├── .gitignore ├── .gitmodules ├── .travis.yml ├── CMakeLists.txt ├── LICENSE ├── README.md ├── libuavcan ├── CMakeLists.txt ├── cppcheck.sh ├── dsdl_compiler │ ├── libuavcan_dsdl_compiler │ │ ├── __init__.py │ │ ├── data_type_template.tmpl │ │ └── pyratemp.py │ ├── libuavcan_dsdlc │ └── setup.py ├── include.mk ├── include │ └── uavcan │ │ ├── build_config.hpp │ │ ├── data_type.hpp │ │ ├── debug.hpp │ │ ├── driver │ │ ├── can.hpp │ │ └── system_clock.hpp │ │ ├── dynamic_memory.hpp │ │ ├── error.hpp │ │ ├── helpers │ │ ├── heap_based_pool_allocator.hpp │ │ └── ostream.hpp │ │ ├── marshal │ │ ├── array.hpp │ │ ├── bit_stream.hpp │ │ ├── char_array_formatter.hpp │ │ ├── float_spec.hpp │ │ ├── integer_spec.hpp │ │ ├── scalar_codec.hpp │ │ ├── type_util.hpp │ │ └── types.hpp │ │ ├── node │ │ ├── abstract_node.hpp │ │ ├── generic_publisher.hpp │ │ ├── generic_subscriber.hpp │ │ ├── global_data_type_registry.hpp │ │ ├── node.hpp │ │ ├── publisher.hpp │ │ ├── scheduler.hpp │ │ ├── service_client.hpp │ │ ├── service_server.hpp │ │ ├── sub_node.hpp │ │ ├── subscriber.hpp │ │ └── timer.hpp │ │ ├── protocol │ │ ├── README.md │ │ ├── data_type_info_provider.hpp │ │ ├── dynamic_node_id_client.hpp │ │ ├── dynamic_node_id_server │ │ │ ├── abstract_server.hpp │ │ │ ├── allocation_request_manager.hpp │ │ │ ├── centralized.hpp │ │ │ ├── centralized │ │ │ │ ├── server.hpp │ │ │ │ └── storage.hpp │ │ │ ├── distributed.hpp │ │ │ ├── distributed │ │ │ │ ├── cluster_manager.hpp │ │ │ │ ├── log.hpp │ │ │ │ ├── persistent_state.hpp │ │ │ │ ├── raft_core.hpp │ │ │ │ ├── server.hpp │ │ │ │ └── types.hpp │ │ │ ├── event.hpp │ │ │ ├── node_discoverer.hpp │ │ │ ├── node_id_selector.hpp │ │ │ ├── storage_backend.hpp │ │ │ ├── storage_marshaller.hpp │ │ │ └── types.hpp │ │ ├── file_server.hpp │ │ ├── firmware_update_trigger.hpp │ │ ├── global_time_sync_master.hpp │ │ ├── global_time_sync_slave.hpp │ │ ├── logger.hpp │ │ ├── node_info_retriever.hpp │ │ ├── node_status_monitor.hpp │ │ ├── node_status_provider.hpp │ │ ├── panic_broadcaster.hpp │ │ ├── panic_listener.hpp │ │ ├── param_server.hpp │ │ ├── restart_request_server.hpp │ │ └── transport_stats_provider.hpp │ │ ├── std.hpp │ │ ├── time.hpp │ │ ├── transport │ │ ├── abstract_transfer_buffer.hpp │ │ ├── can_acceptance_filter_configurator.hpp │ │ ├── can_io.hpp │ │ ├── crc.hpp │ │ ├── dispatcher.hpp │ │ ├── frame.hpp │ │ ├── outgoing_transfer_registry.hpp │ │ ├── perf_counter.hpp │ │ ├── transfer.hpp │ │ ├── transfer_buffer.hpp │ │ ├── transfer_listener.hpp │ │ ├── transfer_receiver.hpp │ │ └── transfer_sender.hpp │ │ ├── uavcan.hpp │ │ └── util │ │ ├── bitset.hpp │ │ ├── comparison.hpp │ │ ├── lazy_constructor.hpp │ │ ├── linked_list.hpp │ │ ├── map.hpp │ │ ├── method_binder.hpp │ │ ├── multiset.hpp │ │ ├── placement_new.hpp │ │ └── templates.hpp ├── src │ ├── driver │ │ └── uc_can.cpp │ ├── marshal │ │ ├── uc_bit_array_copy.cpp │ │ ├── uc_bit_stream.cpp │ │ ├── uc_float_spec.cpp │ │ └── uc_scalar_codec.cpp │ ├── node │ │ ├── uc_generic_publisher.cpp │ │ ├── uc_generic_subscriber.cpp │ │ ├── uc_global_data_type_registry.cpp │ │ ├── uc_scheduler.cpp │ │ ├── uc_service_client.cpp │ │ └── uc_timer.cpp │ ├── protocol │ │ ├── uc_dynamic_node_id_client.cpp │ │ └── uc_node_status_provider.cpp │ ├── transport │ │ ├── uc_can_acceptance_filter_configurator.cpp │ │ ├── uc_can_io.cpp │ │ ├── uc_crc.cpp │ │ ├── uc_dispatcher.cpp │ │ ├── uc_frame.cpp │ │ ├── uc_outgoing_transfer_registry.cpp │ │ ├── uc_transfer.cpp │ │ ├── uc_transfer_buffer.cpp │ │ ├── uc_transfer_listener.cpp │ │ ├── uc_transfer_receiver.cpp │ │ └── uc_transfer_sender.cpp │ ├── uc_data_type.cpp │ ├── uc_dynamic_memory.cpp │ └── uc_error.cpp ├── test │ ├── clock.hpp │ ├── data_type.cpp │ ├── dsdl_test │ │ ├── dsdl_const_1.cpp │ │ ├── dsdl_const_2.cpp │ │ ├── dsdl_test.cpp │ │ ├── dsdl_uavcan_compilability.cpp │ │ ├── root_ns_a │ │ │ ├── 128.EmptyService.uavcan │ │ │ ├── 129.ReportBackSoldier.uavcan │ │ │ ├── 20000.MavlinkMessage.uavcan │ │ │ ├── 32768.EmptyMessage.uavcan │ │ │ ├── 99.StringService.uavcan │ │ │ ├── A.uavcan │ │ │ ├── B.uavcan │ │ │ ├── Deep.uavcan │ │ │ ├── Empty.uavcan │ │ │ ├── NestedInUnion.uavcan │ │ │ ├── NestedMessage.uavcan │ │ │ └── UnionTest.uavcan │ │ └── root_ns_b │ │ │ ├── ServiceWithEmptyRequest.uavcan │ │ │ ├── ServiceWithEmptyResponse.uavcan │ │ │ ├── SuperIntelligentShadeOfBlue.uavcan │ │ │ └── T.uavcan │ ├── dynamic_memory.cpp │ ├── helpers │ │ └── heap_based_pool_allocator.cpp │ ├── marshal │ │ ├── array.cpp │ │ ├── bit_stream.cpp │ │ ├── char_array_formatter.cpp │ │ ├── float_spec.cpp │ │ ├── integer_spec.cpp │ │ ├── scalar_codec.cpp │ │ └── type_util.cpp │ ├── node │ │ ├── global_data_type_registry.cpp │ │ ├── node.cpp │ │ ├── publisher.cpp │ │ ├── scheduler.cpp │ │ ├── service_client.cpp │ │ ├── service_server.cpp │ │ ├── sub_node.cpp │ │ ├── subscriber.cpp │ │ ├── test_node.hpp │ │ └── test_node_test.cpp │ ├── protocol │ │ ├── data_type_info_provider.cpp │ │ ├── dynamic_node_id_client.cpp │ │ ├── dynamic_node_id_server │ │ │ ├── allocation_request_manager.cpp │ │ │ ├── centralized │ │ │ │ ├── server.cpp │ │ │ │ └── storage.cpp │ │ │ ├── distributed │ │ │ │ ├── cluster_manager.cpp │ │ │ │ ├── log.cpp │ │ │ │ ├── persistent_state.cpp │ │ │ │ └── server.cpp │ │ │ ├── event.cpp │ │ │ ├── event_tracer.hpp │ │ │ ├── get_node_info_mock_server.hpp │ │ │ ├── memory_storage_backend.hpp │ │ │ ├── node_discoverer.cpp │ │ │ └── storage_marshaller.cpp │ │ ├── file_server.cpp │ │ ├── firmware_update_trigger.cpp │ │ ├── global_time_sync_master.cpp │ │ ├── global_time_sync_slave.cpp │ │ ├── helpers.hpp │ │ ├── logger.cpp │ │ ├── node_info_retriever.cpp │ │ ├── node_status_monitor.cpp │ │ ├── node_status_provider.cpp │ │ ├── panic_broadcaster.cpp │ │ ├── panic_listener.cpp │ │ ├── param_server.cpp │ │ ├── restart_request_server.cpp │ │ └── transport_stats_provider.cpp │ ├── test_main.cpp │ ├── time.cpp │ ├── transport │ │ ├── can │ │ │ ├── can.hpp │ │ │ ├── can_driver.cpp │ │ │ ├── iface_mock.cpp │ │ │ ├── io.cpp │ │ │ └── tx_queue.cpp │ │ ├── can_acceptance_filter_configurator.cpp │ │ ├── crc.cpp │ │ ├── dispatcher.cpp │ │ ├── frame.cpp │ │ ├── incoming_transfer.cpp │ │ ├── outgoing_transfer_registry.cpp │ │ ├── transfer.cpp │ │ ├── transfer_buffer.cpp │ │ ├── transfer_listener.cpp │ │ ├── transfer_receiver.cpp │ │ ├── transfer_sender.cpp │ │ ├── transfer_test_helpers.cpp │ │ └── transfer_test_helpers.hpp │ └── util │ │ ├── comparison.cpp │ │ ├── lazy_constructor.cpp │ │ ├── linked_list.cpp │ │ ├── map.cpp │ │ ├── multiset.cpp │ │ └── templates.cpp └── tools │ └── coverity_scan_model.cpp ├── libuavcan_drivers ├── linux │ ├── CMakeLists.txt │ ├── apps │ │ ├── debug.hpp │ │ ├── test_clock.cpp │ │ ├── test_dynamic_node_id_client.cpp │ │ ├── test_file_server.cpp │ │ ├── test_multithreading.cpp │ │ ├── test_node.cpp │ │ ├── test_posix.cpp │ │ ├── test_socket.cpp │ │ ├── test_system_utils.cpp │ │ ├── test_time_sync.cpp │ │ ├── uavcan_dynamic_node_id_server.cpp │ │ ├── uavcan_monitor.cpp │ │ └── uavcan_nodetool.cpp │ ├── cppcheck.sh │ ├── include │ │ └── uavcan_linux │ │ │ ├── clock.hpp │ │ │ ├── exception.hpp │ │ │ ├── helpers.hpp │ │ │ ├── socketcan.hpp │ │ │ ├── system_utils.hpp │ │ │ └── uavcan_linux.hpp │ └── scripts │ │ ├── uavcan_add_slcan │ │ └── uavcan_add_vcan ├── lpc11c24 │ ├── driver │ │ ├── include.mk │ │ ├── include │ │ │ └── uavcan_lpc11c24 │ │ │ │ ├── can.hpp │ │ │ │ ├── clock.hpp │ │ │ │ └── uavcan_lpc11c24.hpp │ │ └── src │ │ │ ├── c_can.hpp │ │ │ ├── can.cpp │ │ │ ├── clock.cpp │ │ │ └── internal.hpp │ └── test_olimex_lpc_p11c24 │ │ ├── Makefile │ │ ├── blackmagic.gdbinit │ │ ├── blackmagic_flash.sh │ │ ├── lpc11c24.ld │ │ ├── lpc_chip_11cxx_lib │ │ ├── inc │ │ │ ├── adc_11xx.h │ │ │ ├── ccand_11xx.h │ │ │ ├── chip.h │ │ │ ├── clock_11xx.h │ │ │ ├── cmsis.h │ │ │ ├── cmsis_11cxx.h │ │ │ ├── core_cm0.h │ │ │ ├── core_cmFunc.h │ │ │ ├── core_cmInstr.h │ │ │ ├── error.h │ │ │ ├── fmc_11xx.h │ │ │ ├── gpio_11xx_2.h │ │ │ ├── gpiogroup_11xx.h │ │ │ ├── i2c_11xx.h │ │ │ ├── iocon_11xx.h │ │ │ ├── lpc_types.h │ │ │ ├── pinint_11xx.h │ │ │ ├── pmu_11xx.h │ │ │ ├── ring_buffer.h │ │ │ ├── romapi_11xx.h │ │ │ ├── ssp_11xx.h │ │ │ ├── sys_config.h │ │ │ ├── sysctl_11xx.h │ │ │ ├── timer_11xx.h │ │ │ ├── uart_11xx.h │ │ │ └── wwdt_11xx.h │ │ └── src │ │ │ ├── clock_11xx.c │ │ │ ├── uart_11xx.c │ │ │ └── wwdt_11xx.c │ │ └── src │ │ ├── main.cpp │ │ └── sys │ │ ├── board.cpp │ │ ├── board.hpp │ │ ├── crt0.c │ │ └── libstubs.cpp ├── posix │ ├── CMakeLists.txt │ ├── include.mk │ └── include │ │ └── uavcan_posix │ │ ├── basic_file_server_backend.hpp │ │ ├── dynamic_node_id_server │ │ ├── file_event_tracer.hpp │ │ └── file_storage_backend.hpp │ │ └── firmware_version_checker.hpp └── stm32 │ ├── driver │ ├── CMakeLists.txt │ ├── include.mk │ ├── include │ │ └── uavcan_stm32 │ │ │ ├── build_config.hpp │ │ │ ├── bxcan.hpp │ │ │ ├── can.hpp │ │ │ ├── clock.hpp │ │ │ ├── thread.hpp │ │ │ └── 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