fix build for canutilis/lely-canopen

This commit fixes lely-canopen build for make and cmake.
It also update lely commit tag to the latest lely master.

The required changes are now split into several patches
to make it easier to fix any issues in the future.

Signed-off-by: raiden00pl <raiden00@railab.me>

Author: raiden00pl

canutils/lely-canopen/0001-tools-eliminate-multiple-definitions-of-poll-compile.patch

@@ -0,0 +1,55 @@
+From c907795a0856f1a0eb5a250fca7c2e02bbfdf28e Mon Sep 17 00:00:00 2001
+From: raiden00pl <raiden00@railab.me>
+Date: Thu, 6 Oct 2022 15:12:49 +0200
+Subject: [PATCH 1/5] tools: eliminate 'multiple definitions of poll' compiler
+ errors for flat address space systems
+
+Signed-off-by: raiden00pl <raiden00@railab.me>
+---
+ tools/can2udp.c | 2 +-
+ tools/cocatd.c  | 2 +-
+ tools/coctl.c   | 2 +-
+ 3 files changed, 3 insertions(+), 3 deletions(-)
+
+diff --git a/tools/can2udp.c b/tools/can2udp.c
+index 960c6117..caee9176 100644
+--- a/tools/can2udp.c
++++ b/tools/can2udp.c
+@@ -79,7 +79,7 @@ int wtm_send(co_wtm_t *wtm, const void *buf, size_t nbytes, void *data);
+ 
+ int flags;
+ int keep = 10000;
+-io_poll_t *poll;
++static io_poll_t *poll;
+ io_handle_t can_handle = IO_HANDLE_ERROR;
+ io_handle_t send_handle = IO_HANDLE_ERROR;
+ io_handle_t recv_handle = IO_HANDLE_ERROR;
+diff --git a/tools/cocatd.c b/tools/cocatd.c
+index 348168d5..ad191b74 100644
+--- a/tools/cocatd.c
++++ b/tools/cocatd.c
+@@ -79,7 +79,7 @@ co_unsigned32_t co_1026_up_ind(
+ #define FLAG_NO_DAEMON 0x02
+ 
+ int flags;
+-io_poll_t *poll;
++static io_poll_t *poll;
+ io_handle_t hcan = IO_HANDLE_ERROR;
+ can_net_t *net;
+ co_dev_t *dev;
+diff --git a/tools/coctl.c b/tools/coctl.c
+index 351b81c0..12f4b3aa 100644
+--- a/tools/coctl.c
++++ b/tools/coctl.c
+@@ -90,7 +90,7 @@ int io_thrd_start(void *arg);
+ void co_net_err(struct co_net *net);
+ 
+ struct co_net net[CO_GW_NUM_NET];
+-io_poll_t *poll;
++static io_poll_t *poll;
+ 
+ int flags;
+ int inhibit = INHIBIT;
+-- 
+2.48.1
+

