.
 
-==================================
+======================================================
 3. DATA PATH
-------------
+======================================================
 typedef struct bcan_msg {
         uint32_t	bcan_msg_id; 	    // source CAN node id
         uint8_t		bcan_msg_rsv[3];    // reserved for future
@@ -134,8 +104,7 @@ typedef struct bcan_msg {
 } bcan_msg_t;
 
 3.1)
-int
-bcan_recv(bcan_hdl_t hdl, bcan_msg_t *buf, uint32_t num_msg)
+int bcan_recv(bcan_hdl_t hdl, bcan_msg_t *buf, uint32_t num_msg)
 
 This call will return with either the requested number of messages 'num_msg' or
 the number of available messages in the RX FIFO, which ever is smaller. If Rx
@@ -148,8 +117,7 @@ On success this call will return the number of messages received. A error code
 (see Section 5) is returned on failure.
 
 3.2)
-int
-bcan_send(bcan_hdl_t hdl, bcan_msg_t *buf, uint32_t num_msg)
+int bcan_send(bcan_hdl_t hdl, bcan_msg_t *buf, uint32_t num_msg)
 
 'num_msg' is the number of CAN messages to be sent. 'num_msg' should not exceed
 BCAN_MAX_TX_MSG. The 'tx_timeout' specified in bcan_open() will be enforced by
@@ -161,22 +129,21 @@ has been enqueued in the Tx FIFO.  A error code (see Section 5) is returned on
 failure.
 
 3.3)
-int
-bcan_send_hi_pri(bcan_hdl_t hdl, bcan_msg_t *buf);
-Baidu CAN CAN specific. Only 1 high priority message can be sent at a time.
+int bcan_send_hi_pri(bcan_hdl_t hdl, bcan_msg_t *buf);
+Baidu CAN specific. Only 1 high priority message can be sent at a time.
 'tx_timeout' specified in bcan_open() does not apply to this call. Instead this
 call will return immediately with either success or failure.
 
 Return value: On success this call will return the number of messages transmitted
 which is 1. A error code (see Section 5) is returned on failure.
 
-=====================================
+======================================================
 4. DIAGNOSTIC:
--------------
-Baidu CAN CAN specific
+======================================================
+Baidu CAN specific.
+
 4.1)
-int
-bcan_get_status(bcan_hdl_t hdl)
+int bcan_get_status(bcan_hdl_t hdl)
 
 This call will return the overall status of the channel hardware. A error code
 (defined in section 5) is returned on error.
@@ -187,48 +154,38 @@ register, 'value' is the return value from bcan_get_status().
 BCAN_GET_FIFO_STATUS(value) -> returns Acceptance filter status, Tx FIFO and
 	High Priority Buffer status.
 
-BCAN_GET_ERR_STATUS(value) -> returns error active, error passive or bus off
-	state.
+BCAN_GET_ERR_STATUS(value) -> returns error active, error passive or bus off state.
 
 BCAN_GET_BUS_STATUS(value) -> returns Busy or Idle
 
 BCAN_GET_MODE_STATUS(value) -> returns Normal, Sleep, Loopback, Configuration
 
-
 4.2)
-int
-bcan_get_err_counter(bcan_hdl_t hdl, uint8_t *rx_err_counter, uint8_t *tx_err_counter)
+int bcan_get_err_counter(bcan_hdl_t hdl, uint8_t *rx_err_counter, uint8_t *tx_err_counter)
 
 After this call 'rx_err_counter' and 'tx_err_counter' will contain the
 respective values from the Error Count register. These values are a indicator
 of the health of the CAN controller and bus.
 
 Return value: 0 on success, error code (see Section 5) on failure.
 
-
-================================================
+======================================================
 5. Version & Build Info
+======================================================
+5.1)
+const char *bcan_get_libversion(void)
 
-New in 1.2. See tools/bcan/can_app.c for usage examples.
-
-- Returns bcan library version; e.g., "1.2".
-    const char *bcan_get_libversion(void)
-
-- Returns detailed bcan library build info.
-    const char *bcan_bld_info(void);
-
-- Returns brief bcan library build info.
-    const char *bcan_bld_info_short(void);
-
+Return bcan library version; e.g., "3.0.0.1".
 
-================================================
+======================================================
 6. Error codes
+======================================================
+6.1)
+const char *bcan_get_err_msg(int err_code);
 
-API (new in 1.2):
-
-- Returns error message corresponding to the given error code.
-    const char *bcan_get_err_msg(int err_code);
+Return error message corresponding to the given error code.
 
+6.2)
 List of error code; all values below are negative.
 
 - BCAN_HDL_INVALID