canutils/lely-canopen/0002-tools-coctl.c-fix-printf-issues.patch

@@ -0,0 +1,71 @@
+From fa0d7ef4f2ef9f1efff4f79bd69c1b59332ab3ba Mon Sep 17 00:00:00 2001
+From: raiden00pl <raiden00@railab.me>
+Date: Fri, 21 Mar 2025 16:10:50 +0100
+Subject: [PATCH 2/5] tools/coctl.c: fix printf issues
+
+Signed-off-by: raiden00pl <raiden00@railab.me>
+---
+ tools/coctl.c | 12 +++++++-----
+ 1 file changed, 7 insertions(+), 5 deletions(-)
+
+diff --git a/tools/coctl.c b/tools/coctl.c
+index 12f4b3aa..594fe699 100644
+--- a/tools/coctl.c
++++ b/tools/coctl.c
+@@ -40,6 +40,8 @@
+ #include <stdlib.h>
+ #include <string.h>
+ 
++#include <inttypes.h>
++
+ #if _WIN32
+ #include <io.h>
+ #endif
+@@ -358,7 +360,7 @@ main(int argc, char *argv[])
+ 			if (cmd)
+ 				printf("... ");
+ 			else
+-				printf("[%u] ", seq);
++				printf("[%" PRIu32 "] ", seq);
+ 			fflush(stdout);
+ 		}
+ 		// Keep reading lines until end-of-file.
+@@ -409,7 +411,7 @@ main(int argc, char *argv[])
+ 				free(cmd);
+ 				cmd = tmp;
+ 			} else {
+-				if (asprintf(&cmd, "[%u] %s", seq, line)
++				if (asprintf(&cmd, "[%" PRIu32 "] %s", seq, line)
+ 						== -1) {
+ 					cmd = NULL;
+ 					break;
+@@ -431,7 +433,7 @@ main(int argc, char *argv[])
+ 					result = asprintf(&tmp, "%s%s%s",
+ 							recv_buf, cmd, line);
+ 				else
+-					result = asprintf(&tmp, "%s[%u] %s",
++					result = asprintf(&recv_buf, "%s[%" PRIu32 "] %s",
+ 							recv_buf, seq, line);
+ 				if (result < 0) {
+ 					mtx_unlock(&recv_mtx);
+@@ -444,7 +446,7 @@ main(int argc, char *argv[])
+ 					result = asprintf(&recv_buf, "%s%s",
+ 							cmd, line);
+ 				else
+-					result = asprintf(&recv_buf, "[%u] %s",
++					result = asprintf(&recv_buf, "[%" PRIu32 "] %s",
+ 							seq, line);
+ 				if (result < 0) {
+ 					recv_buf = NULL;
+@@ -561,7 +563,7 @@ gw_rate(co_unsigned16_t id, co_unsigned16_t rate, void *data)
+ 		return;
+ 	bitrate = rate * 1000;
+ 	if (io_can_set_bitrate(net[id - 1].handle, bitrate) == -1)
+-		diag(DIAG_ERROR, 0, "unable to set bitrate of %s to %u bit/s",
++	        diag(DIAG_ERROR, 0, "unable to set bitrate of %s to %" PRIu32 " bit/s",
+ 				net[id - 1].can_path, bitrate);
+ }
+ 
+-- 
+2.48.1
+

canutils/lely-canopen/0003-src-co-nmt.c-fix-compilation.patch

@@ -0,0 +1,32 @@
+From ba671d68bde31fc8e4cd893b3634fa6bbd299784 Mon Sep 17 00:00:00 2001
+From: raiden00pl <raiden00@railab.me>
+Date: Wed, 19 Mar 2025 11:18:13 +0100
+Subject: [PATCH 3/5] src/co/nmt.c: fix compilation
+
+Signed-off-by: raiden00pl <raiden00@railab.me>
+---
+ src/co/nmt.c | 2 ++
+ 1 file changed, 2 insertions(+)
+
+diff --git a/src/co/nmt.c b/src/co/nmt.c
+index fa943fba..4074e238 100644
+--- a/src/co/nmt.c
++++ b/src/co/nmt.c
+@@ -1432,12 +1432,14 @@ co_nmt_on_hb(co_nmt_t *nmt, co_unsigned8_t id, int state, int reason)
+ 		if (co_nmt_is_master(nmt))
+ 			return;
+ #endif
++#if !LELY_NO_CO_EMCY
+ 		if (nmt->srv.emcy) {
+ 			// Remove the EMCY message from the stack.
+ 			ssize_t n = co_emcy_find(nmt->srv.emcy, 0x8130);
+ 			if (n >= 0)
+ 				co_emcy_remove(nmt->srv.emcy, n);
+ 		}
++#endif
+ 	}
+ }
+ 
+-- 
+2.48.1
+

canutils/lely-canopen/0004-tools-coctl.c-add-missing-mutex-init.patch

@@ -0,0 +1,25 @@
+From 8d361b53e8a1f238a0b1545d237e4b0e29fba1fe Mon Sep 17 00:00:00 2001
+From: raiden00pl <raiden00@railab.me>
+Date: Thu, 20 Mar 2025 13:58:17 +0100
+Subject: [PATCH 4/5] tools/coctl.c: add missing mutex init
+
+Signed-off-by: raiden00pl <raiden00@railab.me>
+---
+ tools/coctl.c | 1 +
+ 1 file changed, 1 insertion(+)
+
+diff --git a/tools/coctl.c b/tools/coctl.c
+index 594fe699..c1d73b21 100644
+--- a/tools/coctl.c
++++ b/tools/coctl.c
+@@ -287,6 +287,7 @@ main(int argc, char *argv[])
+ 	co_gw_txt_set_recv_func(gw_txt, &gw_txt_recv, NULL);
+ 	co_gw_txt_set_send_func(gw_txt, &gw_txt_send, gw);
+ 
++	mtx_init(&wait_mtx, mtx_plain);
+ 	mtx_init(&recv_mtx, mtx_plain);
+ 	cnd_init(&wait_cond);
+ 	wait = 0;
+-- 
+2.48.1
+